CN107283391A - Exoskeleton robot - Google Patents
Exoskeleton robot Download PDFInfo
- Publication number
- CN107283391A CN107283391A CN201610199817.5A CN201610199817A CN107283391A CN 107283391 A CN107283391 A CN 107283391A CN 201610199817 A CN201610199817 A CN 201610199817A CN 107283391 A CN107283391 A CN 107283391A
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- CN
- China
- Prior art keywords
- skeleton
- drive module
- exoskeleton robot
- shoulder
- hip
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The present invention relates to exoskeleton robot.Including：Exoskeleton robot Arm structure and exoskeleton robot lower limb structure.The exoskeleton robot Arm structure includes：Shoulder drive module；Large arm skeleton；Ancon drive module；Forearm skeleton；And handle, handle be arranged on forearm skeleton on, be provided with handle and carry out the upper limbs sensor that signal is connected with shoulder drive module and ancon drive module.The exoskeleton robot lower limb structure includes：Hip drive module；Thigh skeleton；Knee drive module；Shank skeleton；Ankle drive module；It is provided with foot's shoes, foot's shoes and carries out the lower limb sensor that signal is connected with hip drive module, knee drive module and ankle drive module.The exoskeleton robot of the present invention can realize the various actions similar to human arm and lower limb, and can realize servo antrol of the people to it.
Description
Technical field
The present invention relates to exoskeleton robot.
Background technology
Earliest human body exoskeleton robot is General Electric Co. Limited (GE) development in 1966
Hardman power-assisting robots.Into after 21 century, with computer, new material, mechanical engineering
Deng the progress and breakthrough of subject technology, the development of wearable exoskeleton robot initially enters the outbreak period.
The wherein famous XOS and HULC, the Lip river that have the advanced research project office (DAPRA) of U.S. Department of Defense
Ke Xide LMTs FORTIS, Israel Venture projects Rewalk, New Zealand Venture projects Rex
And the exoskeleton robot type products such as Japan University of tsukuba HAL.
Exoskeleton robot is a kind of can to strengthen the wearable machine of Human Body Capacity.It can help people
Run much faster, jump get Geng Gao, more heavier things can be carried, and help to dress its people
Survived in battlefield, construction site or other dangerous places.
However, for various technical reasons, existing exoskeleton robot, which is realized, is similar to human arm and lower limb
Various actions there is certain technical difficulty.
The content of the invention
The brief overview of one or more aspects given below is to provide to the basic comprehension in terms of these.This is general
The extensive overview of the not all aspect contemplated is stated, and is both not intended to identify the key of all aspects
Or the decisive key element also non-scope attempted to define in terms of any or all.Its unique purpose is will be with simplification
Some concepts that form provides one or more aspects think the sequence of more detailed description given later.
It is an advantage of the invention to provide a kind of exoskeleton robot, it can be realized similar to human hand
The various actions of arm and lower limb, and servo antrol of the people to it can be realized.
The present invention object above realized by a kind of exoskeleton robot, the exoskeleton robot bag
Include：Exoskeleton robot Arm structure and exoskeleton robot lower limb structure；
The exoskeleton robot Arm structure includes：
For the shoulder drive module being fixed on human body；
Large arm skeleton, the large arm skeleton is connected with the shoulder drive module and by the shoulder
Drive module carries out power drive, and the large arm skeleton is fixed in human body large arm by large arm fixture；
Forearm skeleton, the forearm skeleton is connected with the large arm skeleton by ancon drive module
And power drive is carried out by the ancon drive module；And
Handle, the handle be arranged on the forearm skeleton on, be provided with the handle with it is described
Shoulder drive module and the ancon drive module carry out the upper limbs sensor of signal connection；
The exoskeleton robot lower limb structure includes：
For the hip drive module being fixed on human body；
Thigh skeleton, the thigh skeleton is connected to the hip drive module and by the hip
Drive module carries out power drive, and the thigh skeleton is fixed on human thigh by thigh fixture；
Shank skeleton, the shank skeleton is connected with the thigh skeleton by knee drive module
Connect and power drive is carried out by the knee drive module, the shank skeleton is solid by shank fixture
It is scheduled on human calf；And
Foot's shoes, foot's shoes are connected with the shank skeleton by ankle drive module
And carried out being provided with power drive, foot's shoes and hip driving by the ankle drive module
Module, the knee drive module and the ankle drive module carry out the lower limb sensor of signal connection.
