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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

Active Publication Date: 2022-02-01
HEFEI UNIV OF TECH
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Problems solved by technology

The stiffness of the driver in the existing research is mostly fixed, or the system impedance is changed through the control algorithm, but due to factors such as sensor response delay and inertia, this method has certain safety hazards
In addition, most of the researched braking torque is mainly generated by the motor, which needs to provide a large current, which not only has low energy efficiency and relatively large energy consumption, but also has potential safety hazards.

Method used

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

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Embodiment Construction

[0068] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, so as to define the protection scope of the present invention more clearly.

[0069] see figure 1 and figure 2 , a knee joint exoskeleton based on a rope variable stiffness multifunctional driver, including a leg structure, a multifunctional driver, a sensing and control system, and a waist control box.

[0070] Wherein, the leg structure includes a thigh bar 1 , a calf bar 2 , a knee joint rotation shaft 8 , a joint fixing plate 9 , a thigh strap 3 and a calf strap 4 . Such as Figure 4 As shown, the thigh bar 1 is composed of a thigh bar disc 1-5 and a thigh bar radial plate 1-4 at the top of the thigh bar disc 1-5, and the thigh bar disc 1-5 and The radial plates 1-4 of the thigh bar are integrally formed. The cent...

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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.

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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02A63B23/04A61B5/11A61B5/103
CPCA61H1/024A63B23/0494A61B5/1122A61B5/1038A61H2201/1207A61H2201/1472A61H2201/14A61H2201/5007A61H2201/5071A61H2201/5058A61H2201/5053
Inventor 陈兵王兵訾斌王正雨周斌
Owner HEFEI UNIV OF TECH
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