Design of the power-assisted hip exoskeleton robot with hydraulic servo rotary drive

摘要

Robotic lower limbs exoskeletons hold potential significant in strength augmentation for effective walking and supporting substantial loads among various professions. However, the excellent kinematics performance and the high joint-driving torque are required for establishing such exoskeleton robots, which have become the major technical obstacle for practical applications of exoskeletons. A novel powered hip exoskeleton robot with hydraulic servo rotary drive is presented, both greater power to weight ratio and admirable rotating property similar to the servo motor can be achieved. In order to set up the range of motions and torque requirements of hip joints, the human's gait cycle and the lower limb physiology characteristics are analyzed. Based on the data analyses of human lower limbs, a rotary hydraulic driving device for hip flexion and extension (Al/Ex) is proposed, which is combined with the motion characteristic of hydraulic and the rotary motor. The designed new type of powerassisted hip exoskeleton can satisfy a variety of action like normal walking, like going up and down the stairs and bending down, etc. This work not only introduces the design details of the power-assisted hip exoskeleton with hydraulic servo rotary drive, but also provides a new actuating device for future research of the multi-joint lower limbs power-assisted robots design. With this focus, more innovative and practical exoskeleton robots will be emergence.