CN114474018A - Passive load-bearing lower limb exoskeleton knee joint device based on magnetorheological fluid - Google Patents
Passive load-bearing lower limb exoskeleton knee joint device based on magnetorheological fluid Download PDFInfo
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- CN114474018A CN114474018A CN202210214998.XA CN202210214998A CN114474018A CN 114474018 A CN114474018 A CN 114474018A CN 202210214998 A CN202210214998 A CN 202210214998A CN 114474018 A CN114474018 A CN 114474018A
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- magnetorheological fluid
- knee joint
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- 239000012530 fluid Substances 0.000 title claims abstract description 60
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 38
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 21
- 239000007788 liquid Substances 0.000 claims abstract description 36
- 230000000670 limiting effect Effects 0.000 claims abstract description 9
- 238000007789 sealing Methods 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims description 2
- 230000002441 reversible effect Effects 0.000 claims description 2
- 239000000725 suspension Substances 0.000 claims 1
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 210000002414 leg Anatomy 0.000 description 10
- 230000005021 gait Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000002829 reductive effect Effects 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000003068 static effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000002493 climbing effect 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
- 230000007547 defect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000010399 physical interaction Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Fluid-Damping Devices (AREA)
Abstract
The invention discloses a passive load-bearing lower limb exoskeleton knee joint device based on magnetorheological fluid, which comprises a shank rod and a stator, wherein the stator is of a double-ring structure, two ends of the stator are respectively sealed by end covers, a coil is arranged in an outer layer cavity formed by the stator and the end covers, and the inner layer cavity formed by the stator and the end covers is filled with the magnetorheological fluid; the inner-layer cavity is provided with a rotor in sliding fit with the inner ring of the stator, the rotor divides the inner-layer cavity, the contact end of the rotor and the stator is in a sealed state, the inner ring of the stator is fixedly provided with a limiting plate vertical to the axis of the rotor, and the contact end of the limiting plate and the rotor is in a sealed state; the rotor is coaxially connected with a rotating shaft, and the side part of the rotor is provided with a large through hole and a small through hole which are communicated with the inner cavity; a liquid passing piece is arranged in the large through hole in a sliding manner; the shank rod is fixedly connected with one side end cover. The invention aims to provide a knee joint device for effectively reducing exoskeleton energy consumption under passive load based on magnetorheological fluid.
Description
Technical Field
The invention relates to the technical field of exoskeleton robots, in particular to a passive load-bearing lower limb exoskeleton knee joint device based on magnetorheological fluid.
Background
In the application scenario of weight-bearing lower extremity exoskeletons, it is generally desirable for the knee joint to have a light, compliant and strong support moment, while the knee joint in a lower extremity exoskeleton is required to have a high power-to-weight and moment-to-weight ratio, a low output impedance and the ability to filter impact loads due to the physical interaction between the exoskeleton, the wearer and the ground, which is difficult for conventional rigid drivers to meet. The magnetorheological fluid is an intelligent material, and is represented as a Newtonian fluid with good flowing without an external magnetic field, but under the action of the external magnetic field, the apparent viscosity of the magnetorheological fluid can be increased by several orders of magnitude within 10ms, and the Newtonian fluid has solid-like mechanical properties, and becomes the Newtonian fluid with good flowing once the magnetic field is removed, so the magnetorheological fluid is gradually used for the development of various exoskeleton drivers in recent years. However, devices based on magnetorheological fluid used in the existing exoskeleton knee joint all adopt a layered structure, are complex in structure and low in torque-weight ratio, most of the devices need to be matched with other active devices such as a motor and the like, and cannot be used as independent exoskeleton joints. Therefore, a knee joint device which is simple in structure, has a higher moment-weight ratio and effectively reduces the energy consumption of the exoskeleton under the passive load based on the magnetorheological fluid is needed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a knee joint device which is simple in structure, has a higher torque-weight ratio and effectively reduces the energy consumption of an exoskeleton under passive load based on magnetorheological fluid.