The invention relates to the technical field of
medical equipment, in particular to structural design of a self-adaptive
knee joint exoskeleton. Comprising a back
assembly (I), a hip joint adjusting
assembly (II), a telescopic adjusting
thigh assembly (III), a telescopic adjusting shank assembly (IV), a
knee joint mechanism (V) arranged between the telescopic adjusting
thigh assembly and the telescopic adjusting shank assembly and a foot assembly (VI). The
knee joint mechanism comprises a tracking four-bar mechanism used for being self-adaptive to the motion center of the knee joint of the
human body, a knee joint
actuator used for driving the four-bar mechanism to work in a self-adaptive mode and a transmission four-bar mechanism used for transmitting torque of the knee joint
actuator. The bionic design is adopted, the two four-bar mechanisms are connected through the ligaments in combination with the human knee joint skeleton structure, and flexible connection of the telescopic adjusting
thigh assembly, the telescopic adjusting shank assembly and the knee joint mechanism is achieved; by introducing the
genetic algorithm, the size design of the two four-bar mechanisms is optimized, and the tracking accuracy of the tracking four-bar mechanism and the high-efficiency transmission of the transmission four-bar mechanism are realized.