Light excitation friction type clutch assisted exoskeleton device and control method thereof

• Main Authors: ZOU KAIFAN, WANG XINRUI, MAO XIWANG, NING XUETAO, GUAN XIAORONG, LI ZHONG, LIU YINGQI
• Format: Patent
• Language: Chinese; English
• Published: 15.01.2019
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a light excitation friction type clutch assisted exoskeleton device and a control method thereof. The light excitation friction type clutch assisted exoskeleton device can simulate movement of a human body, provides supporting force when the human body moves or carries heavy loads, and provides certain protection for joints. The hip and knee joints of a single leg of the exoskeleton device each provide one freedom degree, and the ankle joint provides two freedom degrees; an excitation-type friction clutch is adopted to control movement of the joints, sensors on the footsurfaces provide signals required by controlling over the clutch, control is convenient, requirements of sensor hardware are low, and control is easy to realize; the existing commercial excitation friction type clutch is utilized, the structure is simple and reliable, the integration degree is high, control is easy and convenient, and the human-machine working efficiency is advantageously improved; and meanwhile, the lig