CN112891144A - Positive-negative pressure hybrid drive flexible knee joint exoskeleton - Google Patents
Positive-negative pressure hybrid drive flexible knee joint exoskeleton Download PDFInfo
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- CN112891144A CN112891144A CN202110117412.3A CN202110117412A CN112891144A CN 112891144 A CN112891144 A CN 112891144A CN 202110117412 A CN202110117412 A CN 202110117412A CN 112891144 A CN112891144 A CN 112891144A
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 32
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 18
- 230000005021 gait Effects 0.000 claims abstract description 14
- 210000003127 knee Anatomy 0.000 claims description 27
- 210000000689 upper leg Anatomy 0.000 claims description 21
- 210000002414 leg Anatomy 0.000 claims description 8
- 230000001174 ascending effect Effects 0.000 claims description 2
- 230000009977 dual effect Effects 0.000 claims 1
- 238000011217 control strategy Methods 0.000 abstract description 3
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- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000002503 metabolic effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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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
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5084—Acceleration sensors
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Health & Medical Sciences (AREA)
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Orthopedic Medicine & Surgery (AREA)
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Abstract
The invention discloses a positive-negative pressure hybrid driving flexible knee joint exoskeleton which comprises a sensing unit, a control box and a flexible knee joint execution assembly, wherein the flexible knee joint execution assembly comprises a positive-negative pressure hybrid driver and can be worn on the knee joint of a user, so that auxiliary torque conforming to gait and movement modes is provided. The flexible knee joint exoskeleton adopts a layered control strategy, the high-level controller is responsible for identifying a walking mode, the middle-level controller is responsible for identifying the current gait phase, and the bottom-level controller is responsible for instruction planning of a pneumatic element. The invention can identify three walking modes of walking on the flat ground, going upstairs and going downstairs based on the human body lower limb kinematic information detected by the sensing unit, and finally provides assistance for the walking of the human body in the three walking modes by controlling the air pressure of the positive-negative pressure hybrid driver in real time.
Description
Technical Field
The invention belongs to the technical field of flexible drivers, flexible lower limb exoskeletons and flexible wearable power-assisted equipment, and particularly relates to a positive-negative pressure hybrid driving flexible knee joint exoskeleton.
Background
Most of the existing lower limb exoskeletons are rigid exoskeletons, are mainly suitable for high paraplegic people, long-term load-bearing operators, individual combat personnel and the like, and have the defects of large mass, poor comfort, inconvenience in wearing and the like. For the elderly with weak walking ability and the patients with partial residual motion ability, the use of the rigid lower limb exoskeleton is not only difficult to achieve a remarkable auxiliary effect, but also brings additional burden to the human body. The flexible lower limb exoskeleton has the advantages of light weight, good man-machine compatibility, light wearing and the like, and has huge market demand. However, the research on the flexible lower limb exoskeleton is still in a starting stage at present, and particularly, the problems that a flexible driver and a power source of the flexible knee joint exoskeleton are inconvenient to carry or short in endurance and the like exist, so that the detection, the control and the like of multiple movement modes which accord with daily life scenes are always unsolved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a positive-negative pressure hybrid driving flexible knee exoskeleton.
The technical scheme of the invention is as follows.
A positive-negative pressure hybrid drive flexible knee exoskeleton comprising a sensing unit, a control box and a flexible knee actuator assembly, wherein:
the sensing unit can acquire human lower limb kinematic information of the user in real time and feed the information back to the control box;
the control box can identify the walking mode of the user based on the human body lower limb kinematic information detected by the sensing unit and control the air pressure for driving the flexible knee joint execution component;
the flexible knee actuation assembly includes a positive-negative pressure hybrid drive wearable on a user's knee to provide a gait and motion pattern compliant assistance torque.
Preferably, the positive-negative pressure hybrid driver comprises a negative pressure rotary driver and a positive pressure straightening driver;
the negative pressure rotary driver can generate rotary motion and provide torque when negative pressure is formed inside; the positive pressure straightening driver can generate reverse rotation movement and provide torque when positive pressure is formed inside.
Preferably, the flexible knee joint actuation assembly further comprises a thigh fixing bracket and a shank fixing bracket; the inner sides of the thigh fixing support and the shank fixing support are designed to be curved surfaces, so that the thigh fixing support and the shank fixing support can be better attached to the curve of the leg of a person, and the motion and the moment generated by the positive-negative pressure hybrid driver can be transmitted to the leg of the person.
Preferably, the sensing unit includes four Attitude and Heading Reference Systems (AHRS) respectively installed at two ends of the thigh fixing support and the shank fixing support on the left side, and at two ends of the thigh fixing support and the shank fixing support on the right side.
