Robot for assisting external limb in walking with weight bearing

Abstract

The invention provides a robot for assisting an external limb in walking with weight bearing. The robot comprises a wearable backpack frame, and two power mechanical legs arranged on the both sides ofthe wearable backpack frame symmetrically; each power mechanical leg comprises a dynamic spherical hip joint with two degrees of freedom, a main bearing bar, a main driving system, a thigh bearing bar, a knee joint, a leg bearing bar and a support tail end; and the control system is in communication connection with the dynamic spherical hip joint with two degrees of freedom, the main driving system and the knee joint. The dynamic spherical hip joint with two degrees of freedom, the main driving system and the knee joint are controlled through the control system to cooperate with each other, and each power mechanical leg can swing forwards, quickly touch the ground and support with weight bearing in cooperation with the gait of a wearer, so that assisting in weight-bearing walking is achieved; and interference to the natural gait of a human body can be avoided while the load pressure is directly transferred to the ground.

Description

technical field [0001] The invention relates to the field of wearable robots, in particular to an auxiliary robot with load-bearing outer limbs for walking. Background technique [0002] In production and life, military rescue and other scenarios, relevant personnel often need to carry heavy loads for a long time to walk, which will bring greater pressure to the human body and increase the risk of strain and injury. Walking with heavy loads will also increase the metabolic consumption of the human body and increase the physical and energy consumption of operations. [0003] Although the traditional load-bearing exoskeleton can share the pressure on the human body through the rigid structure part, its rigid structure is connected in parallel with the lower limbs of the human body, which seriously interferes with the voluntary movement of the human body limbs, destroys the normal gait of the human body, and brings about walking metabolism. Significant increase in consumption....

AI Technical Summary

Problems solved by technology

Walking with a heavy load will also increase the metabolic consumption of the human body and increase the physical and energy consumption of operations.

[0003] Although the traditional load-bearing exoskeleton can share the pressure on the human body through the rigid structure part, its rigid structure is connected in parallel with the lower limbs of the human body, which seriously interferes with the voluntary movement of the human body limbs, destroys the normal gait of the human body, and brings about walking metabolism. Significant increase in consumption

Some other exoskeleton robots such as flexible exoskeleton or single-joint exoskeleton can reduce the interference to the normal gait of the human body, but due to the lack of a rigid structure that can transmit the pressure of the heavy object to the ground, it cannot reduce the load on the human body. pressure

At present, there is a lack of effective auxiliary solutions for long-term heavy-duty walking with large loads

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