Lower limb exoskeleton robot system and follow-up angle detecting device and control method thereof

An exoskeleton robot, angle detection technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of complex bearing structure, difficult disassembly and assembly, etc., to achieve the effect of simple connection method, low cost and strong reliability
CN109048868AActive Publication Date: 2018-12-21BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
Publication Date
2018-12-21

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Abstract

The invention provides a lower limb exoskeleton robot system and a follow-up angle detecting device and a control method thereof, and belongs to the technical field of rehabilitation medical instruments. The device comprises a shell 11, linear displacement sensors 12, sliders 13 and guide rails 14, wherein the guide rails 14 are fixedly arranged on the shell 11, the shell 11 is used for being fixed onto the lower limbs of a lower limb exoskeleton robot, the sliders 13 are used for being fixed onto tying bands of the lower limb exoskeleton robot and slide on the guide rails 14 under the actionof external force, the guide rails 14 extend in the tangent direction of the tying bands, and the linear displacement sensors 12 are used for detecting the displacement of the sliders 13. The device is simple in structure and high in reliability. As the connecting mode of the sliders and the lower limb exoskeleton robot is simple, disassembly and change are facilitated. The device does not have special requirements on the structure of the exoskeleton robot, so that the device has the advantages of wide applying range and low cost.
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Description

technical field

[0001] The invention relates to a lower limb exoskeleton robot system, a follow-up angle detection device and a control method thereof, and belongs to the technical field of robots or rehabilitation medical devices. Background technique

[0002] The lower extremity exoskeleton robot can provide motion power for the wearer, improve human strength, enhance the sports ability of the disabled, and can also play a role in rehabilitation training. The follow-up detection device is mainly to obtain the interaction information between the exoskeleton robot and the human body, which is also a major difficulty in the application of the exoskeleton robot. The accuracy and effectiveness of the human-computer interaction follow-up detection is the key to ensure the soft follow-up of the exoskeleton robot. The essential.

[0003] At present, human-computer interaction follow-up detection methods include methods based on pressure sensors, methods based on airbag sensors, a...

Claims

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