This technology features multi-stage elastic members (first and second) that operate sequentially based on the pitch angle changes of the leg link to recover and release walking energy, and utilizes a physical constraint mechanism with a rotating locking pin and a rotation guide slot to control the timing of energy storage.
Existing lower-limb exoskeleton robots are heavy and expensive due to motor-based drive systems, cause a sense of gait unnaturalness, and increase the burden on the wearer due to the lack of an optimized passive mechanism for ankle muscle assistance during the gait cycle.
This technology constructs a multi-stage passive mechanism that sequentially stores walking energy in the first and second elastic members according to the rotation angle (pitch angle) of the leg link, and reduces the burden on the wearer while increasing ankle assistance through a hybrid structure using a back-mounted motor and wires. It can be applied to rehabilitation training, gait assistance, and muscle support, reducing weight, cost, and gait unnaturalness by assisting ankle strength without relying solely on motors.
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