It is preferred that the exoskeleton robot also includes back shell and is connected with back shell
Waist skeleton；The shoulder drive module is connected to a fixed with the back shell, and the hip drives mould
Block is connected to a fixed with the waist skeleton.
It is preferred that the exoskeleton robot Arm structure also includes connecting under shoulder upper connector and shoulder
Fitting, the shoulder upper connector is connected with the back shell by vertical axes, is connected under the shoulder
Part is connected with the shoulder upper connector by trunnion axis, the shoulder upper connector and the back shell
Between form a passive joint, form another between connector and the shoulder upper connector under the shoulder
Individual passive joint.
It is preferred that the shoulder drive module, which includes shoulder, drives joint and for driving the shoulder to drive
The shoulder motor in joint；The ancon drive module includes ancon and drives joint and for driving the elbow
Drive diarthrodial ancon motor in portion.
It is preferred that the exoskeleton robot Arm structure also includes backplate, the backplate is arranged on institute
At the front end for stating forearm skeleton.
It is preferred that the upper limbs sensor is multi-axis force transducer.
It is preferred that the large arm fixture is large arm bandage.
It is preferred that the shoulder upper connector is hinged with the back shell by vertical axes, the shoulder
Lower connector is hinged with the shoulder upper connector by trunnion axis.
It is preferred that the large arm skeleton and the forearm skeleton each have bionic curved surface.
It is preferred that the back shell is the backboard in tripod.
It is preferred that the hip drive module, which includes hip, drives joint and for driving the hip to drive
The hip motor in joint；The knee drive module includes knee and drives joint and for driving the knee
Drive diarthrodial knee motor in portion；The ankle drive module includes ankle and drives joint and for driving
The ankle drives diarthrodial ankle motor.
It is preferred that the lower limb sensor is strain gauge pressure sensor.
It is preferred that the exoskeleton robot lower limb structure also include be located at the ankle drive module with
Foot's connector between foot's shoes.
It is preferred that the thigh skeleton and the shank skeleton each have bionic curved surface.
It is preferred that the waist skeleton leaves mounting hole site.
It is preferred that also including lumbar mount, the waist skeleton is solid by the lumbar mount
It is scheduled in human body waist.
It is preferred that the thigh fixture, shank fixture and lumbar mount are bandage.
It is preferred that the exoskeleton robot lower limb structure also include be located at the hip drive module with
Hip connector between the waist skeleton, shape between the hip connector and the waist skeleton
Into a passive joint.
It is preferred that being connected between the back shell and the waist skeleton by upper and lower extremities connector.
It is preferred that the exoskeleton robot includes：Positioned at human body left-hand side and/or right human hand side
The exoskeleton robot Arm structure and the institute positioned at the left leg side of human body and/or the right leg side of human body
State exoskeleton robot lower limb structure.
A kind of exoskeleton robot that the present invention is provided, hand pressure signal is sensed by upper limbs sensor, and
These pressure signals are changed into electric signal and ancon drive module and shoulder drive module is sent to, continue to drive
Corresponding forearm skeleton and large arm skeleton motion are moved, the Arm structure of the exoskeleton robot can be realized similar
In the various actions of human arm；Lower limb sensor can sense foot pressure signal simultaneously, and by these pressure
Signal is changed into electric signal and is sent to hip drive module, knee drive module and ankle drive module, from
And preferably realize that exoskeleton robot lower limb structure is similar to the various actions of people's lower limb, realizes on the whole
Similar to the various actions of human arm and lower limb, and servo antrol of the people to it can be realized.
Brief description of the drawings
After the detailed description of embodiment of the disclosure is read in conjunction with the following drawings, this better understood when
The features described above and advantage of invention.In the accompanying drawings, each part is not necessarily drawn to scale, and with class
As the part of correlation properties or feature may have same or like reference.
Fig. 1 is the schematic diagram of the exoskeleton robot Arm structure component of an embodiment of the present invention.
Fig. 2 is the schematic diagram of the exoskeleton robot lower limb structure component of an embodiment of the present invention.
Fig. 3 is the overall schematic of the exoskeleton robot of an embodiment of the present invention.
