CN110339547B - Foot assistance exoskeleton device - Google Patents
Foot assistance exoskeleton device Download PDFInfo
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- CN110339547B CN110339547B CN201910583835.7A CN201910583835A CN110339547B CN 110339547 B CN110339547 B CN 110339547B CN 201910583835 A CN201910583835 A CN 201910583835A CN 110339547 B CN110339547 B CN 110339547B
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- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
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Abstract
The invention discloses a foot assisting exoskeleton device which comprises an energy storage torsion spring, a sole supporting part, a sole energy locking part, a heel energy locking part, a return spring and a heel sole supporting part, wherein the energy storage torsion spring is arranged on the sole supporting part; the return spring is arranged between the heel sole supporting component and the sole supporting component; the energy storage torsion spring is sleeved on a torsion spring mounting shaft fixed on the sole supporting component, a first torsion spring arm is arranged at the end, opposite to the sole, of the energy storage torsion spring, and a second torsion spring arm is arranged at the end, opposite to the heel, of the energy storage torsion spring; the sole energy locking and releasing component is arranged at the head end of the sole supporting component, and the heel energy locking and releasing component is arranged at the tail end of the sole supporting component; the torsion spring realizes the absorption of collision energy when the heel touches the ground in a gait cycle, the energy is controlled to be released at the front sole when the sole presses the ground, the walking assistance is realized, the device has simple structure and convenient manufacture and use, the assistance provided when the front sole presses the ground is more in line with the stress feeling of the human body walking, the assistance effect is obvious, and the human-computer coordination is good.
Description
Technical Field
The invention relates to the technical field of foot power assisting devices, in particular to a foot power assisting exoskeleton device.
Background
The thousand-miles walking starts under the feet, and people can not do foot exercise during work and life. The human beings averagely go about 10000 steps per day, and the foot-assisted exoskeleton device is used for reducing the energy consumption of walking movement and has important significance for improving the movement capability of the human bodies. The conventional foot exoskeleton system is divided into a power exoskeleton and a passive exoskeleton according to the existence or nonexistence of a power supply, the power exoskeleton is heavy and complex mostly, the weight and the cost of the system are greatly increased by including the driving power supply, the application condition is further limited, and the problems still exist in the common problems of man-machine coordination and the like. The passive exoskeleton is relatively simple in structure, better in practicability and lower in manufacturing cost.
When a person walks, part of the main energy is consumed when the heels collide with the ground, and the other part is consumed when the person walks through muscle tissues such as the posterior muscles of the calves, the achilles tendons and the like. How to store the collision energy of the heel and the ground during walking and release the energy to reduce the energy consumption of leg muscles is the key of the design of the passive power assisting device. The simple arrangement of the elastic element on the sole can provide limited energy feedback, and cannot achieve a good labor-saving effect.
Most of the existing passive foot exoskeleton assistance systems control assistance release based on ankle joint angle change, release energy to provide moment for ankle joints when muscles behind crus are about to exert force, and relieve fatigue of key muscles during walking. But the assistance is released too early, the human body needs to provide the assistance provided by an additional force balancing device, and the walking is more strenuous; the best labor-saving effect cannot be achieved after the boosting is released too late, and the best energy release time point is not found at present. Furthermore, ankle joint angle changes are complex and difficult to monitor, adding to the complexity of such equipment.