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a passive load-bearing lower limb external iliac knee joint device based on magnetorheological fluid comprises a shank rod and a stator, wherein the stator is of a double-ring structure, two ends of the stator are respectively sealed by end covers, a coil is arranged in an outer layer cavity formed by the stator and the end covers, and the inner layer cavity formed by the stator and the end covers is filled with the magnetorheological fluid; the inner-layer cavity is provided with a rotor in sliding fit with the inner ring of the stator, the rotor divides the inner-layer cavity, the contact end of the rotor and the stator is in a sealed state, the inner ring of the stator is fixedly provided with a limiting plate perpendicular to the axis of the rotor, and the contact end of the limiting plate and the rotor is in a sealed state; the rotor is coaxially connected with a rotating shaft, and the side part of the rotor is provided with a large through hole and a small through hole which are communicated with the inner layer cavity; the large through hole is cylindrical, one end of the large through hole is a circular opening, the other end of the large through hole is a conical opening, the circular opening and the conical opening are arranged in the large through hole on the two sides of the rotor in opposite directions, and a liquid passing piece is arranged in the large through hole in a sliding mode; the liquid passing part is of a cylindrical structure, a cylinder section of the liquid passing part, which is positioned on one side of the conical opening, is radially contracted, and a liquid inlet hole is circumferentially arranged on the cylinder wall, and the end part of the liquid passing part, which corresponds to the conical opening, is provided with a conical frustum matched with the conical opening; bearings are arranged between the end covers and the rotating shaft, inner rings of the bearings are fixed with the rotating shaft, and outer rings of the bearings are fixed with the end covers; the shank rod is fixedly connected with one side end cover.
Furthermore, a retainer ring for holes which is used for stopping the bottom side of the liquid passing piece is embedded in the round opening of the large through hole.
Furthermore, the liquid passing part comprises an upper cylinder and a lower cylinder, the lower cylinder corresponds to one side of the circular opening, the upper cylinder corresponds to one side of the conical opening, the diameter of the upper cylinder is smaller than that of the lower cylinder, the liquid inlet hole and the conical frustum are arranged on the upper cylinder, and the inner wall of the large through hole corresponding to the upper cylinder is in a flaring shape.
Furthermore, the inner ring of the stator and the end cover are circumferentially provided with connecting holes together, a sealing gasket is arranged between the inner ring of the stator and the end cover, and the stator and the end cover are fixed through a connecting piece.
Furthermore, shank pole is provided with the fixed disk in one side with end cover fixed connection, circumference on the fixed disk be provided with stator, end cover assorted connecting hole, the fixed disk is provided with the recess in the connecting hole inboard, the recess is the polygon and has the frame limit that can inlay to establish in the recess on the end cover of this side.
Furthermore, the end covers are provided with bosses positioned in the grooves, ring grooves surrounding the rotating shaft are arranged in the bosses, and felt rings are arranged in the ring grooves.
Furthermore, one end of the rotating shaft is circular in cross section, and the other end of the rotating shaft is polygonal in cross section.
Furthermore, a key groove is formed in the rotor, and the rotor is connected with the rotating shaft key.
Compared with the prior art, the invention has the following beneficial effects:
the invention can sense the human gait stage by connecting the external sensor, and then selects the current magnitude and the flow channel of the magnetorheological fluid according to different stages of the human gait, so that when the knee joint is in the non-support stage or the support stage and the angle between the large leg and the small leg is gradually increased, the generated damping moment is very small, and the normal gait of the human body can not be hindered. The knee joint is in the support stage and the angle between the big leg and the small leg is gradually reduced, and the bigger damping moment is generated to obstruct the rotation of the knee joint, thereby providing support for the human body, lightening the burden of the knee joint of the human body, reducing the fatigue feeling and reducing the energy consumption. In addition, compared with other magneto-rheological devices applied to the exoskeleton knee joint, the magneto-rheological device has a simpler structure and a higher torque-weight ratio, and can effectively reduce the energy consumption of the exoskeleton as a pure passive knee joint.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is a cross-sectional view taken along line B-B of FIG. 2;
FIG. 5 is a schematic view showing a coupling structure of a stator and a rotor according to the present invention;
FIG. 6 is a schematic view of the structure of the rotor and the liquid passing member of the present invention;
fig. 7 is a schematic structural view of the liquid passing member of the present invention.
