Lower limb exoskeleton structure integrated with self-adaptive knee joints and robot

Abstract

The invention relates to the technical field of automation and specifically discloses a lower limb exoskeleton structure integrated with self-adaptive knee joints and a robot. A lower limb exoskeletonsystem comprises thigh supports, a first driving mechanism, adapters, rotating shaft slide blocks, a second driving mechanism and shank assemblies; the first driving mechanism is used for driving thethigh supports to rotate relative to the adapters; the rotating shaft slide blocks are rotatably coupled to the shank assemblies, the shank assemblies are adjustable in length, and the second drivingmechanism is mounted on the adapters and used for driving the rotating shaft slide blocks to execute reciprocating linear motions. By means of the combination of the rotational motion and the reciprocating linear motion modes, the positions of the thigh supports and the rotating axes of the adapters can be adjusted in real time, namely the rotating axes are endowed with the capability of aligningto rotating shafts of the knee joints of the human in real time, the human-machine compatibility is improved, it is ensured that the rotating axes of the human-machine knee joints can be aligned simultaneously when the patient uses the structure, and accordingly the problems of wearing discomfort and soft tissue contusion off the patient are effectively avoided.

Description

technical field [0001] The invention relates to the technical field of automation, in particular to a lower extremity exoskeleton structure and a robot that fuses and adapts knee joints. Background technique [0002] With the advancement of science and technology, robot technology has developed rapidly. Relevant robot technology has also been introduced into human rehabilitation training to reduce or even replace the heavy work of rehabilitation physicians. Since there is no fatigue problem in the robot, the robot rehabilitation can meet the high-intensity training requirements. [0003] In the prior art, the design of most lower limb exoskeleton robots simplifies the adaptive knee joint into a fixed hinge structure, and the position of the rotation axis is fixed on the sagittal plane of the joint. When the human knee joint completes the flexion and extension movement on the sagittal plane, the femoral condyle and the tibial plateau are accompanied by forward and backward ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a lower extremity exoskeleton structure and a robot that fuses an adaptive knee joint, so as to solve the problem that the knee joint of the lower extremity exoskeleton robot in the prior art can only play a role of rotation and does not have the function of forward and backward translation

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