Light and flexible knee joint power-assisted exoskeleton robot

Abstract

The invention provides a light and flexible knee joint power-assisted exoskeleton robot. The robot comprises shoulder straps, a waistband, a controller, a power supply, hip flexible binding straps, leg structures and knee joint driving units. Each leg structure comprises an outer side supporting structure, an inner side supporting structure, a thigh rear side protector, a shank rear side protectorand leg binding parts. A mechanical structure scheme of knee joint direct drives, leg bilateral supports, thigh and shank shape adjusting structures and thigh and shank inner side flexible deformation structures and a binding scheme of shoulder binding parts, a waist binding part, the hip flexible binding straps and leg flexible binding parts are fused, man-robot matching and torque transmissioneffectiveness are improved from two aspects of the mechanical structure and the binding parts, the man-robot matching problem can be well solved, unexpected force generated in the torque transmissionprocess is reduced, the contact area between a man and the robot is increased, and the effects of improving the wearing comfort, stability and power assisting efficiency are achieved.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots, in particular to a lightweight and dexterous knee-joint-assisted exoskeleton robot. Background technique [0002] The power-assisted exoskeleton robot is a wearable auxiliary intelligent robot. It uses portable energy to power the robot body, uses sensor networks to collect and judge human body and environmental information, and combines task requirements to achieve single or multiple joints of the human body. Power-assisted exoskeleton robots can be divided into load-supporting and motion-assisted robots. The load-supporting power-assisted exoskeleton generally has a structural interface with the load, the human body, and the environment (ground), and uses its own mechanical structure to transfer all or part of the weight carried by the human body to the ground, reducing the actual weight of the human body. Most of the motion-assisted power-assisted exoskeleton robots only have a str...

AI Technical Summary

Problems solved by technology

The boosting efficiency is reflected in two aspects: the size of the booster and the delay of the booster. The existing technology generally adopts direct drive at the joints and a unilateral structure scheme. This method has the problems of large rotational inertia around the human body and small human-machine interaction surface, which is difficult to solve quickly. The problem of poor stability of the man-machine during the movement, the undesired movement between the man-machine increases significantly with the acceleration of the movement speed, the transmission efficiency of the torque decreases, and the transmission time of the torque increases

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