Lower limb exoskeleton robot system and its follow-up angle detection device and control method

An exoskeleton robot, angle detection technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of difficult disassembly and assembly, complex bearing structure, etc., to achieve the effect of low cost, simple connection method, and comfortable experience

Active Publication Date: 2020-08-14
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the complex structure of the bearing used for the connection between the binding rod and the knee joint, it is difficult to disassemble and assemble, and it is only suitable for exoskeleton robots with special structures

Method used

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  • Lower limb exoskeleton robot system and its follow-up angle detection device and control method
  • Lower limb exoskeleton robot system and its follow-up angle detection device and control method
  • Lower limb exoskeleton robot system and its follow-up angle detection device and control method

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specific Embodiment

[0059] like figure 2 As shown, this embodiment provides a lower limb exoskeleton robot system, including a lower limb exoskeleton robot and a follow-up angle detection device, wherein:

[0060] The follow-up angle detection device includes a housing 11 , a linear displacement sensor 12 , a slider 13 , a guide rail 14 , a first elastic member 15 , a second elastic member 16 , and a connecting plate 17 . The connecting plate 17 and the slide block 13 are threaded, and the slide block 13 is fixedly connected with the brush of the line displacement sensor 12. The slide block 13 slides along the guide rail 14 to drive the change of the resistance value of the line displacement sensor 12. In the initial state, the slider 13 is in the middle position of the guide rail 14 under the action of the first elastic member 15 and the second elastic member 16, the slider 13 moves to both sides of the guide rail, the length of the first elastic member 15 and the second elastic member 16 chang...

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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.

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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16B25J13/08
CPCB25J9/0006B25J9/1638B25J13/088
Inventor 朱晓荣刘旭亮周巍峰何程函刘宏伟
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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