Disclosure of Invention
The invention aims to provide a foot assistance exoskeleton device, which aims to solve the problems in the prior art, controls assistance release based on sole pressure change, provides assistance for a front sole when a user steps on the ground during walking and realizes labor saving during walking according with foot motion habits.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a foot assisting exoskeleton device which comprises an energy storage torsion spring, a sole supporting part, a sole energy locking part, a heel energy locking part, a return spring and a heel sole supporting part, wherein the energy storage torsion spring is arranged on the sole supporting part;
the heel sole supporting part is arranged at the top of the sole supporting part, and the top of the heel sole supporting part is used for fixing the foot of a human body;
the return spring is arranged between the heel sole supporting component and the sole supporting component;
a first torsion spring mounting shaft is fixed at the top of the sole supporting part, the energy storage torsion spring is sleeved on the first torsion spring mounting shaft, the head end of the energy storage torsion spring opposite to the sole is a first torsion spring arm, and the tail end of the energy storage torsion spring opposite to the heel is a second torsion spring arm;
the sole energy locking and releasing component is arranged at the head end of the sole supporting component, and the heel energy locking and releasing component is arranged at the tail end of the sole supporting component; in an initial state, the sole energy locking and releasing component locks a first torsion spring arm of the energy storage torsion spring, the heel energy locking and releasing component is opposite to a second torsion spring arm, and the second torsion spring arm is in a state to be locked; when the foot walks, the heel contacts with the ground to press down the second torsion spring arm, the energy storage torsion spring stores energy, and the second torsion spring arm is locked by the heel energy locking component in the pressing down process; after the whole sole lands, the sole pressure is increased, the sole energy locking and releasing component is pressed down, the first torsion spring arm is unlocked, and the energy stored by the energy storage torsion spring is released to provide assistance for walking; after the energy storage torsion spring releases the assistance, the stress of the heel energy locking and releasing component is reduced, the heel is lifted, and the second torsion spring arm is unlocked and reset; after the human body is pedaled, the whole foot sole assisting exoskeleton device enters a suspended state along with feet, under the pushing of the reset spring, the distance between the heel sole supporting part and the foot sole supporting part under the heel is increased, the second torsion spring arm rotates anticlockwise around the first torsion spring mounting shaft, so that the first torsion spring arm also rotates anticlockwise around the first torsion spring mounting shaft, the first torsion spring arm is locked by the sole energy locking and releasing part, the device returns to an initial state, and energy feedback is achieved in a gait cycle.
Preferably, heel sole supporting part includes two backup pads relative with sole and heel respectively, and the top of every backup pad all is provided with foot fixing component, every the bottom of backup pad all is provided with the spacing frame of torsional spring, the spacing frame of torsional spring comprises the rectangular frame of two relative settings, and rectangular frame's height is greater than the diameter of energy storage torsional spring.
Preferably, the top of each supporting block is provided with a sliding groove, the foot fixing part is a clamping plate respectively arranged on two sides of the sliding groove, the clamping plate is in sliding connection with the sliding groove, and the clamping plate is provided with a binding belt for fixing feet.
Preferably, the return springs are arranged between the two supporting plates and the sole supporting part.
Preferably, two first torsion spring arms are arranged, the two first torsion spring arms extend from the inner side of the energy storage torsion spring to the head end, the end parts of the two first torsion spring arms are connected through a limiting rod, a first locking groove is arranged on the inner side of a rod body of the limiting rod between the two first torsion spring arms, the first locking groove is matched with the sole energy locking component, and the rod body part of the limiting rod positioned on the outer side of the two first torsion spring arms is lapped on the torsion spring limiting frame at the sole end;
the second torsional spring arm is provided with two, two the second torsional spring arm by the outside of energy storage torsional spring extends to the tail end, two the tip of second torsional spring arm is provided with the card foot respectively, the card foot by the second torsional spring arm is to the inside side bend and is formed, every all be provided with on the card foot one with the cooperation of part setting is put to heel energy lock the second locking groove, the card foot overlap joint is in the heel end on the spacing frame of torsional spring.
Preferably, the sole energy locking and releasing component comprises a first base, a second torsion spring mounting shaft, a first torsion spring, two first locking switches and a first pawl which are transversely arranged oppositely;
the two first bases are fixedly connected with the sole supporting part, the second torsion spring mounting shaft is fixed between the two first bases, the first torsion spring is sleeved on the second torsion spring mounting shaft, and the starting end and the terminating end of the first torsion spring are respectively fixed on one of the first bases;
the bottoms of the two first locking switches and the first pawl are rotationally connected with the second torsion spring mounting shaft, and the first pawl is arranged between the two first locking switches;
the tops of the two first locking switches are abutted against the bottom of the heel sole supporting part, a first locking part is arranged at the top of the first pawl, and the first locking part is clamped in the first locking groove;
two still vertically set up the first spacing hole of bar respectively on the body of rod of first locking switch, set up the spacing hole of second of bar on the body of rod of first pawl, the middle part of first torsional spring is provided with the first U type connecting portion that extend towards the head end, first U type connecting portion both sides be provided with the second U type connecting portion that extend towards the tail end on the first torsional spring, first U type connecting portion wear to locate in the first spacing downthehole, one of them is worn to locate respectively by the second U type connecting portion the spacing downthehole of second.
