CN104758099B - Lower limb assistance exoskeleton based on gravitational equilibrium - Google Patents
Lower limb assistance exoskeleton based on gravitational equilibrium Download PDFInfo
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Abstract
nullLower limb assistance exoskeleton based on gravitational equilibrium，Two waists are symmetricly set on the both sides at back，Waist panel is connected with back by connecting element，Upper thigh plate is hinged with waist panel by hip joint axle，Calf plate is hinged with lower thigh plate by knee axis，Upper joint bearing is hinged with waist lower plate，Rod hinge connection is on knee axis，The upper and lower side of each upper thigh plate is respectively mounted a thigh binding button，The upper and lower side of each calf plate is respectively mounted a shank binding button，One end of first steel wire rope is arranged on the inboard of waist upper plate and fixing with waist upper plate is connected、The other end pulls out from the first aperture of the first fixation with steel wire plate，After walking around thigh assembly pulley affixed with thigh fifth wheel，One end of second steel wire rope is arranged on the inboard of shank and fixing with connecting rod is connected、The other end pulls out from the second orifice of the second fixation with steel wire plate，After walking around shank assembly pulley affixed with shank fifth wheel.The present invention is used for helping the elderly and helps the disabled, medical rehabilitation etc..
Description
Technical field
The present invention relates to a kind of lower limb exoskeleton for assisted walk, be specifically related to a kind of lower limb assistance exoskeleton utilizing gravitational equilibrium principle.
Background technology
At present, the fields such as the research of ectoskeleton power assisting device is gradually risen, and is with a wide range of applications, and helps the disabled as helped the elderly, medical rehabilitation, commercial production, earthquake rescue, individual combat.General assistance exoskeleton has the following characteristics that the motion intention that can detect human body；The joint freedom degrees similar with human body and articulation space；The joint active drive with necessity is exerted oneself with auxiliary；Carry control system and energy resource system；There is certain Security mechanism.
The purpose that assistance exoskeleton is transmitted according to power, can be divided into two kinds of situations: ectoskeleton drives human motion and human body to drive ectoskeleton motion, and its main distinction is embodied in " people-machine " design of link information interactive device and the formulation of system control strategy.
Helping the disabled for helping the elderly or medical rehabilitation field, ectoskeletal purpose is the motion of auxiliary human body self muscle, to reach to help old man to lift lower limb, or helps the purposes such as patient does that muscle function resumes training.Ectoskeleton is needed to set the motion planning in each joint, or method such as the detection electromyographic signal of human body, limb motion direction etc. judges the motion intention of human body, drive wearer motion, or reduce the consumption required for wearer motion, now need the transmission of power between human body and ectoskeleton, be therefore closely connected between " people-machine "；
For commercial production, the application such as earthquake rescue or individual combat, faced by be normal healthy workers or fire fighters, ectoskeletal purpose is not the motion of auxiliary human body self muscle, but strengthen the effect of exerting oneself amplifying human body, now, in the design of man-machine connection mechanism, need transmission between " people-machine " is not power, and the body motion information only detected.Now, it is a kind of elastic connection that the binding between " people-machine " connects, and transmission is small reciprocal force information.
At the degree of freedom design aspect in joint, the hip joint in human body lower limbs, ankle joint can be approximated to be sphere lower pair, has 3 degree of freedom；Knee joint can be approximated to be revolute pair, has 1 degree of freedom；Sole is pedaling ground when, and sole leading portion has certain bending, also should be regarded as revolute pair；The waist of human body, walking during, can left and right lateral thrust, bend forward, or upper body rotate, therefore, waist also has 3 degree of freedom.Therefore, for lower limb assistance exoskeleton robot, if the movement characteristic fully according to human body carries out bionic design, need 19 degree of freedom altogether, structure is designed, drive design complex, information monitoring system and control system the most more difficulty.It then becomes necessary to simplification processes, the degree of freedom of design can be divided into active drive degree of freedom, passive freedom degree, assists degree of freedom.In conventional related invention patent, great majority are that ankle joint carries out higher pair lowization to hip joint, knee joint, and consider the degree of freedom of waist is less.General lower limb power-assisting robot, is all the emphasis main processing links that considers human body, only the extension/flexion of hip joint, kneed extension/flexion, ankle joint 3 degree of freedom of extension/flexion on apply to drive.The modes such as conventional type of drive has motor to drive, hydraulic-driven, artificial-muscle pneumatic actuation.
