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Waist assisting exoskeleton robot

An exoskeleton robot, waist technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as increasing control complexity and increasing costs

Active Publication Date: 2020-03-24
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The sensor configuration of the existing waist electromechanical assisted exoskeleton usually adopts the form of dual encoders and uses them instead of force perception. Although this reduces the complexity of sensor design and reduces the structural size to a certain extent, it will increase the cost and improve the control complexity

Method used

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  • Waist assisting exoskeleton robot
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Embodiment Construction

[0062] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0063] The invention relates to a waist-assisted exoskeleton robot. The back binding structure (25) wears the back connection assembly (4) on the back of the human body; the waist binding structure (26) wears the waist connection assembly (3) on the waist of the human body; After the exoskeleton robot is finished, the back connecting component (4) is always attached to the back of the human body, and the waist connecting component (3) is always attached to the waist of the human body; in the process of bending over to lift objects, the thigh component (2) is kept in contact with the human thigh. Fitting, the thigh component (2) and the back connection component (4) can detect changes in the posture of the human leg and back, and feed back to the waist joint component (1), and the waist joint component (1) drives the waist connection co...

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Abstract

The invention discloses a waist assisting exoskeleton robot. A back connecting assembly (4) is worn on the back of a human body through a back binding structure (25); a waist binding structure (26) enables the waist connecting assembly (3) to be worn on the waist of the human body; after the human body wears the exoskeleton robot, the back connecting assembly (4) is always attached to the back ofthe human body, and the waist connecting assembly (3) is always attached to the waist of the human body; in the process of stooping and carrying objects, thigh assemblies (2) are kept attached to thethighs of the human body; the thigh assemblies (2) and the back connecting assembly (4) can detect posture changes of the legs and the back of the human body, and supporting force is provided in the stooping process of the human body to realize stooping assistance. In the walking object carrying process, a waist joint assembly (1) drives the thigh assemblies (2) to move relative to the waist connecting assembly (3), and normal walking of the human body is not disturbed; and meanwhile, the thigh assemblies (2) can provide supporting force for an object, and the force of arms of the human body is reduced under the supporting effect of the thigh assemblies (2).

Description

technical field [0001] The invention relates to a waist-assisted exoskeleton robot, which belongs to the technical field of wearable equipment. Background technique [0002] Existing waist assisting exoskeletons can be divided into active assisting type and passive assisting type according to assisting methods. The passive power-assisted type relies on the adaptability of energy storage components and mechanisms to provide certain power to the wearer. The system is often light in weight, simple in structure, and low in cost; however, due to the lack of active control, the human-computer interaction experience is insufficient. The active assist type relies on multi-sensory fusion to better recognize human motion intentions, thereby bringing a better human-computer interaction experience. [0003] According to the type of driving source, the existing waist-assisted exoskeleton research can be divided into three types: hydraulic assist, pneumatic assist and electromechanical a...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0006
Inventor 曾博刘宏伟郑悫朱晓荣刘旭亮周世通何程函于志远
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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