Lower limb exoskeleton power assisting device and control method thereof

Abstract

The invention relates to a lower limb exoskeleton power assisting device. The lower limb exoskeleton power assisting device comprises at least one of a left leg power assisting device body and a rightleg power assisting device body. Each leg power assisting device body comprises a pneumatic system, a foot fixing part, a crus connection part, an ankle fixing part, a crus fixing part, a thigh fixing part and a thigh root fixing part, wherein the foot fixing part is fixedly connected with the crus connection part; the crus connection part is movably connected with the crus fixing part through afirst pneumatic piston; the crus fixing part partially downwards extend and is connected with the ankle fixing part; the crus fixing part is movably connected with the thigh fixing part through a second pneumatic piston; and the thigh fixing part is movably connected with the thigh root fixing part through a third pneumatic piston and a fourth pneumatic piston. The invention further relates to a control method of the lower limb exoskeleton power assisting device. The lower limb exoskeleton power assisting device aims to simulate the effect of the human muscle action, a compressed air cylinderis installed at the leg part, the movement intention is read through a precision control sensor, proper assistance is given at the proper time, and improvement of human body strength and exercise performance is achieved.

Description

technical field [0001] The invention relates to an exoskeleton device, in particular to a lower limb exoskeleton assisting device and a control method thereof. Background technique [0002] The exoskeleton integrates sensing, control, information, fusion, and mobile computing to provide the operator with a wearable mechanical mechanism. Exoskeletons are wearable machines that augment the human body, helping people run faster, jump higher, and carry more and heavier objects. At present, wearable exoskeletons are widely used in many fields such as medical rehabilitation, industrial production and military applications. [0003] At present, the more common wearable lower extremity exoskeletons include: knee-assisted exoskeleton, weight-bearing lower extremity exoskeleton, walking-assisted soft exoskeleton, and medical lower extremity rehabilitation exoskeleton. Among them, the knee joint power-assisted exoskeleton is mainly composed of elastic materials without external power...

AI Technical Summary

Problems solved by technology

Among them, the knee joint power-assisted exoskeleton is mainly composed of elastic materials without external power, and its assistance to human movement is very limited; the weight-bearing lower limb exoskeleton is rigidly supported, powered by springs and hydraulic systems, and its power system is bulky and inconvenient to wear ; Assisted walking soft exoskeleton simulates the stretching of human muscles, driven by elastic bandages and steel wire retractors, in order to achieve the purpose of reducing the energy consumption of human walking, but its control has the disadvantage of inaccuracy; medical lower limb rehabilitation exoskeleton, powered by legs The torque motor in the lower limb device has the disadvantages of large volume and poor mobility

[0004] The wearable lower extremity exoskeleton in the above four existing technologies can only mechanically repeat preset actions, the driving method is too rigid to fully comply with the wearer's wishes, and the improvement of human sports performance is limited.

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