An exoskeleton elastic multi-degree-of-freedom ankle joint

Abstract

The invention relates to the field of wearable exoskeleton robots, and specifically discloses an exoskeleton elastic multi-degree-of-freedom ankle joint, an exoskeleton calf (1), an elastic connecting piece (2) and an exoskeleton shoe (3). (1) Connect the elastic connector (2), the elastic connector (2) is connected to the exoskeleton shoe (3), the elastic connector (2) is a spring, and the spring wire (4) of the spring is arranged along the central axis. The oval helix is ​​wound into an oval spring. The advantages of the invention are that the structure is simple, the movement of three degrees of freedom is realized through the simple structure, the manufacturing cost is reduced, and the weight of the device is reduced.

Description

technical field [0001] The invention relates to the field of wearable exoskeleton robots, in particular to an exoskeleton elastic multi-degree-of-freedom ankle joint. Background technique [0002] In the past ten years, the technology of lower limb exoskeleton robots has developed rapidly, and exoskeleton robots like walking aids have brought hope to people with walking disabilities to stand up and walk again. Power-assisted exoskeleton robots help people reduce the load and better adapt to complex terrain and working conditions, such as carrying weapons and post-disaster rescue. Whether it is a walking-assisted exoskeleton robot or a power-assisted exoskeleton robot, stepping on the joint not only bears the weight of the human-machine, but also plays a role in maintaining walking balance and controlling the walking direction. According to the research on the dynamic characteristics of the lower limbs of the human body, the stepping joint has three degrees of freedom; howev...

AI Technical Summary

Problems solved by technology

According to the research on the dynamic characteristics of the lower limbs of the human body, there are three degrees of freedom in the stepping joint; however, the elastic damping ankle joints on the market mainly have the following defects: 1. Due to the limitation of volume and weight, it can only be achieved in one degree of freedom of rotation. There is an elastic support, so it is difficult to achieve elastic damping in 2 to 3 degrees of freedom; 2. Due to the accumulation of degrees of freedom through the hinge, the rotation center is misaligned, which cannot fit the rotation of the human ankle joint well, causing discomfort and safety issues; 3. Complex structure, large volume, and heavy weight; 4. High cost; 5. Composite material design is difficult, quality control is difficult, and strength is difficult to control; The passive degree of freedom exoskeleton pedal joint mechanism has a complex structure. Although it also provides three degrees of freedom for the exoskeleton ankle joint, the structure is obviously too complicated, which is not conducive to manufacturing and processing

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