Three-degree-of-freedom passive energy storage and power assisting exoskeleton hip joint

Abstract

The invention discloses a three-degree-of-freedom passive energy storage and power assisting exoskeleton hip joint. The three-degree-of-freedom passive energy storage and power assisting exoskeleton hip joint comprises a hip supporting plate, an elastic energy storage element, a joint assembly and a leg rod connecting piece, the joint assembly comprises an upper joint piece and a lower joint piece, one end of the hip supporting plate is contained in the mounting position of the upper joint piece, the hip supporting plate is rotationally connected with the upper joint piece by arranging a first shaft in a penetrating manner, the upper joint piece is in butt joint with the lower joint piece, the upper joint piece is rotationally connected with the lower joint piece by arranging a second shaft in a penetrating manner, one end of the leg rod connecting piece is contained in the mounting position of the lower joint piece, and the leg rod connecting piece is rotationally connected with the lower joint piece by penetrating through a third shaft; and the joint assembly can rotate around a coronal axis, a vertical axis and a sagittal axis through the first shaft, the second shaft and the third shaft, and the elastic energy storage element carries out elastic energy storage and power assisting along with the bending and stretching action in the sagittal plane of the hip joint. The three-degree-of-freedom passive energy storage and power assisting device is simple in structure and has a joint power assisting function.

Description

technical field [0001] The invention relates to the technical field of exoskeleton, in particular to a three-degree-of-freedom passive energy storage-assisted exoskeleton hip joint. Background technique [0002] In plateau borders, jungles and mountains, earthquake-stricken areas and other places where large-scale carrier equipment is difficult to function, tasks such as material carrying and emergency rescue pose a huge challenge to the staff's load-bearing mobility. Weight bearing will increase physical energy consumption and affect mobility. At the same time, excessive weight bearing or prolonged weight bearing will cause damage to the body, causing muscle and joint damage. The structure of the active exoskeleton is complex and due to the use of drive motors, etc., there are problems such as insufficient battery life and limited flexibility of movement, so it is difficult to apply in the above outdoor transportation and rescue scenarios. [0003] At present, the unpowere...

AI Technical Summary

Problems solved by technology

Weight bearing will increase physical energy consumption and affect mobility. At the same time, excessive weight bearing or prolonged weight bearing will cause damage to the body, causing muscle and joint damage

The structure of the active exoskeleton is complex and due to the use of drive motors, etc., there are problems such as insufficient battery life and limited flexibility of movement, so it is difficult to apply in the above outdoor carrying and rescue scenarios

[0003] At present, the unpowered exoskeleton hip joint has problems such as excessive volume and lack of freedom, and the experience of wearing it is poor.

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