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Knee joint flexible exoskeleton based on shape memory alloy driving

A memory alloy and knee joint technology, which is used in appliances to help people walk, program-controlled manipulators, physical therapy, etc., can solve the problems of heavy weight, complex structure of variable stiffness exoskeleton, large volume, etc., and can reduce the torque in the joint. Effect

Pending Publication Date: 2021-11-19
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a knee joint flexible exoskeleton driven by shape memory alloy to solve the problems of complex structure, large volume and heavy weight of the existing variable stiffness exoskeleton

Method used

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  • Knee joint flexible exoskeleton based on shape memory alloy driving
  • Knee joint flexible exoskeleton based on shape memory alloy driving
  • Knee joint flexible exoskeleton based on shape memory alloy driving

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0040] This embodiment discloses a knee joint flexible exoskeleton driven by a shape memory alloy, including a thigh collar 1 , a thigh brace 2 , a joint brace 3 and a calf collar 4 .

[0041] The thigh collar 1 is a ring structure set on the user's thigh. The front and rear sides of the user's thigh are respectively marked as the A side and the B side, and the two sides of the user's thigh perpendicular to the A side and the B side are respectively marked as C side and D side.

[0042] The inside of the thigh collar 1 is a hollow structure through which N SMA wires 5 pass, N is a natural number greater than or equal to 2, and N is 3 in this embodiment. The outer wall of the thigh collar 1 is provided with four notches 101, and the four notches 101 are respectively located on the A side, the B side, the C side and the D side, see image 3 , Winding posts 6 are installed on the notches 101 of A side, C side and D side.

[0043] The lower end of the thigh collar 1 is connected...

Embodiment 2

[0063] This embodiment discloses a knee joint flexible exoskeleton driven by a shape memory alloy, including a thigh collar 1 , a thigh brace 2 , a joint brace 3 and a calf collar 4 .

[0064] The thigh collar 1 is a ring structure set on the user's thigh. The front and rear sides of the user's thigh are respectively marked as the A side and the B side, and the two sides of the user's thigh perpendicular to the A side and the B side are respectively marked as C side and D side.

[0065] The inside of the thigh collar 1 is a hollow structure through which N SMA wires 5 pass, and N is a natural number greater than or equal to 2. The outer wall of the thigh collar 1 is provided with four notches 101, and the four notches 101 are respectively located on the A side, the B side, the C side and the D side, see image 3 , Winding posts 6 are installed on the notches 101 of A side, C side and D side.

[0066] The lower end of the thigh collar 1 is connected with the thigh support 2, ...

Embodiment 3

[0083] The main structure of this embodiment is the same as that of Embodiment 2, further, refer to Figure 5 , the torsion spring bracket 7 is provided with an electrothermal film 32 , and the electrothermal film 32 communicates with the power module 29 . The material of the electrothermal film 32 is PI polyimide material, which is a planar heating material, and forms a maximum heat conduction surface with the object to be heated, and has good heat conduction performance.

[0084] During use, the electric heating film 32 is continuously supplied with varying currents to heat the material of the torsion spring to a certain extent. During the heating process, it can be seen from the characteristics of the SMA material that the stiffness of the material will gradually increase. From the characteristics of the torsion spring 8 itself, it can be seen that in the process of standing phase, the bending angle is small, the spring stiffness is small, the energy storage and impedance o...

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Abstract

The invention discloses a knee joint flexible exoskeleton based on shape memory alloy driving. The knee joint flexible exoskeleton comprises a thigh lantern ring, a thigh support, a joint support and a shank lantern ring. An SMA silk yarn flexible fabric interlayer is arranged on the front side of the joint support, the lower ends of SMA wires are fixed to the joint support, and the upper ends of the SMA wires penetrate through the SMA silk yarn flexible fabric interlayer and the thigh lantern ring and is connected with SMA springs on the left side and the right side of the thigh support; a spring cavity provided with an SMA spring is arranged on the rear side of the thigh support, a traction steel wire bypasses a movable pulley to be connected with a bias spring, and the lower end of the movable pulley is connected with an elastic belt on the joint support. According to the knee joint flexible exoskeleton based on shape memory alloy driving, the SMA springs and the SMA wires are heated through current, restoring force is provided in different gait cycles of a human body through contraction, restoring torque is generated on the central axis of a leg, the auxiliary effect is achieved in the normal walking process of the human body, and the torque in joints is reduced.

Description

technical field [0001] The invention relates to a lower extremity knee joint flexible exoskeleton, in particular to a knee joint flexible exoskeleton driven by a shape memory alloy. Background technique [0002] With the continuous improvement of modern warfare and medical treatment to enhance and restore the sports ability of the test group, the lower extremity exoskeleton has gradually become a research hotspot. The lower extremity exoskeleton is a mechanical device that can be worn on the outside of the operator's body. It can provide support, assistance, enhance and restore the wearer's motor function, so the development of the lower extremity exoskeleton has great practical significance. [0003] Although traditional variable stiffness lower extremity exoskeletons can isolate the contact and collision between the body and the surrounding environment, protect the safety of the subjects, and adapt to different precision, speed, and load requirements. However, the variabl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00A61H3/00
Inventor 孙园喜蒋天奇柏龙
Owner CHONGQING UNIV