CN108309704B - Lower limb exoskeleton ankle joint device based on energy optimization - Google Patents
Lower limb exoskeleton ankle joint device based on energy optimization Download PDFInfo
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- CN108309704B CN108309704B CN201810180345.8A CN201810180345A CN108309704B CN 108309704 B CN108309704 B CN 108309704B CN 201810180345 A CN201810180345 A CN 201810180345A CN 108309704 B CN108309704 B CN 108309704B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/106—Leg for the lower legs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
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- Animal Behavior & Ethology (AREA)
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Abstract
The invention discloses a lower limb exoskeleton ankle joint device based on energy optimization, which comprises a lower leg exoskeleton module, an ankle module and a sole module which are connected in sequence; the energy storage device is formed by the leaf spring and the damper, so that the energy of the impact between the sole and the ground is timely stored and released in the walking process, the energy consumption in the operation of the exoskeleton ankle joint of the lower limb is reduced, and the energy storage device has the effects of buffering and damping; the rigidity of the leaf spring can be adjusted, so that energy optimization in the walking process is realized; the height of the lower leg exoskeleton module is adjusted by the adjusting rod, so that the requirements of different people can be met, and the applicability is good; in addition, the control mode of the device is a flexible control technology based on force feedback, so that the operation of the exoskeleton ankle joint of the lower limb is more stable. The method can be well applied to rehabilitation training robots, reduces power consumption, improves applicability, and has great application value.
Description
Technical Field
The invention relates to a rehabilitation training robot, in particular to a lower limb exoskeleton ankle joint device based on energy optimization.
Background
The wearable lower limb exoskeleton robot can provide functions such as power assistance, protection, body support and the like for lower limbs of people, integrates robot technologies such as sensing, control, information acquisition, mobile calculation and the like, and is a man-machine integrated system capable of completing functions and tasks such as power assistance walking and the like under unconscious control of an operator. The existing lower limb exoskeleton robot still faces a plurality of problems. Such as: the wearing comfort is poor because the wearer can receive the impact force of the ground at the moment of landing the foot, and the gait of the wearer can be influenced.
The energy of the foot of the wearer is released and wasted at the moment of landing, so that the energy utilization rate is low, and the whole device consumes more energy. At present, no device capable of reasonably solving the problems exists.
Disclosure of Invention
The invention aims to provide a lower limb exoskeleton ankle joint device based on energy optimization.
The invention aims at realizing the following technical scheme:
the invention relates to a lower limb exoskeleton ankle joint device based on energy optimization, which comprises a lower leg exoskeleton module, an ankle module and a sole module which are connected in sequence;
the lower leg exoskeleton module comprises a lower leg connecting rod I, a connecting motor connecting rod, a protection connecting block, a lower leg connecting rod II, a lower leg protection rod, a connecting bolt, a lower leg connecting rod III, an adjusting rod, a lower leg connecting rod IV, a lower leg binding device and a damper connecting device;
the ankle module includes a damper, an ankle strap device, and an ankle linkage;
the sole module comprises a foot upper coaming, a sole force sensor, a leaf spring lower sheeting, a leaf spring upper sheeting, a spring mounting plate, a foot lower coaming, a bearing end cover, an I-shaped connecting rod I, an I-shaped connecting rod II, an angular contact ball bearing and a rigidity adjusting motor;
the damper is connected with the shank connecting rod IV through the damper connecting device, the damper is connected with the ankle connecting rod, and the ankle connecting rod is connected with the upper foot coaming.
According to the technical scheme provided by the invention, the energy-optimization-based lower limb exoskeleton ankle joint device provided by the embodiment of the invention forms a buffering energy storage device through the leaf spring and the damper, timely stores and releases the energy of the impact between the sole and the ground in the walking process, reduces the energy consumption in the running process of the lower limb exoskeleton ankle joint, and has the buffering and damping effects; through adjusting the pole height-adjusting, can satisfy different crowds' needs, the suitability is good. The method can be well applied to rehabilitation training robots, reduces power consumption, improves applicability, and has great application value.
Drawings
FIG. 1 is a schematic view of the overall structure of a lower extremity exoskeleton ankle joint device based on energy optimization according to an embodiment of the present invention;
FIG. 2 is a schematic axial view of a lower extremity exoskeleton ankle joint device based on energy optimization according to an embodiment of the present invention;
FIG. 3 is a schematic view of a height adjusting device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an energy buffer device according to an embodiment of the present invention;
FIG. 5 is a schematic view of the ankle baseplate according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a spring stiffness variation structure in an embodiment of the present invention;
FIG. 7 is a schematic diagram of an embodiment of the present invention;
FIG. 8 is a flowchart of an optimization algorithm according to an embodiment of the present invention.