Reference numerals list
1st, back shell
2nd, shoulder upper connector
3rd, connector under shoulder
4th, shoulder drive module
5th, large arm skeleton
6th, large arm fixture
7th, ancon drive module
8th, forearm skeleton
9th, handle
10th, backplate
11st, upper limbs sensor
101st, waist skeleton
102nd, hip connector
103rd, hip drive module
104th, lumbar mount
105th, thigh skeleton
106th, thigh fixture
107th, knee drive module
108th, shank skeleton
109th, shank fixture
110th, ankle drive module
111st, foot's connector
112nd, foot's shoes
Embodiment
With reference to specific embodiments and the drawings, the invention will be further described, illustrates in the following description
More details are to facilitate a thorough understanding of the present invention, still the present invention obviously can be retouched with a variety of different from this
The other manner stated is implemented, those skilled in the art can in the case of without prejudice to intension of the present invention basis
Practical situations make similar popularization, deduction, therefore should not limit the present invention with the content of this specific embodiment
Protection domain.
Fig. 1 is the schematic diagram of the exoskeleton robot Arm structure component of an embodiment of the present invention.
As shown in figure 1, the Arm structure component of exoskeleton robot may include：Installed in human body back
On back shell 1, the Arm structure positioned at human body left-hand side and the upper limbs positioned at right human hand side
Structure.Arm structure positioned at human body left-hand side and the Arm structure positioned at right human hand side can have base
This identical structure, and can be symmetrical relative to each other.
Referring to one of Arm structure of the exoskeleton robot Arm structure component shown in Fig. 1
The ectoskeleton machine of (for example, positioned at Arm structure of human body left-hand side) to an embodiment of the present invention
People's Arm structure is illustrated.
According to an embodiment of the present invention, a kind of exoskeleton robot Arm structure, including：
Shoulder drive module 4, the shoulder drive module 4 can be directly anchored to use on human body, or and back
Skeleton 1, which is connected to a fixed, to be used；
Large arm skeleton 5, large arm skeleton 5 is connected with back shell 1 by shoulder drive module 4 and by shoulder
Portion's drive module 4 carries out power drive, and large arm skeleton 5 is fixed on human body large arm by large arm fixture 6
On；
Forearm skeleton 8, forearm skeleton 8 is connected with large arm skeleton 5 by ancon drive module 7 and by elbow
Portion's drive module 7 carries out power drive；And
Handle 9, handle 9 is arranged on forearm skeleton 8, for example near the front end of forearm skeleton 8,
Be provided with handle 9 upper limbs sensor 11 (that is, handle 9 is connected to upper limbs sensor 11,
Hand 9 and upper limbs sensor 11 are arranged near the front end of forearm skeleton 8), upper limbs sensor 11 and shoulder
Drive module 4 and ancon drive module 7 carry out signal connection (for example, real by wired or wireless way
Now communicate with one another).
So, hand pressure signal is sensed by upper limbs sensor, and these pressure signals is changed into telecommunications
Number and be sent to ancon drive module and shoulder drive module, continue to drive corresponding forearm skeleton and large arm bone
Frame is moved, and the Arm structure of the exoskeleton robot can realize the various actions similar to human arm, and energy
Realize servo antrol of the people to it.
It is preferred that the exoskeleton robot Arm structure of the present invention also includes shoulder upper connector 2 and shoulder
Subordinate's connector 3, shoulder upper connector 2 is connected and (is for example hinged) by vertical axes with back shell 1,
Connector 3 is connected and (is for example hinged) by trunnion axis with shoulder upper connector 2 under shoulder, is connected on shoulder
Connector 3 and shoulder upper connector under a passive joint, shoulder are formed between fitting 2 and back shell 1
Another passive joint is formed between 2.
It is preferred that shoulder drive module 4, which includes shoulder, drives joint and diarthrodial for driving shoulder to drive
Shoulder motor.
So, the force signal that upper limbs sensor 11 is sensed can transmit to shoulder drive module 4, via
Shoulder motor driving shoulder driving joint.
It is preferred that ancon drive module 7, which includes ancon, drives joint and diarthrodial for driving ancon to drive
Ancon motor.
So, the force signal that upper limbs sensor 11 is sensed can transmit to ancon drive module 7, via
Ancon motor driving ancon driving joint.
It is preferred that exoskeleton robot Arm structure also includes backplate 10, backplate 10 is arranged on forearm
At the front end of skeleton 8.
So, backplate 10 can be used for the finger of protection people.
It is preferred that upper limbs sensor 11 is multi-axis force transducer.
