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Power-assisted ankle joint exoskeleton

An ankle joint and exoskeleton technology, which is applied in the direction of equipment to help people walk, physical therapy, etc., can solve the problems of human body's normal walking state, such as large influence and restrictions, complex structure, heavy weight, etc., to achieve good coordination and consistency, and simplify the structure , light weight effect

Pending Publication Date: 2021-01-29
SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA
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Problems solved by technology

[0004] The purpose of the present invention is to provide a power-assisted ankle joint exoskeleton, which aims to solve the exoskeleton ankle joint power-assisted robot in the prior art, which has a relatively complex structure, large size, and heavy weight, which has great influence and restrictions on the normal walking state of the human body. The problem

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  • Power-assisted ankle joint exoskeleton
  • Power-assisted ankle joint exoskeleton
  • Power-assisted ankle joint exoskeleton

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specific Embodiment approach

[0043] Furthermore, please also refer to figure 2 , Figure 4 and Figure 5 , as a specific embodiment of the power-assisted ankle exoskeleton provided by the present invention, the ankle wearable assembly 1 includes a sole fixing member 11 for fixing on the user’s shoes and two shoes respectively arranged on opposite sides of the sole fixing member 11. Two rotating support arms 12, the tops of the two rotating support arms 12 are respectively connected to the leg wearing assembly 2 through the pivot 4, and the other end of the wire rope 311 is connected to the sole fixing member 11.

[0044] In the present embodiment, a sole fixture 11 is provided, and the sole fixture 11 includes a rigid U-shaped sleeve for fixing to the outside of the sole. The other end of the wire rope 311 is connected with the rigid U-shaped sleeve of the sole fixture 11. The two ends of the shape sleeve are respectively provided with buckles 9 for quick fixing and locking and quick unlocking and fixi...

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Abstract

The invention provides a power-assisted ankle joint exoskeleton, comprising an ankle wearing assembly connected with a foot boots, a leg wearing assembly connected with a shank and a power assisting device, wherein the ankle wearing assembly is rotationally connected with the leg wearing assembly through a pivot; the power assisting device comprises a Bowden cable used for driving the ankle wearing assembly and the leg wearing assembly to rotate relatively, a power device used for driving the Bowden cable to stretch, and a waistband used for binding the power device to the waist of a user; andwhen a human body walks, the power device drives a steel wire rope of the Bowden cable, and the steel wire rope pulls the ankle wearing assembly to rotate relative to the leg wearing assembly under the guidance of a wire sleeve, so assistance is provided for plantar flexion movement of an ankle joint of a user and the user is assisted in walking normally. The power-assisted ankle joint exoskeleton provided by the invention is compact in structure, small in size and light in weight, the load of the lower limb of the user at the ankle joint is reduced, influence on human motion is small, and the user can keep natural gait and walk normally.

Description

technical field [0001] The invention belongs to the technical field of wearable exoskeleton, and more specifically relates to a power-assisted ankle joint exoskeleton. Background technique [0002] In recent years, with the gradual increase of the aging population in society, limb movement dysfunction caused by natural aging and diseases of the human body has affected the daily life and travel of more and more elderly people. Therefore, walking assistance and auxiliary rehabilitation training for the elderly The mechanically assisted exoskeleton developed by et al. has been widely used. A mechanically assisted exoskeleton can be commonly understood as a wearable robot. It has exoskeleton limbs and exoskeleton joint structures. The exoskeleton limbs are made of metal and other materials and connected by various exoskeleton joints. Under the direct drive of the hydraulic device at the joints, the exoskeleton joints drive the exoskeleton limbs to drive the wearer's limbs to mo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2003/007A61H2201/1207A61H2201/1642
Inventor 付成龙钱跃鹏冷雨泉黄冠马亮朱瀚韬
Owner SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA
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