CN107468487B - Wearable lower limb exoskeleton driven by lasso artificial muscles - Google Patents
Wearable lower limb exoskeleton driven by lasso artificial muscles Download PDFInfo
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- CN107468487B CN107468487B CN201710616805.2A CN201710616805A CN107468487B CN 107468487 B CN107468487 B CN 107468487B CN 201710616805 A CN201710616805 A CN 201710616805A CN 107468487 B CN107468487 B CN 107468487B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Physical Education & Sports Medicine (AREA)
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Abstract
The invention discloses a wearable lower limb exoskeleton based on lasso artificial muscle driving, which comprises two groups of exoskeleton mechanisms which are arranged in an axisymmetric manner, wherein the two groups of exoskeleton mechanisms are connected through an adjusting plate assembly arranged in the middle, each exoskeleton mechanism comprises a hip joint mechanism, a knee joint mechanism connected to the lower end of the hip joint mechanism, an ankle joint mechanism connected to the lower end of the knee joint mechanism, a hip joint motor assembly and a knee joint motor assembly which are arranged on the upper part of the hip joint mechanism, and a backpack assembly mechanism arranged on the adjusting plate assembly, the lasso is connected with a plurality of lasso artificial muscles and pre-tightening mechanisms, and the hip joint mechanism is also provided with an external swing adduction assembly. The wearable lower limb exoskeleton driven by the lasso artificial muscles can meet the requirement of free swinging of joints, and obtains good transmission flexibility, human body wearing comfort and safety.
Description
Technical Field
The invention relates to an exoskeleton, in particular to a wearable lower limb exoskeleton.
Background
The robot is a typical exoskeleton power assisting device, is worn outside the lower limbs of a user, drives each joint through a motor, and provides functions such as power assisting, walking assisting, protecting, body supporting and the like for the user by using an angle sensor and a torque sensor, and simultaneously integrates sensing, controlling, information obtaining and other robot technologies, so that the exoskeleton can complete the functions such as power assisting walking and the like under the unconscious control of an operator, and the robot power assisting device is a typical human-computer integrated system.
With the first time that the proportion of the aged population over 60 years old in the Chinese continent in 2013 exceeds 2 hundred million, the proportion reaches 14.9%, the proportion is estimated to reach about 25% in 2030, the scale of the aged population reaches the peak value of about 4.4 hundred million in 2050, which accounts for about one third of the total population, the problem brings a series of problems to the society and the economy in the future, but the decline of physical functions and the incidence rate of various diseases commonly existing in the elderly population are increased, the occurrence of various diseases usually causes hemiplegia or paralysis of limbs, weakness of limbs or sensory disturbance of upper and lower limbs, imbalance of balance ability, unstable standing, stiff joints and obviously limited walking ability of patients, the wearable lower limb exoskeleton can help a patient to train and recover lost motion functions, get rid of the wheelchair to improve the walking ability of the patient, realize the independence and freedom of walking training and improve the living self-care ability of the patient.
At present, the traditional wheeled vehicle is the main mode of long-distance travel and heavy burden, and this type of vehicle moves ahead steadily, and is fast, but is not suitable for occasions such as going upstairs and downstairs, surmounting obstacles, and wearable lower limbs ectoskeleton is a helping hand device that helps the human body to expand lower limbs motion ability, can make the people under the circumstances of heavy burden or long-time walking, reduces exercise intensity, provides sufficient strength and endurance for the wearer and strengthens ability such as long distance walking and heavy burden.
Disclosure of Invention
The technical problem is as follows: the invention provides a wearable lower limb exoskeleton driven by lasso artificial muscles, which realizes an integrated disassembly and installation mode of the lasso through mechanism design, adopts a novel transmission principle and a light and soft man-machine combination form, utilizes a mode of transmitting power by relative motion of the lasso and the lasso, adds a new transmission unit according to a Hill type muscle model, constructs the artificial muscles, realizes the requirement of free swing of joints, and obtains good transmission flexibility, human body wearing comfort and safety.
The technical scheme is as follows: the invention discloses a wearable lower limb exoskeleton driven by lasso artificial muscles, which comprises two groups of exoskeleton mechanisms which are arranged in an axial symmetry manner, wherein the two groups of exoskeleton mechanisms are connected through an adjusting plate component arranged in the middle, each group of exoskeleton mechanisms comprises a hip joint mechanism, a knee joint mechanism connected to the lower end of the hip joint mechanism, an ankle joint mechanism connected to the lower end of the knee joint mechanism, a hip joint motor component and a knee joint motor component which are arranged on the upper part of the hip joint mechanism, and a backpack component mechanism arranged on the adjusting plate component, each backpack component mechanism comprises a backpack connected to the adjusting plate component, and a battery, a circuit board and a driver which are arranged on the backpack, the hip joint motor component and the knee joint motor component respectively drive the hip joint mechanism and the knee joint mechanism to swing through cable sleeves in transmission connection with the hip joint mechanism and, the cable sleeve is connected with a plurality of sets of cable artificial muscles and pre-tightening mechanisms, and the hip joint mechanism is also provided with an external swing and internal contraction assembly.
Preferably, the lasso artificial muscle comprises a hip joint lasso artificial muscle component used for the hip joint flexion and extension active degree of freedom, the hip joint lasso artificial muscle component comprises a lasso artificial muscle, an upper hip sleeve supporting block and a lower hip sleeve supporting block which are arranged on the side wall of the adjusting plate component, a parallel spring of the lasso artificial muscle is connected to the lower hip sleeve supporting block, a lasso penetrating between the upper hip sleeve supporting block and the lower hip sleeve supporting block is connected to the lasso artificial muscle, the hip joint flexion and extension active degree of freedom drives the lasso to move through a hip motor of the hip joint mechanism, and the lasso further drives the lasso artificial muscle to transmit power to the joint execution tail end through a lasso at the lower end of the lasso artificial muscle.
