Power-assisted exoskeleton and control method thereof
An exoskeleton and control system technology, applied in the medical field, can solve the wearer's poor recovery effect and lack of human-computer interaction functions, etc., and achieve the effect of improving human-machine collaboration performance, improving rehabilitation effect, and improving use reliability
Pending Publication Date: 2021-03-30
SHENZHEN MILEBOT ROBOTICS CO LTD
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[0002] Exoskeleton robots have been widely used in daily life, especially in the field of rehabilitation. Exoskeleton robots can achieve passive and active training for the wearer, effectively avoiding the wearer's muscle atrophy caused by lack of exercise, and at the same time It can effectively improve the recovery effect of the wearer. However, traditional exoskeleton robots often only consider the movement of the exoskeleton robot. poor recovery
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[0030] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.
[0031] It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "inner", "outer", "left", "right" and similar expressions are used herein for the purpose of descripti...
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The invention relates to a power-assisted exoskeleton and a control method thereof. The power-assisted exoskeleton comprises an exoskeleton assembly comprising a body, thigh parts, shank parts and feet, a first sensor, second sensors, third sensors and fourth sensors; the thigh parts are rotationally arranged on the body; the shank parts are rotationally arranged on the thigh parts; the feet are rotationally arranged on the shank parts; the first sensor is arranged on the body and used for sensing attitude angle information of the body of the wearer; the second sensors are arranged on the thigh parts and the shank parts and used for sensing attitude angles and motion acceleration information of the thighs and the shanks of the wearer; the third sensors are arranged at the joints of the thigh parts and the shank parts and used for sensing angle information of the knee joint of the wearer; the fourth sensors are arranged on the feet and used for sensing contact force information of the foot of the wearer; and a control system can perform fusion processing on the motion information of the corresponding parts of the wearer provided by the first sensor, the second sensors, the third sensors and the fourth sensors to obtain motion characterization parameters of the wearer.
Description
technical field [0001] The invention relates to the technical field of medical technology, in particular to a power-assisted exoskeleton and a control method thereof. Background technique [0002] Exoskeleton robots have been widely used in daily life, especially in the field of rehabilitation. Exoskeleton robots can achieve passive and active training for the wearer, effectively avoiding the wearer's muscle atrophy caused by lack of exercise, and at the same time It can effectively improve the recovery effect of the wearer. However, traditional exoskeleton robots often only consider the movement of the exoskeleton robot. The recovery effect of patients is poor. Contents of the invention [0003] Based on this, it is necessary to provide a power-assisted exoskeleton and a control method thereof that can improve the man-machine coordination between the wearer and the exoskeleton component. [0004] A power-assisted exoskeleton comprising: [0005] The exoskeleton assembl...
Claims
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IPC IPC(8): A61H3/00B25J9/00B25J9/16
CPCA61H3/00A61H2003/007A61H2201/1207A61H2201/1238A61H2201/1642A61H2201/165A61H2201/50A61H2201/5061A61H2201/5069A61H2201/5084A61H2230/625B25J9/0006B25J9/1694
Inventor 叶晶陈功陈政阎勇敢王立鹏崔尧张博王洪波
Owner SHENZHEN MILEBOT ROBOTICS CO LTD