The invention discloses a passive
energy storage foot mechanism for power assisting exoskeletons for lower limbs.The passive
energy storage foot mechanism comprises an
ankle joint unit, a foot side face plate, a foot sole unit, a binding unit and passive spring
energy storage units.The
ankle joint unit is connected with the foot sole unit by the foot side face plate; the foot sole unit is of a separation type flexible bending structure and comprises a rigid
heel, a rigid front sole, a bottom plate spring, inner-side plate springs, outer-side plate springs, fixing mechanisms, a deformable adhesion plate and a rubber
cushion; the passive spring energy storage units include a
dorsal flexion passive spring energy storage unit and a
plantar flexion passive spring energy storage unit and are connected with the
ankle joint unit by a spring support unit, the foot side face plate is used as a fixing base for the passive spring energy storage units, and
dorsal flexion and
plantar flexion energy storage effects can be respectively realized during movement.The passive energy storage foot mechanism has the advantages that foot structures of human bodies and the weights and
inertia effects of the human bodies and the exoskeletons are sufficiently utilized, accordingly, energy can be passively stored by ankle joints in walking procedures, ground pedaling actions of toes can be carried out in the walking procedures, states can be automatically restored in the walking procedures, a wearer can wear the passive energy storage foot mechanism comfortably, and the passive energy storage foot mechanism is high in practicality and low in
energy consumption.