A hip-joint wearable lower limb exoskeleton robot

Abstract

A wearable lower extremity exoskeleton robot of the present invention includes: a back bracket and servo rotating platforms symmetrically arranged on both sides of the back bracket, a hip joint mechanism, a thigh mechanism, a knee joint mechanism, a calf mechanism and smart shoes; a back bracket There are inertial sensors and controllers on the top, and the back bracket is connected to the base of the servo rotating platform; the rotating body of the servo rotating platform is connected to the hip joint mechanism around the vertical axis; the thigh mechanism rotates around the horizontal axis through the hip joint mechanism and the back mechanism connection, the calf mechanism is connected with the thigh mechanism around the horizontal axis through the knee joint mechanism, and the lower end of the calf mechanism is connected with the smart shoe through a wiring hose, and a pressure sensor is provided at the bottom of the smart shoe; the signals of the inertial sensor and the pressure sensor pass through the control The controller is sent to the servo rotation platform, hip joint mechanism and knee joint mechanism to realize leg assist during walking. The movement process of the robot and the human body have good followability, and it conforms to the principle of human bionics.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots, and in particular relates to a wearable lower limb exoskeleton robot for hip joints. Background technique [0002] With the development of economy and technology, robotics has attracted more and more attention. Wearable lower extremity exoskeleton robot, as a high-tech product that has been in the research and development stage but not popularized, has many technical difficulties that need to be overcome. The hip joint is the most load-bearing joint in the human body, and the design of the corresponding exoskeleton hip joint structure is also particularly important. At present, the hip joint structure of most wearable lower limb exoskeleton robots is relatively complex or only drives the movement of the human thigh in the sagittal plane. The complex structure leads to increased weight and reduced efficiency of the exoskeleton robot. A single degree of freedom As a result, the exoskel...

AI Technical Summary

Problems solved by technology

At present, the hip joint structure of most wearable lower limb exoskeleton robots is relatively complex or only drives the movement of the human thigh in the sagittal plane. The complex structure leads to increased weight and reduced efficiency of the exoskeleton robot. A single degree of freedom As a result, the exoskeleton robot has poor followability to the human body, which will affect the comfort of wearing and the flexibility of movement

Images