CN110076758B - Human-simulated lower limb exoskeleton configuration method based on parallel-serial mechanism - Google Patents
Human-simulated lower limb exoskeleton configuration method based on parallel-serial mechanism Download PDFInfo
- Publication number
- CN110076758B CN110076758B CN201910433209.XA CN201910433209A CN110076758B CN 110076758 B CN110076758 B CN 110076758B CN 201910433209 A CN201910433209 A CN 201910433209A CN 110076758 B CN110076758 B CN 110076758B
- Authority
- CN
- China
- Prior art keywords
- lower limb
- parallel
- freedom
- limb exoskeleton
- human
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a human-simulated lower limb exoskeleton configuration method based on a parallel-serial mechanism. The method comprises the following operation steps: 1) based on human anatomy and anthropomorphic configuration design thought, the lower limb exoskeleton is configured in freedom degree. 2) According to the configuration of the degree of freedom of the humanoid lower limb exoskeleton, a humanoid lower limb exoskeleton configuration based on a hybrid mechanism is designed, specifically a 6SPS +3SPS +1SPS +3SPS, and a single leg is composed of the hybrid mechanism of 3SPS +1SPS +3 SPS. 3) Taking the hip joint as an example, the kinematic simulation is carried out on the 6SPS parallel mechanism, and the human body gait data measured by the experiment is combined, so that the human-computer motion matching effect at the hip joint is verified. The invention has the advantages of innovation, simulation and experimental basis, high man-machine motion matching precision, large bearing capacity and high stability, can solve the problem that the existing lower limb exoskeleton configuration cannot realize active driving on the movement of the lower limb joint of a wearer in all directions, and has great guiding significance for the configuration design of the lower limb exoskeleton.
Description
Technical Field
The invention relates to a human-simulated lower limb exoskeleton configuration method based on a parallel-serial mechanism, and belongs to the field of wearable equipment configuration design.
Background
The lower limb exoskeleton is a wearable man-machine integrated mechanical device, and perfectly combines human intelligence with the 'physical strength' of a robot. The lower limb exoskeleton can fully exert the powerful information processing capacity of the human brain, can provide power for the human body, enhances the walking capacity of the human body, relieves the fatigue of the human body caused by heavy load and long-time work, and has wide application prospect in the fields of helping the old and disabled, medical rehabilitation, military disaster relief and the like.
The lower extremity exoskeleton body is coupled to the human body through a series of links. As a man-machine cooperative system with human center, the lower limb exoskeleton mainly aims at cooperating with the human body to move and realize the assistance function. When the lower extremity exoskeleton is out of synchronization with the human body, the movement of the wearer is disturbed and even threatens the safety of the wearer. The reasonable designed lower limb exoskeleton configuration is an important basis for realizing man-machine cooperative motion. In addition, the prior lower limb exoskeleton can only provide active assistance in a single direction, and the human-simulated lower limb exoskeleton configuration based on the hybrid mechanism can realize the active assistance in all directions of each joint of the lower limb, including the active assistance of hip joint flexion-extension, abduction-adduction and external rotation-internal rotation motions, the active assistance of knee joint flexion-extension motions, and the active assistance of ankle joint flexion-extension, eversion-inversion and external rotation-internal rotation.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a human-simulated lower limb exoskeleton configuration method based on a parallel-serial mechanism, and realizes active assistance and accurate kinematic matching of movement of joints of lower limbs of a wearer in all directions.
In order to achieve the purpose, the invention adopts the following technical scheme:
a human-simulated lower limb exoskeleton configuration method based on a parallel-serial mechanism is characterized by comprising the following operation steps:
a. human-simulated lower limb exoskeleton freedom degree configuration based on parallel-serial mechanism
Anatomical analysis shows that the hip joint of the lower limb of the human body has three degrees of freedom and can realize flexion-extension, abduction-adduction and external rotation-internal rotation movements, the knee joint has one degree of freedom and can realize flexion-extension movements, and the ankle joint has three degrees of freedom and can realize flexion-extension, eversion-inversion and external rotation-internal rotation movements. Based on the design idea of anthropomorphic configuration, the configuration of the lower extremity exoskeleton is configured with freedom, as shown in fig. 1. In order to coordinate the movement of the supporting legs and the upper half of the body, the hip joint and the ankle joint of the lower extremity exoskeleton must be respectively provided with an abduction-adduction degree of freedom; in order to achieve a shift in the center of gravity, flexion-extension degrees of freedom of the hip joint and ankle joint are indispensable; lower extremity exoskeletons must sometimes be rotated in order to help the body reach its target position, so it is necessary to provide a degree of pronation-supination freedom in the hip and ankle joints; the knee joint is provided with a bending-stretching freedom degree, the landing height of the swing leg can be adjusted, and the equal gait motions of going up and down steps can be realized; in order to balance the movement of the lower limbs and achieve the bionic effect, the pelvis is provided with 6 degrees of freedom. In summary, in order to achieve the bionic purpose, the lower extremity exoskeleton needs to be configured with 20 degrees of freedom, wherein the pelvis has six degrees of freedom, and the number of degrees of freedom of the hip joint, the knee joint and the ankle joint is three, one and three respectively for a single leg.
