Rigid-flexible mixed line-driven enhanced ankle joint exoskeleton and control method

Abstract

The invention relates to a rigid-flexible hybrid line-driven enhanced ankle joint exoskeleton and a control method. The rigid-flexible hybrid line-driven enhanced ankle joint exoskeleton comprises a joint driving module, a driving line, a flexible clothing module and a joint supporting module, the joint driving module is connected with the driving wire; the flexible clothing module is matched with a human body and is provided with a waist anchor point and knee joint anchor points; the joint supporting module comprises a supporting plate and a bottom plate, the supporting plate is matched with the ankle joint of the human body, the bottom plate is matched with the foot bottom face of the human body, the supporting plate is provided with an IMU unit and an ankle joint anchor point, and the IMU unit is in communication connection with the joint driving module; a drive wire is connected from the joint drive module to the ankle joint anchor, the waist anchor, and the knee joint anchor for guiding the drive wire. Compared with the prior art, the advantages of a rigid exoskeleton and a flexible exoskeleton are combined, the weight is light, wearing is comfortable, damage to the human body caused by joint axis deviation is prevented, the assisting effect is better than that of the flexible exoskeleton, and the problems that the rigid exoskeleton is large in load and has motion interference on the human body are solved.

Description

technical field [0001] The invention relates to the technical field of exoskeletons, in particular to a rigid-flexible hybrid wire-driven enhanced ankle exoskeleton and a control method. Background technique [0002] The aging of our country is getting worse. As people grow older, people will gradually develop symptoms such as fatigue and difficulty walking. Therefore, the demand for power-assisted exoskeletons for the elderly has increased. At the same time, in order to improve the combat capabilities of soldiers, countries need to carry more weapons and equipment to upgrade soldiers, and the increase in the number of weapons and equipment increases the energy consumption of soldiers during marching. Therefore, the demand for enhanced exoskeletons in the military field has become greater. Faced with the above application prospects, research institutions at home and abroad have begun to devote themselves to the research of enhanced exoskeleton robots. [0003] An enhanced e...

AI Technical Summary

Problems solved by technology

However, the metal frame design of the rigid exoskeleton increases the weight of the human body to a certain extent, interferes with the movement of the human body, and has the problem of high energy consumption; the flexible exoskeleton also has problems such as low auxiliary torque and poor support stability.

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