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Passive exoskeleton device and parameter detecting method thereof

A passive, exoskeleton technology, applied in the direction of appliances that help people walk, manipulators, program-controlled manipulators, etc., can solve problems that cannot be widely used in industrial production, cannot achieve results, and remain in the scientific research stage.

Pending Publication Date: 2018-01-09
广州海同工业技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, these unresolved problems have caused the human body wearable exoskeleton system to fail to achieve its ideal effect in the process of realizing the corresponding functions. At the same time, the expensive manufacturing cost also makes it only in the scientific research stage and cannot be widely used in industrial production. middle

Method used

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  • Passive exoskeleton device and parameter detecting method thereof
  • Passive exoskeleton device and parameter detecting method thereof
  • Passive exoskeleton device and parameter detecting method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0100] A passive exoskeleton device, comprising a hip belt, a strap 1, a hip joint booster mechanism and a branch rotating piece, the strap is connected to the hip belt, and two hip joint boosters are respectively installed on both sides of the hip belt;

[0101] The hip joint booster mechanism includes a leg pad 2, a leg rod 3, a rotating shaft 4, a clockwork spring 5 and a runner 6, the leg pad is installed on the leg rod, the leg rod is fixedly connected to the rotating shaft, and the clockwork spring is installed on the runner wheel. The spring is in the spring cavity and the mainspring is fixedly connected with the rotating wheel. After the rotating shaft passes through the rotating wheel and the mainspring spring, the two ends of the rotating shaft are respectively hinged on the hip belt, and the mainspring is fixedly connected with the rotating shaft.

[0102] The branch rotating piece includes a chest pad and a rotating plate that is installed on the chest pad and can r...

Embodiment 2

[0122] A parameter detection method of the passive exoskeleton device described in Embodiment 1, including a labor-saving coefficient detection method,

[0123] The passive exoskeleton device is provided with a labor-saving data capture analyzer. The labor-saving data capture analysis includes a single-chip microcomputer and a three-axis gyro sensor. The three-axis gyro sensor is connected to the single-chip microcomputer, and the three-axis gyro sensor sends the detected signal to the single-chip microcomputer.

[0124] The labor-saving parameter detection method is as follows:

[0125] The clockwork spring produces a fixed value: elastic coefficient k. When the human body bends down, the clockwork spring undergoes elastic deformation, which causes the clockwork spring stroke L to become longer. Therefore, the greater the bending angle ∠1 of the upper limb of the human body, the longer the spring stroke L will be. Larger, the larger the L, the larger the moment will be, so th...

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Abstract

The invention discloses a passive exoskeleton device and a parameter detecting method thereof. The passive waist power-assisting exoskeleton device comprises a hip belt, braces, hip joint power-assisting mechanisms and a supporting rod rotary sheet. The number of the hip joint power-assisting mechanisms is two, and the two hip joint power-assisting mechanisms are installed on the two sides of thehip belt separately. Each hip joint power-assisting mechanism comprises a leg pad, a leg rod, a rotary shaft, a power spring and a rotary wheel, wherein the leg pad is installed on the leg rod, the leg rod is fixedly connected with the rotary shaft, the power spring is installed in a spring cavity of the rotary wheel and fixedly connected with the rotary wheel, the two ends of the rotary shaft arehinged to the hip belt after the rotary shaft penetrates through the rotary wheel and the power spring, and the power spring is fixedly connected with the rotary shaft. The supporting rod rotary sheet comprises a chest cushion plate and a rotary plate, and the rotary plate is installed on the chest cushion plate and can rotate relative to the chest cushion plate. According to the passive exoskeleton device and the parameter detecting method thereof, the gravity energy of the upper part of a human body can be stored through the hip joint power-assisting mechanisms, and the effect of storing energy for the bending operation of the human body is achieved.

Description

technical field [0001] The invention relates to a wearable exoskeleton, in particular to a passive exoskeleton device and a parameter detection method thereof. Background technique [0002] In recent years, research on wearable exoskeletons has gradually emerged, with the aim of organically combining human flexibility, intelligence and machine robustness. It is mainly used in medical rehabilitation, industrial production, individual combat and other fields. [0003] There are many kinds of body-worn exoskeleton systems that have been announced so far. Their functions include improving the ability to walk with heavy loads, assisting in the handling of heavy materials, and rehabilitation of upper and lower limbs. Their common feature is that with the support of the power source, the human body signal is collected by the sensor and fed back to the control unit. After the logic processing of the control unit, an instruction is issued to make the power execution unit complete th...

Claims

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Application Information

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IPC IPC(8): B25J9/00A61H3/00B25J9/16
Inventor 杨靓胡欣钧尹鹏关培鑫郭伟行
Owner 广州海同工业技术有限公司
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