b. Human-simulated lower limb exoskeleton configuration design based on parallel-serial mechanism
According to the configuration of the degree of freedom of the humanoid lower limb exoskeleton, a humanoid lower limb exoskeleton configuration based on a hybrid mechanism is designed, specifically 6SPS +3SPS +1SPS +3SPS, and a single leg is composed of a 3SPS +1SPS +3SPS hybrid mechanism, as shown in fig. 2. The human-simulated lower limb exoskeleton configuration based on the series-parallel mechanism adopts a 6SPS upper parallel mechanism to simulate the movement of a pelvis. 6 the upper fixed ring of the upper SPS parallel mechanism is fixed with the waist of the human body. The length of an upper supporting rod of the parallel mechanism on the 6SPS is changed to drive the upper and middle movable rings to move, so that the hip joint is driven to move. For a single leg of the proposed configuration, the upper parallel mechanism simulates the motion of the thigh around the hip joint on the upper moving loop of the parallel mechanism on the 6SPS and the series 3 SPS. The length of the middle and upper support rods of the middle and upper parallel mechanism in the 3SPS is changed to drive the middle movable ring to move, so that active assistance to hip joint flexion-extension, abduction-adduction and external rotation-internal rotation movement is realized. And then, a 1SPS middle-lower series mechanism is connected in series on a middle movable ring at the tail end of the 3SPS middle-upper parallel mechanism and is used for simulating the motion of the lower leg around the knee joint. The active assistance of the lower middle dynamic ring to the flexion-extension movement of the knee joint is realized by driving the middle lower support rod to move. The tail end of the middle-lower serial mechanism is connected with a 3SPS lower parallel mechanism in series, and the motion of the foot around the ankle joint is simulated by changing the length of the lower support rod, so that the active assistance of a lower movable ring of the 3SPS lower parallel mechanism on the flexion-extension, eversion-inversion and outward-inward rotation motions of the ankle joint is realized.
c. Human-simulated lower limb exoskeleton hip joint motion matching based on parallel-serial mechanism
And (3) performing kinematics simulation on the humanoid lower limb exoskeleton configuration based on the parallel-serial mechanism by combining human gait data measured by experiments so as to verify the human-computer kinematics matching effect.
Compared with the prior art, the invention has the following obvious outstanding characteristics and obvious advantages:
1. the invention provides a novel human-simulated lower limb exoskeleton configuration based on a parallel-serial mechanism, which has 20 active degrees of freedom for completely matching the motion of lower limbs of a human body, can realize accurate kinematic matching with a wearer, and further realizes man-machine cooperative motion.
2. The humanoid lower limb exoskeleton configuration based on the parallel-serial mechanism inherits the outstanding advantages of large bearing capacity and high stability of the parallel-serial mechanism.
3. The invention provides a personification design idea for the configuration design of the lower limb exoskeleton, and can solve the problem that the traditional lower limb exoskeleton configuration cannot realize active driving of the movement of the lower limb of a wearer in all directions due to insufficient active freedom.
Drawings
Fig. 1 is a configuration diagram of the degree of freedom of a humanoid lower extremity exoskeleton based on a parallel-serial mechanism.
Fig. 2 is a diagram of the humanoid lower limb exoskeleton mechanism based on the hybrid mechanism.
Fig. 3 is an analysis model diagram of a 6SPS parallel mechanism according to an embodiment of the present invention.
