A single-degree-of-freedom adaptive exoskeleton ankle joint

Abstract

The present invention discloses a single-degree-of-freedom adaptive exoskeleton ankle joint, relating to the technical field of exoskeleton structures. The joint comprises a calf connection module for wearing on a human calf, a foot connection module for wearing on a human foot, and an adaptive adjustment module connected to the calf connection module and the foot connection module, respectively. The connection between a first hinge plate and a length adjustment plate forms a first rotational pair, the connection between a second hinge plate and the first hinge plate forms a second rotational pair, and the connection between a third hinge plate and the second hinge plate forms a third rotational pair. A first transmission assembly and a second transmission assembly are respectively disposed at the front and rear ends of the adaptive connection structure to enable force transmission between the length adjustment plate and the third hinge plate. The present invention can adapt to physiological and wearing deviations of the ankle joint within a certain range, resolving the problem that the ankle joint cannot support the overall mass of the exoskeleton and cannot transmit force.

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