Preferably, the lasso artificial muscle comprises a knee joint lasso artificial muscle component used for knee joint forward-extension and backward-flexion active freedom degree, the hip joint mechanism is connected to a knee-thigh connecting piece of the knee joint mechanism through a thigh rod, the knee joint lasso artificial muscle component comprises a lasso artificial muscle and an upper knee sleeve supporting block and a lower knee sleeve supporting block which are arranged on the thigh rod, the free end of a parallel spring of the lasso artificial muscle is connected to the lower knee sleeve supporting block, the lasso between the upper knee sleeve supporting block and the lower knee sleeve supporting block is connected to the lasso artificial muscle in a penetrating mode, the knee joint forward-extension and backward-flexion active freedom degree drives the lasso to move through a knee motor of the knee joint mechanism, and the lasso further drives the lasso artificial muscle to perform tail end power transmission on the joint through a lasso at the lower end of.
Preferably, the outer-swing adduction support plate of the hip joint mechanism is hinged to the lower end of the side wall of the adjusting plate assembly through an outer-swing adduction assembly, the lower end of the side wall of the adjusting plate assembly is provided with a bearing support, the outer-swing adduction support plate is provided with an outer-swing adduction shaft, the outer-swing adduction shaft is hinged to the bearing support, the outer-swing adduction support plate is provided with an outer-swing adduction fixed block which is abutted against the lower end of the side wall of the adjusting plate assembly and used for limiting the hip joint mechanism to swing around the outer-swing adduction shaft to the outer side, and a plate spring is further connected.
Preferably, pretension mechanism locates the lasso and penetrates hip sleeve pipe supporting shoe department, the lasso is overall structure and detachable and installs in hip joint motor element pretension mechanism includes double-screw bolt nut mechanism, hip motor output is connected with the motor output disc, it has a set of cable end fixed block to inlay on the side edge face of motor output disc, be equipped with the tip with cable end fixed block looks adaptation on the lasso, the lasso passes cable end fixed block and winds on motor output disc, the cable end removal of its centre of two cable end fixed block restriction, double-screw bolt nut mechanism penetrates opening cylinder head bolt and the opening nut of hip sleeve pipe supporting shoe department including locating the lasso, the lasso lower extreme is around hip execution wheel.
Preferably, pretension mechanism locates the lasso and penetrates knee sleeve pipe supporting shoe department, the lasso is overall structure and detachable installs in knee joint motor subassembly pretension mechanism includes double-screw bolt nut mechanism, knee motor output is connected with the motor output end disc, it has a set of cable end fixed block to inlay on the side edge face of motor output end disc, be equipped with the tip with cable end fixed block looks adaptation on the lasso, the lasso passes cable end fixed block and winds on the motor output end disc, cable end removal in its centre of two cable end fixed block restriction, double-screw bolt nut mechanism penetrates opening cylinder bolt and the split nut of knee sleeve pipe supporting shoe department including locating the lasso, the lasso lower extreme is around in knee execution wheel.
Preferably, the sleeve guide block is arranged on the surface of the bearing end cover at the outer side of the hip joint mechanism, a lasso of the knee joint motor assembly downwards penetrates through the sleeve guide block and then winds around a knee execution wheel, the distance between the hip execution wheel of the hip joint mechanism and a motor output end disc of the knee motor is constant, and the lasso penetrates through the sleeve guide block to enable the lasso to be smooth in a path curve in a gait walking process of the exoskeleton mechanism in a process that the knee joint mechanism rotates around the hip execution wheel of the hip joint mechanism.
Has the advantages that: compared with the prior art, the wearable lower limb exoskeleton based on lasso artificial muscle driving has the following advantages:
(1) the force transmission of the traditional exoskeleton mechanism in the walking process is realized by a rigid mechanism, such as a four-bar mechanism or a worm and gear mechanism, and the like;
(2) the controllable clamping head in the lasso artificial muscle is used, and the clamping and loosening of the lasso artificial muscle and the rope are controlled by controlling the clamping and loosening of the clamping head, so that the limitation on the movement of the joints of the human body is removed, and the integral safety of the mechanism is improved;
(3) according to the invention, the semi-passive energy storage outward-swinging adduction freedom degree is added at the hip joint in the lower limb exoskeleton mechanism, so that the flexibility of the whole exoskeleton is increased, and by using the plate spring, when the skeleton is used for a patient with lower limb disorder, the condition that the patient deflects by too large angle unconsciously is prevented, so that the bad influence on the rehabilitation training effect is generated, and the energy storage and energy release and buffering and damping functions are simultaneously realized;
(4) according to the invention, the flexion and extension active degrees of freedom of the hip joint and the forward and backward flexion active degrees of freedom of the knee joint drive the lasso through the motor so as to drive the artificial muscle to transmit power to the joint execution tail end through the lasso, the integrated disassembly and assembly of the lasso are used, the pre-tightening force of the sleeve is adjusted through the stud nut mechanism, the use of the split bolt and the split nut enables the lasso to have a certain pre-tightening force, the precise force transmission effect is better, the split design is carried out by combining the mechanism, the disassembly, assembly and replacement of the sleeve are more convenient, and the defects of inconvenience in disassembly and replacement of the prior lasso are overcome.
(5) The knee joint rotates around the axle center of the hip joint, and the distance between the axle center of the hip joint and the disc at the output end of the knee joint motor is unchanged, so that the sleeve passes through the sleeve guide block and passes through the axle center of the hip joint, the path curve of the sleeve in the whole gait walking process is smooth, the power loss is low, the optimization of the knee joint sleeve curve path is restrained by the sleeve guide block, the better sleeve length can be obtained well, the sleeve curve is smooth in the whole gait process, and the transmission efficiency is increased;
(6) the invention has simple structure, light weight and strong wearability, and the mechanism can adapt to various different scenes and environments, can be used for rehabilitation or power-assisted walking and the like, and can also be used in various fields and numerous occasions such as military, civil use and the like.
