Two-degree-of-freedom exoskeleton ankle joint mechanism

Abstract

The invention discloses a two-degree-of-freedom exoskeleton ankle joint mechanism which comprises three parts, namely, a crus rod device, a two-degree-of-freedom device, and a planta device. Plantar flexion / dorsal stretch freedom degrees of the two-degree-of-freedom device and introversion / extroversion freedom degrees of the two-degree-of-freedom device are orthogonal in a space mode. The plantar flexion / dorsal stretch freedom degrees playing an important role in finishing walking motion adopt an active drive mode. The introversion / extroversion freedom degrees keeping balance of a human body within a frontal plane in the walking process adopt a spring set positive derive mode. When exoskeleton crus inclines sideway relative to the planta within the frontal plane, the spring set produces restoring force pointing to an upright gesture. The two-degree-of-freedom exoskeleton ankle joint mechanism can ensure that the motion of the exoskeleton ankle joint keeps pace with a user. Flexible drive mode selections facilitate strengthening matching attribute of the ankle joint mechanism to all kinds of exoskeletons of lower limbs, and the restoring force of the spring set of the introversion / extroversion freedom degrees facilitates relieving burdens of keeping balance of the user and burdens of the exoskeleton in the frontal plane.

Description

technical field [0001] The invention belongs to the field of mechanism design of exoskeleton ankle joints, and relates to an exoskeleton ankle joint mechanism with two orthogonal degrees of freedom in space. Background technique [0002] First of all, ankle sprains have the highest incidence among joint sprains in the whole body, and can easily cause ligament strains or even tears. The post-injury treatment and rehabilitation process is difficult, and due to soft tissue damage in the joint, some injured people have long-term symptoms of walking pain. It can last for decades, and it is easy to relapse and cause old sprains, which will cause muscle spasms and inflammatory stress reactions of nerve endings. In severe cases, it will cause irreversible damage to the main muscle groups that drive the ankle joint to produce plantar flexion, such as gastrocnemius and soleus. Affect the response time, contraction amount and contraction strength, etc., and finally form the functional ...

AI Technical Summary

Problems solved by technology

[0002] First of all, ankle sprains have the highest incidence among joint sprains in the whole body, and can easily cause ligament strains or even tears. The post-injury treatment and rehabilitation process is difficult, and due to soft tissue damage in the joint, some injured people have long-term symptoms of walking pain. It can last for decades, and it is easy to relapse and cause old sprain

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