Wearable lower limb power-assisting device and control method thereof

Abstract

The invention provides a wearable lower limb power-assisting device and a control method thereof. The wearable lower limb power-assisting device comprises two sets of symmetric three-degree-of-freedom mechanisms. Each set of the three-degree-of-freedom mechanism comprises a sole fixing mechanism, an ankle joint mechanism, a shank aluminum plate, a knee joint mechanism, a thigh aluminum plate, a hip joint mechanism and a fixing support, wherein the sole fixing mechanism, the ankle joint mechanism, the shank aluminum plate, the knee joint mechanism, the thigh aluminum plate, the hip joint mechanism and the fixing support are sequentially connected from bottom to top. Each sole fixing mechanism is connected with a foot motion condition detection module, and each fixing support is provided with a power supply. The wearable lower limb power-assisting device is simple in structure, easy to control, good in following performance, large in motion range and accurate in positioning and have no limits on heights of persons, a limb on one side is controlled at three degrees of freedom, each degree of freedom is controlled through a direct-current motor, the lower limb power-assisting device can follow the lower limb of a person to carry out various motions, the wearable lower limb power-assisting device can be used for a power-assisting walking party and vice versa, the motions of the lower limb of the human body can be controlled through the lower limb power-assisting device, and the wearable lower limb power-assisting device can be used for rehabilitation treatment of the lower limb.

Description

technical field [0001] The present invention relates to a wearable lower limb assisting device, in particular to a wearable lower limb assisting device which can closely follow the movement of human lower limbs and can be used for weight-bearing walking and rehabilitation training and a control method thereof. Background technique [0002] According to reports, the lower extremity power-assisted exoskeleton is widely used in the US military. It can help soldiers carry equipment needed for combat for a long time, save energy, help improve combat capabilities in harsh environments, and improve survival rates. Similarly, in other applications that require long-distance weight-bearing walking, such as mountain climbing, hiking, etc., the power-assisted exoskeleton can help users carry luggage and reduce fatigue during the journey. Lower limb assisting exoskeletons are also widely used in rehabilitation training. Patients with lower limb motor dysfunction can analyze the conditio...

AI Technical Summary

Problems solved by technology

However, the use of hydraulic cylinders to drive the limbs will limit the range of motion of the limbs to a certain extent.

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