Flexible exoskeleton robot for assisting motion of hip joints and knee joints

Abstract

The invention discloses a flexible exoskeleton robot for assisting motion of hip joints and knee joints. The robot comprises a pneumatic control system, a left leg hip joint flexible assistance assembly, a right leg hip joint flexible assistance assembly, a left leg knee joint flexible assistance assembly, a right leg knee joint flexible assistance assembly and the like. Negative-pressure contraction elastomer drivers are adopted as driving elements of the left leg hip joint flexible assistance assembly and the right leg hip joint flexible assistance assembly and form linear displacement and elastic application force under a negative pressure effect; negative-pressure rotation elastomers are adopted as driving elements of the left leg knee joint flexible assistance assembly and the right leg knee joint flexible assistance assembly and generate rotation torque under the negative pressure effect. The pneumatic control system processes user gait data collected and fed back by a detectionand information sending module in real time, controls the negative-pressure loading and unloading process of the negative-pressure contraction elastomer drivers and the negative-pressure rotation elastomers in real time and provides assistance for the hip joints and the knee joints according to a gait rule in the walking process.

Description

technical field [0001] The invention belongs to the technical field of flexible exoskeleton robots and lower limb exoskeletons, and in particular relates to a flexible exoskeleton robot that assists the movement of hip joints and knee joints. Background technique [0002] It is one of the important scientific goals of interdisciplinary basic research such as robotics to repair and enhance human movement ability with engineering scientific methods. The lower limb robot exoskeleton is the carrier of this important scientific research and carries the scientific connotation of smart equipment design and manufacturing. , has become a frontier research field that is prioritized by developed countries such as the United States and the European Union. [0003] At present, the well-known lower extremity exoskeletons at home and abroad include: the HAL series hybrid leg robot exoskeleton jointly researched by Professor Yoshiyuki Sanki of the University of Tsukuba and his research team...

AI Technical Summary

Problems solved by technology

However, the current battery energy can only last for a few hours at most. Once the battery is out of power, for the elderly, they simply cannot bear so many additional items.

In addition, aerodynamic or hydraulic energy sources are not suitable because of their large volume and other reasons.

[0007] (2) Poor comfort and convenience

[0008] At present, the development of lower extremity exoskeletons focuses on the realization of functions, but the design in terms of wearing comfort and convenience is not good enough, and it cannot be put on and taken off freely and quickly.

[0009] (3) Lack of psychological identity

[0011] (4) There is a danger of mechanical inertia

[0012] The lower extremity exoskeleton in the form of a rigid frame armor mechanical structure will produce mechanical inertia when braking, which may cause inertial injuries, and is not suitable for elderly people with weak walking ability who need partial walking assistance, and patients with knee joint injuries and knee arthritis

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