CN108161903B - Bionic three-degree-of-freedom exoskeleton ankle joint - Google Patents
Bionic three-degree-of-freedom exoskeleton ankle joint Download PDFInfo
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- CN108161903B CN108161903B CN201810007994.8A CN201810007994A CN108161903B CN 108161903 B CN108161903 B CN 108161903B CN 201810007994 A CN201810007994 A CN 201810007994A CN 108161903 B CN108161903 B CN 108161903B
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- ankle joint
- joint support
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- insole
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention discloses a bionic three-degree-of-freedom exoskeleton ankle joint which comprises a mechanism rod piece and an ankle joint support in a U-shaped structure, wherein two shank bearing rods which are arranged in parallel are hinged between the mechanism rod piece and the opening end part of the ankle joint support, so that the mechanism rod piece, the ankle joint support and the two shank bearing rods form a parallelogram structure which is restrained to move in the same plane during shearing movement, an ankle joint bandage is arranged at the opening end part of the ankle joint support, a rotatable insole is arranged on the upper side of the bottom of the ankle joint support, a driving element is hinged between the ankle joint support and one shank bearing rod, and the central line L1 of the parallelogram structure, the rotation central line L2 of the insole, the hinge joint central line L3 of the ankle joint support and the two shank bearing rods are intersected at an ankle joint central point O at the opening end part of. The invention has higher wearing comfort, is more coordinated with the movement of the human body, and can really realize the enhancement of the mobility of the human body.
Description
Technical Field
The invention relates to an exoskeleton robot technology, in particular to a bionic three-degree-of-freedom exoskeleton ankle joint.
Background
There are certain foundations and achievements for the research of exoskeletons abroad, and the research thereof in China is rising. Currently, the exoskeleton is mainly used in the fields of medical rehabilitation, individual combat, industrial production and the like. The existing exoskeleton robot simplifies the structure of a human body in the bionic design, particularly simplifies joints and motions thereof, so that the exoskeleton and the human body have differences in motion, and the exoskeleton robot is poor in comfort when wearing exoskeleton clothes. For example, chinese patent application No. 201210319331.2 proposes a wearable weight-type material transportation assistance bionic exoskeleton, in which an ankle joint is designed with two degrees of freedom, which can simulate dorsiflexion and eversion/inversion of the ankle joint, but cannot realize internal rotation/external rotation of the ankle joint of a human body, and has a large difference from human body movement, so that the human body movement is easily restricted; chinese patent application No. 201310686549.6 discloses a wearable exoskeleton robot, wherein the ankle joint of the wearable exoskeleton robot has three degrees of freedom, which can be flexed/extended, swung/retracted, and rotated/rotated, but the three rotational centers of the wearable exoskeleton robot do not coincide with the human ankle joint center, which may cause spatial interference between the exoskeleton suit and the human body, and the wearing comfort needs to be improved.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the problems of incongruous man-machine motion, internal consumption, poor wearing comfort and the like of the exoskeleton ankle joint in the prior art, the bionic three-degree-of-freedom exoskeleton ankle joint is higher in wearing comfort, more harmonious with human motion and capable of really realizing enhancement of human mobility.
In order to solve the technical problems, the invention adopts the technical scheme that:
a bionic three-degree-of-freedom exoskeleton ankle joint comprises a mechanism rod piece and an ankle joint support in a U-shaped structure, two shank bearing rods which are arranged in parallel are hinged between the mechanism rod piece and the opening end part of the ankle joint support, so that the mechanism rod piece, the ankle joint support and the two shank bearing rods form a parallelogram structure which is restrained to move in the same plane when doing shearing movement, the opening end part of the ankle joint support is provided with an ankle joint bandage, the upper side of the bottom of the ankle joint support is provided with a rotatable insole, a driving element is hinged between the ankle joint support and one shank bearing rod, and the central line L1 of the parallelogram structure, the rotation central line L2 of the insole, the center connecting line L3 of the hinge point of the ankle joint support and the two shank bearing rods are intersected at the ankle joint central point O at the opening end part of the ankle joint support.
