Four-degree-of-freedom hip joint exoskeleton walking aid robot based on flexible driving

Abstract

The invention discloses a four-degree-of-freedom hip joint exoskeleton walking aid robot based on flexible driving. The four-degree-of-freedom hip joint exoskeleton walking aid robot based on flexibledriving comprises a four-degree-of-freedom joint degree degree configuration module, a size adjustment module, a human-computer interaction module, a sensing system module and waistband plates, the size adjustment module comprises a waist adjustment mechanism and a leg adjustment mechanism, the waistband plates are symmetrically arranged at the two ends of the waist adjustment mechanism, the four-freedom-degree joint freedom degree configuration module is movably connected to the bottoms of the side faces of the waistband plates, the human-machine interaction module comprises a waist connecting mechanism and a leg connecting mechanism, the waist connecting mechanism is movably connected to the tops of the side faces of the waistband plates, the leg adjustment mechanism is connected to thebottom of the four-freedom-degree joint freedom degree configuration module, and the leg connecting mechanism is arranged at the bottom of the leg adjustment mechanism. The four-degree-of-freedom hipjoint exoskeleton walking aid robot based on flexible driving has good human-computer interaction wearing performance, can reduce the walking burden of a human body, and has good safety performance and stationary performance.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a four-degree-of-freedom hip joint exoskeleton walker robot based on flexible drive. Background technique [0002] With the rapid development of modern robot technology, robots are no longer limited to industrial production, and many new service robots have emerged in many fields such as service, medical treatment, and entertainment, especially in the field of rehabilitation medicine. It is estimated that China's elderly population will reach 1 / 3 of the total population in 20 or 30 years. Elderly people have difficulty moving, and the weight-bearing capacity of the limbs is significantly reduced. Especially the walking ability of the lower limbs is weakened, and walking assistance equipment is usually required. At present, the auxiliary equipment is usually a four-wheeled armchair, crutches, etc. In addition, in hospitals, there are also a huge number of people with mobility imp...

AI Technical Summary

Problems solved by technology

[0004] In the man-machine integration system composed of the lower limb rehabilitation robot and the wearer, the hip joint plays a vital role. At present, some good progress has been made in the research on the hip joint exoskeleton at home and abroad, but there are some problems. For example, the structure is too complex, the weight is too heavy, and the driving part of the exoskeleton is too large, so it is not suitable for the purpose of walking.

Images