Hip and knee joint passive exoskeleton power assisting device based on energy storage

Abstract

The invention discloses a hip and knee joint passive exoskeleton power assisting device based on energy storage, and belongs to the technical field of lower limb exoskeletons. A fixed mounting platform is provided for the thigh energy storage assembly and the shank energy storage assembly through the waist fixing assembly, the thigh energy storage assembly and the shank energy storage assembly are provided with designed first elastic elements and second elastic elements respectively, when thighs swing backwards in the later period of a supporting phase, the first elastic elements are stretched, negative work generated when the thighs swing backwards is absorbed, and the thighs swing backwards; energy is recovered and released in the early stage of a swinging phase to provide hip joint buckling auxiliary torque; when the shank stretches forwards in the later stage of the swing phase, the second elastic element is stretched to absorb negative work generated when the shank stretches forwards, the negative work generated when the shank stretches forwards is converted into elastic potential energy, and the elastic potential energy is recovered to provide hip joint stretching auxiliary torque when the thigh swings backwards in the early stage of the supporting phase. In other words, in the whole gait cycle, the hip joint is assisted to stretch and bend at the same time, and the exoskeleton assisting efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of lower extremity exoskeleton, and more particularly relates to a passive exoskeleton assisting device for hip and knee joints based on energy storage. Background technique [0002] Walking is one of the most common sports in people's daily life, and people walk tens of thousands of steps every day on average. However, a large amount of energy is consumed during walking. Although people will optimize their walking strategies according to different road conditions to reduce energy consumption as much as possible, people's walking distance is often limited due to lack of physical strength. In addition, for some groups with movement difficulties or obstacles, such as overweight people, the elderly, patients with lower extremity arthritis, etc., the decline in walking efficiency has brought great obstacles to daily life. Therefore, an exoskeleton that can reduce the consumption of walking metabolic energy has ...

AI Technical Summary

Problems solved by technology

Existing passive exoskeleton devices can only assist hip extension or hip flexion, but cannot assist hip extension and flexion at the same time, and the efficiency of exoskeleton assistance is limited

Moreover, the existing passive exoskeleton devices can only function in one or two periods of the stance cycle, the early stage of the stance phase, the late stage of the stance phase, the early stage of the swing phase, or the late stage of the swing phase, but cannot be used in the entire gait cycle. Can give exoskeleton assistance

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