The design of existing ectoskeleton is substantially all takes motor or hydraulic pressure to be independently controlled hip joint, knee joint, it is achieved the high-freedom degree of exoskeleton mechanism, high-adaptability.But different crowds is different to ectoskeletal demand, so the function waste that high-adaptability can bring, it is impossible to well reduce cost.
Summary of the invention
The present invention solves that existing ectoskeleton weight is relatively big, structure is complex, and is driven by power set, and cost is higher, it would be desirable to be able to the problem in source, and provides a kind of lower limb assistance exoskeleton based on gravitational equilibrium.
The lower limb assistance exoskeleton based on gravitational equilibrium of the present invention includes back, two waists, two thighs, two shanks, two linkages, two hip joint axles, two knee axises, two first steel wire ropes, two second steel wire ropes, four thigh bindings buckles and four shanks bundle and buckle
Each waist includes putting joint, the first fixation with steel wire plate and waist lower plate outside waist upper plate, leg, and waist upper plate and waist lower plate are hinged by putting joint outside leg, and waist upper plate is provided with two elongated holes, and the first fixation with steel wire plate is fixed together with waist lower plate,
Each thigh includes thigh fifth wheel, upper thigh plate, thigh pulley base, thigh assembly pulley, thigh spring protection shell, thigh spring base, lower thigh plate and thigh spring, upper thigh plate is connected by connecting element with lower thigh plate, lower thigh plate is provided with elongated slot, the lower end of thigh spring is connected with thigh spring base, the upper end of thigh spring is connected with thigh fifth wheel, thigh spring is arranged on the outside of thigh plate, and thigh spring base is packed on thigh plate, thigh spring protection shell fastens and is arranged on the thigh spring of big footpath, thigh spring protection shell is connected with upper thigh plate, thigh assembly pulley is arranged on the top of thigh fifth wheel, and thigh assembly pulley is hinged with thigh pulley base, thigh pulley base is connected with thigh plate,
Each shank includes calf plate, shank pulley base, shank assembly pulley, shank spring protection shell, shank spring base, knee axis, shank spring and shank fifth wheel, shank spring is arranged on the outside of calf plate, the upper end of shank spring is connected with shank fifth wheel, the lower end of shank spring is connected with shank spring base, spring base is packed on calf plate, shank spring protection shell fastens and is arranged on shank spring, shank spring protection shell is connected with calf plate, shank assembly pulley is arranged on the top of shank fifth wheel, and shank assembly pulley is hinged with shank pulley base, shank pulley base is connected with calf plate,
Each linkage includes upper joint bearing, major axis, hypozygal bearing, connecting rod and the second fixation with steel wire plate, the upper and lower side of major axis is connected with upper joint bearing and hypozygal bearing respectively, connecting rod and hypozygal bearing hinge connection, the second fixation with steel wire plate is fixed together with connecting rod
nullTwo waists are symmetricly set on the both sides at back，And first fixation with steel wire plate be positioned at the outside of waist upper plate，Waist upper plate is connected with back by connecting element，Two thighs and two waist one_to_one corresponding，Thigh spring protection shell is positioned at the outside of thigh plate，Upper thigh plate is hinged with waist lower plate by hip joint axle，Two shanks and two thigh one_to_one corresponding，Calf plate is hinged with lower thigh plate by knee axis，Two linkages and two thigh one_to_one corresponding，Upper joint bearing is hinged with waist lower plate，Rod hinge connection is on knee axis，The upper and lower side of each upper thigh plate is respectively mounted a thigh binding button，The upper and lower side of each calf plate is respectively mounted a shank binding button，Two first steel wire ropes and two thigh one_to_one corresponding，One end of first steel wire rope is arranged on the inboard of waist upper plate and fixing with waist upper plate is connected，The other end of the first steel wire rope pulls out from the first aperture of the first fixation with steel wire plate，After walking around thigh assembly pulley affixed with thigh fifth wheel，Two second steel wire ropes and two shank one_to_one corresponding，One end of second steel wire rope is arranged on the inboard of shank and fixing with connecting rod is connected，The other end of the second steel wire rope pulls out from the second orifice of the second fixation with steel wire plate，After walking around shank assembly pulley affixed with shank fifth wheel.