In the figure:
1 is a shank connecting rod I, 2 is a connecting motor connecting rod, 3 is a protecting connecting block, 4 is a shank connecting rod II, 5 is a shank protecting rod, 6 is a connecting bolt, 7 is a leaf spring upper pressing sheet, 8 is a leaf spring, 9 is a shank connecting rod III, 10 is an adjusting rod, 11 is a shank binding device, 12 is a shank connecting rod IV, 13 is a damper, 14 is an ankle binding device, 15 is a damper connecting device, 16 is a foot upper coaming, 17 is a plantar force sensor, 18 is a leaf spring lower sheeting, 19 is a spring mounting plate, 20 is a foot lower coaming, 21 is an ankle connecting rod, 22 is an I-shaped connecting rod I, 23 is a bearing end cover, 24 is an I-shaped connecting rod II, 25 is an angular contact ball bearing, 26 is a rigidity adjusting motor, and 27 is a gear.
Detailed Description
Embodiments of the present invention will be described in further detail below. What is not described in detail in the embodiments of the present invention belongs to the prior art known to those skilled in the art.
The invention relates to a lower limb exoskeleton ankle joint device based on energy optimization, which comprises the following preferred specific embodiments:
comprises a lower leg exoskeleton module, an ankle module and a sole module which are connected in sequence;
the lower leg exoskeleton module comprises a lower leg connecting rod I, a connecting motor connecting rod, a protection connecting block, a lower leg connecting rod II, a lower leg protection rod, a connecting bolt, a lower leg connecting rod III, an adjusting rod, a lower leg connecting rod IV, a lower leg binding device and a damper connecting device;
the ankle module includes a damper, an ankle strap device, and an ankle linkage;
the sole module comprises a foot upper coaming, a sole force sensor, a leaf spring lower sheeting, a leaf spring upper sheeting, a spring mounting plate, a foot lower coaming, a bearing end cover, an I-shaped connecting rod I, an I-shaped connecting rod II, an angular contact ball bearing and a rigidity adjusting motor;
the damper is connected with the shank connecting rod IV through the damper connecting device, the damper is connected with the ankle connecting rod, and the ankle connecting rod is connected with the upper foot coaming.
The lower foot coaming is connected with the spring mounting plate through an I-shaped connecting rod, an angular contact ball bearing and a bearing end cover are arranged at the connecting position, two sides of the lower steel plate spring pressing piece are fixedly connected with the spring mounting plate through bolts, the rigidity adjusting motor is connected with the lower steel plate spring pressing piece, a rack is arranged at the lower part of the steel plate spring, and the rack is connected with an output shaft of the rigidity adjusting motor.
The plantar force sensor is fixedly arranged with the upper foot coaming and the lower foot coaming through screw connection.
The leaf spring with leaf spring is pressed down the piece, and leaf spring goes up the piece and is connected fixedly by screw respectively, and leaf spring goes up the piece simultaneously with the upper end of ankle connecting rod passes through bolted connection.
The outer ring of the rigidity adjusting motor is connected with the spring mounting plate, the output shaft of the inner ring is connected with a gear, and the gear is meshed with teeth at the lower part of the leaf spring.
The first calf connecting rod, the adjusting rod and the fourth calf connecting rod on the inner side of the calf exoskeleton are respectively connected through bolt fastening, and the calf protection rod is fastened with the second calf connecting rod through bolt fastening.
The ankle strap device is secured to the ankle linkage via a bolt.
The lower limb exoskeleton ankle joint device based on energy optimization is compact in structure, light in weight and low in power consumption, and can well meet the application requirements of a lower limb exoskeleton rehabilitation training robot; the height of the lower leg module of the device can be freely adjusted through the adjusting rod, so that the device can be suitable for most people; the device is provided with the damper and the elastic energy storage device, has the effects of buffering and damping, can store and release the energy of the impact between the sole and the ground in time when walking, and reduces the energy consumption in the operation of the exoskeleton ankle joint of the lower limb; the rigidity of the buffering energy storage device can be adjusted, so that energy optimization in the walking process is realized; in addition, the control mode of the device is a flexible control technology based on force feedback, so that the operation of the exoskeleton ankle joint of the lower limb is more stable. Through inspection, the lower limb exoskeleton ankle joint device based on energy optimization can be well applied to a rehabilitation training robot, reduces power consumption, improves applicability, and has great application value.