Preferably, the control box comprises a box body, a pneumatic unit, a controller and a battery;
the pneumatic unit, the controller and the battery are installed in the box body;
the pneumatic unit is used for providing air pressure for the flexible knee joint executing component, thereby controlling the air pressure inside each driver and detecting the air pressure inside each driver.
Preferably, the pneumatic unit comprises a double-head air pump, a solenoid valve and a gas pressure transmitter module;
the double-head air pump can provide compressed air for the positive-negative pressure hybrid driver or pump out internal air;
the solenoid valve is two three-way valves, and it can control the break-make of two gas circuits, is used for controlling negative pressure rotary-type driver with the inside atmospheric pressure of malleation type driver that straightens.
Preferably, the gas pressure transmitter module is capable of detecting the gas pressure inside the negative pressure rotary driver and the positive pressure straightening driver and feeding back to the controller.
Preferably, the controller comprises a high-level controller, a middle-level controller and a bottom-level controller;
the high-level controller can identify the walking mode of the user according to the human body lower limb kinematics information;
the middle-layer controller can identify the current gait phase according to the human body lower limb kinematics information and the walking mode;
the bottom layer controller can make a command plan of the pneumatic element according to the gait phase and the air pressure of the pneumatic unit, so as to provide assistance for walking.
Preferably, the walking modes include walking on level ground, ascending stairs, and descending stairs.
Preferably, the kinematic information of the lower limbs of the human body comprises the rotation angles of the left thigh and the right thigh and the lower leg in a sagittal plane, and the knee joint angles of the left leg and the right leg.
The positive-negative pressure hybrid driving flexible knee joint exoskeleton uses a positive-negative pressure hybrid driving scheme, a positive-negative pressure hybrid driver is used as a knee joint driver, a sensing unit is used for detecting kinematic information of lower limbs of a human body, and execution control of the driver is realized through a portable pneumatic unit. The flexible knee joint exoskeleton adopts a layered control strategy, the high-level controller is responsible for identifying three walking modes of walking on the flat ground, going upstairs and going downstairs, the middle-level controller is responsible for identifying the current gait phase, and the bottom-level controller is responsible for the instruction planning of the pneumatic element, so that the assistance can be provided for the walking of a human body in the three walking modes of walking on the flat ground, going upstairs and going downstairs.
The flexible knee joint exoskeleton can meet the walking assistance requirements of the most common three walking modes in daily life, provides assistance for the walking of a human body, reduces the metabolic consumption during walking, and has wide application prospect and market.
Drawings
FIG. 1 is a general block diagram of a positive-negative pressure hybrid drive flexible knee exoskeleton according to the present invention;
FIG. 2 is a structural configuration of the flexible knee actuation assembly of FIG. 1;
figure 3 is a schematic diagram of the overall control of a positive-negative pressure hybrid drive flexible knee exoskeleton according to the present invention.
Wherein the reference symbols have the following meanings:
1. a control box; 2. a flexible knee joint actuation assembly; 3. a sensing unit; 4. a positive-negative pressure hybrid drive; 5. a negative pressure rotary actuator; 6. a positive pressure extension type driver; 7. a shank fixing bracket; 8. a thigh fixing bracket.
Detailed Description
The invention is further described in detail below with reference to the figures and examples of the specification.
As shown in figure 1, the positive-negative pressure hybrid driving flexible knee joint exoskeleton mainly comprises a control box 1, a flexible knee joint executing component 2 and a sensing unit 3.
As shown in fig. 2, the positive-negative pressure mixing driver 4 includes a negative pressure rotary-type driver 5 and a positive pressure straightening-type driver 6, which are mounted together by a coupling. The two ends of the positive-negative pressure hybrid driver 4 are respectively installed with a thigh fixing bracket 8 and a shank fixing bracket 7, so that the flexible knee joint executing component 2 is formed. The positive-negative pressure hybrid driver 4 is the core of the whole flexible knee joint executing component 2, can generate rotary motion and provide moment when positive pressure or negative pressure is formed inside, and the thigh fixing support 8 and the shank fixing support 7 are used for assisting installation and fixation.
In a preferred embodiment, the negative pressure rotary actuator 5 is made of silicon rubber material, and when the negative pressure is formed in the internal air chamber, the whole volume will shrink, and the rotary motion and the torque output to the outside are generated along the circle center. The positive pressure straightening driver 6 is made of a cloth material, and when the positive pressure is formed in the positive pressure straightening driver in a bending state, the positive pressure straightening driver rotates from the bending state to a straightening state to generate rotary motion and output torque outwards. When the negative pressure rotary driver 5 and the positive pressure straightening driver 6 are installed in parallel and the rotating direction when the negative pressure is formed inside the negative pressure rotary driver 5 is consistent with the bending direction in the sagittal plane of the knee joint, and the rotating direction when the positive pressure is formed inside the positive pressure straightening driver 6 is consistent with the extending direction in the sagittal plane of the knee joint from the bending state to the straightening state, the positive-negative pressure mixed driver 4 is formed. By controlling the internal air pressure of two of the positive-negative pressure hybrid actuators 4, the flexible knee actuator assembly 2 can be controlled to assist in flexion or extension of the knee.
