A compliant variable stiffness actuator for lower extremity exoskeleton

Abstract

The invention discloses a smooth variable-stiffness driver for a lower limb exoskeleton. The driver comprises a support assembly, an outer shell assembly, a spring assembly, a driving assembly and a roller assembly, wherein the outer shell assembly and the roller assembly keep synchronous movement. According to the driver, a linear spring is compressed in a non-linear manner by using a pair of gear structures, so that the smooth variable stiffness characteristic of the output torque is realized. The driver can be applied to hip joints and knee joints of the lower limb exoskeleton.

Description

technical field [0001] The invention relates to a driving device applied to a lower limb exoskeleton, more specifically, a compliant variable stiffness driver used for a lower limb exoskeleton. Background technique [0002] An exoskeleton robot is a human-mechanical-electrical system that is worn outside the human body and incorporates advanced control, information, and communication technologies. It can provide protection, support, and certain auxiliary power for the wearer. It is predicted that as the aging society intensifies, exoskeleton robots will become the right-hand man in the future life and work of human beings, with huge commercial prospects and social value. Generally, an exoskeleton robot includes an upper extremity exoskeleton and a lower extremity exoskeleton, wherein the lower extremity exoskeleton includes hip joints, knee joints, ankle joints, thighs and lower legs. [0003] Existing exoskeletons often use motors to drive joints directly, which is direct ...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the output torque and precision of traditional serial elastic actuators are difficult to balance, the present invention designs a compliant variable stiffness actuator for lower extremity exoskeleton

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