Rigid-flexible coupling wearable walking aid exoskeleton system

Abstract

The invention relates to a rigid-flexible coupling wearable walking aid exoskeleton system. The exoskeleton system comprises a power assisting system and a supporting system; the power assisting system comprises a waist wearing mechanism used for wearing the exoskeleton system on the body of a user and a power mechanism used for driving the thighs of the user to be lifted up or put down; the supporting system comprises a supporting chain formed by connecting a plurality of supporting joints; the supporting chain is of a spine-like bionic structure; all the supporting joints can rotate by a large angle in a sagittal plane and slightly rotate in a coronal plane and a horizontal plane, so that the knee joints and the ankle joints cannot be interfered in a human lower limb movement process; and the supporting system is in driving transmission connection with the power mechanism, so that in the human lower limb movement process, assistance can be provided in a supporting phase and the supporting system moves along with the lower limbs of the human body in a swing phase. The exoskeleton system is simple in structure, light in weight, comfortable to wear, convenient to put on and take off, high in coordination with human lower limb movement and capable of helping walking and providing supporting assistance.

Description

technical field [0001] The invention relates to the field of exoskeleton, in particular to a rigid-flexible coupling wearable walking aid exoskeleton system. Background technique [0002] With the increase of age, the gradual decline of human body function causes muscle atrophy and leads to inconvenient movement. A wearable exoskeleton that provides body functions and assists in walking has emerged as the times require. Wearable exoskeletons are widely used in military fields, medical rehabilitation fields, etc. For example, in the military field, heavy-assist exoskeleton robots can meet the needs of individual soldiers to carry weight. In the field of medical rehabilitation, assisting exoskeleton robots can meet the needs of patients with paralysis of the lower limbs and inconvenient walking. [0003] One of the criteria for evaluating wearable exoskeletons should consider user comfort in addition to completing established functions. The coordination between human lower ...

AI Technical Summary

Problems solved by technology

[0004] Wearable exoskeletons include rigid and flexible. In related technologies, rigid wearable exoskeletons are mostly hinged at the hip joints, knee joints, and ankle joints. The skeleton only considers the forward and backward extension of the knee joint, ignoring the slight rotation movement, and the human-machine fit is poor, resulting in differences between the movement of the exoskeleton and the movement of the lower limbs of the human body

Compared with rigid robots, flexible power-assisted robots have the advantages of low inertia and comfortable wearing. However, most flexible power-assisted robots only play a role in assisting and cannot support the lower limbs. Therefore, they can assist the elderly with arthritis There are still big problems

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