Drawings
FIG. 1 is a perspective view of the integral structural member of the present invention;
FIG. 2 is a rear view of the unitary structural member of the present invention;
FIG. 3 is a front view of the unitary structural member of the present invention;
FIG. 4 is an isometric view of the hip joint assembly of the present invention;
FIG. 5 is a front view of the left hip mechanism of the present invention;
FIG. 6 is a side view of the left hip mechanism of the present invention;
FIG. 7 is an exploded view of the left hip actuator of the present invention;
FIG. 8 is a front view of the right hip mechanism of the present invention;
FIG. 9 is a side view of the right hip mechanism of the present invention;
FIG. 10 is an exploded view of the right hip actuator of the present invention;
FIG. 11 is a left side view of the knee mechanism of the present invention;
FIG. 12 is a front view of a right knee mechanism of the present invention;
FIG. 13 is a side view of a right knee mechanism of the present invention;
FIG. 14 is a side view of a right hip + right knee + right motor assembly mechanism of the present invention;
FIG. 15 is a front view of the left ankle mechanism of the present invention;
FIG. 16 is a side view of the left ankle mechanism of the present invention;
FIG. 17 is a front view of the right ankle mechanism of the present invention;
FIG. 18 is a side view of the right ankle mechanism of the present invention;
FIG. 19 is an isometric view of a left hip joint motor assembly of the present invention;
FIG. 20 is an isometric view of a right hip joint motor assembly of the present invention;
FIG. 21 is an isometric view of a left knee motor assembly of the present invention;
FIG. 22 is an isometric view of a right knee motor assembly of the present invention;
figure 23 is an isometric view of the backpack assembly mechanism of the present invention.
The reference numbers in the drawings are as follows: hip joint mechanism 1, knee joint mechanism 2, ankle joint mechanism 3, hip joint motor assembly 4, knee joint motor assembly 5, backpack assembly mechanism 6, left hip joint mechanism 11, right hip joint mechanism 12, knee joint mechanism left 21, right knee joint mechanism 22, left ankle joint mechanism 31, right ankle joint mechanism 32, left hip joint motor assembly 41, right hip joint motor assembly 42, left knee joint motor assembly 51, right knee joint motor assembly 52, backpack 601, battery 602, circuit board 603, driver 604, left waist plate 1101, upper hip sleeve support block 1102, lasso artificial muscle 1103, parallel spring 1104, bearing support 1105, external pendulum adduction rotation shaft 1106, external pendulum adduction support block 1107, sleeve support block 1108, bearing end cap 1109, lasso guide block, hip rib 1111, hip extension shaft 1112, hip execution wheel 1113, hip rib 1114, thigh connection plate, thigh rod, 1115, hip joint mechanism 1115, hip joint mechanism 2, ankle joint mechanism left 21, right knee joint mechanism 22, left ankle joint mechanism 31, right ankle joint mechanism 32, left waist plate 1101, upper, Knee noose artificial muscle 1117, parallel spring 1118, lower knee sleeve support block 1119, lower hip sleeve support block 1120, external pendulum internal contraction fixed block 1121, plate spring 1122, waist plate upper connection block 1123, waist plate lower connection block 1124, cable end fixed block 1125, noose 1126, upper knee sleeve support block 1127, right waist plate 1201, upper hip sleeve support block 1202, noose artificial muscle 1203, parallel spring 1204, bearing support 1205, external pendulum internal contraction rotation shaft 1206, external pendulum internal contraction support plate 1207, sleeve support block 1208, bearing end cap 1209, noose guide block 1210, hip rib 1211, flexion extension shaft 1212, hip execution wheel 1213, hip rib 1214, thigh connection plate 1215, thigh rod 1216, knee noose artificial muscle 1217, parallel spring 1218, lower knee sleeve 1219, lower hip sleeve support block 1220, external pendulum internal contraction fixed block 1221, plate spring, waist plate connection block 1223, cable end connection block 1224, noose 1225, upper knee fixed block 1226 support block 1226, A knee thigh link 2101, a knee support 2102, a stop block 2103, a bearing end cap 2104, a forward-extension backward flexion shaft 2105, a bearing end cap 2106, a knee rib 2107, a knee shank link plate 2108, a knee rib 2109, a shank rod 2110, a knee actuator wheel 2111, a strap 2112, a strap 2113, a knee thigh link plate 2201, a knee support 2202, a stop block 2203, a bearing end cap 2204, a forward-extension backward flexion shaft 2205, a bearing end cap 2206, a knee rib 2207, a knee shank link plate 2208, a knee rib 2209, a shank rod, a knee actuator wheel 2211, a strap 2212, a strap 2213, a strap 3101, an ankle shank link plate 3102, an ankle support 3103, a toe back-extension shaft 3104, a clamp spring 3105, a sleeve 3106, a sleeve 3107, a rotation block 3108, a sole plate 3209, a binding block 3110, a back sole 3111, an upper sole 3112, a front sole 3113, a binding band 3201, an ankle shank link plate 3203, an ankle shank 3204, an ankle extension shaft 3204, a clamp 3204, a rotation block, A sole plate 3209, a binding block 3210, a rear sole 3211, an upper plate 3212, a front sole 3213, a left hip motor encoder 4101, a left hip motor 4102, a left hip motor support disc 4103, a left hip sleeve support 4104, a left hip harmonic reducer 4105, a left hip socket end fixing block 4106, a left hip motor output end disc 4107, a left hip open bolt 4108, a left hip open nut 4109, a hip left sleeve 4110, a left hip socket end fixing block 4111, a right hip motor encoder 4201, a right hip motor 4202, a right hip motor support disc 4203, a right hip sleeve support frame 4204, a right hip sleeve support frame 4205, a right hip socket end fixing block 4206, a right hip motor output end disc 4207, a right hip open bolt 4208, a right hip open nut 4209, a right hip sleeve 4210, a right hip motor hip knee support plate 4211, a right hip sleeve 5104, a left hip motor encoder fixing block 1, a left motor support disc 2, a left hip sleeve 5103, a left hip sleeve 5104, a right hip motor support frame 420, The device comprises a left knee harmonic reducer 5105, a left knee cable end fixing block 5106, a left knee motor output end disc 5107, a left knee opening bolt 5108, a left knee opening nut 5109, a left knee sleeve 5110, a left knee motor support plate 5111, a left knee cable end fixing block 5112, a right knee motor encoder 5201, a right knee motor 5202, a right knee motor support disc 5203, a right knee sleeve support 5204, a right knee harmonic reducer 5205, a right knee cable end fixing block 5206, a right knee motor output end disc 5207, a right knee opening bolt 5208, a right knee opening nut 5209, a right knee sleeve 5210, a right knee motor support plate 5211 and a right knee cable end fixing block 5212.
