An assisting device for human lower limb movement

Abstract

The invention relates to a power assisting device for human body lower limb movement. The power assisting device comprises a power assisting bracket and a swing device, wherein the swing device is hinged to the power assisting bracket; the swing device is provided with a swing device angular velocity sensor and / or a swing device acceleration sensor; the swing device angular velocity sensor and / or the swing device acceleration sensor are / is connected with a control system, and the control system can control a power system to drive the power assisting bracket to stretch or bend; the control system judges the movement intention and movement tendency of the human body, and then drives the power assisting bracket to stretch or bend; the sensor is sensitive and can accelerate the response speed of the power system, so that the problem that the movement intention of the human body is hindered by the rigid power assisting bracket is avoided, the coordination between the rigid power assisting bracket and the human body movement is improved, and the interferences of various forces to the transmission of the movement intention of the human body during movement are effectively solved.

Description

technical field [0001] The invention relates to a motion assisting device, in particular to a motion assisting device for lower limbs of a human body. Background technique [0002] Wearable exoskeleton devices need to accurately measure the movement of the wearer's lower limbs in real time to perceive the wearer's current movement intention, so as to implement relevant drive control to achieve good human-machine coordination and provide motion assistance functions for the wearer. [0003] In the prior art, many use plantar pressure sensors, multiple inclination sensors or waist and back pressure sensors to jointly judge the movement intention of the wearer's lower limbs, such as patents CN200680006514.1, CN201310711420.6, CN201410491075.4, etc. The situation of human-computer interaction is extremely complicated at this time, and the change of inclination angle is difficult to accurately and effectively reflect the motion posture of the wearer, and it is difficult for the co...

AI Technical Summary

Problems solved by technology

This technology detects the extension and bending changes and trends of the legs of the exoskeleton device, but cannot detect the changes in the wearer's body movement, so there is no way to know the wearer's movement intention, and it is difficult for the device to achieve a better wearing experience

Patent CN201310384919.0 mentions that angular velocity gyroscopes are installed on the thigh and calf of the exoskeleton to measure the bending angular velocity of the knee joint. This method also detects the bending angular velocity of the knee joint of the exoskeleton device, and cannot know the wearer's movement intention

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