Reference numerals:
1-rotating shaft, 2-first end cover, 3-shank rod, 4-stator, 5-rotor, 6-second end cover, 7-liquid passing element, 8-first bearing, 9-second bearing, 10-first ring groove, 11-second ring groove, 12-inner layer cavity, 13-outer layer cavity, 14-first sealing gasket, 15-second sealing gasket, 16-boss, 31-fixed disk, 41-limiting plate, 51-large through hole, 52-small through hole, 53_ cone opening, 54-circular opening, 71-cone table, 72-upper cylinder and 73-lower cylinder.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 7, the passive load-bearing lower limb exoskeleton knee joint device based on magnetorheological fluid comprises a shank rod 3 and a stator 4, wherein the stator 4 is of a double-ring structure, two ends of the stator 4 are respectively sealed by end covers, a coil is arranged in an outer layer cavity formed by the stator 4 and the end covers, and magnetorheological fluid is filled in an inner layer cavity 12 formed by the stator 4 and the end covers; the inner-layer cavity 12 is provided with a rotor 5 in sliding fit with an inner ring of the stator 4, the rotor 5 divides the inner-layer cavity 12, the contact end of the rotor 5 and the stator 4 is in a sealed state, the inner ring of the stator 4 is fixedly provided with a limiting plate 41 vertical to the axis of the rotor 5, and the contact end of the limiting plate 41 and the rotor 5 is in a sealed state; the rotor 5 is coaxially connected with a rotating shaft 1, and the side part of the rotor 5 is provided with a large through hole 51 and a small through hole 52 which are communicated with the inner layer cavity 12; the large through hole 51 is cylindrical, one end of the large through hole 51 is a circular opening 54, the other end of the large through hole 51 is a conical opening 53, the circular opening 54 and the conical opening 53 are arranged in the large through hole 51 on two sides of the rotor 5 in a mutually reverse mode, and the liquid passing piece 7 is arranged in the large through hole 51 in a sliding mode; the liquid passing part 7 is of a cylindrical structure, the cylinder section of the liquid passing part 7, which is positioned on one side of the conical opening 53, is radially contracted, and a liquid inlet hole is circumferentially arranged on the cylinder wall, and the end part of the liquid passing part 7, which corresponds to the conical opening 53, is provided with a conical frustum 71 matched with the conical opening 53; bearings are arranged between the end covers and the rotating shaft 1, inner rings of the bearings are fixed with the rotating shaft 1, and outer rings of the bearings are fixed with the end covers; the shank rod 3 is fixedly connected with one side end cover; the rotor 5 is provided with a key groove, and the rotor 5 is connected with the rotating shaft 1 in a key mode.
As shown in fig. 6 and 7, a hole retainer ring which is retained at the bottom side of the liquid passing member 7 is embedded in the circular opening 54 of the large through hole 51, so as to prevent the liquid passing member 7 from being pushed by the magnetorheological fluid to slide out of the large through hole 51. The liquid passing part 7 comprises an upper cylinder 72 and a lower cylinder 73, the lower cylinder 73 corresponds to one side of the circular opening 54, the upper cylinder 72 corresponds to one side of the conical opening 53, the diameter of the upper cylinder 72 is smaller than that of the lower cylinder 73, the liquid inlet hole and the conical platform 71 are arranged on the upper cylinder 72, and the inner wall of the large through hole 51 corresponding to the upper cylinder 72 is flared. The radial distance formed between the large through hole 51 and the upper cylinder 72 can facilitate the circulation of the magnetorheological fluid in the liquid passing piece 7 and the large through hole 51, and the liquid passing piece 7 is favorably influenced by the magnetorheological fluid to change the matching between the cone frustum 71 and the cone opening 54.
