Wearable flexible lower limb assisting exoskeleton robot

Abstract

The invention relates to a wearable flexible lower limb power-assisted exoskeleton robot, which belongs to the technical field of exoskeleton robots and comprises a back component, hip joint components, thigh components, knee joint components, shank components, foot components, ankle joint components, a floating binding device and a transmission-driving system. The invention has the following beneficial effects: the driving system is integrated on the waist to a certain extent to realize the light weight of the equipment, the deflection inertia of the joint is reduced, the power transmission torque is large through the rope, and the transmission is stable. A rigid-flexible mixed limiting mode is adopted at the joint, rigid impact is reduced, secondary damage to a user caused by mistaken rotation of the motor is prevented, energy is stored when the limiting spring is pressed, and the restoring force of rebounding plays a role in saving labor. The sizes of the thighs, the shanks and the hip joints can be continuously adjusted, and the device is suitable for users of different figures and high in wearing universality. The setting of the degree of freedom of the joints conforms to the actual situation of the human body, the consistency of exoskeleton and user movement is guaranteed, and the movement flexibility is improved.

Description

technical field [0001] The invention relates to the technical field of exoskeleton robots, in particular to a wearable flexible lower limb assisted exoskeleton robot. Background technique [0002] The problem of population aging is one of the social problems of widespread concern in China and the world. With the increasing aging, the decline of lower limb function of the elderly due to physiological aging or stroke and other diseases has caused great harm to their lives. troubled. Limited medical resources and traditional rehabilitation equipment can no longer meet your health needs for this group of people. There is an urgent need for a device in the market to enhance their lower limb exercise capacity and assist them in scientific rehabilitation training. [0003] With the continuous advancement of modern science and technology and the increase of people's health needs, lower extremity exoskeleton technology, as a cross-integrated discipline of machinery, electronics, bio...

AI Technical Summary

Problems solved by technology

[0004] Restricted by many factors, the cost of R&D and use of lower extremity exoskeleton robots is still high. In terms of structural design, the direct drive of the motor at the joint end and gear transmission make the deflection inertia of the lower limb movement large, the transmission torque short, and the joint weight and complexity increase.

The method of reducing the degree of freedom of the joints in order to reduce the difficulty of control reduces the degree of man-machine matching and poor wearing comfort

Most of the rigid joints of the exoskeleton are designed to easily cause secondary injuries to the user

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