Self-balancing wearable flexible elbow joint power-assisted exoskeleton

• Main Authors: WU ZHIYU, YU HONGLIU, JIAO ZONGQI, XU RONGNA, MENG QIAOLING, XIE QIAOLIAN
• Format: Patent
• Language: Chinese; English
• Published: 26.04.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a self-balancing wearable flexible elbow joint power-assisted exoskeleton which comprises an elbow joint fixing orthosis, a gravity balance module and a variable stiffness module, and the elbow joint fixing orthosis comprises an upper arm fixing orthosis and a forearm fixing orthosis. The upper arm fixing orthosis and the forearm fixing orthosis are connected with an upper arm and a forearm of a human elbow joint respectively, the two ends of the gravity balance module are connected with the outer side of the upper arm fixing orthosis and the outer side of the forearm fixing orthosis respectively, and the variable stiffness module is arranged on the outer side of the gravity balance module. The variable stiffness module is configured to change the stiffness of the gravitational equilibrium module. The variable-stiffness gravity balance mode is adopted, the variable-stiffness design of the mechanism is achieved, and complete gravity balance of elbow joint rotation is achieved. 本发明公开了一种自