Preferably, the mechanism rod piece comprises two connecting rods which are arranged in parallel, and two ends of each connecting rod are respectively hinged with the upper part of the lower leg bearing rod.
Preferably, the mechanism lever further comprises a knee pad mounted inside the two links.
Preferably, two ends of the connecting rod are respectively connected with the upper part of the shank bearing rod through an upper rotating shaft, the opening end part of the ankle joint support is connected with the lower part of the shank bearing rod through a lower rotating shaft, and the upper rotating shaft and the lower rotating shaft are arranged in parallel along the length direction of the insole; one end of the driving element is hinged to the shank bearing rod, the other end of the driving element is connected with the middle part of the ankle joint support through a driving rotating shaft, and the driving rotating shafts are arranged in parallel along the width direction of the insole.
Preferably, the insole comprises a half sole and a rear seat, the half sole and the rear seat are connected through a connecting shaft, and the rear seat is installed on the upper side of the bottom of the ankle joint support.
Preferably, the bottom of the rear seat is provided in the recessed portion, and the bottom of the ankle support is located in the recessed portion.
Preferably, a foot strap for fixing the foot is arranged on the half sole.
Preferably, the ankle joint bandage and the foot bandage are made of flexible materials, and the shank force bearing rod is made of carbon fiber.
Preferably, the driving element is a hydraulic cylinder, or an air cylinder, or a linear driving motor.
Preferably, a passive energy storage element is hinged between the ankle joint support and the other shank force bearing rod.
The bionic three-degree-of-freedom exoskeleton ankle joint has the following advantages:
1. the invention fills the blank of the exoskeleton suit in the field of ankle bionic joint design.
2. The ankle joint design fully considers human body bionics, and the center line L1 of the parallelogram structure, the rotation center line L2 of the insole, the center line L3 of the hinge point of the ankle joint support and the two shank bearing rods are intersected at the ankle joint center point O at the opening end part of the ankle joint support, so that the rotation centers with three degrees of freedom are superposed with the ankle joint center of the human body, a wearer can move more naturally, and meanwhile, the geometrical interference between the exoskeleton suit and the human body can be avoided in space, so that the internal consumption of the exoskeleton suit and the human body is reduced, and the wearing comfort of the exoskeleton suit is improved.
3. The invention has simple structure, dexterous structure, low energy consumption and good reliability.
4. A passive energy storage element is further hinged between the ankle joint support and the other shank bearing rod, and the bionic ankle joint further adopts a driving mode of active and passive combination, so that the mechanical property and the endurance time of the exoskeleton can be enhanced
5. The ankle joint bandage and the foot bandage are both further made of flexible materials, and the shank bearing rod is further made of carbon fiber, so that the exoskeleton has the bearing performance of a rigid exoskeleton, and the comfort of the flexible exoskeleton, the high efficiency and the wearing comfort are improved.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
FIG. 2 is a schematic side view of the embodiment of the present invention.
Fig. 3 is a schematic diagram of the degree of freedom of flexion/extension of the ankle joint according to the embodiment of the present invention.
Fig. 4 is a schematic view showing the degree of freedom of the ankle in outward/inward swinging/contraction according to the embodiment of the present invention.
Illustration of the drawings: 1. a mechanism bar; 11. a connecting rod; 12. a knee pad; 2. an ankle joint support; 21. an ankle joint strap; 3. a shank bearing rod; 31. rotating the rotating shaft; 32. rotating the shaft downwards; 4. shoe-pad; 41. the half sole; 42. a rear seat; 421. in the concave part; 43. a foot strap; 5. a drive element; 51. driving the rotating shaft; 6. a passive energy storage element.
