Knee joint exoskeleton based on rope variable-rigidity multifunctional driver and control method

Abstract

The invention discloses a knee joint exoskeleton based on a rope variable-rigidity multifunctional driver and a control method, the knee joint exoskeleton comprises a leg structure, the multifunctional driver, a sensing and control system and a waist control box, and the multifunctional driver is composed of a motor element, a length adjusting mechanism, a rigidity adjusting mechanism and a jointmagneto-rheological brake. According to the control method, on the basis of gait analysis and requirements of a user and the functions of driving, braking, hybrid braking, rigidity adjusting and the like of the multifunctional driver, expected auxiliary torque and movement are output, and a patient suffering from knee joint dyskinesia is helped to do exercise rehabilitation; the knee joint exoskeleton is high in energy efficiency, large in output torque, adjustable in rigidity, convenient to wear and suitable for assisting walking of old people and postoperative rehabilitation training of kneejoint injury patients.

Description

technical field [0001] The invention relates to the field of exoskeleton robots, in particular to a knee-joint exoskeleton and a control method based on a rope variable stiffness multifunctional driver. Background technique [0002] With the advent of an aging society and the increasing number of means of transportation, the number of patients with limb movement caused by decline in physical function or traffic accidents is increasing, among which patients with knee joint dysfunction are the most common. Modern medicine has shown that appropriate sports rehabilitation training is of great benefit to the recovery and improvement of the motor function of the patient's limbs. Compared with traditional one-to-one physical therapy with physicians, the knee joint rehabilitation exoskeleton can provide patients with more scientific, effective, simpler and faster rehabilitation training, and maximize the recovery of patients' motor dysfunction. [0003] With the rapid development o...

AI Technical Summary

Problems solved by technology

The stiffness of the driver in the existing research is mostly fixed, or the system impedance is changed through the control algorithm, but due to factors such as sensor response delay and inertia, this method has certain safety hazards

In addition, most of the researched braking torque is mainly generated by the motor, which needs to provide a large current, which not only has low energy efficiency and relatively large energy consumption, but also has potential safety hazards.

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