So, multi-axis force transducer can sense human hand and apply believes to handle 9 along multiple axial power
Number, and these force signals are changed into electric signal and shoulder drive module 4 and ancon drive module 7 is sent to,
So as to preferably realize that exoskeleton robot Arm structure is similar to the various actions of human arm, and can be preferably
Realize servo antrol of the people to exoskeleton robot Arm structure.
It is preferred that large arm fixture 6 is large arm bandage.
It is preferred that back shell 1 is the backboard in tripod.Such back shell meets mechanics
It is required that, it is more reliable and more stable.
It is preferred that forming a passive joint between shoulder upper connector 2 and back shell 1, shoulder can be made
Portion's upper connector 2 is rotated around vertical axes, realizes the abduction/adduction of whole arm；Connector 3 and shoulder under shoulder
Another passive joint is formed between portion's upper connector 2, connector 3 under shoulder can be made to be rotated around trunnion axis,
Realize the internal/external rotations of whole arm.
It is preferred that large arm skeleton 5 is connected with connector under shoulder 3 by shoulder drive module 4,
A driving joint (that is, shoulder driving joint) is formed under large arm skeleton 5 and shoulder between connector 3,
Realize whole arm it is anteflexion/after stretch.
It is preferred that forearm skeleton 8 is connected with large arm skeleton 5 by ancon drive module 7, forearm bone
A driving joint (that is, ancon driving joint) is formed between frame 8 and large arm skeleton 5, forearm is realized
It is anteflexion/after stretch.
So, for an exoskeleton robot Arm structure, it can have one positioned at shoulder
Drive joint and two passive joints (that is, passive certainly positioned at a driving free degree of shoulder and two
By spending) and positioned at a driving joint (that is, one positioned at ancon drives the free degree) for ancon,
Amounting to has two driving frees degree and two passive freedom degrees, i.e. with similar to many of human arm
The free degree.
For the Arm structure including the Arm structure positioned at human body left-hand side and positioned at right human hand side
For exoskeleton robot Arm structure component, its can correspondingly amount to four driving the frees degree and
Four passive freedom degrees.
It is preferred that large arm skeleton 5 and forearm skeleton 8 each have bionic curved surface.
So, large arm skeleton 5 and forearm skeleton 8 are using the design for meeting ergonomics so that on the whole
Limb structure is attractive in appearance, compact, while having preferably wearing adaptability.
Fig. 2 is the schematic diagram of the exoskeleton robot lower limb structure component of an embodiment of the present invention.
As shown in Fig. 2 exoskeleton robot lower limb structure component may include to be arranged in human body waist
Waist skeleton 101, lower limb structure and the lower limb knot positioned at the right leg side of human body positioned at the left leg side of human body
Structure.Lower limb structure positioned at the left leg side of human body and the lower limb structure positioned at the right leg side of human body can have basic
Identical structure, and can be symmetrical relative to each other.
Referring to one of lower limb structure (example of the exoskeleton robot lower limb structure component shown in Fig. 2
Such as, positioned at the lower limb structure of the right leg side of human body) to the exoskeleton robot lower limb knot of an embodiment of the present invention
Structure is illustrated.
According to an embodiment of the present invention, a kind of exoskeleton robot lower limb structure, including：
Hip drive module 103, hip drive module 103 can be directly anchored to use on human body, or and waist
Portion's skeleton 101 (such as by hip connector 102) is connected；
Thigh skeleton 105, thigh skeleton 105 is connected to hip drive module 103 and drives mould by hip
Block 103 carries out power drive, and thigh skeleton 105 is fixed on human thigh by thigh fixture 106；
Shank skeleton 108, shank skeleton 108 passes through the phase of knee drive module 107 with thigh skeleton 105
Connect and power drive is carried out by knee drive module 107, shank skeleton 108 passes through shank fixture 109
It is fixed on human calf；
Foot's shoes 112, foot's shoes 112 pass through the phase of ankle drive module 110 with shank skeleton 108
Connect and carried out by ankle drive module 110 in power drive, foot's shoes 112 (such as in its sole)
Provided with carrying out signal with hip drive module 103, knee drive module 107 and ankle drive module 111
The lower limb sensor (being communicated with one another for example, being realized by wired or wireless way) of connection.
So, the lower limb structure of the exoskeleton robot can realize the various actions similar to people's lower limb, and energy
Realize servo antrol of the people to it.
It is preferred that thigh fixture 106 can be thigh bandage；Shank fixture 109 can be shank
Bandage.
