Wearable upper limb bionic flexible exoskeleton robot and power-assisted method thereof

Abstract

The invention relates to a wearable upper limb bionic flexible exoskeleton robot and a power-assisted method thereof. A node pair is arranged at the skin corresponding to two end points of each skeletal muscle of a human body, and the node pairs are connected to each other through pull lines; a control system includes a controller, a motor driver, a motor and a power supply; the controller is connected to the motor through the motor driver and sends a control command to the motor; the motor can be driven to work through the motor driver; the power supply can supply power for the control system; and the pull lines are wound on a winding wheel of the output end of the motor, so that pull output can be performed on the node pairs. A flexible exoskeleton technology is adopted; the modeling ofbones and muscle of human body movement can be realized based on the principles of bionics and sports biomechanics; based on a self-skeletal structure of the human body, the pull lines can be utilizedto simulate skeletal muscle, and a flexible strap can be utilized to simulate tendons, so that the structure of the device can have motion configuration similar to the human body; and a driving modecan accord with a human body driving principle, so that the motion of a wearer can accord with a human body normal mode; and the robot is portable in structure and can be daily worn.

Description

technical field [0001] The invention relates to the field of wearable robots, in particular to a wearable upper limb bionic flexible exoskeleton robot and an assisting method thereof. Background technique [0002] In the modern military field, soldiers often experience muscle fatigue when they are under heavy load or maintaining posture for a long time; normal people often cause muscle fatigue due to repetitive movements in life or work; and for disabled or elderly people with insufficient muscle strength , It is impossible to realize basic daily movements such as raising the arm and grasping. [0003] Existing exoskeleton power-assisted robots are mostly rigid components, which interfere with joint movement, causing the wearer to deviate from the natural movement mode. At the same time, the large inertia of the rigid component and the cumbersome adjustment mechanism increase the wearer's metabolism and wearing system. cost, compromising the wearer's flexibility of movement...

AI Technical Summary

Problems solved by technology

[0002] In the modern military field, soldiers often experience muscle fatigue when they are under heavy load or maintaining posture for a long time; normal people often cause muscle fatigue due to repetitive movements in life or work; and for disabled or elderly people with insufficient muscle strength , unable to achieve basic daily movements such as arm raising and grasping

[0003] Existing exoskeleton power-assisted robots are mostly rigid components, which interfere with joint movement, thereby causing the wearer to deviate from the natural movement mode. At the same time, the large inertia of the rigid component and the cumbersome adjustment mechanism increase the wearer's metabolism and wearing system. cost, impairs the wearer's flexibility of movement

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