Technical scheme has the advantages that
One, the present invention uses gravitational equilibrium principle, follow the motion of human body completely, being controlled by people's subjectivity, reached the effect of power-assisted in the case of not comprising any power source and controlling device, the principle of power-assisted is the unnecessary consumption (overcoming the consumption of gravity acting) during reduction human motion.The present invention is a kind of lower limb assistance exoskeleton utilizing law of conservation of energy, it is possible to effectively balances gravity work in the process of walking, thus reaches to assist the purpose of wearer walking.
Two, every lower limb of the present invention has three degree of freedom, it is respectively the outer pendulum degree of freedom of thigh, degree of freedom is put before and after thigh, kneed rotational freedom, other degree of freedom of human body are not limited, greatly reduce the requirement of ectoskeleton design, wearer can by the regulation height of waist and the length of thigh thus be allowed to adapt to wearer, make the purpose that walking is more comfortable.Put on the effect that i.e. can reach power-assisted, be not required to unnecessary operation.
Three, the present invention can adjust thigh length and the height of waist thus reach to adapt to the effect of different wearer.This ectoskeleton is completely passive, does not interferes with the subjective motion of wearer, utilizes the elastic potential energy of spring to balance the change of gravitional force, thus reaches to eliminate the impact that people is walked by gravity.
Four, the structure of the present invention is the lightest, and each size is the least, and overall weight is the least, it is simple to carries and dresses.
Five, compact simple thigh binding button H and shank binding button J is utilized can to bundle ectoskeleton and wearer well.
Accompanying drawing explanation
Fig. 1 is the overall structure axonometric chart of the present invention；
Fig. 2 is the annexation schematic diagram (removing thigh spring protection shell C5 and shank spring protection shell D4) of waist B, thigh C, shank D, linkage E；
Fig. 3 is the connection enlarged drawing of lower thigh plate C7 and upper thigh plate C2；
Fig. 4 is the gravitational equilibrium schematic diagram of the present invention.
