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Wearable lower limb exoskeleton robot based on rope-driven redundant flexible drivers

A technology of exoskeleton robot and flexible drive, which is applied in the field of robotics and can solve problems such as hidden dangers of rigid transmission

Active Publication Date: 2021-07-30
PEKING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In the process of human-computer interaction, when the robot needs to interact with the unknown environment, the rigid transmission of traditional robots has great potential safety hazards, and there are often over-binding forces between humans and robots.

Method used

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  • Wearable lower limb exoskeleton robot based on rope-driven redundant flexible drivers
  • Wearable lower limb exoskeleton robot based on rope-driven redundant flexible drivers
  • Wearable lower limb exoskeleton robot based on rope-driven redundant flexible drivers

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Embodiment Construction

[0020] like figure 1 As shown, a wearable lower extremity exoskeleton robot based on redundant rope-driven flexible drives includes two sets of leg exoskeleton structures symmetrically arranged on the left leg and right leg; the two sets of leg exoskeleton structures are identical and include two super Input a flexible driver 1, two bandage structures 2 and a foot plate 3; each super-input flexible driver includes a group of flexible drivers 6 connected by a rope 5; then two groups of flexible drivers 6 are connected by a mechanical connection device 4; a The bandage structure is connected with a group of flexible drivers, and the other bandage structure is connected with a mechanical connection device; the sole of the foot is connected with another group of flexible drivers through an adapter bracket.

[0021] like figure 2 and image 3 As shown, the flexible driver includes a motor housing 12, a motor 10, a gearbox 9, a first encoder 8, a motor fixing device 7, a second e...

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Abstract

The invention relates to a wearable lower limb exoskeleton robot based on rope-driven redundant flexible drivers. The wearable lower limb exoskeleton robot comprises a left leg exoskeleton structure and a right leg exoskeleton structure which are symmetrically arranged; the two leg exoskeleton structures are the same, and each leg exoskeleton structure comprises two super-input flexible drivers, two bandage structures and a foot sole plate; each super-input flexible driver comprises two flexible drivers connected through a rope, and outputs a rotational degree of freedom; the two super-input flexible drivers are connected through a mechanical connecting device; one bandage structure is connected with one super-input flexible driver, and the other bandage structure is connected with the mechanical connecting device; and the foot sole plate is connected with the other super-input flexible driver through an adapter bracket. On one hand, the wearable lower limb exoskeleton robot can be applied to the military field to provide assistance for battle soldiers and improve the marching ability of the soldiers; and on the other hand, physiotherapy help can be provided for stroke patients, and then the recovery period of the patients in the rehabilitation process is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a wearable lower limb exoskeleton robot based on a redundant rope-driven flexible driver. Background technique [0002] In the process of human-computer interaction, when the robot needs to interact with an unknown environment, the rigid transmission of traditional robots has great potential safety hazards, and there is often an over-binding force between humans and robots. The compliance of the robot is an important guarantee for man-machine cooperation to complete tasks. The research on the compliance of robots is developing towards the direction of rigid-flexible hybrid integrated mechanism, accurate and fast environmental judgment, and good compliance control. The compliance of the mechanical system is guaranteed by the mechanical design and drive control system. When the human and the robot are incoordinated or the control system fails, designing a compliant drive structure c...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0006
Inventor 周鑫黄泽强李忠奎段志生
Owner PEKING UNIV
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