Bionic spine structure of wearable exoskeleton

Abstract

The invention discloses a bionic spine structure of a wearable exoskeleton. The bionic spine structure comprises at least two connecting pieces simulating the shape of a human spine. Each connecting piece comprises a connecting pin penetrating through the connecting piece and an arc-shaped sliding groove formed in the side wall of the connecting piece, wherein every two adjacent connecting pieces are connected through the corresponding connecting pin and the corresponding arc-shaped sliding groove, and the connecting pin of one connecting piece is connected in the arc-shaped sliding groove of the other connecting piece in a sliding mode, so that the two connecting pieces are in a bent state or a non-bent state. A bionic spine mechanism is formed by the multiple connected connecting pieces simulating the shape of the human spine, every two adjacent connecting pieces are connected through the corresponding connecting pin and the corresponding arc-shaped sliding groove, the connecting pins rotate in the arc-shaped sliding grooves and can simulate spine bending, the connecting pins move along the arc-shaped sliding grooves, and when the spine bending is simulated. the bionic spine structure can generate horizontal displacement in the bending direction like the human spine, so that the distance generated by the displacement of the human spine is compensated for, and the bionic spine structure is always attached to a human body.

Description

technical field [0001] The invention relates to the field of bionic structure of wearable exoskeleton, in particular to a bionic spine structure of wearable exoskeleton. Background technique [0002] Exoskeleton originally refers to a hard external structure that protects the soft internal organs of organisms in biology, but now exoskeleton robot refers to a type of mechanical device that imitates the state of human motion and enhances human motion ability, integrating bionics and ergonomics , worn on the outside of the human limbs, can improve people's ability in specific aspects such as walking durability and load-bearing capacity. Since the exoskeleton robot involves ergonomics, it is required to have strong adaptability, not only to be suitable for wearers of different sizes, but also to protect the human joints from danger to prevent human injury during the wearing process. [0003] Many exoskeleton robots in the prior art have a flat back structure, relying on the hip...

AI Technical Summary

Problems solved by technology

[0003] Many exoskeleton robots in the prior art have a flat back structure, relying on the hip joint to cooperate with the human back to bend, resulting in poor wearing comfort, and the back structure is separated from the human body during activities, which affects the actual use effect; at the same time, most of the existing bionic spine structures are simple. The multi-hinge series mechanism only provides bending freedom. However, when the human spine is bent, the contact surface between the vertebrae continuously slides in the bending direction, so that the spine moves in the horizontal direction when the spine is bent, so that the back structure is separated from the human body, which affects wearing and wearing. Effect

Images