A flexible tendon assisting device for human trochlear joints

Abstract

The invention relates to a flexible muscle tendon power assisting device for a hinge joint of a human body. The device comprises a winding engine, a rope, a wire sheath, a wire sheath tail end fixing sleeve, close-fitting fabric, a flexible muscle tendon and an elastic fixing band. According to the multi-branched chain parallel type flexible muscle tendon power assisting device, a flexible muscle tendon power assisting design is carried out aiming at the hinge joint based on the motion feature of the hinge joint without depending on an external rigid structure, a flexible structure is attached to the close-fitting fabric, and produced force is directly acted on the human joint, so that an assisted moment of the human joint is provided, and the gentle and accurate power assisting drive for the irregular hinge joint of the human body is ensured. The wearable flexible muscle tendon power assisting device is of a pure flexible structure, and cannot limit the free motion of the human body. The flexible muscle tendon power assisting device provided by the invention can be applied in rehabilitation therapy and exercise training, and can be used by personnel engaged in endurance consumed work with high durability, so that the load and the energy consumption of related muscle groups of a user are reduced, and the strength and the endurance are improved.

Description

technical field [0001] The invention relates to a wearable human body movement assisting device, in particular to a flexible tendon assisting device facing the pulley joint of a human body. Background technique [0002] In the field of wearable human motion assisting systems, mainly through the development of assisting exoskeleton systems worn on the human body, a mechanical structure with the same configuration as the human body is constructed, so that the joints of the human body are aligned with the joints of the external mechanism, and the torque of the joints of the external mechanism is transmitted to the joints of the human body , so as to provide joint auxiliary force for human movement, improve the motor function of normal people or help patients with motor dysfunction to obtain exercise ability. [0003] The essence of the human motion assisting device is that it can generate the torque required by the human body at the joints of the human body. The power-assisted ...

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Problems solved by technology

[0003] The essence of the human motion assisting device is that it can generate the torque required by the human body at the joints of the human body. The power-assisted exoskeleton relies on the external rigid linkage mechanism to share the load borne by the human skeletal system, and by driving the rigid linkage, the human joints can obtain the power-assisted torque. Its advantage lies in endowing the human body with extraordinary load-carrying capacity, but the power-assisted exoskeleton is relatively bulky and not comfortable enough to wear

[0004] Pulley joints (elbows, wrists, knees, ankles, etc.) It is not suitable to drive the pulley joint as a rotating joint, and the external force cannot accurately generate torque around the changing rotation axis, so that additional harmful torque is generated when the human body joint moves, and the accurate transmission of power assistance cannot be realized.

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