Preferably, the heel energy locking component comprises a second base, a third torsion spring mounting shaft, a second torsion spring, two second locking switches and two second pawls; the second base is fixed in the middle of the third torsion spring mounting shaft and is fixedly connected with the sole supporting part; the second torsion spring is sleeved on the third torsion spring mounting shaft, the bottoms of the two second pawls are rotatably connected to two ends of the third torsion spring mounting shaft, the second locking switches are respectively arranged on the third torsion spring mounting shaft between the two second pawls and the second base, and the bottoms of the two second locking switches are rotatably connected with the third torsion spring mounting shaft;
the tops of the two second locking switches abut against the bottom of the heel sole supporting part, second locking parts are arranged at the tops of the two second pawls, the second locking parts are opposite to the second locking grooves, and the second locking parts can be clamped with the second locking grooves when the second torsion spring arms are stressed downwards;
a third U-shaped connecting part extending towards the head end is arranged in the middle of the second torsion spring, fourth U-shaped connecting parts extending towards the tail end are arranged on the second torsion spring on two sides of the third U-shaped connecting part, the third U-shaped connecting part penetrates through the second base, and the third U-shaped connecting part is fixedly connected with the second base;
two vertically offer the spacing hole of bar-shaped third respectively on the body of rod of second locking switch, two vertically offer the spacing hole of bar-shaped fourth respectively on the body of rod of second pawl, fourth U type connecting portion wear to locate one of them respectively the spacing downthehole of third, the atress portion at second torsional spring both ends wears to locate one of them respectively the spacing downthehole of fourth.
Preferably, the first base and the sole support component are fixedly connected through bolts.
Preferably, the second base and the sole support component are fixedly connected through bolts.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the foot assisting exoskeleton device provided by the invention stores energy through the torsion spring, and is simple in structure and high in energy storage efficiency.
2. The foot assistance exoskeleton device provided by the invention triggers the storage and release of assistance through sole pressure, and has the advantages of simple structure and effective control.
3. According to the foot assisting exoskeleton device, the energy of landing heels is stored by the torsion springs and released at the front soles, so that the foot assisting exoskeleton device is more suitable for the motion characteristic that the front soles step on the ground when a human body walks, and the man-machine coordination of the foot assisting exoskeleton is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is an overall perspective assembly view of the foot-assist exoskeleton device of the present invention;
FIG. 2 is a perspective view of a portion of the foot assist exoskeleton device of the present invention;
FIG. 3 is a perspective view of the sole support of the present invention;
FIG. 4 is a schematic perspective view of a heel and ball support assembly according to the present invention;
FIG. 5 is a schematic perspective view of the energy storage torsion spring according to the present invention;
FIG. 6 is a schematic perspective view of a sole energy locking element according to the present invention;
FIG. 7 is a schematic perspective view of a heel energy locking feature of the present invention;
FIG. 8 is a schematic illustration of a foot assist process for the foot assist exoskeleton device of the present invention;
in the figure: 1-energy storage torsion spring, 101-first torsion spring arm, 102-second torsion spring arm, 103-limiting rod, 104-first locking groove, 105-clamping foot and 106-second locking groove;
2-plantar support component, 201-first torsion spring mounting axle;
3-sole energy locking and releasing component, 301-first base, 302-second torsion spring mounting shaft, 303-first torsion spring, 304-first locking switch, 305-first pawl, 306-first locking part, 307-first limiting hole, 308-second limiting hole, 309-first U-shaped connecting part and 310-second U-shaped connecting part;
4-heel energy locking and releasing component, 401-second base, 402-third torsion spring mounting shaft, 403-second torsion spring, 404-second locking and releasing switch, 405-second pawl, 406-second locking part, 407-third U-shaped connecting part, 408-fourth U-shaped connecting part, 409-third limiting hole, 410-fourth limiting hole and 411-stress part;
5-a return spring;
