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Wearable lower extremity exoskeleton robot based on tether-driven redundant flexible actuators

An exoskeleton robot and flexible driver technology, applied in the field of robotics, can solve problems such as the hidden danger of rigid transmission safety, and achieve the effects of portability, high rigidity and simple structure of the overall material

Active Publication Date: 2022-05-31
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 extremity exoskeleton robot based on tether-driven redundant flexible actuators
  • Wearable lower extremity exoskeleton robot based on tether-driven redundant flexible actuators
  • Wearable lower extremity exoskeleton robot based on tether-driven redundant flexible actuators

Examples

Experimental program
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Effect test

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 a rope-driven redundant flexible driver. The present invention includes two sets of leg exoskeleton structures symmetrically arranged on the left leg and the right leg; the two sets of leg exoskeleton structures are identical and all include two super-input flexible drivers, two bandage structures and a sole plate; each super-input flexible The actuators include two flexible actuators connected by ropes, outputting a rotational degree of freedom; two super-input flexible actuators are then connected by a mechanical connection device; one of the bandage structures is connected to a super-input flexible driver, and the other bandage is connected to the mechanical connection device Connection; the sole plate is connected with another super-input flexible driver through an adapter bracket. On the one hand, the invention can be applied to the military field to provide assistance for combat soldiers and improve their marching ability; on the other hand, it can provide physical therapy assistance for stroke patients and improve the recovery period of patients in the rehabilitation process.

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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Patent Type & Authority Patents(China)
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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