Wearable hip joint exoskeleton rehabilitation device

Abstract

The invention discloses a wearable hip joint exoskeleton rehabilitation device and relates to the field of lower limb power assisting instruments. The device comprises a waist structure, connecting rod parts and thigh structures, wherein the waist structure is of a hollow cylinder structure and sleeves the waist of the human body; the thigh structures are both of a hollow cylinder structure and sleeve the thigh positions of the human body; the waist structure is horizontally arranged, and the two thigh structures are horizontally arranged below the waist structure; the outer sides of the two thigh structures are fixedly connected with the outer sides of the horizontal ends of the waist structure through the connecting rod parts. A series mechanism design is adopted, a man-machine motion compatibility theory is applied, and a man-machine joint closed chain is constructed to reduce the hindering internal force between a man and a machine; meanwhile, the mechanism form is simplified, andthe overall size and mass of the device are reduced.

Description

technical field [0001] The invention relates to the field of lower limb assisting devices, in particular to a wearable hip joint exoskeleton rehabilitation device. Background technique [0002] The lower limb assist device is a wearable mechanical system that connects the waist and legs of the human body through a mechanical structure, and then uses the driver to provide assistance or rehabilitation force / torque to the human joints. The hip joint is a weighing joint of the human body, and it is very easy to cause injury when participating in walking, running and other sports. The injured hip joint will seriously affect the patient's walking function. [0003] At present, the research on wearable hip exoskeleton rehabilitation robots is still in its infancy, and it can be divided into two categories: parallel and series in terms of mechanical structure. Among them: the parallel design scheme can flexibly assist the rehabilitation of the three-degree-of-freedom movement func...

AI Technical Summary

Problems solved by technology

Among them: the parallel design scheme can flexibly assist the rehabilitation of the three-degree-of-freedom movement function of the hip joint, but usually the arrangement of the connecting rods is not compact enough, the volume and weight are large, and it will cause a large load when worn on the patient; the series design scheme is small in size , but it has not been considered how to eliminate the obstructive internal force between the man-machine caused by the misalignment of the joint shaft of the man-machine, which will cause discomfort during use

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