CN104644381A - Three-DOF (Degree Of Freedom) flexible ankle joint device for exoskeletons - Google Patents
Three-DOF (Degree Of Freedom) flexible ankle joint device for exoskeletons Download PDFInfo
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- CN104644381A CN104644381A CN201510082305.6A CN201510082305A CN104644381A CN 104644381 A CN104644381 A CN 104644381A CN 201510082305 A CN201510082305 A CN 201510082305A CN 104644381 A CN104644381 A CN 104644381A
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Abstract
The invention discloses a flexible ankle joint device for exoskeletons. The flexible ankle joint device has three degrees of freedom in all, namely a translation degree of freedom and two rotation degrees of freedom, and comprises a foot sole supporting part, foot side supporting parts, a foot heel damper and a leg supporting frame, wherein the foot side supporting parts serve as flexible rotation pairs and play a role in rotating, damping and protecting; the foot heel damper with a magneto-rheological damper plays a role in supporting, damping and protecting a foot heel. According to the flexible ankle joint device, the movement of an ankle joint of exoskeletons can keep synchronous to that of a user; due to three degrees of freedom of movement, the enhancement of matching performance of the ankle joint device to all kinds of lower limb exoskeletons is facilitated; due to the design of a shockproof packed layer and elastic supporting members of the foot sole supporting part, the design of the flexible rotation pairs of the foot side supporting parts and the design of the foot heel damper, the lightening of walking burden of the user is facilitated, and comfort is improved. The flexible ankle joint device can serve as a loaded walking assisting device, a rehabilitation appliance or an ankle joint device for other lower limb exoskeletons and has the advantages of compact structure, stability and reliability in work, high flexibility, comfort in wearing and the like.
Description
Technical field
The invention belongs to ectoskeleton apparatus field, be specifically related to a kind of to there is the flexible ankle device of ectoskeleton that totally three freedoms of motion are rotated in a translation two.
Background technology
Sprained ankle sickness rate in general joint is sprained is the highest, ligament injury is very easily caused even to tear, wound after treatment and rehabilitation course difficulty larger, and due to intraarticular soft tissue injury, the walking pain symptom of part the wounded more can not reach many decades for a long time, easy recurrence causes old to sprain, thus cause the inflammatory stress of muscle spasm and teleneuron, severe patient causes gastrocnemius, musculus soleus etc. drive ankle joint to produce the irreversible damage of the main muscle group of plantar flexion, affect response time, amount of contraction and contraction intensity etc., final formation ankle joint function stablizes obstacle.Ankle is also that the mankind keep the various key position performed an action, and is also more responsive place of easily spraining, and needs ESD to be protected or rehabilitation ankle in fields such as military affairs and medical treatment.Mechanical exoskeleton a kind ofly combines the intelligence of people and the wearable equipment of man-computer cooperation of robotic's energy.Mechanical exoskeleton technology has good application prospect in a lot of fields.In military field, ankle ectoskeleton can improve the spring of soldier, load, the ability such as motor-driven, and ankle ectoskeleton is the effective guarantee protected soldier in fight, reduce casualty rate, increase the operation implementation capacity of soldier; In high-risk high-strength working field, during as field operations such as rescue, the disaster relief, fire, when vehicle cannot use again, ankle ectoskeleton effectively can increase operating personnel and to bear a heavy burden ability, is the effective guarantee that operating personnel completes rescue timely and effectively; At medical field, mechanical exoskeleton may be used for auxiliary people with disability, old people and lower limb myasthenia and paraplela inferior patient walking, them also can be helped to carry out mandatory rehabilitation exercise etc., have good development prospect.