In order to make the structure of the flexible knee exoskeleton more compact and portable, the portable pneumatic unit, the controller and the battery are all integrated in the control box 1. In a preferred embodiment, the outer plastic casing of the control box 1 is directly made by 3D printing process, all the pneumatic elements, controller and battery in the portable pneumatic unit are reasonably installed and arranged in the plastic casing, and the noise reduction function is realized by adding damping, sound-absorbing and sound-insulating material in the interior. The portable pneumatic unit consists of a micro double-head air pump, six micro electromagnetic valves and four air pressure transmitter modules. The miniature double-end air pump drives the pistons at the two ends to reciprocate through the motor, so that outward inflation and air exhaust are realized. The miniature electromagnetic valves are totally divided into two types, namely a miniature negative pressure electromagnetic valve and a miniature positive pressure electromagnetic valve. The miniature electromagnetic valve directly connected with the negative pressure rotary driver 5 and the positive pressure straightening driver 6 is responsible for controlling the air pressure inside the driver, and the miniature electromagnetic valve connected with the air outlet and the air inlet of the miniature double-head air pump is responsible for controlling whether the whole air path is communicated with the atmosphere or not so as to realize air suction or air discharge. The gas pressure transmitter module connected with the gas port of each driver is used for detecting the gas pressure in the driver so as to meet the requirements of system control and safety monitoring.
The controller is composed of a control board and a power board. The control panel is mainly responsible for data acquisition, core algorithm operation, instruction calculation of each pneumatic element and other functions. The power board is composed of a level conversion circuit and an electronic switch circuit and mainly completes the specific instruction execution of each pneumatic element. The battery supplies power for the whole positive-negative pressure hybrid driving flexible knee joint exoskeleton.
The sensing unit 3 comprises four Attitude and Heading Reference Systems (AHRS) for detecting kinematic information of the lower limbs of the human body and providing required information for a walking mode identification method, a gait identification method and exoskeleton motion control. Each AHRS consists of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetic field sensor, and not only can output original data such as angular velocity and the like, but also can output accurate Euler angle data. When four AHRS are installed at the two ends of the thigh fixing support 8 and the shank fixing support 7 on the two sides with the front faces facing outwards, the change of the pitch angle collected by each AHRS reflects the rotation angles of the left thigh and the right thigh and the shank in the sagittal plane. And subtracting the pitch angle of the left shank and the AHRS of the left thigh, and subtracting the pitch angle of the AHRS of the right thigh and the AHRS of the right shank to respectively obtain the angle of the left knee joint and the angle of the right knee joint.
As shown in figure 3, the positive-negative pressure hybrid driving flexible knee exoskeleton of the invention adopts a layered control strategy, wherein the driver further comprises a high-level controller, a middle-level controller and a bottom-level controller, and the specific control process is as follows.
Firstly, the high-level controller judges the current walking mode of the human body through a walking mode identification method, and then the middle-level controller realizes gait management through a finite state machine according to the current walking mode and carries out gait identification and conversion in real time. After the gait phase at present is identified, the bottom layer controller carries out instruction planning on each pneumatic element and sends a working instruction to the pneumatic unit, and finally the motion control of the flexible knee joint execution assembly is realized. The control process mainly comprises two conditions, wherein one condition is that only one driver outputs torque independently at the same time, and the other condition is that two drivers output torque together at the same time.
In order to achieve the auxiliary demand in both cases, the system adjusts the rotational speed of the air pump according to the torque demand and the actual torque output of the drive. The specific working principle is as follows: the system calculates the current moment demand of the human body according to the current gait phase through the knee joint angle and the moment demand curve, and simultaneously calculates the current moment output of the driver according to the air pressure, the knee joint angle and the function expression among the air pressure, the angle and the moment of the driver. Then calculating to obtain the required rotating speed of the air pump according to the torque requirement and the torque output of the driver, and finally enabling the driver to output the required torque by adjusting the rotating speed of the air pump; when two drivers are required to work simultaneously, the required rotating speed of the air pump can be calculated according to the torque requirements of the drivers, and because only one miniature double-head air pump is arranged in the portable pneumatic unit, the rotating speed with higher required rotating speed is taken as the target rotating speed, and the drivers which do not need high rotating speed adjust the actual air inlet and outlet amount through the electromagnetic valve, so that the torque output requirements of the two drivers are met simultaneously.
