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Flexible drive knee joint exoskeleton

An exoskeleton and knee joint technology, applied in the field of robotics, can solve problems such as the misalignment of the rotation centers of the human-machine knee joint, and achieve the effects of reducing the required torque, high energy density, and stable force output

Active Publication Date: 2021-09-28
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problem of misalignment of the human-machine knee joint rotation centers in the prior art, the present invention provides a flexible driving knee joint exoskeleton, which conforms to the physiology of the human knee joint

Method used

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  • Flexible drive knee joint exoskeleton
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Embodiment Construction

[0025] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0026] The present invention is a flexible drive knee exoskeleton, such as figure 1 As shown, it includes an exoskeleton body, parallel springs 1-7 and serial elastic drivers 1-9.

[0027] The body part of the exoskeleton includes an output rod 1-1, a transmission connecting rod 1-2 and a multi-linkage mechanism, which are connected to each other through the knee coronal shaft 1-3 to form a rotary pair connection, and the axes of each rotary pair are parallel. The multi-link mechanism includes exoskeleton thigh links 1-8, long cranks 1-5, short cranks 1-6 and connecting rods 1-4, and each part is connected to each other through the coronal axis of the knee to form a revolving pair to form an instantaneous knee joint. Cardio-fitting four-bar linkage.

[0028] The specific connection method of the above-mentioned exoskeleton body is as follows:

[00...

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Abstract

The invention discloses a flexible drive knee joint exoskeleton, and belongs to the technical field of robots. The knee joint exoskeleton comprises an exoskeleton body, a series elastic driver and parallel springs. The exoskeleton body comprises an output rod, a transmission connecting rod and a multi-connecting-rod mechanism. The multi-connecting-rod mechanism comprises an exoskeleton thigh connecting rod, a long crank, a short crank and a connecting rod piece, and a knee instantaneous center fitting four-rod mechanism is formed. All the components are in revolute pair connection with one another through knee coronal shafts. The exoskeleton thigh connecting rod is connected with the series elastic driver. The parallel springs are arranged on the front side and the rear side of the exoskeleton thigh connecting rod in a cruciate ligament imitating mode. A motor in the series elastic driver provides a torque, and the torque is transferred to the output rod, the transmission connecting rod and the multi-connecting-rod mechanism through the output shaft to drive the instantaneous center fitting four-rod mechanism to start so as to carry out bending motion with the knee joint of the human body at the same time and assist the knee joint of the human body in moving. According to the invention, the required torque of the motor is reduced, and the force output is stable.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a flexible driving knee joint exoskeleton, which can be applied to lower limb rehabilitation training and lower limb assisted walking. Background technique [0002] Cardiovascular and cerebrovascular diseases, stroke and hemiplegia are common symptoms among the elderly, and they are prone to problems such as inconvenient mobility and bedridden. In addition, there are a large number of disabled people in my country, and a large number of elderly and physically disabled people are eager to recover through rehabilitation or rehabilitation. The assistive tool is back on its feet. As a wearable mechanical device, the lower extremity exoskeleton robot can be used in helping the elderly and the disabled or in medical assistance. In national defense and military affairs, lower extremity exoskeleton robots can significantly improve soldiers' combat capabilities, and can provide...

Claims

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Application Information

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IPC IPC(8): A61H1/02A61H3/00A61F5/01
CPCA61H1/024A61H3/00A61F5/0106A61H2003/005A61H2003/007A61H2201/14A61H2201/1642A61H2201/1659A61H2201/50A61H2205/10A61H2201/1207A61H2205/102
Inventor 张武翔韩一波邵一鑫
Owner BEIHANG UNIV
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