Hybrid drive heavy load lower limb exoskeleton based on electro-hydrostatic actuation principle and method

Abstract

The invention discloses a hybrid drive heavy load lower limb exoskeleton based on an electro-hydrostatic actuation principle and a method. The exoskeleton comprises a waist assembly, hip joint assemblies, knee joint assemblies and ankle joint assemblies; the hip joint assemblies are fixedly mounted on the two sides of the waist assembly respectively; the knee joint assemblies are fixedly mounted below the two hip joint assemblies respectively; the ankle joint assemblies are fixedly installed below the two knee joint assemblies respectively. and an electro-hydrostatic actuator is arranged in each knee joint assembly and can drive the corresponding knee joint assembly to rotate around the axis of a knee joint. According to the heavy-load lower limb exoskeleton, hybrid drive is formed on the basis of combination of the electro-hydrostatic actuation principle and a traditional driving mode, and the heavy-load lower limb exoskeleton is high in energy utilization rate, small in inertial impact, high in power density, flexible, light and compact in structure and capable of being applied to heavy-load bearing advancing scenes such as military load bearing and fire rescue.

Description

technical field [0001] The invention belongs to the technical field of heavy-duty lower-limb assisted exoskeleton robots, and in particular relates to a hybrid-driven heavy-duty lower-limb exoskeleton and a method based on the principle of electrostatic fluid actuation. Background technique [0002] The heavy-duty lower limb assist exoskeleton robot mainly assists the human hip, knee, and ankle joints to enhance the output of the wearer's lower limbs and assist them to complete tasks that cannot be performed normally. According to the research on the biomechanics of the lower limbs of human weight-bearing walking: the angle of the human hip joint changes in a sinusoidal cycle, and the average power in the walking cycle is positive, so active drive is required; the angle of the knee joint changes the most during walking, in order to realize climbing slopes and stairs Active driving is required for tasks such as walking; the average power of the ankle joint is positive when wa...

AI Technical Summary

Problems solved by technology

Among them, the hydraulic drive has large output force and high reliability, but has the disadvantages of oil leakage pollution, large volume, and difficult integration; the motor-driven mechanism is relatively simple and has high control precision, but the large output torque requirement of the load-bearing exoskeleton causes the motor The size is large and the battery life is limited; the pneumatic drive has a large output per unit volume and low cost, but it is noisy and difficult to control and debug; the passive energy storage unit does not need a power supply, controller, etc., and is easy to install and arrange. Active change of external load

The above-mentioned joint driving methods have their own advantages and disadvantages, and it is difficult for the existing lower limb power-assisted exoskeleton to achieve "each has its own strengths"

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