It is preferred that waist skeleton 101 can leave mounting hole site, energy module, control are installed to extend
Other modules such as module.
It is preferred that hip drive module 103, which includes hip, drives joint and for driving hip to drive joint
Hip motor.
So, the force signal that the lower limb sensor in the sole of foot's shoes 112 is sensed can transmit
To hip drive module 103, via hip motor driving hip driving joint.
It is preferred that knee drive module 107, which includes knee, drives joint and for driving knee to drive joint
Knee motor.
So, the force signal that the lower limb sensor in the sole of foot's shoes 112 is sensed can transmit
To knee drive module 107, via knee motor driving knee driving joint.
It is preferred that ankle drive module 110, which includes ankle, drives joint and for driving ankle to drive joint
Ankle motor.
So, the force signal that the lower limb sensor in the sole of foot's shoes 112 is sensed can transmit
To ankle drive module 110, via ankle motor driving ankle driving joint.
It is preferred that hip drive module 103, knee drive module 107 and ankle drive module 110 are also
Decelerator can each be included, for slowing down to respective motor.
It is preferred that exoskeleton robot lower limb structure may also include lumbar mount 104, waist skeleton
101 are fixed in human body waist by lumbar mount 104.
It is preferred that lumbar mount 104 can be waist bandage.
Passed it is preferred that the lower limb sensor in the sole of foot's shoes 112 is strain chip pressure
Sensor.
So, strain gauge pressure sensor can sense foot pressure signal (pressure data), and will
These pressure signals are changed into electric signal and are sent to hip drive module 103, the and of knee drive module 107
Ankle drive module 110, so as to preferably realize that exoskeleton robot lower limb structure is similar to each of people's lower limb
Action is planted, and can preferably realize servo antrol of the people to ectoskeleton robot lower limb structure.
(do not scheme it is preferred that forming a passive joint between hip connector 102 and waist skeleton 101
Show), such as hinge can make hip connector 102 around the trunnion axis rotation perpendicular to human body back, realize
The abduction/adduction of thigh.
It is preferred that the lower limb structure of the exoskeleton robot also includes being located at ankle drive module 110 and pin
Foot's connector 111 between portion's shoes 112.
It is preferred that thigh skeleton 105 is connected with waist skeleton 101 by hip drive module 103,
A driving joint (that is, hip driving joint) is formed between thigh skeleton 105 and waist skeleton 101,
Realize the flexion/extension of thigh.
It is preferred that shank skeleton 108 is connected with thigh skeleton 105 by knee drive module 107,
A driving joint (that is, knee driving joint) is formed between shank skeleton 108 and thigh skeleton 105,
Realize the flexion/extension of shank.
It is preferred that foot's shoes 112 are connected with shank skeleton 108 by ankle drive module 110,
A driving joint (that is, ankle driving joint) is formed between foot's shoes 112 and shank skeleton 108,
Realize dorsiflex/plantar flexion of foot.
So, for an exoskeleton robot lower limb structure, it can have a drive positioned at hip
Movable joint and passive joint (that is, one positioned at hip drives the free degree and a passive freedom degree),
Positioned at a driving joint (that is, one positioned at knee drives the free degree) for knee and positioned at ankle
A driving joint (that is, driving the free degree positioned at one of ankle), amounting to has three drivings freely
Degree and a passive freedom degree, i.e. with the multiple degrees of freedom similar to people's lower limb.
For including the lower limb structure positioned at the left leg side of human body and positioned at the right leg side of human body lower limb structure it is outer
For bone robot lower limb construction package, it can be correspondingly amounted to six driving frees degree and two quilts
The dynamic free degree.
It is preferred that thigh skeleton 105 and shank skeleton 108 each have bionic curved surface.
So, thigh skeleton 105 and shank skeleton 108 are using the design for meeting ergonomics so that whole
Body lower limb structure is attractive in appearance, compact, while having preferably wearing adaptability.Fig. 3 is an embodiment party of the invention
The overall schematic of the exoskeleton robot of formula.