Detailed Description
The technical solution of the present invention will be described in detail below with reference to the embodiments and the drawings.
As shown in fig. 1 to 22, a wearable lower limb exoskeleton based on lasso artificial muscle driving comprises two sets of exoskeleton mechanisms which are arranged in an axial symmetry manner, wherein the two sets of exoskeleton mechanisms are connected through an adjusting plate assembly arranged in the middle, each set of exoskeleton mechanism comprises a hip joint mechanism 1, a knee joint mechanism 2 connected to the lower end of the hip joint mechanism 1, an ankle joint mechanism 3 connected to the lower end of the knee joint mechanism 2, a hip joint motor assembly 4 and a knee joint motor assembly 5 which are arranged on the upper portion of the hip joint mechanism 1, and a backpack assembly mechanism 6 arranged on the adjusting plate assembly, the backpack assembly mechanism 6 comprises a backpack 601 connected to the adjusting plate assembly, and a battery 602, a circuit board 603 and a driver 604 which are arranged on the backpack 601, the hip joint motor assembly 4 and the knee joint motor assembly 5 drive the hip joint mechanism 1 and the knee joint mechanism 2 to swing through a lasso, the rope sleeve is connected with a plurality of lasso artificial muscles and pre-tightening mechanisms, the hip joint mechanism 1 is also provided with an external swing adduction component, the lasso artificial muscles comprise hip joint lasso artificial muscle components for bending and extending active freedom degrees of the hip joint, the hip joint lasso artificial muscle components comprise lasso artificial muscles, an upper hip sleeve supporting block and a lower hip sleeve supporting block which are arranged on the side wall of the adjusting plate component, a parallel spring of the lasso artificial muscles is connected with the lower hip sleeve supporting block, a lasso penetrating between the upper hip sleeve supporting block and the lower hip sleeve supporting block is connected with the lasso artificial muscles, the bending and extending active freedom degrees of the hip joint drive the lasso to move through a hip motor of the hip joint mechanism 1, the lasso further drives the lasso artificial muscles to transmit power to the tail end of the joint through the lasso at the lower end of the lasso artificial muscles, and the lasso artificial muscles comprise knee joint lasso artificial muscle components for extending, the hip joint mechanism 1 is connected with a knee thigh connecting piece of the knee joint mechanism 2 through a thigh rod, a knee joint lasso artificial muscle component comprises a lasso artificial muscle, an upper knee sleeve supporting block and a lower knee sleeve supporting block which are arranged on the thigh rod, the free end of a parallel spring of the lasso artificial muscle is connected with the lower knee sleeve supporting block, a lasso which is arranged between the upper knee sleeve supporting block and the lower knee sleeve supporting block in a penetrating way is connected with the lasso artificial muscle, the active degree of freedom of forward extension and backward bending of the knee joint drives the lasso to move through a knee motor of the knee joint mechanism 2, the lasso further drives the lasso artificial muscle to transmit power to the tail end of a joint execution through a lasso at the lower end of the lasso artificial muscle, an outer swing adduction supporting plate of the hip joint mechanism 1 is hinged with the lower end of the side wall of an adjusting plate component through an, the external pendulum adduction shaft is hinged on the bearing support, the external pendulum adduction support plate is provided with an external pendulum adduction fixing block which is abutted against the lower end of the side wall of the adjusting plate component and used for limiting the hip joint mechanism 1 to swing towards the outer side around the external pendulum adduction shaft, a leaf spring is further connected between the external pendulum adduction support plate and the side wall of the adjusting plate component, the pre-tightening mechanism is arranged at the position where a lasso penetrates through an upper hip sleeve supporting block, the lasso is of an integral structure and is detachably arranged on the hip joint motor component 4, the pre-tightening mechanism comprises a stud nut mechanism, the output end of a hip motor is connected with a motor output end disc, a group of cable end fixing blocks are embedded on the side edge surface of the motor output end disc, the lasso is provided with an end matched with the cable end fixing blocks, the lasso penetrates through the cable end fixing blocks and is wound on the motor output end disc, the cable, the lower end of the lasso is wound on the hip executing wheel, the pre-tightening mechanism is arranged at the position where the lasso penetrates through the upper knee sleeve supporting block, the lasso is of an integral structure and is detachably arranged on the knee joint motor assembly 5, the pre-tightening mechanism comprises a stud nut mechanism, the output end of the knee motor is connected with a motor output end disc, a group of cable end fixing blocks are embedded on the side edge surface of the motor output end disc, the lasso is provided with an end part matched with the cable end fixing blocks, the lasso penetrates through the cable end fixing blocks and is wound on the motor output end disc, the cable end fixing blocks limit the cable end movement in the middle of the lasso, the stud nut mechanism comprises an open cylindrical bolt and an open nut which are arranged at the position where the lasso penetrates through the upper knee sleeve supporting block, the lower end of the lasso is wound on the knee executing wheel, the outer side bearing end cover surface of the hip joint, the distance between a hip actuating wheel of a hip joint mechanism 1 and a disc at the output end of a motor of a knee motor is unchanged, a lasso passes through a sleeve guide block to enable a path curve of the lasso to be smooth in the gait walking process of the exoskeleton mechanism when a knee joint mechanism 2 rotates