Detailed description of the invention
Detailed description of the invention one: combine Fig. 1～Fig. 3 and present embodiment is described, present embodiment includes back A, two waist B, two thigh C, two shank D, two linkage E, two hip joint axle F, two knee axis G, two first steel wire rope R1, two second steel wire rope R2, H buckle in four thigh bindings and four shanks bundle and buckle J
Each waist B includes putting outside waist upper plate B1, leg joint B2, the first fixation with steel wire plate B5 and waist lower plate B6, waist upper plate B1 and waist lower plate B6 are hinged by putting joint B2 outside leg, waist upper plate B1 is provided with two elongated hole B1-1, elongated hole B1-1 can play regulation waist B and back A and be connected the effect of position, it is allowed to adapt to different wearers, first fixation with steel wire plate B5 is fixed together with waist lower plate B6
nullEach thigh C includes thigh fifth wheel C1、Upper thigh plate C2、Thigh pulley base C3、Thigh assembly pulley C4、Thigh spring protection shell C5、Thigh spring base C6、Lower thigh plate C7 and thigh spring C8，Upper thigh plate C2 is connected by connecting element with lower thigh plate C7，Lower thigh plate C7 is provided with elongated slot C7-1，Elongated slot C7-1 is for regulating the position (as shown in Figure 3) that thigh plate C2 is connected with lower thigh plate C7，Thus reach the purpose regulating ectoskeleton thigh length to adapt to different wearer，The lower end of thigh spring C8 is connected with thigh spring base C6，The upper end of thigh spring C8 is connected with thigh fifth wheel C1，Thigh spring C8 is arranged on the outside of thigh plate C2，And thigh spring base C6 is packed on thigh plate C2，Thigh spring protection shell C5 fastens and is arranged on big footpath thigh spring C8，Thigh spring protection shell C5 and upper thigh plate C2 is connected，Thigh assembly pulley C4 is arranged on the top of thigh fifth wheel C1，And thigh assembly pulley C4 is hinged with thigh pulley base C3，Thigh pulley base C3 and thigh plate C2 is connected，
Each shank D includes calf plate D1, shank pulley base D2, shank assembly pulley D3, shank spring protection shell D4, shank spring base D5, knee axis D6, shank spring D7 and shank fifth wheel D8, shank spring D7 is arranged on the outside of calf plate D1, the upper end of shank spring D7 is connected with shank fifth wheel D8, the lower end of shank spring D7 is connected with shank spring base D5, spring base D5 is packed on calf plate D1, shank spring protection shell D4 fastens and is arranged on shank spring D7, shank spring protection shell D4 and calf plate D1 is connected, shank assembly pulley D3 is arranged on the top of shank fifth wheel D8, and shank assembly pulley D3 is hinged with shank pulley base D2, shank pulley base D2 and calf plate D1 is connected,
Each linkage E includes upper joint bearing E1, major axis E2, hypozygal bearing E3, connecting rod E4 and the second fixation with steel wire plate E5, the upper and lower side of major axis E2 is connected with upper joint bearing E1 and hypozygal bearing E3 respectively, connecting rod E4 is hinged with oscillating bearing E3, second fixation with steel wire plate E5 is fixed together with connecting rod E4
nullTwo waist B are symmetricly set on the both sides of back A，And first fixation with steel wire plate B5 be positioned at the outside of waist upper plate B1，Waist upper plate B1 is connected with back A by connecting element，Two thigh C and two waist B one_to_one corresponding，Thigh spring protection shell C5 is positioned at the outside of thigh plate C2，Upper thigh plate C2 is hinged with waist lower plate B6 by hip joint axle F，Two shank D and two thigh C one_to_one corresponding，Calf plate D1 is hinged with lower thigh plate C7 by knee axis G，Two linkage E and two thigh C one_to_one corresponding，Upper joint bearing E1 is hinged with waist lower plate B6，Connecting rod E4 is hinged on knee axis G，The upper and lower side of each upper thigh plate C2 is respectively mounted a thigh binding button H，The upper and lower side of each calf plate D1 is respectively mounted a shank binding button J，Two first steel wire rope R1 and two thigh C one_to_one corresponding，One end of first steel wire rope R1 is arranged on the inboard of waist upper plate B1 and fixing with waist upper plate B1 is connected，The other end of the first steel wire rope R1 pulls out from the first aperture B5-1 of the first fixation with steel wire plate B5，After walking around thigh assembly pulley C4 affixed with thigh fifth wheel C1，Two second steel wire rope R2 and two shank D one_to_one corresponding，One end of second steel wire rope R2 is arranged on the inboard of shank D and fixing with connecting rod E4 is connected，The other end of the second steel wire rope R2 pulls out from the second orifice E5-1 of the second fixation with steel wire plate E5，After walking around shank assembly pulley D3 affixed with shank fifth wheel D8.Thigh binding button H and shank binding button J is for bundling the lower limb of ectoskeleton and wearer.
