Lower limb exoskeleton ankle joint device on basis of energy optimization

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...

AI Technical Summary

Problems solved by technology

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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