Soft lower limb assisted exoskeleton

Abstract

The invention provides a soft lower limb assisted exoskeleton. The soft lower limb assisted exoskeleton includes a waist wear suit, a leg wear suit, a foot wear suit, a strap, a control device, a power supply device, a transmission device and a detection device, wherein the control device includes a motor unit and a driving wheel, the foot wear suit includes a foot face wear suit and an ankle wearsuit, and the transmission device includes a first transmission portion and a second transmission portion. The soft lower limb assisted exoskeleton is advantaged in that the first transmission portion is fixedly connected with the foot face wear suit, the second transmission portion is fixedly connected with the ankle wear suit, a motor unit can release the second transmission portion to assist dorsiflexion movement of the ankle joint while receiving the first transmission portion, the motor unit can receive the second transmission portion to assist plantar flexion movement of the ankle jointwhile releasing the first transmission portion, and a problem of the inability to effectively meet assisting needs of users with foot hemiplegia or foot function damage in the prior art is solved.

Description

technical field [0001] The invention relates to the technical field of exoskeleton robots, in particular to a soft lower limb power-assisted exoskeleton. Background technique [0002] The soft lower limb power-assisted exoskeleton is a wearable power-assisted device designed for people with lower limb motor dysfunction. It can correct and improve abnormal gait and better match with human motion. Among them, the main task of the transmission device is to execute the operation instructions issued by the lower limbs to assist the exoskeleton, assist the movement of the lower limbs, and realize the normal walking of the human body. Since lower limb walking is a coherent and complex periodic action involving the linkage of multiple human body parts such as hip joints, thighs, calves, ankle joints and feet, the transmission device should be able to control the gait of the lower limbs during this process. Real-time monitoring, and then apply reasonable auxiliary force to the key p...

AI Technical Summary

Problems solved by technology

However, in this invention patent application, a drive mechanism including a screw motor is used to drive the movement of the Bowden wire unit. The drive mechanism is large in size and weight, and the load on the user is heavy, and it cannot assist the dorsiflexion of the ankle joint. For users with weakened functions, it is easy to have the problem of poor power assist effect

[0005] Therefore, it is necessary to develop a new type of soft lower limb power-assisted exoskeleton to solve the problem that the flexible wearable devices in the prior art are not effective in assisting users with weakened ankle functions

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