The invention relates to a lower limb rehabilitation training exoskeleton with bionics design. An existing lower limb rehabilitation training exoskeleton is complex in driving structure, low in the response speed and not ideal in rehabilitation training effect, and lacks bionic consideration. The lower limb rehabilitation training exoskeleton comprises a waist tightening mechanism and lower limb exoskeleton leg rods, wherein the waist tightening mechanism is connected with the waist of a wearer, the left lower limb exoskeleton leg rod and the right lower limb exoskeleton leg rod respectively have four degrees of freedom and achieve three degrees of freedom of hip joints through a hip joint adduction and abduction mechanism, a hip joint bending and stretching mechanism and a hip joint medial rotation and lateral rotation mechanism. The axes of the three rotation degrees of freedom are orthogonal at the motion center of the hip joints of the human body. The rotation center of a knee joint bending and stretching mechanism moves along with the rotation center of the knee joints of the human body, so that the exoskeleton and the rotation center of the knee joints of the human body are always kept in the same axis. The hip joint bending and stretching mechanism and the knee joint bending and stretching mechanism are directly driven by a motor in cooperation with a speed reducer. The lower limb rehabilitation training exoskeleton is compact and portable in structure, man-machine interference force is avoided, damage caused by rehabilitation training to the knee joints is reduced, and the whole rehabilitation training becomes more natural and easier.

Lower limb rehabilitation training exoskeleton with bionics design

The invention relates to an assistance exoskeleton robot. The assistance exoskeleton robot comprises shoe body assemblies (1), ankle assemblies (2), shanks (3), knees (4), thigh assemblies (5), a hip joint assembly (6) and a back support (7), wherein each shoe body assembly (1) comprises a rubber insole (8), a front sole (9) and a back sole (10); the ankle assembly (2) comprises a connection block (12), a hinge board (13), a rotation pair (14) and a connection rod (15); the keens (4) are in an L-shaped structure; the upper end of each shank (3) is hinged with the corner of the L-shaped structure of the corresponding knee (4); the thigh assembly (5) comprises a thing main body, an oil cylinder A (20) and an oil cylinder B (22); the hip joint assembly (6) comprises a hip joint main body (24) and a hip joint band (25). The assistance exoskeleton robot has the advantages of simple structure, low cost and high comfort level; the ankles have multiple degrees of freedom.

Assistance exoskeleton robot

A four-degree-of-freedom multi-pose lower limb rehabilitation robot mainly comprises a base mechanism, a seat mechanism, a left mechanical leg mechanism and a right mechanical leg mechanism, and is characterized in that the upper part of the base mechanism is fixedly connected with the seat mechanism through bolts, mechanical leg width adjusting parts of the seat mechanism are connected with left and right mechanical legs, leg part sliding block connecting pieces of the two mechanical leg width adjusting parts are respectively connected with handle connecting pieces of a thigh mechanism through bolts. According to the robot provided by the invention, a tri-branch parallel mechanism UPU-UPS-U is adopted at hip joint parts of the mechanical legs for realizing flexion and extension and side-sway, knee joints and ankle joints are realized through serial mechanisms, and all joints form a series-parallel hybrid four-degree-of-freedom space mechanism; the length of each of shanks and thighs of the mechanical legs can be adjusted, and an adjusting device is a push rod sliding block four-bar mechanism; the robot can realize the multi-pose change such as standing posture, lying posture and user-defined angles by a parallel mechanism formed by multiple electric cylinders between a seat and a bottom seat plate.

Four-degree-of-freedom multi-pose lower limb rehabilitation robot

The invention relates to a connecting rod and joint integrated hydraulic driving external skeleton. A lower limb external skeleton boosting robot is mainly composed of a mechanical structure and a hydraulic system, and the hydraulic driving system comprises a hydraulic base station module, a joint driving module and an energy recovery module. According to the connecting rod and joint integrated hydraulic driving external skeleton, on the basis of the design of the knee joints and the hip joint, the connecting rod structure is adopted, the problem that rotation centers of the knee joints and the hip joint are not matched with those of external skeleton joints in the people walking process is solved, and the human body wearing comfort is improved. By means of the matched hydraulic energy recovery module, the energy utilization efficiency can be improved, the walking impact can be smoothed, and the boosting effect can be promoted.

Connecting rod and joint integrated hydraulic driving external skeleton

Modeling and simulation are key technologies of hydraulic system.About hydraulic system’s model-ing and simulation,present domestic and international materials about its research and application are collected and rearranged,present status of its modeling and simulation are generalized.These present modeling methods mainly include the analytical modeling method,the transfer function modeling method,the Bond graph modeling method,the "grey box" modeling method and the object-orient technology modeling method.The development trend of hydraulic system’s modeling and simulation is introduced.

Development trends and present status on modeling and simulation of hydraulic system

The utility model discloses a wearable 7-degree-of-freedom human body power assisting device, relates to a power assisting device, and provides the wearable 7-degree-of-freedom human body power assisting device which can ensure that ankle joints and hip joints achieve outward extending/inward drawing movements and achieve multi-degree-of-freedom and large-range movements. The wearable 7-degree-of-freedom human body power assisting device is provided with a waist fixing device, a three-degree-of-freedom hip joint mechanism, a thigh rod, a single-degree-of-freedom knee joint mechanism, a shank rod, a three-degree-of-freedom ankle joint mechanism, a sole seat plate, a displacement sensor and a controller. The extending/bending forward and backward and outward extending/inward drawing left and right of the hip joints as well as the axial rotation of legs, extending and bending forward and backward of the knee joints, and outward extending/inward drawing left and right of the ankle joints can be realized, so that multi-angle and wide-range movements of the ankle joints are realized; the outward extending/inward drawing movements of the ankle joints and the hip joints can be realized; various postures of lower limbs of human bodies can be reproduced basically; the lower limbs can achieve 7-degree-of-freedom; and the wearable 7-degree-of-freedom human body power assisting device has less limitations and wide application ranges, can act as the power assisting device for walking and climbing stairs, and also can be used for body building after recovery.

Wearable 7-degree-of-freedom human body power assisting device

Conference Name:3rd International Conference on Materials Science and Information Technology, MSIT 2013. Conference Address: Nanjing, Jiangsu, China. Time:September 14, 2013 - September 15, 2013.

Research of static and dynamic characteristic simulation and experiment for the sliding valve

How Living Wages Influence Apparel Costs and Comparative Advantages among Different Multi-tier Supply Chains

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Wearable 7-degree-of-freedom human body power assisting device

Research of static and dynamic characteristic simulation and experiment for the sliding valve

How Living Wages Influence Apparel Costs and Comparative Advantages among Different Multi-tier Supply Chains