Flexible exoskeleton robot for assisting knee joint during climbing

Abstract

The invention discloses a flexible exoskeleton robot for assisting knee joint during climbing and relates to an exoskeleton robot for assisting lower limbs, aiming to solve problems that conventional exoskeleton robots for assisting lower limbs, with rigidized structure, are large and heavy, are low in matching with human body, poor in flexibility, high in energy consumption, and incapable of carrying out flexible adaptive auxiliary motion. The flexible exoskeleton robot comprises a variable-torque drive device, a left leg, a right leg and a transmission assembly. Each of the left leg and the right leg is composed of an upper leg and a lower leg. The variable-torque drive device comprises a motor, a support and a driving disc. The transmission assembly comprises two ropes, two Bowden cables and two Bowden cable fixed connectors. The driving disc comprises a cam winch parting disc and two cam winches; the cam winch parting disc and the two cam winches are connected integrally. The upper leg and the lower leg are in rotational connection. The flexible exoskeleton robot is used for assisting the knee joint of the human body during climbing.

Description

technical field [0001] The invention relates to a lower limb assisting exoskeleton robot, in particular to a flexible exoskeleton robot used for knee joint assisting during climbing. Background technique [0002] At present, power-assisted exoskeleton robots basically use rigid connecting components, and use a drive system to directly drive these rigid connecting components, thereby driving the human body and the exoskeleton to move together. This rigid exoskeleton configuration design increases the volume and overall quality of the exoskeleton system, greatly affects the fusion of the exoskeleton configuration and the human body, limits the anthropomorphic degree of the exoskeleton robot, and affects the exoskeleton. The coordinated movement of the robot and the human body simultaneously limits the movement flexibility of the entire exoskeleton system and increases the energy consumption of the system. For exoskeleton robots using steel wire rope as the drive, the variable...

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to solve the problem of large volume, heavy weight, low integration with the human body, poor flexibility, and high energy consumption caused by the rigid configuration of the existing lower limb power-assisted exoskeleton robot, and it cannot be aimed at the knee joint during the climbing process of the human body. The problem of performing soft adaptive assisted motion, and then providing a flexible exoskeleton robot for knee joint assistance in climbing

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