6-heel sole supporting part, 601-supporting plate, 602-foot fixing part, 603-torsional spring limiting frame and 604-sliding groove.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a foot assisting exoskeleton device to solve the problems in the prior art.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides a foot assisting exoskeleton device, which comprises an energy storage torsion spring 1, a sole supporting part 2, a sole energy locking part 3, a heel energy locking part 4, a return spring 5 and a heel sole supporting part 6, as shown in figures 1 to 3; the heel sole supporting part 6 is arranged at the top of the sole supporting part 2, and the top of the heel sole supporting part 6 is used for fixing the foot of a human body; the reset spring 5 is arranged between the heel sole supporting part 6 and the sole supporting part 2 to realize the reset of the movement of the whole device; a first torsion spring mounting shaft 201 is fixed at the top of the sole supporting part 2, the energy storage torsion spring 1 is sleeved on the first torsion spring mounting shaft 201, the head end of the energy storage torsion spring 1 opposite to the sole is a first torsion spring arm 101, and the tail end of the energy storage torsion spring 1 opposite to the heel is a second torsion spring arm 102;
the sole energy locking and releasing component 3 is arranged at the head end of the sole supporting component 2, and the heel energy locking and releasing component 4 is arranged at the tail end of the sole supporting component 2; in an initial state, the sole energy locking and releasing component 3 locks the first torsion spring arm 101 of the energy storage torsion spring 1, the heel energy locking and releasing component 4 is opposite to the second torsion spring arm 102, and the second torsion spring arm 102 is in a state to be locked; when the foot walks, the heel contacts with the ground to press down the second torsion spring arm 102, the energy storage torsion spring 1 stores energy, and the second torsion spring arm 102 is locked by the heel energy locking component 4 in the pressing down process; after the whole sole lands, the sole pressure is increased, the sole energy locking and releasing component 3 is pressed downwards, the first torsion spring arm 101 is unlocked, and the energy stored by the energy storage torsion spring 1 is released to provide assistance for walking; after the energy-storing torsion spring 1 releases the assistance, the stress of the heel energy locking and releasing component 4 is reduced, the heel is lifted, and the second torsion spring arm 102 is unlocked and reset; after the human body is pedaled further, the whole foot sole assisting exoskeleton device enters a suspended state along with feet, the distance between the heel and sole supporting part 6 under the heel and the foot sole supporting part 2 is increased under the pushing of the reset spring 5, the second torsion spring arm 102 rotates anticlockwise around the first torsion spring mounting shaft 201, so that the first torsion spring arm 101 also rotates anticlockwise around the first torsion spring mounting shaft 201, the first torsion spring arm 101 is locked by the sole energy locking and releasing part 3, the device returns to an initial state, and energy feedback is achieved in a gait cycle.
Specifically, as shown in fig. 4, the heel sole supporting part 6 includes two supporting plates 601 respectively opposite to the sole and the heel, a foot fixing part 602 is disposed on the top of each supporting plate 601, a torsion spring limiting frame 603 is disposed on the bottom of each supporting plate 601, the torsion spring limiting frame 603 is composed of two rectangular frames disposed oppositely, and the height of the rectangular frame is greater than the diameter of the energy storage torsion spring 1;
in order to fix the whole device with the feet of a human body, the top of each supporting block is provided with a sliding groove 604, the foot fixing part 602 is a clamping plate respectively arranged at two sides of the sliding groove 604, the clamping plate is connected with the sliding groove 604 in a sliding way, and a binding belt (not shown in the figure) for fixing the feet is arranged on the clamping plate; when in use, the foot is clamped by the clamping plates at the heel and the sole and then is bound and fixed by the binding belt.
In the present invention, return springs 5 are provided between the two support plates 601 and the sole support member 2.
As shown in fig. 5, two first torsion spring arms 101 are provided, the two first torsion spring arms 101 extend from the inner side of the energy storage torsion spring 1 to the head end, the end portions of the two first torsion spring arms 101 are connected through a limiting rod 103, a first locking groove 104 is provided at the inner side of the rod body of the limiting rod 103 between the two first torsion spring arms 101, the first locking groove 104 is arranged in cooperation with the sole energy locking and releasing component 3, and the rod body portion of the limiting rod 103 located at the outer side of the two first torsion spring arms 101 is lapped on a torsion spring limiting frame 603 at the sole end; the second torsion spring arms 102 are provided with two, two second torsion spring arms 102 extend from the outer side of the energy storage torsion spring 1 to the tail end, the end parts of the two second torsion spring arms 102 are respectively provided with a clamping foot 105, the clamping foot 105 is formed by bending the second torsion spring arms 102 towards the inner side, each clamping foot 105 is provided with a second locking groove 106 which is matched with the heel energy locking part 4, and the clamping foot 105 is lapped on a torsion spring limiting frame 603 at the heel end.