In addition, lower limb assistance exoskeleton is as a kind of power-assisted apparatus of walking with load, and the disaster field such as earthquake, mud-rock flow that rescue personnel can be helped to bear the goods and materials such as more buoyant apparatus cannot advance at common vehicle carries out operation; In the theater of war with a varied topography, soldier can be helped to carry march that more weaponry does long distance.And the research of human body lower limbs dynamics is found, in each joint of lower limb, ankle joint all has important effect in heel buffer stage, plantar flexion stage that moves ahead with pedaling of contacting to earth, simultaneously, substantially the degree of freedom in frontal plane is not possessed due to knee joint, so by hip joint and ankle joint, the lateral rotation in frontal plane realizes in the maintenance of walking balance, therefore, be necessary to study the ectoskeletal ankle joint mechanism meeting these and require.
Visible, no matter be can carry out to sprained ankle person auxiliary rehabilitation appliances of walking as a kind of, or as equiping with arms march, the important component part of lower limb exoskeleton of disaster assistance or special ankle joint ectoskeleton, the research of exoskeleton ankle joint mechanism all has great practical value and Research Significance.
In the mechanism design of exoskeleton ankle joint, first must ensure that arranging of degree of freedom meets the ankle motion rule of human body in normal walking process, to make the walking movement of user not by the restriction of exoskeleton ankle joint mechanism freedom.And the rehabilitation equipment of the ankle joint extensively existed in the market, orthosis or ectoskeleton are all the single movements making ankle joint carry out plantar flexion/dorsiflex, and according to human-body biological anatomy, ankle joint is when doing plantar flexion/dorsiflex campaign, be not the motion of single-degree-of-freedom, but the motion of other five degree of freedom (inside/outside turns over, inside/outside revolves, three straight-line displacements) can be coupled with.Wherein most importantly simultaneous turns over motion (7 °) at the inside/outside of coronalplane, revolves motion (7.6 °) along the rectilinear motion (12mm) of sagittal axis and the inside/outside of horizontal plane.In addition, if force to do unidirectional motion, be also the damage again to ankle joint, and comfortableness, safety, adaptability and rehabilitation efficacy are all very poor.
No matter ankle ectoskeleton is improve wearer maneuverability, heavy burden ability, or auxiliary old people walks or medical assistance rehabilitation training function, all requires that ankle ectoskeleton has certain supplemental support effect, more needs the degree of freedom with similar skeleton.And existing ankle ectoskeleton major part is all the ectoskeleton of ankle walking aid ectoskeleton or auxiliary rehabilitation exercise.The lower limb walking ectoskeleton of the publication number two kinds of medical instruments fields that have been the disclosure of the invention of CN200410053695.6 and CN200420081797.4, this invention can alleviate pedestrian's fatigue to a certain extent, strengthen the ability that human body carries weight motion, as the walking aid of lower extremity amputation patient or amyotrophy patient.But this invention structural volume is large, from the impact on ground when being difficult to during walking overcome walking, and the freedom of motion of the ankle dressed is limited, worn for long periods can bring certain discomfort and feeling of fatigue to wearer, simultaneously because its function singleness makes this invention application limited.The publication number two-freedom device for rehabilitation that has been the Invention Announce of CN200910111110.4, this invention achieves the varus of ankle/stir and abduction/adduction action outward.Although this invention achieves two degree of freedom actions of ankle, but still from the impact on ground when can not overcome walking, when its abduction/varus This move is implemented, controllability inconvenience, controls bad foot of more easily rivering bend, and complex structure enforcement is convenient not, application is also only limitted to medical apparatus and instruments.Application number be 201410208291.3 Chinese patent disclose a kind of multivariant ankle joint power exoskeleton of rehabilitation training, can the inside/outside of self adaptation ankle joint turns over, inside/outside revolves and along the movable three class coupled motions of sagittal axis.But this technical scheme is only suitable for the passive exercise use in rehabilitation exercise, be not suitable for dressing use.
At present, not a lot of to the research of ankle ectoskeleton aspect generally, and most of ankle ectoskeleton is only applied in the auxiliary ankle rehabilitation field of medical treatment, the research in other field is very few, many in the urgent need to degree of freedom, stability is high, comfortable and easy to wear, widely used ankle ESD.
Summary of the invention
The object of the invention is for the deficiencies in the prior art, provide a kind of and there is the flexible ankle device of ectoskeleton that totally three freedoms of motion are rotated in a translation two.
