A rehabilitation lower extremity exoskeleton

Abstract

The invention relates to a rehabilitation-type lower limb exoskeleton. The rehabilitation-type lower limb exoskeleton comprises a back frame module and exoskeleton mechanical legs which are symmetrically arranged at the left and right sides of the back frame module and are of the same structure; the exoskeleton mechanical leg at each side comprises a hip joint driver module, a thigh adjusting module, a knee joint driver module, a shank adjusting module, an ankle joint passive driver module and a sensing shoe, the hip joint driver module, the thigh adjusting module, the knee joint driver module, the shank adjusting module, the ankle joint passive driver module and the sensing shoe are connected in sequence from top to bottom, and the back frame module is connected with the exoskeleton mechanical legs at both sides separately. Compared with the prior art, the rehabilitation-type lower limb exoskeleton has the advantages that the force transmissibility and response performance are good, the flexibility and wearability are high, the rehabilitation-type lower limb exoskeleton is convenient to mount, dismount and replace, easy to control, exquisite in size and low in mass, and has a small requirement for driving power, and high wearability.

Description

technical field [0001] The invention relates to the technical field of rehabilitation robots, in particular to a rehabilitation lower extremity exoskeleton that adopts a motor and a connecting rod mechanism to assist in hip joints and knee joints. Background technique [0002] The current rehabilitation lower extremity exoskeleton robot is a typical power-assisted device worn on the outside of the user's body. It provides driving force for the joints of the lower limbs through power sources such as motors, hydraulic pumps, and air pumps, and transmits the gravity of the man-machine system through the mechanical legs of the exoskeleton. To the ground, it provides power assistance and protective support for the wearer to walk, go up and down stairs and other lower limb movements. At the same time, the rehabilitation lower limb exoskeleton integrates key technologies such as sensing, signal acquisition and processing, gait recognition, and motion control. Angle, pressure, torqu...

AI Technical Summary

Problems solved by technology

[0004] At present, wheelchairs and other wheeled walking aids are the main way for patients to travel. This wheeled device moves smoothly and fast, but it is not suitable for going up and down stairs, avoiding obstacles, etc. The ability to train, the rehabilitation lower extremity exoskeleton is a power-assisted device that helps the human body recover and improve the motor function of the lower limbs. It can provide the wearer with lower limb rehabilitation training and reduce the exercise intensity of the human body when walking. Sports provide sufficient power assistance and support protection, but most of the existing lower extremity exoskeleton joint actuators are directly arranged at the joints, resulting in large inertia at the end of the lower extremities and bloated volume, which not only increases the demand for driving power, but also increases the patient's self-wearing. difficulty

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