As shown in fig. 6, the sole energy locking and releasing member 3 includes two first bases 301, a second torsion spring mounting shaft 302, a first torsion spring 303, two first locking switches 304 and a first pawl 305, which are transversely arranged oppositely; the two first bases 301 are fixedly connected with the plantar support part 2 through bolts, the second torsion spring mounting shaft 302 is fixed between the two first bases 301, the first torsion spring 303 is sleeved on the second torsion spring mounting shaft 302, and the starting end and the terminating end of the first torsion spring 303 are respectively fixed on one of the first bases 301;
the bottoms of the two first locking switches 304 and the first pawls 305 are rotatably connected to the second torsion spring mounting shaft 302 (sleeved on the second torsion spring mounting shaft 302), and the first pawls 305 are disposed between the two first locking switches 304; the tops of the two first locking switches 304 abut against the bottom of the heel sole supporting part 6 (supporting plate 601), the top of the first pawl 305 is provided with a first locking part 306, and the first locking part 306 is clamped in the first locking groove 104;
still vertically offer the spacing hole 308 of bar-shaped second on the body of rod of two first locking switches 304 respectively, offer the first spacing hole 307 of bar-shaped on the body of rod of first pawl 305, the middle part of first torsional spring 303 is provided with the first U type connecting portion 309 that extends towards the head end, be provided with the second U type connecting portion 310 that extends towards the tail end on the first torsional spring 303 of first U type connecting portion 309 both sides, first U type connecting portion 309 wears to locate in first spacing hole 307, second U type connecting portion 310 wears to locate in one of them spacing hole 308 of second respectively.
As shown in fig. 7, the heel energy locking component 4 includes a second base 401, a third torsion spring mounting shaft 402, a second torsion spring 403, two second locking switches 404 and two second pawls 405; the second base 401 is fixed in the middle of the third torsion spring mounting shaft 402, and the second base 401 is fixedly connected with the plantar support part 2 through bolts; the second torsion spring 403 is sleeved on the third torsion spring mounting shaft 402, the bottoms of the two second pawls 405 are rotatably connected to two ends of the third torsion spring mounting shaft 402, the third torsion spring mounting shaft 402 between the two second pawls 405 and the second base 401 is respectively provided with a second locking switch 404, and the bottoms of the two second locking switches 404 are rotatably connected with the third torsion spring mounting shaft 402;
the tops of the two second locking switches 404 abut against the bottom of the heel sole supporting part 6, the tops of the two second pawls 405 are provided with second locking parts 406, the second locking parts 406 are opposite to the second locking grooves 106, and when the second torsion spring arm 102 is forced downwards, the second locking parts 406 can be clamped with the second locking grooves 106;
a third U-shaped connecting portion 407 extending towards the head end is arranged in the middle of the second torsion spring 403, fourth U-shaped connecting portions 408 extending towards the tail end are arranged on the second torsion spring 403 at two sides of the third U-shaped connecting portion 407, the third U-shaped connecting portion 407 penetrates through the second base 401, and the third U-shaped connecting portion 407 is fixedly connected with the second base 401; bar-shaped third limiting holes 409 are vertically formed in the rod bodies of the two second locking switches 404, bar-shaped fourth limiting holes 410 are vertically formed in the rod bodies of the two second pawls 405, the fourth U-shaped connecting portions 408 penetrate through the third limiting holes 409 respectively, and stress portions 411 at two ends of the second torsion spring 403 penetrate through the fourth limiting holes 410 respectively.