Detailed Description
As shown in fig. 1 and fig. 2, the bionic three-degree-of-freedom exoskeleton ankle joint of the present embodiment comprises a mechanism rod 1 and an ankle joint support 2 in a U-shaped structure, two leg force-bearing rods 3 arranged in parallel are hinged between the mechanism rod 1 and the opening end of the ankle joint support 2, the mechanism rod piece 1, the ankle joint support 2 and the two shank bearing rods 3 form a parallelogram structure which is restrained to move in the same plane when shearing movement is carried out, an ankle joint bandage 21 is arranged at the opening end part of the ankle joint support 2, a rotatable insole 4 is arranged at the upper side of the bottom of the ankle joint support 2, a driving element 5 is hinged between the ankle joint support 2 and one shank bearing rod 3, and the central line L1 of the parallelogram structure, the rotation central line L2 of the insole 4, the hinge joint central line L3 of the ankle joint support 2 and the two shank bearing rods 3 are intersected at an ankle joint central point O at the opening end part of the ankle joint support 2.
The bionic three-degree-of-freedom exoskeleton ankle joint comprises three degrees of freedom: flexion/extension, outward swinging/inward contraction and inward/outward rotation, wherein the ankle joint support 2 and a shank force bearing rod 3 are driven to move relatively through a driving element 5, and the ankle joint rotates up and down when the hydraulic cylinder is pushed out and retracted, so that the degree of freedom of flexion/extension of the ankle joint can be realized, as shown in fig. 3; the mechanism rod piece 1, the ankle joint support 2 and the two shank bearing rods 3 form a parallelogram structure which is restrained to move in the same plane when doing shearing movement, so that the degree of freedom of outward swinging/inward folding of the ankle joint can be realized, as shown in fig. 4; the rotatable insole 4 is arranged on the upper side of the bottom of the ankle joint support 2, so that a revolute pair is added to the ankle joint support 2 and the insole 4, and the degree of freedom of internal/external rotation of the ankle joint is realized, as shown by an arc arrow in fig. 1. The central line L1 of the parallelogram structure, the rotation central line L2 of the insole 4, the ankle joint support 2 and the hinge point central connecting line L3 of the two shank bearing rods 3 are intersected at the ankle joint central point O at the opening end part of the ankle joint support 2, so that the rotation center with three degrees of freedom is superposed with the ankle joint center (the ankle joint central point O) of a human body, the movement of a wearer is more natural, and meanwhile, the geometric interference of the exoskeleton suit and the human body can be avoided in space, the internal consumption of the exoskeleton suit and the human body is reduced, the wearing comfort of the exoskeleton suit is improved, and the exoskeleton suit has the advantages of simple system structure, flexibility, portability (smaller quality and volume), easiness in control, simplicity in maintenance and use and better reliability.
As shown in fig. 1 and 2, the mechanism rod 1 includes two connecting rods 11 arranged in parallel, and two ends of each connecting rod 11 are respectively hinged to the upper portions of the lower leg bearing rods 3, so that the mechanism rod 1 and the two lower leg bearing rods 3 are more stably and reliably connected, and the stability of a parallelogram structure formed by the mechanism rod 1, the ankle joint support 2, and the lower leg bearing rods 3 is improved.
As shown in fig. 1 and 2, the mechanism bar 1 further comprises a knee pad 12, and the knee pad 12 is mounted on the inner side of the two connecting rods 11, can effectively protect the knee, and can be made of rigid or flexible materials according to requirements.
As shown in fig. 1 and 2, two ends of the connecting rod 11 are respectively connected with the upper part of the shank bearing rod 3 through an upper rotating shaft 31, the open end of the ankle joint support 2 is connected with the lower part of the shank bearing rod 3 through a lower rotating shaft 32, and the upper rotating shaft 31 and the lower rotating shaft 32 are arranged in parallel along the length direction of the insole 4; one end of the driving element 5 is hinged on the shank bearing rod 3, the other end is connected with the middle part of the ankle joint support 2 through a driving rotating shaft 51, the driving rotating shaft 51 is arranged in parallel along the width direction of the insole 4, and the stability and the reliability of two degrees of freedom of bending/stretching and outward swinging/inward contraction of the ankle joint are ensured through the structure.
In this embodiment, the insole 4 includes a front sole 41 and a rear seat 42, the front sole 41 and the rear seat 42 are connected by a connecting shaft, and the rear seat 42 is installed on the upper side of the bottom of the ankle joint support 2, so that the front/rear turning degree of freedom of the sole can be realized.
