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Human-imitating double-foot robot artificial leg

A bipedal robot and artificial leg technology, applied in the field of robotics, can solve problems such as lack of flexibility, affect robot anthropomorphism, and no buffering effect, and achieve the effects of compact structure, easy control, and improved transmission accuracy

Inactive Publication Date: 2006-12-27
NORTHEASTERN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Because the robot's feet lack flexibility and have no cushioning effect, in order to avoid the impact of the ground on the feet during walking, it must be controlled from the walking posture, which affects the anthropomorphism of the robot's gait

Method used

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  • Human-imitating double-foot robot artificial leg
  • Human-imitating double-foot robot artificial leg
  • Human-imitating double-foot robot artificial leg

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the accompanying drawings:

[0025] like figure 1 As shown, the present invention includes a hip joint 1, a knee joint 5, an ankle joint 7, a foot 8, a thigh link 2 and a calf link 6, and a knee joint is installed on the thigh link 2 between the hip joint 1 and the knee joint 5. The joint drive motor 3 and the knee joint 5 are two four-link closed chain structures. The knee joint drive motor 3 is connected with the rear rod of the four-link of the knee joint 5 through the parallel four-link mechanism 4, and is fixed at the front end of the four-link. There is a stopper 9, and an encoder 11 is installed on the rotating shaft at the upper end of the front rod of the four-bar linkage.

[0026] Four-link closed chain structure at the knee joint, such as figure 2 As shown, a set of four connecting rods are respectively provided on both sides of the knee joint 5, which are connected by a rotating sha...

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Abstract

The invention involves an artificial leg for human-simulating double-foot robot and is within the scope of robot technology. The artificial leg consists of the coax joint, knee joint, anklebone, foot, thigh connecting rod and calf connecting rod, characterized in that a knee joint driving motor is equipped on the thigh connecting rod between the coax joint and the knee joint. The knee joints are two closed-chain structure comprising of four connecting rods. The knee joint driving motor is connected with the rear rods of the four-connecting-rod structure through the parallel four connecting rod mechanism. A stop piece is fixed on the front end of the four-connecting-rod mechanism. An encoder is equipped on the spindle, which is located on the upper end of the four-connecting-rod mechanism. The advantages of this invention are: the distance between the lifted foot and the ground is increased, enhancing the robot's ability of avoid obstacles while it is walking; the calves don't tough the ground during their swinging process, improving the robot's stability and efficiency in walking; the mass distribution in the leg is more similar to that of human being, producing a compact overall structure and high precision in transmission.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an artificial leg of an anthropomorphic biped robot. technical background [0002] There are currently more than 300,000 people with leg disabilities in my country, and an increase of about 15,000 people every year. If a person's leg is removed from the knee joint for some reason, it will bring great pain to himself and his family. They are all looking forward to the advent of intelligent bionic legs suitable for China's national conditions. With the development of microelectronic technology and control technology, since the 1990s, the field of rehabilitation medicine has researched the use of microprocessor-controlled intelligent prostheses to compensate for the disabled limbs. An intelligent prosthesis is a device that can replace part or all of the lower limb functions of the disabled. It can help the disabled to stand, walk, go up and down stairs, run and even par...

Claims

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Application Information

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IPC IPC(8): B62D57/032A63H11/18
Inventor 丛德宏刘兴刚谢华龙徐心和程军王佳李倩贾鹏宇
Owner NORTHEASTERN UNIV
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