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Negative-pressure contraction elastomer driven flexible knee-joint exoskeleton

A kind of knee joint and exoskeleton technology, which is applied in the direction of equipment to help people walk, passive exercise equipment, medical science, etc., can solve the problems of short working hours, inappropriate, inconvenient wearing, etc., to improve coordination and safety , Overcome the large inertia of the rigid mechanism, and improve the effect of safety and comfort

Active Publication Date: 2018-06-22
BEIJING INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional lower extremity exoskeleton equipment has disadvantages such as inconvenient to wear, bulky, short working hours, high price, risk of mechanical inertia, and lack of psychological recognition.
To sum up, the traditional lower extremity walking exoskeleton is not suitable for people with knee joint injuries who only need partial walking assistance and weak walking ability

Method used

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  • Negative-pressure contraction elastomer driven flexible knee-joint exoskeleton
  • Negative-pressure contraction elastomer driven flexible knee-joint exoskeleton
  • Negative-pressure contraction elastomer driven flexible knee-joint exoskeleton

Examples

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Embodiment Construction

[0049] The present invention will be further described below in conjunction with the accompanying drawings and specific examples of implementation, but not as a limitation of the present invention.

[0050] Such as figure 1 As shown, a flexible knee-joint exoskeleton driven by a negative-pressure elastic body is mainly composed of an exoskeleton controller 1 , a flexible actuator 2 for the knee joint of the left leg, and a flexible actuator 3 for the knee joint of the right leg. The exoskeleton controller 1 is the control and power output part of the flexible knee joint exoskeleton; the left leg knee joint flexible actuator 2 and the right leg knee joint flexible actuator are respectively worn on the left and right knee joints of the user. Flexible power-assisted actuators.

[0051] Such as figure 2 As shown, the exoskeleton controller 1 mainly includes a controller body 101, an end cover 102, a miniature vacuum negative pressure pump 103, a mounting plate 104, a T-shaped t...

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Abstract

The invention discloses a negative-pressure contraction elastomer driven flexible knee-joint exoskeleton. The negative-pressure contraction elastomer driven flexible knee-joint exoskeleton comprises an exoskeleton controller, a left leg knee-joint flexible actuator, a right leg knee-joint flexible actuator and the like. The flexible knee-joint exoskeleton mainly takes one micro vacuum pump as a pneumatic power source, a DSP embedded control system processes data such as muscle strength, knee joint angle and man-machine interaction force which are detected by a sensing system in real time and estimates the man-machine synergy state, switch of negative pressure flow and an air channel of the micro vacuum pump is controlled in real time, and on the basis of the man-machine synergy state, pressure control is conducted on corresponding negative-pressure contraction elastomer drives on the left leg knee-joint flexible actuator and the right leg knee-joint flexible actuator; in the walking process, torque assisting knee-joint bending and stretching is provided for the left leg and the right leg in real time, and the purpose of providing flexible walking assist for old people who suffer from knee-joint sports injury and have weak walking ability is achieved.

Description

technical field [0001] The invention belongs to the technical field of flexible exoskeleton robots, lower extremity exoskeletons and flexible actuators, in particular to a flexible knee joint exoskeleton driven by a negative pressure contraction elastic body. Background technique [0002] In 1992, the World Health Organization pointed out that walking is the best exercise in the world, and it has special benefits for health, because it took human beings 6 million years to go from ape to human, and the whole human body structure is the result of walking evolution, so from the human body Anatomically and physiologically, it is most suitable for walking. When a person walks, the hip joint, knee joint and ankle joint bear 3 to 5 times the total weight of the body. The hip joint, knee joint and ankle joint are two joints that are extremely vulnerable to injury. According to a survey of 2,500 people by Peking University Health Science Center, the prevalence of knee arthritis in t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00
CPCA61H3/00A61H2201/5071A61H2201/5087A61H2201/1659A61H2003/005A61H2003/007A61H2205/102A61H2230/085A61H1/00A61H2201/1642A61H1/024A61H2201/149A61H2201/5007A61H2230/605A61H2201/165A61H2201/1238A61H2201/5061A61H2201/5079A61H2201/5097A61H2201/5069A61H2201/1671A61H2201/0214
Inventor 张连存黄强王文康王志恒蔡康健
Owner BEIJING INST OF TECH
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