Ankle Joint Assisted by Exoskeleton Cushioning

Abstract

The invention discloses an exoskeleton cushioning and boosting ankle joint, which comprises an ankle ball socket, an ankle ball head, a rubber washer and an ankle seat; the front and rear parts of the ankle seat are each provided with a through hole for connecting with the foot. There is a hole in the middle of the ankle seat, and the hole is connected with the shaft on the ankle ball with an interference fit. The ankle ball socket is hinged with the ankle ball head. A boss is welded on the ankle ball socket. There is a groove, and the boss on the ankle ball head can protrude from the groove. The rubber gasket is placed between the ankle seat and the ankle ball socket. The contact surface between the rubber gasket and the ankle ball socket is flat. There are rods connected to the legs of the exoskeleton; the rubber gasket of the present invention will be compressed when the foot flexes and extends, abducts and adducts, stores energy, and releases energy when it returns to its original shape, thereby achieving the functions of buffering and assisting.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a cushioning and assisting ankle joint structure used on an exoskeleton robot. Background technique [0002] In some special occasions, such as fire rescue, battlefield and other occasions, people need to have a lot of endurance to work, and exoskeleton will be worn at this time. Among them, the ankle joint is one of the key components that determine the convenience and comfort of walking. First of all, the ankle joint needs to have three degrees of freedom to ensure its comfort, and there must be a certain limit in the direction of each degree of freedom to ensure its safety. In addition, it should also have a buffering and assisting effect when walking to reduce the weight of the person. Prevent personal injury. [0003] Recently, ankle joint designs on exoskeleton have also appeared. However, most of the ankle joints do not have enough freedom, making walking uncomfortable an...

AI Technical Summary

Problems solved by technology

[0003] Recently, there are also ankle joint designs on the exoskeleton. However, most of the ankle joints do not have enough freedom, and it is uncomfortable to walk and move unnaturally after wearing them.

There are also some structures and production processes that are more complicated, resulting in high costs, and are not suitable for large-scale promotion.

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