A foot device with ankle joint parameter measurement suitable for exoskeleton-assisted support robots

Abstract

The invention discloses a foot device with ankle joint parameter measurement suitable for an exoskeleton auxiliary supporting robot. The foot device is characterized in that plane hooke two-DOF (Degree Of Freedom) structures of ankle joints are realized due to the matching of upper supports, lower supports, two rotating shafts and four bearings, wherein the lower supports are arranged on soles, the lower supports are provided with angular displacement sensors, thus rotating angles of the ankle joints can be measured, and the measuring requirement of a robot on angular displacements of the ankle joints can be met; shank telescopic rods are inserted into the upper supports, front and rear rotating shafts, bearing end covers and bearings are fixedly arranged in lugs of the upper supports, the front and rear rotating DOF of ankles can be realized, and the angle measuring can be realized through the angular displacement sensors which are arranged on the front and rear rotating shafts; left and right rotating shafts are inserted into the lower supports for being fixed, the axes of the front and rear rotating shafts are maintained to be vertical to the axes of the left and right rotating shafts, and the left and right swinging DOF of the ankles can be realized; pressure sensors are arranged among front feet, rear feet and the soles, the front feet and the rear feet are fixedly connected with the soles, the soles are in contact with the ground, plantar pressure is changed when a person walks, a walking intention of the person can be judged through the detecting of the pressure sensors, and the good control of the exoskeleton auxiliary supporting robot can be realized.

Description

technical field [0001] The design of the invention belongs to the field of service robots, and relates to the auxiliary support and rehabilitation training for human lower limbs by a lower limb exoskeleton robot. Background technique [0002] The human legs provide a load-bearing and transportation platform, especially in environments that are not suitable for wheeled transportation, and the biped shows strong mobility. Weight bearing is one of the most common problems faced by human beings. [0003] For soldiers, firefighters and disaster relief personnel, the payload accounts for a large part of their overall weight, and it is both inevitable and their responsibility to carry these loads. Carrying a heavy load is not only tiring, but also potentially mentally and physically damaging. In order to alleviate this burden, lower limb auxiliary support exoskeleton mechanical equipment came into being. [0004] In the military, many advanced equipment have improved the soldier...

AI Technical Summary

Problems solved by technology

[0004] In the military, a lot of advanced equipment has improved soldiers' ability to perceive the battlefield and strike accuracy, but carrying so much equipment often makes soldiers exhausted, and it is difficult to persist in independent combat for a long time

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