Three-degree-of-passive-freedom exoskeleton ankle joint mechanism

Abstract

The invention discloses a three-degree-of-passive-freedom exoskeleton ankle joint mechanism, which comprises an ankle joint link device, an ankle joint base device and a foot sole device which are sequentially connected from top to bottom. A plantar flexion / dorsal extension degree-of-freedom mechanism is constituted by the ankle joint link device by virtue of a calf rod piece, an ankle joint shaftand a first ankle joint link; a passive internal rotation / external rotation degree-of-freedom mechanism is constituted between a second ankle joint link and an ankle joint base in the ankle joint base device by virtue of a torsion spring; and a supinating / pronating degree-of-freedom mechanism is constituted in the foot sole device by virtue of a spring sheet and a shoe sole. The exoskeleton anklejoint mechanism provided by the invention, as a pure mechanical structure, is compact and simple in structure, light and durable and is free from an additional power source or transmission system, and an unpowered ankle joint on a current exoskeleton robot can be replaced; three degrees of freedom of an ankle joint are reserved, and meanwhile, the degree that the exoskeleton ankle joint fits to the human ankle joint is improved to the extent; and the exoskeleton ankle joint mechanism is simple to operate and free from influence to walking of the exoskeleton robot.

Description

technical field [0001] The invention relates to the field of wearable exoskeleton robots, in particular to a three-passive-degree-of-freedom exoskeleton ankle joint mechanism. Background technique [0002] In the past ten years, the technology of lower extremity exoskeleton robots has developed rapidly, and walking-assisted exoskeleton robots have brought hope to people with walking disabilities to stand up and walk again. Power-assisted exoskeleton robots help people reduce their load and better adapt to complex terrain and working conditions, such as handling weapons and post-disaster rescue. Whether it is in a walking-assisting exoskeleton robot or an assisting exoskeleton robot, the ankle joint not only bears the weight of the man-machine, but also plays a role in maintaining walking balance and controlling the walking direction. According to the research on the dynamic characteristics of the lower limbs of the human body, there are three degrees of freedom in the ankle...

AI Technical Summary

Problems solved by technology

According to the research on the dynamic characteristics of the lower limbs of the human body, there are three degrees of freedom in the ankle joint, while most of the current exoskeleton robots have two degrees of freedom (one active degree of freedom and one passive degree of freedom), and the height of the ankle joint cannot be adjusted, resulting in Does not fit well with the human ankle joint, which affects the use effect

For example, the patent No. CN 103099691 A clarifies a two-degree-of-freedom exoskeleton ankle joint mechanism, which has plantar flexion / dorsiflexion (active), varus / valgus (passive) degrees of freedom, but lacks internal rotation / external rotation. Rotational degrees of freedom, the height of the ankle joint is fixed

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