A lightweight and dexterous knee-assisted exoskeleton robot

Abstract

The invention provides a lightweight and dexterous knee-joint power-assisted exoskeleton robot, which includes a shoulder belt, a waist belt, a controller, a power supply, a flexible hip strap, a leg structure and a knee joint drive unit, and the leg structure includes an outer Support Structure, Medial Support Structure, Posterior Thigh Braces, Posterior Calf Braces, and Leg Bindings. The present invention combines the mechanical structure scheme of "knee joint direct drive, leg bilateral support, large and small leg shape adjustment structure, and large and small inner flexible deformation structure", and "shoulder binding + waist binding + hip flexible strap +The binding scheme of "leg flexible binding" improves man-machine matching and the effectiveness of torque transmission from the aspects of mechanical structure and binding, which can better solve the man-machine matching and reduce the undesired force in the process of torque transmission Generate, increase the contact area between man and machine, and achieve the effect of improving wearing comfort, stability and assisting efficiency.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots, in particular to a lightweight and dexterous knee-joint-assisted exoskeleton robot. Background technique [0002] The power-assisted exoskeleton robot is a wearable auxiliary intelligent robot. It uses portable energy to power the robot body, uses sensor networks to collect and judge human body and environmental information, and combines task requirements to achieve single or multiple joints of the human body. Power-assisted exoskeleton robots can be divided into load-supporting and motion-assisted robots. The load-supporting power-assisted exoskeleton generally has a structural interface with the load, the human body, and the environment (ground), and uses its own mechanical structure to transfer all or part of the weight carried by the human body to the ground, reducing the actual weight of the human body. Most of the motion-assisted power-assisted exoskeleton robots only have a str...

AI Technical Summary

Problems solved by technology

The boosting efficiency is reflected in two aspects: the size of the booster and the delay of the booster. The existing technology generally adopts direct drive at the joints and a unilateral structure scheme. This method has the problems of large rotational inertia around the human body and small human-machine interaction surface, which is difficult to solve quickly. The problem of poor stability of the man-machine during the movement, the undesired movement between the man-machine increases significantly with the acceleration of the movement speed, the transmission efficiency of the torque decreases, and the transmission time of the torque increases

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