Two-freedom-degree limiting exoskeleton ankle joint and application thereof

Abstract

The invention discloses a two-freedom-degree limiting exoskeleton ankle joint and the application thereof. The lower end of a calf rod is fixedly connected with the upper end of an ankle joint upper component. The ankle joint upper component is hinged to an ankle joint lower component in an approximate spherical mode through a switch-over ball. The lower end of the ankle joint lower component is fixedly connected to a sole. The two sides of the switch-over ball are both provided with circular-arc-shaped grooves which are smaller than 360 degrees and larger than 180 degrees. The grooving directions of the circular-arc-shaped grooves in the two sides are perpendicular and orthogonal to each other. The lower end of the ankle joint upper component and the upper end of the ankle joint lower component are each a plier body with a fixed circular-arc ring structure, and the plier bodies are embedded into the circular-arc-shaped grooves in an opening and closing mode. According to the two-freedom-degree limiting exoskeleton ankle joint and the application thereof, plantar flexion, dorsal flexion, introversion and extroversion movements of the ankle joint in the same center are achieved only through the extremely simple structure and convenient matching, and each freedom degree is limited by different angles.

Description

technical field [0001] The invention relates to an ankle joint structure, in particular to a two-degree-of-freedom limited exoskeleton ankle joint and its application. Background technique [0002] Exoskeleton robot is a kind of wearable power-assisted machinery, which can increase the wearer's load-bearing capacity and endurance, and can adapt to various complex terrains. It has important applications in disaster rescue, battlefield, medical rehabilitation and other occasions. The ankle joint is a key component of an exoskeleton robot. Existing exoskeleton ankle joints usually use a structure of multiple rotation axes to achieve multiple degrees of freedom of the ankle joint. Simulates the human ankle joint. The mutated central spherical pair structure is also commonly used in exoskeleton ankle joints, but in order to limit the joint angle, this structure is usually very complicated, and the function can only be realized by the cooperation of multiple parts, which is not e...

AI Technical Summary

Problems solved by technology

The ankle joint is a key component of an exoskeleton robot. Existing exoskeleton ankle joints usually use the structure of multiple rotation axes to achieve multiple degrees of freedom of the ankle joint. However, the positions of the rotation centers of each degree of freedom of this structure are different, which cannot be well Simulated human ankle joint

The mutated central spherical pair structure is also commonly used in exoskeleton ankle joints, but in order to limit the joint angle, this structure is usually very complicated, and the function can only be realized by the cooperation of multiple parts, which is not easy to promote

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