Human body hip joint wearable type assisting device with RCM three-freedom-degree rotation

Abstract

The invention discloses a human body hip joint wearable type assisting device with RCM three-freedom-degree rotation. Three multi-connecting-rod mechanisms restraining the three rotating freedom degrees are used as main branch chains, and two auxiliary driving branch chains are used. The main branch chains and the auxiliary driving branch chains are both connected with a waist bracket and leg brackets. Each main branch chain is composed of two adjacent parallelogram mechanisms coinciding at one point, and a rotating shaft 1 virtually perpendicular to the paper face, a rotating shaft 2 and a rotating shaft 3 jointly form a decoupling three-freedom-degree rotating mechanism rotating around an intersection point, wherein the rotating shaft 2 and the rotating shaft 3 intersect with the rotating shaft 1. The other two freedom degrees of each main branch chain are retrained by the other two auxiliary driving branch chains in the UPS structural type. According to the human body hip joint wearable type assisting device with RCM three-freedom-degree rotation, the waist bracket and the leg brackets are installed on the waist and the legs of a human body correspondingly, a user can adopt two using manners of a push-pull using manner and a carrying-on-the-back manner as required, influences of the load of a function driving system on the user are reduced, and the limitation of the load factor on the size and the weight of the energy system is avoided.

Description

technical field [0001] The invention relates to a hip joint exoskeleton mechanism worn by the human body, specifically, a wearable power-assisted device for the human hip joint with RCM three-degree-of-freedom rotation, which can realize three-degree-of-freedom motion decoupling around the joint rotation center rotate. Background technique [0002] With the intensification of the aging of Chinese society, human diseases and accidents, human movement is affected, and wearable exoskeleton mechanisms can help the human body to recover and assist sports. The application of wearable power assist equipment and rehabilitation equipment is particularly valued. [0003] As an important movement joint, the human hip joint will greatly affect people's normal actions after injury or when they cannot provide enough strength. Because the human hip joint has a three-degree-of-freedom rotational movement, and the series mechanism has poor rigidity and cannot rotate around the human hip jo...

AI Technical Summary

Problems solved by technology

Because the human hip joint has a three-degree-of-freedom rotational movement, and the series mechanism has poor rigidity and cannot rotate around the human hip joint rotation center, the present invention will provide a purely rotating three-degree-of-freedom parallel mechanism for this kind of movement

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