Lower limb walking external skeleton capable of being worn

Abstract

The wearable lower limb walking external skeleton consists of waist support, four-rod hip mechanism, four-rod knee mechanism, four-rod heel knee mechanism and planta support connected successively. For amputated patient or muscular dystrophy patient, the present invention has auxiliary program written in advance for assisting walking. For tourist and the weak, the present invention is worn and the wearer walks, so that the displacement sensors acquires the motion gesture signals of the wearer, and the gait is recorded in the computer and copied to strengthen the walking ability of the wearer. The present invention is used as the walking aid for the patients and the equipment for walking tourist.

Description

technical field

[0001] The invention relates to a wearable lower limb walking exoskeleton. Background technique

[0002] People are prone to fatigue when carrying heavy loads and walking for a long time. Patients with muscular atrophy or paralysis of lower extremities need walking aids, but there is no walking exoskeleton machine that can perfectly combine human intelligence and robot physical strength. Contents of the invention

[0003] The purpose of the present invention is to provide a wearable walking lower extremity exoskeleton suitable for assisting or enhancing people's walking ability.

[0004] The wearable walking lower extremity exoskeleton of the present invention is composed of waist support, hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism and plantar support in series:

[0005] Said lumbar support includes a U-shaped frame and a supporting frame for load fixed at the bottom of the U-shaped frame, and shaft pin holes are respectivel...

Examples

Embodiment Construction

[0013] Further illustrate the present invention below in conjunction with accompanying drawing.

[0014] refer to figure 1 , the wearable walking lower extremity exoskeleton is composed of a lumbar support 1, a hip four-bar mechanism 5, a knee four-bar mechanism 10, an ankle four-bar mechanism 17 and a plantar support 19 in sequence. The said lumbar support 1 includes U The type frame 3 and the support frame 2 used for load fixed on the bottom of the U-type frame are respectively provided with shaft pin holes 4 at the open ends of the U-type frame. In order to make the size of the U-type frame adjustable according to the comfort of the wearer, The U-shaped frame can be formed by connecting a plate with an adjustment hole and two L-shaped rods.

[0015] The hip four-bar mechanism 5 includes a hip swing rod 6, an angle adjustment rod 7, a support rod 8 and a hydraulic cylinder 9. There is a shaft at one end of the hip swing rod 6, and the shaft extends into the shaft pin hole 4...

technical field

[0001] The invention relates to a wearable lower limb walking exoskeleton. Background technique

[0002] People are prone to fatigue when carrying heavy loads and walking for a long time. Patients with muscular atrophy or paralysis of lower extremities need walking aids, but there is no walking exoskeleton machine that can perfectly combine human intelligence and robot physical strength. Contents of the invention

[0003] The purpose of the present invention is to provide a wearable walking lower extremity exoskeleton suitable for assisting or enhancing people's walking ability.

[0004] The wearable walking lower extremity exoskeleton of the present invention is composed of waist support, hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism and plantar support in series:

[0005] Said lumbar support includes a U-shaped frame and a supporting frame for load fixed at the bottom of the U-shaped frame, and shaft pin holes are respectivel...

Examples

Embodiment Construction

[0013] Further illustrate the present invention below in conjunction with accompanying drawing.

[0014] refer to figure 1 , the wearable walking lower extremity exoskeleton is composed of a lumbar support 1, a hip four-bar mechanism 5, a knee four-bar mechanism 10, an ankle four-bar mechanism 17 and a plantar support 19 in sequence. The said lumbar support 1 includes U The type frame 3 and the support frame 2 used for load fixed on the bottom of the U-type frame are respectively provided with shaft pin holes 4 at the open ends of the U-type frame. In order to make the size of the U-type frame adjustable according to the comfort of the wearer, The U-shaped frame can be formed by connecting a plate with an adjustment hole and two L-shaped rods.

[0015] The hip four-bar mechanism 5 includes a hip swing rod 6, an angle adjustment rod 7, a support rod 8 and a hydraulic cylinder 9. There is a shaft at one end of the hip swing rod 6, and the shaft extends into the shaft pin hole 4...

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