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Assistant movement exoskeleton of three-degree of freedom ankle joint

An ankle joint, degree of freedom technology, applied to sports accessories, passive exercise equipment, gymnastics equipment, etc., can solve the problems of time consumption and physical strength, single degree of freedom, and inability to guarantee training time and training intensity, and achieve novel structure, convenient Easy to wear and control

Inactive Publication Date: 2009-12-09
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional rehabilitation methods for paralyzed and physically disabled patients need to be carried out by physical therapists "hand in hand", which consumes a lot of time and energy, and cannot guarantee sufficient training time and sufficient training intensity
Most of the existing ankle exoskeletons only have a single degree of freedom, which cannot meet the requirements of training diversity

Method used

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  • Assistant movement exoskeleton of three-degree of freedom ankle joint
  • Assistant movement exoskeleton of three-degree of freedom ankle joint
  • Assistant movement exoskeleton of three-degree of freedom ankle joint

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Embodiment Construction

[0009] The present invention will be further described below in conjunction with the structural drawings.

[0010] Referring to the accompanying drawings, the three-degree-of-freedom ankle joint assisted movement exoskeleton of the present invention includes a sole plate 1, a first bracket 2 fixed on the front end of the sole plate, a second bracket 9 fixed on the rear end of the sole plate, and coaxially stacked one after another. Upper annulus 14, ring gear 7 and lower annulus 13, upper and lower annulus 14,13 are fixed into the integral body that rotates with respect to annulus gear 7 by two connecting pieces 15,18 with shaft, first support 2 and the second The two brackets 9 are respectively connected to the shafts of the two connectors 15, 18 through bearings, the axes of the two connectors 15, 18 are coaxial in the X direction, and two U-shaped connecting blocks 16 with shafts are fixed on the ring gear 7 , 20, one end of the two calf board supports 5, 6 is respectively ...

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PUM

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Abstract

The invention relates to an assistant movement exoskeleton of three-degree of freedom ankle joint. By controlling the rotation angles of an X-axis motor, a Y-axis motor and a Z-axis motor, the respective movement and the rounding synergic movement of three degrees of freedom comprising ankle dorsiflexion / plantar flexion, introversion / extroversion and internal rotation / external rotation of a patient can be realized by the assistance of the exoskeleton. Compared with the existing ankle exoskeleton, the structure has movement with more degrees of freedom and achieves rounding synergic movement; the assistant movement exoskeleton has the advantages of novel, light and flexible structure, easy wearing and easy control, thereby serving as a medical rehabilitation auxiliary apparatus for human ankle muscle atrophy or disabilities.

Description

technical field [0001] The invention relates to a three-degree-of-freedom ankle joint auxiliary exercise exoskeleton, specifically a three-degree-of-freedom exoskeleton that can realize three-degree-of-freedom movements of the human ankle joint dorsiflexion / plantarflexion, varus / valgus, and internal rotation / external rotation auxiliary medical devices. Background technique [0002] Exoskeleton technology is a new type of human-machine intelligent system control technology, which can be widely used in master-slave control of robots and medical rehabilitation aids for disabled patients. Traditional rehabilitation methods for paralyzed and physically disabled patients require physical therapists to "hand in hand", which consumes a lot of time and energy, and cannot guarantee sufficient training time and training intensity. Most of the existing ankle exoskeletons only have a single degree of freedom, which cannot meet the requirements of training diversity. And the present inv...

Claims

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Application Information

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IPC IPC(8): A61H1/00A63B23/08
Inventor 张佳帆张煜杨灿军杨寅余晖
Owner ZHEJIANG UNIV
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