Wearable lower limb exoskeleton rehabilitation robot

Abstract

Provided is a wearable lower limb exoskeleton rehabilitation robot, which comprises a waist-hip joint device, a legs continuous adjusting device, and an ankle joint-foot device, wherein the waist-hipjoint device comprises three degrees of freedom of fore-and-aft flexion and extension, inside-and-outside extension and inside-and-outside rotation, so that flexibility of motions and comfort of wearing are improved, diversity of motion gait is increased, and comprehensiveness of rehabilitation training strategies is improved; the legs continuous adjusting device adopts a positive and negative screw rod continuous adjusting mode, so that a matching accuracy between a human body and the exoskeleton robot and use efficiency of a motor are improved, abrasion of parts of the exoskeleton robot is reduced, and service life of the exoskeleton robot is prolonged; and the ankle joint-foot device reduces impact caused by external force on the ankle joint, and functions of saving labor and automatically resetting are achieved; and a buffer structure of the foot structure can reduce rigid impact force formed by ground reflection, so that the exoskeleton robot body is protected, and the comfort ofa wearer is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a wearable lower limb exoskeleton rehabilitation robot. Background technique [0002] The existing lower limb exoskeleton rehabilitation robot hip joint structure only includes one degree of freedom in front and rear flexion and extension, which does not meet the design requirements for realizing the three degrees of freedom of human hip joints in front and rear flexion and extension, internal and external retraction, and internal and external rotation. A single degree of freedom cannot improve the performance of motion. Flexibility and wearing comfort, let alone the diversity of human movement gait and the comprehensiveness of rehabilitation training strategies, the applicability of exoskeleton rehabilitation robots will be further reduced. [0003] The existing exoskeleton robot leg adjustment telescopic mechanism adopts the method of manual interval adjustment, which leads to p...

AI Technical Summary

Problems solved by technology

[0002] The existing lower limb exoskeleton rehabilitation robot hip joint structure only includes one degree of freedom in front and rear flexion and extension, which does not meet the design requirements for realizing the three degrees of freedom of human hip joints in front and rear flexion and extension, internal and external retraction, and internal and external rotation. A single degree of freedom cannot improve the performance of motion. Flexibility and wearing comfort, let alone the diversity of human movement gait and the comprehensiveness of rehabilitation training strategies, the applicability of exoskeleton rehabilitation robots will be further reduced

[0003] The existing exoskeleton robot leg adjustment telescopic mechanism adopts the method of manual interval adjustment, which leads to poor matching between the human body and the exoskeleton robot, reduces the comfort of human body wearing and the flexibility of movement, and to a certain extent The efficiency of the motor is lost and the service life of the exoskeleton robot is reduced

[0004] Existing exoskeleton rehabilitation robot ankle-foot structure mostly adopts an integrated steel plate rigid structure, which lacks bionic design for ankle joint rotation structure and foot cushioning principle, which greatly reduces the flexibility of movement and wearing comfort. Moreover, it cannot adapt to other unknown unstructured environmental grounds. The integrated steel plate structure design reduces the integration degree of sensors, reduces the possibility of human-machine coupling, and reduces the contact area and degree of contact, reducing the stability and reliability during motion.

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