The specific foot assisting process of the foot assisting exoskeleton device is specifically described by combining the structures of all parts of the foot assisting exoskeleton device:
the device is secured to the sole of the foot by cleats and straps in the heel-and-sole support member 6;
as shown in a in fig. 8, in an initial state of a gait cycle, the first locking portion 306 of the first pawl 305 is clamped in the first locking groove 104, the first torsion spring arm 101 is fixed, and the clamping foot 105 at the tail end of the second torsion spring arm 102 is inserted into the torsion spring limiting frame 603 to support the heel in a state to be locked;
as shown in fig. 8 b and c, when the foot walks, the heel contacts the ground to press down the second torsion spring arm 102, the energy storage torsion spring 1 stores energy, after the heel is pressed down for a certain position, the support plate 601 at the heel shifts the two second locking switches 404 of the heel energy locking and releasing component 4, the two second pawls 405 are driven to rotate under the action of the second torsion spring 403, the second locking parts 406 on the second pawls 405 are clamped into the second locking grooves 106, the second torsion spring arm 102 is locked, and the energy of the foot falling to the ground is stored;
as shown in fig. 8 d and e, after the full sole touches the ground, the sole pressure increases, two first locking switches 304 are pressed down, meanwhile, the acting force between the first torsion spring arm 101 and the first pawl 305 decreases, the first pawl 305 rotates, the first locking portion 306 moves out of the first locking groove 104, the first torsion spring arm 101 is unlocked, and the energy stored in the stored energy storage torsion spring 1 is released to provide assistance for walking;
as shown in f in fig. 8, after the energy storage torsion spring 1 releases the assisting force, the two second pawls 405 are stressed less, the heels of the feet are raised, since the height of the torsion spring limiting frame 603 is greater than the diameter of the energy storage torsion spring 1, the supporting plate 601 at the heels of the feet is raised by a certain height which is the height obtained by subtracting the diameter of the second torsion spring arm 102 from the height of the torsion spring limiting frame 603, the two second locking switches are reset and opened, at this time, the second locking portions 406 at the tops of the second pawls 405 are disengaged from the second locking grooves 106 under the action of the second torsion spring 403, and the second torsion spring arm 102 is unlocked and reset;
after the human body is pedaled further, the whole sole assistance exoskeleton enters a suspended state along with feet, under the pushing of the reset spring 5, the distance between the supporting plate 601 below the heels and the sole supporting structure is increased, under the driving of the torsion spring limiting frame 603, the second torsion spring arm 102 rotates anticlockwise around the first torsion spring mounting shaft 201, so that the first torsion spring arm 101 also rotates anticlockwise around the first torsion spring mounting shaft 201 until the first locking part 306 is clamped into the first locking groove 104, the first pawl 305 is locked, the device returns to an initial state, and energy feedback is achieved in a gait cycle.
The principle and the implementation mode of the invention are explained by applying specific examples, and the description of the above examples is only used for helping understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (9)
1. A foot-assist exoskeleton device, comprising: comprises an energy storage torsion spring, a sole supporting component, a sole energy locking component, a heel energy locking component, a return spring and a heel sole supporting component;
the heel sole supporting part is arranged at the top of the sole supporting part, and the top of the heel sole supporting part is used for fixing the foot of a human body;
the return spring is arranged between the heel sole supporting component and the sole supporting component;
a first torsion spring mounting shaft is fixed at the top of the sole supporting part, the energy storage torsion spring is sleeved on the first torsion spring mounting shaft, the head end of the energy storage torsion spring opposite to the sole is a first torsion spring arm, and the tail end of the energy storage torsion spring opposite to the heel is a second torsion spring arm;
the sole energy locking and releasing component is arranged at the head end of the sole supporting component, and the heel energy locking and releasing component is arranged at the tail end of the sole supporting component; in an initial state, the sole energy locking and releasing component locks a first torsion spring arm of the energy storage torsion spring, the heel energy locking and releasing component is opposite to a second torsion spring arm, and the second torsion spring arm is in a state to be locked; when the foot walks, the heel contacts with the ground to press down the second torsion spring arm, the energy storage torsion spring stores energy, and the second torsion spring arm is locked by the heel energy locking component in the pressing down process; after the whole sole lands, the sole pressure is increased, the sole energy locking and releasing component is pressed down, the first torsion spring arm is unlocked, and the energy stored by the energy storage torsion spring is released to provide assistance for walking; after the energy storage torsion spring releases the assistance, the stress of the heel energy locking and releasing component is reduced, the heel is lifted, and the second torsion spring arm is unlocked and reset; after the human body is pedaled, the whole foot sole assisting exoskeleton device enters a suspended state along with feet, under the pushing of the reset spring, the distance between the heel sole supporting part and the foot sole supporting part under the heel is increased, the second torsion spring arm rotates anticlockwise around the first torsion spring mounting shaft, so that the first torsion spring arm also rotates anticlockwise around the first torsion spring mounting shaft, the first torsion spring arm is locked by the sole energy locking and releasing part, the device returns to an initial state, and energy feedback is achieved in a gait cycle.
