Wearable type electric driving assisting exoskeleton lower limb mechanism

Abstract

The invention discloses a wearable type electric driving assisting exoskeleton lower limb mechanism. The mechanism comprises a left leg, a right leg, motor-decelerator driving systems, and a power supply module. The structure of the left leg is the same as the structure of the right leg. The left leg and the right leg are symmetrically arranged on two sides of a waist. The motor-decelerator driving systems are arranged on active driving joints of the left leg and the right leg respectively and are used for controlling the active driving joints. Through the movement cooperation of the hip joints, the knee joints and the ankle joints, walking is finished. The mechanism has five freedom degrees. The hip joints have three freedom degrees including bending / stretching, externally extending / internally withdrawing and internal rotation / external rotation movement. Each knee joint has one freedom degree of bending / stretching movement. Each ankle joint has one freedom degree of bending / stretchingmovement. In addition, by considering the condition that when a person walks, the back part swings since the back is not perpendicular to the ground sometimes, so one freedom degree of bending / stretching movement is arranged on the back part. The mechanism is characterized in that the mechanism is simple in structure, convenient to wear, adjustable in length and suitable for wearing of persons with different heights and weights and flexible movement of all joints of the exoskeletons.

Description

technical field [0001] The invention relates to the field of robots, exoskeleton and power-assisted mechanism, and relates to a wearable electric-driven power-assisted exoskeleton lower limb mechanism. Background technique [0002] In the medical industry, for some patients who have just recovered from lower limb injuries (lower limb fractures, nerve injuries, etc.), it is still slightly difficult to act autonomously. In this case, it is necessary to develop a system that can recognize human body intentions to help Assisted exoskeleton mechanism for patients to perform rehabilitation training and autonomous action. [0003] In addition, the problem of aging in contemporary society is becoming increasingly prominent. The emergence of exoskeletons with the function of human body intention recognition can help the elderly to solve the problems of walking inconvenience and being unable to walk for a long time due to physical problems. [0004] The characteristic of power-assist...

AI Technical Summary

Problems solved by technology

[0004] The characteristic of power-assisted exoskeleton is that it requires cooperation with the wearer in various external environments, which requires researchers to solve the problem of human-computer integration in a random environment, including effective and reliable human-computer interaction, and rapid detection of human motion intentions. Response issues, light and flexible bionic structure design issues, safety issues of man-machine systems, etc. These technical issues are still in the initial stage of exploration and immature, and in-depth research is still needed

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