Variable-rigidity lower limb exoskeleton robot based on shape memory alloy

Abstract

The invention discloses a variable-rigidity lower limb exoskeleton robot based on shape memory alloy, and belongs to the field of man-machine fusion. The variable-rigidity lower limb exoskeleton robotcomprises a back cross beam, two hip joint modules, two knee joint modules and two ankle joint modules; the hip joint modules are correspondingly arranged at the end parts of the back cross beam, thelower portions of the hip joint modules are connected with the knee joint modules through thigh supporting pieces, and the lower ends of the knee joint modules are connected with the ankle joint modules through shank supporting pieces. According to the novel principle that the shape memory alloy is used for driving, the weight is light, the size is small, and the overall maneuvering performance of the exoskeleton is improved; the variable-rigidity exoskeleton knee joint is designed, a wearer can be effectively assisted in walking, the variable-rigidity function is achieved, and the better driving effect is achieved under the high maneuverability requirement; and materials are all made of magnalium-aluminum alloy, the weight is light, the strength is high, external force can be effectivelyborne, and the wearer is protected.

Description

technical field [0001] The invention belongs to the field of human-machine fusion, and relates to a light-weight variable stiffness lower limb exoskeleton robot, in particular to a shape memory alloy-based variable stiffness lower limb exoskeleton robot. Background technique [0002] With the continuous improvement of modern warfare and medical treatment to enhance and restore the exercise ability of the test group, lower limb exoskeleton robots have gradually become a research hotspot. The lower extremity exoskeleton robot is a mechanical device that can be worn on the outside of the operator's body. It can provide support, assistance, enhance and restore the wearer's motor function, so the development of the lower extremity exoskeleton robot has great practical significance. [0003] Although the traditional variable stiffness lower limb exoskeleton robot can isolate the contact and collision between the body and the surrounding environment, protect the safety of the subje...

AI Technical Summary

Problems solved by technology

However, the variable stiffness units are all driven by mechanical structures, and their structures are complex

The volume and weight of the exoskeleton system are too large, which cannot be effectively applied to exoskeleton equipment

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