around the hip actuating wheel of the hip joint mechanism 1, the two sets of exoskeleton mechanisms respectively comprise a left exoskeleton mechanism and a right exoskeleton mechanism which are axially symmetrical, an adjusting plate assembly comprises two sets of waist plates, and an upper waist plate connecting block and a lower waist plate connecting block which are connected with the waist plates at two sides, the wearable lower limb exoskeleton comprises the hip joint mechanism 1, a backpack assembly mechanism 6 connected with the hip joint mechanism 1, the knee joint mechanism 2 connected with the tail end of the hip joint mechanism 1, an ankle joint mechanism 3 connected with the tail end of the knee joint mechanism 2, a hip joint motor assembly 4 arranged on the hip joint mechanism 1 and a knee joint motor assembly 5 arranged on the hip joint mechanism, the hip joint mechanism 1 comprises a left hip joint mechanism 11 and a right hip joint mechanism 12, the backpack component mechanism 6 comprises a backpack 601, a battery 602, a circuit board 603 and a driver 604, the knee joint mechanism 2 comprises a knee joint mechanism left 21 and a right knee joint mechanism 22, the ankle joint mechanism 3 comprises a left ankle joint mechanism 31 and a right ankle joint mechanism 32, the hip joint motor component 4 comprises a left hip joint motor component 41 and a right hip joint motor component 42, the knee joint motor component 5 comprises a left knee joint motor component 51 and a right knee joint motor component 52, the backpack mechanism 6 is connected with the hip joint mechanism 1 through screws, the hip joint mechanism left 11 is fixedly connected with the knee joint mechanism left 21 through screws, the hip joint mechanism right 12 is fixedly connected with the right knee joint mechanism 22 through screws, the knee joint mechanism left 21 is fixedly connected with the left ankle joint mechanism 31 through screws, the right knee joint mechanism 22 is fixedly connected with the right ankle joint mechanism 32 through screws, the left hip joint motor component 41 is connected with a left lumbar plate 1101 on the left hip joint mechanism 11 through screws, the right hip joint motor component 42 is connected with a right lumbar plate 1201 on the right hip joint mechanism 12 through screws, the left knee joint motor component 51 is fixedly connected with the left lumbar plate 1101 on the left hip joint mechanism 11 through screws, and the right knee joint motor component 52 is fixedly connected with the right lumbar plate 1201 on the right hip joint mechanism 12 through screws;
an upper hip sleeve supporting block 1102 and a left waist plate 1101 are fixed through screws, a parallel spring 1104 is concentrically matched with a guide tube on a noose artificial muscle 1103, the guide tube on the noose artificial muscle 1103 is connected with screw holes on the upper hip sleeve supporting block 1102 and a hip sleeve supporting block 1120, a bearing support 1105 is fixedly connected with the left waist plate 1101 through screws, an epicycloidal adduction rotating shaft 1106 is in clearance fit with two bearing supports 1105, an epicycloidal adduction supporting plate 1107 is concentrically matched with an epicycloidal adduction rotating shaft 1106, one axial section of the epicycloidal adduction rotating shaft 1107 is positioned through an upper shoulder on the epicycloidal adduction rotating shaft 1106, the other end of the epicycloidal adduction rotating shaft 1106 is fixed through a snap spring, the sleeve supporting block 1108 and the epicycloidal adduction supporting plate 1107 are fixed through screws, a bearing end cover 1109 and a hip rib plate 1111 are fixed through screws, the noose guiding block 1110 and the bearing cover 1109 are fixed through screws, the hip rib plate 1111 and, the tail end of the thigh rod 1116 is fixedly connected with the thigh connecting plate 1115 through a screw, the knee lasso artificial muscle 1117 is fixedly connected with the lower knee sleeve supporting block 1119 through a conduit of the knee lasso artificial muscle 1117, the parallel spring 1118 is concentrically matched and connected with the conduit of the knee lasso artificial muscle 1117, the hip sleeve supporting block 1120 is fixedly connected with the left waist plate 1101 through a screw, the external swing internal contraction fixing block 1121 is fixedly connected with the left waist plate 1101 through a screw, one section of the plate spring 1122 is limited to move within a certain range through the external swing internal contraction fixing block 1121, the other end of the plate spring is fixedly connected with the external swing internal contraction supporting plate 1107 through a screw, the upper waist plate connecting block 1123 is fixedly connected with the left waist plate 1101, and the lower waist plate connecting block 1124 is fixedly connected with the right waist plate 1201;
an upper hip sleeve supporting block 1202 and a right waist plate 1201 are fixed through screws, a parallel spring 1204 is concentrically matched with a guide tube on a lasso artificial muscle 1203, the guide tube on the lasso artificial muscle 1203 is connected with screw holes on the upper hip sleeve supporting block 1202 and a lower hip sleeve supporting block 1220, a bearing support 1205 and the left waist plate 1201 are fixedly connected through screws, an epicycloidal adduction rotating shaft 1206 is in clearance fit with two bearing supports 1205, an epicycloidal adduction supporting plate 1207 is concentrically matched with an epicycloidal adduction rotating shaft 1206, one axial section of the epicycloidal adduction rotating shaft is positioned through an upper shaft shoulder on the epicycloidal adduction rotating shaft 1206, the other end of the epicycloidal adduction rotating shaft is fixed through a snap spring, a sleeve supporting block 1208 and the epicycloidal adduction supporting plate 1207 are fixed through screws, a bearing end cover 1209 and a hip rib plate 1211 are fixed through screws, a lasso guide block 1210 and a bearing cover 1209 are fixed through screws, a rib 1211 and a hip plate 1214 are, the tail end of the elastic plate is axially fixed through a snap