Unpowered ankle joint exoskeleton robot

• Main Authors: ZHAO JINGFU, ZHAN YUJING, SONG ZHIBIN, HOU ZHENMIN
• Format: Patent
• Language: Chinese; English
• Published: 19.07.2024
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The utility model discloses an unpowered ankle joint exoskeleton robot which comprises a rack structure, a driving structure and an energy storage structure, the rack structure is used for being connected with human ankles, the driving structure is used for being connected with a four-bar structure to guarantee movement flexibility, and the energy storage structure is used for storing changes of gravitational potential energy in the walking process of a human body. According to the ankle joint exoskeleton robot, the function is achieved through a mechanical structure, the function of providing assistance for walking of the human body can be achieved, the overall structure is light in mass, and the ankle joint exoskeleton robot has certain value for research of gaits of the human body. 本发明公开了一种无动力踝关节外骨骼机器人，包括机架结构、驱动结构、储能结构，所述机架结构用于连接人体脚踝，所述驱动结构用于连接四杆结构，保证运动的灵活性，所述储能结构用于存储人体在行走过程中重力势能的变化，并在人体行走的特定阶段进行释放，该踝关节外骨骼机器人由于其全靠机械结构实现功能，不仅能实现为人体行走提供助力的功能，而且整体结构质量较轻，对于人体步态的研究也具有一定的价值。