Three-DOF (Degree Of Freedom) flexible ankle joint device for exoskeletons

A degree of freedom and exoskeleton technology, applied in physical therapy, appliances that help people walk, etc., can solve the problems of not being suitable for wearing and using, and achieve the effect of reducing walking burden, wearing comfort, and enhancing matching

Inactive Publication Date: 2015-05-27
ANHUI UNIV OF SCI & TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this technical solution is only suitable for passive tr

Method used

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  • Three-DOF (Degree Of Freedom) flexible ankle joint device for exoskeletons
  • Three-DOF (Degree Of Freedom) flexible ankle joint device for exoskeletons
  • Three-DOF (Degree Of Freedom) flexible ankle joint device for exoskeletons

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Embodiment Construction

[0025] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments and illustrations.

[0026] Such as figure 1 and image 3 As shown, a three-degree-of-freedom flexible ankle joint device for an exoskeleton includes a plantar support part 1, a foot-side support part 2 symmetrically arranged on both sides of the plantar support part 1, and a rear foot located at the rear end of the plantar support part 1. Damper 3 and calf support 4. Wherein, there are two foot side support parts 2, which are used to connect and support the calf support frame 4 and the sole support part 1, and serve as a flexible rotating pair and play a role of rotation vibration damping protection. The bottom of the foot side support part 2 is fixedly connected with the plantar support part 1 by welding, and its top is connected with the bo...

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Abstract

The invention discloses a flexible ankle joint device for exoskeletons. The flexible ankle joint device has three degrees of freedom in all, namely a translation degree of freedom and two rotation degrees of freedom, and comprises a foot sole supporting part, foot side supporting parts, a foot heel damper and a leg supporting frame, wherein the foot side supporting parts serve as flexible rotation pairs and play a role in rotating, damping and protecting; the foot heel damper with a magneto-rheological damper plays a role in supporting, damping and protecting a foot heel. According to the flexible ankle joint device, the movement of an ankle joint of exoskeletons can keep synchronous to that of a user; due to three degrees of freedom of movement, the enhancement of matching performance of the ankle joint device to all kinds of lower limb exoskeletons is facilitated; due to the design of a shockproof packed layer and elastic supporting members of the foot sole supporting part, the design of the flexible rotation pairs of the foot side supporting parts and the design of the foot heel damper, the lightening of walking burden of the user is facilitated, and comfort is improved. The flexible ankle joint device can serve as a loaded walking assisting device, a rehabilitation appliance or an ankle joint device for other lower limb exoskeletons and has the advantages of compact structure, stability and reliability in work, high flexibility, comfort in wearing and the like.

Description

technical field [0001] The invention belongs to the field of exoskeleton equipment, and in particular relates to a flexible ankle joint device for an exoskeleton with a total of three degrees of freedom in translation and two rotations. Background technique [0002] Ankle joint 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 joints, some injured patients may suffer from long-term walking pain symptoms. For decades, it is easy to relapse and cause old sprains, which can cause muscle spasm and inflammatory stress response of nerve endings. In severe cases, it can cause irreversible damage to the main muscle groups that drive the ankle joint to produce plantar flexion, such as gastrocnemius and soleus, and affect the response. Time, contraction amount and contraction intensity, etc., will eventuall...

Claims

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Application Information

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IPC IPC(8): A61H3/00
Inventor 王成军陈金燕李龙刘志卫章天雨沈豫浙郑艳
Owner ANHUI UNIV OF SCI & TECH
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