外骨骼机械腿的设计与研究

Design and Research of Exoskeleton Machine Legs

可穿戴式外骨骼可以在康复训练中为使用者提供行走所需动力,大幅减少腿部负担,并矫正患者行走姿势。外骨骼机械腿还可用于劳动者的腿部助力,大大提高其所能背负的最大载荷。文中设计了一种可行的外骨骼机械结构和利用脚步压力变化来控制步态的方案,并为其开发了PLC程序。

The wearable exoskeleton can provide the user with the power needed for walking during rehabilitation training,greatly reducing the burden on the legs and correcting the patient's walking posture.The exoskeleton mechanical leg can also be used to assist the worker's leg to greatly increase the maximum load they can carry.In this paper,a feasible exoskeleton mechanical structure and a scheme for controlling gait by using foot pressure changes are developed,and a PLC program is developed for it.