FIG. 4 is a graph of hip joint motion match and error for an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention are described in detail below with reference to the attached drawing figures:
the first embodiment is as follows:
referring to fig. 1-3, the human-simulated lower limb exoskeleton configuration method based on the parallel-serial mechanism is characterized by comprising the following operation steps:
a. human-simulated lower limb exoskeleton freedom degree configuration based on parallel-serial mechanism
Anatomical analysis shows that the hip joint of the lower limb of the human body has three degrees of freedom and can realize flexion-extension, abduction-adduction and external rotation-internal rotation movements, the knee joint has one degree of freedom and can realize flexion-extension movements, and the ankle joint has three degrees of freedom and can realize flexion-extension, eversion-inversion and external rotation-internal rotation movements; based on the anthropomorphic configuration design idea, the configuration of the lower limb exoskeleton is configured in a degree of freedom; in order to coordinate the movement of the supporting legs and the upper half of the body, the hip joints 2 and the ankle joints 4 of the lower extremity exoskeleton must be respectively provided with an abduction-adduction degree of freedom; in order to achieve a shift in the center of gravity, flexion-extension degrees of freedom of the hip joint 2 and the ankle joint 4 are indispensable; to help the body reach its target position, the lower extremity exoskeleton must sometimes rotate, so it is necessary to set a degree of internal-external rotation freedom on the hip joint (2) and ankle joint (4); the knee joint 3 is provided with a bending-stretching freedom degree, the landing height of the swing leg can be adjusted, and gait motions such as up-down steps and the like can be realized; in order to balance the movement of the lower limbs and achieve the bionic effect, the pelvis 1 is provided with 6 degrees of freedom. In summary, in order to achieve the bionic purpose, the lower extremity exoskeleton needs to be configured with 20 degrees of freedom, wherein the pelvis 1 has six degrees of freedom, and for a single leg, the numbers of degrees of freedom of the hip joint 2, the knee joint 3 and the ankle joint 4 are respectively three, one and three;
b. human-simulated lower limb exoskeleton configuration design based on parallel-serial mechanism
According to the configuration of the degree of freedom of the humanoid lower limb exoskeleton, a humanoid lower limb exoskeleton configuration based on a hybrid mechanism is designed, specifically a 6SPS +3SPS +1SPS +3SPS, and a single leg is composed of a 3SPS +1SPS +3SPS hybrid mechanism. The human-simulated lower limb exoskeleton configuration based on the parallel-serial mechanism adopts the 6SPS parallel mechanism 14 to simulate the movement of a pelvis. 6, an upper fixed ring 5 of the SPS upper parallel mechanism 14 is fixed with the waist of the human body and is a fixed ring; the length of an upper supporting rod 6 of a parallel mechanism 14 on the SPS 6 is changed to drive an upper middle moving ring 7 to move, so that the hip joint is driven to move; for a single leg of the proposed configuration, the upper and middle parallel mechanisms 15 on the upper and middle moving rings 7 of the parallel mechanism 14 on the 6SPS and the series connection 3SPS simulate the movement of the thigh around the hip joint; the length of an upper middle support rod 8 of a middle-upper parallel mechanism 15 on the 3SPS is changed to drive a middle movable ring 9 to move, so that active assistance to hip joint flexion-extension, abduction-adduction and external rotation-internal rotation movement is realized; then, a middle moving ring 9 at the tail end of the upper parallel mechanism 15 in the 3SPS is connected with a middle serial mechanism 16 in the 1SPS in series for simulating the motion of the lower leg around the knee joint; the active assistance of the lower and middle dynamic rings 11 to the flexion-extension movement of the knee joint is realized through the movement of the driving rod 10; the end of the middle lower series mechanism 16 is connected with a 3SPS lower parallel mechanism 17 in series, the motion of the foot around the ankle joint is simulated by changing the length of the supporting rod 12, and the active power assistance of the lower movable ring 13 of the 3SPS lower parallel mechanism 17 on the flexion-extension, eversion-inversion and outward-inward rotation motion of the ankle joint is realized;
c. human-simulated lower limb exoskeleton hip joint motion matching based on parallel-serial mechanism
