Lower limb exoskeleton with variable-axis knee joints

Abstract

The invention discloses a lower limb exoskeleton with variable-axis knee joints. The lower limb exoskeleton comprises a backpack module, a left part and a right part, wherein the left part and the right part have the same structure and are symmetrically mounted at the lower part of the backpack module; the left part comprises a hip joint module, a thigh module, a knee joint module, a shank module,an ankle joint module, a foot module, a rear linkage and an energy storage module; each knee joint module comprises a knee joint upper linkage, a knee joint rear linkage, a knee joint lower linkage,a knee joint left rocker and a knee joint right rocker. The exoskeleton selects the variable-axis knee joints as the knee joint modules, so that not only is the single degree-of-freedom requirement ofhuman knee joints met, but also an instantaneous center of rotation can be variable by means of optimization of structural design and size parameters of the knee joint modules, centrode of the knee joint lower linkages relative to the knee joint upper linkages is close to theoretical centrode of the human knee joints, and coordination of the exoskeleton and human legs is improved.

Description

technical field [0001] The invention relates to the field of mechanical engineering, in particular to a lower extremity exoskeleton with variable axis knee joints. Background technique [0002] In recent years, more and more human-assisted exoskeleton devices have begun to be used in military and civilian fields. In the military field, soldiers need to carry packages during individual combat, including body armor, rifle ammunition, communication equipment, etc., and at the same time face complex terrain. Gaining importance. In the civil field, containers, forklifts and cranes have greatly reduced the labor intensity of the logistics industry. However, this kind of large-scale equipment cannot be used in all cases. The use of large-scale equipment requires reasonable planning of the site and the matching material system. In terms of cost input and output, it is a waste of resources to use a large-scale material system for the handling of low-weight and cheap materials. For...

AI Technical Summary

Problems solved by technology

In terms of cost input and output, it is a waste of resources to use a large-scale material system for the handling of low-weight and cheap materials. For example, the weight of bagged grain is less than 100kg, but the human body is very laborious to carry

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