Self-adaptation flexible joint exoskeleton device

Abstract

The invention discloses a self-adaptation flexible joint exoskeleton device. The self-adaptation flexible joint exoskeleton device is applied to bearing parts below the knee joint in a bionic human body cartilage tissue building structure. The self-adaptation flexible joint exoskeleton device comprises a thigh flexible power assisting mechanism (1), a shank connecting mechanism (2) hinged to the thigh flexible power assisting mechanism and a foot wearing force bearing mechanism hinged to the shank connecting mechanism. In the thigh flexible rotation power assisting mechanism (1), a tension and compression disc spring mechanism is formed by an upper tension and compression disc spring (8) and a lower tension and compression disc spring (9). A shank connecting rod (13) is a T-shaped rod piece. The upper tension and compression disc spring (8) is arranged on the upper side of the T-shaped head of the shank connecting rod, the lower tension and compression disc spring (9) is arranged on the lower side of the T-shaped head of the shank connecting rod, and the upper tension and compression disc spring (8) and the lower tension and compression disc spring (9) are fixed to the thigh of the human body through a knee joint rotation shaft connecting mechanism (11). The self-adaptation flexible joint exoskeleton device is flexible and is a buffering protection device achieving the joint motion freedom degree, and the self-adaptation flexible joint exoskeleton device is close to the human body physiology motion law, supports the motion of the human body and meets the requirement for bearing the load of the human body.

Description

technical field [0001] The invention relates to a human body wearable device, in particular to an exoskeleton ankle joint that realizes stable movement of the skeleton foot, calf and lower limbs, reduces instability during walking, and increases the balance of the human body's carrying capacity. Background technique [0002] Wearable lower extremity exoskeleton equipment assists human body movement and walking, ensures that the exoskeleton has more similar physiological characteristics and functions to the human body, makes the wearer feel more comfortable, and can give full play to the auxiliary advantages of the exoskeleton equipment. The use of flexible movable joints is One of the key points of exoskeleton structure development. [0003] Most of the knee joint devices in the lower extremity exoskeleton equipment are designed with a rigid hinge structure. When used in conjunction with the human body, the user will feel very stiff when walking. The main reason is that the ...

AI Technical Summary

Problems solved by technology

But traditional exoskeletons do not take into account the importance of walking to reduce impact

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