The invention has the advantages and positive effects that:
1. the invention adopts a multi-objective optimization design method, develops a lower limb exoskeleton ankle joint device based on energy optimization, has compact structure, light weight and low power consumption, and can meet the application requirements of a lower limb exoskeleton rehabilitation training robot.
2. The invention adopts a flexible control technology based on force feedback, can accurately reflect the gait of a patient, and performs feedback control through the relation between control force and gait, so that the operation of the exoskeleton ankle joint of the lower limb is more stable.
3. The invention has the advantages of timely storing and releasing the impact energy of the sole and the ground during walking, reducing the energy consumption during the operation of the exoskeleton ankle joint of the lower limb and having the effects of buffering and damping.
4. The rigidity of the elastic energy storage device is adjustable, and the required rigidity of the elastic energy storage device can be adjusted according to different users and different walking gaits, so that the energy optimization function is further improved.
5. The height of the lower leg module can be freely adjusted, so that the device can be used for most people and has wide applicability.
Specific examples:
the invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the device comprises a first shank connecting rod 1, a connecting motor connecting rod 2, a protecting connecting block 3, a second shank connecting rod 4, a shank protecting rod 5, a connecting bolt 6, a third shank connecting rod 9, an adjusting rod 10, a fourth shank connecting rod 12, a shank binding band device 11 and a damper connecting device 15, wherein the shank exoskeleton module is used for fixing the shank of a human body and driving the shank of the human body to move through driving of a motor. The damper 13, the ankle strap device 14 and the ankle connecting rod 21 are all arranged on the ankle module and used for connecting the shank and the sole of the foot, wherein the damper can buffer the impact of the instant foot landing during walking, so that the walking process is smoother; the sole module comprises a foot upper coaming 16, a sole force sensor 17, a steel plate spring pressing sheet 18, a spring mounting plate 19, a foot lower coaming 20, an angular contact ball bearing 25, a bearing end cover 23, an I-shaped connecting rod I22 and an I-shaped connecting rod II 24.
As shown in fig. 1 and 5, an energy-optimized lower limb exoskeleton ankle joint device is characterized in that a foot lower coaming 20 is connected with a spring mounting plate 19 through an i-shaped connecting rod, and an angular contact ball bearing and a bearing end cover are mounted, so that the two devices can rotate relatively. The two sides of the leaf spring lower pressing piece 18 are fixedly connected with the spring mounting plate 19 through bolts, the rigidity adjusting motor 26 is connected with the leaf spring lower pressing piece 18, a rack is arranged at the lower part of the leaf spring 8, and the rack is connected with an output shaft of the rigidity adjusting motor 26.
As shown in fig. 1 and 4, the energy-optimized lower limb exoskeleton ankle joint device is characterized in that a plantar force sensor 17 is fixedly installed with a foot upper coaming 16 and a foot lower coaming 20 through screw connection. The plantar force is measured through the plantar force sensor 17, the patient's pathological gait can be reflected, and meanwhile, the lower limb rehabilitation training robot based on plantar force feedback performs walking stability control, flexible control and the like by utilizing plantar force.
As shown in fig. 1, in the lower limb exoskeleton ankle joint device based on energy optimization, a damper 13 is installed between a lower leg exoskeleton module and an ankle module and is connected with an ankle connecting rod 21 and a lower leg connecting rod four 12 through bolts. The damper 13 is used for buffering the impact force of the sole during landing, reducing vibration generated by impact and improving smoothness of the device in the use process.
As shown in fig. 1 and 2, the lower limb exoskeleton ankle joint device based on energy optimization is characterized in that a leaf spring 8 is fixedly connected with a leaf spring lower pressing sheet 18 and a leaf spring upper pressing sheet 7 through screws, and meanwhile, the leaf spring upper pressing sheet 7 is fixedly connected with the upper end of an ankle connecting rod 21 through bolts. When the sole lands, the leaf spring 8 is compressed, storing impact energy of the ground; when the sole leaves the ground, the leaf spring 8 releases the previously stored energy by means of a restoring force, thereby reducing the energy consumption of walking. Not only energy optimization, but also buffering and damping effects can be achieved. The effective length of the leaf spring 8 can be adjusted by rotation of the stiffness adjustment motor 26, thereby realizing the function of variable stiffness of the ankle joint.
