Bionic three-axis intersection type exoskeleton robot hip joint

Abstract

The invention belongs to the technical field of robots, and relates to a bionic three-axis intersection type exoskeleton robot hip joint. The bionic three-axis intersection type exoskeleton robot hip joint comprises a left hip joint and a right hip joint which are symmetrically arranged; the right hip joint comprises an inward folding / outward unfolding assembly, an inward rotation / outward rotation assembly, a forward bending / backward stretching assembly, an upper-layer remote rotation center mechanism assembly and a lower-layer remote rotation center mechanism assembly; the inward rotation / outward rotation assembly drives the forward bending / backward stretching assembly to do inward rotation or outward rotation through the upper-layer remote rotation center mechanism assembly and the lower-layer remote rotation center mechanism assembly; and the forward bending / backward stretching assembly drives a thigh rod piece to do forward bending or backward stretching motion. According to the exoskeleton hip joint, active motion assistance with three degrees of freedom of forward bending / backward stretching, inward folding / outward unfolding and inward rotation / outward rotation is achieved, the motion flexibility is improved, the three rotating shafts are intersected at the center of the human body hip joint, no motion deviation exists, and the wearing comfort is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a bionic three-axis intersecting exoskeleton robot hip joint. 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. [0003] According to the research on the movement mechanism of human joints, the hip joint is composed of the acetabulum, femoral head and ligaments of the hip bone. Internal rotation / external rotation movement, with the characteristics of good flexibility and large range of motion. [0004] After analyzing the existing lower extremity exoskeleton, it can be found that in the design of the hip joint, most of them only have a single active degree of freedom for ...

AI Technical Summary

Problems solved by technology

[0004] After analyzing the existing lower extremity exoskeleton, it can be found that in the design of the hip joint, most of them only have a single active degree of freedom for flexion / extension, and some have active or passive degrees of freedom for adduction / abduction. The lower extremity exoskeleton has poor motion assistance ability to the human hip joint

In addition, in the three-degree-of-freedom exoskeleton hip joint structure, a simple sequential series structure design is usually adopted, and there is a problem that the internal rotation / external rotation axis does not intersect with the flexion / extension, adduction / abduction rotation axis, resulting in Motion posture deviation between exoskeleton and human body

[0005] Therefore, how to overcome the shortcomings of traditional exoskeleton hip joints such as less degrees of freedom, insufficient number of drives, and axis deviations, and realize a bionic exoskeleton hip joint design with three active rotation degrees of freedom and eliminate rotation axis deviations, is an important issue for lower extremity exoskeleton robots. A key challenge in the development process

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