Lower limb external skeleton robot

A kind of exoskeleton robot and robot technology, which can be applied in the direction of equipment to help people walk, physical therapy, etc., and can solve the problems of low energy utilization efficiency and heavy mechanism weight

Pending Publication Date: 2019-01-29
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a wearable lower limb exoskeleton robot and its control method for the problems of low

Method used

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  • Lower limb external skeleton robot
  • Lower limb external skeleton robot
  • Lower limb external skeleton robot

Examples

Experimental program
Comparison scheme
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Example Embodiment

[0116] Example 1

[0117] Such as Figure 1-Figure 3 As shown, the skeletal robot with the exception of this embodiment includes a thigh supporting part 1, a shin supporting part 2, a foot supporting part 3 and a power chamber 4;

[0118] The thigh support part 1 and the shin support part 2 are connected by a set of joints, hereinafter referred to as "exoskeleton knee joint"; the shin support part 2 and the foot support part 3 are connected by a set of joints, hereinafter referred to as " Exoskeleton ankle joint"; the power chamber 4 is fixed on the side of the tibial supporting part 2.

[0119] The thigh support portion 1 includes a thigh front support plate 11, a thigh rear support plate 12, a thigh frame 13, a thigh gyroscope, and an acceleration sensor 16, and four thigh links 14, and thigh pressure There are 15 sensors and four.

[0120] The main body of the thigh frame 13 is ring-shaped, and the front thigh support plate 11 and the rear thigh support plate 12 are located on th...

Example Embodiment

[0133] Example 2

[0134] The embodiment of the present invention provides a control method for the exoskeleton robot described in the first embodiment. The control method includes a motion intention predictor, an energy harvesting estimator, an energy recovery trigger, a finite time convergence interference observer, and a non-singular terminal sliding mode controller. The specific steps are as follows.

[0135] In the first step, the embedded single-chip microcomputer uses the thigh pressure sensor 15 to separately collect the contact force F between the thigh and the front thigh support plate 11 and the rear thigh support plate 12. g1 , F g2 , F g3 , F g4 ; Using the tibial pressure sensor 25 to collect the contact force F between the tibia and the anterior tibial support plate 21 and the posterior tibial support plate 22 respectively j1 , F j2 , F j3 , F j4 ; Then according to the following formulas (1)-(4), the desired knee angle signal q reflecting the wearer's motion intentio...

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Abstract

The invention relates to a lower limb external skeleton robot. A thigh supporting part of the robot is connected with a shin supporting part of the robot; the shin supporting part is connected with afoot supporting part; a power chamber is fixed to the side of the shin supporting part; the thigh supporting part comprises a thigh front side supporting plate, a thigh rear side supporting plate, a thigh frame, a thigh gyroscope, an acceleration sensor, four thigh connection rods and four thigh pressure sensors; the power chamber is composed of a power chamber baseplate, a power chamber shell, acontrol cabin, an energy release device, a motor driving device and a knee joint driven body. According to the robot, the energy of a wearer in the walking process can be recycled and transmitted to the energy release device, the energy release device and the motor driving device provide assistance for walking of the wearer, and accordingly the aim of saving energy is achieved.

Description

technical field [0001] The invention relates to the technical field of auxiliary robots, in particular to a wearable walking aid lower extremity exoskeleton and a control method thereof. Background technique [0002] In the 21st century, China's aging population is gradually increasing. It is predicted that by 2050, China's elderly population will reach one-third of the total population. Inflammation of the knee joint is the most important condition in the joint diseases of the elderly. According to statistics, 10% of men and 13% of women over the age of 60 suffer from symptoms of arthritis. The knee joint pain caused by arthritis seriously affects the patient's walking ability, which brings many difficulties to the free travel of the elderly. Lower limb exoskeletons are a promising solution for sharing the weight on the knee joints and assisting walking. [0003] Lower extremity exoskeletons are generally divided into powered and unpowered forms. It cooperates with the we...

Claims

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Application Information

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IPC IPC(8): A61H3/00
CPCA61H3/00A61H2201/1207A61H2003/007A61H2201/165A61H2201/1642A61H2201/5071A61H2201/5084A61H2205/102
Inventor 陈玲玲马申宇宋晓伟王超
Owner HEBEI UNIV OF TECH
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