The invention discloses a human walking posture simulated exoskeleton bendable foot structure which comprises a front sole structure and a rear sole structure which are arranged in a separated mode, a hinge seat is installed on at least one side wall of the front sole structure, and at least one bridging structure is arranged between the front sole structure and the rear sole structure through the hinge seat. The height of the axis of the hinge seat is greater than that of the top of the front sole structure, so that the bending axis of the front sole structure and the bending axis of the rear sole structure are coaxial with the axis of a toe-shaped bending joint of a user, and the user and the exoskeleton bendable foot structure are completely fused into a whole. A user can alternately normally walk at a high speed, a low speed, stairs climbing, climbing and the like according with toe-walking bending, heel landing and whole sole stable landing. The invention further discloses an exoskeleton robot which comprises the exoskeleton bendable foot structure and the thigh and shank structure rotationally connected with the exoskeleton bendable foot structure, so that the legs and the feet of the user are in multi-degree-of-freedom coaxial comfortable movement fit with the robot through the joints of the legs and the feet.
本发明公开一种仿真人体走姿外骨骼可折弯足部结构,包括分离式设置的前脚掌结构和后脚掌结构,前脚掌结构至少一侧壁上安装有铰接座,前脚掌结构通过铰接座与后脚掌结构之间至少一桥接结构,铰接座的轴心线高度高于前脚掌结构的顶部,使得前脚掌结构和后脚掌结构的折弯轴心与使用者的趾行性折弯关节轴心同轴,使用者和外骨骼可折弯足部结构完全相融合于一体,使用者穿戴时可进行高速、低速、爬楼梯、爬坡等符合趾行性弯曲、脚跟着地及整脚掌平稳着地的交替性正常行走。本发明还公开了一种外骨骼机器人,包括外骨骼可折弯足部结构及与之转动连接的大小腿结构,使得使用者腿部和脚部进行自身关节与机器人多自由度的同轴舒适性运动配合。
Human walking posture simulated exoskeleton bendable foot structure and exoskeleton robot
一种仿真人体走姿外骨骼可折弯足部结构及外骨骼机器人
2021-08-27
Patent
Electronic Resource
Chinese
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