According to an embodiment of the present invention, exoskeleton robot includes：Back shell 1 and back bone
Waist skeleton 101 that frame 1 is connected, the exoskeleton robot Arm structure positioned at human body left-hand side, it is located at
The exoskeleton robot Arm structure of right human hand side, under the exoskeleton robot of the left leg side of human body
Limb structure and the exoskeleton robot lower limb structure positioned at the right leg side of human body；
Exoskeleton robot Arm structure includes：
Large arm skeleton 5, large arm skeleton 5 is connected with back shell 1 by shoulder drive module 4
Connect and power drive is carried out by shoulder drive module 4, large arm skeleton 5 is fixed by large arm fixture 6
In human body large arm；
Forearm skeleton 8, forearm skeleton 8 is connected with large arm skeleton 5 by ancon drive module 7
Connect and power drive is carried out by ancon drive module 7；And
Handle 9, handle 9 is arranged on forearm skeleton 8, and upper limbs sensing is provided with handle 9
Device 11, upper limbs sensor 11 carries out signal with shoulder drive module 4 and ancon drive module 7 and is connected；
Exoskeleton robot lower limb structure includes：
Hip drive module 103, hip drive module 103 is connected with waist skeleton 101；
Thigh skeleton 105, thigh skeleton 105 is connected to hip drive module 103 and by hip
Drive module 103 carries out power drive, and thigh skeleton 105 is fixed on people by thigh fixture 106
On body thigh；
Shank skeleton 108, shank skeleton 108 passes through knee drive module with thigh skeleton 105
107 are connected and carry out power drive by knee drive module 107, and shank skeleton 108 is solid by shank
Determine part 109 to be fixed on human calf；
Foot's shoes 112, foot's shoes 112 pass through ankle drive module with shank skeleton 108
110 are connected and are carried out being provided with and hip in power drive, foot's shoes 112 by ankle drive module 110
Portion's drive module 103, knee drive module 107 and ankle drive module 111 carry out signal connection
Lower limb sensor.
So, the exoskeleton robot can realize the various actions similar to human arm and lower limb, and can be real
Existing people is to its servo antrol.
It is preferred that exoskeleton robot Arm structure and exoskeleton robot lower limb structure are by setting
Upper and lower extremities connector between back shell 1 and waist skeleton 101 is connected with each other.The upper and lower extremities connect
Fitting for example can be the form of connecting plate.
It is preferred that positioned at the exoskeleton robot Arm structure of human body left-hand side and positioned at right human hand
The exoskeleton robot Arm structure of side is connected to same back shell 1.
It is preferred that positioned at the exoskeleton robot lower limb structure of the left leg side of human body and positioned at the right leg of human body
The exoskeleton robot lower limb structure of side is connected to same waist skeleton 101.
The embodiment to the present invention is described above, but those skilled in the art will manage
Solution, above-mentioned embodiment is not construed as limiting the invention, and those skilled in the art can be
A variety of modifications are carried out on the basis of disclosure above, without beyond the scope of this invention.
Claims (20)
1. a kind of exoskeleton robot, it is characterised in that including：Exoskeleton robot Arm structure,
And exoskeleton robot lower limb structure；
The exoskeleton robot Arm structure includes：
For the shoulder drive module being fixed on human body；
Large arm skeleton, the large arm skeleton is connected with the shoulder drive module and by the shoulder
Drive module carries out being provided with the large arm for being fixed in human body large arm on power drive, the large arm skeleton
Fixture；
Forearm skeleton, the forearm skeleton is connected with the large arm skeleton by ancon drive module
And power drive is carried out by the ancon drive module；And
Handle, the handle be arranged on the forearm skeleton on, be provided with the handle with it is described
Shoulder drive module and the ancon drive module carry out the upper limbs sensor of signal connection；
The exoskeleton robot lower limb structure includes：
For the hip drive module being fixed on human body；
Thigh skeleton, the thigh skeleton is connected to the hip drive module and by the hip
Drive module be provided with power drive, the thigh skeleton for being fixed on human thigh
Thigh fixture；
Shank skeleton, the shank skeleton is connected with the thigh skeleton by knee drive module
Connect and carried out being provided with power drive, the shank skeleton for fixing by the knee drive module
Shank fixture on human calf；And
Foot's shoes, foot's shoes are connected with the shank skeleton by ankle drive module
And carried out being provided with power drive, foot's shoes and hip driving by the ankle drive module
Module, the knee drive module and the ankle drive module carry out the lower limb sensor of signal connection.
2. exoskeleton robot as claimed in claim 1, it is characterised in that the exoskeleton robot
The waist skeleton for also including back shell and being connected with back shell；The shoulder drive module and institute
State back shell to be connected to a fixed, the hip drive module is connected to a fixed with the waist skeleton.
