A wearable flexible lower limb exoskeleton based on negative pressure rotating pneumatic artificial muscles

Abstract

The invention discloses a wearable flexible lower limb exoskeleton based on negative pressure rotation pneumatic artificial muscle. The wearable flexible lower limb exoskeleton comprises a portable control and power system and a wearable flexible assistance system; the wearable flexible lower limb exoskeleton mainly adopts the negative pressure rotation pneumatic artificial muscle as a core driving component, rotational motion is generated under the negative pressure effect, rotating bending torque is supplied, after negative pressure disappears, stretching restoring force is generated, and stretching torque is supplied. The portable control and power system processes user gait data in real time and controls gas circuit switching and gas pressure between the negative pressure rotation pneumatic artificial muscle in the wearable flexible assistance system and a negative pressure power source in real time, wherein the user gait data is collected and fed back by an inertia measuring unit,real-time pressure control is performed on a corresponding negative pressure rotating pneumatic artificial muscle driver on the wearable flexible assistance system, in the walking process, torque helping shanks to swing relative to thighs is supplied to left and right legs in real time, and the purposes of walking assistance and lower limb rehabilitation training are achieved.

Description

technical field [0001] The invention belongs to the technical field of flexible exoskeleton robots, lower limb exoskeletons and flexible actuators, and particularly relates to a wearable flexible lower limb exoskeleton based on negative pressure rotating pneumatic artificial muscles. Background technique [0002] According to the second national sample survey in my country, there are 24.72 million people with physical disabilities in China, of which more than 17 million are disabled in the lower limbs, and most of them are partially disabled in the lower limbs such as joint and muscle diseases and injuries. The lower limb walking assistance system can not only improve the self-care ability of people with physical disabilities, but also improve the quality of life of people with lower limb joint injuries, and has a huge market space. In recent years, research on lower limb walking assistance systems has been carried out internationally, among which wearable exoskeleton robots...

AI Technical Summary

Problems solved by technology

Traditional inflatable shortened artificial muscles have the following disadvantages: this type of pneumatic artificial muscle is mainly composed of an inner elastic rubber tube and an outer braided mesh, the dry friction between them and the inelastic deformation of the braided mesh will produce hysteresis, making the artificial muscle The precise control of artificial muscles is very difficult; traditional artificial muscles usually have a "threshold pressure", when the air pressure inside the artificial muscle is less than the "threshold pressure", the artificial muscle cannot perform; The pipe protrudes along the weaving mesh or is damaged at a certain point, and there is even a risk of explosion

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