In order to verify the matching effect of the humanoid lower limb exoskeleton configuration based on the series-parallel mechanism and the movement of a wearer, taking a hip joint as an example, and combining human gait data measured by experiments, the kinematic simulation is carried out on the parallel mechanism 14 on the 6 SPS; the analytical model of the 6SPS upper parallel mechanism 14 consists of an upper fixed ring 5, an upper middle movable ring 7 and 6 upper support rods 6, namely electric cylinders, wherein each electric cylinder is respectively connected with the upper fixed ring 5 and the upper middle movable ring 7 through a spherical pair; respectively above the central point o of the stationary ring 51Center point o of upper and middle moving ring 72Establishing a coordinate system o of an upper fixed ring 5 and an upper middle moving ring 7 for a coordinate origin1x1y1z1、o2x2y2z2(ii) a 6SPS upper parallel mechanism 14 single electric cylinder and upper stationary ring 5 and middle upper moving ring 7 respectively intersect at point Ai(i-1, …,6) and point Bi(i 1, …,6) point B on the center moving ring of the parallel mechanism 14 on 6SPS was chosen1And taking the mark points at the hip joint of the wearer in the gait capture experiment as reference objects to verify the kinematic matching effect; bending-stretching-pitching angle, abduction-adduction-rolling angle, internal rotation-external rotation angle and yaw angle of the hip joint of the human body under the walking gait of the flat ground measured by the experiment are taken as the kinematic simulation target track of the parallel mechanism 14 on the 6 SPS; the comparison of simulation results and experimental results shows that the human-machine gait matching effect can be realized by the human-simulated lower limb exoskeleton configuration based on the parallel-serial mechanism, so that the active assistance to the movement of a wearer in all directions is realized.
Example two:
in the embodiment, referring to fig. 3 and 4, a hip joint is taken as an example, and a parallel-to-parallel mechanism 14 on 6SPS of a humanoid lower extremity exoskeleton configuration based on a parallel-to-parallel mechanism is subjected to kinematic simulation to verify the gait matching effect of the humanoid lower extremity exoskeleton configuration. The method comprises the following steps:
a. human-simulated lower limb exoskeleton freedom degree configuration based on parallel-serial mechanism
According to the content a of the invention, the degree of freedom configuration is performed on the humanoid lower limb exoskeleton based on the hybrid mechanism, as shown in fig. 1. The number of degrees of freedom is 20, wherein the pelvis number is 6, and for a single leg, the number of degrees of freedom of the hip, the knee joint and the ankle joint is 3, 1 and 3 respectively.
b. Human-simulated lower limb exoskeleton configuration design based on parallel-serial mechanism
According to the invention content b in the specification, a humanoid lower limb exoskeleton configuration based on a hybrid mechanism is designed, and specifically, 6SPS +3SPS +1SPS +3SPS is designed, as shown in FIG. 2.
c. Human-simulated lower limb exoskeleton hip joint motion matching based on parallel-serial mechanism
According to the description of the invention c, the kinematic simulation is carried out on the 6SPS upper parallel mechanism 14 to verify the kinematic matching effect. Firstly, a kinematic matching reference point is determined according to the coupling relation between the hybrid lower limb exoskeleton and the lower limb of a wearer. An analytical model of the 6SPS upper parallel mechanism 14 is shown in fig. 3, and it is composed of an upper stationary ring 5, an upper middle stationary ring 7 and 6 upper support rods 6 (i.e., electric cylinders), each of which is connected with the upper stationary ring 5 and the upper middle stationary ring 7 through a spherical pair. Respectively above the central point o of the stationary ring 51Center point o of upper and middle moving ring 72Establishing a coordinate system o of an upper fixed ring 5 and an upper middle moving ring 7 for a coordinate origin1x1y1z1、o2x2y2z2. 6SPS upper parallel mechanism 14 single electric cylinder and upper stationary ring 5 and upper middle moving ring 7 respectively intersect at point Ai(i-1, …,6) and point Bi(i-1, …, 6). The present embodiment selects point B on the mid-gimbal of the parallel mechanism 14 on 6SPS1And taking the mark points at the hip joint of the wearer in the gait capture experiment as reference objects to verify the kinematic matching effect. The bending-extending (pitching) angle, the abduction-adduction (rolling) rolling angle and the internal rotation-external rotation (yawing) angle of the hip joint of the human body under the walking gait of the flat ground, which are measured by the experiment, are used as the kinematic simulation target track of the parallel mechanism 14 on the 6 SPS. Extracting the upper point B of the upper and middle dynamic rings obtained by kinematics simulation1Capturing three-dimensional coordinate data of human hip joint points obtained by gait, andand (6) carrying out comparison. The kinematic matching result is shown in fig. 4, the human-computer kinematic matching errors in the X direction and the Y direction are smaller than 1mm, the human-computer kinematic matching errors in the Z direction are smaller than 6mm, and the human-computer kinematic matching effect is good.