3. exoskeleton robot as claimed in claim 2, it is characterised in that the ectoskeleton machine
People's Arm structure also includes connector under shoulder upper connector and shoulder, the shoulder upper connector with it is described
Back shell is connected by vertical axes, and connector passes through level with the shoulder upper connector under the shoulder
Axle is connected, and a passive joint, the shoulder are formed between the shoulder upper connector and the back shell
Another passive joint is formed between subordinate's connector and the shoulder upper connector.
4. exoskeleton robot as claimed in claim 1, it is characterised in that the shoulder drives mould
Block includes shoulder and drives joint and for driving the shoulder to drive diarthrodial shoulder motor；The ancon
Drive module includes ancon and drives joint and for driving the ancon to drive diarthrodial ancon motor.
5. exoskeleton robot as claimed in claim 1, it is characterised in that the ectoskeleton machine
People's Arm structure also includes backplate, and the backplate is arranged at the front end of the forearm skeleton.
6. exoskeleton robot as claimed in claim 1, it is characterised in that the upper limbs sensor
It is multi-axis force transducer.
7. exoskeleton robot as claimed in claim 1, it is characterised in that the large arm fixture
For large arm bandage.
8. exoskeleton robot as claimed in claim 3, it is characterised in that connected on the shoulder
Part is hinged with the back shell by vertical axes, and connector leads to the shoulder upper connector under the shoulder
Trunnion axis is crossed to be hinged.
9. exoskeleton robot as claimed in claim 1, it is characterised in that the large arm skeleton and
The forearm skeleton each has bionic curved surface.
10. exoskeleton robot as claimed in claim 2, it is characterised in that the back shell
For in the backboard of tripod.
11. exoskeleton robot as claimed in claim 1, it is characterised in that the hip drives mould
Block includes hip and drives joint and for driving the hip to drive diarthrodial hip motor；The knee
Drive module includes knee and drives joint and for driving the knee to drive diarthrodial knee motor；Institute
State ankle drive module and drive joint and for driving the ankle to drive diarthrodial ankle driving including ankle
Motor.
12. exoskeleton robot as claimed in claim 1, it is characterised in that the lower limb sensing
Device is strain gauge pressure sensor.
13. exoskeleton robot as claimed in claim 1, it is characterised in that the ectoskeleton machine
People's lower limb structure also includes the foot's connection being located between the ankle drive module and foot's shoes
Part.
14. exoskeleton robot as claimed in claim 1, it is characterised in that the thigh skeleton and
The shank skeleton each has bionic curved surface.
15. exoskeleton robot as claimed in claim 2, it is characterised in that the waist skeleton is stayed
There is mounting hole site.
16. exoskeleton robot as claimed in claim 2, it is characterised in that also fixed including waist
Part, the waist skeleton is fixed in human body waist by the lumbar mount.
17. exoskeleton robot as claimed in claim 16, it is characterised in that the thigh is fixed
Part, shank fixture and lumbar mount are bandage.
18. exoskeleton robot as claimed in claim 2, it is characterised in that the ectoskeleton machine
People's lower limb structure also includes the hip connection being located between the hip drive module and the waist skeleton
Part, forms a passive joint between the hip connector and the waist skeleton.
19. exoskeleton robot as claimed in claim 2, it is characterised in that the back shell
It is connected between the waist skeleton by upper and lower extremities connector.
