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Light clutch type assisting exoskeleton device and control method thereof

A clutch type, exoskeleton technology, applied in the field of bionics, can solve the problems of complex mechanism design and control methods of exoskeleton, and achieve the effect of compact structure, simple control and excellent effect

Active Publication Date: 2017-12-26
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a light-duty clutch type power-assisted exoskeleton device and its control method to solve the problems of complex mechanism design and control method of the exoskeleton

Method used

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  • Light clutch type assisting exoskeleton device and control method thereof
  • Light clutch type assisting exoskeleton device and control method thereof
  • Light clutch type assisting exoskeleton device and control method thereof

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Embodiment Construction

[0029] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0030] Such as Figure 1 to Figure 9As shown, the light-duty clutch type power-assisted exoskeleton device of the present invention includes a back frame 1, a waist mechanism 2 and two sets of leg and foot mechanisms. , connected by rotation; the leg-foot mechanism includes a hip joint 3, a knee joint 4, an ankle joint 5 and a foot 6 that are sequentially connected from top to bottom, wherein the top of the hip joint 3 is connected to the waist mechanism 2 by rotation;

[0031] figure 2 It is an exploded view of the back frame 1 of the present invention. The back frame 1 includes a connecting frame 104, a control battery box 107, a storage board 108, a magnetic screw 109, an auxiliary magnetic sheet 110, five spines 101, and four first connecting rods. Shaft 102, second connecting shaft 103, third connecting shaft 105 and fourth connecting shaft 106; spine...

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Abstract

The invention discloses a light clutch type assisting exoskeleton device and a control method thereof. The light clutch type assisting exoskeleton device can simulate human motions to assist the human body to bear load and comprises a frame carrier, a waist mechanism, hip joints, knee joints, ankle joints and feet which are sequentially arranged from top to bottom. The light clutch type assisting exoskeleton device has multiple freedom degrees, can simulate multiple motions of the human body and can better achieve matching with the human motions. A clutch type joint driven assistance mode is adopted, required sensing hardware requirements are low, control is convenient to achieve, clutch type driving energy can be integrally designed with the structure of the light clutch type assisting exoskeleton device, and the mass and volume of the light clutch type assisting exoskeleton device are effectively decreased. The light clutch type assisting exoskeleton device is simple and reliable in structure, high in integration and easy to control and can be used for strengthening the load-bearing capability of a wearer and assisting walking, and the fatigue feeling of load-bearing motions of the human body is effectively reduced.

Description

technical field [0001] The invention belongs to bionic technology, and in particular relates to a light-duty clutch type power-assisted exoskeleton device and a control method thereof. Background technique [0002] The wearable exoskeleton booster system is a kind of accompanying intelligent equipment that can be worn on the human body. By synchronously "following" the human body's movement, it assists or replaces the human body's load-bearing and maneuvering, breaks through the physical limit of the human body, and greatly improves the human body's load-bearing mobility. / Enduring combat capability. At present, the system is mainly used in the rehabilitation training of human lower limbs and assisting the human body in carrying weight. It can be widely used and promoted in many fields such as anti-terrorism and stability maintenance, emergency rescue and disaster relief, disability assistance and rehabilitation medicine. So far, although some progress has been made in the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02B25J9/00B25J9/16
CPCA61H1/0262B25J9/0006B25J9/1679A61H2201/1207A61H2201/165A61H2205/12A61H2205/10A61H2230/625Y02A50/30
Inventor 管小荣李仲徐诚刘瑛奇王新蕊毛喜旺宁学涛
Owner NANJING UNIV OF SCI & TECH
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