Wearable lower-limb assistance exoskeleton

Abstract

A wearable lower-limb assistance exoskeleton comprises a left-side leg (A), a right-side leg (C) and an object carrier (B). A left first connecting rod (A1) is matched with an inserting rod (B1) to fixedly connecting the left-side leg (A) with the object carrier (B), and a right first connecting rod (C1) is matched with the inserting rod (B1) to fixedly connecting the right-side leg (C) with the object carrier (B). Lower limbs on two sides totally have two rotating degrees of freedom, and the lower limb on each side has one degree of freedom, so that hip joints, knee joints and ankle joints can rotate around the frontal axis. A left motor (A20) and a right motor (C20) are controlled by a bionic intelligent control program to realize walking gaits of the wearable lower-limb assistance exoskeleton. By the wearable lower-limb assistance exoskeleton, physical ability consumption of a person can be effectively reduced. The wearable lower-limb assistance exoskeleton is used for lower-limb assistance, can be used for soldier fighting equipment for military use and can also be used in the field of lower-limb rehabilitation.

Description

technical field [0001] The invention relates to a wearable lower limb power-assisted exoskeleton, in particular to an exoskeleton robot device that can improve the walking ability of the load and can be used for lower limb rehabilitation and individual combat assistance. Background technique [0002] With the advancement and development of science and technology, the army's demand for informatization, rapidity and refinement of weapons and equipment is particularly evident in individual combat. To ensure the safety of soldiers to the greatest extent while the mission requires. The wearable lower limb power-assisted exoskeleton is coupled to the human body, effectively solving the problem of soldiers' excessive physical exertion on the battlefield and reducing the continuous combat capability, while avoiding fatigue caused by adaptive physical training and muscle strain and injury caused by overweight equipment. Joint damage. [0003] Chinese patent announcement No. 1015899...

AI Technical Summary

Problems solved by technology

However, the single leg of the device is a six-DOF structure in series, which has cumulative errors and complex control algorithms. It is easy to cause the robot to become unstable due to factors such as inertia and foot force imbalance. At the same time, it limits the load capacity of the walking robot under the same weight.

Images