A Knee Joint Exoskeleton Robot with Variable Stiffness Based on Shape Memory Alloy

Abstract

A variable stiffness knee joint exoskeleton robot based on a shape memory alloy belongs to the field of human-machine fusion, including a thigh support, a lower leg support, a bearing seat support seat, a knee joint transmission part, a knee joint motor, and a variable stiffness module. The variable stiffness module is fixed on one side of the calf support, and the upper part is connected to the knee joint flange seat through the knee joint transmission part. The internal memory alloy of the variable stiffness module can realize stiffness adjustment. The knee joint motor is fixedly connected with the thigh support to provide power. The thigh support maintains a parallel relationship with the calf support. The upper end of the support seat of the bearing seat is fixedly connected with the bottom of the thigh support, and the rotation function of the knee joint is realized by using the internal bearing. The output end piece of the bearing seat is fixedly connected with the shank support, and is used to drive the shank support to move. The invention uses shape memory alloy as the driving principle to improve the overall maneuverability of the exoskeleton; the knee joint of the exoskeleton with variable stiffness can effectively assist the wearer to walk; the materials are all made of aluminum alloy, which can effectively bear external forces and protect the wearer.

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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