A new self-balancing exoskeleton robot

Abstract

The invention belongs to the technical field of robots, and relates to a novel self-balancing exoskeleton robot, comprising a back support control assembly, a hip joint assembly, a knee joint assembly, an ankle joint assembly, and a foot support assembly; a back support control assembly, a hip joint assembly, and a knee joint components, ankle components, and footrest components are connected in sequence; the hip component realizes hip flexion / extension, hip adduction / abduction, and hip internal rotation / external rotation; the knee component realizes knee flexion / extension The extension movement; the ankle joint component realizes the ankle joint dorsiflexion / plantar flexion and the ankle joint varus / valgus movement; the foot support component is used to support the human body. The present invention proposes a new type of self-balancing exoskeleton robot, which is suitable for people with hemiplegia, paraplegia, quadriplegia, etc. Training for daily activities such as stairs.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a novel self-balancing exoskeleton robot. Background technique [0002] The lower extremity exoskeleton is a wearable bionic robot with a structure similar to that of the human lower extremity. It can assist the wearer in realizing functions such as lower limb rehabilitation, assisting walking, and enhancing load-bearing. It has broad application prospects in rehabilitation, civilian and military fields. With the increasingly serious problem of aging population in my country and the increasing number of people with severe walking dysfunction such as stroke hemiplegia and spinal cord injury paraplegia, Chinese families and the government will face very severe pressure on pension and medical care. Existing medical theory and clinical practice point out that in addition to necessary surgery and drug treatment, scientific rehabilitation training is an important means for paralyzed patien...

AI Technical Summary

Problems solved by technology

[0003] The existing powered lower extremity exoskeleton robots mainly have problems such as less freedom of movement, insufficient number of drives, single functional structure, large leg inertia, insufficient rigidity of the overall structure, and lack of self-balancing walking ability. Poor, low motor assistance ability, and need to use crutches or other auxiliary support equipment to maintain exercise balance, which requires high upper limb strength and response ability of the wearer, so it is not suitable for hemiplegia, quadriplegia, the elderly and infirm, People with upper limb weakness

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