Rigid-flexible hybrid driven wearable power-assisted exoskeleton

Abstract

The invention provides a rigid-flexible hybrid driven wearable power-assisted exoskeleton which comprises a left leg exoskeleton body and a right leg exoskeleton body, and any one of the left leg exoskeleton body and the right leg exoskeleton body comprises a thigh rod, a shank rod, a flexible knee joint, a knee Bowden cable, a knee Bowden cable winding drum, a knee joint driving motor, an ankle Bowden cable, an ankle Bowden cable winding drum and an ankle driving motor. By means of the rigid-flexible hybrid mode, the rigid-flexible hybrid support system can be formed by matching the flexiblevariable hinge structure with the rigid leg rod structures of the thighs and the shanks at the lower limb joints of a human body, the inertia of a motion part mechanism of the system is greatly reduced, and meanwhile the size of a lower limb structure is reduced.

Description

technical field [0001] The invention relates to a wearable device, in particular to a wearable power-assisted exoskeleton driven by a rigid-soft hybrid drive. Background technique [0002] Exoskeleton robot refers to a kind of mechanical device that imitates the state of human motion and enhances human motion ability, and integrates bionics and ergonomics. It can be worn on the outside of the human limbs and can improve people's ability in specific aspects such as walking durability and weight-bearing capacity. In the future, wearable exoskeleton robots will be widely used in rehabilitation medicine, military and civilian fields, greatly improving people's lives. [0003] At present, exoskeletons can be divided into rigid mechanical exoskeletons and flexible exoskeletons in terms of types. In comparison, rigid exoskeletons have higher output power and better load-bearing effects. They are mainly used as power-assisted devices, while flexible exoskeletons are more comfortabl...

AI Technical Summary

Problems solved by technology

[0003] At present, exoskeletons can be divided into rigid mechanical exoskeletons and flexible exoskeletons in terms of types. In comparison, rigid exoskeletons have higher output power and better load-bearing effects. They are mainly used as power-assisted devices, while flexible exoskeletons are more comfortable to wear. Good performance, the weight of the whole machine is smaller, the response speed of the whole machine is fast, and it is not easy to cause human injury, but the output power is low, and it is more used for human walking.

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