Ankle rehabilitation and assistance-type exoskeleton device

The invention discloses an ankle rehabilitation and assistance-type exoskeleton device. The device comprises a foot part, a calf and a battery system. The foot part is composed of a sole of the foot and an ankle joint as well as a shoe-shaped outer casing. The ankle joint is linked with the sole of the foot and the calf. The calf is composed of a calf side plate, a self-adaptive power device, a calf backward-pushing plate, a calf casing and a calf bandage. The self-adaptive power device provides power to drive the calf to rotate. Meanwhile, transmission of a transmission belt drives the anklejoint to rotate. Therefore, the reciprocating rehabilitation movement and assistance-type walking of the ankle joint are achieved. Meanwhile, with an exoskeleton sole, three-dimensional and partitioned layout of upper and lower spaces supported by a pressure sensor is achieved. An intelligent control system can maximize meet the demand for human-machine coupling and saves and uploads data of the sensor to the cloud during