Lower limb exoskeleton driver

Abstract

The invention discloses a lower limb exoskeleton driver which comprises a driving device, a rack, a main shaft, a rotary disc, a ratchet wheel and a pawl assembly; the main shaft is freely and rotatably arranged on the rack; the rotary disc is fixed on the main shaft; the ratchet wheel freely and rotatably sleeves on the main shaft; the pawl assembly comprises a first pawl and a second pawl, the first pawl is arranged on the rack in a pivoted mode, and the second pawl is arranged on the rotary disc in a pivoted mode; when the first pawl is meshed with the ratchet wheel and the second pawl is separated from the ratchet wheel, the ratchet wheel is static, and the rotary disc can be extended along with a lower limb backswing and rotate from a first position to a second position in a directionopposite to the ratchet direction of the ratchet wheel; when the rotary disc rotates to the second position, the first pawl is separated from the ratchet wheel, the second pawl is meshed with the ratchet wheel, and the driving device drives the rotary disc to rotate along the ratchet direction of the ratchet wheel so as to push the lower limb to move forwards. Exogenous force can be provided forwalking of a patient with spinal cord injury, the patient with a higher muscle injury plane can also use the device, and the device is small in size and convenient to control.

Description

technical field [0001] The invention relates to the technical field of bionic robots for rehabilitation engineering, in particular to a lower limb exoskeleton driver. Background technique [0002] Research has shown that standing and walking upright has many benefits for people with spinal cord injuries, such as increasing bone density, reducing the likelihood of pressure sores and urinary tract infections, maintaining joint mobility, reducing muscle spasms, improving the cardiovascular system, and standing up to healthy people. Equal exchanges at the same height to enhance social participation, etc. The lower extremity walking exoskeleton can help patients with spinal cord injuries to stand and walk upright, which has positive significance. [0003] At present, a series of researches on walking aids for patients with spinal cord injuries have been carried out at home and abroad, and fruitful results have been achieved in core technology and clinical application. Existing ...

AI Technical Summary

Problems solved by technology

[0005] Although the ES-EXO based on torsion spring and tension spring energy storage can effectively help patients with spinal cord injury to stand and walk, but because the energy storage structure of the exoskeleton lacks a clutch, the patient’s pelvis cannot be prevented from being pushed forward during energy storage; Due to the limitation of the patient's limb bearing capacity, the assistance provided by the energy storage structure is much smaller than the actual walking force required by the patient, so the patient needs to have good trunk control ability to use it.

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