20. exoskeleton robot as claimed in claim 1, it is characterised in that the ectoskeleton machine
Device people includes：The exoskeleton robot Arm structure positioned at human body left-hand side and/or right human hand side,
And the exoskeleton robot lower limb structure positioned at the left leg side of human body and/or the right leg side of human body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108127647A (en) * | 2018-02-13 | 2018-06-08 | 中山市沃倍特智能医疗机器人股份有限公司 | Long continuation of the journey and light-weighted intelligent exoskeleton robot |
| CN108478387A (en) * | 2018-04-20 | 2018-09-04 | 武汉轻工大学 | A kind of lower limb rehabilitation training device |
| CN108542627A (en) * | 2018-02-13 | 2018-09-18 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the Arm structure component of the exoskeleton robot of simulation of human body design |
| CN110125914A (en) * | 2019-06-14 | 2019-08-16 | 王轶昕 | Wearable violin educational equipment |
| CN110547946A (en) * | 2019-09-03 | 2019-12-10 | 河海大学常州校区 | Push rod type upper limb exoskeleton based on laser sensing |
| CN111975750A (en) * | 2020-07-30 | 2020-11-24 | 上海交通大学 | Two-foot and four-foot switchable variable topology robot |
| CN111975754A (en) * | 2020-08-27 | 2020-11-24 | 湖南省森晖能动智能技术有限责任公司 | Exoskeleton device |
| CN112605979A (en) * | 2020-12-14 | 2021-04-06 | 何学谦 | Exoskeleton |
| CN113043249A (en) * | 2021-03-16 | 2021-06-29 | 东北大学 | Wearable exoskeleton robot of whole body of high accuracy assembly |
| CN113696166A (en) * | 2021-08-12 | 2021-11-26 | 西安梦游科技有限责任公司 | Mechanical exoskeleton |
| CN113787528A (en) * | 2021-09-18 | 2021-12-14 | 上海电机学院 | Bionic penguin robot |
| CN114012701A (en) * | 2021-10-15 | 2022-02-08 | 上海电机学院 | Exoskeleton system for assisting whole body |
| CN114800444A (en) * | 2022-03-29 | 2022-07-29 | 浙江大学 | Hybrid drive whole-body exoskeleton robot |
| CN116945138A (en) * | 2023-09-20 | 2023-10-27 | 广东电网有限责任公司江门供电局 | Exoskeleton for grounding work of high-voltage electric equipment |
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| CN108542627A (en) * | 2018-02-13 | 2018-09-18 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the Arm structure component of the exoskeleton robot of simulation of human body design |
| CN108127647A (en) * | 2018-02-13 | 2018-06-08 | 中山市沃倍特智能医疗机器人股份有限公司 | Long continuation of the journey and light-weighted intelligent exoskeleton robot |
| CN108542627B (en) * | 2018-02-13 | 2023-12-19 | 中山市沃倍特智能医疗器械股份有限公司 | Upper limb structure assembly of exoskeleton robot conforming to human bionics design |
| CN108478387A (en) * | 2018-04-20 | 2018-09-04 | 武汉轻工大学 | A kind of lower limb rehabilitation training device |
| CN108478387B (en) * | 2018-04-20 | 2023-11-07 | 武汉轻工大学 | Lower limb rehabilitation training device |
| CN110125914A (en) * | 2019-06-14 | 2019-08-16 | 王轶昕 | Wearable violin educational equipment |
| CN110547946A (en) * | 2019-09-03 | 2019-12-10 | 河海大学常州校区 | Push rod type upper limb exoskeleton based on laser sensing |
| CN111975750B (en) * | 2020-07-30 | 2022-10-14 | 上海交通大学 | Two-foot and four-foot switchable topology-variable robot |
| CN111975750A (en) * | 2020-07-30 | 2020-11-24 | 上海交通大学 | Two-foot and four-foot switchable variable topology robot |
| CN111975754A (en) * | 2020-08-27 | 2020-11-24 | 湖南省森晖能动智能技术有限责任公司 | Exoskeleton device |
| CN111975754B (en) * | 2020-08-27 | 2023-10-13 | 湖南省森晖能动智能技术有限责任公司 | Exoskeleton device |
| CN112605979A (en) * | 2020-12-14 | 2021-04-06 | 何学谦 | Exoskeleton |
| CN113043249A (en) * | 2021-03-16 | 2021-06-29 | 东北大学 | Wearable exoskeleton robot of whole body of high accuracy assembly |
| CN113696166A (en) * | 2021-08-12 | 2021-11-26 | 西安梦游科技有限责任公司 | Mechanical exoskeleton |
| CN113787528A (en) * | 2021-09-18 | 2021-12-14 | 上海电机学院 | Bionic penguin robot |
| CN114012701A (en) * | 2021-10-15 | 2022-02-08 | 上海电机学院 | Exoskeleton system for assisting whole body |
| CN114800444A (en) * | 2022-03-29 | 2022-07-29 | 浙江大学 | Hybrid drive whole-body exoskeleton robot |
| CN114800444B (en) * | 2022-03-29 | 2023-09-08 | 浙江大学 | Hybrid-driven whole-body exoskeleton robot |
| CN116945138A (en) * | 2023-09-20 | 2023-10-27 | 广东电网有限责任公司江门供电局 | Exoskeleton for grounding work of high-voltage electric equipment |
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