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

An exoskeleton robot, hybrid drive technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of cumbersome, complex structure, drive redundancy, etc., to improve comfort, reduce control difficulty, reduce motor and deceleration The effect of the introduction of the

Pending Publication Date: 2020-12-11
NANJING UNIV OF SCI & TECH
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  • Abstract
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  • Claims
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Problems solved by technology

[0006] The purpose of the present invention is to provide a lower limb assisted exoskeleton robot with active and passive hybrid drive, which solves the problems of redundant drive, complex structure and heavy weight of existing exoskeleton robots

Method used

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

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Embodiment Construction

[0054] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0055] like Figure 1-Figure 3 As shown, a lower limb power-assisted exoskeleton robot with active and passive hybrid drive includes a waist and hip bracket and two sets of leg mechanisms. The two sets of leg mechanisms are symmetrically installed on the waist and hip bracket. The waist and hip bracket includes a Adjust the waist frame 1 and the hip joint power coil spring mechanism 2, the leg mechanism includes the upper thigh rod 3, the leg shell 4, the thigh fixing and binding mechanism 5, the lower thigh rod 6, the knee joint driving motor 7, and the harmonic reducer 8 , knee joint angle sensor 9, upper calf bar 10, calf fixing and binding mechanism 11, lower calf bar 12, ankle joint ball hinge 13 and foot 14, adjustable waist frame 1, hip joint power-assisted coil spring mechanism 2, upper thigh Rod 3, lower thigh rod 6, upper calf rod 10, lower calf ro...

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0006B25J9/1615
Inventor 管小荣陆磊丰李回滨邹铠帆马逸麟何龙王新蕊李仲朱蒙王铮李灿白宇马泽高玉虎
Owner NANJING UNIV OF SCI & TECH
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