Enhanced lower limb exoskeleton robot weight-bearing walking balance system and balance method

Abstract

The invention discloses an enhanced lower limb exoskeleton robot weight-bearing walking balance system and method. The balance system comprises a waist connecting rod; the outer wall of the waist connecting rod is rotatably connected with a hip connecting member. The balance method comprises the following steps: S1, after a shoulder weight-bearing frame bears a load, when a wearer lifts a right leg, an upper half body part is inevitably inclined to the left side; S2, a left shoulder strap is enabled to be in a relatively loose state, a right shoulder strap is enabled to be in a relatively tensioned state, and a thigh mechanism and the hip connecting member are enabled to bear a rightward inclined force, so as to pull a movable rod through a first fork head; S3, when the movable block moves downwards to make contact with the bottom of the inner side of a sleeve, the position of the movable block is limited; S4, when the position of the movable block is limited, a reverse tensioning effect is achieved on the hip connecting member; and S5, finally, the effects of balancing the pressure of the two shoulder straps and avoiding excessive inclination of the gravity center of the wearer are achieved, and the situation that the wearer topples over during use is avoided.

Description

technical field [0001] The invention relates to an exoskeleton robot, in particular to an enhanced lower limb exoskeleton robot load-bearing walking balance system and a balancing method. Background technique [0002] Since the exoskeleton was developed in the 1960s, it has turned from the military field to the civilian market. It is mainly used for medical and industrial production as an auxiliary tool to help the disabled walk and workers to perform manufacturing and handling tasks. Research and development in the direction of stronger load-bearing capacity, higher control and flexibility. At present, research on exoskeletons in scientific research institutions in most countries is still in the basic initial stage, and there are still few commercial products. The main application fields are military, civilian and medical. Among them, the leading countries are mainly the United States and Japan, France, Russia, South Korea, Israel and other countries have also made achievem...

AI Technical Summary

Problems solved by technology

[0004] However, the existing exoskeleton robots lack a balancing method. During the weight-bearing walking process, the wearer's center of gravity tends to be tilted greatly, and the wearer's shoulders are unbalanced in force, which makes the wearer prone to tipping over during use. Case

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