Technical problem to be solved by this invention realizes by the following technical solutions.
A kind of ectoskeleton three-degree of freedom flexible ankle device, comprises support portion, vola, is arranged symmetrically in the collateral support part of foot of both sides, support portion, vola, the sufficient rear damper being positioned at rear end, support portion, vola and shank support bracket.Wherein, the collateral support part of described foot has two, for connecting, supporting shank support bracket and support portion, vola, and rotates vibration damping protective effect as compliant rotational is secondary with playing.The bottom of the collateral support part of described foot is connected by the mode of welding with support portion, vola, and its top is connected by hinge with the bottom of shank support bracket; Described sufficient rear damper is used for playing support and vibration damping protective effect in heel portion, and its lower end is connected by universal joint with support portion, vola, and the upper end of sufficient rear damper is connected by hinge with shank support bracket.
Described support portion, vola is used for supporting and carrying wearer foot strength, and plays the effect of vibration damping protection.Described support portion, vola comprises lower shoe, shockproof packed layer, upper plate, elastic supporting member for supporting optical member, outer side seal circle and flexible bandage.Wherein, described lower shoe is bottom of the present invention load bearing support part, and lower shoe adopts can solder type metal material; Described elastic supporting member for supporting optical member is U-shaped structural slab spring, and a main support and connection lower shoe and upper plate also absorb or reduce upper plate to the impact shock of lower shoe; Bottom and the lower shoe of described elastic supporting member for supporting optical member are connected, and be provided with screwed hole at the top of elastic supporting member for supporting optical member, elastic supporting member for supporting optical member is connected by screw with upper plate; Described shockproof packed layer plays buffering and the effect of vibration damping for supporting upper plate to the load of lower shoe, namely has the freedom of motion of trace movement in vertical direction, described shockproof packed layer is provided with uniform cylindrical hole; Described outer side seal circle is positioned at the lateral surface of lower shoe, upper plate, play sealing and dust-proof effect, and shockproof packed layer, outer side seal circle is connected mutually with all adopting the mode of splicing between lower shoe, upper plate; Described upper plate is provided with screw connecting hole for fixing elastic supporting member for supporting optical member and air-vent, described upper plate comprises header board, middle plate and rear plate three parts, be connected by hinge between described header board with middle plate, described middle plate is connected by hinge with between rear plate, to improve the degree of flexibility and comfort level of dressing support portion, vola further, hinge seat under the rear end of described rear plate is provided with universal joint.The two ends of described flexible bandage are separately fixed on upper plate.
The collateral support part of described foot comprises front flexible hinge, rear flexible hinge, foot connection backplate.Wherein, described front flexible hinge, rear flexible hinge are all in circular arc platy structure, and employing elastic metallic material, the lower shoe of described front flexible hinge, the bottom of rear flexible hinge and support portion, vola is connected by the mode of welding, and the top of front flexible hinge, rear flexible hinge is connected backplate two ends with foot are connected respectively by the mode of welding; Described foot is connected backplate and is connected by hinge with shank support bracket, makes the present invention have the freedom of motion of the horizontal axis around the width being parallel to foot.Described front flexible hinge, rear flexible hinge are secondary as the gapless type compliant rotational connecting shank support bracket and lower shoe, have the freedom of motion around the horizontal axis being parallel to foot length direction.
Described sufficient rear damper comprises universal joint, MR damper, Compress Spring, the antivibrator axis of guide.Wherein, the lower hinge seat of described universal joint is positioned at the rear end of support portion, vola, and be connected by the mode of welding with the upper plate of support portion, vola, the upper hinge seat of described MR damper and universal joint is connected, the described antivibrator axis of guide is placed in MR damper, and described Compress Spring is enclosed within the antivibrator axis of guide.When using as active drive type ankle device, the MR damper in described sufficient rear damper can be replaced by electric pushrod, namely described sufficient rear damper becomes the power set with active drive function from original passive vibration damping.Described sufficient rear damper is the serial mechanism of a RPU structure, and wherein, letter r represents revolute pair, and alphabetical P represents moving sets, and letter U represents universal joint.Described sufficient rear damper forms again the serial mechanism of a RPUP structure together with support portion, vola.
