Lasso artificial muscle driving-type knee joint exoskeleton device

A technology of artificial muscle and exoskeleton, which is applied in the direction of equipment to help people walk, physical therapy, etc., can solve the problems of poor control accuracy, large space occupation, inconvenient use, etc., and achieve the effect of reducing load, smooth mechanism, and saving space

Inactive Publication Date: 2020-02-21
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Purpose of the invention: The present invention provides a lasso artificial muscle-driven knee joint exoskeleton device, which solves the problems of poor control accuracy, high noise, and inconvenient use of existing exoskeleton devices; The problem of large space, relatively bulky and high resistance

Method used

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  • Lasso artificial muscle driving-type knee joint exoskeleton device
  • Lasso artificial muscle driving-type knee joint exoskeleton device
  • Lasso artificial muscle driving-type knee joint exoskeleton device

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Embodiment Construction

[0035] see Figure 1 to Figure 5 , The lasso artificial muscle-driven exoskeleton device according to an embodiment of the present invention includes an exoskeleton fixture system 1 , a force-bearing rotating joint system 2 , and a lasso transmission system 3 .

[0036] The exoskeleton holder system 1 includes a thigh holder 11 , a shank holder 12 , a small shaft end cover 13 , a small bearing 14 , a small rotating shaft 15 , and a small bearing groove 16 .

[0037] The force rotating joint system 2 includes a large bearing groove 21, a large bearing 22, a large rotating shaft 23, a U-shaped groove rope disc left half 24, a rope head stopper 25, a U-shaped groove disc right half 26, and a large bearing end cover 27 , Encoder 28.

[0038] Lasso transmission system 5 comprises parallel spring 3, rope chuck 4, rope sleeve pipe 51, sleeve pipe fixing frame 52, guide rail 53, chuck rope 54, joint conduit 55, end rope 56, rope chuck 4 sleeves Chuck 41 and the series spring 42 conn...

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Abstract

The invention discloses a lasso artificial muscle driving-type knee joint exoskeleton device, which comprises an exoskeleton fixing frame system, a stress rotating joint system and a lasso transmission system. According to the device, a controllable rope chuck and a lasso transmission system are used for simulating the motion form of biological muscles; when the exoskeleton needs to be driven to move, the rope chuck at one end controls the clamping rope through an electromagnetic signal, a motor serving as a power source rotates after being powered on, power is transmitted to the rope throughthe chuck and then transmitted to a tail end rotating joint, and the function similar to active contraction after muscles are stimulated is achieved. In order to better simulate the muscle form of people, series-parallel connection springs are added in the mechanism, the elasticity of tendons and muscles is simulated, and vibration and impact generated in the driving process are effectively reduced. The safer and more flexible driving is achieved, and a wearer of the exoskeleton feels more comfortable; the structure is smaller and lighter, the motor can be placed on the back away from the kneejoint, and the load of the knee joint is reduced.

Description

technical field [0001] The invention relates to the application field of medical rehabilitation assisting devices, in particular to a lasso artificial muscle-driven knee joint exoskeleton device. Background technique [0002] In today's society, there are many people whose limbs are damaged due to disease or disability, thus losing basic mobility or even paralysis. In order to help these patients live better, a rehabilitation-assisted exoskeleton device that can assist disabled patients in their daily activities has become a research hotspot in the field of healthcare. Existing exoskeleton devices are generally divided into two types. The first is to drive the exoskeleton through pneumatic muscles for power assistance, and the other is to use the motor as a force source to drive the joints to rotate. Although pneumatic muscles are more similar to the working method of human muscles, which generate tension through expansion and contraction, the control accuracy of the pneuma...

Claims

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Application Information

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IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2003/007A61H2201/1207A61H2201/1642
Inventor 王兴松王杰沈小朋张琦
Owner SOUTHEAST UNIV
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