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Active and passive combined variable-instantaneous-center flexible-rope-driving lower extremity exoskeleton robot and control method

An exoskeleton robot, active and passive technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve problems such as wearing discomfort and human injury, achieve comfortable wearing and walking, reduce damage, and reduce rotation angle deviation Effect

Active Publication Date: 2020-04-28
WUHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These dislocations will definitely bring more or less resistance, causing discomfort when wearing, and even causing harm to the human body if used for a long time

Method used

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  • Active and passive combined variable-instantaneous-center flexible-rope-driving lower extremity exoskeleton robot and control method
  • Active and passive combined variable-instantaneous-center flexible-rope-driving lower extremity exoskeleton robot and control method
  • Active and passive combined variable-instantaneous-center flexible-rope-driving lower extremity exoskeleton robot and control method

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Embodiment Construction

[0032] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0033] First introduce the main structure of the present invention. The present invention includes: control box, waist mechanism, knee joint mechanism, calf part and ankle joint mechanism.

[0034] The control system of the present invention is integrated in the control box. In order to reduce the volume, the control box is designed as a drawer-type two-layer structure. The motor driver, WiFi module and adapter board are fixed on the lower layer, and the control board is installed on the upper layer. In order to facilitate installation and disassembly, the connection between the control box and the outside is conn...

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Abstract

The invention relates to an active and passive combined variable-instantaneous-center flexible-rope-driving lower extremity exoskeleton robot and a control method. The active and passive combined variable-instantaneous-center flexible-rope-driving lower extremity exoskeleton robot includes a control box (I), a waist structure (II), a knee joint mechanism (III), a shank part (IV) and an ankle jointmechanism (V). Control elements are disposed in the control box (I), and the waist structure (II) includes a back plate, a battery, a drive, a lumbar support, a waist and back flexible joint, a hip joint and a thigh connector, wherein a clutch is added to the drive part to realize the active and passive combination. The knee joint mechanism (III) is of a rolling cam variable-instantaneous-centerstructure and connected with thighs and shanks. The shank part (IV) includes supporting shanks and flexible straps, and the length can be adjusted. The ankle joint mechanism (V) is connected with theshanks. A variable-instantaneous-center mechanism of the active and passive combined variable-instantaneous-center flexible-rope-driving lower extremity exoskeleton robot has high bionic properties and can adapt to human body movement; the structure is simple, and the mass is small; the active and passive conversion can be realized, and the flexibility is high; the flexible rope drive is safe andreliable; and the flexible straps are comfortable to wear through inner lining design.

Description

technical field [0001] The invention relates to a flexible rope-driven lower limb exoskeleton robot, in particular to a flexible rope-driven active-passive knee joint adaptive lower limb exoskeleton robot. Background technique [0002] An exoskeleton robot is a wearable device that can be used in military, medical and civilian applications. In the military, with the development of science and technology, soldiers need to carry more heavy equipment, and exoskeleton devices can improve the continuous combat capability of soldiers; For one-to-one rehabilitation training, exoskeleton-assisted rehabilitation training can save a lot of manpower and material resources; in daily life, exoskeleton can provide significant assisting effect for assisting walking and carrying heavy objects. Exoskeleton robots have the functions of support and protection, so it is necessary to develop a comfortable and reliable exoskeleton robot. [0003] At present, for lower extremity exoskeleton robo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J17/02
CPCB25J9/0006B25J17/0258
Inventor 郭朝肖晓晖倪传政周天林
Owner WUHAN UNIV
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