Lower limb exoskeleton based on load bearing support and self-weight balance

Abstract

The invention relates to a lower limb exoskeleton based on load bearing support and self-weight balance. The lower limb exoskeleton comprises two symmetrically-distributed mechanical legs, a fixed connecting plate arranged at the top ends of the mechanical legs and connected with the two mechanical legs and a protective tool connected with the mechanical legs in a sliding mode and used for being worn on an upper body of a human body, Each mechanical leg sequentially comprises a trunk mechanism, a hip mechanism, a gravity balance mechanism, a one-way ratchet and pawl clutch mechanism and a plantar mechanism from top to bottom, the trunk mechanisms are in sliding connection with the protective tool, each plantar mechanism comprises a shoe used for being worn on a foot of the human body, a plantar joint and a plantar triggering assembly, The shoes and the plantar joints are both connected with the plantar triggering assembly, Bowden cables used for transmitting force is arranged between the plantar triggering assemblies and the one-way ratchet and pawl clutch mechanisms, and the plantar joints are rotationally connected with the one-way ratchet and pawl clutch mechanisms. Compared with the prior art, the human body can be supported, the gravity can be loaded, and the self-weight of the exoskeleton and the gravity of legs of the human body can be balanced.

Description

technical field [0001] The invention belongs to the field of lower limb exoskeleton, in particular to a lower limb exoskeleton based on load support and self-weight balance. Background technique [0002] Many scenes in life involve walking with heavy loads: in the daily civilian field, heavy objects need to be carried, especially in the logistics industry; in the military field, soldiers need to carry heavy backpacks. These weight-bearing walking activities increase muscle load, accelerate fatigue, and risk damage to the musculoskeletal system. At the beginning of the 21st century, many exoskeletons used for weight bearing or rehabilitation appeared, but these exoskeletons are mainly driven by active drive, that is, using the power source to input energy to the exoskeleton to realize the function of the exoskeleton, which makes the quality of the whole system, Increased costs and control difficulties. The passive exoskeleton avoids these problems well. On the one hand, its...

AI Technical Summary

Problems solved by technology

This patent also uses springs to balance the gravity moment of the load at the hip joint, however, the knee joint of the exoskeleton has no gravity balance

Images