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Flexible lower limb exoskeleton robot and bionic control method

An exoskeleton robot, flexible technology, applied in sensors, appliances to help people walk, medical science, etc., can solve the problem of restricting the flexibility and sophistication of the wearer's movement, restricting the practical application of lower limb exoskeleton robots, posture deviation, etc. question

Inactive Publication Date: 2020-08-25
DALIAN JIAOTONG UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Existing lower extremity exoskeleton robots generally adopt a rigid body structure, which is cumbersome to wear, resulting in a stiff gait, which limits the flexibility and sophistication of the wearer's movement, easily causes serious posture deviation, reduces the wearer's comfort, and increases wearability. walking fatigue
Most lower extremity exoskeleton robots move according to pre-set action sequences and gait trajectories, which are suitable for structured and simple terrain, and rarely incorporate the wearer's dynamic walking characteristics, and are difficult to coordinate when moving on unstructured complex terrain The motion stability and environmental adaptability of the wearer and the lower limb exoskeleton robot restrict the practical application of the lower limb exoskeleton robot

Method used

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  • Flexible lower limb exoskeleton robot and bionic control method

Examples

Experimental program
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Effect test

Embodiment 1

[0147] Such as Figure 8 As shown, the flexible lower extremity exoskeleton robot of the present invention and the wearer move on a plane terrain:

[0148] a) The flexible lower extremity exoskeleton robot and the wearer are in a standing state on a flat terrain. The wearer swings his left leg forward and passes through the left leg lateral myoelectric sensor, left leg inner myoelectric sensor, and left buttock installed on the flexible lower extremity exoskeleton robot. The EMG sensor and the EMG sensor on the back side of the left leg collect the EMG signal of the wearer's left leg. Muscle strength of the lateral quadriceps, medial quadriceps, gluteus maximus and hamstring muscles, and transmit the muscle strength data to the main control chip through the data line;

[0149] b) Collect the rotation angle signal of the wearer's left leg through the left leg hip joint inertial sensor and the left knee joint inertial sensor installed on the flexible lower extremity exoskeleton...

Embodiment 2

[0155] Such as Figure 9 As shown, the flexible lower extremity exoskeleton robot of the present invention and the wearer move on the step terrain:

[0156] a) The flexible lower extremity exoskeleton robot and the wearer are in the standing state of the step terrain. The wearer lifts his left leg forward, and through the left leg lateral myoelectric sensor, left leg inner myoelectric sensor, left The gluteal myoelectric sensor and the left leg back myoelectric sensor collect the myoelectric signal of the wearer's left leg. After signal conditioning and digital-to-analog conversion, the myoelectric data is transmitted to the somatosensory chip through the data line, and the data calculation is performed to obtain the wearer's The muscle strength of the lateral quadriceps, medial quadriceps, gluteus maximus, and hamstrings of the left leg is transmitted to the main control chip through the data cable;

[0157] b) Collect the rotation angle signal of the wearer's left leg throu...

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Abstract

The invention provides a flexible lower limb exoskeleton robot and a bionic control method, relates to the technical field of wearable intelligent equipment, in particular to the flexible lower limb exoskeleton robot and the bionic control method. A belt is assembled at the trouser waist of intelligent sports trousers; two walking devices are respectively assembled on two trouser legs of the intelligent sports trousers, and are connected with the belt; a back dressing device is backed on the back of a wearer through a shoulder girdle; a driving device and a control system are assembled in a back box; a sports sensing device is assembled on the intelligent sports trousers, and is connected with the control system in the back dressing device; two knee joint pulling ropes are used, the upperend of each knee joint pulling rope is connected with the driving device in the back box, and the lower ends of the two knee joint pulling ropes are respectively connected with two shank wearing devices; and two hip joint pulling ropes are used, the upper end of each hip joint pulling rope is connected with the driving device in the back box, and the lower ends of the two hip joint pulling ropes are connected with two thigh dressing devices.

Description

technical field [0001] The invention relates to a flexible lower limb exoskeleton robot and a bionic control method, and relates to the technical field of wearable intelligent equipment, in particular to a flexible lower limb exoskeleton robot and a bionic control method. Background technique [0002] The aging of my country's population is becoming more and more serious. As of May 2020, the elderly aged 65 and above accounted for 10.83% of the total population of the country. Cerebrovascular disease, Parkinson's disease, and Alzheimer's disease are common and frequently-occurring diseases of the elderly. There are about 2 million new patients each year, and 80% of the patients will cause lower limb hemiplegia, resulting in weak lower limb muscles, unable to provide adequate nutrition. Walking is completed with strength, and the ability to exercise is lost to varying degrees. Elderly people with mild hemiplegia can rely on wheelchairs for exercise. Elderly people with severe...

Claims

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Application Information

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IPC IPC(8): A61H3/00A61B5/11A61B5/0488
CPCA61B5/11A61H3/00A61H2003/005A61H2003/007A61H2201/0157A61H2201/1207A61H2201/50A61H2201/5069A61H2201/5084A61B5/389
Inventor 陈勇马文彬刘航宇朱正阳
Owner DALIAN JIAOTONG UNIVERSITY
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