As shown in fig. 1 and 3, in the lower limb exoskeleton ankle joint device based on energy optimization, a first lower leg connecting rod 1, an adjusting rod 10 and a fourth lower leg connecting rod 12 on the inner side of a lower leg exoskeleton are respectively connected through bolt fastening, and the relative length of the first lower leg connecting rod 1 and the fourth lower leg connecting rod 12 inserted into the adjusting rod 10 is controlled, so that the height of a lower leg module of the device is adjusted. The relative displacement of the second lower leg connecting rod 4 and the third lower leg connecting rod 9 on the inner side of the lower leg exoskeleton can also adjust the lower leg module height of the device, so that the device can be suitable for most people.
As shown in fig. 1 and 3, the lower limb exoskeleton ankle joint device based on energy optimization has the advantages that a lower leg protection rod 5 in a lower leg exoskeleton module is fastened with a lower leg connecting rod II 4 and a protection connecting block 3 through bolt connection, so that the lower leg protection effect is achieved. The shank strap device 11 is fixed on the adjusting rod 10 through bolt connection, and after the strap is installed, the device and the shank are more comfortable to be fitted, and the shank strap device also has the function of safety protection. Ankle strap device 14 is bolted to ankle linkage 21 and the strap is installed to protect the ankle and better fit the device.
As shown in fig. 2 and 6, an energy-optimized lower limb exoskeleton ankle joint device is provided, wherein an outer ring of a stiffness adjusting motor 26 is connected with a spring mounting plate 19, an inner ring output shaft is connected with a gear 27, and the gear 27 is meshed with teeth at the lower part of a leaf spring 8. The output shaft of the motor transmits torque to enable the gear 27 to rotate and drive the rack of the leaf spring 8 to move back and forth, so that the connection length of the plantar leaf spring 8 is changed, and the rigidity of the leaf spring 8 is further changed.
Working principle:
as shown in fig. 7, when the device is worn by a person, the downward force F is given to the plantar upper coaming 16 by the self-gravity, the force is applied to the upper portion of the leaf spring 8 through the sprung press sheet, and the leaf spring 8 mounted on the leaf spring mounting plate 19 is pressed, thereby providing the effect of buffering and storing energy. The rotation of the stiffness adjusting motor 26 provides a torque T, and the gear 27 is driven to rotate, so that the connection length X of the leaf spring 8 meshed with the gear is changed, when the stiffness spring motor rotates clockwise as shown in the figure, the leaf spring moves leftwards, the spring stiffness becomes smaller, and when the stiffness spring motor rotates anticlockwise as shown in the figure, the leaf spring moves rightwards, and the spring stiffness becomes larger. By adjusting the stiffness of the spring, an energy-optimal walking pattern is provided to the wearer.
The following is the energy optimization idea of this patent:
after a patient wears the device to walk, the access length of the leaf spring is changed through the rotation of the stiffness adjusting motor, so that the stiffness of the leaf spring is changed, and meanwhile, the power consumption of the corresponding knee joint motor under different spring stiffness conditions is recorded. After multiple groups of experimental data are obtained, the CMA-ES program on the industrial personal computer is used for optimizing the energy during walking. The optimal spring rigidity during walking is found by using the CMA-ES algorithm, so that the energy consumption of a user during walking is minimum.
The following is the specific steps of the algorithm for energy optimization, CMA-ES algorithm, in this patent:
(1) and (5) setting and initializing parameters. Static parameters: the number of offspring lambda, the number of parent individuals mu, generally mu < lambda, the maximum number of iterations G, the recombination weights ωi=1, 2 …, mu, and the correlation constants required for adaptive adjustment. Dynamic parameters: solving dimension N of problem, initial global step length sigma (0) ∈R + Initial distribution mean value m (0) ∈R N Initial evolutionary pathInitial covariance matrix C (0) ＝I∈R N×N Initial evolutionary algebra g (0) ＝0。
(2) And (5) population sampling. The sampling formula is as follows:
wherein the method comprises the steps ofThe kth individual, m, is the g+1th generation population (g) Is the population distribution mean value of the g generation, sigma (g) Is the distribution step length of the g generation population, C (g) Is the covariance matrix of the population distribution of the g generation. The first generation of data consists of the access length (control law) of a randomly selected lambda group of different leaf springs and the experimentally measured knee joint motor power number.
(3) Evaluation and selection. According to the ranking order of the power of the knee joint motor corresponding to the access lengths of different leaf springs, selecting a better oneThe control law is used as a male parent.
(4) And (5) updating parameters. And adjusting parameter values such as a mean value, a covariance matrix, a dynamic step length and the like by using the male parent.
