Artificial lower limb system based on pneumatic muscle
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A pneumatic muscle and muscle technology, applied in the field of bionic robots, to achieve the effect of compact structure, high power/mass ratio, and good flexibility
Inactive Publication Date: 2018-05-01
JIAXING UNIV
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Chinese patents 201510332488.2, 201510181494.2, and 201510434010.0 proposed the design of humanoid upper limb joints by means of muscle pairing, and Chinese patent 201410040899 proposed the use of regularly distributed hybrid mechanisms to design humanoid lower limb joints. Some human joint muscles are ignored, and still cannot be more realistic Simulate the distribution and drive of human joint muscles
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[0023] like Figure 1-4 As shown, a humanoid lower limb system based on pneumatic muscles includes pelvis 1, femur 2, obturator internal muscle 3, quadratus femoris 4, pectineus 5, adductor brevis 6, adductor magnus 7, adductor longus 8 , gluteus medius 9, piriformis 10, gluteus medius 2 11, gluteus maximus 12, iliopsoas 13, biceps femoris 14, adductor magnus 2 15, semitendinosus 16, semimembranosus 17, The first segment of the fibula 18, the connecting plate of the fibula muscle 19, the first soleus 20, the second soleus 21, the peroneus brevis 22, the anterior tibialis 23, the second segment of the fibula 24, and the foot 25.
[0024] Among them, the pelvis 1 is rotatably connected to the femur 2, and the two ends of the obturator internal muscle 3, the quadratus femoris 4, the pectineus 5, the adductor brevis 6, the adductor magnus 7, and the adductor longus 8 are respectively connected to the pelvis 1 by wire ropes. The inner side of the femur 2 can be rotatably connected...
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Abstract
The invention discloses an artificial lower limb system based on pneumatic muscle. Muscle of people is simulated by pneumatic muscle so as to drive hip joints, knee joints and ankle joints to move, and the artificial lower limb system has the function of completely simulating the movement of lower limbs of people. An artificial lower limb comprises a pelvis, a thighbone, a fibula, a foot, pneumatic muscle and a fibular muscle connecting plate, the pneumatic muscle which is used for simulating the effects of internal obturator muscle, quadratus femoris, pectineal muscle, breviductor, adductor magnus, musculi adductor longus, gluteus medius, piriformis, gluteus maximus and iliopsoas is used for driving the thighbone to bend, stretch, retract, extend and annularly rotate; biceps femoris muscle, adductor magnus, semitendinosus and semimembranosus are simulated to drive the thighbone and the fibula to bend, stretch, retract, extend and annularly rotate; soleus, short peroneal and tibialis anterior muscle are simulated to drive the foot to bend, stretch, retract, extend and annularly rotate; and musculi flexor pollicis longus, extensor longus pollicis, musculi flexor digitorum longus andextensor digitorum longus are simulated to drive five toes to bend and stretch. The artificial lower limb system has the advantages of compact structure, cleanness and good explosion-proof performance and can be used for medical diagnosis, teaching demonstration, exoskeleton rehabilitation training and athletic training of athletes.
Description
technical field [0001] The invention belongs to the technical field of bionic robots, and relates to a humanoid lower limb system based on pneumatic muscles. Background technique [0002] Pneumatic muscles have the advantages of high power / mass ratio, only affected by the air pressure factor, easy adjustment of stiffness, etc. At the same time, they have the advantages of compliance similar to human muscles, so aerodynamic muscles have a wide range of applications in the field of robotics. Chinese patents 201510332488.2, 201510181494.2, and 201510434010.0 proposed the design of humanoid upper limb joints by means of muscle pairing, and Chinese patent 201410040899 proposed the use of regularly distributed hybrid mechanisms to design humanoid lower limb joints. Some human joint muscles are ignored, and still cannot be more realistic Simulate the distribution and drive of human joint muscles. Contents of the invention [0003] The purpose of the present invention is to provi...
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