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Lower limb exoskeleton robot

An exoskeleton robot and lower limb technology, applied in the field of robotics, can solve problems such as uncontrollable balance, achieve the effects of convenient operation, optimized structure, and reduced use burden

Active Publication Date: 2021-06-01
CHENGDU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims at the problem that the exoskeleton assisting device in the related art cannot control the balance of the human body in the process of walking and assisting the disabled, and provides a A lower extremity exoskeleton robot, which can control the balance of the human body while assisting walking, and prevent users from falling during walking

Method used

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  • Lower limb exoskeleton robot
  • Lower limb exoskeleton robot
  • Lower limb exoskeleton robot

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Experimental program
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Effect test

Embodiment 1

[0061] Such as figure 1 with 2 As shown, the lower extremity exoskeleton robot in this embodiment includes auxiliary components 100 and lower limb components.

[0062] The auxiliary component 100 includes a wearable auxiliary balance mechanism and a first driving member, wherein the auxiliary balance mechanism is used to support the human trunk, and the inclination angle of the auxiliary balance mechanism relative to the coronal plane of the human body can be adjusted through the first driving member, and Drive the movement of the human trunk to change the inclination angle of the human trunk.

[0063] The lower limb components include two leg power-assist mechanisms 200, which are respectively fixed to the left leg and the right leg to provide support and power assistance for the left leg and the right leg. connect.

[0064] Such as image 3 with 4 , the auxiliary balance mechanism includes a first structural member 101 arranged at the waist of the human body when worn, ...

Embodiment 2

[0070] This embodiment is a further improvement made on the basis of Embodiment 1. Specifically, the structure of the leg assist mechanism is designed. While forming support for the lower part, it provides assistance for the completion of walking movements of the legs, helping users complete various walking movements.

[0071] Specifically, such as Figure 5 , the leg assist mechanism 200 of the lower limb parts in this embodiment includes a hip joint structural member 201, a knee joint structural member 202 and an ankle joint structural member 203 connected in sequence, wherein between the hip joint structural member and the knee joint structural member, the knee joint An adjustable connection structure is adopted between the structural part and the ankle joint structural part to realize the adjustment of the length of the leg assist mechanism, that is, the adjustment of the length of the thigh and the length of the calf, so as to be suitable for different users' actual condi...

Embodiment 3

[0082] The difference between the lower extremity exoskeleton robot in this embodiment and the first embodiment is:

[0083] The lower extremity exoskeleton robot in this embodiment is provided with a seat part 500, the seat part 500 is connected to the auxiliary part 100, is connected to the auxiliary part in rotation, and can rotate in the sagittal plane of the human body relative to the coronal axis of the human body; When the human body is in a sitting position, the seat part can be rotated to a horizontal state, and at the same time a part of the seat part can be expanded and supported on the ground for supporting the human body and providing a platform for the user to rest.

[0084] Specifically, such as Figure 8 with 9 , the seat component 500 in this embodiment includes a seat component 501 and a second drive member, wherein the seat component 501 is rotationally connected with the first structural member 101 of the auxiliary component; the second drive component is ...

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Abstract

The invention discloses a lower limb exoskeleton robot. The lower limb exoskeleton robot comprises an auxiliary component and a lower limb component; the auxiliary component comprises a wearable auxiliary balance mechanism and a first driving part, the auxiliary balance mechanism is used for supporting the human body, the inclination angle of the auxiliary balance mechanism relative to the human body coronal plane can be adjusted through the first driving part, the human body is driven to move, and the inclination angle of the human body is changed; and the lower limb component comprises two leg power assisting mechanisms which are used for providing supporting and assisting power for the left leg and the right leg correspondingly, and the leg power assisting mechanisms are connected with the auxiliary component. According to the lower limb exoskeleton robot, the auxiliary component capable of being actively adjusted is adopted to be matched with the lower limb component capable of assisting walking, the inclination angle of the human body can be actively adjusted while assisting walking is conducted, and falling down in the walking process can be well prevented while the walking assisting function is provided for people with walking function deficiency.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a lower extremity exoskeleton robot capable of assisting walking. Background technique [0002] At present, research on exoskeleton power-assisted devices is gradually emerging, and has a wide range of application prospects, such as helping the elderly and the disabled, medical rehabilitation, industrial production, earthquake rescue, individual combat and other fields. The general power-assisted exoskeleton has the following characteristics: it can detect the motion intention of the human body and the similar joint degrees of freedom and joint rotation space of the human body; it has the necessary active drive of the joints to assist the output; it has its own control system and energy system; it has certain safety protection mechanism. [0003] The power-assisted exoskeleton can be divided into two situations according to the purpose of power transmission: the exoskeleton drive...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J17/00
CPCB25J9/0006B25J17/00
Inventor 钟斌马莉丽黄朝政程权郭重志张鹏高蕾娜
Owner CHENGDU UNIV
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