Lasso-driven hip joint series elastic power-assisted exoskeleton robot

Abstract

A lasso-driven hip joint series elastic power-assisted exoskeleton robot comprises a waist connecting mechanism and leg connecting mechanisms. The leg connecting mechanisms are arranged on the two sides of the waist connecting mechanism, motor series elastic modules are arranged on the two sides of the waist connecting mechanism correspondingly, hip joint series elastic modules are arranged at thetops of the leg connecting mechanisms, the hip joint series elastic modules and the motor series elastic modules are in connection transmission through lasso transmission mechanisms, and the hip joint series elastic modules, the motor series elastic modules and the lasso transmission mechanisms provide control and power through a driving and sensing system. According to the lasso-driven hip jointseries elastic power-assisted exoskeleton robot, walking assistance can be provided for people with weak walking ability such as old people or sick rehabilitation people, walking assistance can alsobe provided for people needing long-time and long-distance walking in daily life, human-computer interaction and intention perception technologies are combined, human body movement assistance is further achieved, and the human body movement ability is improved.

Description

technical field [0001] The invention relates to the technical field of robots and human-computer interaction, in particular to a lasso-driven hip joint series elastic power-assisted exoskeleton robot. Background technique [0002] In recent years, with the rapid development and changes of society, the problem of population aging and medical rehabilitation has become increasingly serious. It is estimated that by 2050, the number of elderly people over 60 years old in my country will reach 438 million; at the same time, many people have Long-term, long-distance walking is required, such as nurses, sanitation workers, pipeline maintenance personnel, and military personnel. Long-term, long-distance walking often leads to symptoms such as physical discomfort and muscle fatigue. Long-term muscle fatigue is even more serious. The most important cause of muscle tissue damage, severe muscle damage can even lead to kidney failure and other consequences. The lower limb assist exoskeleto...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the problems of excessive weight and moment of inertia at the joints of existing lower limb power-assisted exoskeleton robots, and poor power-assisted effects, the purpose of the present invention is to provide a lasso-driven hip joint series elastic power-assisted exoskeleton robot, which can realize walking Walking assistance for people with weak abilities, such as the elderly or people who are recovering from illness, can also provide walking assistance for people who need to walk for a long time and long distances in daily life. Improvement of human athletic ability

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