The inner ring of the stator 4 and the end cover are circumferentially provided with connecting holes together, a first sealing washer 14 is arranged between the inner ring of the stator 4 and the first end cover 2, a second sealing washer 15 is arranged between the inner ring of the stator 4 and the second end cover 6, and the stator 4 and the end cover are fixed through a connecting piece. Shank pole 3 is provided with fixed disk 31 in one side with end cover fixed connection, and fixed disk 31 last circumference is provided with stator 4, end cover assorted connecting hole, and fixed disk 31 is provided with the recess in the connecting hole inboard, and the recess is the polygon and has the frame limit that can inlay and establish in the recess on the end cover of this side. Stator 4, end cover and shank pole 3 all do benefit to the modularization assembly through connecting hole cooperation connecting piece equipment, do benefit to the modular assembly, and the connecting hole on the shank pole 3 still is convenient for be connected with other parts simultaneously, and recess and frame limit are the polygon and do benefit to the synchronous revolution of end cover and shank pole 3, and first end cover 2 is fixed mutually with shank pole 3 in this embodiment, and recess on the fixed disk 31 and the frame limit of first end cover 2 are the hexagon.
The end covers are provided with bosses 16 located in the grooves, ring grooves surrounding the rotating shaft 1 are formed in the bosses 16, felt rings are arranged in the ring grooves, and the first ring grooves 10 and the second ring grooves 11 are used for sealing the magnetorheological fluid through the felt rings.
Wherein, one end section of the rotating shaft 1 is circular, and the other end section is polygonal. The polygonal end of the rotating shaft 1 is used for being connected with a thigh rod of the exoskeleton, so that the rotating shaft 1 and the thigh rod can rotate synchronously, and the end of the rotating shaft 1 is square.
The invention enables the rotating shaft 1, the first end cover 2, the second end cover 6, the shank rod 3, the rotor 5 and the stator 4 to coaxially rotate through the first bearing 8 and the second bearing 9. The first end cover 2, the second end cover 6, the shank rod 3 and the stator 4 rotate synchronously and can rotate relative to the rotating shaft 1 and the rotor 5, and therefore the shank rod 3 rotates around the knee joint.
The invention is used for the knee joint in the supporting stage and the angle between the big leg and the small leg is gradually enlarged or in the non-supporting stage, such as the standing action, the pedaling and climbing action, the leg emptying action in the walking gait stage and the like. When the rotating shaft 1 rotates, the rotor 5 rotates along with the rotating shaft 1 to push the magnetorheological fluid to flow on the large through hole 51 and the small through hole 52 of the rotor 5. At the moment, the magnetorheological fluid flows in a single direction from one end of the large through hole 51 or the small through hole 52 to the other end, the copper coil is not electrified in the state, and the magnetorheological fluid is represented as a Newtonian fluid with good flowing performance and low apparent viscosity.
If the magnetorheological fluid flows from the side of the circular opening 54 of the large through hole 51 of the rotor 5 to the side of the conical opening 53, the truncated cone 71 of the liquid passing member 7 is pushed by the magnetorheological fluid to contact and abut against the conical opening 53 of the large through hole 51, so that the large through hole 51 is blocked, and at the moment, the magnetorheological fluid mainly flows through the small through hole 52 of the rotor 5.
If the magnetorheological fluid flows from the side of the conical opening 53 of the large through hole of the rotor 5 to the side of the circular opening 54, the lower cylinder 73 of the liquid passing piece 7 is pushed by the magnetorheological fluid to contact and abut against the hole in the large through hole 51 by the retainer ring, so that the magnetorheological fluid entering the large through hole 51 flows into the conical opening 53, enters the annular area between the upper cylinder 72 and the large through hole 51, flows into the lower cylinder 73 through the liquid inlet hole of the upper cylinder 72, and finally flows out of the circular opening 54 of the large through hole 51. So that the large through hole 51 and the liquid passing member 7 are kept in a flow state,
The whole formed by the shank rod 3, the first end cover 2 fixedly connected with the shank rod, the stator 4 and the second end cover 6 is a frame, the counterforce of the magnetorheological fluid on the rotor 5 is small under the two conditions, and the magnetorheological fluid hardly obstructs the rotation of the knee joint.
