Semi-passive light-weight lower limb exoskeleton

Abstract

The invention relates to a semi-passive light-weight lower limb exoskeleton. The lower limb exoskeleton comprises a waist assembly and a pair of lower limb motion mechanisms arranged at the two ends of the waist assembly respectively; the waist assembly comprises a first baffle and a second baffle hinged to the first baffle, and the two lower limb motion mechanisms are connected with the first baffle and the second baffle and each comprises a hip joint driving assembly, a thigh assembly, a knee joint assembly, a shank assembly and an ankle assembly which are sequentially arranged on the corresponding waist assembly from top to bottom. Compared with the prior art, the light-weight and submissive design and the semi-passive driving mode are adopted, only the hip joints are driven actively, the knee joints and the ankle joints adopt the passive freedom degree, own energy of the human body is used fully, the gait meets that of the normal human body, the weight and size of the lower limb exoskeleton are obviously reduced, and the semi-passive light-weight lower limb exoskeleton is suitable for lower limb rehabilitation and assisted walk of people with light lower limb dysfunction.

Description

technical field [0001] The invention belongs to the technical field of human body bionic exoskeleton, and relates to a semi-passive lightweight exoskeleton for lower limbs. Background technique [0002] Lower limb walking is one of the important functions of the human body. Many neurological diseases such as stroke and spinal cord injury can cause lower limb movement disorders. In addition, injuries such as fractures and muscle injuries may also involve lower limb walking function. As a country with a large population, the number of patients with lower limb dysfunction cannot be underestimated. Therefore, the treatment and rehabilitation of lower limb dysfunction has received great attention. [0003] In the field of rehabilitation medicine, walking training is one of the important means in the rehabilitation of lower limb dysfunction. Medical rehabilitation training is based on the principle of brain plasticity, but it requires a lot of labor and a lot of nursing work. Fo...

AI Technical Summary

Problems solved by technology

Part of the design adopts the method of actively controlling at least all degrees of freedom of the hip joint and knee joint, which has the characteristics of multiple degrees of freedom and smooth motion, but there are problems of large weight and volume, high energy consumption and cost; some designs take into account For energy consumption and cost issues, the design adopts the active hip joint drive and hip-knee linkage design, which is close to the gait and significantly reduces energy consumption and cost, but also has the problems of large weight and volume and inconvenient use; there are also some The design only uses the degrees of freedom of three joints in the sagittal plane, which greatly simplifies the structure, but there is also the problem of less flexible motion

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