Flexible exoskeleton walking aid driven by non-external force

Abstract

The invention discloses a non-external-force-driven flexible exoskeleton walking aid. The non-external-force-driven flexible exoskeleton walking aid comprises a flexible binding unit and a power assisting unit connected with the flexible binding unit. The flexible binding unit comprises a waist binding belt fixed to the waist and abdomen of the human body, a first binding belt fixed to the healthy limb and a second binding belt fixed to the affected limb. The power assisting unit comprises a driving power assisting line and a driven power assisting line; the driving assisting line is connected with the waist binding belt, the first binding belt and the second binding belt, and the driven assisting line is connected with the waist binding belt and the second binding belt; the healthy limb provides driving power for the diseased limb through the driving power-assisted line to enable the diseased limb to move relatively, and the diseased limb moves relatively along with the movement of the diseased limb through the driven power-assisted line. Through the structural arrangement, the healthy limbs serve as a power source, and hip joint flexion and knee joint and ankle joint two-way movement assistance of the affected limbs are achieved through potential energy and waist muscle strength generated by movement of the healthy limbs.

Description

technical field [0001] The invention relates to the field of wearable medical rehabilitation training devices, in particular to a non-external force-driven flexible exoskeleton walker. Background technique [0002] Walking ability is a basic need for human survival, and it is also an important training item in rehabilitation treatment for patients with leg defects. In the current rehabilitation field, mechanically assisted exoskeletons developed for patients' walking assistance and assisted rehabilitation training have been widely promoted and applied. However, due to medical resources and rehabilitation costs, most patients choose to use assistive devices such as walkers and canes at home for rehabilitation training and assisted walking during the golden rehabilitation period. The function of knee joint support (the knee joint cannot be locked) provides power, and it cannot support and drive the affected limb to perform walking training with a natural walking gait (toe mop...

AI Technical Summary

Problems solved by technology

However, due to medical resources and rehabilitation costs, most patients choose to use auxiliary devices such as walkers and canes at home for rehabilitation training and assisted walking during the golden rehabilitation period, because such devices do not affect the flexion and Knee joint support (the knee joint cannot be locked) provides power-assisted function, but it cannot support and drive the affected limb to walk in a natural walking gait (toe mopping, circle gait) for walking training. Although it is possible to walk, it cannot walk well.

[0003] At the same time, in the existing medical field, most patients use exoskeleton walkers with external power sources (active), but active exoskeleton walkers have poor human-computer interaction and are prone to occur due to their own system errors. Human-machine collisions cause harm to the human body. At the same time, the active exoskeleton walker itself is heavy. Wearing the human body will invisibly increase the patient's burden and affect the patient's recovery. The peripherals are very inconvenient, and the manufacturing cost is high. Expensive and not universal; passive exoskeleton walkers are mainly aimed at providing swing power (single joint) for patients with muscle weakness, and are not suitable for rehabilitation training for stroke patients with hemiplegia or patients with unilateral lower limb motor dysfunction. practical

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