As shown in fig. 1 and 2, the bottom of the rear seat 42 is provided in the recess 421, and the bottom of the ankle support 2 is provided in the recess 421, which is advantageous for increasing the contact area of the insole 4 with the ground and can prevent the ankle support 2 from being excessively worn.
As shown in fig. 1 and 2, the front sole 41 is provided with a foot strap 43 for fixing the foot, which is advantageous for fixing the sole.
As shown in fig. 1 and 2, the ankle joint strap 21 and the foot strap 43 are made of flexible materials, and the shank bearing rod 3 is made of carbon fiber, so that the exoskeleton has the bearing performance of a rigid exoskeleton, and the comfort and high efficiency of the flexible exoskeleton and the wearing comfort are improved.
In this embodiment, the driving element 5 may adopt a hydraulic cylinder, an air cylinder or a linear driving motor as required. In this embodiment, the driving element 5 specifically adopts a linear driving motor, and the motor system has mature technology, simple system structure, no pollution, and simple maintenance and use.
As shown in fig. 1 and 2, in the present embodiment, a passive energy storage element 6 is hinged between the ankle joint support 2 and the other shank force bearing rod 3, an active and passive combined driving form is formed by the passive energy storage element 6 and the driving element 5, the driving element 5 is used for providing active driving assistance, and the passive energy storage element 6 is used for passive energy storage assistance, so that the mechanical property and the endurance time of the exoskeleton can be enhanced. In this embodiment, the passive energy storage element 6 is specifically realized by a spring, and in addition, energy storage elements such as a cylinder, an oil cylinder or a spring ratchet mechanism can be adopted as required, although the structures are different, the driving form applied between the ankle joint support 2 and the other shank force bearing rod 3 to realize active and passive combination is the same as that of the embodiment, and therefore, the description is omitted here.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (8)
1. A bionic three-degree-of-freedom exoskeleton ankle joint is characterized in that: the ankle joint support comprises a mechanism rod piece (1) and an ankle joint support (2) in a U-shaped structure, wherein two shank bearing rods (3) which are arranged in parallel are hinged between the opening end parts of the mechanism rod piece (1) and the ankle joint support (2), so that the mechanism rod piece (1), the ankle joint support (2) and the two shank bearing rods (3) form a parallelogram structure which is restrained to move in the same plane when in shearing motion, an ankle joint bandage (21) is arranged at the opening end part of the ankle joint support (2), a rotatable insole (4) is arranged on the upper side of the bottom of the ankle joint support (2), a driving element (5) is hinged between the ankle joint support (2) and one shank bearing rod (3), and a center line L1 of the parallelogram structure, a rotation center line L2 of the insole (4), a hinge point center line L3 of the ankle joint support (2) and the two shank bearing rods (3) are intersected with the opening end part of the ankle joint support (2) The ankle joint central point O of the part, the mechanism rod piece (1) comprises two connecting rods (11) which are arranged in parallel, two ends of each connecting rod (11) are hinged to the upper part of a lower leg bearing rod (3), two ends of each connecting rod (11) are connected with the upper part of the lower leg bearing rod (3) through an upper rotating shaft (31), the opening end part of the ankle joint support (2) is connected with the lower part of the lower leg bearing rod (3) through a lower rotating shaft (32), and the upper rotating shaft (31) and the lower rotating shaft (32) are arranged in parallel along the length direction of the insole (4); one end of the driving element (5) is hinged to the shank bearing rod (3), the other end of the driving element is connected with the middle part of the ankle joint support (2) through a driving rotating shaft (51), and the driving rotating shafts (51) are arranged in parallel along the width direction of the insole (4).
2. The bionic three-degree-of-freedom exoskeleton ankle joint as claimed in claim 1, wherein: the mechanism rod piece (1) further comprises a kneepad (12), and the kneepad (12) is installed on the inner sides of the two connecting rods (11).
3. The bionic three-degree-of-freedom exoskeleton ankle joint as claimed in claim 1, wherein: the insole (4) comprises a half sole (41) and a rear seat (42), the half sole (41) is connected with the rear seat (42) through a connecting shaft, and the rear seat (42) is installed on the upper side of the bottom of the ankle joint support (2).
