Rigid-soft mixed extravehicular clothing lower limb power assisting device and power assisting method

Abstract

The invention provides a rigid-flexible mixed extravehicular clothing lower limb power assisting device and a power assisting method. The rigid-flexible mixed extravehicular clothing lower limb power assisting device comprises an upper body binding belt, hip joint elastic bands, thigh binding belts, thigh supprts, shank supports, shank binding belts, a back plate, hip joint power assisting units and knee joint power assisting units; each hip joint assisting unit comprises a hip joint Bowden cable, a hip joint motor turntable and a hip joint motor; and each knee joint power assisting unit comprises a first knee joint Bowden cable, a second knee joint Bowden cable, a knee joint motor, a knee joint rotating disc and a knee joint motor rotating disc. By combining human gait analysis and joint resistance moment of a spacesuit, the power assisting device which is rigid-flexible and active-passive is designed, so that the power assisting device realizes bidirectional power assisting of hip joints and knee joints when an astronaut wears extravehicular suits in a limited space layout.

Description

technical field [0001] The invention belongs to the technical field of special service robots, and in particular relates to a rigid-flexible hybrid booster for the lower limbs of an outboard suit and a booster method. Background technique [0002] The extravehicular suit is a special garment worn by astronauts when they go out of the cabin on the lunar surface or other spaces. Due to the need to resist various adverse factors in the space environment, the extravehicular suit is usually internally pressurized to ensure the safety of the astronauts. , but it also brings inconvenience to astronauts' physical activities. According to literature review, the joint moments of upper and lower limbs of astronauts wearing extravehicular suits increase by about 50% compared with normal activities. [0003] In order to overcome the joint resistance moment of the extravehicular suit and effectively reduce the physical exertion of the astronauts, it is necessary to use a human body assis...

AI Technical Summary

Problems solved by technology

The patent "A Wearable Flexible Power Booster" (CN111409061A) uses a single motor to boost the three joints of hip, knee and ankle. Although the weight on the back is greatly reduced, the joint torque caused by the change of the angle of each joint changes at any time , a single motor cannot realize the torque compliance control of each joint, so it is difficult to achieve a good boosting effect

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