Biological coupling type hip joint assisting exoskeleton

Abstract

The invention relates to a biological coupling type hip joint assisting exoskeleton. The biological coupling type hip joint assisting exoskeleton comprises an exoskeleton body, a leg bandage assembly, a waist bandage and an electric control knapsack; the two sides of the lower portion of the exoskeleton body part are each provided with a parallel mechanism composed of three RRPS branched chains, the lower sides of the parallel mechanisms are bound to the thighs of the human body through the leg bandage assemblies, the upper sides of the parallel mechanisms are bound to the waist of the human body through the waist bandages, and the hip bone, the hip joint and the thigh bone of the human body between the leg bandage assembly and the waist bandage form a virtual constraint branch chain. The virtual constraint branch chain and the three RRPS branch chains form the parallel mechanism with three rotational degrees of freedom, the rotation center of the parallel mechanism is completely consistent with the center of the hip joint of the human body, and damage caused by inconsistent man-machine rotation centers is avoided; P pairs in the three branch chains are of a multi-stage telescopic structure, and the movement range of the human legs is enlarged; and the whole structure adopts a bionic design concept, so that a wearer can move more conveniently.

Description

technical field [0001] The invention relates to the technical field of wearable exoskeleton, in particular to a bio-coupling hip joint power-assisted exoskeleton. Background technique [0002] The wearable power-assisted exoskeleton is used to provide assistance for human joint movements and assist human movement. It has broad application prospects in the fields of auxiliary medical treatment, individual military operations, and heavy physical labor. [0003] As an important joint connecting the waist and lower limbs of the human body, the hip joint plays a decisive role in human walking, running, bouncing and other actions; however, the hip joint is easily damaged under long-term excessive stress. Bones reduce the motion load of the hip joint and keep it within a reasonable force range is an effective way to maintain the health of the hip joint. [0004] At this stage, the mechanical structure of the hip-assisted exoskeleton is generally in series. Although this configurat...

AI Technical Summary

Problems solved by technology

[0004] At present, the mechanical structure of the hip-assisted exoskeleton is generally in series. Although this configuration is simple and easy to control, it is difficult for the center of rotation of the exoskeleton to be consistent with the center of the human hip joint, and it is easy to generate human-computer interaction force. And this human-computer interaction force cannot be effectively eliminated, and long-term use will cause damage to the hip joint

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