Dual-mode passive ankle power-assisted exoskeleton

Abstract

The invention relates to a dual-mode passive ankle power-assisted exoskeleton, and belongs to the technical field of wearable power-assisted machinery. The dual-mode passive ankle power-assisted exoskeleton solves the technical problems that the walking gait of a wearer is unnatural due to the fact that an existing exoskeleton exerts additional load on a human body due to the own weight and an elastic element of the exoskeleton exerts resistance to movement of an ankle joint. The dual-mode passive ankle power-assisted exoskeleton comprises a calf mechanism, a mode switching device, a calf length adjusting rod, a spring, a rope, a pre-tightening mechanism, a tension sensor, an ankle joint mechanism and a sole support plate. The mode switching device is arranged on the calf mechanism, and the calf mechanism is connected with the ankle joint mechanism through the calf length adjusting rod. The sole support plate is disposed under the ankle joint mechanism. The spring is connected with themode switching device and the pre-tightening mechanism through the rope, and the pre-tightening mechanism is disposed on the ankle joint mechanism. The dual-mode passive ankle power-assisted exoskeleton can provide assistant power for an ankle, reduces the metabolic energy consumption of the human body, and does not affect the normal gait of the wearer.

Description

technical field [0001] The invention relates to the technical field of human exoskeleton, in particular to a dual-mode passive ankle-assisted exoskeleton. Background technique [0002] An exoskeleton is a wearable power-assisted machine. During walking, the center of gravity of a person will fluctuate up and down. When the center of gravity moves down, the potential energy of gravity is converted into kinetic energy. When the foot touches the ground, a large amount of kinetic energy is converted into impact energy. Damage to the bones and muscles of the human body. When kicking the ground and raising the legs, the muscles need to do work and convert it into gravitational potential energy. [0003] At present, most of the ankle-assisted exoskeletons are active powered exoskeletons, ignoring the negative impact of impact energy, replacing muscles with energy input such as motors, although the power of the ankle joint is reduced on the surface, but its high cost Self-weight c...

AI Technical Summary

Problems solved by technology

[0005] In view of the above analysis, the present invention aims to provide a dual-mode passive ankle-assisted exoskeleton to solve the existing problem: the existing active exoskeleton cannot reduce the consumption of the human body during walking due to its own weight. Metabolism energy; when the wearer lifts the leg and swings freely in the existing passive unpowered exoskeleton, the elastic element produces resistance to the ankle joint activity, which increases the metabolic energy consumption of the human body and makes the wearer's walking gait become uncomfortable. natural technical problem

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