A large and small leg device with knee joint parameter measurement suitable for exoskeleton auxiliary support robot

Abstract

The invention discloses a large and small leg device with knee joint parameter measurement suitable for an exoskeleton auxiliary support robot. The device uses a hydraulic cylinder to drive the knee joint, which improves the response speed and bearing capacity of the exoskeleton auxiliary support robot; The rod is connected with the thigh, and the lower leg is connected with the foot through the telescopic rod. One end of the hydraulic cylinder is connected to the thigh through a bracket, a pin shaft and a joint bearing, and the piston rod end is connected to the lower leg through a hydraulic cylinder connector. The knee joint is the connecting part between the thigh and the lower leg. The sensor is used to measure the angular displacement of the knee joint to realize the exoskeleton. Follow the motion control of the human knee joint. In the robot designed by the present invention, only the knee joint is controlled by the hydraulic cylinder, and the rest of the joints are used to adapt to the requirements of human leg joint movement, including the hip joint, ankle joint and plantar structure where sensors are installed, and also include the side swing of the waist, thigh ball joints etc. The robot of the present invention simulates the structural characteristics of the human body, is suitable for wearing by the human body, maintains flexible movement, has a simple structure, and can help users support the load weight.

Description

technical field [0001] The design of the invention belongs to the field of service robots, and relates to the auxiliary support and rehabilitation training for human lower limbs by a lower limb exoskeleton robot. Background technique [0002] The human legs provide a load-bearing and transportation platform, especially in environments that are not suitable for wheeled transportation, and the biped shows strong mobility. Weight bearing is one of the most common problems faced by human beings. [0003] For soldiers, firefighters and disaster relief personnel, the payload accounts for a large part of their overall weight, and it is both inevitable and their responsibility to carry these loads. Carrying a heavy load is not only tiring, but also potentially mentally and physically damaging. In order to alleviate this burden, lower limb auxiliary support exoskeleton mechanical equipment came into being. [0004] In the military, many advanced equipment have improved the soldier...

AI Technical Summary

Problems solved by technology

[0004] In the military, a lot of advanced equipment has improved soldiers' ability to perceive the battlefield and strike accuracy, but carrying so much equipment often makes soldiers exhausted, and it is difficult to persist in independent combat for a long time

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