A flexible ankle joint power-assisted exoskeleton device

Abstract

The invention belongs to the field of wearable exoskeletons, and discloses a flexible ankle joint assist device. The device includes a fixing mechanism, an energy storage element and a lever, wherein the energy storage element is a C-shaped stretchable fabric or material covering the surface of the lower leg. The fixing mechanism fixes the element on the lower leg, the top end of the lever is connected to the element through a traction rope, the middle part is connected to the heel through a tension rope, and the bottom end is connected to the plantar metatarsophalangeal joint. When the ankle joint is dorsiflexed, the energy storage element is stretched to assist the ankle joint to perform negative work; when the ankle joint is plantarflexed, the element rebounds to assist the ankle joint to perform positive work. The force of the element is transmitted through the lever to the tension cord, assisting the heel off the ground, thereby assisting the plantar flexion of the ankle joint. The invention solves the problem that the power assist device cannot comply with the inversion and internal rotation of the ankle joint. At the same time, it avoids the working time limitation of active exoskeletons and greatly reduces the metabolic penalty caused by the quality of the device, which makes the auxiliary effect poor and even increases the consumption.

Description

technical field [0001] The invention belongs to the technical field of wearable exoskeletons, and more particularly, relates to a flexible ankle joint power-assisted exoskeleton device. Background technique [0002] The research and development of lower limb 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 people's quality of life. In the past 20 years, domestic and foreign scientific research institutions 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. Lower extremity exoskeletons are generally divided into active exoskeletons and passive exoskeletons according to whether they contain an external energy source. Active exoskeleton devices usually include a...

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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