Lower limb exoskeleton ankle joint device on basis of energy optimization
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An energy optimization and exoskeleton technology, applied in the field of rehabilitation training robots, can solve the problems of affecting the wearer's gait, poor wearing comfort, and low energy utilization rate, achieving great application value, good applicability, and reducing energy consumption.
Active Publication Date: 2018-07-24
UNIV OF SCI & TECH OF CHINA
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For example, because the wearer will be impacted by the ground at the moment when the foot lands, the comfort of wearing is poor, and it will also affect the wearer's gait.
[0003] Because the energy of the wearer's feet is released and wasted at the moment of landing, the energy utilization rate is very low, and the entire device consumes more energy
At present, there is no device that can reasonably solve these problems
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[0023] The preferred embodiment of the energy-optimized lower limb exoskeleton ankle joint device of the present invention is:
[0024] Including calf exoskeleton module, ankle module and sole module connected in sequence;
[0025] The calf exoskeleton module includes calf connecting rod one, connecting motor connecting rod, protective connection block, calf connecting rod two, calf protection rod, connecting bolt, calf connecting rod three, adjustment rod, calf connecting rod four, calf strapping device , Damper connection device;
[0026] The ankle module includes a damper, an ankle strap device, and an ankle link;
[0027] The sole module includes a foot upper panel, a plantar force sensor, a leaf spring lower plate, a leaf spring upper plate, a spring mounting plate, a foot lower plate, a bearing end cover, an I-shaped connecting rod, and an I-shaped Connecting rod 2, angular contact ball bearing, stiffness adjustment motor;
[0028] The damper is connected to the shank...
specific Embodiment
[0042] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0043] Such as figure 1 As shown, it includes calf connecting rod 1, motor connecting rod 2, protection connecting block 3, calf connecting rod 2 4, calf protection rod 5, connecting bolt 6, calf connecting rod 3 9, adjustment rod 10, and calf connecting rod 4 12. The calf strapping device 11 and the damper connecting device 15. The calf exoskeleton module is used to fix the human calf, and drives the human calf to move through the drive of the motor. The damper 13, the ankle strap device 14, and the ankle connecting rod 21 are all installed on the ankle module for connecting the calf and the sole of the foot. The damper can buffer the impact of the moment the foot lands when walking, making the walking process smoother; The sole module includes a foot upper wall 16, a foot force sensor 17, a leaf spring pressing piece 18, a spring mounting plate 19, a foot ...
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Abstract
The invention discloses a lower limb exoskeleton ankle joint device on the basis of energy optimization. The lower limb exoskeleton ankle joint device comprises a shank exoskeleton module, an ankle module and a foot sole module. The shank exoskeleton module, the ankle module and the foot sole module are sequentially connected with one another. The lower limb exoskeleton ankle joint device has theadvantages that a cushion energy storage device can be formed by a steel plate spring and a damper, ground impact energy of foot soles can be timely stored and released in walking procedures, accordingly, energy consumption can be reduced during lower limb exoskeleton ankle joint running, and cushion and damping effects can be realized; the rigidity of the steel plate spring can be adjusted, and accordingly energy can be optimized in the walking procedures; the height of the shank exoskeleton module can be adjusted by the aid of an adjusting rod, accordingly, requirements of different people can be met, and the lower limb exoskeleton ankle joint device is good in applicability; compliance control technologies on the basis of force feedback are adopted for control modes for the lower limb exoskeleton ankle joint device, accordingly, lower limb exoskeleton ankle joints can stably run, the lower limb exoskeleton ankle joint device can be effectively applied to rehabilitation training robots and has great application value, power consumption can be reduced, and the applicability can be improved.
Description
technical field [0001] The invention relates to a rehabilitation training robot, in particular to a lower limb exoskeleton ankle joint device based on energy optimization. Background technique [0002] The wearable lower limb exoskeleton robot can provide people's lower limbs with functions such as power assistance, protection, and body support. It integrates robotic technologies such as sensing, control, information acquisition, and mobile computing. A man-machine integrated system that completes functions and tasks such as assisting walking. However, the current lower extremity exoskeleton robots still face many problems. For example: because the wearer will be impacted by the ground at the moment when the foot lands, the comfort of wearing is poor, and the gait of the wearer will also be affected. [0003] Because the energy of the wearer's feet is released and wasted at the moment of landing, the energy utilization rate is very low, and the whole device consumes more e...
Claims
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Application Information
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