Lower limb robot

Abstract

The invention discloses a lower limb robot. The lower limb robot comprises a mechanical module, a control module, a driving module and a sensing module, the mechanical module comprises a left leg connecting element and a right leg connecting element, and the left leg connecting element and the right leg connecting element comprise thigh connecting elements, shank connecting elements, foot sole connecting elements and bandages; the thigh connecting elements are movably connected with the shank connecting elements, the shank connecting elements are movably connected with the foot sole connectingelements, and several freedom degrees are arranged on the joints of the thigh connecting elements and the shank connecting elements; several freedom degrees are arranged on the joints of the shank connecting elements and the foot sole connecting elements, the driving module comprises servo motors, the servo motors are respectively arranged on the thigh connecting elements and the shank connectingelements, the servo motors respectively control the thigh connecting elements and the shank connecting elements individually, and the sensing module comprises a pressure detection element.

Description

technical field [0001] The invention relates to the field of bionic robots, in particular to a lower limb robot. Background technique [0002] The lower limb robot is an auxiliary rehabilitation robot used to help patients with spinal injuries, lower limb mobility, amputation, paralysis and other diseases. The servo motor drives the joint movement. By imitating the law of human movement, each joint provides multi-angle and variable speed force to assist the coordinated movement of human legs and provide assistance, reducing the impact on the legs when people walk for a long time. However, from the perspective of the existing technology, the principle of the lower limb robot is to judge the behavior consciousness of the person by detecting the weak current signal transmitted by the current sensor when the muscle is active or the softness and hardness of the muscle. This leads to the fact that the sensor used needs to be in direct contact with the human skin, which will first...

AI Technical Summary

Problems solved by technology

[0002] The lower limb robot is an auxiliary rehabilitation robot used to help patients with spinal injuries, lower limb mobility, amputation, paralysis and other diseases. The servo motor drives the joint movement. By imitating the law of human movement, each joint provides multi-angle and variable speed force to assist the coordinated movement of human legs and provide assistance, reducing the impact on the legs when people walk for a long time. However, according to the existing technology, the principle of the lower limb robot is to judge the behavioral awareness of the person by detecting the weak current signal transmitted by the current sensor when the muscle is active or the softness and hardness of the muscle. This leads to the fact that the sensor used needs to be in direct contact with the human skin, which will first cause the user to wear it inconveniently, and the sweat secreted by the human body during use and the stability of the contact between the sensor and the skin will affect the stability and stability of the current obtained by the sensor. Accuracy, so it is difficult to guarantee the accurate judgment of human behavior awareness by lower limb robots

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