A kinematic decoupling parallel driven exoskeleton robot ankle joint
An exoskeleton robot and ankle joint technology, applied in the field of robotics, can solve the problems of lack of active drive, affecting the flexibility of exoskeleton movement, wearing comfortable ankle joint movement assistance ability, single degree of freedom of ankle joint, etc., to achieve improved dynamics Motion flexibility, simplified motion control, and reduced foot inertia
Active Publication Date: 2022-01-25
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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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
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[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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The invention belongs to the technical field of robots, and relates to a motion decoupling parallel drive type exoskeleton robot ankle joint, which includes an ankle joint drive component and a foot rest component; Components; the calf bar is hinged with the foot support assembly, the flexion and extension drive assembly and the varus and varus movement assembly are arranged on the calf bar, and the flexion and extension drive assembly and the varus and varus motion assembly respectively drive the foot support assembly to perform flexion and extension movement and varus and varus motion. The present invention is a motion decoupling parallel drive type exoskeleton robot ankle joint. Its motion decoupling parallel drive structure has the characteristics of two rotational degrees of freedom, good structural rigidity, high overall center of gravity and small foot end inertia. Ankle joint active motion assistance with two degrees of freedom of flexion / plantar flexion and varus / valgus can improve the wearing comfort, flexibility and stability of the human body.
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...
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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
OwnerSHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI