Sole control type lower limb energy storage power-assisted mechanism

Abstract

The invention discloses a sole control type lower limb energy storage power-assisted mechanism. The sole control type lower limb energy storage power-assisted mechanism comprises a thigh rod, a thigh bandage, a knee joint energy storage device, a shank rod, an air spring, a ball joint, a bottom plate and a spring. In the using process, the thigh rod is bound to a thigh through the bandage. Man-machine coupling and multi-degree-of-freedom passive walking assistance are achieved according to the human body walking gait principle, the energy storage requirement is met through bending of a coil spring, full utilization of energy is achieved through cooperative use of the air spring, and free and smooth switching between a working state and a non-working state is achieved through cooperative use of an electromagnet and meshing teeth. In the daily walking process, the sole control type lower limb energy storage power-assisted mechanism can help people to share loads of knee joints and achieve load bearing and energy storage in the supporting phase so as to assist stretching in the later period of the supporting middle period; and meanwhile, sufficient power is provided for lifting the legs in the pre-swinging period, and the legs can swing freely in the swinging period without interfering with normal movement of the human body.

Description

technical field [0001] The patent of the present invention relates to a lower limb energy storage booster mechanism, in particular to a plantar controlled lower limb energy storage booster mechanism, which belongs to the field of exoskeleton robot technology and mechatronics technology. Background technique [0002] The research on the power assist system began in the late 1960s, and was mainly carried out in some developed countries such as Europe and the United States. The original purpose was to enhance the ability of the human body to bear and carry loads. By the end of the 1990s, with the improvement of science and technology, the related sensor technology, drive technology and energy development, the research of the booster system has developed rapidly. The booster system can show a good application prospect in the military field. The booster system can be used as a subsystem in many fields, such as earthquake rescue system: individual combat system and polar scientif...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the deficiencies of traditional booster devices that cannot adapt to the gait of the human body and have poor boosting effect, bulky volume, and miscellaneous structure, the present invention proposes a plantar-controlled lower limb energy storage booster mechanism. The exoskeleton can not only passively follow the Human body walking, and can realize self-storage of energy and soft switching between working state and non-working state, so as to effectively realize power assistance and reduce the burden on the human body during walking

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