The lower end of described shank support bracket is provided with curved hinge seat, is provided with circular connecting hole in the both sides, upper end of shank support bracket, and described curved hinge seat and shank support bracket are connected, and curved hinge seat is connected by hinge with the top of the antivibrator axis of guide.
Between the lower shoe that described elastic supporting member for supporting optical member is arranged symmetrically in support portion, vola and upper plate, and the quantity of elastic supporting member for supporting optical member is no less than seven.
In order to improve the comfortableness of the effectiveness in vibration suppression of support portion, vola, service life and wearing, described shockproof packed layer preferentially adopts pure natural rubber.
Described front flexible hinge, rear flexible hinge are all in circular arc platy structure, and its cross section is minor arc, and be positioned at the front flexible hinge of both sides, support portion, vola, the arc core of rear flexible hinge circular arc all takes the mode of arranging in opposite directions.
From the angle of theory of mechanisms, the present invention is a translation two rotation 3-freedom parallel mechanism with three side chains.Article 1 side chain be to be connected by shank support bracket revolute pair that the hinge between backplate forms with the foot in outside, be positioned at that compliant rotational pair that front flexible hinge outside support portion, vola and rear flexible hinge formed form { side chain of-R ⊥ R-} structure is vertical relation between the axis that symbol ⊥ represents two kinematic pairs; Article 2 side chain is to be connected by shank support bracket revolute pair that the hinge between backplate forms with inner side foot, to be positioned at { the side chain of-R ⊥ R-} structure that compliant rotational pair that front flexible hinge inside support portion, vola and rear flexible hinge formed forms; Article 3 side chain is the serial mechanism of the RPUP structure be made up of together with support portion, vola sufficient rear damper.Simultaneously, vertical relation is there is between axis due to each kinematic pair of sufficient rear damper, thus, mechanism form of the present invention can be expressed as in detail {-R ⊥ R-}+{-R ⊥ R-}+{-R ⊥ P ⊥ U ⊥ P-}, and the axis of the revolute pair of the Article 1 side chain parallel axis with the revolute pair of Article 2 side chain accordingly, the axis of two revolute pairs of Article 1 side chain is parallel two axis with the cross axle of the universal joint of Article 3 side chain respectively.
During use, the parameter of MR damper in sufficient rear damper, the structural parameters of Compress Spring can be selected according to time situation, to regulate the dynamic antivibration of MR damper, determine the rigidity of Compress Spring.
In the design of support portion, vola of the present invention; arrange along the lateral surface of lower shoe between lower shoe and upper plate and be no less than the elastic supporting member for supporting optical member that seven are played vibration damping protection; middle part simultaneously between lower shoe and upper plate arranges shockproof packed layer, and the structure of support portion, vola not only simulates the muscle group elastic characteristic in the process of walking of Human Sole.In order to improve its motion flexibility ratio and wearing comfort degree, also being divided for by upper plate the header board be connected by hinge, middle plate and rear plate three parts, making the support portion, vola of exoskeleton ankle joint device have more compliant characteristic in walking.
The invention has the beneficial effects as follows, compared with prior art, the present invention can make the motion of exoskeleton ankle joint and user keep synchronous, three freedoms of motion are conducive to strengthening the matching of this ankle joint mechanism to various lower limb exoskeleton, and profile of the present invention and Mass Distribution design more close to the feature of model of human ankle; Compliant rotational pair and being designed with of sufficient rear damper of the shockproof packed layer of support portion, vola, the design of elastic supporting member for supporting optical member, the collateral support part of foot help alleviate user walking burden, improve comfortableness.The present invention can be used as loading-type assisted walk device, rehabilitation appliances or other lower limb exoskeleton ankle device, has compact conformation, working stability is reliable, motility is high and the advantage such as wearing comfort.
