A bionic three-degree-of-freedom exoskeleton ankle joint
An ankle joint and exoskeleton technology, applied in the field of bionic three-degree-of-freedom exoskeleton ankle joints, can solve problems such as uncoordinated human-machine movement and poor wearing comfort, avoid geometric interference, improve wearing comfort, and reduce energy consumption. low effect
Active Publication Date: 2020-02-18
NAT UNIV OF DEFENSE TECH
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Problems solved by technology
[0003] The technical problem to be solved by the present invention is to provide an exoskeleton with higher wearing comfort and more compatible with human body movement in view of the problems of uncoordinated human-machine movement, internal friction, and poor wearing comfort in the exoskeleton ankle joints of the prior art. Coordination, a bionic three-degree-of-freedom exoskeleton ankle joint that can truly enhance human mobility
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[0026] Such as figure 1 and figure 2 As shown, the bionic three-degree-of-freedom exoskeleton ankle joint of this embodiment includes a mechanism rod 1 and an ankle joint support 2 in a U-shaped structure, and two openings are hinged between the mechanism rod 1 and the opening ends of the ankle joint support 2. The calf load-bearing rods 3 arranged in parallel make the mechanism rod 1, the ankle joint bracket 2, and the two calf load-bearing rods 3 form a parallelogram structure that is constrained to move in the same plane when doing shearing movement, and the opening of the ankle joint bracket 2 An ankle joint strap 21 is provided at the end, a rotatable insole 4 is installed on the upper side of the bottom of the ankle joint support 2, and a drive element 5 is hinged between the ankle joint support 2 and a calf bearing rod 3, with a parallelogram structure The central line L1 of the center line L1 of the insole, the rotation center line L2 of the insole 4, the center line...
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The invention discloses a bionic three-degree-of-freedom exoskeleton ankle joint. The bionic three-degree-of-freedom exoskeleton ankle joint comprises a mechanism rod piece and an ankle joint supportof a U-shaped structure. Two parallel shank force-bearing rods are hinged between the opening end of the mechanism rod piece and the opening end of the ankle joint support, so that the mechanism rod piece, the ankle joint support and the two shank force-bearing rods form a parallelogram structure restrained in the same plane to move when making shearing movement. An ankle joint bandage is arrangedat the opening end of the ankle joint support. A rotatable shoe pad is arranged at the upper side of the bottom of the ankle joint support. A drive element is hinged between the ankle joint support and one of the shank force-bearing rods. The center line L1 of the parallelogram structure, the rotating center line L2 of the shoe pad and the connecting line L3 of the centers of the hinged points ofthe ankle joint support and the two shank force-bearing rods are intersected at an ankle joint center point O of the opening end of the ankle joint support. The bionic three-degree-of-freedom exoskeleton ankle joint is higher in wearing comfort level and capable of being more coordinated with human motions, and the human body mobility can be truly enhanced.
Description
technical field [0001] The invention relates to exoskeleton robot technology, in particular to a bionic three-degree-of-freedom exoskeleton ankle joint. Background technique [0002] Foreign research on exoskeleton has a certain basis and results, and domestic research on it is also on the rise. At present, exoskeletons are mainly used in medical rehabilitation, individual combat, industrial production and other fields. Existing exoskeleton robots have simplified the human body structure in terms of bionic design, especially the simplification of the joints and their motions, which makes the exoskeleton and human motion different, which is manifested in the poor comfort when wearing the exoskeleton suit. For example, the Chinese patent document with application number 201210319331.2 proposes a wearable bionic exoskeleton for heavy material handling. The ankle joint is designed with two degrees of freedom, which can simulate ankle dorsiflexion and valgus / varus. However, it ...
Claims
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IPC IPC(8): B25J9/00B25J17/00
CPCB25J9/0006B25J17/00
Inventor 尚建忠罗自荣吴国恒陈芳罗佳俊李欣陈杨
Owner NAT UNIV OF DEFENSE TECH