Knee joint exoskeleton and control method based on rope variable stiffness multifunctional actuator

A multi-functional and driver technology, applied in passive exercise equipment, sensors, gymnastics equipment, etc., can solve the problems of hidden safety hazards, high energy consumption, low energy efficiency, etc., to buffer ground impact, reduce energy consumption, and reduce energy consumption. Effect
CN111481402BActive Publication Date: 2022-02-01HEFEI UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HEFEI UNIV OF TECH
Publication Date
2022-02-01

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Abstract

The invention discloses a knee joint exoskeleton and control method based on a rope variable stiffness multifunctional driver. The knee joint exoskeleton includes a leg structure, a multifunctional driver, a sensing and control system, and a waist control box, wherein the multifunctional driver consists of It consists of a motor element, a length adjustment mechanism, a stiffness adjustment mechanism and a joint magneto-rheological brake. The control method of the present invention is based on the user's gait analysis and needs, as well as the driving, braking, hybrid braking, stiffness adjustment and other functions of the multi-functional driver, and outputs the desired auxiliary torque and motion to help patients with knee joint dysfunction Carry out exercise rehabilitation; the knee joint exoskeleton of the present invention has high energy efficiency, large output torque, adjustable stiffness, and is easy to wear, and is suitable for assisting walking of the elderly and postoperative rehabilitation training for patients with knee joint injuries.
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Description

technical field

[0001] The invention relates to the field of exoskeleton robots, in particular to a knee-joint exoskeleton and a control method based on a rope variable stiffness multifunctional driver. Background technique

[0002] With the advent of an aging society and the increasing number of means of transportation, the number of patients with limb movement caused by decline in physical function or traffic accidents is increasing, among which patients with knee joint dysfunction are the most common. Modern medicine has shown that appropriate sports rehabilitation training is of great benefit to the recovery and improvement of the motor function of the patient's limbs. Compared with traditional one-to-one physical therapy with physicians, the knee joint rehabilitation exoskeleton can provide patients with more scientific, effective, simpler and faster rehabilitation training, and maximize the recovery of patients' motor dysfunction.

[0003] With the rapid development o...

Claims

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