Detailed description of the invention two: combine Fig. 2 and present embodiment is described, the length of the first steel wire rope R1 of present embodiment is equal with the elongation of thigh spring C8.Other composition and annexation are identical with detailed description of the invention one.
Detailed description of the invention three: combine Fig. 2 and present embodiment is described, the length of the second steel wire rope R2 of present embodiment is equal with the elongation of thigh spring C8.Other composition and annexation are identical with detailed description of the invention two.
Detailed description of the invention four: combine Fig. 2 and present embodiment is described, the thigh spring C8 of present embodiment is made up of big diameter spring and path spring, big diameter spring is sleeved on little diameter spring, the lower end of big diameter spring and little diameter spring is all connected with thigh spring base C6, and the upper end of big diameter spring and little diameter spring is all connected with thigh fifth wheel C1.So it is set to increase the elastic force of spring.Other composition and annexation and detailed description of the invention one, two or three are identical.
Detailed description of the invention five: combine Fig. 2 and present embodiment is described, the big diameter spring of present embodiment is identical with the length of little diameter spring.So arranging makes elastic force be evenly distributed.Other composition and annexation are identical with detailed description of the invention four.
Detailed description of the invention six: combine Fig. 2 and present embodiment is described, puts joint B2 and is made up of upper joint block B2-1, joint shaft B2-2 and ShiShimonoseki locking nub B2-2 outside the leg of present embodiment, upper joint block B2-1 and ShiShimonoseki locking nub B2-2 are hinged by joint shaft B3.Other composition and annexation are identical with detailed description of the invention one or four.
Detailed description of the invention seven: combine Fig. 2 and present embodiment is described, two elongated hole B1-1 of present embodiment are arranged along same straight line.Elongated hole B1-1 can play regulation waist B and back A and be connected the effect of position, is allowed to adapt to different wearers.Other composition and annexation are identical with detailed description of the invention six.
Detailed description of the invention eight: combine Fig. 2 and present embodiment is described, the quantity of the elongated slot C7-1 of present embodiment is two, and two elongated slot C7-1 be arranged in parallel.Other composition and annexation are identical with detailed description of the invention seven.
The gravitational equilibrium principle of the present invention: see Fig. 4,
One end of first steel wire rope R1 is connected at the M1 of waist upper plate B1, the other end of the first steel wire rope R1 pulls out from the first aperture B5-1, after walking around thigh assembly pulley C4 affixed with thigh fifth wheel C1 (junction point of the i.e. first steel wire rope R1 and thigh fifth wheel C1 is M2), owing to one end of thigh spring C8 is connected with thigh fifth wheel C1, the other end of thigh spring C8 and thigh spring base C6 are connected (i.e. the junction point of thigh spring C8 and thigh spring base C6 is M3)；
One end of second steel wire rope R2 is connected at the N1 of connecting rod E4, the other end of the second steel wire rope R2 pulls out from second orifice E5-1, after walking around shank assembly pulley D3 affixed with shank fifth wheel D8 (junction point of the i.e. second steel wire rope R2 and shank fifth wheel D8 is N2), owing to one end of shank spring D7 is connected with shank fifth wheel D8, the other end of shank spring D7 and shank spring base D5 are connected (i.e. the junction point of shank spring D7 and shank spring base D5 is N3)；
Waist upper plate B1, thigh C, major axis E2, connecting rod E4 constitute a parallel-crank mechanism (linkage) so that connecting rod E4 and waist upper plate B1 (waist B keeps vertical the most substantially) remains parallel.
