Structure Design and Flexible Connection Design of a New Exoskeleton Robot

摘要

In order to meet the needs of daily walking and weight-bearing walking functions of patients with lower limb amputees, a new type of exoskeleton robot for knee amputees with integrated intelligent lower limb prosthesis is proposed. The overall structure mainly includes the amputated leg side intelligent prosthesis, the amputated leg side exoskeleton thigh rod, the healthy leg side exoskeleton thigh rod and calf rod and exoskeleton back frame, etc. This paper introduces the structure and functional characteristics of the exoskeleton robot in detail. According to the structure characteristics of the exoskeleton robot, the mechanical model of human lower limbs was established, and the joint restraint moment of the flexible human-machine connection mechanism was calculated. The simulation model of flexible man-machine coupling system was established, and the joint torques of the coupling system were obtained.