When the knee joint is in a supporting stage and the angle between the large leg and the small leg is gradually reduced, such as the supporting leg loading stage in a gait stage of human body load walking, the squat action of the human body due to load, and the like, the copper coil keeps the electrified state, the magnetorheological fluid is expressed as Bingham fluid in non-Newtonian fluid, the apparent viscosity is increased by several orders of magnitude within 10ms, and the mechanical property similar to solid is presented. When the rotating shaft 1 rotates, the magnetorheological fluid flows from the circular opening 54 side of the large through hole 51 of the rotor 5 to the conical opening 53 side in the inner cavity 12. The truncated cone 71 of the liquid passing member 7 will contact and abut against the conical opening 53 under the pushing of the magnetorheological fluid, thereby blocking the large through hole 51. At the moment, the magnetorheological fluid mainly flows through the small through holes 52, the reaction force of the magnetorheological fluid on the rotor 5 is increased in the state, and a large damping moment is generated to block the rotation of the knee joint, so that the support is provided for the human body, the burden of the knee joint of the human body is relieved, the fatigue feeling is reduced, and the energy consumption is reduced.
When the knee joint is in a static supporting stage, such as a standing or semi-squatting state of a human body, and the like. The copper coil is kept in an electrified state, the magnetorheological fluid is represented as Bingham fluid in non-Newtonian fluid, the apparent viscosity is increased by several orders of magnitude within 10ms, and the mechanical property similar to solid is presented. The rotating shaft 1 is kept still, and the solid magnetorheological fluid is kept static in the inner-layer cavity 12, so that the rotating trend of the rotating shaft 1 is hindered, and the support is provided for a human body.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The utility model provides a passive heavy burden lower limbs ectoskeleton knee joint device based on magnetorheological suspensions, includes shank pole (3) and stator (4), its characterized in that: the stator (4) is of a double-ring structure, two ends of the stator (4) are respectively sealed through end covers, a coil is arranged in an outer layer cavity (13) formed by the stator (4) and the end covers, and magnetorheological fluid is filled in an inner layer cavity (12) formed by the stator (4) and the end covers; the inner-layer cavity (12) is provided with a rotor (5) in sliding fit with an inner ring of the stator (4), the rotor (5) divides the inner-layer cavity (12) and the contact end of the rotor (5) and the stator (4) is in a sealed state, the inner ring of the stator (4) is fixedly provided with a limiting plate (41) perpendicular to the axis of the rotor (5), and the contact end of the limiting plate (41) and the rotor (5) is in a sealed state; the rotor (5) is coaxially connected with a rotating shaft (1), and the side part of the rotor (5) is provided with a large through hole (51) and a small through hole (52) which are communicated with the inner layer cavity (12); the large through hole (51) is cylindrical, one end of the large through hole (51) is a circular opening (54), the other end of the large through hole (51) is a conical opening (53), the circular opening (54) and the conical opening (53) are arranged in the large through hole (51) on two sides of the rotor (5) in a mutually reverse mode, and a liquid passing piece (7) is arranged in the large through hole (51) in a sliding mode; the liquid passing part (7) is of a cylindrical structure, the cylinder section of the liquid passing part (7) positioned on one side of the conical opening (53) is radially contracted and is circumferentially provided with a liquid inlet hole on the cylinder wall, and the end part of the liquid passing part (7) corresponding to the conical opening (53) is provided with a conical frustum (71) matched with the conical opening (53); bearings are arranged between the end covers and the rotating shaft (1), inner rings of the bearings are fixed with the rotating shaft (1), and outer rings of the bearings are fixed with the end covers; the shank rod (3) is fixedly connected with one side end cover.
2. The magnetorheological fluid-based passive-loading lower extremity exoskeleton knee joint device according to claim 1, wherein the magnetorheological fluid-based passive-loading lower extremity exoskeleton knee joint device is characterized in that: the large through hole (51) is embedded with a retainer ring for blocking the hole at the bottom side of the liquid passing piece (7) in the circular opening (54).
3. The magnetorheological fluid-based passive-loading lower extremity exoskeleton knee joint device according to claim 2, wherein: the liquid passing piece (7) comprises an upper cylinder (72) and a lower cylinder (73), the lower cylinder (73) corresponds to one side of the circular opening (54), the upper cylinder (72) corresponds to one side of the conical opening (53), the diameter of the upper cylinder (72) is smaller than that of the lower cylinder (73), the liquid inlet hole and the conical frustum (71) are arranged on the upper cylinder (72), and the inner wall of the large through hole (51) corresponding to the upper cylinder (72) is in a flaring shape.
