Exoskeleton robot assisted by lower limbs

Abstract

The invention discloses an exoskeleton robot assisted by lower limbs. The exoskeleton robot comprises thigh plates, shank plates, clutch devices, a first elastic element and a second elastic element.The thigh plates and the shank plates are rotationally connected through the clutch devices; one end of the first elastic element is hinged to the free end of the thigh plates, and the other end is hinged to the upper connecting piece of the clutch devices. One end of the second elastic element is hinged to the free end of the shank plates, and the other end is hinged to the lower connecting pieceof the clutch devices. When the clutch device works, the included angle between the upper connecting piece and the lower connecting piece is less than the included angle between the thigh plate and the shank plate. When the clutch device does not work, the included angle between the upper connecting piece and the lower connecting piece is equal to the included angle between the thigh plate and the shank plate. According to the exoskeleton robot assisted by the lower limbs, assistance can be provided in the standing stage without hindering swinging in the swinging stage and the problems that most of existing running power-assisted exoskeleton robots hinder swinging of thighs of the human body and increase metabolic consumption can be solved.

Description

technical field [0001] The invention relates to the field of exoskeleton robots, in particular to an exoskeleton robot with assisting lower limbs. Background technique [0002] The running process of the human body can be divided into a standing phase and a swinging phase. Studies have shown that the spring mass model area can be used to approximate the mechanical properties of the leg during the standing phase of the running process. According to this principle, several exoskeletons have been used to assist the running process of the human body. However, most of the exoskeleton robots used for running assistance can provide assistance during the standing phase of the human body and reduce the load on joints and muscles. However, in the human body The swing stage of the lower limbs has played a hindering role, which undoubtedly increases the energy consumption of the human body during running. Contents of the invention [0003] The technical problem to be solved by the pr...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a lower limb assisted exoskeleton robot, which can provide assistance in the standing stage and does not hinder the swinging assisted exoskeleton robot in the swing stage, so as to solve the problem of most of the existing running assisted exoskeleton robots. The problem of hindering the swing of human thighs and increasing metabolic consumption

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