Knee joint power assisting device with automatically changed rigidity

Abstract

The invention discloses a knee joint power assisting device with automatically changed rigidity. The device is composed of a thigh supporting rod, a crus supporting rod, a connecting rod, a slide block, an elastic piece, a sliding member and a sliding support rod. The thigh support supporting rod and the crus supporting rod are rotably connected; the upper end of the connecting rod is hinged to the thigh supporting rod, and the lower end is hinged to the slide block; the crus supporting rod is sleeved with the slide block through a slide groove, and the lower end of the slide block is fixed with the upper end of the elastic piece; the crus supporting rod is sleeved with the elastic piece, and the lower end of the elastic piece is fixed with the sliding member; the crus supporting rod is sleeved with the sliding member through a slide groove, and the lower end of the sliding member is fixed with the sliding support rod; the sliding support rod is parallel to the crus supporting rod. The device achieves the automatic change of support-phase knee joint rigidity and swing-phase knee joint rigidity when lower limbs of the human body are in walking, and better power assisting effects are provided for knee joints.

Description

technical field [0001] The invention relates to a novel mechanical exoskeleton device, specifically, a purely passive knee joint assisting device with automatic stiffness conversion. Background technique [0002] In human activities, the knee joint is the part that bears the greatest burden on the human body, especially when the human body squats, the burden on the knee joint is particularly serious, and the knee joint is also very prone to fatigue, causing people's diseases such as arthritis, mechanical exoskeleton It is an effective tool to solve this problem. In the field of exoskeleton assisting, people always hope to obtain a purely passive knee assisting device, which does not require additional power structures, and only needs to be completed with spring energy storage originals; general passive knee assisting devices use springs, springs It can be compressed to produce a boosting effect when the human body squats down. However, there is a problem in this similar str...

AI Technical Summary

Problems solved by technology

In the field of exoskeleton assisting, people always hope to obtain a purely passive knee assisting device, which does not require additional power structures, and only needs to be completed with spring energy storage originals; general passive knee assisting devices use springs, springs It can be compressed to produce a boosting effect when the human body squats down. However, there is a problem with this similar structure, which cannot solve the problem of damping interference caused by the bending of the knee joint when the lower limbs are in the swing phase.

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