Wearable lower limb exoskeleton rehabilitation robot

Abstract

The invention relates to a wearable lower limb exoskeleton rehabilitation robot. A hip joint component comprises a motor, a harmonic reducer and an output shaft, wherein the motor is connected with the output shaft by virtue of the harmonic reducer, the output shaft is connected with thigh components by virtue of keys, and motor torque is transmitted. The two thigh components are connected together by virtue of a mooring rope passing through a back component, and gravity center shift in a walking process is utilized for helping bulking and extension of each hip joint. The bulking and extensionof each hip joint are driven by adopting the motor and are helped by adopting the mooring rope, and the structure not only reduces weight of an exoskeleton but also converts potential energy of the gravity center shift in the walking process of a human body into kinetic energy of thighs swinging forward, so that energy loss is effectively reduced, and power consumption of the motor is reduced. Each knee joint is designed to be a four-bar mechanism, the stability of a standing phase and the flexibility of a swinging phase are guaranteed. A knee-ankle linkage mode enables a wearer to naturallybuckle the knee joints when swinging and automatically lock the knee joints when standing. A gas spring mechanism is adopted for providing help for conversion of sitting and standing postures.

Description

technical field [0001] The invention relates to a wearable lower extremity exoskeleton rehabilitation robot, especially a lower extremity exoskeleton robot that uses motors and cables on both sides of the hip joint to assist simultaneously, and the knee joint adopts a four-bar mechanism, which is locked in the standing phase and automatically unlocked in the swing phase. , belonging to the technical field of rehabilitation robots. Background technique [0002] The lower extremity exoskeleton robot is a bionic robot worn on the lower limbs of the human body. It integrates multidisciplinary knowledge such as robotics, mechanism, bionics, control theory, communication technology, and information processing technology. It also involves sensing and control. , information coupling, mobile computing and other technologies can also complete specific tasks under the user's manipulation. At present, the research on exoskeleton booster devices is gradually emerging, and has a wide ran...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the existing lower extremity exoskeleton problems such as too many driving motors, heavy weight, difficulty in adaptively adjusting the size of the exoskeleton, and no power assistance when there is no motor drive, this invention proposes a new type of wearable lower extremity exoskeleton rehabilitation robot. The lower extremity exoskeleton robot uses the motors and cables on both sides of the hip joint to assist simultaneously, the knee joint uses a four-bar mechanism and uses the knee-ankle linkage mechanism to lock in the standing phase and unlock in the swing phase, and the gas spring only assists when the posture changes from standing to sitting.

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