4. The bionic three-degree-of-freedom exoskeleton ankle joint as claimed in claim 3, wherein: the bottom of the rear seat (42) is arranged in the concave part (421), and the bottom of the ankle joint support (2) is arranged in the concave part (421).
5. The bionic three-degree-of-freedom exoskeleton ankle joint as claimed in claim 4, wherein: the half sole (41) is provided with a foot binding band (43) for fixing the foot.
6. The bionic three-degree-of-freedom exoskeleton ankle joint as claimed in claim 5, wherein: the ankle joint bandage (21) and the foot bandage (43) are made of flexible materials, and the shank bearing rod (3) is made of carbon fiber.
7. The bionic three-degree-of-freedom exoskeleton ankle joint as claimed in claim 1, wherein: the driving element (5) is a hydraulic cylinder, an air cylinder or a linear driving motor.
8. The bionic three-degree-of-freedom exoskeleton ankle joint as claimed in any one of claims 1 to 7, wherein: a passive energy storage element (6) is hinged between the ankle joint support (2) and the other shank bearing rod (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810007994.8A CN108161903B (en) | 2018-01-04 | 2018-01-04 | Bionic three-degree-of-freedom exoskeleton ankle joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810007994.8A CN108161903B (en) | 2018-01-04 | 2018-01-04 | Bionic three-degree-of-freedom exoskeleton ankle joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161903A CN108161903A (en) | 2018-06-15 |
| CN108161903B true CN108161903B (en) | 2020-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810007994.8A Active CN108161903B (en) | 2018-01-04 | 2018-01-04 | Bionic three-degree-of-freedom exoskeleton ankle joint |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109528440B (en) * | 2018-10-23 | 2021-03-02 | 哈尔滨工业大学 | Lower limb exoskeleton ankle joint based on telecentric mechanism |
| CN109431745B (en) * | 2018-11-12 | 2020-07-28 | 上海市东方医院 | Ankle joint rehabilitation device and training method thereof |
| CN112294605B (en) * | 2020-10-13 | 2023-05-16 | 北京理工大学前沿技术研究院 | Self-balancing ankle exoskeleton |
| CN112451319B (en) * | 2020-11-24 | 2023-03-14 | 布法罗机器人科技（成都）有限公司 | Exoskeleton joint system for assisting walking |
| CN113084862B (en) * | 2021-04-23 | 2021-12-14 | 中国科学院深圳先进技术研究院 | Exoskeleton robot ankle joint with three flexible driving branches |
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| JP4057840B2 (en) * | 2002-05-21 | 2008-03-05 | トヨタ自動車株式会社 | Multi-axis joint robot |
| CN101596139A (en) * | 2009-06-29 | 2009-12-09 | 浙江大学 | Assistant movement exoskeleton of three-degree of freedom ankle joint |
| CN104758142A (en) * | 2015-04-10 | 2015-07-08 | 电子科技大学 | Assistance exoskeleton robot |
| CN105904439A (en) * | 2016-05-19 | 2016-08-31 | 成都奥特为科技有限公司 | Gait-sensing flexible foot device with rigidity self-adjusting function |
| CN107260496A (en) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | A kind of wearable exoskeleton lower limb rehabilitation robot |
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2018
- 2018-01-04 CN CN201810007994.8A patent/CN108161903B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4057840B2 (en) * | 2002-05-21 | 2008-03-05 | トヨタ自動車株式会社 | Multi-axis joint robot |
| CN101596139A (en) * | 2009-06-29 | 2009-12-09 | 浙江大学 | Assistant movement exoskeleton of three-degree of freedom ankle joint |
| CN104758142A (en) * | 2015-04-10 | 2015-07-08 | 电子科技大学 | Assistance exoskeleton robot |
| CN105904439A (en) * | 2016-05-19 | 2016-08-31 | 成都奥特为科技有限公司 | Gait-sensing flexible foot device with rigidity self-adjusting function |
| CN107260496A (en) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | A kind of wearable exoskeleton lower limb rehabilitation robot |
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