Variable-rigidity knee joint exoskeleton robot based on shape memory alloy

Abstract

The invention discloses a variable-rigidity knee joint exoskeleton robot based on shape memory alloy, and belongs to the field of man-machine fusion. The variable-rigidity knee joint exoskeleton robotbased on shape memory alloy comprises a thigh supporting part, a shank supporting part, a bearing seat supporting seat, a knee joint transmission part, a knee joint motor and a variable-rigidity module; the variable-rigidity module is fixed to one side of the shank supporting part, the upper portion is connected with a knee joint flange base through the knee joint transmission part, memory alloyin the inner part of the variable-rigidity module can achieve rigidity adjustment; the knee joint motor is fixedly connected with the thigh supporting part to provide power; the thigh supporting partand the shank supporting part are kept in a parallel relationship; the upper end of the bearing seat supporting seat is fixedly connected with the bottom of the thigh supporting part, the rotation function of a knee joint is achieved through an internal bearing; and an output end piece of a bearing seat is fixedly connected with the shank supporting part and used for driving the shank supporting part to move. According to the variable-rigidity knee joint exoskeleton robot based on shape memory alloy, the shape memory alloy is used as a driving principle, so that the overall maneuvering performance of an exoskeleton is improved; the variable-rigidity exoskeleton knee joint can effectively assist a wearer in walking; and materials are all made of American aluminum alloy, external force can be effectively borne, and the wearer is protected.

Description

technical field [0001] The invention belongs to the field of human-machine fusion, and in particular relates to a knee joint exoskeleton robot with variable stiffness. Background technique [0002] With the continuous improvement of modern warfare and medical treatment to enhance and restore the sports ability of the test group, the knee exoskeleton has gradually become a research hotspot. The knee-assisted exoskeleton robot is a mechanical device that can be worn on the outside of the operator's body. It can provide support and assistance to the wearer, enhance and restore its motor functions, so the development of knee-joint exoskeleton robots has great practical significance . [0003] Although the traditional variable stiffness exoskeleton robot can isolate the contact and collision between the body and the surrounding environment, protect the safety of the subjects, and adapt to different precision, speed, and load requirements. However, the variable stiffness units a...

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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