Novel human exoskeleton active knee joint structure

Abstract

The invention discloses a novel human exoskeleton active knee joint structure, comprising a thigh connecting mechanism, an intermediate driving mechanism, a crus connecting mechanism and a limiting straight rod, wherein the intermediate driving mechanism is located between the thigh connecting mechanism and the crus connecting mechanism, the thigh connection mechanism is connected with the crus connecting mechanism through the intermediate driving mechanism, and the limit straight rod is connected with the intermediate driving mechanism through a sliding pair. According to the novel human exoskeleton active knee joint structure, a knee joint bending action is realized through a link structure, the knee joint bending action of a human body can be better simulated, and a movement curve of acrus connector can better fit a crus movement space curve of the human body, the knee joint structure directly connects the thigh and the crus, and active driving is involved; and compared with a traditional manner of longitudinally arranging an active driver, an active driver in the novel human exoskeleton active knee joint structure saves space and widens a knee joint rotation threshold by transversal arrangement, is convenient to assemble and disassemble, and is easy to modularize.

Description

technical field [0001] The invention belongs to the technical field of bionic design, and in particular relates to a novel human exoskeleton active knee joint structure. Background technique [0002] As a wearable smart device, the exoskeleton can help the wearer bear weight and enhance the body's ability to move. But so far, although the research on exoskeleton has made great progress, there are still many problems to be solved before it is practical. Among them, how to improve the working performance of the active knee joint is a problem that needs to be solved urgently. [0003] For the exoskeleton knee joint, it is necessary to bear the forces and moments generated by the human body and loads on the lower limbs in various states, help the human body bear weight, and at the same time meet the ergonomics requirements of wearable equipment, which requires the exoskeleton The knee joint can fit the human body as closely as possible during exercise. In the bending state, d...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a novel human body exoskeleton active knee joint structure to solve the problem that the drive mechanism of the exoskeleton knee joint proposed in the above-mentioned background technology is relatively large, the assembly and disassembly of the joint parts of the knee joint and thigh are complicated, and the single-rotation shaft structure cannot be well attached. Problems of human body fit and poor ergonomics

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