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Exoskeleton robot ankle joint with double flexible driving branches

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

Pending Publication Date: 2021-07-30
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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  • Exoskeleton robot ankle joint with double flexible driving branches
  • Exoskeleton robot ankle joint with double flexible driving branches
  • Exoskeleton robot ankle joint with double flexible driving branches

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Embodiment Construction

[0048] 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.

[0049] 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 exoskeleton robot ankle joint with double flexible driving branches. The exoskeleton robot ankle joint comprises a shank fixing block, a constraint branch, a sole plate, a first driving branch and a second driving branch, wherein the sole plate is connected with the shank fixing block through the constraint branch, the first driving branch and the second driving branch are arranged on the shank fixing block, and the sole plate is driven by the first driving branch and the second driving branch to realize dorsiflexion / plantar flexion and introversion / ectropion rotation. The exoskeleton robot ankle joint with the double flexible driving branches has two active degrees of freedom of dorsiflexion / plantar flexion and inward turning / outward turning, the rotation centers of the two joints are highly superposed to the center of the ankle joint of a human body, the structural rigidity is high, the driving force is sufficient, the center of gravity is close to the upper part, and each driving unit is connected with an elastic element in series, so that flexible and safe power output of each joint can be realized.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to an ankle joint of an exoskeleton robot with double 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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IPC IPC(8): B25J9/00B25J17/00A61H3/00A61H1/02
CPCB25J9/00B25J9/0006B25J17/00A61H3/00A61H1/0266A61H2003/005A61H2201/1207
Inventor 吴新宇何勇刘静帅李金科李锋马跃孙健铨连鹏晨曹武警王大帅
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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