Exoskeleton robot ankle joint with double flexible driving branches

An exoskeleton robot and drive branch technology, applied in the field of robotics, can solve problems such as large terminal inertia, insufficient number of drives, and few degrees of freedom

Pending Publication Date: 2021-07-30
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The traditional exoskeleton ankle joint has defects such as less de

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Exoskeleton robot ankle joint with double flexible driving branches
  • Exoskeleton robot ankle joint with double flexible driving branches
  • Exoskeleton robot ankle joint with double flexible driving branches

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0048] In order to make the objects, technical solutions, and advantages of the present invention more clearly, the technical solutions in the embodiments of the present invention will be described in contemplation in the drawings of the embodiments of the present invention, and the embodiments described in the embodiments of the present invention will become apparent. It is a part of the embodiments of the invention, not all of the embodiments. Based on the embodiments in the present invention, those of ordinary skill in the art are in the range of the present invention without making creative labor premistence. Thus, the following detailed description of the embodiments of the invention as provided in the drawings are not intended to limit the scope of the invention as claimed, but only the selected embodiments of the present invention are shown.

[0049] The present invention relates to an external skeleton robot ankle device having two rotational degrees of freedom, and two ro...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention belongs to the technical field of robots, and relates to an exoskeleton robot ankle joint with double flexible driving branches. The exoskeleton robot ankle joint comprises a shank fixing block, a constraint branch, a sole plate, a first driving branch and a second driving branch, wherein the sole plate is connected with the shank fixing block through the constraint branch, the first driving branch and the second driving branch are arranged on the shank fixing block, and the sole plate is driven by the first driving branch and the second driving branch to realize dorsiflexion/plantar flexion and introversion/ectropion rotation. The exoskeleton robot ankle joint with the double flexible driving branches has two active degrees of freedom of dorsiflexion/plantar flexion and inward turning/outward turning, the rotation centers of the two joints are highly superposed to the center of the ankle joint of a human body, the structural rigidity is high, the driving force is sufficient, the center of gravity is close to the upper part, and each driving unit is connected with an elastic element in series, so that flexible and safe power output of each joint can be realized.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to an ankle joint of an exoskeleton robot with double flexible drive branches. Background technique [0002] The lower extremity exoskeleton is a wearable bionic robot with a structure similar to that of the human lower extremity. It can assist the wearer in realizing functions such as lower limb rehabilitation, assisting walking, and enhancing load-bearing. It has broad application prospects in rehabilitation, civilian and military fields. According to the research on the movement mechanism of human joints, the ankle joint is composed of the fork-shaped joint fossa formed by the articular surface of the tibia, the articular surface of the medial malleolus and the articular surface of the lateral malleolus, and the ankle-shaped joint head of the talus. It can do dorsiflexion / plantar around three rotation axes. Flexion, varus / valgus, and slight internal / external rotation movements, among...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/00B25J17/00A61H3/00A61H1/02
CPCB25J9/00B25J9/0006B25J17/00A61H3/00A61H1/0266A61H2003/005A61H2201/1207
Inventor 吴新宇何勇刘静帅李金科李锋马跃孙健铨连鹏晨曹武警王大帅
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap