Self-adaption knee joint mechanism and device used for wearable exoskeleton

Abstract

The invention provides a self-adaption knee joint mechanism and device used for a wearable exoskeleton. The self-adaption knee joint mechanism for the wearable exoskeleton comprises a thigh rod, a shank rod, a flexible knee joint, a knee Bowden cable, a knee Bowden cable winding cylinder, and a knee joint driving motor; one end of the thigh rod is in transmission connection with one end of the shank rod through the flexible knee joint, one end of the knee Bowden cable is wound on the knee Bowden cable winding cylinder, the other end of the knee Bowden cable extends to the flexible knee joint,the knee Bowden cable and the thigh rod are fixedly connected through an anchor point, the knee joint driving motor drives the knee Bowden cable winding cylinder to do axial self-rotation, the flexible knee joint comprises at least two hinge structures, and the at least two hinge structures are connected in sequence to form the flexible knee joint. The self-adaption knee joint mechanism is small in size, small in weight and adaptive, and facilitates adjusting of the exoskeleton by wears with different body types.

Description

technical field [0001] The invention relates to a knee joint mechanism, in particular to an adaptive knee joint mechanism and device for a wearable exoskeleton. Background technique [0002] Exoskeleton robot refers to a kind of mechanical device that imitates the movement state of human body and enhances human movement ability. ability. Since the exoskeleton robot involves ergonomics, it requires strong adaptability, not only to be suitable for wearers of different sizes, but also to protect the human joints from danger to prevent human injury during the wearing process. [0003] In the prior art, many knee joints of exoskeleton robots are not self-adaptive. When the exact position of human joints cannot be determined from the outside, it will cause dislocation between exoskeleton and human joints, which will make the wearer feel uncomfortable, and even cause discomfort during long-term use. Knee joint disease, and the structure with adaptive structure tends to be larger ...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, many knee joints of exoskeleton robots are not self-adaptive. When the exact position of human joints cannot be determined from the outside, it will cause dislocation between exoskeleton and human joints, which will make the wearer feel uncomfortable, and even cause discomfort during long-term use. Knee joint disease, and the structure with adaptive structure tends to be larger in size and weight

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