Accompanying drawing explanation
Fig. 1 is population structure schematic diagram of the present invention;
Fig. 2 is the STRUCTURE DECOMPOSITION schematic diagram of support portion, vola of the present invention;
Fig. 3 is the structural representation of support portion, vola of the present invention and sufficient rear damper.
Detailed description of the invention
The technological means realized to make the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with specific embodiment and diagram, setting forth the present invention further.
As shown in figures 1 and 3, a kind of ectoskeleton three-degree of freedom flexible ankle device, comprises support portion, vola 1, is arranged symmetrically in the collateral support part of foot 2 of both sides, support portion, vola 1, the sufficient rear damper 3 being positioned at rear end, support portion, vola 1 and shank support bracket 4.Wherein, the collateral support part 2 of described foot has two, for connecting, supporting shank support bracket 4 and support portion, vola 1, and rotates vibration damping protective effect as compliant rotational is secondary with playing.The bottom of the collateral support part 2 of described foot is connected by the mode of welding with support portion, vola 1, and its top is connected by hinge with the bottom of shank support bracket 4; Described sufficient rear damper 3 is for playing support and vibration damping protective effect in heel portion, its lower end is connected by universal joint with support portion, vola 1, and the upper end of sufficient rear damper 3 is connected by hinge with shank support bracket 4.
As shown in Figures 2 and 3, the effect of vibration damping protection for supporting and carrying wearer foot strength, and is played in described support portion, vola 1.Described support portion, vola 1 comprises lower shoe 11, shockproof packed layer 12, upper plate 13, elastic supporting member for supporting optical member 14, outer side seal circle 15 and flexible bandage 16.Wherein, described lower shoe 11 is bottom of the present invention load bearing support part, and lower shoe 11 adopts can solder type metal material; Described elastic supporting member for supporting optical member 14 is U-shaped structural slab spring, and a main support and connection lower shoe 11 and upper plate 13 also absorb or reduce the impact shock of upper plate 13 pairs of lower shoes 11; Bottom and the lower shoe 11 of described elastic supporting member for supporting optical member 14 are connected, and be provided with screwed hole 141 at the top of elastic supporting member for supporting optical member 14, elastic supporting member for supporting optical member 14 is connected by screw with upper plate 13; Described shockproof packed layer 12 is for supporting the load of upper plate 13 pairs of lower shoes 11 and playing buffering and the effect of vibration damping, namely there is the freedom of motion of trace movement in z-direction, described shockproof packed layer 12 is provided with uniform cylindrical hole 121; Described outer side seal circle 15 is positioned at the lateral surface of lower shoe 11, upper plate 13, play sealing and dust-proof effect, and shockproof packed layer 12, outer side seal circle 15 all adopts the mode of splicing to be connected mutually with between lower shoe 11, upper plate 13; ; Described upper plate 13 is provided with screw connecting hole 134 and air-vent 135, described upper plate 13 comprises header board 131, middle plate 132 and rear plate 133, be connected by hinge between described header board 131 with middle plate 132, be connected by hinge between described middle plate 132 with rear plate 133.The two ends of described flexible bandage 16 are separately fixed on upper plate 13.
As shown in Figure 1, Figure 2 and Figure 3, the collateral support part of described foot 2 comprises front flexible hinge 21, rear flexible hinge 22, foot connection backplate 23.Wherein, described front flexible hinge 21, rear flexible hinge 22 are all in circular arc platy structure, and employing elastic metallic material, the lower shoe 11 of described front flexible hinge 21, the bottom of rear flexible hinge 22 and support portion, vola 1 is connected by the mode of welding, and the top of front flexible hinge 21, rear flexible hinge 22 is connected backplate 23 two ends with foot are connected respectively by the mode of welding; Described foot is connected backplate 23 and is connected by hinge with shank support bracket 4, makes the present invention have the freedom of motion rotated around Y-axis.
