CN105266939A - Flexible exoskeleton robot - Google Patents

Abstract

The invention discloses a flexible exoskeleton robot, comprising: a flexible binding device for lower limbs worn on the lower limbs of a human body, a bionic driving device for driving the flexible binding device for lower limbs to move, a flexible binding device connected between the driving device and the flexible binding device for lower limbs transmission. The invention provides a flexible lower limb power-assisted exoskeleton robot. The invention provides a light-weight, easy-to-wear lower limb flexible binding device made of flexible materials, which uses a bionic drive mode to drive the lower limb flexible binding device to assist human walking.

Description

Flexible Exoskeleton Robot

technical field

It relates to the field of robots, in particular to an auxiliary walking device.

Background technique

The lower limb assisting exoskeleton robot is a robot that is connected in parallel to the outside of the lower limbs of the human body to assist the wearer in walking. With the increase of aging, the lower limb assisting exoskeleton robot has become a research hotspot in recent years. At present, lower limb-assisted exoskeleton robots mostly use a rigid frame mechanism system composed of rigid connecting rods, which are coupled with the wearer's lower limbs by means of binding devices at the thighs and calves. When the wearer walks, the rigid rod moves outside the lower limbs in parallel, which increases the movement impedance of the lower limbs, changes the natural frequency of the wearer's movement, and causes movement interference. In addition, the movement of each joint of the human body is a three-dimensional movement in space formed by the joint action of the musculoskeletal system along the complex articular bone surface, while the movement axis of each joint of the rigid lower extremity exoskeleton is difficult to match the movement axis of the wearer, resulting in walking There is a large misalignment error between the mechanical legs of the exoskeleton and the human legs during exercise. This error affects the wearing comfort of the wearer, and in severe cases, it will cause pain in the wearer's lower limbs and sports injuries. Although the lightweight design of the lower extremity exoskeleton mechanism can be achieved through configuration optimization, the movement interference of the rigid linkage mechanism of the lower extremity exoskeleton to the wearer's natural walking gait cannot be ignored.

In order to realize that the lower extremity assisting exoskeleton can effectively assist the wearer during the walking movement, and has little influence on the wearer's natural movement, the lower extremity assisting exoskeleton system is required to have the characteristics of light weight and good man-machine fit. The driving mechanism of bone should have the characteristics of low mechanical output impedance and adapt to large control bandwidth like human muscle; these problems have not been solved in the prior art.

Contents of the invention

In order to solve the deficiencies of the prior art, the purpose of the present invention is to provide a flexible lower limb power-assisted exoskeleton robot. The present invention provides a light-weight, easy-to-wear lower limb flexible binding device made of flexible materials, using a bionic drive mode Drive the lower limb flexible binding device to assist human walking.

In order to achieve the above object, the present invention adopts the following technical solutions:

The flexible exoskeleton robot includes: a lower limb flexible binding device worn on the lower limbs of a human body, a bionic driving device that drives the movement of the lower limb flexible binding device, and a transmission device connected between the driving device and the lower limb flexible binding device.

The aforementioned flexible exoskeleton robot, the lower limbs flexible binding device includes: a calf cross binding belt arranged at the back of the calf, a calf binding ring, a thigh binding ring connected to the calf binding ring, and a thigh binding ring connected to the above-mentioned thigh binding ring The thigh cross straps arranged on the front side of the thighs are connected to the buttock straps of the thigh cross straps.

The aforementioned flexible exoskeleton robot and the bionic drive device include: a device shell connected to the back of the human body, a pneumatic muscle support placed in the device shell, and a pneumatic muscle fixed on the pneumatic muscle support.

In the aforementioned flexible exoskeleton robot, the transmission device includes: a lasso connected between the pneumatic muscle and the lower limb flexible binding device.

In the aforementioned flexible exoskeleton robot, the lasso is composed of: a lasso section arranged on the flexible lower extremity exoskeleton, and a lasso line whose one end is connected to the above-mentioned lasso section and the other end is connected to the output end of the above-mentioned pneumatic muscle.

