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Knee-joint exoskeleton device capable of elastically compensating axial displacement

A technology of elastic compensation and exoskeleton, which is applied in the direction of manipulators, passive exercise equipment, program control manipulators, etc., can solve the problem of misalignment of the exoskeleton movement axis of the knee joint and the axis of the human knee joint, so as to reduce adverse effects and improve comfort sexual effect

Active Publication Date: 2017-11-07
BEIHANG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the motion axis of the knee joint exoskeleton does not coincide with the axis of the human knee joint, and to provide a knee joint exoskeleton device that can elastically compensate for axis displacement and adjust the size

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  • Knee-joint exoskeleton device capable of elastically compensating axial displacement
  • Knee-joint exoskeleton device capable of elastically compensating axial displacement
  • Knee-joint exoskeleton device capable of elastically compensating axial displacement

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0023] like figure 1 Shown is a schematic structural diagram of the knee joint exoskeleton device capable of elastically compensating for axial displacement of the present invention, including a displacement compensation mechanism, a thigh member, two sets of size adjustment mechanisms and two sets of binding mechanisms. The thigh member is connected with the displacement compensation mechanism by a rotating pair, one set of size adjustment mechanism is connected with one end of the thigh member with bolts, the other set of size adjustment mechanism is connected with one end of the displacement compensation mechanism with bolts, and the two sets of binding mechanisms are respectively connected with the two sets of size adjustment mechanisms. The mechanism is connected by a wedge block locking box.

[0024] The displacement compensation mechanism, such ...

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Abstract

The invention discloses a knee-joint exoskeleton device capable of elastically compensating axial displacement, and belongs to the technical field of exoskeleton structure designs. The device comprises a displacement compensation mechanism, a leg component, two size adjustment mechanisms and two binding mechanisms, wherein the leg component is connected with the displacement compensation mechanism via a revolving pair, the two size adjustment mechanisms are in bolted connection with the leg component and the displacement compensation mechanism, and the two binding mechanisms are connected with the two size adjustment mechanisms via wedge-shaped locking boxes. According to the device provided by the invention, displacement of an axis of a human body knee-joint in a vertical plane is compensated via the displacement compensation mechanism, and discomfort generated by noncoincidence of the axis of the exoskeleton revolving pair and the rotation axis of the human body knee-joint; the positions of the binding mechanisms at the leg of a human body are adjusted via the size adjustment mechanisms and connected with a hip joint and an ankle joint via adjustment rods; the positions of binding axes in vertical planes are adjusted via L-shaped adjustment rods in the binding mechanisms, and thus knee-joint exoskeleton device is applicable to binding requirements of different leg sizes.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton structure design, and in particular relates to a knee joint exoskeleton device capable of elastically compensating for axial displacement. Background technique [0002] Exoskeleton equipment is a wearable device used to enhance the physical fitness of the human body and achieve rehabilitation training for paralyzed patients. The knee joint is an important and complex joint system of the lower limbs of the human body. On the one hand, the position of the rotation axis of the human knee joint changes with the change of the bending angle. On the other hand, for different individuals, the size of the knee joint is not the same. , so that the displacement law of the joint rotation axis is also different. [0003] Most of the existing exoskeleton robots simply treat the knee joint as a single-degree-of-freedom fixed axis rotation pair. This mechanism structure is fixed, so that the rotation axis of...

Claims

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Application Information

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IPC IPC(8): A61H1/02B25J9/00
CPCA61H1/0237A61H2201/14A61H2201/1642A61H2205/10B25J9/0006
Inventor 张武翔齐冲张伟丁希仑
Owner BEIHANG UNIV
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