The above description is only an illustration of one embodiment of the present invention, but the above description is only a preferred embodiment of the present invention and should not be taken as a limitation of the embodiment of the present invention. All adjustments, optimizations, etc. made in accordance with the scope of the present application are within the scope of the present patent.
Claims (10)
1. A positive-negative pressure hybrid drive flexible knee exoskeleton comprising a sensing unit, a control box and a flexible knee actuator assembly, wherein:
the sensing unit can acquire human lower limb kinematic information of the user in real time and feed the information back to the control box;
the control box can identify the walking mode of the user based on the human body lower limb kinematic information detected by the sensing unit and control the air pressure for driving the flexible knee joint execution component;
the flexible knee actuation assembly includes a positive-negative pressure hybrid drive wearable on a user's knee to provide a gait and motion pattern compliant assistance torque.
2. The positive-negative pressure hybrid driven flexible knee exoskeleton of claim 1 wherein said positive-negative pressure hybrid driver comprises a negative pressure rotary driver and a positive pressure extension driver;
the negative pressure rotary driver can generate rotary motion and provide torque when negative pressure is formed inside; the positive pressure straightening driver can generate reverse rotation movement and provide torque when positive pressure is formed inside.
3. The positive-negative pressure hybrid drive flexible knee exoskeleton of claim 2, wherein the flexible knee actuation assembly further comprises a thigh fixation bracket and a shank fixation bracket; the inner sides of the thigh fixing support and the shank fixing support are designed to be curved surfaces, so that the thigh fixing support and the shank fixing support can be better attached to the curve of the leg of a person, and the motion and the moment generated by the positive-negative pressure hybrid driver can be transmitted to the leg of the person.
4. The positive-negative pressure hybrid driving flexible knee exoskeleton as claimed in claim 3, wherein the sensing unit comprises four Attitude and Heading Reference Systems (AHRSs) respectively installed at two ends of the thigh fixing bracket and the shank fixing bracket on the left side and at two ends of the thigh fixing bracket and the shank fixing bracket on the right side.
5. The positive-negative pressure hybrid drive flexible knee exoskeleton of claim 2 wherein said control box comprises a box, a pneumatic unit, a controller and a battery;
the pneumatic unit, the controller and the battery are installed in the box body;
the pneumatic unit is used for providing air pressure for the flexible knee joint executing component, thereby controlling the air pressure inside each driver and detecting the air pressure inside each driver.
6. The positive-negative pressure hybrid driven flexible knee exoskeleton of claim 5, wherein said pneumatic unit comprises a dual head air pump, a solenoid valve and a gas pressure transmitter module;
the double-head air pump can provide compressed air for the positive-negative pressure hybrid driver or pump out internal air;
the solenoid valve is two three-way valves, and it can control the break-make of two gas circuits, is used for controlling negative pressure rotary-type driver with the inside atmospheric pressure of malleation type driver that straightens.
7. The positive-negative pressure hybrid driven flexible knee exoskeleton of claim 6 wherein said gas pressure transmitter module is capable of detecting the gas pressure inside said negative pressure rotary driver and said positive pressure extension driver and feeding back to said controller.
8. The positive-negative pressure hybrid drive flexible knee exoskeleton of claim 5 wherein said controller comprises a high level controller, a mid level controller and a low level controller;
the high-level controller can identify the walking mode of the user according to the human body lower limb kinematics information;
the middle-layer controller can identify the current gait phase according to the human body lower limb kinematics information and the walking mode;
the bottom layer controller can make a command plan of the pneumatic element according to the gait phase and the air pressure of the pneumatic unit, so as to provide assistance for walking.
9. The positive-negative pressure hybrid drive flexible knee exoskeleton of one of claims 1 to 8, wherein the walking modes include walking on level ground, ascending stairs, descending stairs.
10. The positive-negative pressure hybrid driven flexible knee exoskeleton as claimed in any one of claims 1 to 8 wherein said human lower limb kinematics include rotation angles of the left and right thighs and lower legs in the sagittal plane and knee angles of the left and right legs.
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| CN202110117412.3A CN112891144B (en) | 2021-01-28 | 2021-01-28 | Positive-negative pressure hybrid drive flexible knee joint exoskeleton |
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| CN202110117412.3A CN112891144B (en) | 2021-01-28 | 2021-01-28 | Positive-negative pressure hybrid drive flexible knee joint exoskeleton |
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2021
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| CN111319027A (en) * | 2020-02-28 | 2020-06-23 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Active waist assistance exoskeleton robot electrical system |
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