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Wearable flexible lower limb assisting exoskeleton robot

An exoskeleton robot, wearable technology, applied in the directions of manipulators, program-controlled manipulators, joints, etc., can solve the problems of increased joint weight and complexity, large deflection inertia of lower limb motion, high R&D and use costs, and increase the flexibility of movement. The effect of reducing the motion deflection inertia and preventing secondary damage

Pending Publication Date: 2022-05-13
SHANDONG JIANZHU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Restricted by many factors, the cost of R&D and use of lower extremity exoskeleton robots is still high. In terms of structural design, the direct drive of the motor at the joint end and gear transmission make the deflection inertia of the lower limb movement large, the transmission torque short, and the joint weight and complexity increase.
The method of reducing the degree of freedom of the joints in order to reduce the difficulty of control reduces the degree of man-machine matching and poor wearing comfort
Most of the rigid joints of the exoskeleton are designed to easily cause secondary injuries to the user

Method used

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  • Wearable flexible lower limb assisting exoskeleton robot
  • Wearable flexible lower limb assisting exoskeleton robot
  • Wearable flexible lower limb assisting exoskeleton robot

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Embodiment Construction

[0038] The present invention is described in further detail now in conjunction with accompanying drawing.

[0039] Such as Figure 1 to Figure 18 The wearable flexible lower limb power-assisted exoskeleton robot includes a back assembly 1, a hip joint part 2, a thigh part 3, a knee joint part 4, a lower leg part 5, a foot part 6, an ankle joint part 7, a floating binding Device 8 and transmission-drive system 9, said back assembly 1 is located above the hip joint part 2, said thigh part 3, knee joint part 4, lower leg part 5, ankle joint part 7 and foot part 6 are in turn attached to the hip joint Below the component 2, the floating binding device 8 is located inside the thigh component 3 and the calf component 5, the transmission-drive system 9 is located behind the hip joint component 2, and the overall exoskeleton has a left-right symmetrical structure.

[0040] Specifically, the back assembly 1 includes a back strap 11, a back plate 12, a back connecting plate 13, a back ...

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Abstract

The invention relates to a wearable flexible lower limb power-assisted exoskeleton robot, which belongs to the technical field of exoskeleton robots and comprises a back component, hip joint components, thigh components, knee joint components, shank components, foot components, ankle joint components, a floating binding device and a transmission-driving system. The invention has the following beneficial effects: the driving system is integrated on the waist to a certain extent to realize the light weight of the equipment, the deflection inertia of the joint is reduced, the power transmission torque is large through the rope, and the transmission is stable. A rigid-flexible mixed limiting mode is adopted at the joint, rigid impact is reduced, secondary damage to a user caused by mistaken rotation of the motor is prevented, energy is stored when the limiting spring is pressed, and the restoring force of rebounding plays a role in saving labor. The sizes of the thighs, the shanks and the hip joints can be continuously adjusted, and the device is suitable for users of different figures and high in wearing universality. The setting of the degree of freedom of the joints conforms to the actual situation of the human body, the consistency of exoskeleton and user movement is guaranteed, and the movement flexibility is improved.

Description

technical field [0001] The invention relates to the technical field of exoskeleton robots, in particular to a wearable flexible lower limb assisted exoskeleton robot. Background technique [0002] The problem of population aging is one of the social problems of widespread concern in China and the world. With the increasing aging, the decline of lower limb function of the elderly due to physiological aging or stroke and other diseases has caused great harm to their lives. troubled. Limited medical resources and traditional rehabilitation equipment can no longer meet your health needs for this group of people. There is an urgent need for a device in the market to enhance their lower limb exercise capacity and assist them in scientific rehabilitation training. [0003] With the continuous advancement of modern science and technology and the increase of people's health needs, lower extremity exoskeleton technology, as a cross-integrated discipline of machinery, electronics, bio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J17/00B25J18/00B25J19/00
CPCB25J9/0006B25J17/00B25J18/00B25J19/00
Inventor 王晓伟陈旭高胜鲁张晓彬林朵朵牛景瑞
Owner SHANDONG JIANZHU UNIV
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