For the aforementioned flexible exoskeleton robot, the transmission device further includes: a guide piece placed on the device shell and connected to the lasso.

For the aforementioned flexible exoskeleton robot, the guide is a sheave.

The aforementioned flexible exoskeleton robot also includes: a foot wearing device connected to the transmission device.

The aforementioned flexible exoskeleton robot and the foot wearing device include: a fixing part fixedly connected to the wearer's shoe cover, and a mounting part for installing a lasso segment.

The benefits of the present invention are that: the present invention provides a flexible lower limb power-assisted exoskeleton robot. The present invention provides a light-weight, easy-to-wear lower limb flexible binding device made of flexible materials, which realizes man-machine fit, reduces The interference to the wearer's movement is avoided, so that the wearer can realize the movement of the lower limbs according to the natural movement frequency of the wearer; the exoskeleton is driven by using the bionic driving device and the lasso to transmit power. This driving method has a better bionic muscle movement effect.

Description of drawings

Fig. 1 is the front view of an embodiment of the present invention;

Fig. 2 is the right side view of an embodiment of the present invention;

Fig. 3 is the angle value of each joint of the lower limbs when the wearer uses the present invention to walk on flat ground;

Fig. 4 is the torque value of each joint of the lower limbs when the wearer uses the present invention to walk on flat ground;

Fig. 5 is the power value of each joint of the lower limbs when the wearer uses the present invention to walk on flat ground;

Figure 6 is a schematic diagram of one embodiment of a biomimetic drive and transmission.

1 calf restraint straps, 2 calf crossover straps, 3 thigh restraint straps, 4 thigh crossover straps, 5 thigh crossover straps, 6 hip restraint straps, 7 device housing, 8 pneumatic muscle mounts, 9 pneumatic muscles, 10 Footwear, 11 noose lines, 12 noose segments, 13 sheaves.

detailed description

The present invention will be specifically introduced below in conjunction with the accompanying drawings and specific embodiments.

The flexible exoskeleton robot includes: a lower limb flexible binding device worn on the lower limbs of a human body, a bionic driving device that drives the movement of the lower limb flexible binding device, and a transmission device connected between the driving device and the lower limb flexible binding device.

The lower limb flexible binding device includes: a calf cross strap arranged at the back of the calf, a calf restraint ring, a thigh restraint ring connected to the calf restraint ring, connected to the thigh restraint ring and arranged at the front of the thigh The Thigh Cross Straps of the Thigh Cross Straps are attached to the Hip Bonding Loops of the Thigh Cross Straps. The lower limb flexible binding device is made of textile cloth, which has the advantages of light weight and easy wear. It realizes man-machine fit, reduces the interference to the wearer's movement, and enables the wearer to realize the lower limb movement according to his own natural movement frequency.

The bionic driving device comprises: a device casing connected to the back of the human body, a pneumatic muscle support placed in the device casing, and a pneumatic muscle fixed on the pneumatic muscle support. The transmission device includes: a noose connected between the pneumatic muscle and the flexible binding device of the lower limbs; in order to make the transmission of the noose stable, the transmission device also includes: a guide placed on the device shell and connected to the noose; as a preferred , the guide is a sheave. The lasso consists of: a lasso wire and a lasso segment; the lasso segment is arranged on the flexible lower extremity exoskeleton, the lasso wire is connected to one end of the lasso segment, and the other end is connected to the output end of the pneumatic muscle. The flexible lower-limb bindings on the left and right legs are actuated by different pneumatic muscles and lassoes, with two pneumatic muscles and two lassoes controlling one leg.

The flexible exoskeleton robot also includes: a foot wearing device connected to the transmission device; the foot wearing device includes: a fixing part fixed to the wearer's shoe cover, and a mounting part for installing the above-mentioned lasso section.

The invention uses pneumatic muscles to drive the noose to move, and the noose transmits power to the lower limb flexible binding device. Movement assistance is provided by lasso tension during walking of human lower limbs. On a single leg, power transmission consists of a footwear and noose that secures the end of the noose.

