HUANG, GUO SHING,黄国兴,黃國興,CHEN, KUAN HUNG,陈冠宏,陳冠宏,CHEN, CHI CHUN,陈启钧,陳啟鈞,LAI, CHUNG LIANG,赖仲亮,賴仲亮
申请号：
TW108107304
公开号：
TWI687215B
申请日:
2019.03.05
申请国别(地区):
TW
年份:
2020
代理人:
摘要：
A lower limb exoskeleton robot is for at least one lower limb of a user to wear, and includes three motion sensing units, three exoskeleton motors, three motor encoders and a calculation unit and a lower limb aid. The motion sensing units are disposed adjacent to a hip joint, a knee joint and an ankle joint of the lower limb, respectively. Each of the motion sensing units is for providing a plurality of sensing signals of three dimension of the adjacent joint. Each of the motor encodes is for providing at least one encoding signal from the adjacent exoskeleton motor. The calculation unit is for calculating a plurality of output values according to the sensing signals, the encoding signals and 3-link Denavit-Hartenberg parameters. The output values are converted to three exoskeleton motor control signals, respectively. Thus, the lower limb exoskeleton robot according to the invention is advantageous in aiding the user and increasing the popularity thereof.一種下肢外骨骼機器人，供使用者之至少一下肢穿戴，下肢外骨骼機器人包含三運動感測單元、三外骨骼馬達、三馬達編碼器、演算單元及下肢輔具。運動感測單元分別鄰設於下肢的髖關節、膝關節及踝關節，各運動感測單元用以提供鄰設的關節的三維空間的複數感測信號。各馬達編碼器依據鄰設的外骨骼馬達提供至少一編碼信號。演算單元用以依據感測信號、編碼信號及三連動的DH參數運算得到複數輸出值，輸出值分別轉換為三外骨骼馬達控制信號。藉此，本發明之下肢外骨骼機器人有助提升對使用者的助益及增加其普及性。