spring, a thigh connecting plate 1215 is fixedly connected with a hip rib plate 1211 and a hip rib plate 1214 through screws, the tail end of a thigh rod 1216 is fixedly connected with the thigh connecting plate 1215 through screws, a knee lasso artificial muscle 1217 is fixedly connected with a lower knee sleeve supporting block 1219 through a conduit thereof, a parallel spring 1218 is concentrically matched and connected with the conduit thereof on the knee lasso artificial muscle 1217, the hip sleeve supporting block 1120 is fixedly connected with a left waist plate 1101 through screws, an outer-swing inner-contraction fixing block 1121 is fixedly connected with the left waist plate 1101 through screws, one section of a plate spring 1122 is limited to move within a certain range through the outer-swing inner-contraction fixing block 1121, the other end of the plate spring is fixedly connected with an outer-swing inner-contraction supporting plate 1107 through screws, and a waist plate connecting;
the inner thread of a knee thigh connecting plate 2101 is fixedly connected with the outer thread at the tail end of a thigh rod 1116, the knee thigh connecting plate 2101 is fixedly connected with a knee support frame 2102 by screws, a limit block 2103 is fixedly connected with the knee support frame 2102 by screws, a front extending and back bending shaft 2105 is concentrically matched with the hole of the knee support frame 2102 and is supported by two bearings, one end of the bearing end cover 2104 is fixedly connected with the knee support frame 2102 for axial positioning, the other end of the bearing end cover 2106 is fixedly connected with the knee support frame 2102 for axial positioning, a knee executing wheel 2111 is fixedly connected with the front extending and back bending shaft 2105 by screws, a knee rib plate 2107 and a knee rib plate 2109 are fixedly connected with the knee executing wheel 2111 by screws, a knee rib plate 2107 and a knee rib plate 2109 are fixedly connected with the knee shank connecting plate 2108 by screws, the knee shank connecting plate 2108 and a shank rod 2110 are fixedly connected by screws, a bandage, the bandage 2113 is fixedly connected with the knee shank connecting plate 2101 through screws;
the inner thread of a knee thigh connecting plate 2201 is fixedly connected with the outer thread at the tail end of a thigh rod 1216, a knee thigh connecting plate 2201 is fixedly connected with a knee support frame 2202 through a screw, a limit block 2203 is fixedly connected with the knee support frame 2202 through a screw, a forward extending and backward bending shaft 2205 is concentrically matched with the hole of the knee support frame 2202 through two bearings for supporting, one end of the knee thigh connecting plate 2201 is fixedly connected with the knee support frame 2202 through a bearing end cover 2204 for axial positioning, the other end of the knee support frame 2202 is fixedly connected with a bearing end cover 2206 for axial positioning, a knee execution wheel 2211 is fixedly connected with the forward extending and backward bending shaft 2205 through a screw, a knee ribbed plate 2207 and a knee ribbed plate 2209 are fixedly connected with the knee execution wheel 2211 through a screw, a knee ribbed plate 2207 and a knee ribbed plate 2209 are fixedly connected with the knee calf connecting plate 2208 through a screw, a knee calf connecting plate 2202 is, the binding band 2213 is fixedly connected with the knee and lower leg connecting plate 2201 through screws;
the bandage 3101 is fixedly connected with the ankle shank connecting plate 3102 through screws, the internal threads of the ankle shank connecting plate 3102 are fixedly connected with the external threads of the shank rod 2110, the ankle shank connecting plate 3102 is fixedly connected with the ankle support frame 3103 through screws, the dorsiflexion shaft 3104 is concentrically matched with the ankle support frame 3103 through bearing support, one end of the ankle shank connecting plate is positioned through a shaft shoulder, the other end of the ankle shank connecting plate is positioned through a clamp spring 3105, the shaft sleeve 3106 and the shaft sleeve 3107 are concentrically matched with the dorsiflexion shaft 3104 for axial support and fixation, the rotating block 3108 is concentrically matched with the dorsiflexion shaft 3104, one section of the shaft sleeve 3106 is axially fixed and limited, the other end of the ankle shank is circumferentially fixed and limited by the shaft sleeve 3107, the rear sole 3111 is fixed through screws and the rotating block 3103118, the bandage 3110 is fixedly connected with the rear sole 3111 through screws, and the upper sole plate 3103113;
the ankle and ankle joint plate 3201 and 3202 are fixedly connected through screws, the internal threads of the ankle and calf joint plate 3202 are fixedly connected with the external threads of the calf rod 2210, the ankle and calf joint plate 3202 and the ankle support frame 3203 are fixedly connected through screws, the dorsiflexion shaft 3204 and the ankle support frame 3203 are supported and concentrically matched through bearings, one end is positioned through a shaft shoulder, the other end is positioned through a clamp spring 3205, a shaft sleeve 3206 and a shaft sleeve 3207 are concentrically matched with the dorsiflexion shaft 3204 for axial supporting and fixing, a rotating block 3208 and the dorsiflexion shaft 3204 are concentrically matched, one section of the shaft sleeve 3206 is axially fixed and limited, the other end of the section of the shaft sleeve 3207 is circumferentially fixed and limited, the rear sole 3211 is fixed through screws and the rotating block 3208, the binding block 3210 is fixedly connected to the rear sole 3211 through screws, and the upper bottom plate 3212, the front sole;
