Variable rigidity flexible driver for exoskeleton type lower limb rehabilitation robot

Abstract

The invention relates to a variable rigidity flexible driver for an exoskeleton type lower limb rehabilitation robot. The variable rigidity flexible driver comprises a support, a driving motor, an execution unit, a lead screw arranged between a lead screw bearing pedestal installing bottom plate and a lead screw bearing pedestal installing top plate, a lead screw nut movably connected to the lead,two springs connected to the top end and the bottom end of the lead screw nut, an end executive component fixedly connected with one spring, and a torsional spring transmission unit arranged betweenthe lead screw bearing pedestal installing top plate and a motor installing plate, and the two ends of the torsional spring transmission unit are fixedly connected with the driving motor and the top end of the lead screw. Compared with the prior art, due to the fact that elastic coefficients of two flexible components of the springs and the torsional spring are different, the rigidity of the driver is changed, and the purpose of simulating the sports effect of body muscle is achieved.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a variable stiffness flexible driver for an exoskeleton type lower limb rehabilitation robot. Background technique [0002] In recent years, robot technology has been developed rapidly and widely used. The development and application of robots in rehabilitation engineering is a very novel technology. It is to achieve a high degree of coupling between the human body and the exoskeleton. At the same time, in order to ensure the flexibility and safety of the human body and the exoskeleton, the actuator of the exoskeleton needs a certain degree of flexibility. However, at present, most of the exoskeleton rehabilitation robots are rigid mechanisms. When encountering the problem of poor cushioning, especially at the moment when the joint changes direction, a large impact force will be generated, which will affect the stability of the man-machine system. Especially in the rehabi...

AI Technical Summary

Problems solved by technology

[0002] In recent years, robot technology has been developed rapidly and widely used. The development and application of robots in rehabilitation engineering is a very novel technology. It is to achieve a high degree of coupling between the human body and the exoskeleton. At the same time, in order to ensure the flexibility and safety of the human body and the exoskeleton, the actuator of the exoskeleton needs a certain degree of flexibility. However, at present, most of the exoskeleton rehabilitation robots are rigid mechanisms. When encountering the problem of poor cushioning, especially at the moment when the joint changes direction, a large impact force will be generated, which will affect the stability of the man-machine system. Especially in the rehabilitation process of continuous walking, the continuous impact force will cause the body to damage, at the same time, the healing effect will also be affected

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