When thigh B and shank C swings, the gravitional force of lower limb changes, first steel wire rope R1 and second steel wire rope R2 partial-length between two lower limbs also change, the total length of the first steel wire rope R1 and the total length of the second steel wire rope R2 are constant, the total length of the first steel wire rope R1 is that R1-1 adds R1-2, and the total length of the second steel wire rope R2 is that R2-1 adds R2-2.When the angle of hip joint P or knee joint K changes when, R1-1 and R2-1 just shortens, owing to the total length of the first steel wire rope R1 and the total length of the second steel wire rope R2 are constant, the part of corresponding R1-2 and R2-2 is the most elongated, owing to R1-2 is connected with thigh spring C8, R2-2 is connected with shank spring D7, M2, M3 and N2, the position of N3 is not changed in again, so the elongation of thigh spring C8 and shank spring D7 just diminishes, thus cause the elongation of spring to change, the elastic potential energy of spring changes, reasonably design parameter is so that the change of thigh gravitional force is under any circumstance equal to the change of elastic potential energy of the spring, thus reach to eliminate the gravity impact on walking in human walking procedure.
Claims (8)
1. a lower limb assistance exoskeleton based on gravitational equilibrium, it is characterized in that: described lower limb assistance exoskeleton based on gravitational equilibrium includes back (A), two waists (B), two thighs (C), two shanks (D), two linkages (E), two hip joint axles (F), two knee axises (G), two first steel wire ropes (R1), two second steel wire ropes (R2), (H) buckle in four thigh bindings and four shanks bundle and buckle (J)
Each waist (B) includes putting joint (B2), the first fixation with steel wire plate (B5) and waist lower plate (B6) outside waist upper plate (B1), leg, waist upper plate (B1) and waist lower plate (B6) are hinged by putting joint (B2) outside leg, waist upper plate (B1) is provided with two elongated holes (B1-1), first fixation with steel wire plate (B5) is fixed together with waist lower plate (B6)
nullEach thigh (C) includes thigh fifth wheel (C1)、Upper thigh plate (C2)、Thigh pulley base (C3)、Thigh assembly pulley (C4)、Thigh spring protection shell (C5)、Thigh spring base (C6)、Lower thigh plate (C7) and thigh spring (C8)，Upper thigh plate (C2) is connected by connecting element with lower thigh plate (C7)，Lower thigh plate (C7) is provided with elongated slot (C7-1)，The lower end of thigh spring (C8) is connected with thigh spring base (C6)，The upper end of thigh spring (C8) is connected with thigh fifth wheel (C1)，Thigh spring (C8) is arranged on the outside of thigh plate (C2)，And thigh spring base (C6) is packed on thigh plate (C2)，Thigh spring protection shell (C5) fastens and is arranged on big footpath thigh spring (C8)，Thigh spring protection shell (C5) is connected with upper thigh plate (C2)，Thigh assembly pulley (C4) is arranged on the top of thigh fifth wheel (C1)，And thigh assembly pulley (C4) is hinged with thigh pulley base (C3)，Thigh pulley base (C3) is connected with thigh plate (C2)，
nullEach shank (D) includes calf plate (D1)、Shank pulley base (D2)、Shank assembly pulley (D3)、Shank spring protection shell (D4)、Shank spring base (D5)、Knee axis (D6)、Shank spring (D7) and shank fifth wheel (D8)，Shank spring (D7) is arranged on the outside of calf plate (D1)，The upper end of shank spring (D7) is connected with shank fifth wheel (D8)，The lower end of shank spring (D7) is connected with shank spring base (D5)，Spring base (D5) is packed on calf plate (D1)，Shank spring protection shell (D4) fastens and is arranged on shank spring (D7)，Shank spring protection shell (D4) is connected with calf plate (D1)，Shank assembly pulley (D3) is arranged on the top of shank fifth wheel (D8)，And shank assembly pulley (D3) is hinged with shank pulley base (D2)，Shank pulley base (D2) is connected with calf plate (D1)，
Each linkage (E) includes upper joint bearing (E1), major axis (E2), hypozygal bearing (E3), connecting rod (E4) and the second fixation with steel wire plate (E5), the upper and lower side of major axis (E2) is connected with upper joint bearing (E1) and hypozygal bearing (E3) respectively, connecting rod (E4) is hinged with hypozygal bearing (E3), second fixation with steel wire plate (E5) is fixed together with connecting rod (E4)
