Connecting Rod Lower Limb Exoskeleton Pneumatic Drive
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Solution Overview
Problem
Existing exoskeleton rehabilitation robots face issues such as large size, poor wear comfort due to unconsidered center of gravity fluctuation and adduction of the thigh during walking, and limited battery life from motor-driven systems, with prior pneumatic muscle designs not adequately addressing these problems.
Innovation Solution
A connecting rod-type lower limb exoskeleton rehabilitation robot with a compact structure, utilizing two pneumatic muscle frames, transmission devices, and a programmable treadmill, incorporating a guide rail and sliding block mechanism to address center of gravity fluctuation and adduction, and employing four-bar linkage mechanisms to manage the instantaneous center of the knee, with a multi-degree-of-freedom design for adaptability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If motor drive is used, then fast response and high precision are achieved, but the exoskeleton becomes large in size and cannot withstand large loads
Solution Approach 1:
The patent replaces motor drive with pneumatic muscle drive. The pneumatic muscle is a flexible actuator that converts pneumatic energy into mechanical force, eliminating the need for heavy motors and speed reducers. This reduces the size and weight of the exoskeleton while maintaining the capability to withstand large loads, as pneumatic muscles can generate high forces relative to their size.
2Power
If hydraulic drive is used, then high power-to-mass ratio is achieved, but the working medium leaks and is unsuitable for rehabilitation
Solution Approach 1:
The patent substitutes hydraulic drive with pneumatic drive. Instead of using hydraulic oil as the working medium, the system uses compressed air. This maintains the high power-to-mass ratio advantage while eliminating the leakage and contamination problems associated with hydraulic oil, making the system safe and hygienic for rehabilitation applications.
3Power
If traditional exoskeleton structure is used, then drive function is achieved, but wear comfort is poor due to unconsidered center of gravity fluctuation and thigh adduction
Solution Approach 1:
The patent incorporates a dynamic adjustment mechanism that allows the exoskeleton to adapt to the user's movement characteristics in real-time. The structure can dynamically adjust to accommodate center of gravity fluctuations and thigh adduction during walking, improving wear comfort while maintaining effective drive function. This makes the exoskeleton more adaptable to natural human movement patterns.
4Power
If motor drive with battery is used, then drive function is achieved, but battery life is limited
Solution Approach 1:
The patent replaces electric motor drive with pneumatic muscle drive powered by a compressed air tank. This eliminates the need for batteries and motors, significantly extending the operational duration. The compressed air system provides a lightweight, long-duration power source that is particularly suitable for rehabilitation applications where extended use is required.
Data Source
AI summary
The present invention discloses a connecting rod-type lower limb exoskeleton rehabilitation robot, comprising a treadmill, two pneumatic muscle frames, two transmission devices and two lower limb exoskeletons; the pneumatic muscle frame includes a thigh rotating shaft, a calf rotating shaft, a hip joint shaft, pneumatic muscles and a support frame; the transmission device includes a thigh transmission mechanism and a calf transmission mechanism; the thigh transmission mechanism is a parallel four-connecting-rod mechanism composed of a thigh rotating arm, a thigh connecting rod and a thigh skeleton; the calf transmission mechanism includes two four-connecting-rod mechanisms; and the lower limb exoskeleton is connected to the pneumatic muscle frame through the transmission device. Compared with other exoskeleton rehabilitation robots driven by pneumatic muscles, the exoskeleton rehabilitation robot in the present invention, which concentrates all pneumatic muscles in the pneumatic muscle framework, has a simple, compact structure, and is safe and easy to operate.