Passive-power-assisted exoskeleton load-bearing robot

Abstract

The invention discloses a passive-power-assisted exoskeleton load-bearing robot. The passive-power-assisted exoskeleton load-bearing robot comprises a waist, hip energy storage mechanisms, thighs, shanks and feet. Each hip energy storage mechanism comprises a vortex spring. The elasticity of each vortex spring is adjusted to support the gravity of a load which is hung on the waist, the vortex springs have the large stroke relative to the exoskeleton front-and-rear swing range, the torque change of each vortex spring is quite small in the exoskeleton front-and-rear swing process, and the work done by the vortex springs in the travelling process is quite low. The gravity of the load passes through the waist, the hip energy storage mechanisms, the thighs, the shanks and the feet in sequence and then is unloaded to the ground, and the robot is assisted by the elasticity in forwards taking a step.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots, and more specifically relates to a passively assisted exoskeleton load-bearing robot. Background technique [0002] As a modern wearable device, the human exoskeleton is mainly used to enhance the body's weight-bearing and mobility capabilities, while providing protection for the wearer. In recent years, with the rapid development of social progress and aging, the human exoskeleton has been developed rapidly. The traditional exoskeleton is isomorphic with the human body and keeps pace with the human body during exercise. [0003] At present, the design and research of the exoskeleton system has begun to take shape, but there is still a lot of room for improvement in terms of technology and user experience. Due to the complex structure of the human body, it is difficult to realize it through mechanical structure simulation. Usually, the movement of a single leg during human walking is ...

AI Technical Summary

Problems solved by technology

[0004] All kinds of isomorphic exoskeletons require the knee joint of the exoskeleton to maintain a large stiffness under the condition of the support phase, while they are required to be able to bend freely under the condition of the swing phase, which requires that the isomorphic exoskeleton needs a very complex sensor system and dynamic system , control system and very efficient human motion intention prediction algorithm and control strategy to realize the flexible conversion of human gait, otherwise the comprehensive performance of the exoskeleton will be seriously weakened

At the same time, the existence of the sensing system, power system and control system will inevitably bring about complex wiring, limited battery life, reduced environmental adaptability and work reliability, and will significantly increase the weight of the exoskeleton.

[0005] For example: the patent number is CN201120010944.9, and the patent name is an invention of a human exoskeleton walking aid device with four exoskeleton lower limbs. restricted

Another example: the patent CN201721139616.2 lower limb exoskeleton robot and rehabilitation robot as a rehabilitation medical structure also includes a drive system and a control system, and like most existing exoskeletons, the knee joint of this structure uses a single-rotation shaft structure to complete the lower limbs and lower legs to accompany the human body Sports, this design method is not conducive to the transmission of gravity from the upper body to the ground, and after the lower limbs of the exoskeleton are bent, the human body and the motor need to work together to restore the straight state, which affects the comfort of the wearer

Another example: Han Bing, Zhang Li, Liu Geng, Yang Liu, Wang Zhe, Li Han, Zhang Tong, and Yuan Jianping of Northwestern Polytechnical University invented a passive lower limb exoskeleton device that realizes energy transfer of the human body (patent number: CN201810622484. 1), which is too large in size and takes up too much space

The patent CN201910859622.2 is a new type of passive human weight-bearing exoskeleton. Since the hip joint is a passive hinge shaft, it will overwhelm the back of the human body under the action of gravity, affecting the transmission comfort and load-bearing capacity.

In recent years, with the rapid increase of communication capacity, increasingly rich communication services, and flexible and diverse communication application requirements, the traditional independent communication mode of the metropolitan area network and the access network can no longer adapt to the current situation of the rapid development of the communication network. It cannot meet people's huge demand for ever-expanding network information, so seeking a new network architecture that can solve the above problems has become a major challenge for the future metropolitan area network and access technology.

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