Suspension apparatus and exoskeleton robot adopting suspension apparatus

Abstract

The invention discloses a suspension apparatus and exoskeleton robot adopting the suspension apparatus. The suspension apparatus comprises a suspension frame, a suspension mechanism and an assisting mechanism, wherein the suspension mechanism is arranged on the suspension frame, and a suspended piece is arranged on the suspension mechanism; the suspension mechanism is arranged on the suspension frame; the assisting mechanism is connected to the suspension mechanism; and under the assistance of assisting power outputted by the assisting mechanism, the suspended piece is lifted by the suspensionmechanism.

Description

technical field [0001] The invention relates to a suspension device for an exoskeleton robot, in particular to a suspension device for an exoskeleton robot. Background technique [0002] Exoskeleton robots aim to restore and improve the walking ability of patients with chronic bone and joint diseases, patients with spinal and hip injuries, and patients with brain injuries. At present, among patients with lower limb dysfunction, most of them are caused by bone and joint diseases, and the rest are mainly caused by spinal and hip injuries and brain injuries. The conditions of different patients are different, and the way of rehabilitation training is also different. Some patients need to carry out rehabilitation training under the condition of complete weight loss (that is, training in the suspended state), and some patients need to undergo partial weight loss or even no weight loss. Undertake rehabilitation training. During partial weight loss and non-weight loss training, t...

AI Technical Summary

Problems solved by technology

During partial weight loss and non-weight loss training, the movement trajectory of the human body center of mass is sinusoidal in the vertical plane. Therefore, in order to achieve normal walking, during rehabilitation training, the suspension mechanism needs to be able to ensure that the human body center of mass can complete the up and down movement, and In the case of partial weight reduction, it is necessary to set different weight reduction. These functions cannot be realized by the existing suspension mechanism.

Therefore, the needs of more patients cannot be met, which not only reduces the range of use of the exoskeleton robot, but also brings inconvenience to the use of patients. Therefore, it is urgent to develop a suspension device that overcomes the above-mentioned defects.

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