Variable-stiffness exoskeleton structure based on positive pressure friction principle

A variable stiffness, exoskeleton technology, used in physical therapy, program-controlled manipulators, passive exercise equipment, etc., can solve the problems of heavy weight, large volume, and low practical value, and achieve easy control, small size, and structure. simple effect

Active Publication Date: 2020-09-22
TIANJIN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Its shortcomings are: large volume, heavy weight, complicated structural design

Method used

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  • Variable-stiffness exoskeleton structure based on positive pressure friction principle
  • Variable-stiffness exoskeleton structure based on positive pressure friction principle
  • Variable-stiffness exoskeleton structure based on positive pressure friction principle

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Embodiment Construction

[0019] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0020] Such as Figure 1-3 As shown, the variable stiffness exoskeleton structure of the present invention based on the principle of positive pressure friction includes a C-shaped tube 1, a fixing ring 2, a sleeve 3, a connecting rod 4, an inner hexagon screw 5, a silicone rubber tube 6 and a retaining ring 7; The principle of positive pressure friction means that the expansion of the silicone rubber tube after inflation increases the pressure and friction between the C-shaped tube and the sleeve, thereby realizing the variable stiffness of the joint; the C-shaped tube is a cross-section similar to For the C-shaped aluminum alloy tube, there is a threaded hole opposite to the opening...

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Abstract

The invention discloses a variable-stiffness exoskeleton structure based on a positive pressure friction principle. The variable-stiffness exoskeleton structure comprises a C-shaped pipe and a sleevewhich is installed outside the C-shaped pipe in a sleeving manner, wherein the sleeve is in clearance fit with the C-shaped pipe, and the sleeve and the C-shaped pipe can rotate relatively. An elasticpipe is placed in the C-shaped pipe, and an opening at one end of the elastic pips is connected with an air nozzle; after the air nozzle is inflated to be in a working state, the elastic pipe enablesthe pressure and friction between the C-shape pipe and the sleeve to be increased, and therefore stiffness variation or locking of a joint is achieved. According to the variable-stiffness exoskeletonstructure, a wearable exoskeleton device has a variable-stiffness effect, the exoskeleton structure is easy to control to achieve the buffering effect or the locking function, and a joint variable-stiffness scheme with the simple principle is provided for a stiff robot system or a wearable exoskeleton system; and the variable-stiffness exoskeleton structure has the advantages of being simple in structure, small in size, light in weight and easy to control.

Description

technical field [0001] The invention relates to the technical field of exoskeleton structures, in particular to a variable stiffness exoskeleton structure based on the principle of positive pressure friction. Background technique [0002] An exoskeleton is a wearable device that assists human movement to reduce human consumption, or provides specific forms of exercise to help patients recover, or can enhance human capabilities, etc. It has a wide range of applications in logistics, rehabilitation, emergency rescue and other scenarios application prospects. [0003] Traditional wearable variable-stiffness exoskeletons are generally designed with rigid materials, and the variable stiffness is achieved by using electric control motors. The weak point of its existence is exactly: volume is big, weight is big, and the structural design of variable stiffness is more complicated, and generalization and practicability are not high, and practical value is not very big. Contents of...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J17/00B25J17/02A61H1/02
CPCB25J9/00B25J17/00B25J17/02A61H1/02B25J9/0006A61H1/0237A61H1/024A61H2201/1207A61H2201/1409A61H2201/1642A61H2201/165A61H2205/10A61H2205/102
Inventor 刘建彬马卓左思洋
Owner TIANJIN UNIV
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