As shown in figures 1 and 3, described sufficient rear damper 3 comprises universal joint 31, MR damper 32, Compress Spring 34, the antivibrator axis of guide 33.Wherein, the lower hinge seat 311 of described universal joint 31 is positioned at the rear end of support portion, vola 1, and be connected by the mode of welding with the upper plate 13 of support portion, vola 1, described MR damper 3 is connected with the upper hinge seat 312 of universal joint 31, the described antivibrator axis of guide 33 is placed in MR damper 32, and described Compress Spring 34 is enclosed within the antivibrator axis of guide 33.Described sufficient rear damper 3 is the serial mechanism of a RPU structure, forms the serial mechanism of a RPUP structure together with support portion, vola 1.
As shown in Figure 1, the lower end of described shank support bracket 4 is provided with curved hinge seat 41, be provided with circular connecting hole 42 in the both sides, upper end of shank support bracket 4, described curved hinge seat 41 is connected with shank support bracket 4, and curved hinge seat 41 is connected by hinge with the top of the antivibrator axis of guide 33.
As shown in Figures 2 and 3, described elastic supporting member for supporting optical member 14 is arranged symmetrically between the lower shoe 11 of support portion, vola 1 and upper plate 13, and the quantity of elastic supporting member for supporting optical member 14 is no less than seven.
As shown in Figure 2, described shockproof packed layer 12 preferentially adopts pure natural rubber.
As shown in Figure 1, Figure 2 and Figure 3, described front flexible hinge 21, rear flexible hinge 22 are all in circular arc platy structure, its cross section is minor arc, and be positioned at the front flexible hinge 21 of both sides, support portion, vola 1, the arc core of rear flexible hinge 22 circular arc all takes the mode of arranging in opposite directions.Described front flexible hinge 21, rear flexible hinge 22 are secondary with the gapless type compliant rotational of lower shoe 11 as connecting shank support bracket 4, have the freedom of motion rotated around X-axis.
From the angle of theory of mechanisms, the present invention is a translation two rotation 3-freedom parallel mechanism with three side chains.Article 1, side chain is to be connected by shank support bracket 4 revolute pair that the hinge between backplate 23 forms with the foot in outside, to be positioned at { the side chain of-R ⊥ R-} structure that compliant rotational pair that outside support portion, vola 1, front flexible hinge 21 and rear flexible hinge 22 are formed forms; Article 2 side chain is to be connected by shank support bracket 4 revolute pair that the hinge between backplate 23 forms with the foot of inner side, to be positioned at { the side chain of-R ⊥ R-} structure that compliant rotational pair that inside support portion, vola 1, front flexible hinge 21 and rear flexible hinge 22 are formed forms; Article 3 side chain is the serial mechanism of the RPUP structure be made up of together with support portion, vola 1 sufficient rear damper 3.Mechanism form of the present invention can be expressed as in detail {-R ⊥ R-}+{-R ⊥ R-}+{-R ⊥ P ⊥ U ⊥ P-}, and the axis of the revolute pair of the Article 1 side chain parallel axis with the revolute pair of Article 2 side chain accordingly, the axis of two revolute pairs of Article 1 side chain is parallel two axis with the cross axle of the universal joint 31 of Article 3 side chain respectively.
During use, the parameter of MR damper 32 in sufficient rear damper 3, the structural parameters of Compress Spring 34 can be selected according to time situation, to regulate the dynamic antivibration of MR damper 32, determine the rigidity of Compress Spring 34.