The mean value calculation formula:
wherein the method comprises the steps of Is the individual with the fitness ranking i,
the covariance matrix adaptive adjustment formula is as follows:
wherein c c Is p c Updated learning efficiency of h σ Is a Heaviside function. For controlling p c Excessive increase of μ eff Effective selection of quality for variance, delta (h σ )＝(1-h σ )c c (2-c c )
The global step size is controlled as follows:
wherein c σ Is p σ Is the updated learning rate of d σ Is a damping coefficient close to 1, E (||N (0,I) |) is the following of the normalized evolution pathThe desired length is selected by the machine.
(5) And (3) evaluating all individuals in the current generation, selecting an optimal solution, and if the optimal solution meets the convergence condition, exiting the calculation, wherein the current spring steel optimal solution is a global optimal solution, otherwise, returning to the step (2).
The optimization algorithm flow chart is shown in fig. 8.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (2)
1. An energy optimization-based lower limb exoskeleton ankle joint device is characterized in that: comprises a lower leg exoskeleton module, an ankle module and a sole module which are connected in sequence;
the shank exoskeleton module comprises a shank connecting rod I (1), a connecting motor connecting rod (2), a protection connecting block (3), a shank connecting rod II (4), a shank protection rod (5), a connecting bolt (6), a shank connecting rod III (9), an adjusting rod (10), a shank connecting rod IV (12), a shank binding device (11) and a damper connecting device (15);
the ankle module includes a damper (13), an ankle strap device (14), an ankle linkage (21);
the sole module comprises a foot upper coaming (16), a sole force sensor (17), a leaf spring lower sheeting (18), a leaf spring upper sheeting (7), a spring mounting plate (19), a foot lower coaming (20), a bearing end cover (23), an I-shaped connecting rod I (22), an I-shaped connecting rod II (24), an angular contact ball bearing (25) and a rigidity adjusting motor (26);
the damper (13) is connected with the shank connecting rod IV (12) through the damper connecting device (15), the damper (13) is connected with the ankle connecting rod (21), and the ankle connecting rod (21) is connected with the foot upper coaming (16);
the foot lower coaming (20) is connected with the spring mounting plate (19) through an I-shaped connecting rod, an angular contact ball bearing (25) and a bearing end cover (23) are arranged at the connecting position, two sides of the steel plate spring lower pressing plate (18) are fixedly connected with the spring mounting plate (19) through bolts, the rigidity adjusting motor (26) is connected with the steel plate spring lower pressing plate (18), a rack is arranged at the lower part of the steel plate spring (8), and the rack is connected with an output shaft of the rigidity adjusting motor (26);
the plantar force sensor (17) is fixedly arranged with the upper foot coaming (16) and the lower foot coaming (20) through screw connection;
the leaf spring (8) is respectively connected and fixed with the leaf spring lower pressing piece (18) and the leaf spring upper pressing piece (7) through screws, and meanwhile, the leaf spring upper pressing piece (7) is connected with the upper end of the ankle connecting rod (21) through bolts;
the outer ring of the rigidity adjusting motor (26) is connected with the spring mounting plate (19), the output shaft of the inner ring is connected with the gear (27), and the gear (27) is meshed with teeth at the lower part of the leaf spring (8);
the lower leg protection rod (5) is connected and fastened with the lower leg connecting rod II (4) and the protection connecting block (3) through bolts.
2. The energy-optimized lower extremity exoskeleton ankle joint apparatus as claimed in claim 1, wherein: the ankle strap device (14) is bolted to the ankle linkage (21).
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| CN111821084B (en) * | 2019-04-19 | 2024-04-30 | 中国人民解放军联勤保障部队第九O九医院 | Lower limb load-free controllable rehabilitation device |
| CN110141464B (en) * | 2019-05-22 | 2020-04-14 | 电子科技大学 | High-energy efficiency controllable foot mechanism |
| CN110812132B (en) * | 2019-12-14 | 2022-02-01 | 深圳先进技术研究院 | Ankle exoskeleton |
| CN111000706B (en) * | 2019-12-14 | 2022-02-22 | 深圳先进技术研究院 | Self-adaptive ankle joint exoskeleton |
| CN112247960B (en) * | 2020-09-18 | 2021-12-10 | 武汉理工大学 | Bionic exoskeleton device for legs |
| CN113478465B (en) * | 2021-07-23 | 2023-08-18 | 华南理工大学 | Design method, device, equipment and medium of output force curve of power exoskeleton robot |
| CN113648188A (en) * | 2021-07-27 | 2021-11-16 | 中山大学 | Walking power assisting device |
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