Knee joint flexible exoskeleton robot based on lasso compliant drive

Abstract

The invention discloses a knee joint flexible exoskeleton robot based on lasso compliant drive. The knee joint flexible exoskeleton robot comprises a casing, a driving device, a thigh fixing device, acalf fixing device, a thigh front side lasso and a thigh rear side lasso. The thigh fixing device and the calf fixing device are driven by driving the lassos, and moment for extension and flexion movement of a knee joint is provided. Compression springs are used for representing muscle fiber passive components and surrounding elastic tissue thereof, and a thigh front side torsion spring and a thigh rear side torsion spring are used for representing tendons and other muscle fiber series-wound elastic structures. Therefore, structural shape change is closer to movement change of real human joint muscle, meanwhile, series-wound elastic units have the flexibility function, external impact and disturbance can be buffered, and the safety and comfort in the training process are improved.

Description

technical field [0001] The invention belongs to the field of robots, in particular to an exoskeleton robot designed to enhance the kinematic ability of the wearer's knee joint, provide assistance for lower limb walking or assist patients with lower limb movement disorders to perform rehabilitation training and treatment. Background technique [0002] With the development of society, our country is facing increasingly serious social problems such as aging population, younger incidence of stroke, and frequent traffic accidents. Motor dysfunction seriously threatens the life and health of the elderly and physically disabled patients. Skeletal robots have become a research focus and hotspot in the field of medical rehabilitation. They can assist the elderly and patients with motor dysfunction in rehabilitation training, prevent muscle atrophy, and restore the motor ability of affected limbs. An exoskeleton robot is an intelligent mechanical system that can be worn on human limbs...

AI Technical Summary

Problems solved by technology

However, the entire mechanical mechanism is huge and complex, and the hydraulic drive is relatively cumbersome, and the portability effect is relatively poor.

[0005] In the invention patent with the Chinese patent announcement number CN206453957U, a knee joint load-bearing exoskeleton device is disclosed, which consists of a base, a screw, a slide table, a thigh rod, a calf rod, a connecting bar, a connecting rod, an arc Board, foot plate and motor drive components, but the whole mechanism is relatively cumbersome, and recovery training can only be performed in a fixed position

[0006] In the invention patent of Chinese Patent Publication No. CN107854279A, a parallel knee exoskeleton mechanism for rehabilitation is disclosed, which consists of a calf exoskeleton, a thigh exoskeleton, a base, a flexible component, a rigid component and a four-bar flexible hinge. The mechanism uses a flexible hinge mechanism to make the movement of the exoskeleton coincide with the movement of the knee joint, but the body of the mechanism still needs heavy rigid parts as support, and the center of rotation of the mechanism is outside the joint, so the man-machine coupling is poor

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