A lasso-driven hip joint series elastic assist exoskeleton robot

Abstract

A lasso-driven hip joint series elastic power-assisted exoskeleton robot, including a waist connection mechanism and a leg connection mechanism, leg connection mechanisms are arranged on both sides of the waist connection mechanism, and elastic modules connected in series at motors are respectively arranged on both sides of the waist connection mechanism. The top of the leg connection mechanism is provided with a series elastic module at the hip joint, the series elastic module at the hip joint and the series elastic module at the motor are connected and driven by a lasso transmission mechanism, the series elastic module at the hip joint, the series elastic module at the motor and the sleeve The cable drive mechanism provides control and power through the drive and sensing system. The invention can provide walking assistance for people with weak walking ability, such as the elderly or people who are recovering from illness, and can also provide walking assistance for people who need to walk for a long time and long distances in daily life. Combining human-computer interaction and intention perception technology, further Realize human body motion assistance and improve human body motion ability.

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 are in daily work and life. Long-term and long-distance walking is required, such as nurses, sanitation workers, pipeline maintenance personnel and military personnel. Long-term and long-distance walking often leads to symptoms such as physical discomfort and muscle fatigue, and long-term muscle fatigue is even more The main cause of muscle tissue damage, severe muscle damage can even lead to consequences such as kidney failure. The lower limb assist...

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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