Knee joint assisting exoskeleton robot with human-simulation knee joint

Abstract

The invention discloses a knee joint assisting exoskeleton robot with a human-simulation knee joint. The knee joint assisting exoskeleton robot with the human-simulation knee joint comprises a thigh assembly, a human-simulation knee joint mechanism, a shank assembly and a driving mechanism, and the thigh assembly and the shank assembly are separately connected with the human-simulation knee jointmechanism. The driving mechanism drives the shank assembly to drive the human-simulation knee joint mechanism to rotate; as the shank assembly swings, a rotation center of the human-simulation knee joint mechanism moves up and down, a rotation radius is changed, and the human knee joint motion is simulated. The human-simulation knee joint mechanism is a rotary joint which fully conforms to the rotation law of a human knee joint, and a joint rotation guide rail is designed according to a rotation track of the human knee joint. The joint rotation center is a moving block which can be displaced by a linear groove, and the knee joint assisting exoskeleton robot with the human-simulation knee joint can adapt to change of the rotation center of and the rotation radius in the joint rotation process. The defects that low cooperation with a wearer is caused due to the fact that a single-axis rotary joint is adopted in a traditional knee exoskeleton are overcome, and human-machine compatibilityis improved.

Description

technical field [0001] The invention relates to a knee joint assisting exoskeleton robot, in particular to a knee joint assisting exoskeleton robot with a humanoid knee joint. Background technique [0002] An exoskeleton robot is a human-machine integration system worn outside the operator's body. It comprehensively uses robotic technologies such as sensing, control, and information fusion to provide the wearer with comfort and movement characteristics under the premise of ensuring the wearer's comfort and movement characteristics. The extra power enhances the function of the human body, so as to complete more complex and difficult tasks, realize the enhancement of strength and the extension of senses. With the above-mentioned characteristics, exoskeleton robots have attracted more and more active researches from scientific research institutions at home and abroad, and have broad application prospects in military, police, medical and other fields. [0003] Knee-joint exoske...

AI Technical Summary

Problems solved by technology

The driving device lacks flexibility, does not have a buffer function, and is easily damaged by external impacts. The safety and comfort of personnel wearing are poor, and there are hidden dangers in use safety.

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