Non-binding type easy-to-wear lower limb exoskeleton assisting system and using method

Abstract

The invention discloses a non-binding type easy-to-wear lower limb exoskeleton power assisting system and a using method. The problem that an existing robot cannot perform force feedback in the prior art is solved, and the beneficial effect of ensuring the power assisting effect is achieved. According to the specific scheme, the non-binding type easy-to-wear lower limb exoskeleton power assisting system comprises a riding seat mechanism, a guide rail mechanism and a power mechanism. The riding seat mechanism comprises a supporting base, the supporting base supports a seat base body, the seat base body is provided with an assistance feedback unit, the assistance feedback unit comprises a seat cushion and a pressure sensor, and the pressure sensor is arranged between the seat cushion and the seat base body. The guide rail mechanism is arranged on the outer side of the supporting base, a mandrel is connected with the guide rail mechanism and the supporting base, the guide rail mechanism can rotate around the mandrel and is provided with a supporting rail, and the sliding block can slide along the supporting rail. A knee joint rotating mechanism is connected with the power mechanism, and the power mechanism provides torque for the knee joint rotating mechanism so as to help the human body walk to assist in burden reducing.

Description

technical field [0001] The invention relates to the field of exoskeleton robots, in particular to an unbound easy-to-wear lower extremity exoskeleton assisting system and a usage method. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] As a branch of the robotics field, the power-assisted exoskeleton robot is mainly used to assist in enhancing human body functions and helping the human body improve or improve mobility. Most of the design ideas are to establish a certain binding relationship with the human body's extremities, and use motors or hydraulic pressure as the driving source to achieve the purpose of assisting activities. Specific applications can be divided into two categories: one is to assist in enhancing human body functions, such as in the military field, it can be used to improve soldiers' continuous combat capabilities; in t...

AI Technical Summary

Problems solved by technology

[0004] There are currently some deficiencies in the second type of application: first, the weight of the bound exoskeleton itself makes the wearing process an unnecessary burden on the crowd, and more people need help to wear it; the second is the bound exoskeleton The structure is complex, and two drive sources, hip and knee, are needed to achieve the control purpose, and the control difficulty is high.

The third is that there are also non-bonded solutions in the prior art, but the inventors found that in terms of power, the traditional bonded exoskeleton has a large device, and the battery system and joint feedback systems are easy to arrange, but the non-bonded exoskeleton Due to its lightweight and convenient design, the device is required to be as compact as possible, so it is easy to cause problems such as insufficient energy supply and inability to completely track the human body's gait and power feedback; Action posture, thus affecting the power-assist effect

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