Multi-degree-of-freedom ring-type lower limb support structure for robot suits

Ring-type lower limb support structure for robot suits supporting multi-degree-of-freedom pitch, yaw, and roll movement

This technology is a lower limb support mechanism using a multi-degree-of-freedom ring-type joint structure. It supports pitch/yaw movement of the knee and roll/pitch movement of the ankle. By placing linear motors at each joint and section, the exoskeleton frame structure allows for length adjustment based on the wearer's body type and provides active muscle strength support.

Existing robot suits face limitations in implementing multi-degree-of-freedom joints due to fixed structures, resulting in poor fit, lack of flexibility in size adjustment for different body types, and issues with peripheral interference and control responsiveness when using hydraulic or artificial muscle actuators.

This technology adopts a ring-type multi-degree-of-freedom structure, incorporating a pitch rotation axis and yaw rotation guide structure at the knee joint, and a C-shaped roll/pitch guide rail at the ankle support. It is configured to actively adjust the lower leg clearance and foot support length using linear motors and connecting rods.

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Key Features:

• Thigh support section that wraps around and stably supports a portion of the robot suit wearer's thigh
• Knee joint section connected downward from the thigh support, configured with a rotation axis to enable pitch-direction movement below the knee
• Lower leg support section composed of horizontal and vertical supports, where the lower part of the knee joint is engaged to allow for yaw-direction movement
• Ankle support section consisting of a C-shaped rail for guiding roll direction and a C-shaped rail for guiding pitch direction, along with a plate-type foot support

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