Light-weight rope-driven intelligent ankle joint exoskeleton system

Abstract

The invention discloses a light-weight rope-driven intelligent ankle joint exoskeleton system, which comprises a smart phone, an exoskeleton main body part and a control box part, wherein the smart phone gets communication with the control box part via wireless signals, so that human body motion data is acquired and human body motions are monitored; and command signals are transmitted to the control box part, so that the exoskeleton main body part can implement corresponding motion modes or actions. According to the light-weight rope-driven intelligent knee joint exoskeleton provided by the invention, calf exoskeletons and foot exoskeletons are processed by 3D printing, and the exoskeleton, which is made from such materials as nylon, resin and the like, has the advantages of being light inweight and low in inertia in comparison with exoskeletons of conventional metal skeletons; and according to the light-weight rope-driven intelligent knee joint exoskeleton which is subjected to Bowden cable driving, a motor, a speed reducer and the like can be kept in the control box and can be bound around the waist of a user, so that the weight of the leg exoskeletons is further reduced.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a lightweight rope-driven intelligent ankle joint exoskeleton system, which can be applied to lower limb rehabilitation training and lower limb assisted walking. Background technique [0002] Stroke is a worldwide disease with high morbidity, and its existence has seriously affected human life and health. According to statistics, there are more than 7 million stroke patients in my country, and the number continues to grow at a rate of 2 million per year. Stroke has a serious impact on walking function. According to analysis, nearly 2 / 3 of stroke survivors will lose their walking ability. Among them, the main manifestations of the patient's ankle joint are paralysis and weakness of the tibialis anterior muscle and lateral muscle group of the calf, and muscle spasms in the rear side, which will lead to unstable gait, reduced pace, and even cause the patient to fall duri...

AI Technical Summary

Problems solved by technology

At present, researchers at home and abroad are mainly focusing on the rigid exoskeleton with a metal skeleton, and mainly consider the drive of the hip joint and knee joint, ignoring the important role of the ankle joint.

In addition, since its mechanical body is mainly composed of metal components, most of these exoskeletons are heavy and consume a lot of energy, which seriously affects its use effect

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