Gravity-change-driven lower-limb exoskeleton robot

An exoskeleton robot and a technology for changing the center of gravity, which is applied in the field of rehabilitation robots and can solve problems such as no power assistance and heavy weight
CN108852756AInactive Publication Date: 2018-11-23UNIV OF SHANGHAI FOR SCI & TECH
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
UNIV OF SHANGHAI FOR SCI & TECH
Publication Date
2018-11-23
Estimated Expiration
Not applicable Β· inactive patent

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Abstract

The invention relates to a gravity-change-driven lower-limb exoskeleton robot. A battery, a driver and a central processing unit are installed in a back module, and the back module is fixedly connected with a back supporting frame module together; the two sides of a supporting frame of the back supporting frame module are rotationally connected with thigh rod pieces through shafts respectively, the two thigh rod pieces are connected together through a back cable, the thigh rod pieces rotate around the shafts through thigh gravity changes in the walking process, and therefore bending and extending of the hip joint are driven; knee-joint motor modules are fixedly connected with the lower portions of the thigh rod pieces; motors in the knee-joint motor modules are connected with output shaftsthrough harmonic reducers and torque sensors, and the output shafts are connected with upper rod pieces of shank rod pieces through keys so that bending and extending of the knee joint can be driven.Bending and extending of the hip joint are driven by the gravity changes, and bending and extending of the knee joint are driven by the motors. Through the structure, compared with a commercialized lower-limb exoskeleton robot, the weight is reduced, and using of energy is also saved.
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Description

technical field

[0001] The invention relates to a lower extremity exoskeleton robot, in particular to a lower extremity exoskeleton robot driven by changing the center of gravity of the hip joint and driven by a knee joint motor, belonging to the technical field of rehabilitation robots. Background technique

[0002] With the aging of the population, the number of paraplegia and hemiplegia patients is increasing year by year. Lower limb exoskeleton robots have gradually become a research hotspot. It can assist users in standing, walking and rehabilitation training, so that users can gradually restore limb functions. Lower extremity exoskeleton robots can enable patients to receive adequate rehabilitation training, reduce the work intensity of rehabilitation therapists, reduce rehabilitation costs, and reduce family and social burdens.

[0003] Application number 201410735565.4 proposes a lower extremity exoskeleton robot for assisting walking, which is characterized in that ...

Claims

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