Lower limb assisting-type exoskeleton robot

Abstract

The invention discloses a lower limb assisting-type exoskeleton robot, which comprises a waist bandage, a hip supporting plate piece, a thigh portion and a flexible mechanism, wherein the hip supporting plate piece is of a hard structure; the waist bandage is fixedly connected to the upper side of the hip supporting plate piece; the lower side of the hip supporting plate piece obliquely extends down forwards, and a hip joint is arranged at the end of the lower side of the hip supporting plate piece; a thigh joint is arranged at the upper side of the thigh portion; the thigh joint is connectedto the hip joint by virtue of a rotating part, and the thigh joint can relate within a certain range relative to the hip joint by virtue of the rotating part; the flexible mechanism comprises a firstelastic part; one end of the first elastic part is connected to the hip joint, and the other end is connected to the thigh joint; and the first elastic par is in charge of offering a torque to a direction that the thigh joint can rotate forwards relative to the hip joint, namely the thigh portion can be lifted forwards. Based upon reasonable design of pre-tightening force of the first elastic part, a leg lifting action of a wearing person can be completed in a mode of saving muscular tension required by lifting the leg, and even in a mode of directly depending on flexibility of the first elastic part instead of any force provided by the wearing person.

Description

technical field [0001] The invention relates to an exoskeleton robot, which belongs to the field of human-assisted robots, and in particular to a lower limb-assisted exoskeleton robot. Background technique [0002] In daily life, people are often unable to walk normally due to reasons such as leg paralysis caused by stroke, or due to insufficient leg strength due to age, or carrying heavy loads, and cannot walk for a long time. Walking assistance equipment is needed to cooperate with human body movements. At present, most of the existing walking aids and joints of exoskeleton equipment are driven by motors, hydraulics, etc. These driving methods are complex in structure, heavy in weight, very inconvenient to wear, and require complex control algorithms to cooperate with human body movements, which is very difficult Manufacturing assembly. Moreover, the existing walking aids have stiff and discontinuous movements when taking a step, poor maneuverability, and poor smoothness ...

AI Technical Summary

Problems solved by technology

[0002] In daily life, people are often unable to walk normally due to reasons such as leg paralysis caused by stroke, or due to insufficient leg strength due to age, or carrying heavy loads, and cannot walk for a long time. Walking assistance equipment is needed to cooperate with human body movements. At present, most of the existing walking aids and joints of exoskeleton equipment are driven by motors, hydraulics, etc. These driving methods are complex in structure, heavy in weight, very inconvenient to wear, and require complex control algorithms to cooperate with human body movements, which is very difficult manufacturing assembly

Moreover, the existing walking aids are stiff, discontinuous, poor in maneuverability, and poor in smoothness and stability of their gait when they take a step.

Images