Variable stiffness lower limb external skeleton robot

Abstract

The invention discloses a variable stiffness lower limb external skeleton robot which comprised a back plate, a flexible waist adjusting mechanism, hip joint mechanisms, thighs, knee joint mechanisms,shanks, ankle joint mechanisms, two driving degrees of freedom and three driven degrees of freedom. A driving control system is arranged on the back plate, the flexible waist adjusting mechanism is fixed with the back plate and connected with the thighs through the hip joint mechanisms, and the thighs are connected with the shanks and the ankle joint mechanisms through the knee joint mechanisms.According to the variable stiffness lower limb external skeleton robot, driving is performed by the aid of a variable stiffness driver, so that the robot is smooth in movement and high in safety, physical structures of lower limbs of human bodies can be effectively fitted by the aid of the two driving degrees of freedom and the three driven degrees of freedom, length adjusting mechanisms are arranged at the waists, the thighs and the shanks, so that the robot can adapt to physical sizes of different users, and the robot is wearable and has flexibility in the movement by the aid of the flexiblewaist adjusting mechanism. The robot can be applied and popularized in aspects of rehabilitation training, boosting and the like.

Description

technical field [0001] The invention belongs to the field of human-assisted robots, and relates to a lower limb exoskeleton robot, in particular to a lower limb exoskeleton robot with variable stiffness. Background technique [0002] For people who are paralyzed or need assistance, lower limb exoskeleton robots can play a good role in rehabilitation training and assistance, and have been applied in clinical and military applications. [0003] Compared with the mature lower extremity exoskeleton robot technology abroad, domestic research started late, and there are common problems such as insufficient flexibility of the waist and joints, poor human-machine connection, and low motion consistency. [0004] After searching the existing technical literature, it was found that the Chinese invention patent application number 201310262919.3 discloses a wearable lower limb power-assisted exoskeleton robot, which mainly includes three parts of the hip joint, knee joint and foot exoske...

AI Technical Summary

Problems solved by technology

[0003] Compared with the mature lower extremity exoskeleton robot technology abroad, domestic research started late, and there are common problems such as insufficient flexibility of the waist and joints, poor man-machine connection, and low motion consistency.

[0004] After searching the existing technical literature, it was found that the Chinese invention patent application number 201310262919.3 discloses a wearable lower limb power-assisted exoskeleton robot, which mainly includes three parts of the hip joint, knee joint and foot exoskeleton structure, of which the hip joint There is only one degree of freedom of extension / contraction, which limits the working space of the exoskeleton, and the structure of the legs is complex, and the weight of the whole machine is heavy

[0005] China Invention Patent Application No. 200910088396.9, this technology discloses a wearable lower extremity exoskeleton device, which mainly includes three parts of hip joint, knee joint and foot exoskeleton structure, but its waist does not have flexible passive degrees of freedom, so that man-machine connection It is not smooth, and the joints are not flexible, and the driving method and its installation are not explained

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