Variable-moment flexible knee joint structure for wearable exoskeleton

Abstract

The invention provides a variable-moment flexible knee joint structure for a wearable exoskeleton. The variable-moment flexible knee joint structure comprises at least two hinge structures which are connected in sequence; the hinge structure includes: a connecting sheet assembly, a steel rope pulley and a limiting sheet, wherein the connecting piece assembly comprises a left piece and a right piece, wherein the left piece and the right piece are oppositely arranged, and the bone piece is located between the left piece and the right piece. The bone piece is a rectangular piece; the upper edge of one end forms an upper contact surface; the lower edge forms a lower contact surface, the upper edges of one ends of the left piece and the right piece are arc-shaped faces protruding upwards, the lower edges of one ends of the left piece and the right piece are concave faces which are concave upwards and similar to the arc-shaped faces in shape, the steel rope pulley is connected to the other ends of the left piece and the right piece in a pivoted mode through the limiting piece, and the portions, protruding upwards, of the left piece and the right piece are connected through a positioningpin. The invention provides a variable-moment flexible knee joint structure, which enables the torque of a knee joint to be stable during rotation and reduces the energy loss. The length change of theBowden cable is in linear relation with the angle, and the knee joint angle can be judged according to the length change of the Bowden cable.

Description

technical field [0001] The invention relates to a flexible knee joint structure, in particular to a moment-variable flexible knee joint structure for a wearable exoskeleton. Background technique [0002] Exoskeleton robot refers to a kind of mechanical device that imitates the movement state of human body and enhances human movement ability. ability. Since the exoskeleton robot involves ergonomics, it is required to have strong adaptability, not only to be suitable for wearers of different sizes, but also to protect the human joints from danger to prevent human injury during the wearing process. [0003] In the prior art, when the flexible knee joint of the exoskeleton robot bends, the angle of the driving force changes continuously due to the change of the joint angle, which leads to the change of the joint torque of the exoskeleton, thereby generating energy loss. The problem to be solved by the present invention is to provide a torque-variable flexible knee joint struct...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, when the flexible knee joint of the exoskeleton robot bends, the angle of the driving force changes continuously due to the change of the joint angle, resulting in the change of the joint torque of the exoskeleton, which in turn causes energy loss

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