In the embodiment, the configuration of the humanoid lower limb exoskeleton based on the hybrid mechanism is verified by taking the hip joint as an example, so that the configuration can realize accurate kinematic matching between the lower limb exoskeleton and a wearer, can overcome a plurality of defects in the existing method, and has great guiding significance for the design of the configuration of the lower limb exoskeleton.
Claims (1)
1. A human-simulated lower limb exoskeleton configuration method based on a parallel-serial mechanism is characterized by comprising the following operation steps:
a. human-simulated lower limb exoskeleton freedom degree configuration based on parallel-serial mechanism
Anatomical analysis shows that the hip joint of the lower limb of the human body has three degrees of freedom and can realize flexion-extension, abduction-adduction and external rotation-internal rotation movements, the knee joint has one degree of freedom and can realize flexion-extension movements, and the ankle joint has three degrees of freedom and can realize flexion-extension, eversion-inversion and external rotation-internal rotation movements; based on the anthropomorphic configuration design idea, the configuration of the lower limb exoskeleton is configured in a degree of freedom; in order to coordinate the movement of the supporting legs and the upper half body, a hip joint (2) and an ankle joint (4) of the lower limb exoskeleton must be respectively provided with an abduction-adduction degree of freedom; in order to achieve a shift in the center of gravity, flexion-extension degrees of freedom of the hip joint (2) and ankle joint (4) are indispensable; in order to help the body to reach its target position, the lower extremity exoskeleton must sometimes rotate, so that it is necessary to set a degree of freedom of internal-external rotation on the hip joint (2) and ankle joint (4); the knee joint (3) is provided with a bending-stretching freedom degree, the landing height of the swing leg can be adjusted, and gait motions such as going up and down steps can be realized; in order to balance the movement of the lower limbs and achieve the bionic effect, the pelvis (1) is provided with 6 degrees of freedom; in summary, in order to achieve the bionic purpose, the lower limb exoskeleton needs to be configured with 20 degrees of freedom, wherein the pelvis (1) has six degrees of freedom, and for a single leg, the numbers of the degrees of freedom of the hip joint (2), the knee joint (3) and the ankle joint (4) are three, one and three respectively;
b. human-simulated lower limb exoskeleton configuration design based on parallel-serial mechanism
According to the configuration of the degree of freedom of the humanoid lower limb exoskeleton, a humanoid lower limb exoskeleton configuration based on a hybrid mechanism is designed, specifically 6SPS +3SPS +1SPS +3SPS, and a single leg consists of a 3SPS +1SPS +3SPS hybrid mechanism; the human-simulated lower limb exoskeleton configuration based on the parallel-series mechanism adopts a 6SPS upper parallel mechanism (14) to simulate the movement of a pelvis; 6, an upper fixed ring (5) of the SPS upper parallel mechanism (14) is fixed with the waist of the human body; the length of an upper supporting rod (6) of a parallel mechanism (14) on the 6SPS is changed to drive an upper middle moving ring (7) to move, so that the hip joint is driven to move; for a single leg with the structure, the motion of the thigh around the hip joint is simulated by connecting an upper middle parallel mechanism (15) on the upper middle moving ring (7) of a 6SPS upper parallel mechanism (14) in series and connecting a 3SPS upper middle parallel mechanism (15) on the middle moving ring; the length of an upper middle supporting rod (8) of a middle-middle parallel mechanism (15) on the 3SPS is changed to drive a middle movable ring (9) to move, so that active assistance to hip joint flexion-extension, abduction-adduction and external rotation-internal rotation movement is realized; then, a middle moving ring (9) at the tail end of the upper parallel mechanism (15) in the 3SPS is connected with a middle serial mechanism (16) and a lower serial mechanism (16) in the 1SPS in series for simulating the motion of the lower leg around the knee joint; the active assistance of the lower and middle moving rings (11) to the flexion-extension movement of the knee joint is realized through the movement of the driving rod (10); the tail end of the middle-lower series mechanism (16) is connected with a 3SPS lower parallel mechanism (17) in series, and the motion of the foot around the ankle joint is simulated by changing the length of the supporting rod (12), so that the lower movable ring (13) of the 3SPS lower parallel mechanism (17) can actively assist the flexion-extension, eversion-inversion and outward rotation-inward rotation of the ankle joint;
