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A wearable passive ankle exoskeleton with controllable auxiliary force and its control method

An ankle joint and auxiliary force technology, which is applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve the problems of inability to meet the needs of individual differences, the inability to control the spring spring force, and the inability to further optimize the power-assist effect, etc., to achieve a simple structure , light weight, and controllable boost curve

Active Publication Date: 2022-01-04
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the defects of the prior art, the purpose of the present invention is to provide a wearable passive ankle exoskeleton with controllable auxiliary force and its control method, aiming to solve the problem that the existing passive ankle exoskeleton cannot control the spring when the spring releases energy. power, leading to the problem that the power-assist effect cannot be further optimized or cannot meet the needs of individual differences

Method used

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  • A wearable passive ankle exoskeleton with controllable auxiliary force and its control method
  • A wearable passive ankle exoskeleton with controllable auxiliary force and its control method
  • A wearable passive ankle exoskeleton with controllable auxiliary force and its control method

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Embodiment Construction

[0032] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0033] The present invention provides a wearable passive ankle joint exoskeleton with controllable auxiliary force, comprising: springs, rollers, first support brackets, second support brackets, ropes, straps, cams, first spring brackets, second springs a bracket, a first fixing bracket and a second fixing bracket;

[0034] The first spring bracket is arc-shaped, and the two ends are respectively connected to the first fixed bracket and the second fixed bracket; when the first fixed bracket and the second fixed bracket stand on the ground, the arc-shaped plane of the first spring bracket parallel ...

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Abstract

The invention provides a wearable passive ankle exoskeleton with controllable auxiliary force and a control method thereof, which comprises: a roller, a calf strap, a calf support, a rope, a force control cam, a spring support, and a shoe side fixing support. The rope connects the spring support, the spring, passes through the roller on the calf support, and is connected with the force control cam. The shoe side fixing bracket is fixed to the wearer's shoes, and the wearer's calf is bound to the calf support through the calf strap. The invention uses the energy storage spring to stretch and store energy, and collects the negative work done when the wearer runs or walks when the ankle joint is dorsiflexed. At this time, the force control cam rotates coaxially with the calf support and winds the rope. When the ankle joint plantar flexes and kicks the ground, the energy storage spring releases energy, and the force control cam realizes the control of the elongation of the spring according to the shape of the cam, thereby controlling the relationship between the spring force and the angle of the ankle joint. The invention provides a passive ankle exoskeleton with controllable auxiliary force, which can realize the control of the spring force along with the gait cycle.

Description

technical field [0001] The invention belongs to the field of lower extremity exoskeleton machine wearers, and more specifically relates to a wearable passive ankle exoskeleton with controllable auxiliary force and a control method thereof. Background technique [0002] Running and walking account for a large proportion of daily exercise. The ankle joint plays an important role in running and walking. Doing positive work during plantar flexion plays the role of pushing the ground with force and pushing the wearer forward; doing negative work during dorsiflexion plays the role of buffering, stabilizing and supporting. The study of ankle exoskeleton used to assist the wearer in running and walking can reduce metabolic energy consumption, which has great research potential and important research significance. [0003] If the active ankle exoskeleton is mounted on the wearer's body, it has the disadvantages of heavy power supply, complex mechanism, and heavy actuator, and the a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16
Inventor 孙容磊郑聪兴李鹏张歆悦刘宇瑶张淼李颖
Owner HUAZHONG UNIV OF SCI & TECH
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