Wearable flexible knee joint assisting suit

Abstract

The invention discloses a wearable flexible knee joint assisting suit. The suit comprises a portable control system, an assisting suit left leg wearing assembly, a assisting suit right leg wearing assembly and an attitude and heading reference system (AHRS) assembly. The attitude and heading reference system assembly can obtain swing angle parameters of thighs and shanks of a human body relative to the ground in real time and feed back the swing angle parameters to the portable control system. The portable control system controls the air pressure of the left leg wearing assembly and the right leg wearing assembly of the assisting suit in real time according to the gait and the motion mode of a user by using a sliding mode variable structure control method based on a double-closed-loop mechanism. In the walking process, air pressure acting force which is consistent with the gait and the motion mode of the user and is from the rear sides of thighs and shanks of a left leg or a right leg and the knee fossa side in the sagittal plane of the human body is provided, torque extending within the range of 0-180 degrees is provided for knee joints, and the purpose of assisting knee joint movement is achieved.

Description

technical field [0001] The invention relates to a wearable flexible knee joint power-assisted clothing, which belongs to the technical field of flexible exoskeleton, flexible power-assisted clothing, and flexible wearable power-assisted equipment. Background technique [0002] Wearable flexible knee assist clothing is the product of the combination of flexible exoskeleton and medical technology. It mainly aims at assisting the knee joint. It uses flexible components instead of rigid structures, and uses flexible airbag structures or Bowden rope drive structures to directly act on the knee joints. It avoids the constraint of rigid structural freedom, so that the knee joint can complete the corresponding flexion / extension movement according to the wearer's movement intention, reduce the physical burden of the wearer, enhance the strength of the limbs, and promote the recovery of normal motor function of the patient, or for the weak walking ability The aging population provides...

AI Technical Summary

Problems solved by technology

[0004] Pneumatic flexible knee assist suits generally use pneumatic muscles as drivers, which have the characteristics of high power density, light weight, and inherent compliance. In-depth application in the field of flexible exoskeleton; and the lower extremity exoskeleton driven by pneumatic muscles generally requires a large flow rate and air source due to the high threshold of pneumatic muscles, which brings challenges to the miniaturization and portability of flexible lower extremity exoskeletons

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