Foot device used for wearable lower limb exoskeleton robot

Abstract

The invention discloses a foot device used for a wearable lower limb exoskeleton robot. The foot device comprises a first execution mechanism, a driving gear mechanism, a driven gear mechanism, a shank connecting rod, a ball cage type universal joint, a rotating adjusting device, a second execution mechanism, a motor fixing supporting plate, a first reset spring, an ankle joint controlling plate, a foot shoe, a round rod and second reset springs. Three-freedom-degree adjustable rotation of ankle joints is achieved, active training is achieved for ankle joints of different patients or the ankle joint of the same patient at different stages, the movement freedom degree is high, and practicability is high. The adopted ball cage type universal joint can achieve medial rotation / lateral rotation movement for the ankle joints when plantar flexions / dorsal flexions move by different angles and can also guarantee that the rotation speed of a motor and the rotation speed of the ankle joints are always kept uniform, and the arranged reset springs improve the stability of joint movement; a harmonic reducer is adopted for effectively adjusting the rotation speed of the joints and improving man-machine coupling.

Description

technical field [0001] The invention belongs to the technical field of wearable lower extremity exoskeleton robots, and relates to a foot device for a wearable lower extremity exoskeleton robot, in particular to a foot with adjustable ankle joints that rotate in three directions and have a total of three degrees of freedom. internal device. Background technique [0002] According to the principle of kinematics, the human ankle joint has three degrees of freedom, which are plantarflexion / dorsiflexion, abduction / adduction and internal / external rotation around the joint. Ankle joint rehabilitation equipment, orthotics, or exoskeletons are all single movements that allow the ankle joint to perform plantarflexion / dorsiflexion. This single-degree-of-freedom movement not only has a narrow rehabilitation training function, but also easily causes ankle joint relapse. Injury, and the comfort, safety, adaptability and rehabilitation effect are very poor. [0003] Whether the lower ...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a foot device with three degrees of freedom adjustable ankle joints for wearable lower extremity exoskeleton robots, so as to solve the problem that the ankle joints of wearable lower extremity exoskeleton robots are generally not practical. Less freedom of movement, too much passive training, low stability and poor coupling with the human body

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