Variable-stiffness exoskeleton structure based on positive pressure friction principle

Abstract

The invention discloses a variable-stiffness exoskeleton structure based on a positive pressure friction principle. The variable-stiffness exoskeleton structure comprises a C-shaped pipe and a sleevewhich is installed outside the C-shaped pipe in a sleeving manner, wherein the sleeve is in clearance fit with the C-shaped pipe, and the sleeve and the C-shaped pipe can rotate relatively. An elasticpipe is placed in the C-shaped pipe, and an opening at one end of the elastic pips is connected with an air nozzle; after the air nozzle is inflated to be in a working state, the elastic pipe enablesthe pressure and friction between the C-shape pipe and the sleeve to be increased, and therefore stiffness variation or locking of a joint is achieved. According to the variable-stiffness exoskeletonstructure, a wearable exoskeleton device has a variable-stiffness effect, the exoskeleton structure is easy to control to achieve the buffering effect or the locking function, and a joint variable-stiffness scheme with the simple principle is provided for a stiff robot system or a wearable exoskeleton system; and the variable-stiffness exoskeleton structure has the advantages of being simple in structure, small in size, light in weight and easy to control.

Description

technical field [0001] The invention relates to the technical field of exoskeleton structures, in particular to a variable stiffness exoskeleton structure based on the principle of positive pressure friction. Background technique [0002] An exoskeleton is a wearable device that assists human movement to reduce human consumption, or provides specific forms of exercise to help patients recover, or can enhance human capabilities, etc. It has a wide range of applications in logistics, rehabilitation, emergency rescue and other scenarios application prospects. [0003] Traditional wearable variable-stiffness exoskeletons are generally designed with rigid materials, and the variable stiffness is achieved by using electric control motors. The weak point of its existence is exactly: volume is big, weight is big, and the structural design of variable stiffness is more complicated, and generalization and practicability are not high, and practical value is not very big. Contents of...

AI Technical Summary

Problems solved by technology

Its shortcomings are: large volume, heavy weight, complicated structural design of variable stiffness, low scalability and practicality, and low practical value

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