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A variable stiffness lower limb exoskeleton robot based on shape memory alloy

An exoskeleton robot and memory alloy technology, applied in the field of human-machine fusion, can solve the problems of exoskeleton system volume, weight, ineffective application of exoskeleton equipment, complex structure, etc., to achieve light weight, wearer protection, and small size Effect

Active Publication Date: 2022-01-04
DALIAN UNIV OF TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the active units with variable stiffness 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

Method used

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  • A variable stiffness lower limb exoskeleton robot based on shape memory alloy
  • A variable stiffness lower limb exoskeleton robot based on shape memory alloy
  • A variable stiffness lower limb exoskeleton robot based on shape memory alloy

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Embodiment Construction

[0028] The present invention will be further described below in conjunction with accompanying drawing and example.

[0029] Such as figure 1 As shown, a lower limb exoskeleton robot with variable stiffness includes a back beam 1 , a hip joint 2 , a knee joint 3 , and an ankle joint 4 .

[0030] Such as figure 2 with 3 As shown, a lower extremity exoskeleton robot with variable stiffness, its hip joint 2 includes a locking knob sheet metal plate 201, a beam 202, a rotating shaft 203, an upper square hole rotating plate 204, an upper locking knob 205, an upper side Square hole connecting plate 206, upper square plate 207, motor drive plate 208, motor fixing plate 209, hip joint motor 210, end face output plate 211, hip joint distance adjustment plate 212, lower square plate 213, lower square hole connection Plate 214, lower square hole rotating plate 215, rotating plate connector 216, side locking knob 217, motor pressing block 218, spring A219, spring pressing block 220. T...

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Abstract

A variable stiffness lower limb exoskeleton robot based on a shape memory alloy belongs to the field of human-machine fusion and includes a back beam, two hip joint modules, two knee joint modules, and two ankle joint modules. A hip joint module is respectively arranged at the end of the back beam, the lower part of the hip joint module is connected to the knee joint module through the thigh support, and the lower end of the knee joint module is connected to the ankle joint module through the calf support. The invention uses shape memory alloy as a new driving principle, which is light in weight and small in size, and improves the overall maneuverability of the exoskeleton; the knee joint of the exoskeleton with variable stiffness is designed, which can effectively assist the wearer to walk, and has the function of variable stiffness. Under the requirement of mobility, it has a better driving effect; the material is made of aluminum alloy, which is light in weight and high in strength, and can effectively bear external forces and protect the wearer.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/10B25J17/00A61H3/00
CPCB25J9/1085B25J9/0006B25J17/00A61H3/00A61H2003/005A61H2003/007A61H2201/1659
Inventor 刘冬杜宇丛明张佳琦杨劲松
Owner DALIAN UNIV OF TECH
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