The invention discloses a
variable stiffness lower limb external skeleton
robot which comprised a back plate, a flexible
waist adjusting mechanism, hip joint mechanisms, thighs,
knee joint mechanisms,shanks,
ankle joint mechanisms, two driving
degrees of freedom and three driven
degrees of freedom. A driving
control system is arranged on the back plate, the flexible
waist adjusting mechanism is fixed with the back plate and connected with the thighs through the hip joint mechanisms, and the thighs are connected with the shanks and the
ankle joint mechanisms through the
knee joint mechanisms.According to the
variable stiffness lower limb external skeleton
robot, driving is performed by the aid of a
variable stiffness driver, so that the
robot is smooth in movement and high in safety, physical structures of lower limbs of human bodies can be effectively fitted by the aid of the two driving
degrees of freedom and the three driven degrees of freedom, length adjusting mechanisms are arranged at the waists, the thighs and the shanks, so that the robot can adapt to physical sizes of different users, and the robot is wearable and has flexibility in the movement by the aid of the flexiblewaist adjusting mechanism. The robot can be applied and popularized in aspects of
rehabilitation training, boosting and the like.