Pneumatic-muscle-driven exoskeleton assisting mechanism

Abstract

The invention discloses a pneumatic-muscle-driven exoskeleton assisting mechanism. One-arm members with four rotation freedom degrees are connected with both sides of the upper portion of a back support and are identical in structure. Each one-arm member comprises a shoulder joint part, an upper arm part, an elbow joint part and a forearm part which are connected successively. Two sides of the lower portion of the back support are connected with one-leg members with identical structures. Each one-leg members with identical structure comprises a hip joint part, a thigh part, a knee joint part, a shank part, an ankle joint part and a pressure shoe part. Each of the shoulder joint parts and the hip joint part has three rotation freedom degrees, and each of the elbow joint parts, the knee joint parts and the ankle joint parts has one rotation freedom degree. The exoskeleton assisting mechanism has 18 rotation freedom degrees altogether. The mechanism is simple in structure, low in weight, good in flexibility and capable of increasing wearer function power and being used in occasions of military actions, disaster relief, rescuing and the like, where human power is not enough to support required loads.

Description

technical field [0001] The present invention relates to a muscle boosting mechanism, in particular to an exoskeleton boosting mechanism driven by pneumatic muscles. The human body boosting device adopts a bionic structure, and the strength used for military operations, disaster rescue, and ambulance is not enough to support the required load occasions. Background technique [0002] Exoskeleton technology is a wearable robot technology, a new mechatronic device developed by imitating the exoskeleton in the biological world, which can be worn on the outside of the operator's body, providing the operator with protection, body support, sports assistance, etc. and other functions. [0003] Most exoskeletons are driven by motors or hydraulics, only a few are driven by pneumatics, and they are mainly used in light-load applications such as medical rehabilitation. The disadvantage of motor drive is that the power / mass ratio is small, and the motor with limited weight is difficult ...

AI Technical Summary

Problems solved by technology

The disadvantage of motor drive is that the power / mass ratio is small, and the motor with limited weight is difficult to bear a large load

The disadvantages of hydraulic drive are mainly leakage problems, low system efficiency and high system cost

Although the pneumatic drive method has the advantages of being friendly to the environment and the human body, light components, and cheap prices, the power / volume-to-mass ratio of conventional air cylinder actuators is far inferior to that of hydraulic cylinders, so it cannot meet the needs of large customers. The need for exoskeleton booster systems with load requirements but limited installation space and high requirements for portability has not been widely used

Images