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A dual-mode passive ankle-assisted exoskeleton

An exoskeleton, dual-mode technology, applied in the field of human exoskeleton, can solve problems such as unnatural walking gait, inability to reduce metabolic energy, etc., and achieve the effect of reducing energy consumption, reducing weight and complexity, and walking in a natural gait.

Active Publication Date: 2021-02-05
BEIJING MECHANICAL EQUIP INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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  • A dual-mode passive ankle-assisted exoskeleton
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  • A dual-mode passive ankle-assisted exoskeleton

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Embodiment 1

[0032] The present invention provides a dual-mode passive ankle-assisted exoskeleton, such as Figure 1 to Figure 2 As shown, it includes a calf mechanism 7, a mode switching device 1, a calf length adjustment rod 8, a first elastic element, a connector, a pretensioner 4, a tension sensor 5, an ankle joint mechanism 9, and a sole support plate 10; the mode switching device 1 Set on the calf mechanism 7, the calf mechanism 7 is connected with the ankle joint module through the calf length adjustment rod 8; the sole support plate 10 is set under the ankle joint mechanism 9; the spring 2 is connected with the mode switching device 1 and the pretensioner 4 through the connecting piece , the pretensioner 4 is fixed on the ankle joint mechanism 9;

[0033] When the foot of the exoskeleton wearer lands, the mode switching device 1 is in a locked state, and the passive ankle-assisted exoskeleton is in the first mode, that is, the energy storage mode;

[0034] When the foot of the exo...

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Abstract

The invention relates to a dual-mode passive ankle power-assisted exoskeleton, which belongs to the technical field of wearable power-assisted machinery. A technical issue where the wearer walks with an unnatural gait. The invention provides a dual-mode passive ankle-assisted exoskeleton, which includes a calf mechanism, a mode switching device, a calf length adjustment rod, a spring, a rope, a pretensioner, a tension sensor, an ankle joint mechanism, and a sole support plate; the mode switching device is designed to On the lower leg mechanism, the lower leg mechanism is connected with the ankle joint mechanism through the calf length adjustment rod; the sole support plate is arranged under the ankle joint mechanism; the spring is connected with the mode switching device and the pretensioner through a rope, and the pretensioner is arranged on the ankle joint mechanism ; The dual-mode passive ankle-assisted exoskeleton provided by the present invention can provide assistance for the ankle, reduce the consumption of metabolic energy of the human body, and do 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0006
Inventor 王道臣何其佳常远崔翔吴庆勋杜晓东
Owner BEIJING MECHANICAL EQUIP INST
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