Rope pulling-type flexible lower limb exoskeleton power-assisted robot and motion control method thereof

Abstract

The invention discloses a rope pulling type flexible lower limb exoskeleton power-assisted robot and a motion control method thereof. An existing flexible lower limb exoskeleton robot is insufficient in driving precision and poor in active power assisting performance. The device comprises a waist wearing binding piece, a waist control box, a right thigh inclination angle sensor, a left thigh inclination angle sensor, a right shank inclination angle sensor, a left shank inclination angle sensor, a left hip joint driving device, a right hip joint driving device, a left hip joint assisting steel rope, a right hip joint assisting steel rope, a left thigh wearing binding piece, a right thighwearing binding piece, a right shank wears wearing binding piece, a left shank wearing binding piece, a right knee joint drive device, a left knee joint drive device, a right knee joint power-assisted steel rope and a left knee joint power-assisted steel rope. The leg lifting willingness of a wearer can be accurately judged, the walking posture of a healthy person is simulated to assist in leg lifting, the left leg and the right leg are independently controlled, and better experience is brought to the wearer.

Description

technical field [0001] The invention belongs to the field of medical machinery, and in particular relates to a novel driven rope-pull type flexible lower extremity exoskeleton power-assisted robot and a motion control method thereof. Background technique [0002] The number of elderly people, disabled people, and patients with chronic diseases in the world is increasing year by year. According to the 2019 World Population Forecast Report, there are more than 200 million people over the age of 60 in my country, accounting for 17.3%; the proportion is expected to increase to 28.4% by 2035. The Second National Sample Survey on Disabled Persons shows that in 2006, the number of disabled persons in China reached 82.96 million, with physical disabilities accounting for 29.07%. Residual motor deficits such as asymmetric gait, hip dyskinesia, and reduced knee support stability are prevalent in a large number of stroke patients. As a kind of rehabilitation robot, the lower extremity...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the disadvantages of insufficient driving precision and poor active assisting performance of existing flexible lower limb exoskeleton robots, the present invention provides a new type of rope-pull flexible lower limb exoskeleton power-assisted robot and its motion control method according to the movement characteristics of human muscle joints. The combination of machine connecting rod and wire reel is the core driving element, which can realize precise control of robot assist, reduce the hysteresis of robot movement, and has a small size and weight, which can effectively reduce the wearer's weight and improve comfort, and effectively improve human body movement. The degree of integration with the movement of the lower extremity exoskeleton robot

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