Semi-active exoskeleton robot adopting gear four-bar mechanism for transmission

• Main Authors: HE LONG, MAO XIWANG, DONG WEI, LONG YI
• Format: Patent
• Language: Chinese; English
• Published: 09.05.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention relates to a semi-active exoskeleton robot adopting a gear four-bar mechanism for transmission. The semi-active exoskeleton robot comprises a back frame mechanism, a hip joint connecting mechanism, a thigh mechanism, a shank mechanism and an ankle joint mechanism. An inertia measurement unit is arranged on the outer side of the back frame mechanism, and a thigh gyroscope and a shank gyroscope are arranged on the thigh mechanism and the shank mechanism respectively. The device has the beneficial effects that the thigh driving motor is connected with the transmission pinion, the transmission pinion is connected with the transmission bull gear, the fisheye bearing is mounted on the transmission bull gear, main components are intensively arranged at the thigh root and close to the gravity center of a human body, upward movement of the driving motor is achieved, and the rotational inertia of the thigh driving motor relative to the human body is greatly reduced; a driving link in traditional four-link