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An exoskeleton robot ankle joint with three flexible drive branches

An exoskeleton robot and drive branch technology, applied in the field of robotics, can solve problems such as less degrees of freedom, insufficient number of drives, and large end inertia

Active Publication Date: 2021-12-14
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The traditional exoskeleton ankle joint has defects such as less degrees of freedom, insufficient number of drives, and large terminal inertia

Method used

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  • An exoskeleton robot ankle joint with three flexible drive branches
  • An exoskeleton robot ankle joint with three flexible drive branches
  • An exoskeleton robot ankle joint with three flexible drive branches

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Embodiment Construction

[0053]In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is some embodiments of the present invention, but not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention.

[0054] The invention relates to an ankle joint device of an exoskeleton ...

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Abstract

The invention belongs to the technical field of robots, and relates to an ankle joint of an exoskeleton robot with three flexible drive branches, comprising a calf fixing block, a restraint branch, a foot plate, a first drive branch, a second drive branch and a third drive branch; the foot plate Connect the leg fixing block through the restraining branch, one end of the first driving branch, the second driving branch and the third driving branch are set on the calf fixing block, and the other end is hinged with the sole of the foot; through the linkage between the first driving branch and the second driving branch The soles of the feet are driven to realize varus / valgus rotation; the soles of the feet are driven to realize dorsiflexion / plantarflexion rotation and internal rotation / external rotation through the linkage of the first drive branch, the second drive branch and the third drive branch. The invention has three rotational degrees of freedom, and each degree of freedom is an active degree of freedom, and can bionically reproduce the dorsiflexion / plantarflexion rotation, varus / valgus rotation, and internal rotation / external rotation of the ankle joint of the human lower limb.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to an ankle joint of an exoskeleton robot with three flexible drive branches. Background technique [0002] The lower extremity exoskeleton is a wearable bionic robot with a structure similar to that of the human lower extremity. It can assist the wearer in realizing functions such as lower limb rehabilitation, assisting walking, and enhancing load-bearing. It has broad application prospects in rehabilitation, civilian and military fields. According to the research on the movement mechanism of human joints, the ankle joint is composed of the fork-shaped joint fossa formed by the articular surface of the tibia, the articular surface of the medial malleolus and the articular surface of the lateral malleolus, and the ankle-shaped joint head of the talus. It can do dorsiflexion / plantar around three rotation axes. Flexion, varus / valgus, and slight internal / external rotation movements, among ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J9/12B25J9/00
CPCB25J17/00B25J9/126B25J9/0006B25J9/0039
Inventor 何勇吴新宇刘静帅李金科马跃李锋孙健铨董遥王大帅曹武警
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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