Hip exoskeleton walking aid robot driven by flexible joints

Abstract

The invention relates to a hip exoskeleton walking aid robot driven by flexible joints. The hip exoskeleton walking aid robot comprises a wearable part; the wearable part comprises a first driving joint, a second driving joint, a third driving joint and a fourth driving joint; each driving joint comprises a supporting piece, an input shaft, an output shaft and a transmission module which is arranged between the input shaft and the output shaft; each input shaft comprises a motor module and a speed reducer module which are coaxially arranged on the corresponding supporting piece; and each output shaft comprises a series elastic driver, a clutch module and an encoder assembly which are coaxially arranged on the corresponding supporting piece. According to the hip exoskeleton walking aid robot, the four driving joints are arranged on the left side, right side, left rear side and right rear side of the hip joint of the human body, the adjustment of the step length in the sagittal plane and adjustment of the step width in the coronal plane can be achieved, and a wearer can control the gait of the wearer in any direction in the walking track plane; and the structure of the series elastic driver and the clutch is adopted, the impact of sudden change load on the human joints can be reduced, and the comfort of the wearer is greatly improved.

Description

technical field [0001] The invention relates to the technical field of wearable devices, in particular to a flexible joint-driven hip exoskeleton walker robot. Background technique [0002] As a kind of wearable equipment, exoskeleton robot has the function of enhancing human movement ability. Compared with traditional robots, exoskeleton is a kind of equipment for man-machine collaboration. Since the development of exoskeletons, it has been widely used in medical rehabilitation, industrial handling and military fields. In the field of medical rehabilitation, with the increase of the aging population, diseases such as muscle atrophy and stroke have seriously affected human mobility. When the wearer cannot achieve normal movement by relying on his own ability, the appearance of exoskeleton is the improvement of motor function. Repro offers help. The main principle of its work is to detect the movement intention of the human body through the wearable sensor, calculate the co...

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Problems solved by technology

[0007] For this reason, the technical problem to be solved by the present invention is to overcome the defects in the prior art that the wearer

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