Assisting exoskeleton robot

Abstract

The invention discloses an assisting exoskeleton robot. The robot includes an exoskeleton waist hip part, exoskeleton leg knee parts and exoskeleton foot parts all of which are connected with one another in sequence; each hip joint is provided with a spring cam mechanism with a certain degree of freedom for inward and outward stretching, the human hip joints can flexibly and smoothly move within acertain range and can recover to original positions when no external force is performed on the joints, a support-phase damping structure in series connection with each thigh casing pipe end enables an exoskeleton with a load to buffer rigid impact caused between exoskeleton legs and the ground by the inertia of the load when the feet of the human body touch the ground during walking, and therefore an overall assisting exoskeleton mechanism is dynamically protected; an elastic torsion block is connected to each shank end, the torsion degree of freedom is increased, and the exoskeleton legs canrotate along with the inward and outward rotation of the human legs; the flexibility and comfort when the a user wears the exoskeleton are improved, correspondingly the exoskeleton with the load canbuffer rigid impact caused between the exoskeleton legs and the ground by the inertia of the load every time the feet of the human body touch the ground during walking, the overall assisting exoskeleton mechanism is dynamically protected, and the comfort of a wearer is improved.

Description

technical field [0001] The invention belongs to the field of power-assisted exoskeleton robots, and in particular relates to a power-assisted exoskeleton robot. Background technique [0002] As an important part of the power-assisted exoskeleton, the active dynamic joint mainly provides power for the active joint movement of the outer wearer. The traditional exoskeleton dynamic joint mainly considers the degree of freedom of the curling and stretching movement of the human leg. The implementation of some direct connection schemes does not consider the movement of other degrees of freedom of the human lower limb joints. The exoskeleton joints are rigid and not compliant, which limits the wearer's flexibility and comfort. Walking comfort in unknown environments is poor and cannot resist ground impact. At the same time, the method of linearly driving the knee joint is generally a linear motor hinged at both ends of the joint, which is bulky and the electromechanical structure ...

AI Technical Summary

Problems solved by technology

Most of the traditional exoskeleton feet are designed as a simple one-piece rigid flat plate structure, lack of targeted design for the ankle and toe joints of the foot, only considering the capacity of large loads and ignoring the flexibility of the human body when wearing an exoskeleton. Sex and comfort, and poor adaptability to unknown environments

Moreover, the integration level of interactive sensors is not high, and the electromechanical structure is not compact, which makes the bulky

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