Innovative design of the Foot of Exoskeleton robot

摘要

In view of the shortcomings of the current exoskeleton robot, such as the poor comfort of the flat foot and the inflexible movement, we combine the structural characteristics of the exoskeleton robot itself, the gait characteristics of human and the functional requirements of the wearer, and we adopted the method of the overall analysis of the Smart Little People Method and the partial analysis of the substance-field model method, an innovative design process model based on the combination of the Smart Little People model and the substance-field analysis model was proposed to realize the design of the flexibility and comfort improvement of the exoskeleton foot. This design is based on segmented multi-material combination structure, which can meet the function of stable support when standing, flexible follow function when walking, and the effect of cushioning external impact on human body. The feasibility of the scheme is verified through motion analysis, force analysis and gait data analysis during the actual wearing process. This research is of great importance to the promotion of exoskeleton robot into practical application.