A passive exoskeleton device with hip and knee joints based on clutch time-sharing control

Abstract

The invention belongs to the technical field of lower extremity exoskeleton, and specifically discloses a passive exoskeleton device with hip and knee double joints based on clutch time-sharing regulation, including a waist support assembly, a connecting assembly, a thigh assembly, a clutch assembly, a calf assembly and an elastic element assembly , the waist support assembly is used to fix on the waist, two sets of connection assemblies are arranged symmetrically on both sides of the support assembly, two sets of thigh assemblies are provided and connected with two sets of connection assemblies respectively, two sets of clutch assemblies are provided and installed on On the two sets of thigh assemblies, two sets of calf assemblies are arranged symmetrically below the two sets of thigh assemblies, and two sets of elastic element assemblies are arranged symmetrically. The invention can assist the movement of the knee joint and the hip joint, improve the energy utilization efficiency and reduce the consumption of metabolic energy for walking.

Description

technical field [0001] The invention belongs to the technical field of lower extremity exoskeleton, and more specifically relates to a passive exoskeleton device with hip and knee double joints based on clutch time-sharing regulation. Background technique [0002] Although the emergence of wheeled vehicles such as cars and trains has greatly facilitated people's travel, they are easily restricted by terrain conditions. Human beings still walk about 10,000 steps a day on average. Walking is irreplaceable in people's daily life. . However, due to a large amount of soft tissue friction inside the human body, air damping, and shoe sole sliding friction, the movement efficiency of human walking is not high. At the same time, the muscle fatigue caused by long-term walking will reduce people's exercise ability and cause inconvenience in daily life. Therefore, it is of great scientific research significance and practical value to develop a lower extremity exoskeleton device that c...

AI Technical Summary

Problems solved by technology

[0004] At present, a variety of lower limb passive exoskeleton devices have been developed in China to assist walking, running and jumping, but there are very few lower limb passive exoskeletons that can successfully improve walking efficiency and reduce walking metabolic energy consumption

The passive exoskeletons developed so far that can reduce metabolic energy consumption are all single-joint exoskeletons, and most of them are aimed at the ankle or hip joints that do more positive work during walking, completely ignoring the kinematic function of the knee joint and The movement coordination relationship of the entire lower limbs severely limits the movement assistance function of the passive exoskeleton of the lower limbs, and it is difficult to further improve the utilization efficiency of human metabolic energy

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