Foot device used for wearable lower limb exoskeleton robot

An exoskeleton robot and wearable technology, which is applied in the fields of appliances that can be operated by the disabled, medical science, prostheses, etc. Coupling, many degrees of freedom of movement, and the effect of improving stability

Inactive Publication Date: 2015-12-02
WUHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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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 probl...

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  • Foot device used for wearable lower limb exoskeleton robot
  • Foot device used for wearable lower limb exoskeleton robot
  • Foot device used for wearable lower limb exoskeleton robot

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Embodiment Construction

[0020] In order to facilitate those of ordinary skill in the art to understand and implement the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the implementation examples described here are only used to illustrate and explain the present invention, and are not intended to limit this invention.

[0021] please see figure 1 , figure 2 , image 3 , Figure 4 and Figure 5 , a foot device for a wearable lower extremity exoskeleton robot provided by the present invention, including a first actuator 1 for controlling the internal / external rotation of the ankle joint, a driving gear mechanism 2, a driven gear mechanism 3, and a lower leg link 4. Ball cage type universal joint 5. Rotation adjustment device 6. Second actuator for controlling ankle plantarflexion / dorsiflexion 7. Motor fixing support plate 8. First return spring 9. Ankle joint control ...

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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 ...

Claims

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Application Information

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IPC IPC(8): A61F4/00
Inventor 肖晓晖陈犇李晓聃徐本燕
Owner WUHAN UNIV
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