Flexible wearable knee joint protection exoskeleton and walking assistance system

Abstract

The invention discloses an exoskeleton, and particularly relates to a flexible wearable knee joint protection exoskeleton. The flexible wearable knee joint protection exoskeleton comprises a flexiblejoint, wherein in the walking movement supporting period, an inner ring supporting body and an outer ring supporting body of the flexible joint are opposite, the joint is rigid, supporting force is provided, internal force of the knee joint is reduced, and the knee joint is protected. In the swinging period, the inner ring supporting body and the outer ring supporting body are staggered, after theinner ring supporting body and the outer ring supporting body bear small loads, the inner ring supporting body extrudes the outer ring flexible body, deformation can be generated within a large range, when the knee joint rotates, an instantaneous rotating shaft of the exoskeleton joint is centered along with the human body joint, and no extra load is caused to the knee joint. Meanwhile, the invention further relates to a walking assistance system of the flexible wearable knee joint protection exoskeleton. The technical purpose of providing the exoskeleton knee joint with rigidity and flexibility at the same time is achieved, in the walking movement process, the exoskeleton knee joint is rigid when providing weight supporting, the load of the knee joint is reduced, the exoskeleton knee joint is flexible when swinging, and the knee joint protection function is achieved.

Description

technical field [0001] The invention relates to an exoskeleton, in particular to a flexible wearable knee joint protection exoskeleton; at the same time, the invention also relates to a walking assist system for a flexible wearable knee joint protection exoskeleton. Background technique [0002] Ekso Bionics has developed Ekso, a medical exoskeleton for gait training, which can treat hemiplegic and paralyzed patients with different degrees of illness [1]. Cyberdyne has developed the Hybrid Assistive Limb (Hybrid Assistive Limb, HAL). The device is based on electromyographic signals and senses the movement intention of the human body to provide walking assistance for the disabled [2]. ETH Zurich developed the exoskeleton system Lokomat [3][4]. The system is composed of a weight-reducing support system, mechanical legs, and a medical treadmill. It adopts a suspension-type weight-reducing method. Choe D. of Harvard University developed a flexible jacket [5], which is used in m...

AI Technical Summary

Problems solved by technology

However, since this type is driven by a wire rope, it can only provide pulling force. Although it can achieve motion assistance, it will increase the internal force of the joint and increase the risk of arthritis for the user

[0008] (3) Most of the existing mature exoskeleton designs and products are large in size and mass, and can only be used clinically. The scope of use is limited to indoor hospitals and rehabilitation institutions, and the range of activities of users is limited.

[0009] (4) It takes a long time to wear the above equipment, and even requires the assistance of others; wearing a large exoskeleton will imply that the user has a motor ability defect, and the user may suffer from implicit discrimination

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