Series elastic driven modular walking-aid exoskeleton robot
An exoskeleton robot, series elastic technology, applied in the direction of tools, manipulators, program-controlled manipulators to help people walk, etc., can solve the problems of large external impact force, unfavorable human-computer interaction, high energy consumption, etc., to reduce the output impedance. , the effect of improving comfort and friendliness, and a high degree of modularity
Active Publication Date: 2019-11-19
HARBIN INST OF TECH
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Problems solved by technology
Although the traditional rigid structure walker exoskeleton robot has good trajectory repeatability and fast response, it cannot adapt to the flexible characteristics of human walking, the external impact force is large, and the energy consumption is high, which is not conducive to safe and efficient human-computer interaction.
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[0024] see figure 1 , Figure 4 , Figure 5 with Image 6 As shown, a modular walker exoskeleton robot driven by series elasticity, it includes waist I, thigh II and calf III; waist I is connected with thigh II, thigh II is connected with calf III, and calf III can rotate relative to thigh II , the thigh II can rotate relative to the waist I;
[0025] Thigh II includes two drive units symmetrical to the center; each drive unit includes cover plate II-1, base plate II-2, and joint series elastic drive assembly II-A; cover plate II-1 and base plate II-2 are connected, and joints are connected in series The elastic drive assembly II-A is arranged on the bottom plate II-2 between the cover plate II-1 and the bottom plate II-2, and the two drive units that are centrally symmetrical are installed through the chute structure and installed on the bottom plate II-2 The distance adjustment mechanism II-B is fixed; the joint series elastic drive assembly II-A is connected to the wais...
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The invention discloses a series elastic driven modular walking-aid exoskeleton robot, and relates to a paraplegia walking-aid exoskeleton robot. The robot comprises a waist, thighs and shanks, wherein the thigh is connected with the thighs, the thighs are connected with the shanks, the shanks can rotate relative to the thighs, and the thighs can rotate relative to the waist; each thigh comprisestwo driving units which are in the central symmetry; each driving unit comprises a cover plate, a bottom plate and a joint series elastic driving assembly; the cover plate is connected with the bottomplate, the joint series elastic driving assembly is arranged on a bottom plate between the cover plate and the bottom plate; the two driving units in the central symmetry are arranged in a matching mode through sliding groove structures and are fixed through a distance adjusting mechanism arranged on the bottom plate; and the joint series elastic driving assembly is connected with the waist and can rotate relative to the waist, and the shanks are connected with the joint series elastic driving assembly and can rotate relative to the thighs. According to the robot, the energy is stored and released in a passive elastic element, so that the output impedance is reduced, the impact force of the ground on a human body is reduced, and the human-machine interaction safety is improved.
Description
technical field [0001] The invention relates to a paraplegic walking-assisting exoskeleton robot, in particular to a series elastically driven modular walking-assisting exoskeleton robot. Background technique [0002] The paraplegic walking aid exoskeleton robot is a bionic intelligent electromechanical device that assists patients with disabled lower limbs to stand up and walk again, and improves muscle and joint strength. sport mode. Although the traditional rigid structure walker exoskeleton robot has good trajectory repeatability and fast response, it cannot adapt to the flexible characteristics of human walking, the external impact force is large, and the energy consumption is high, which is not conducive to safe and efficient human-computer interaction. Moreover, the variability of patients also requires walking-assisting exoskeleton robots to have high adaptability and flexibility. Contents of the invention [0003] In order to overcome the deficiencies of the pri...
Claims
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Login to View More IPC IPC(8): B25J9/00B25J9/10A61H3/00
CPCB25J9/0006B25J9/102A61H3/00
Inventor 刘刚峰石男强郑天骄房倩倩朱延河赵杰
Owner HARBIN INST OF TECH