Astronaut low-gravity motion simulation exoskeleton

Abstract

An astronaut low-gravity motion simulation exoskeleton comprises an overall gravity balance mechanism, an exoskeleton back balance mechanism is arranged on the overall gravity balance mechanism, and the two sides of the lower end of the exoskeleton back balance mechanism are connected with exoskeleton feet through exoskeleton legs. A parallelogram spring gravity compensation mechanism exists in the exoskeleton between the base and the lower limbs, and the gravity can be compensated in real time according to different wearers and different motion states. The exoskeleton parts of the lower limbsof the human body adopt parallelogram spring mechanisms connected in parallel to balance the gravity of the legs, and the series elastic drivers of the hip joints and the knee joints enable the exoskeleton parts of the human body to flexibly follow in the movement process and actively balance the gravity of the legs in real time. Accurate force control is achieved under the condition that large gravity loads are transmitted, flexible following movement is achieved, and the comfort of a wearer is improved.

Description

technical field [0001] The invention relates to the technical field of a space low-gravity training system on the surface of the earth, in particular to an astronaut low-gravity exercise simulation exoskeleton. Background technique [0002] Low-gravity environment simulation technology is the most important technology to help astronauts conduct low-gravity training on the earth. Space powers such as the United States, Russia, and China have developed weightless flight, drop towers, neutral buoyancy pools, air bearing tables, and virtual reality. technology, suspended gravity compensation system and other low-gravity environment simulation technologies. The analysis of the existing low-gravity simulation technology shows that the parabolic weightless flight of the aircraft can produce a realistic zero-gravity acceleration environment, but because of its short duration (15-45s), the simulation cost is huge, and it can only be used by astronauts. Weightlessness experience and ...

AI Technical Summary

Problems solved by technology

The analysis of the existing low-gravity simulation technology shows that the parabolic weightless flight of the aircraft can produce a realistic zero-gravity acceleration environment, but because of its short duration (15-45s), the simulation cost is huge, and it can only be used by astronauts. Weightlessness experience and simple movement training; the simulation time of falling tower is short (2-10s); due to the dynamic damping and viscous effect of water in the neutral buoyancy pool, the astronauts should not move too fast in the tank (≤0.5m / s), otherwise the resistance of the fluid will seriously distort the weightlessness effect; the air-floor table can realize the low-gravity environment simulation of two-dimensional translation, but it is difficult to realize the complex motion simulation in three-dimensional space; virtual reality technology is mainly in the aspects of vision and local force feedback Simulation cannot fully simulate the feeling of the human body in a low-gravity environment, and generally needs to be combined with other physical simulation methods; the existing suspension gravity compensation system, such as the partial gravity simulator (Practical Gravity Simulator, POGO) and Active Response Gravity Offload System (Active Response Gravity Offload System, ARGOS), although they can passively or even actively compensate the gravity of the human body, at this time the human body’s elbows, shoulders, waist, hips, knees and other large joints still bear 1g Due to the action of gravity moment, the motion simulation process is not smooth, which affects the accuracy of low gravity simulation

Only when the tension vector of the sling passes through the center of mass of the suspended object / human body can the gravity and moment of gravity be compensated at the same time. However, the center of mass of the human body always moves when the human body is active, and the coupling of motion lag and flexible vibration caused by the flexible rope Factors will have adverse effects on the accuracy of gravity compensation

Therefore, the existing low-gravity environment simulation technology is difficult to meet comprehensive indicators such as simulated gravity reduction degree, simulated gravity range, motion freedom, motion compliance, simulation duration, and system cost. Practical needs of human aerospace engineering

New Mexico State University in the United States designed a low-gravity training simulation system for astronauts using a passive parallelogram weight-reducing mechanism, but it cannot actively maintain low-gravity effects for fast-moving operations

[0003] Therefore, the current low-gravity training system for astronauts, on the one hand, has poor gravity compensation accuracy for the human body, and cannot dynamically compensate the human body's gravity in real time; on the other hand, it limits the smooth movement of various parts of the human body

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