Intelligent exoskeleton carrying system for lower limb and control method thereof

Abstract

The invention discloses an intelligent exoskeleton carrying system for a lower limb and a control method thereof. The system is provided with structures such as a detection control system, a girdle ring, a back frame connected with the girdle ring, a leg supporting device, and the like. The leg supporting device comprises a thigh connecting rod, a knee joint connecting piece, a crus connecting rod and a foot connecting piece which are movably connected in turn, wherein the knee joint connecting piece is provided with a knee joint torsion spring; two ends of the knee joint torsion spring are connected with the thigh connecting rod and the crus connecting rod respectively; the crus connecting rod is provided with a guy cable; the other end of the guy cable is connected with a guy cable driving device which is connected with the detection control system through a transmission line; the foot connecting piece is provided with a signal sensor which is connected with the detection control system through a signal acquisition line; and the top end of the thigh connecting rod is movably connected with a hip joint and connected with the girdle ring through the hip joint. The system can be coupled to human body, advance along with the human body, help the human body to load and carry and reduce energy consumption and fatigue feeling of the human body, and has the advantages of reasonable structure, complete function and strong practicability.

Description

technical field [0001] The invention relates to the technical field of computer artificial intelligence, in particular to an intelligent portable exoskeleton system for lower limbs and a control method thereof. Background technique [0002] At present, people are actively researching and developing a human-machine exoskeleton system, which is a special mechanical system that combines human intelligence and mechanical energy of mechanical devices. Bears most of the loads the human body bears, hence the name exoskeleton. The movement of the exoskeleton is controlled by people, forming a man-machine integration system. When walking with a load or when it is difficult to move due to injury or disease, the exoskeleton can be used to accompany the operator with the help of the exoskeleton, so that the exoskeleton can bear the load and reduce the energy consumption of the human body. Function. Some of the exoskeleton devices that have been put into use are too complex in structur...

AI Technical Summary

Problems solved by technology

Some of the exoskeleton devices that have been put into use are too complex in structure, similar to robots, with uncoordinated human-machine integration functions, and are expensive, so they are not suitable for promotion; Simple limb devices with mobile functions are far from reaching the purpose of man-machine carrying with intelligent control

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