A soft lower limb assist exoskeleton

Abstract

The invention provides a soft lower limb power-assisted exoskeleton, which includes waist wearable clothes, leg wearable clothes, foot wearable clothes, straps, control device, power supply device, transmission device and detection device; the control device includes a motor unit and a drive wheel, the foot wear includes a foot wear and an ankle wear, and the transmission device includes a first transmission part and a second transmission part. In the present invention, the first transmission part is fixedly connected to the instep wearable, the second transmission part is fixedly connected to the ankle wearable, and the motor unit can be released while being retracted into the first transmission part. The second transmission part assists the dorsiflexion movement of the ankle joint; while the motor unit releases the first transmission part, it can retract the second transmission part to assist the plantar flexion movement of the ankle joint, avoiding the existing technology The soft lower extremity exoskeleton in the study cannot effectively meet the assisting needs of users with hemiplegia or functional impairment of the foot.

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

Images