In the design of drive and power transmission, how to configure the drive power to achieve effective assistance in the process of walking and with the goal of reducing weight is the key to the design. The kinematics and dynamics research of each joint in the process of the human body provides important information for the design of the drive system. theoretical basis. The key parts of the wearer's body are pasted with marked points, and the wearer walks in the walking track embedded with force plates. The high-speed camera collects moving images, and after data processing, the angle curves of the joints of the lower limbs during walking on flat ground are obtained, as shown in Figure 3. The torque curves of each joint As shown in Figure 4, the torque curves are shown in Figure 5. From the analysis results of walking kinematics and dynamics, it can be known that in the process of walking on flat ground, the work done by the ankle joint and hip joint of the lower limbs is positive, and the average power of the knee joint is basically negative. The joints and hip joints are powered, and the knee joints are passive. For different motion modes, the kinematics and dynamic output of each joint of the lower limbs will change, and its drive system needs to be adjusted according to different motion functions. Figure 6 shows a schematic diagram of the drive system of the flexible lower limb exoskeleton in the walking mode on flat ground. In the pneumatic muscle support frame, the pneumatic muscle connected to the flexible binding device of the left lower limb drives the noose transmission through the grooved wheel, and the noose drives the left unilateral leg bound by the flexible binding device of the lower limb to move. In the same way, the pneumatic muscle connected to the flexible binding device of the right lower limb drives the noose transmission through the grooved wheel, and the noose then drives the right unilateral leg to move.

Embodiment In the working process, the pneumatic muscle drives the lasso to drive, the flexible binding system provides a compliant force transmission channel, and the exoskeleton robot system has light and bionic movement characteristics, which greatly reduces the movement interference to the wearer, making the wearer The patient can walk in a natural state of motion, and the flexible exoskeleton system provides comfortable walking assistance during the movement.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the above-mentioned embodiments do not limit the present invention in any form, and all technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.

Claims (9)

1. flexible exoskeleton robot, it is characterized in that, comprise: be worn on the flexible bondage device of lower limb on human body lower limbs, drive the bionic-driving device of the flexible bondage device motion of above-mentioned lower limb, be connected to the actuating device between above-mentioned driving device and the flexible bondage device of lower limb.

2. flexible exoskeleton robot according to claim 1, it is characterized in that, the flexible bondage device of lower limb comprises: the shank intersection bundling belt being arranged in posterior leg position, shank constraint endless belt, be connected to the thigh constraint endless belt of above-mentioned shank constraint endless belt, be connected to above-mentioned thigh and fetter endless belt and the thigh intersection bundling belt being arranged in thigh forward position, be connected to the buttocks constraint endless belt of above-mentioned thigh intersection bundling belt.

3. flexible exoskeleton robot according to claim 1, it is characterized in that, above-mentioned bionic-driving device comprises: the crust of the device being connected to the back of human body, is placed in the pneumatic muscles support in said apparatus shell, is fixed on the pneumatic muscles on above-mentioned pneumatic muscles support.

4. flexible exoskeleton robot according to claim 3, is characterized in that, above-mentioned actuating device comprises: be connected to the lasso trick between above-mentioned pneumatic muscles and the flexible bondage device of lower limb.

5. flexible exoskeleton robot according to claim 4, is characterized in that, above-mentioned lasso trick composition has: be arranged in the lasso trick section on flexible lower limb exoskeleton, and one end is connected to above-mentioned lasso trick section and the other end is connected to the cover bands of above-mentioned pneumatic muscles outfan.

6. flexible exoskeleton robot according to claim 4, is characterized in that, above-mentioned actuating device also comprises: to be placed on said apparatus shell and to be connected to the guide of above-mentioned lasso trick.

7. flexible exoskeleton robot according to claim 5, is characterized in that, above-mentioned guide is sheave.

8. flexible exoskeleton robot according to claim 5, is characterized in that, also comprise: the foot object wearing device being connected to above-mentioned actuating device.

9. flexible exoskeleton robot according to claim 8, is characterized in that, above-mentioned foot object wearing device comprises: the fixed part being fixed on the shoe cover of wearer, installs the installation portion of above-mentioned lasso trick section.