Wearable electric intelligent disabled-helping exoskeleton body posture control device

Abstract

The invention discloses a wearable electric intelligent disabled-helping exoskeleton body posture control device which comprises a waist ring, a crotch ring, a plurality of driving connecting rod assemblies and a back frame, each driving connecting rod assembly comprises a driving telescopic rod, an upper hinge head and a lower hinge head, wherein the upper end of the upper hinge head is rotationally matched with the waist ring with the Z-direction axis as the center, the lower end of the upper hinge head and the upper end of the driving telescopic rod are rotationally matched with the horizontal axis as the center, the lower end of the lower hinge head and the crotch ring are rotationally matched with the Z-direction axis as the center, and the upper end of the lower hinge head and the lower end of the driving telescopic rod are rotationally matched with the horizontal axis as the center. The back frame, the waist ring, a left half crotch ring and a right half crotch ring are combined with the multiple driving connecting rod assemblies to construct a multi-rod multi-degree-of-freedom follow-up wearable exoskeleton structure matched with the upper body of a human body, and the driving connecting rod assemblies serve as executing mechanisms; and under a good load transfer condition, the wearable electric intelligent disabled-helping exoskeleton body posture control device can passively adapt to all actions and postures of the waist and the shoulders of the human body.

Description

technical field [0001] The invention belongs to the technical field of wearable power-assisted exoskeleton machinery, and in particular relates to a body posture control device of a wearable electric intelligent power-assisted exoskeleton. Background technique [0002] A wearable power-assisted exoskeleton is a mechanical device that can be worn on the outside of the operator's body. It can provide support, protection, and enhance the ability of movement and weight-bearing to the person wearing the exoskeleton. Wearable exoskeletons are widely used in medical rehabilitation applications. [0003] The mechanical structure of the hip joint and the lumbar rod in the wearable power-assisted exoskeleton directly affects the freedom of movement of the user's crotch position and waist position. The joint degrees of freedom of the waist and hip mechanical structure of the existing wearable exoskeleton are insufficient, and generally only include Multiple degrees of freedom of rotat...

AI Technical Summary

Problems solved by technology

[0003] The mechanical structure of the hip joint and the lumbar rod in the wearable power-assisted exoskeleton directly affects the freedom of movement of the user's crotch and waist positions. The existing wearable exoskeleton's mechanical structure of the waist and crotch has insufficient joint degrees of freedom, generally only including Multiple degrees of freedom of rotation to match human body movements, lack of matching ability with actual human body movement, slow movement, difficult to exert auxiliary performance, and large mechanical joints, poor fit with human body, and poor wearing comfort