A Foot-based Wearable Assist Mechanism Based on Tensegrity Structure

Assist mechanism applied to the lower limbs is an important requirement in the field of sports research and medical rehabilitation. In this paper, we propose a foot-based wearing assist mechanism with metatarsophalangeal joint (MPJ) flexion assist and force locking function based on the flexibility and self-recovery characteristics of the tensegrity structure. The structural stability of the mechanical members of the joint structure was demonstrated by stiffness matching through analysis of the tensegrity nodes. In addition, simulations of the MPJ flexion states at different stiffness states were performed to discuss the mechanical properties of different stiffnesses in toe flexion. The results indicate that the wearable foot-assist mechanism based on the tensegrity structure provides a uniform solution for the two states of human walking and running.