Unilateral wearable walking assistance exoskeleton device and control method thereof

Abstract

The invention discloses a unilateral wearable walking assisting exoskeleton device. The unilateral wearable walking assisting exoskeleton device comprises a flexible assisting structure, an attitude measurement unit and a motor module, wherein the flexible power assisting structure comprises a waist fixing band, a flexible woven band, a first knee fixing band and a second knee fixing band. The invention further discloses a control method of the unilateral wearable walking assistance exoskeleton device. The method comprises the following steps that an attitude measurement unit collects gait cycle data of a free leg; according to the obtained gait period data, a speed curve needing to be rotated by the motor of the motor module is generated; when it is detected that the free leg enters the supporting phase, assistance starts, the motor module controls rotation of the motor according to a pre-generated speed curve so as to control stretching and retracting of the flexible braid, and the assisted leg is driven to complete movement within an assistance duration. The exoskeleton device is easy to install and convenient to wear, the weight of the device is reduced to the maximum extent, and therefore the extra load of a wearer is reduced, and the power assisting effect is enhanced.

Description

technical field [0001] The invention relates to the technical field of power-assisted mechanisms, and more specifically relates to a unilateral wearable walking power-assisted exoskeleton device and a control method thereof. Background technique [0002] As the saying goes, "When people get old, their legs get old first." More and more elderly people are facing obstacles in walking their legs, which affects their daily walking. The use of wearable walking-assisted exoskeletons can reduce the burden on the elderly's legs. However, such exoskeleton systems often include multiple devices such as pairs of batteries, motors, drive circuits, and actuators (flexible webbing or Bowden wires). It is relatively heavy, and it also brings extra burden to the elderly while realizing assisted walking. [0003] Considering that the elderly often have severe walking impairment on one leg, especially those with mild hemiplegia, they appear to be in a state of lameness during walking, so it ...

AI Technical Summary

Problems solved by technology

The use of wearable walking-assisted exoskeletons can reduce the burden on the elderly's legs. However, such exoskeleton systems often include multiple devices such as pairs of batteries, motors, drive circuits, and actuators (flexible webbing or Bowden wires). It is relatively heavy, and it also brings extra burden to the elderly while realizing assisted walking

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