Actively and passively hybrid-driven lower limb-assisted exoskeleton robot and control method

Abstract

The invention belongs to the field of exoskeleton robots and in particular relates to an actively and passively hybrid-driven lower limb-assisted exoskeleton robot and a control method. The robot comprises a waist-hip bracket and two thigh mechanisms. The waist-hip bracket is passively driven and comprises an adjustable waist rack and a hip joint assisted coil spring mechanism. The hip joint assisted coil spring mechanism achieves flexion / extension of two hip joints. Each thigh mechanism comprises a knee joint driving motor, a harmonic reducer, a knee joint angle sensor, an ankle joint spherical hinge and a foot. The knee joint driving motor and the harmonic reducer achieve flexion / extension of the knee joint. The ankle joint spherical hinge achieves dorsal extension / plantar flexion, introversion / extroversion and rotation of the ankle joint. The thigh waist-hip joint achieves passive drive of the hip joint through the coil spring mechanism and active drive of the knee joint through themotor. On the premise of guaranteeing a loading capacity of a wearer, the complexity of a lower limb-assisted exoskeleton robot system is reduced, and the lower limb-assisted exoskeleton robot systemis simple in structure and easy to control.

Description

technical field

[0001] The invention belongs to the field of exoskeleton robots, and in particular relates to an active-passive mixed-drive lower limb-assisted exoskeleton robot and a control method. Background technique

[0002] The lower extremity exoskeleton robot is a wearable intelligent power-assisted device. By cooperating with the wearer, it can assist the human body in walking, carrying and other tasks, reduce the fatigue and damage caused by exercise to the human body, and improve the function of the human body. Its application fields are very wide. In the military field, it can improve the movement flexibility, mobility, and weight-bearing capacity of soldiers; in the medical field, it can help patients with muscle weakness and hemiplegia in the lower limbs to perform rehabilitation training; Improve the ability to carry heavy objects, improve walking durability, etc. At present, the exoskeleton robot's bulky structure, poor wearing comfort, and complex control s...

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