The present application discloses a pneumatic
muscle-driven flexible knee
exoskeleton, which relates to the fields of
intelligent equipment, robots, and wearable equipment. It includes a
thigh fixing plate, a calf fixing plate, a bionic joint, and a pneumatic
muscle module. The bionic joint is connected between the
thigh fixing plate and the calf fixing plate, so that the instantaneous center trajectory between the
thigh fixing plate and the calf fixing plate is consistent with the compliance trajectory of the knee. The pneumatic
muscle module includes a pneumatic muscle, a first steel
wire rope, a second steel
wire rope, and a linkage mechanism. The pneumatic muscle is connected to the position on the front of the thigh facing the thigh of the thigh fixing plate. One end of the first steel
wire rope is connected to the output end of the pneumatic muscle, and the other end is connected to the linkage mechanism. One end of the second steel wire
rope is connected to the linkage mechanism, and the other end is connected to the calf fixing plate. The pneumatic muscle is used to drive the first steel wire
rope to move to drive the linkage mechanism to move, and the movement of the linkage mechanism drives the first steel wire
rope to be tightened. The flexibility of the knee assist
exoskeleton is improved, and the matching degree with joint movement is high.