Assistance external skeleton segment-type foot structure of lower limb

Abstract

The invention discloses an assistance external skeleton segment-type foot structure of the lower limb. Elastic disc-type structures which are turnable and returnable through torsion are adopted as theankle joints of the feet, when the ankle joints of the human body move, the ankle joints of the feet of the external skeleton can move along with the ankle joints of the human body, and through deformation of a spring, the dynamic performance and flexibility of an external skeleton system are improved; separated hinge design is adopted for the toe joints of the feet of the external skeleton, thefront soles of the feet of the external skeleton are separated from the rear soles, each front sole is divided into the left and right parts, the toe joints of the feet of the external skeleton can follow to move in the gait of the human body, and the constraint of the external skeleton to movement of the feet of the human body is reduced; when the external skeleton is worn, the structure can adapt to the uneven road, the maximum contact area of the feet of the external skeleton and the ground is increased, and the external skeleton can be relatively stably supported at the support phase. By adopting the multi-segment rigid and flexible composite feet, the movement gesture of the feet of the human body can be fitted to the higher degree, and the flexibility and movement follow-up performance of the human body when the assistance external skeleton is worn are improved.

Description

technical field [0001] The invention belongs to the field of sports limb structures, and in particular relates to a segmented foot structure of a lower limb power-assisted exoskeleton. Background technique [0002] As a part of the power-assisted exoskeleton, the foot of the exoskeleton is mainly used to transmit the gravity of the load, including the part above the legs of the exoskeleton, the load and the human body. Most of the traditional exoskeleton feet are designed as a simple one-piece rigid flat plate structure, lack of targeted design for the ankle and toe joints of the foot, only considering the capacity of large loads and ignoring the flexibility of the human body when wearing an exoskeleton. Sex and comfort, and poor adaptability to unknown environments. Moreover, the integration degree of the interactive sensor is not high, and the electromechanical structure is not compact, which makes the volume bulky. Existing exoskeleton foot structures do not interact sm...

AI Technical Summary

Problems solved by technology

Most of the traditional exoskeleton feet are designed as a simple one-piece rigid flat plate structure, lack of targeted design for the ankle and toe joints of the foot, only considering the capacity of large loads and ignoring the flexibility of the human body when wearing an exoskeleton. Sex and comfort, and poor adaptability to unknown environments

Moreover, the integration level of interactive sensors is not high, and the electromechanical structure is not compact, which makes the bulky

The interaction between the existing exoskeleton foot structure and the external force is not compliant, the interaction comfort of the force is poor, it cannot resist the impact force outside the plan, and the movement of the degree of freedom of the wearer's ankle joint and toe joint is limited

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