Wearable waist assistance exoskeleton mechanism and control method thereof

An exoskeleton and wearable technology, which is applied in the field of wearable waist-assisted exoskeleton mechanism and its control, can solve the problems of exoskeleton obstruction, matching, and restriction of human leg movement, so as to improve wearing comfort and reliable assisting effect , the effect of reducing damage

Active Publication Date: 2020-02-28
HEFEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The number of degrees of freedom of the existing waist-assisted exoskeleton is very limited, and it is difficult to match the degrees of freedom of the human hip joint and back. The wearer will be hindered...

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  • Wearable waist assistance exoskeleton mechanism and control method thereof
  • Wearable waist assistance exoskeleton mechanism and control method thereof
  • Wearable waist assistance exoskeleton mechanism and control method thereof

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Embodiment Construction

[0045] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0046] A wearable waist power-assisted exoskeleton mechanism of the present invention includes a mechanical structure (lumbar assembly, two leg assemblies and two hip joint assemblies), two drive assemblies, a controller and a data collector, and two hip assemblies The joint components are respectively arranged on the symmetrical sides of the waist component. The two hip joint components have three degrees of freedom, which are flexion / extension, abduction / adduction, and internal / external rotation. The leg components have five degrees of freedom. . The two drive assemblies are arranged at the join...

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Abstract

The invention discloses a wearable waist assistance exoskeleton mechanism and a control method thereof. The wearable waist assistance exoskeleton mechanism comprises a waist assembly, a leg assembly,a hip joint assembly, a driving assembly, a controller and a data collector; the data collector comprises a tilt angle sensor and an acceleration sensor, the tile angle sensor is used for collecting an angle when a backplane produces an inclined angle, the acceleration sensor is used for collecting the angle acceleration when the backplane produces the inclined angle, the controller constructs anexoskeleton assistance model through the angle and the angle acceleration, and then controls algorithm to identify the motion intention of a wearer. According to the wearable waist assistance exoskeleton mechanism, five degrees of freedom are achieved, the fully matching between the freedom of motion of a robot and the freedom of motion of a person can be achieved, an exoskeleton thigh bar is in contact with the human led only when assisting, when the exoskeleton does not work, the exoskeleton thigh bar and the human leg are separated, and thus the wearing comfort of the waist assistance exoskeleton is improved.

Description

technical field [0001] The invention relates to an assisting mechanism in the field of robots, in particular to a wearable waist assisting exoskeleton mechanism and a control method thereof. Background technique [0002] In construction sites, logistics companies, shipyards, aircraft production workshops, etc., workers often need to repeat various moving actions, such as bending over to lift heavy objects, leaning forward to carry heavy objects and walking, etc. During these actions, the waist often Bearing a lot of force, after a long period of handling, many workers will suffer serious back injuries. The waist-assisted exoskeleton is a wearable robot system that pulls the worker's back upright through the exoskeleton assist system, and transmits part of the load to the legs through the mechanical structure. When workers bend over to lift heavy objects, the waist-assisted exoskeleton can effectively relieve the pressure on the spine and reduce the damage to the back muscle...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0006B25J9/1602
Inventor 陈珊万淼黄晓锋顾徐闻吕行赵伟董方方韩江夏链
Owner HEFEI UNIV OF TECH
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