US 12,145,262 B2
Power-assisted negative pressure type flexible exoskeleton system used for extravehicular spacesuit
Hu Shi, Xi'an (CN); Kun Tan, Xi'an (CN); Xuesong Mei, Xi'an (CN); Tao Geng, Xi'an (CN); and Wenqiao Liu, Xi'an (CN)
Assigned to Xi'an Jiaotong University, Xi'an (CN)
Filed by Xi'an Jiaotong University, Xi'an (CN)
Filed on Jun. 10, 2022, as Appl. No. 17/837,159.
Claims priority of application No. 202110998655.2 (CN), filed on Aug. 27, 2021.
Prior Publication US 2023/0069675 A1, Mar. 2, 2023
Int. Cl. B25J 9/00 (2006.01); B64G 6/00 (2006.01)
CPC B25J 9/0006 (2013.01) [B64G 6/00 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A power-assisted negative pressure type flexible exoskeleton system used for an extravehicular spacesuit, comprising an exoskeleton pneumatic control system, a plurality of inertial sensors, a plurality of negative pressure type flexible actuators and a plurality of flexible bending sensors;
wherein the plurality of inertial sensors are configured for installation on left and right upper arms, left and right forearms, left and right thighs, and left and right shanks of a human body and used for detecting motion signals of elbow joints and knee joints of the human body;
wherein the plurality of negative pressure type flexible actuators are respectively fixed at two joints of elbows and knees in the extravehicular spacesuit;
wherein the plurality of flexible bending sensors are respectively fixed at bottoms of the plurality of negative pressure type flexible actuators and used for monitoring bending state signals of the plurality of flexible bending actuators in real time; and
wherein the exoskeleton pneumatic control system is integrated in a knapsack of the extravehicular spacesuit, and wherein the exoskeleton pneumatic control system comprises:
a controller respectively connected with the plurality of inertial sensors and the plurality of flexible bending sensors,
a gas source,
a water-separating gas filter,
a pressure reducing valve,
a pressure gauge,
a two-position two-way valve,
a plurality of three-position three-way valves, and
a plurality of proportional pressure valves;
wherein the gas source, the water-separating gas filter, the pressure reducing valve, the pressure gauge, and the two-position two-way valve are sequentially connected to form a stable air pressure output source;
wherein the plurality of three-position three-way valves comprise a first three-position three-way valve connected with a first proportional pressure valve to form a first branch, a second three-position three-way valve connected with a second proportional pressure valve to form a second branch, a third three-position three-way valve connected with a third proportional pressure valve to form a third branch, a fourth position three-way valve connected with a fourth proportional pressure valve to form a fourth branch; the two-position two-way valve is respectively connected with the four branches, the four branches are respectively connected with the plurality of negative pressure type flexible actuators; and
wherein the plurality of three-position three-way valves are able to be communicated with a space environment out of the extravehicular spacesuit.