A flexible lower limb exoskeleton based on variable stiffness springs

Abstract

The invention belongs to the field of lower limb exoskeleton robots, and discloses a flexible lower limb exoskeleton based on variable rigidity springs. Through the fact that the flexible lower limb exoskeleton is provided with n-1 nylon strings and n spring elements, the two ends of an i nylon string are fixed opposite to the two ends of an i spring element, the i nylon string reserves a specified slack reservation amount to limit the maximum stretch length of the i spring element, i=1,2,...n-1, the rigidity change in the process of motion is realized, the different nylon strings stretch in moving to different stages, so the corresponding spring element cannot continue to be stretched, the total rigidity of the spring elements is changed, and energy is effectively stored, but the nylon strings do not limit recovery of the spring elements, so the spring elements can provide assistant force during the recovery, and finally metabolic consumption of a human body in the process of walking and squatting is reduced.

Description

technical field [0001] The invention belongs to the field of lower limb exoskeleton robots, and more particularly relates to a flexible lower limb exoskeleton based on variable stiffness springs. Background technique [0002] An exoskeleton is a wearable assistive mechanical system that enhances the wearer's mobility. The lower extremity exoskeleton robot is mainly used for the rehabilitation training of patients with lower limb motor dysfunction in the medical field. In the military field, it is mainly used to improve the individual combat ability and carrying capacity of soldiers. Disaster relief ability, physical strength and endurance. Therefore, lower extremity exoskeleton robots have attracted much attention in recent years. [0003] Lower extremity exoskeleton robots can be divided into active and passive exoskeletons according to whether there is an external power source. Among them, the active lower extremity exoskeleton robot, including power source, drive compo...

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Problems solved by technology

[0005] China Invention Patent Application No. 201711270428.8, this technology discloses a hip joint passive exoskeleton device based on energy time-sharing regulation, through the pull-cord clutch triggered with the joint angle, the tension spring realizes the time-sharing regulation of the mechanical energy of the hip joint, Assist the movement of the hip joint, but its spring component has a constant stiffness, and its resistance effect may be greater than the assist effect during movement

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