Self-adaptive ankle joint exoskeleton

Abstract

The invention relates to the technical field of robot exoskeletons, and discloses a self-adaptive ankle joint exoskeleton which comprises a containing box. An under-foot pressure mechanism and an under-foot transmission mechanism which are connected with each other are arranged in the containing box, a reset linkage mechanism matched with the under-foot transmission mechanism is arranged on the outer side of the containing box, and the reset linkage mechanism is connected with a shank sheath belt. A wearer wears and connects the exoskeleton through the shank sheath belt. The under-foot pressure mechanism is used for bearing under-foot pressure of a wearer and transmitting the under-foot pressure to the under-foot transmission mechanism. The under-foot transmission mechanism moves under theaction of the under-foot pressure and drives the reset linkage mechanism to work. The reset linkage mechanism is used for storing energy and releasing energy to assist walking when the under-foot pressure is relieved. The self-adaptive ankle joint exoskeleton can reduce walking energy consumption and has the advantages of being simple in structure, light in weight, reliable in function and the like.

Description

technical field [0001] The present invention relates to the technical field of robot exoskeleton, and more specifically relates to an adaptive ankle exoskeleton. Background technique [0002] my country has entered an aging society. As of 2017, my country's elderly population over the age of 60 exceeded 240 million. Due to the decline of their own muscle strength, the elderly have varying degrees of decline in walking ability. Medical assistive devices help the elderly to live independently and complete basic tasks of daily life during the decline stage of muscle strength. As a portable and efficient medical auxiliary device, the unpowered ankle exoskeleton does not require external energy input, and can assist the elderly in walking only by relying on the body's own gravity and limb movement to do work. Compared with the driven lower extremity exoskeleton, which relies on complex and heavy energy, drive, sensing and control systems to adapt to the changing gait of the hum...

AI Technical Summary

Problems solved by technology

However, due to its own structural design, it has a great impact on the normal movement of the ankle joint

[0006] Patent CN207722054U proposes a new type of exoskeleton ankle joint device, which has a simple structure and the effect of cushioning and shock absorption, but due to the design considering the cushioning effect and the use of too much rigid structure, the free movement of the ankle joint will be limited.

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