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Motion decoupling parallel drive type exoskeleton robot ankle joint

An exoskeleton robot and ankle joint technology, applied in the field of robotics, can solve the problems affecting the exoskeleton movement flexibility, wearing comfort ankle joint movement assistance ability, lack of active drive, single degree of freedom of the ankle joint, etc., to improve dynamic performance. Motion flexibility, simplified motion control, reduced foot inertia effects

Active Publication Date: 2021-07-30
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Existing lower extremity exoskeleton robots have a single degree of freedom in the ankle joint, usually only including a single degree of freedom in dorsiflexion / plantarflexion, and even use an integrated rigid structure with the lower leg, and most of them do not have active drives, which greatly affects the exoskeleton. Motion flexibility, wearing comfort and ankle motion assist ability

Method used

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  • Motion decoupling parallel drive type exoskeleton robot ankle joint
  • Motion decoupling parallel drive type exoskeleton robot ankle joint
  • Motion decoupling parallel drive type exoskeleton robot ankle joint

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Embodiment Construction

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is some embodiments of the present invention, but not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention.

[0039] In order to provide dorsiflexion / plantarflexion and varus / valgus...

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Abstract

The invention belongs to the technical field of robots, and relates to a motion decoupling parallel drive type exoskeleton robot ankle joint. The motion decoupling parallel drive type exoskeleton robot ankle joint comprises an ankle joint drive assembly and a foot support assembly. The ankle joint drive assembly comprises a shank rod, a flexion and extension drive assembly and an inward and outward turning motion assembly. The shank rod is hinged to the foot support assembly. The flexion and extension drive assembly and the inward and outward turning motion assembly are arranged on the shank rod and drive the foot support assembly to conduct flexion and extension motion and inward and outward turning motion correspondingly. According to the motion decoupling parallel drive type exoskeleton robot ankle joint, a motion decoupling parallel drive structure of the motion decoupling parallel drive type exoskeleton robot ankle joint has the characteristics of two rotation freedom degrees, good structural rigidity, high overall gravity center and small foot end inertia, ankle joint active motion assistance of two freedom degrees of dorsiflexion / plantar flexion and inward turning / outward turning is achieved, and the wearing comfort, motion flexibility and stability of the human body are improved.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a motion decoupling parallel drive type exoskeleton robot ankle joint. 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 small internal / external rotation movements, with good f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02B25J9/00B25J9/08B25J19/00A61H3/00A61H1/02
CPCB25J17/02B25J9/0006B25J9/08B25J9/003B25J19/00A61H3/00A61H1/0266A61H2201/1207A61H2003/005A61H2201/14
Inventor 刘静帅吴新宇何勇李金科李锋马跃曹武警王大帅孙健铨连鹏晨
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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