Motion decoupling parallel drive type exoskeleton robot ankle joint

Abstract

The invention belongs to the technical field of robots, and relates to a motion decoupling parallel drive type exoskeleton robot ankle joint. The motion decoupling parallel drive type exoskeleton robot ankle joint comprises an ankle joint drive assembly and a foot support assembly. The ankle joint drive assembly comprises a shank rod, a flexion and extension drive assembly and an inward and outward turning motion assembly. The shank rod is hinged to the foot support assembly. The flexion and extension drive assembly and the inward and outward turning motion assembly are arranged on the shank rod and drive the foot support assembly to conduct flexion and extension motion and inward and outward turning motion correspondingly. According to the motion decoupling parallel drive type exoskeleton robot ankle joint, a motion decoupling parallel drive structure of the motion decoupling parallel drive type exoskeleton robot ankle joint has the characteristics of two rotation freedom degrees, good structural rigidity, high overall gravity center and small foot end inertia, ankle joint active motion assistance of two freedom degrees of dorsiflexion / plantar flexion and inward turning / outward turning is achieved, and the wearing comfort, motion flexibility and stability of the human body are improved.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a motion decoupling parallel drive type exoskeleton robot ankle joint. 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 small internal / external rotation movements, with good f...

AI Technical Summary

Problems solved by technology

[0003] Existing lower extremity exoskeleton robots have a single degree of freedom in the ankle joint, usually only including a single degree of freedom in dorsiflexion / plantarflexion, and even use an integrated rigid structure with the lower leg, and most of them do not have active drives, which greatly affects the exoskeleton. Motion flexibility, wearing comfort and ankle motion assist ability

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