Walking aid lower limb of exoskeleton robot

Abstract

The invention discloses a walking aid lower limb of an exoskeleton robot. The walking aid lower limb comprises a first actuator fixing part (1.1), a thigh rod (1.2), a bionic knee-joint (1.3), a shank guard board (1.4), a shank guard board fixing part (1.5), a shank rod (1.6), a shank guard board connecting piece (1.7), a second actuator fixing part (1.8), and an actuator (1.9). The invention provides a walking aid lower limb of an exoskeleton robot, combined with a crossed four-bar linkage structure, a bionic mechanism which accords with physiological movement characteristics of human knee joints is designed. The walking aid lower limb can eliminate harmful applied forces generated by man-machine offset, and solves problems of radial deviation and tangential rotation offsets generated by man-machine system microscopic offset along a shank, so as to improve use security and wearing comfortableness of a rehabilitation exoskeleton.

Description

technical field [0001] The invention relates to a walking aid lower limb of an exoskeleton robot. Background technique [0002] As a wearable device, the personal walking exoskeleton robot is a typical human-machine hybrid system. The current exoskeleton robot in my country is still in the research and development stage; the design for the knee joint basically adopts a single-axis output hinge structure, and the function In general, it can meet the needs of personal walking exoskeleton robots, but the human knee joint has an extremely complex movement mode, which is not a simple single-axis movement. Therefore, during the movement of the calf, the knee joint will produce motion dislocation. [0003] This dislocation will generate radial and normal forces on the knee joint along the calf, and long-term wearing and use will seriously affect the wearing comfort of wearable devices; since the rehabilitation exoskeleton is aimed at disabled people with lower limb motor dysfunction...

AI Technical Summary

Problems solved by technology

[0002] As a wearable device, the personal walking exoskeleton robot is a typical human-machine hybrid system. The current exoskeleton robot in my country is still in the research and development stage; the design for the knee joint basically adopts a single-axis output hinge structure, and the function In general, it can meet the needs of personal walking exoskeleton robots, but the human knee joint has an extremely complex movement mode, which is not a simple single-axis movement, so during the movement of the calf, the knee joint will produce motion dislocation

[0003] This dislocation will generate radial and normal forces on the knee joint along the calf, and long-term wearing and use will seriously affect the wearing comfort of wearable devices; since the rehabilitation exoskeleton is aimed at disabled people with lower limb motor dysfunction , the lower limbs of such people cannot move for a long time and are extremely vulnerable to damage. Long-term use will cause secondary damage to the wearer's limbs

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