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Human-simulated external skeleton robot assisting lower limbs

An exoskeleton robot, anthropomorphic technology, applied in the field of robotics, can solve the problems of high motor power demand, low motion space coupling, poor adaptability, etc., to achieve a good power assist effect and improve the effect of motion space coupling.

Active Publication Date: 2014-03-05
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The present invention aims to solve the problems of low motion space coupling, poor wearing comfort, poor reliability and adaptability, and high power demand of motors in existing exoskeleton robots, and further provides an anthropomorphic lower limb-assisted exoskeleton robot

Method used

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  • Human-simulated external skeleton robot assisting lower limbs
  • Human-simulated external skeleton robot assisting lower limbs
  • Human-simulated external skeleton robot assisting lower limbs

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0024] Specific implementation mode one: combine Figure 1 to Figure 19 Explain that an anthropomorphic lower limb power-assisted exoskeleton robot in this embodiment includes an upper body back A, a left leg and a right leg, and the left leg and the right leg respectively include a hip driving system B, a knee driving system C and a foot wear system D;

[0025] The back of the upper body A includes a cloth strap 1, a rubber back plate 2, a connecting plate 5, a load mounting plate 7, a waist rear connecting plate 9, a rotation limiting plate 10, a waist rear rotating shaft 12, a casing 17, a An inclination sensor 4, two legs connect the rotating plate 14 and two elastic parts 11; the load mounting plate 7 is arranged horizontally, the cover 17 is covered on the load mounting plate 7, the waist rear connecting plate 9, and the rotation limiting plate 10 , the rotating shaft 12 at the back of the waist, the two leg connecting rotating plates 14 and the two elastic parts 11 are...

specific Embodiment approach 2

[0037] Specific implementation mode two: combination Figure 5 and Figure 6 It is explained that the two elastic members 11 in this embodiment are both coil springs. Such setting can maintain the balance of the upper body and the back, which is beneficial to maintain the balance during walking. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0038] Specific implementation mode three: combination Figure 5 and Figure 6 Illustrate, the back A of the upper body described in this embodiment also includes two back reinforcement ribs 3, the two back reinforcement ribs 3 are curved back reinforcement ribs, and the two back reinforcement ribs 3 are installed on the back rubber plate On the back side of 2, the inner arc surfaces of the two back reinforcement ribs 3 are adjacent to the back rubber plate 2, and the lower ends of the two back reinforcement ribs 3 are respectively connected to the load mounting plate 7; It also includes a load transition plate 8 and a transition rotation shaft 8-1, the upper end of the load transition plate 8 is connected with the load mounting plate 7, and the lower end of the load transition plate 8 is rotationally connected with the waist rear connecting plate 9 through the transition rotation shaft 8-1. In this way, the back reinforcement rib 3 has a certain degree of curvature, which is...

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Abstract

The invention relates to an external skeleton robot, in particular to a human-simulated external skeleton robot assisting the lower limbs. The human-simulated external skeleton robot assisting the lower limbs aims to solve the problems that an existing external skeleton robot is low in coupling degree of motion space and poor in wearing comfort, reliability and adaptation, and power needed by a motor is large. The human-simulated external skeleton robot assisting the lower limbs comprises an upper body back part, a left leg and a right leg. The left leg and the right leg respectively comprise a hip drive system, a knee drive system and a foot wearing system. A rear side connection board of the waist is in rotating connection with a load installation board. Each hip joint supporting board is provided with a first motor and a first reducer, wherein the first motor is provided with an encoder, and the output end of the first motor provided with the encoder is connected with the input end of the first reducer. Each hip joint connecting board can rotate in the vertical plane. Each thigh stretching board is in detachable connection with the corresponding hip joint connecting board. The output end of a main drive mechanism is connected with each crus connecting board. The lower surfaces of elastic boards are bonded with the upper surfaces of the rubber soles of the feet. The human-simulated external skeleton robot assisting the lower limbs can assist in walking.

Description

technical field [0001] The invention relates to an exoskeleton robot, in particular to an anthropomorphic lower limb exoskeleton robot used for assisting walking, and belongs to the technical field of robots. Background technique [0002] At present, the research on exoskeleton power-assisted devices is gradually emerging, and has a wide range of application prospects, such as helping the elderly and the disabled, medical rehabilitation, industrial production, earthquake rescue, individual combat and other fields. The general power-assisted exoskeleton has the following characteristics: it can detect the movement intention of the human body; the joint degrees of freedom and joint rotation space are similar to the human body; it has the necessary active drive of the joints to assist the output; it has its own control system and energy system; it has certain safety defense mechanism. [0003] The power-assisted exoskeleton can be divided into two situations according to the p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A61H3/00
Inventor 朱延河赵杰
Owner HARBIN INST OF TECH
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