Ankle exoskeleton controlled by stepper motors with threaded shafts

Abstract

This utility model relates to the field of medicine, specifically to lower-limb rehabilitation exoskeletons, and can be used to rehabilitate patients with ankle injuries. Currently, many different types of lower-limb rehabilitation exoskeletons exist for use in physiotherapy. Passive, hydraulic, electropneumatic, active, and soft exoskeletons are widely used worldwide. However, these designs have some drawbacks, such as poor precision and smoothness during movement and large angular displacement errors. To achieve the technical result of an ankle exoskeleton controlled by stepper motors with screw shafts, a base, lower leg, coupling, movable brackets, and a ball joint are used. According to the utility model, three stepper motors with screw shafts are installed, connecting the lower leg to the base.

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