More than show and describe ultimate principle of the present invention, principal character and advantage.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and description just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the scope of protection of present invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (4)
1. an ectoskeleton three-degree of freedom flexible ankle device, it is characterized in that: comprise support portion, vola, be arranged symmetrically in the collateral support part of foot of both sides, support portion, vola, the sufficient rear damper being positioned at rear end, support portion, vola and shank support bracket, the collateral support part of described foot has two, and the bottom of the collateral support part of foot is connected by the mode of welding with support portion, vola, its top is connected by hinge with the bottom of shank support bracket; The lower end of described sufficient rear damper is connected by universal joint with support portion, vola, and the upper end of sufficient rear damper is connected by hinge with shank support bracket;
Described support portion, vola comprises lower shoe, shockproof packed layer, upper plate, elastic supporting member for supporting optical member, outer side seal circle and flexible bandage, and described lower shoe adopts can solder type metal material; The U-shaped structure of described elastic supporting member for supporting optical member, and the bottom of elastic supporting member for supporting optical member and lower shoe are connected, be provided with screwed hole at the top of elastic supporting member for supporting optical member, elastic supporting member for supporting optical member is connected by screw with upper plate; Described shockproof packed layer is provided with uniform cylindrical hole, and described outer side seal circle is positioned at the lateral surface of lower shoe, upper plate, and shockproof packed layer, outer side seal circle are connected mutually with all adopting the mode of splicing between lower shoe, upper plate; Described upper plate is provided with screw connecting hole and air-vent, upper plate comprises header board, middle plate and rear plate, be connected by hinge between described header board with middle plate, described middle plate is connected by hinge with between rear plate, hinge seat under the rear end of rear plate is provided with universal joint; The two ends of described flexible bandage are separately fixed on upper plate;
The collateral support part of described foot comprises front flexible hinge, rear flexible hinge, foot connection backplate, described front flexible hinge, rear flexible hinge are all in circular arc platy structure, and employing elastic metallic material, the lower shoe of described front flexible hinge, the bottom of rear flexible hinge and support portion, vola is connected by the mode of welding, and the top of front flexible hinge, rear flexible hinge is connected backplate two ends with foot are connected respectively by the mode of welding;
Described sufficient rear damper comprises universal joint, MR damper, Compress Spring, the antivibrator axis of guide, the lower hinge seat of described universal joint is connected by the mode of welding with the upper plate of support portion, vola, the upper hinge seat of described MR damper and universal joint is connected, the described antivibrator axis of guide is placed in MR damper, and described Compress Spring is enclosed within the antivibrator axis of guide;
The lower end of described shank support bracket is provided with curved hinge seat, is provided with circular connecting hole in the both sides, upper end of shank support bracket, and described curved hinge seat is connected by hinge with the top of the antivibrator axis of guide.
2. a kind of ectoskeleton three-degree of freedom flexible ankle device according to claim 1, it is characterized in that: between the lower shoe that described elastic supporting member for supporting optical member is arranged symmetrically in support portion, vola and upper plate, and the quantity of elastic supporting member for supporting optical member is no less than seven.
3. a kind of ectoskeleton three-degree of freedom flexible ankle device according to claim 1, is characterized in that: described shockproof packed layer preferentially adopts pure natural rubber.
4. a kind of ectoskeleton three-degree of freedom flexible ankle device according to claim 1, it is characterized in that: described front flexible hinge, rear flexible hinge are all in circular arc platy structure, its cross section is minor arc, and be positioned at the front flexible hinge of both sides, support portion, vola, the arc core of rear flexible hinge circular arc all takes the mode of arranging in opposite directions.
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| CN201510082305.6A CN104644381B (en) | 2015-02-15 | 2015-02-15 | A kind of ectoskeleton three-degree of freedom flexible ankle device |
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| US11918536B2 (en) | 2020-06-05 | 2024-03-05 | Dephy, Inc. | Real-time feedback-based optimization of an exoskeleton |
| US11389367B2 (en) | 2020-06-05 | 2022-07-19 | Dephy, Inc. | Real-time feedback-based optimization of an exoskeleton |
| US11173093B1 (en) | 2020-09-16 | 2021-11-16 | Dephy, Inc. | Systems and methods for an active exoskeleton with local battery |
| US11752061B2 (en) | 2020-09-16 | 2023-09-12 | Dephy, Inc. | Systems and methods for an active exoskeleton with local battery |
| CN112370314A (en) * | 2020-11-10 | 2021-02-19 | 电子科技大学 | Flexible ankle joint of stretch-draw dresses helping hand equipment based on double-wire pair drive |
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