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An active-passive combined transient heart flexible rope-driven lower limb exoskeleton robot and control method

An exoskeleton robot, active and passive technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of human injury and wearing discomfort, achieve high safety, comfortable wearing and walking, and reduce damage.

Active Publication Date: 2021-07-20
WUHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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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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  • An active-passive combined transient heart flexible rope-driven lower limb exoskeleton robot and control method
  • An active-passive combined transient heart flexible rope-driven lower limb exoskeleton robot and control method
  • An active-passive combined transient heart flexible rope-driven lower limb 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 present invention relates to an active-passive combined transient heart-rope driven lower extremity exoskeleton robot and its control method, comprising a control box (I), a waist structure (II), a knee joint mechanism (III), a calf part (IV) and an ankle joint Institutions (Ⅴ). The control elements are placed in the control box (I), and the waist structure (II) includes the backboard, battery, driver, lumbar support, flexible connection between the waist and back, hip joints and thigh joints, and the clutch is added to the driver part to realize the main Passive combination; the knee joint mechanism (Ⅲ) is a rolling cam transient center structure, connecting the thigh and the calf; the calf part (Ⅳ) includes supporting the calf and flexible straps, which can be adjusted in length; the ankle joint mechanism (Ⅴ) is connected to the calf. The transient center mechanism of the present invention has strong bionicity and can adapt to human body movement; the structure is simple and the mass is small; active and passive conversion can be realized, and the flexibility is strong; the flexible rope drive is safe and reliable; the flexible strap lining design is comfortable to wear.

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 Patents(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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