Passive energy-storage ankle joint and foot mechanism for power-assisted exoskeletons of lower limbs

Abstract

The invention discloses a passive energy-storage ankle joint and foot mechanism for power-assisted exoskeletons of lower limbs. The passive energy-storage ankle joint and foot mechanism comprises an ankle joint unit, a foot-side panel unit and a foot pad unit, wherein the ankle joint unit comprises a crus rod and a compression spring and an ankle-joint guide rod; the compression spring and the ankle-joint guide rod are arranged in the crus rod; the foot-side panel unit comprises a foot-side panel, a foot pad and a wavy spring body; the foot-side panel comprises a side plate and a bottom plate; the foot pad and the wavy spring body are arranged at the lower end of the bottom plate; an arc-shaped surface is arranged on the side plate; the lower end of the crus rod is hinged on the side plate; and the lower end of the ankle-joint guide rod is contacted with the arc-shaped surface under the action of the compression spring and moves along the arc-shaped top surface. The passive energy-storage ankle joint and foot mechanism disclosed by the invention has the advantages that the foot structure of a human body, the human body and the mass and the inertial action of the exoskeletons are fully utilized, the passive energy storage of the ankle joint and the bottom-touching energy storage of the bow-shaped sole in the traveling process are realized, the wearing is comfortable, the energy storage is low and the practicability is strong.

Description

technical field [0001] The invention relates to a passive energy storage ankle joint and a foot mechanism for lower limb power-assisted exoskeleton, belonging to the field of robot applications. Background technique [0002] Exoskeleton rehabilitation assisting robot is a robot automation device that assists or replaces rehabilitation physiotherapists to complete joint rehabilitation training, which is produced by combining robotics, automation technology and clinical rehabilitation medical technology. [0003] The human body has numerous joints, such as hip joints, knee joints, ankle joints, and wrist joints, among which the ankle joint is the joint closest to the ground and bears almost the weight of the entire body, especially when a person is jumping, running and When the body bears weight, the ankle joint bears a huge impact and load. The movement of the human ankle joint is mainly realized and restricted by the ligaments and Achilles tendon. According to the structure ...

AI Technical Summary

Problems solved by technology

[0004] The lower limb power-assisted exoskeleton ankle joint and foot mechanism consist of a rigid plate that can support the wearer's entire foot combined with a mechanical ankle joint with 1, 2 or 3 degrees of freedom. The mechanical ankle joints usually use motors, hydraulic cylinders, and air cylinders for each degree of freedom. Such foot mechanisms are poor in flexibility, difficult to control, extremely demanding on the control system, and relatively high in cost; some new ankle mechanisms arrange a pair of springs in front and back to reduce the wearer's ankle joint in the sagittal plane. force, but the fixed end of the spring is always fixed on the foot base, the performance of the tension spring or compression spring is not clear during the movement, and there is two-way spring resistance, the assist effect is not optimal

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