2. The foot-assisted exoskeleton device of claim 1, wherein: heel sole supporting part includes two backup pads relative with sole and heel respectively, and the top of every backup pad all is provided with foot fixed part, every the bottom of backup pad all is provided with the spacing frame of torsional spring, the spacing frame of torsional spring comprises two relative rectangular frame that set up, and rectangular frame's height is greater than the diameter of energy storage torsional spring.
3. The foot-assisted exoskeleton device of claim 2, wherein: every the top of backup pad all is provided with the spout, foot fixed part for set up respectively in the splint of spout both sides, splint with spout sliding connection, be provided with the bandage of fixed foot on the splint.
4. The foot-assisted exoskeleton device of claim 2, wherein: the reset springs are arranged between the two supporting plates and the sole supporting part.
5. The foot-assisted exoskeleton device of claim 2, wherein: the two first torsion spring arms extend from the inner side of the energy storage torsion spring to the head ends, the end parts of the two first torsion spring arms are connected through a limiting rod, a first locking groove is formed in the inner side of a rod body of the limiting rod between the two first torsion spring arms, the first locking groove is matched with the sole energy locking and releasing component, and the rod body parts of the limiting rods positioned on the outer sides of the two first torsion spring arms are lapped on the torsion spring limiting frames at the sole ends;
the second torsional spring arm is provided with two, two the second torsional spring arm by the outside of energy storage torsional spring extends to the tail end, two the tip of second torsional spring arm is provided with the card foot respectively, the card foot by the second torsional spring arm is to the inside side bend and is formed, every all be provided with on the card foot with the second locking groove that the part cooperation set up is put to heel energy lock, the card foot overlap joint is in the heel end on the spacing frame of torsional spring.
6. The foot-assisted exoskeleton device of claim 5, wherein: the sole energy locking and releasing component comprises a first base, a second torsion spring mounting shaft, a first torsion spring, two first locking switches and a first pawl which are transversely arranged oppositely;
the two first bases are fixedly connected with the sole supporting part, the second torsion spring mounting shaft is fixed between the two first bases, the first torsion spring is sleeved on the second torsion spring mounting shaft, and the starting end and the terminating end of the first torsion spring are respectively fixed on one of the first bases;
the bottoms of the two first locking switches and the first pawl are rotationally connected with the second torsion spring mounting shaft, and the first pawl is arranged between the two first locking switches;
the tops of the two first locking switches are abutted against the bottom of the heel sole supporting part, a first locking part is arranged at the top of the first pawl, and the first locking part is clamped in the first locking groove;
two still vertically set up the first spacing hole of bar respectively on the body of rod of first locking switch, set up the spacing hole of second of bar on the body of rod of first pawl, the middle part of first torsional spring is provided with the first U type connecting portion that extend towards the head end, first U type connecting portion both sides be provided with the second U type connecting portion that extend towards the tail end on the first torsional spring, first U type connecting portion wear to locate in the first spacing downthehole, one of them is worn to locate respectively by the second U type connecting portion the spacing downthehole of second.