4. The magnetorheological fluid-based passive-loading lower extremity exoskeleton knee joint device according to claim 1, wherein the magnetorheological fluid-based passive-loading lower extremity exoskeleton knee joint device is characterized in that: the inner ring of the stator (4) and the end cover are circumferentially provided with connecting holes together, a sealing washer is arranged between the inner ring of the stator (4) and the end cover, and the stator (4) and the end cover are fixed through a connecting piece.
5. The magnetorheological fluid-based passive-loading lower extremity exoskeleton knee joint device according to claim 4, wherein the magnetorheological fluid-based passive-loading lower extremity exoskeleton knee joint device is characterized in that: shank pole (3) are provided with fixed disk (31) in one side with end cover fixed connection, circumference is provided with on fixed disk (31) with stator (4), end cover assorted connecting hole, fixed disk (31) are provided with the recess in the connecting hole inboard, the recess has the frame limit that can inlay and establish in the recess for the polygon and on the end cover of this side.
6. The magnetorheological fluid-based passive-loading lower extremity exoskeleton knee joint device according to claim 5, wherein: the end covers are respectively provided with a boss (16) positioned in the groove, ring grooves surrounding the rotating shaft (1) are respectively arranged in the bosses (16), and felt rings are arranged in the ring grooves.
7. The magnetorheological fluid-based passive-loading lower extremity exoskeleton knee joint device according to claim 1, wherein the magnetorheological fluid-based passive-loading lower extremity exoskeleton knee joint device is characterized in that: one end of the rotating shaft (1) is circular in cross section, and the other end of the rotating shaft is polygonal in cross section.
8. The magnetorheological fluid-based passive-loading lower extremity exoskeleton knee joint device according to claim 1, wherein the magnetorheological fluid-based passive-loading lower extremity exoskeleton knee joint device is characterized in that: the rotor (5) is provided with a key groove, and the rotor (5) is connected with the rotating shaft (1) in a key mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214998.XA CN114474018B (en) | 2022-03-04 | 2022-03-04 | Passive load-bearing exoskeleton knee joint device based on magnetorheological fluid |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214998.XA CN114474018B (en) | 2022-03-04 | 2022-03-04 | Passive load-bearing exoskeleton knee joint device based on magnetorheological fluid |
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| Publication Number | Publication Date |
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| CN114474018A true CN114474018A (en) | 2022-05-13 |
| CN114474018B CN114474018B (en) | 2024-02-27 |
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| CN202210214998.XA Active CN114474018B (en) | 2022-03-04 | 2022-03-04 | Passive load-bearing exoskeleton knee joint device based on magnetorheological fluid |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115501090A (en) * | 2022-11-22 | 2022-12-23 | 潍坊医学院附属医院 | Walking rehabilitation auxiliary equipment for fracture patients |
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| CN112873174A (en) * | 2020-12-03 | 2021-06-01 | 中国科学院深圳先进技术研究院 | Exoskeleton robot knee joint based on electromagnetic clutch |
| US20210187758A1 (en) * | 2017-10-20 | 2021-06-24 | Guangdong O-Matic Intelligent Robot Limited | Joint mechanism, method for controlling the same, multi-arm device, and robot |
| CN113858180A (en) * | 2021-11-05 | 2021-12-31 | 中国科学技术大学 | Magnetorheological joint for lower limb exoskeleton |
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2022
- 2022-03-04 CN CN202210214998.XA patent/CN114474018B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB779087A (en) * | 1954-01-12 | 1957-07-17 | Brian Geoffrey Blatchford | Artificial limb |
| US20010029400A1 (en) * | 2000-01-20 | 2001-10-11 | Deffenbaugh Bruce W. | Electronically controlled prosthetic knee |
| KR20040029880A (en) * | 2002-10-02 | 2004-04-08 | 한국과학기술연구원 | A rotary compliant joint with a damper using magneto―rheological fluid and a spring |
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| CN115501090A (en) * | 2022-11-22 | 2022-12-23 | 潍坊医学院附属医院 | Walking rehabilitation auxiliary equipment for fracture patients |
| CN115501090B (en) * | 2022-11-22 | 2023-02-28 | 潍坊医学院附属医院 | Walking rehabilitation auxiliary equipment for fracture patients |
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| CN114474018B (en) | 2024-02-27 |
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