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发明授权
CN105078708B 一种外骨骼机器人随动控制装置 有权 转让

一种外骨骼机器人随动控制装置
摘要：
本发明涉及一种外骨骼机器人随动控制装置，解决现有的外骨骼机器人采用手动控制的协调性不好、而采用主从控制的外骨骼机器人结构复杂、动作存在滞后的问题。本装置包括上臂、下臂，上臂下端和下臂上端采用可转动的关节连接，其特征在于：所述上臂或下臂上设有可垂直于轴线方向滑动的主动压块，所述主动压块与人体绑定，上臂或下臂上与主动压块对应设置有两个微动开关，所述上臂和下臂之间设有驱动转动的动力装置，两个微动开关分别控制动力装置的正反向运动。本发明实现外骨骼和人体的实时随动，具有良好的协调性、同步性，而且结构简单，实现成本低，经济性好。
摘要（英）：

A follow-up control device for an exoskeleton robot includes an upper arm and a lower arm, and the lower end of the upper arm and the upper end of the lower arm are connected via a rotatable joint. An active press block capable of sliding in a direction perpendicular to an axis is arranged on the upper arm or the lower arm, the active press block is bonded with a human body, two micro switches are arranged on the upper arm or the lower arm in correspondence to the active press block, a power device for driving the rotation is arranged between the upper arm and the lower arm, and the two micro switches respectively control the forward and backward motion of the power device.

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