Leg exoskeleton device and control method thereof

An exoskeleton and leg technology, applied in the field of leg exoskeleton device and its control, can solve the problems of high energy consumption of motor drive and insufficient intelligence of manual drive.

Inactive Publication Date: 2020-11-24
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The present application provides a leg exoskeleton device and its control method, which can solve the problem of leg exoskeleton devices in the prior art,

Method used

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  • Leg exoskeleton device and control method thereof
  • Leg exoskeleton device and control method thereof
  • Leg exoskeleton device and control method thereof

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[0024] Next, the technical solutions in the present application embodiment will be described in the present application embodiment, and it is clear that the described embodiments are intended to be a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, one of ordinary skill in the art is in the scope of the present application without making creative labor premistence.

[0025] The terms "first", "second", "third" in this application are intended to describe purposes, and cannot be understood as an indication or implies relative importance or implicitly indicated the number of technical features indicated. Thereby, the features of "first", "second", and "third" are defined, and may be indicated or implied with at least one of this feature. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically defined. All direct...

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Abstract

The invention provides a leg exoskeleton device and a control method thereof. The leg exoskeleton device comprises a thigh assembly and a shank assembly which are rotationally connected and worn on the thigh and the shank of a user respectively, a magnetorheological damper and a controller, wherein the magnetorheological damper comprises a damping cylinder and a damping rod, wherein part of the damping rod is arranged in the damping cylinder. One of the thigh assembly and the shank assembly is rotationally connected with the end, exposed out of the damping cylinder, of the damping rod, and theother is rotationally connected with the damping cylinder. An annular magnetizer is arranged in the damping cylinder and arranged on the outer ring of the damping rod in a sleeving mode, an annular groove is formed in the outer side wall of the annular magnetizer, a conductive coil is wound in the annular groove, and a magnetorheological fluid is contained in the damping cylinder; the annular magnetizer and the damping cylinder are arranged at an interval; and the controller is in communication connection with the magnetorheological damper and is used for controlling the current intensity ofthe conductive coil so as to control the working state of the magnetorheological damper. The device not only can realize locking, loosening or deceleration between the thigh assembly and the shank assembly, but also is relatively low in energy consumption, and meanwhile, the intelligent degree is ensured.

Description

technical field [0001] The invention relates to the technical field of power-assisted exoskeleton, in particular to a leg exoskeleton device and a control method thereof. Background technique [0002] The leg exoskeleton device is a wearable device that assists the human body to stand and walk. It is often used for walking rehabilitation of paraplegic patients or walking assistance for normal people. [0003] At present, leg exoskeleton devices generally include a thigh support and a calf support; wherein, the thigh support is used to be worn on the user's thigh; the calf support is rotatably connected to the thigh support, and is used to be worn on the user's calf; The leg exoskeleton device can provide support for the user when the user's legs are standing, and a locking part, such as a gear magnetic strip or a ratchet mechanism, is generally added to connect the thigh support and the lower leg when the user's legs are standing. Stand locked. [0004] However, in the exi...

Claims

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Application Information

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IPC IPC(8): A61H3/00B25J9/00B25J9/16B25J13/08
CPCA61H3/00B25J9/0006B25J9/1633B25J13/085A61H2003/005
Inventor 吴新宇王大帅曹武警孙健铨傅睿卿李鹏飞季心宇何勇
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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