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A flexible actuated knee 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 effect of reducing the required torque, low impedance, and reducing motor torque or speed requirements.

Active Publication Date: 2022-05-24
BEIHANG UNIV
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  • Summary
  • 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

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  • A flexible actuated knee exoskeleton
  • A flexible actuated knee exoskeleton

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Embodiment Construction

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

[0026] The present invention is a flexible driving knee joint exoskeleton, such as figure 1 As shown, it includes an exoskeleton body, parallel springs 1-7 and series 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-link mechanism, which are connected to each other through the knee crown shaft 1-3 to form a rotating pair connection, and the axis of each rotating pair is parallel. The multi-link mechanism includes exoskeleton thigh connecting rods 1-8, long cranks 1-5, short cranks 1-6 and connecting rods 1-4. Each part is connected with each other through the knee coronal shaft to form a rotating pair, forming a knee momentary joint. Heart fitting four-bar mechanism.

[0028] The specific connection method of the above exoskeleton body is:

[0029] The fro...

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Abstract

The invention discloses a flexible driving knee joint exoskeleton, which belongs to the technical field of robots. The knee exoskeleton consists of an exoskeleton body, a serial elastic driver and a parallel spring. The exoskeleton body includes an output rod, a transmission connecting rod and a multi-link mechanism. The multi-link mechanism includes an exoskeleton thigh link, a long crank, a short crank and connecting rods, forming a four-bar mechanism for knee instantaneous center fitting. The components are connected to each other through the coronal axis of the knee to form a rotation pair. The exoskeleton thigh links are connected with serial elastic actuators. Parallel springs are arranged on the front and rear sides of the exoskeleton thigh links in the form of imitating cruciate ligaments. The motor in the series elastic driver provides torque, and the torque is transmitted to the output rod, the transmission connecting rod and the multi-link mechanism through the output shaft, driving the instantaneous heart fitting four-bar mechanism to start to move, and the human knee joint is bent at the same time, assisting the human knee joint movement. The invention reduces the required torque of the motor, and the force output is stable.

Description

technical field [0001] The invention belongs to the technical field of robotics, 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 inconvenience of movement and bedridden. The aids stand up again. As a wearable mechanical device, the lower limb exoskeleton robot can be used in helping the elderly and the disabled or in medical assistance. In the national defense and military, lower limb exoskeleton robots can significantly improve the combat capability of soldiers, and can provide soldiers with functions such as load-bearing support and enhanced motor function in complex terrain environments, and significantly reduce the risk of physical exertion and physical damage. Therefore, it is of gr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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