nullTwo waists (B) are symmetricly set on the both sides of back (A)，And first fixation with steel wire plate (B5) be positioned at the outside of waist upper plate (B1)，Waist upper plate (B1) is connected with back (A) by connecting element，Two thighs (C) and two waist (B) one_to_one corresponding，Thigh spring protection shell (C5) is positioned at the outside of thigh plate (C2)，Upper thigh plate (C2) is hinged with waist lower plate (B6) by hip joint axle (F)，Two shanks (D) and two thigh (C) one_to_one corresponding，Calf plate (D1) is hinged with lower thigh plate (C7) by knee axis (G)，Two linkages (E) and two thigh (C) one_to_one corresponding，Upper joint bearing (E1) is hinged with waist lower plate (B6)，Connecting rod (E4) is hinged on knee axis (G)，The upper and lower side of each upper thigh plate (C2) is respectively mounted thigh binding button (H)，The upper and lower side of each calf plate (D1) is respectively mounted shank binding button (J)，Two first steel wire ropes (R1) and two thigh (C) one_to_one corresponding，One end of first steel wire rope (R1) is arranged on the inboard of waist upper plate (B1) and fixing with waist upper plate (B1) is connected，The other end of the first steel wire rope (R1) pulls out from first aperture (B5-1) of the first fixation with steel wire plate (B5)，Walk around thigh assembly pulley (C4) affixed with thigh fifth wheel (C1) afterwards，Two second steel wire ropes (R2) and two shank (D) one_to_one corresponding，One end of second steel wire rope (R2) is arranged on the inboard of shank (D) and fixing with connecting rod (E4) is connected，The other end of the second steel wire rope (R2) pulls out from the second orifice (E5-1) of the second fixation with steel wire plate (E5)，Walk around shank assembly pulley (D3) affixed with shank fifth wheel (D8) afterwards.
Lower limb assistance exoskeleton based on gravitational equilibrium the most according to claim 1, it is characterised in that: the length of described first steel wire rope (R1) is equal with the elongation of thigh spring (C8).
Lower limb assistance exoskeleton based on gravitational equilibrium the most according to claim 2, it is characterised in that: the length of described second steel wire rope (R2) is equal with the elongation of thigh spring (C8).
4. according to lower limb assistance exoskeleton based on gravitational equilibrium described in claim 1,2 or 3, it is characterized in that: described thigh spring (C8) is made up of big diameter spring and path spring, big diameter spring is sleeved on little diameter spring, the lower end of big diameter spring and little diameter spring is all connected with thigh spring base (C6), and the upper end of big diameter spring and little diameter spring is all connected with thigh fifth wheel (C1).
Lower limb assistance exoskeleton based on gravitational equilibrium the most according to claim 4, it is characterised in that: described big diameter spring is identical with the length of little diameter spring.
6. according to lower limb assistance exoskeleton based on gravitational equilibrium described in claim 1 or 5, it is characterized in that: put joint (B2) outside described leg and be made up of upper joint block (B2-1), joint shaft (B2-2) and ShiShimonoseki locking nub (B2-2), upper joint block (B2-1) and ShiShimonoseki locking nub (B2-2) are hinged by joint shaft (B3).
Lower limb assistance exoskeleton based on gravitational equilibrium the most according to claim 6, it is characterised in that: said two elongated hole (B1-1) is arranged along same straight line.
Lower limb assistance exoskeleton based on gravitational equilibrium the most according to claim 7, it is characterised in that: the quantity of described elongated slot (C7-1) is two, and two elongated slots (C7-1) be arranged in parallel.
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| CN112318487B (en) * | 2020-10-21 | 2021-10-15 | 江南大学 | Passive lower limb assistance exoskeleton based on gravitational potential energy locking |
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