Lower limb exoskeleton power assisting device and control method thereof

A power-assisted device and control method technology, applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve the problems of limited improvement of human sports performance, bulky power system, inconvenient wearing, etc., to achieve human strength and sports performance , reduced volume and production materials, accurate and reliable detection methods

Pending Publication Date: 2018-06-01
水逸阳
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, the knee joint power-assisted exoskeleton is mainly composed of elastic materials without external power, and its assistance to human movement is very limited; the weight-bearing lower limb exoskeleton is rigidly supported, powered by springs and hydraulic systems, and its power system is bulky and inconvenient to wear ; Assisted walking soft exoskeleton simulates the stretching of human muscles, driven by elastic bandages and steel wire retractors, in order to achieve the purpose of reducing the

Method used

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  • Lower limb exoskeleton power assisting device and control method thereof
  • Lower limb exoskeleton power assisting device and control method thereof
  • Lower limb exoskeleton power assisting device and control method thereof

Examples

Experimental program
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Embodiment 1

[0052] This embodiment is a preferred form of a lower limb exoskeleton assisting device and a control method thereof.

[0053] like figure 1 As shown, the lower limb exoskeleton assisting device in this embodiment includes a left leg assisting device and a right leg assisting device at the same time, and the left leg assisting device and the right leg assisting device have the same structure; each leg The booster devices all include a pneumatic system, a foot fixing part 1, a calf connecting part 2, an ankle fixing part 3, a calf fixing part 4, a thigh fixing part 5, and a thigh root fixing part 6.

[0054] In this embodiment, the foot fixing part 1 is a clamping device that can be embedded in the bottom of the wearer's shoe, and it includes a transverse bar that is fixedly connected with the connecting part of the calf. An inner moving rod that moves and has a limit device. The end of each inner sliding rod is provided with a foot clamping rod connected thereto. Limiting fo...

Embodiment 2

[0063] This embodiment is an alternative embodiment of Embodiment 1. Compared with the booster device in Embodiment 1, this embodiment also includes a control system, and the control system includes at least one sensor, a data acquisition device, and a data analysis device. The data analysis device is used to output the control signal to the pneumatic system. In this embodiment, the sensors used are potential angle sensors, gyroscope acceleration sensors, and EMG myoelectric sensors; the outside of the ankle fixing part 3 is provided with a potential angle sensor for the angle detection of the ankle joint; the thigh The outside of the bottom of the fixing part 5 is provided with a potential angle sensor for the angle detection of the knee joint; the acceleration sensor and the myoelectric sensor close to the thigh wall are arranged on the inside of the middle and upper part of the fixing part 5 of the thigh; The inner side of the fixing part 4 is provided with an acceleration ...

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Abstract

The invention relates to a lower limb exoskeleton power assisting device. The lower limb exoskeleton power assisting device comprises at least one of a left leg power assisting device body and a rightleg power assisting device body. Each leg power assisting device body comprises a pneumatic system, a foot fixing part, a crus connection part, an ankle fixing part, a crus fixing part, a thigh fixing part and a thigh root fixing part, wherein the foot fixing part is fixedly connected with the crus connection part; the crus connection part is movably connected with the crus fixing part through afirst pneumatic piston; the crus fixing part partially downwards extend and is connected with the ankle fixing part; the crus fixing part is movably connected with the thigh fixing part through a second pneumatic piston; and the thigh fixing part is movably connected with the thigh root fixing part through a third pneumatic piston and a fourth pneumatic piston. The invention further relates to a control method of the lower limb exoskeleton power assisting device. The lower limb exoskeleton power assisting device aims to simulate the effect of the human muscle action, a compressed air cylinderis installed at the leg part, the movement intention is read through a precision control sensor, proper assistance is given at the proper time, and improvement of human body strength and exercise performance is achieved.

Description

technical field [0001] The invention relates to an exoskeleton device, in particular to a lower limb exoskeleton assisting device and a control method thereof. Background technique [0002] The exoskeleton integrates sensing, control, information, fusion, and mobile computing to provide the operator with a wearable mechanical mechanism. Exoskeletons are wearable machines that augment the human body, helping people run faster, jump higher, and carry more and heavier objects. At present, wearable exoskeletons are widely used in many fields such as medical rehabilitation, industrial production and military applications. [0003] At present, the more common wearable lower extremity exoskeletons include: knee-assisted exoskeleton, weight-bearing lower extremity exoskeleton, walking-assisted soft exoskeleton, and medical lower extremity rehabilitation exoskeleton. Among them, the knee joint power-assisted exoskeleton is mainly composed of elastic materials without external power...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/14B25J9/16B25J13/08
CPCB25J9/0006B25J9/14B25J9/1602B25J13/087
Inventor 水逸阳
Owner 水逸阳
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