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

Inactive Publication Date: 2018-11-23
UNIV OF SHANGHAI FOR SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problems of too many driving motors, heavy weight, and no power assistance when there is no motor drive in the current lower extremity exoskeleton, this invention proposes a lower extremity exoskeleton robot driven by center of gravity change. , Using the motor to drive the knee joint

Method used

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  • Gravity-change-driven lower-limb exoskeleton robot
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  • Gravity-change-driven lower-limb exoskeleton robot

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Embodiment Construction

[0023] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0024] Such as Figure 1 to Figure 7 As shown, the lower extremity exoskeleton robot driven by the center of gravity change of the present invention includes a back module 1, a back support frame module 2, a thigh bar 3, a knee joint motor module 4, a calf bar 5, an ankle joint module 6 and a foot module 7.

[0025] A battery 11 , a driver 12 and a central processing unit 13 are installed in the back module 1 , and are fixedly connected with the back support frame module 2 . The back support frame module 2 includes a support frame 21 , a back cable 22 and a shaft 23 . The thigh rod 3 includes an upper rod 31, a screw 32 and a lower rod 33. The upper rod 31 is connected to the back support frame module 2 through the shaft 23, and the back cable 22 connects the left and right thigh rods 3 together, thereby The change of the center of gravity during walking is used t...

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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.

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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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2201/1207A61H2201/1642
Inventor 喻洪流魏小东魏文韬曹武警霍金月孟青云
Owner UNIV OF SHANGHAI FOR SCI & TECH
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