c. human-simulated lower limb exoskeleton hip joint motion matching based on parallel-serial mechanism
In order to verify the matching effect of the humanoid lower limb exoskeleton configuration based on the series-parallel mechanism and the movement of a wearer, taking a hip joint as an example, and combining human gait data measured by experiments, the kinematic simulation is carried out on the parallel mechanism (14) on the 6 SPS; the analytical model of the 6SPS upper parallel mechanism (14) consists of an upper fixed ring (5), a middle upper movable ring (7) and 6 upper supporting rods (6), namely electric cylinders, wherein each electric cylinder is divided intoAre respectively connected with the upper fixed ring (5) and the upper middle moving ring (7) through a spherical pair; respectively above the central point o of the stationary ring (5)1Center point o of upper and middle moving ring (7)2Establishing a coordinate system o of an upper fixed ring (5) and an upper middle moving ring (7) for a coordinate origin1x1y1z1 、o2x2y2z2(ii) a The single electric cylinder of the 6SPS upper parallel mechanism (14) is respectively crossed with the upper fixed ring (5) and the middle upper moving ring (7) at a point Ai(i-1, …,6) and point Bi(i 1, …,6) and selecting the point B on the moving ring of the parallel mechanism (14) on the 6SPS1And taking the mark points at the hip joint of the wearer in the gait capture experiment as reference objects to verify the kinematic matching effect; taking bending-stretching-pitch angle, abduction-adduction-roll angle, internal rotation-external rotation angle-yaw angle of the hip joint of the human body under the walking gait of the flat ground measured by the experiment as a kinematic simulation target track of the parallel mechanism (14) on the 6 SPS; the comparison of simulation results and experimental results shows that the human-machine gait matching effect can be realized by the human-simulated lower limb exoskeleton configuration based on the parallel-serial mechanism, so that the active assistance to the movement of a wearer in all directions is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910433209.XA CN110076758B (en) | 2019-05-23 | 2019-05-23 | Human-simulated lower limb exoskeleton configuration method based on parallel-serial mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910433209.XA CN110076758B (en) | 2019-05-23 | 2019-05-23 | Human-simulated lower limb exoskeleton configuration method based on parallel-serial mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110076758A CN110076758A (en) | 2019-08-02 |
| CN110076758B true CN110076758B (en) | 2022-07-12 |
Family
ID=67421499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910433209.XA Active CN110076758B (en) | 2019-05-23 | 2019-05-23 | Human-simulated lower limb exoskeleton configuration method based on parallel-serial mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110076758B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979505B (en) * | 2019-12-30 | 2021-06-04 | 深圳市优必选科技股份有限公司 | Hip joint structure and humanoid robot |
| CN112388617B (en) * | 2020-12-02 | 2021-10-12 | 浙江理工大学 | Lower limb exoskeleton robot |
| CN112873177B (en) * | 2021-01-12 | 2022-12-13 | 成都大学 | Lower limb exoskeleton robot |
| CN113771005B (en) * | 2021-08-12 | 2023-04-18 | 重庆交通大学 | Wearable follow-up control electric drive power-assisted exoskeleton device |
| CN113779715B (en) * | 2021-08-24 | 2023-06-27 | 汕头大学 | Design method of light mechanical exoskeleton |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004017248A (en) * | 2002-06-19 | 2004-01-22 | Osaka Industrial Promotion Organization | Robot and robot operation system |
| KR20130037084A (en) * | 2011-10-05 | 2013-04-15 | 한국과학기술연구원 | Exoskeleton mechanism for limb power assistance |
| CN103120586A (en) * | 2012-10-22 | 2013-05-29 | 上海大学 | Auxiliary device and method used for collecting human body gait kinematical parameters |
| CN103505342A (en) * | 2013-10-16 | 2014-01-15 | 河北工业大学 | External skeleton type gait rehabilitation training device |
| CN105030476A (en) * | 2015-07-10 | 2015-11-11 | 哈尔滨天愈康复医疗机器人有限公司 | Robot used for spondylodynia rehabilitation treatment |