7. The foot-assisted exoskeleton device of claim 5, wherein: the heel energy locking and releasing component comprises a second base, a third torsion spring mounting shaft, a second torsion spring, two second locking and releasing switches and two second pawls; the second base is fixed in the middle of the third torsion spring mounting shaft and is fixedly connected with the sole supporting part; the second torsion spring is sleeved on the third torsion spring mounting shaft, the bottoms of the two second pawls are rotatably connected to two ends of the third torsion spring mounting shaft, the second locking switches are respectively arranged on the third torsion spring mounting shaft between the two second pawls and the second base, and the bottoms of the two second locking switches are rotatably connected with the third torsion spring mounting shaft;
the tops of the two second locking switches abut against the bottom of the heel sole supporting part, second locking parts are arranged at the tops of the two second pawls, the second locking parts are opposite to the second locking grooves, and the second locking parts can be clamped with the second locking grooves when the second torsion spring arms are stressed downwards;
a third U-shaped connecting part extending towards the head end is arranged in the middle of the second torsion spring, fourth U-shaped connecting parts extending towards the tail end are arranged on the second torsion spring on two sides of the third U-shaped connecting part, the third U-shaped connecting part penetrates through the second base, and the third U-shaped connecting part is fixedly connected with the second base;
two vertically offer the spacing hole of bar-shaped third respectively on the body of rod of second locking switch, two vertically offer the spacing hole of bar-shaped fourth respectively on the body of rod of second pawl, fourth U type connecting portion wear to locate one of them respectively the spacing downthehole of third, the atress portion at second torsional spring both ends wears to locate one of them respectively the spacing downthehole of fourth.
8. The foot-assisted exoskeleton device of claim 6, wherein: the first base is fixedly connected with the sole supporting component through bolts.
9. The foot-assisted exoskeleton device of claim 7, wherein: the second base is fixedly connected with the sole supporting component through bolts.
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| CN201910583835.7A CN110339547B (en) | 2019-07-01 | 2019-07-01 | Foot assistance exoskeleton device |
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| CN111228722B (en) * | 2020-03-30 | 2021-02-12 | 军事科学院军事医学研究院环境医学与作业医学研究所 | Plantar magnetic force booster unit |
| CN112245860A (en) * | 2020-10-19 | 2021-01-22 | 军事科学院军事医学研究院环境医学与作业医学研究所 | Sole booster unit |
| CN113648188A (en) * | 2021-07-27 | 2021-11-16 | 中山大学 | Walking power assisting device |
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| CN86105341B (en) * | 1986-08-28 | 1988-11-09 | 张振奎 | Elastic booster shoes |
| CN2196906Y (en) * | 1994-07-29 | 1995-05-17 | 周大国 | Shoes move-helping by elastic force |
| US6206934B1 (en) * | 1998-04-10 | 2001-03-27 | Flex-Foot, Inc. | Ankle block with spring inserts |
| US5517769A (en) * | 1995-06-07 | 1996-05-21 | Zhao; Yi | Spring-loaded snap-type shoe |
| CN2435977Y (en) * | 2000-03-10 | 2001-06-27 | 秦文武 | Walking-aid shoes |
| AU2002359563A1 (en) * | 2002-07-25 | 2004-02-16 | Charles Jelinek Francis | Apparatus facilitating walking in ski boots |
| CN201098527Y (en) * | 2007-11-12 | 2008-08-13 | 张天泽 | Automatic power-assisted scooter |
| US8317877B2 (en) * | 2008-08-18 | 2012-11-27 | The Ohio Willow Wood Company | Prosthetic foot |
| JP2012143365A (en) * | 2011-01-11 | 2012-08-02 | Toyota Motor Corp | Walking support device |
| CN102440475A (en) * | 2011-10-27 | 2012-05-09 | 董俊范 | Elastic walking aid shoe |
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| CN103610568B (en) * | 2013-12-16 | 2015-05-27 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| CN204501524U (en) * | 2015-02-15 | 2015-07-29 | 安徽理工大学 | A kind of ectoskeleton three-degree of freedom flexible ankle device |
| US20160302521A1 (en) * | 2015-04-16 | 2016-10-20 | Brian George Rennex | Substantial energy return shoe with optimal low-impact springs and tuned gear change |
| CN105616113B (en) * | 2016-02-23 | 2017-10-20 | 东南大学 | A kind of passive energy storage foot mechanism for lower limb assistance exoskeleton |
| CN107496065B (en) * | 2017-09-20 | 2019-08-16 | 国家康复辅具研究中心 | Adjustment type drop foot rehabilitation orthoses |
| KR101983067B1 (en) * | 2018-01-29 | 2019-05-29 | 부산대학교 산학협력단 | Walk assistance device |
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