in the hip joint motor assembly, one end of a left hip motor 4102 is fixed with a left hip motor encoder 4101, the other end is fixed on a left hip harmonic reducer 4105 through a left hip motor support disc 4103, the left hip motor support disc 4103 is fixedly connected with a left waist plate 1101 through screws, a left hip motor output end disc 4107 is fixed at the output end of the left hip harmonic reducer 4105, a left hip rope end fixing block 4106 and a left hip rope end fixing block 4111 are fixed in a groove of the left hip motor output end disc 4107, a left hip sleeve support frame 4104 is fixed between the left hip motor support disc 4103 and the left hip harmonic reducer 4105, a left hip opening bolt 4108 and a left hip opening nut 4109 are connected in a threaded hole in the left hip sleeve support frame 4104, one section of a rope in the hip left sleeve 4110 passes through a left hip open bolt 4108, a left hip rope end fixing block 4106 is fixed through a rope end cylindrical head, and the other end of the rope passes through the hip lasso artificial muscle 1103;
in the hip joint motor assembly 4, a right hip motor 4202 is fixed with a right hip motor encoder 4201 at one end and is fixed with a right hip casing support 4205 at the other end by a right hip motor support disc 4203, the right hip motor support disc 4203 is fixed with a right waist plate 1201 by screws, a right hip motor output disc 4207 is fixed with the output end of the right hip casing support 4205, a right hip socket end fixing block 4206 and a right hip socket end fixing block 4212 are fixed in a groove of the right hip motor output disc 4207, the right hip casing support 4204 is fixed between the right hip motor support disc 4203 and the right hip casing support 4205, a right hip split bolt 4208 and a right hip split nut 4209 are connected in a threaded hole in the right hip casing support 4204, a section of a rope in the right hip casing 4210 passes through the right hip split bolt 4208 and the right hip socket end fixing block 4206, and the other end passes through a socket head and is fixed in the hip casing artificial muscle 1203, one end of a right hip motor support plate 4211 is connected with a right hip motor bracket disc 4203, and the other end is connected with a right waist plate 1201;
in the knee joint motor assembly, one end of a left knee motor 5102 is fixed with a left knee motor encoder 5101, the other end is fixed on a left knee harmonic reducer 5105 through a left knee motor support disc 5103, the left knee motor support disc 5103 is fixedly connected with a left waist plate 1101 through screws, a left knee motor output end disc 5107 is fixed at the output end of the left knee harmonic reducer 5105, a left knee cable end fixing block 5106 and a left knee cable end fixing block 5112 are fixed in a groove of the left knee motor output end disc 5107, a left knee sleeve 5104 is fixed between the left knee motor support disc 5103 and the left knee harmonic reducer 5105, a left knee open bolt 5108 and a left knee open nut 5109 are connected in a threaded hole in the left knee sleeve support 5104, one section of a rope in the left knee sleeve 5110 passes through the left knee open bolt 5108, the left knee rope end fixing block 5106 is fixed through a rope end cylindrical head, the other end of the left knee rope end fixing block penetrates through the knee lasso artificial muscle 1117, one end of a left knee motor support plate 5111 is connected with a left knee motor support disc 5103, and the other end of the left knee motor support plate is connected with a left waist plate 1101;
in the knee joint motor assembly, one end of a right knee motor 5202 is fixed with a right knee motor encoder 5201, the other end is fixed on a right knee harmonic reducer 5205 through a right knee motor support disc 5203, the right knee motor support disc 5203 is fixedly connected with a right waist plate 1201 through screws, an output end disc 5207 of the right knee motor is fixed at the output end of the right knee harmonic reducer 5205, a right knee cable end fixing block 5206 and a right two knee cable end fixing blocks 5212 are fixed in a groove of the output end disc 5207 of the right knee motor, a right knee sleeve support 5204 is fixed between the right knee motor support disc 5203 and the right knee harmonic reducer 5205, a right knee open bolt 5208 and a right knee open nut 5209 are connected in a threaded hole in the right knee sleeve support 5204, a rope in the right knee sleeve 5210 passes through the right knee open bolt 5208 for one section, a right knee cable end fixing block 5206 is fixed by a cable end cylindrical head, the other end of the right knee cable end fixing block passes through the knee lasso artificial muscle 1217, one end of a right knee motor support plate 5211 is connected with a right knee motor support disc 5203, and the other end of the right knee motor support plate is connected with a right lumbar plate 1201;
in the backpack assembly 6, a backpack 601 is fixedly connected to a left waist plate 1101 and a right waist plate 1201 of the hip joint mechanism 1 by screws, a battery 602 is adhered to the backpack 601, a circuit board 603 is fixed to the backpack 601 by screws, and a driver 604 is fixed to the backpack 601 by screws.
The wearable lower limb exoskeleton adopts a transmission principle and a light and soft man-machine combination form, adds a new transmission unit according to a Hill type muscle model by utilizing a mode of transmitting power by relative motion of a sleeve and a cable, constructs artificial muscles, and uses a controllable clamping head in the lasso artificial muscles, so that the limitation on free swing of joints is removed even under the condition of power failure of a motor, the clamping and releasing of the lasso artificial muscles to ropes in the transmission process are controlled, and a driving motor can be placed on the waist of a rehabilitation exoskeleton by utilizing the combination of the lasso artificial muscles and a disc joint, so that the weight of a mechanism born by the human body joints is reduced, and good transmission flexibility, human body wearing comfort and safety are obtained.
The above is only a preferred embodiment of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and equivalents can be made without departing from the spirit of the invention, and it is intended that all such modifications and equivalents as fall within the true spirit and scope of the invention as defined by the appended claims be interpreted in accordance with the principles of the invention.
