Disclosed is a negative-pressure contraction elastomer driven flexible knee-joint exoskeleton, comprising an exoskeleton controller (1), a left leg knee-joint flexible actuator (2) and a right leg knee-joint flexible actuator (3). The flexible knee-joint exoskeleton mainly takes a micro vacuum negative pressure pump (103) as a pneumatic power source; a DSP embedded control system (108) processes data such as muscle strength, knee joint angle and man-machine interaction force, which are detected by a sensing system, in real time and estimates a man-machine cooperative state; switching of negative pressure flow and an air channel of the micro vacuum negative pressure pump (103) is controlled in real time; on the basis of the man-machine cooperative state, pressure control is conducted on corresponding negative-pressure contraction elastomer drivers (303) on the left leg knee-joint flexible actuator (2) and the right leg knee-joint flexible actuator (3); and during walking, torque for assisting knee-joint bending and stretching is provided for left and right legs in real time, and the purpose of providing flexible walking assist for the elderly who suffer from knee-joint sports injury and have weak walking ability is achieved.
NEGATIVE-PRESSURE CONTRACTION ELASTOMER DRIVEN FLEXIBLE KNEE-JOINT EXOSKELETON