Exoskeleton robot knee joint with self-adaptive binding function

Abstract

The invention belongs to the technical field of robots, and relates to an exoskeleton robot knee joint with a self-adaptive binding function. The exoskeleton robot knee joint comprises a knee joint driving and transmission assembly, a thigh rod self-adaptive leg binding assembly and a shank rod self-adaptive leg binding assembly. The knee joint driving and transmission assembly comprises a thigh rod, a shank rod, a flexion and extension transmission rod and a knee joint fixing seat. The thigh rod and the shank rod are connected through a thigh and shank fixing hinge. A knee joint driving unit is arranged at the position, close to a hip joint, of the thigh rod. The power output end of the knee joint driving unit is a flexion and extension motion output end cover. The output end of the flexion and extension motion output end cover is hinged to one end of the flexion and extension transmission rod. The other end of the flexion and extension transmission rod is hinged to one end of the knee joint fixing seat. The other end of the knee joint fixing seat is fixed to the shank rod. The exoskeleton robot knee joint has high force transmission capacity and small leg inertia, and the motion compatibility of an exoskeleton and a wearer and the wearing comfort, convenience and safety of the exoskeleton robot knee joint are improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to an exoskeleton robot knee joint with adaptive binding. 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 mechanism of human joint movement, the knee joint is composed of the medial and lateral condylar articular surface of the femur, the patellar surface, the medial and lateral tibial condylar articular surface, and the back of the patella. It can make small rotational movements around the vertical axis during extension. Therefore, the structure of the human knee joint is very complex. During the flexion and extension of the knee ...

AI Technical Summary

Problems solved by technology

This makes it difficult for the axis of the knee joint of the exoskeleton to align with the axis of the human knee joint, resulting in undesired load force and motion constraints, causing relative slippage between the strap and the human leg, which in turn affects the internal force of the human joints and soft tissues. After long-term use, it may cause skin abrasions or muscle damage

[0004] After analyzing the existing lower extremity exoskeleton, it can be found that in the design of the knee joint, some under-actuated structures are used, which do not have the ability to assist active movement; The position of the center of gravity of the legs is low, the inertia of the legs is large, and it is difficult to drive the joints with a large output torque; some exoskeletons install the knee joints on the thigh rods, and drive them through gears or leadscrews, which improves the leg joints. center of gravity, but there are problems with efficiency and lubrication

In the design of the leg binding device, the rigid fixation between the leg support plate and the exoskeleton is usually adopted, or there are only a small number of rotational degrees of freedom, which cannot adapt to the physiological parameters of the legs of different wearers, nor can it compensate for the damage caused during the wearing movement. Human-machine axis deviation, resulting in poor wearing comfort

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