Parallel type multi-freedom artificial limb exoskeleton ankle joint

Abstract

The invention relates to an MDOF (Multi-Degree-of-Freedom) and parallel-type ectoskeleton anklebone of artificial limb, which belongs to a rehabilitation engineering technical field and comprises a thenar support plate, a humanoid leg jacket, an upper platform, a lower paltform, a first active branched chain guide, a second active branched chain guide and a third active branched chain guide, wherein, one end of the first active branched chain guide is flexibly connected with the upper platform while the other end is flexibly connected with the lower platform; one end of the second active branched chain guide is flexibly connected with the upper platform while the other end is flexibly connected with the lower platform; one end of the third active branched chain guide is flexibly connected with the upper platform while the other end is flexibly connected with the lower platform; the thenar support plate is fixedly connected with the lower platform through baffles of the thenar support plate on two sides; the humanoid leg jacket is fixedly connected with the upper platform. The ectoskeleton anklebone of artificial limb of the invention has high mechanism rigidity, simple structure and good stability and can meet flexibility requirement of human anklebone.

Description

technical field [0001] The invention relates to a device in the technical field of rehabilitation engineering, in particular to a parallel multi-free artificial limb exoskeleton ankle joint. Background technique [0002] In recent years, the number of physically disabled persons due to accidents such as traffic accidents, sports accidents, industrial injuries, wars and population aging has been increasing year by year. In the process of building a harmonious society, the physical and mental health of the disabled has received widespread attention from the whole society. At present, there are many types of medical equipment for rehabilitation training for patients. For patients with lower limb disabilities and paralysis, traditional rehabilitation tools include crutches, wheelchairs and artificial limbs. These three types are passive rehabilitation equipment, which are not convenient for patients to use, and sometimes they need help from other people. Artificial limbs have al...

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Problems solved by technology

[0005] After searching the existing technical literature, it is found that the Chinese invention patent application number is 200410053695.6, and the patent name is "a wearable lower extremity walking exoskeleton". The rod mechanism, ankle four-bar mechanism and foot support are connected in series, all of which are driven by hydraulic cylinders. It is inevitable that the serial exoskeleton mechanism has many shortcomings of the above analysis. , the positioning accuracy of the mechanism is not high, and it is difficult to meet the requirements of stable control in practical applications

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