| CN107802268A (en) * | 2017-12-02 | 2018-03-16 | 北京工业大学 | A kind of outer instantaneous spiral shell rotating shaft measuring method of human elbow anterior flexion and rear stretching and forearm medial rotation rotation |
| CN207564473U (en) * | 2017-12-14 | 2018-07-03 | 嘉兴学院 | Apery limbic system based on pneumatic muscles |
| CN208799474U (en) * | 2018-07-05 | 2019-04-30 | 北京京东方光电科技有限公司 | A kind of flexibility clothes for human leg's rehabilitation training |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2895123A1 (en) * | 2014-07-15 | 2016-01-15 | Soc Robotics Inc. | Motion system with plurality of stewart platform based actuators |
-
2019
- 2019-05-23 CN CN201910433209.XA patent/CN110076758B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004017248A (en) * | 2002-06-19 | 2004-01-22 | Osaka Industrial Promotion Organization | Robot and robot operation system |
| KR20130037084A (en) * | 2011-10-05 | 2013-04-15 | 한국과학기술연구원 | Exoskeleton mechanism for limb power assistance |
| CN103120586A (en) * | 2012-10-22 | 2013-05-29 | 上海大学 | Auxiliary device and method used for collecting human body gait kinematical parameters |
| CN103505342A (en) * | 2013-10-16 | 2014-01-15 | 河北工业大学 | External skeleton type gait rehabilitation training device |
| CN105030476A (en) * | 2015-07-10 | 2015-11-11 | 哈尔滨天愈康复医疗机器人有限公司 | Robot used for spondylodynia rehabilitation treatment |
| CN107802268A (en) * | 2017-12-02 | 2018-03-16 | 北京工业大学 | A kind of outer instantaneous spiral shell rotating shaft measuring method of human elbow anterior flexion and rear stretching and forearm medial rotation rotation |
| CN207564473U (en) * | 2017-12-14 | 2018-07-03 | 嘉兴学院 | Apery limbic system based on pneumatic muscles |
| CN208799474U (en) * | 2018-07-05 | 2019-04-30 | 北京京东方光电科技有限公司 | A kind of flexibility clothes for human leg's rehabilitation training |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110076758A (en) | 2019-08-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110076758B (en) | Human-simulated lower limb exoskeleton configuration method based on parallel-serial mechanism | |
| CN107050763B (en) | Novel ankle joint rehabilitation robot and control method thereof | |
| Brackbill et al. | Dynamics and control of a 4-dof wearable cable-driven upper arm exoskeleton | |
| Copilusi et al. | Design and numerical characterization of a new leg exoskeleton for motion assistance | |
| Carbone et al. | A study of feasibility for a limb exercising device | |
| Hou et al. | Biomimetic shoulder complex based on 3-PSS/S spherical parallel mechanism | |
| Rakhodaei et al. | Path planning of the hybrid parallel robot for ankle rehabilitation | |
| Singh et al. | Modeling and simulation of a passive lower-body mechanism for rehabilitation | |
| Bandara et al. | A multi-DoF anthropomorphic transradial prosthetic arm | |
| Meng et al. | Upper-limb rehabilitation robot: State of the art and existing problems | |
| Guo et al. | Design of the structural optimization for the upper limb rehabilitation robot | |
| Ning et al. | An eight-degree-of-freedom upper extremity exoskeleton rehabilitation robot: design, optimization, and validation | |
| Xinyi et al. | Modeling, simulation & control of human lower extremity exoskeleton | |
| Olinski et al. | Type synthesis and preliminary design of devices supporting lower limb’s rehabilitation | |
| Fan et al. | Research on frog-inspired swimming robot driven by pneumatic muscles | |
| Wang et al. | Research on robot control system of lower limb rehabilitation robot based on human gait comfort | |
| Zhang et al. | Design and kinematic analysis of Co-exoskeleton with passive translational joints for upper-limb rehabilitation | |
| Yang et al. | Mechanism design and kinematic analysis of a waist and lower limbs cable-driven parallel rehabilitation robot | |
| Xie et al. | Artificial leg design and control research of a biped robot with heterogeneous legs based on PID control algorithm | |
| Yan et al. | Development of an assist upper limb exoskeleton for manual handling task | |
| Chen et al. | Hybrid control for human-powered augmentation exoskeleton | |
| Han | Walker robot structural design and performance analysis | |
| Chen et al. | Kinematics analysis and three-dimensional simulation of the rehabilitation lower extremity exoskeleton robot | |
| Wang et al. | Design of A Bipedal Robot via Modular Actuator | |
| Chang et al. | Structure design of ankle rehabilitation robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |