| 主权项 |
1. An exoskeleton mechanism configured to be coupled to a lower physique and having a jointed terminal end with three-degrees of freedom, comprising:
a rotatable frame positioned to correspond to the lower physique; a support frame coupled to the jointed terminal end; motors mounted to the rotatable frame, protruding from an end of the rotatable frame in a lengthwise direction of the rotatable frame, connected to the support frame, and configured to drive the support frame to rotate in a vertical direction, in a horizontal direction, and around a roll axis of the lower physique; and links, each comprising a rigid shaft, that connect the motors and the support frame, wherein the support frame rotates with respect to the rotatable frame with three-degrees of freedom by relative rotation of links connected in series from each motors to the support frame, wherein the motors comprise a first motor configured to drive the support frame to rotate in the horizontal direction, a second motor configured to drive the support frame to rotate in the vertical direction, and a third motor configured to drive the support frame to rotate around the roll axis, wherein a rotary shaft of the first motor, a rotary shaft of the second motor, and a rotary shaft of the third motor are respectively positioned in a lengthwise direction of the rotatable frame, wherein each of the rotary shaft of the first motor, the rotary shaft of the second motor, and the rotary shaft of the third motor comprises a flexible hinge mounted thereon, and wherein each flexible hinge serves as an adaptive module to release torsion stress respectively transferred along either the rotary shaft of the first motor, the rotary shaft of the second motor, or the rotary shaft of the third motor. |
