A single-motor flexible knee exoskeleton

Abstract

The invention belongs to the field of flexible exoskeleton robots, and specifically discloses a knee joint exoskeleton with single-motor flexible assistance. It includes a fixed module, a back module, a flexible rope and two knee modules, wherein: the fixed module is connected with the back module; the rotating shaft of the motor in the back module is connected with the upper pulley, and it rotates forward or reverse under the control of the control box , to drive the upper pulley to rotate; the upper pulley and the lower pulley are meshed with the timing belt respectively, and the upper pulley drives the lower pulley to rotate through the timing belt; Driven by the synchronous belt, the two knee modules move toward each other; the two knee modules have the same structure and are respectively fixed on the wearer's left knee and right knee through flexible knee pads, and are respectively connected to the two clamping blocks through flexible ropes. The invention greatly reduces the constraints on the lower limbs and increases the flexibility. At the same time, the back module uses a single motor to alternately assist, and has the advantages of simple structure, stable operation and low energy consumption.

Description

technical field [0001] The invention belongs to the field of flexible exoskeleton robots, and more particularly relates to a knee joint exoskeleton with single-motor flexible assist. Background technique [0002] As a mechanical system that can enhance the wearer's movement ability, exoskeleton has broad application prospects and demands in medical, military and other fields. However, the existing exoskeleton assisting systems generally have problems such as complex wearing process, low flexibility, and weak human-computer interaction, which are difficult to meet practical applications. Therefore, it is of great significance to seek an exoskeleton assisting system that is easy to wear and has high flexibility. [0003] Exoskeletons can be divided into rigid and flexible exoskeletons according to the materials used. Among them, the rigid exoskeleton has the characteristics of convenient design, easy control, and strong auxiliary effect, but it also has the problems of bulky...

AI Technical Summary

Problems solved by technology

However, because the driving part and the fixing device of the invention are all located in the lower limbs, most of the degrees of freedom are concentrated in the sagittal plane, and the degrees of freedom in the coronal plane and the horizontal plane are lost during the movement of the lower limbs, which means that the user can use the lower limb fatigue

Moreover, the exoskeleton robot uses multiple motors, the structure is complex, and the overall mass is relatively large

CN201910551803.9 discloses a flexible lower extremity exoskeleton for assisting walking, and proposes a knee joint assisting structure that uses rigid materials to realize flexible connections. Damaged, and the overall quality is relatively large, which affects the user's wearing experience

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