Claims (1)
1. The utility model provides a wearable lower limbs ectoskeleton based on lasso artificial muscle drive which characterized in that: a new transmission unit is added according to a Hill type muscle model by utilizing a mode of transmitting power by relative movement of the sleeve and the rope, so as to construct artificial muscle, the limit on free swing of the joint is removed when the motor is powered off by clamping and loosening the lasso artificial muscle and the rope, and the driving motor is arranged on the waist of the rehabilitation exoskeleton by utilizing the combination of the lasso artificial muscle and the disc joint; the wearable lower limb exoskeleton comprises two groups of exoskeleton mechanisms which are arranged in an axisymmetric manner, the two groups of exoskeleton mechanisms are connected through an adjusting plate assembly arranged in the middle, each group of exoskeleton mechanism comprises a hip joint mechanism, a knee joint mechanism connected to the lower end of the hip joint mechanism, an ankle joint mechanism connected to the lower end of the knee joint mechanism, a hip joint motor assembly and a knee joint motor assembly which are arranged on the upper part of the hip joint mechanism, and a backpack assembly mechanism arranged on the adjusting plate assembly, and the backpack assembly mechanism comprises a backpack connected to the adjusting plate assembly, and a battery, a circuit board and a driver which are arranged on the backpack; the knee joint rotates around the axis of the hip joint, and the distance between the axis of the hip joint and the disc at the output end of the knee joint motor is unchanged; the hip joint motor assembly and the knee joint motor assembly respectively drive a hip joint mechanism and a knee joint mechanism to swing through cable sleeves in transmission connection with the hip joint motor assembly and the knee joint motor assembly, the cable sleeves are connected with a plurality of sets of cable artificial muscles and pre-tightening mechanisms, and the hip joint mechanism is also provided with an external swing adduction assembly; the noose artificial muscle comprises a hip joint noose artificial muscle component used for the hip joint flexion and extension active degree of freedom, a parallel spring of the noose artificial muscle is connected with a lower hip sleeve supporting block, a noose penetrating between the upper hip sleeve supporting block and the lower hip sleeve supporting block is connected with the noose artificial muscle, the hip joint flexion and extension active degree of freedom drives the noose to move through a hip motor of a hip joint mechanism, and the noose further drives the noose artificial muscle to transmit power to the tail end of the joint execution through the noose at the lower end of the noose artificial muscle; the lasso artificial muscle comprises a knee joint lasso artificial muscle component for the active degree of freedom of forward extension and backward flexion of the knee joint, the hip joint mechanism is connected to a knee-thigh connecting piece of the knee joint mechanism through a thigh rod, the knee joint lasso artificial muscle component comprises a lasso artificial muscle, an upper knee sleeve supporting block and a lower knee sleeve supporting block which are arranged on the thigh rod, the free end of a parallel spring of the lasso artificial muscle is connected to the lower knee sleeve supporting block, a lasso penetrating between the upper knee sleeve supporting block and the lower knee sleeve supporting block is connected to the lasso artificial muscle, the active degree of freedom of forward extension and backward flexion of the knee joint drives the lasso to move through a knee motor of the knee joint mechanism, and the lasso further drives the lasso artificial muscle to transmit power to the tail end of the joint execution through the lasso at; the hip joint mechanism is provided with an outer-pendulum inner-contracting supporting plate, the outer-pendulum inner-contracting supporting plate is hinged with the lower end of the side wall of the adjusting plate assembly through an outer-pendulum inner-contracting assembly, the lower end of the side wall of the adjusting plate assembly is provided with a bearing support, the outer-pendulum inner-contracting supporting plate is provided with an outer-pendulum inner-contracting shaft, the outer-pendulum inner-contracting shaft is hinged to the bearing support, the outer-pendulum inner-contracting supporting plate is provided with an outer-pendulum inner-contracting fixing block which abuts against the lower end of the side wall of the adjusting plate assembly, the hip joint mechanism is limited from swinging outwards around the outer-pendulum inner-contracting; the pre-tightening mechanism is arranged at a part where the lasso penetrates into the upper hip sleeve supporting block and a part where the lasso penetrates into the upper knee sleeve supporting block, the lasso is detachably arranged on the hip joint motor assembly and the knee joint motor assembly, the pre-tightening mechanism comprises a stud nut mechanism, the output end of the hip motor and the output end of the knee motor are both connected with a motor output end disc, the stud nut mechanism comprises an open cylindrical bolt and an open nut which are arranged at the part where the lasso penetrates into the upper knee sleeve supporting block, and the lower end of the lasso winds around the knee actuating wheel; in the hip joint motor assembly, one end of a left hip motor is fixed with a left hip motor encoder, the other end of the left hip motor is fixed on a left hip harmonic reducer through a left hip motor support disc, one end of a right hip motor is fixed with a right hip motor encoder, and the other end of the right hip motor is fixed on a hip sleeve support frame through a right hip motor support disc; in the knee joint motor assembly, a knee motor encoder is fixed at one end of a left knee motor and one end of a right knee motor, and the other end of the left knee motor and the other end of the right knee motor are fixed on a knee harmonic reducer through a knee motor support disc; the outer side bearing end cover surface of the hip joint mechanism is provided with a sleeve guide block, a lasso of the knee joint motor assembly downwards penetrates through the sleeve guide block and then winds around a knee execution wheel, the distance between the hip execution wheel of the hip joint mechanism and a motor output end disc of the knee motor is constant, and the lasso penetrates through the sleeve guide block to enable the lasso to be smooth in a path curve in a gait walking process of the exoskeleton mechanism in a process that the knee joint mechanism rotates around the hip execution wheel of the hip joint mechanism.
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| CN111096875B (en) * | 2018-10-25 | 2023-04-11 | 深圳市肯綮科技有限公司 | Flexible bearing waist and back mechanism, power-assisted support and portable power-assisted equipment thereof |
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| US20220354729A1 (en) * | 2019-06-21 | 2022-11-10 | Ozyegin Universitesi | Wearable lower extremity exoskeleton |
| CN110393656B (en) * | 2019-07-01 | 2021-05-11 | 东南大学 | Lower limb exoskeleton capable of being used for both wheel and leg |
| CN110652425B (en) * | 2019-08-20 | 2021-12-17 | 南京航空航天大学 | Variable-rigidity lower limb exoskeleton power-assisted robot |
| CN110812128A (en) * | 2019-11-11 | 2020-02-21 | 东南大学 | Lasso artificial muscle driving type knee joint exoskeleton device |
| CN111671622B (en) * | 2020-05-20 | 2022-04-05 | 南京航空航天大学 | Wearable lasso drive joint assists low limbs ectoskeleton robot that walks |
| CN112315734B (en) * | 2020-09-27 | 2022-06-10 | 重庆理工大学 | Pneumatic muscle-driven lower limb rehabilitation exoskeleton and rehabilitation work control method thereof |
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