A lower extremity exoskeleton robot with overload sliding function

Abstract

The invention provides a lower extremity exoskeleton robot with overload skidding function, wherein: the thigh supporting part is connected with a rotating power part at one end, and the other end is fixed at the rear side of the human thigh to fix the human thigh; the rotating power part is provided with a The rotating motor that outputs the rotational force drives the thigh support part to provide assistance to the human thigh; the overload slipping part drives the thigh support part to perform circular motion around the rotation axis of the human hip joint corresponding to the exoskeleton support, or realizes the rotation of the power part and the exoskeleton support The rotating and slipping motion is performed between them; the control part controls the work of the rotating power part according to the output torque value of the overload slipping part. The present invention can perform power assist function for human walking, and can also carry out rehabilitation training for stroke rehabilitation, and assist the hip joint strength with a certain torque. When the torque exceeds a certain value, the hip joint will be slipped to protect the motor and increase the flexibility with human movement.

Description

technical field [0001] The invention relates to a lower limb exoskeleton robot, in particular to a lower limb exoskeleton robot with an overload skidding function. Background technique [0002] At present, the connection between walking aids and stroke rehabilitation lower extremity exoskeleton robots and the human body relies on joint motors to provide torque output. The connection is too rigid, and when the torque is too high, the rotating motor will be overloaded and generate heat. Contents of the invention [0003] In view of the defects in the prior art, the object of the present invention is to provide a lower extremity exoskeleton robot with overload slipping function. When the torque exceeds a certain value, the hip joint part can be slipped to protect the motor and increase the movement with the human body. The flexibility between them solves the problem of excessive torque of the joint motors connected to the human body in the existing walking aid and stroke reha...

AI Technical Summary

Problems solved by technology

[0003] In view of the defects in the prior art, the object of the present invention is to provide a lower extremity exoskeleton robot with overload slipping function. When the torque exceeds a certain value, the hip joint part can be slipped to protect the motor and increase the movement with the human body. The flexibility between them solves the problem of excessive torque of the joint motors connected to the human body in the existing walking aids and stroke rehabilitation lower limb exoskeleton robots, resulting in overload and heat generation

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