Flexible ankle joint power assisting exoskeleton device

Abstract

The invention belongs to the field of wearable exoskeletons, and discloses a flexible ankle joint power assisting device. The device comprises a fixing mechanism, an energy storage element and a lever, and the energy storage element is a C-shaped stretchable fabric or material covering the surface of the shank. The fixing mechanism fixes the element on a shank, the top end of the lever is connected with the element through a traction rope, the middle of the lever is connected with a heel through a pull rope, and the bottom end of the lever is connected to a plantar metatarsophalangeal joint. When the ankle joint is dorsiflexion, the energy storage element is stretched to assist the ankle joint in doing negative work, and when the ankle joint is plantar flexion, the element rebounds to assist the ankle joint in doing positive work. The force of the element is transmitted to the pull rope through the lever to assist the heel in getting off the ground so as to assist plantar flexion of the ankle joint. The problem that a power assisting device cannot conform to inward and outward turning and inward and outward rotating movement of the ankle joint is solved. And meanwhile, the working time limitation of the active exoskeleton is avoided, and the influence of poor auxiliary effect and even consumption increase caused by metabolic punishment caused by the quality of the device is greatly reduced.

Description

technical field [0001] The invention belongs to the related technical field of wearable exoskeleton, and more specifically relates to a flexible ankle joint power-assisted exoskeleton device. Background technique [0002] The development of lower extremity exoskeletons that assist human movement, enhance human movement ability, and reduce the metabolic energy consumed by walking is not only of great scientific significance and research value, but also an important way to improve the quality of life of the people. In the past 20 years, scientific research institutions at home and abroad have carried out extensive research in the field of wearable lower extremity exoskeletons, and developed a variety of lower extremity exoskeleton devices with important scientific significance. According to whether it contains an external energy source, lower extremity exoskeletons are generally divided into active exoskeletons and passive exoskeletons. Active exoskeleton devices usually incl...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above defects or improvement needs of the prior art, the present invention provides a flexible ankle joint power-assisted exoskeleton device, which solves the problem that the power-assisted device cannot conform to the ankle joint movement, especially the inward and outward movements, and has a power source and a heavy mass. The problem

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