Astronauts walk in a "rabbit jump" way when working on the lunar surface, so when the booster device of the spacesuit works, its lower limb movement is mainly divided into two phases, that is, the swing phase: the time phase of the foot swinging forward in the air, accounting for about 40% of the gait cycle, including the acceleration period, the swing mid-term, and the deceleration period; The other phase is the supporting phase: it refers to the time phase when the foot touches the lunar surface and bears gravity, accounting for about 60% of the gait cycle, including the continuous actions of the heel touching the lunar surface, the palm of the foot touching the lunar surface, the mid-support period, the heel leaving the lunar surface, and the toes leaving the lunar surface. In order to maintain the synchronous coordination of the action of the assist device and the astronaut, it is necessary to systematically design the movement and force of the above two phases performed by the joint, so that the joint performs the drive during the swing phase and the magnetorheological buffer damper adjusts the change of damping holding force during the support phase to achieve the transmission effect of movement and buffer working together.

bionic buffer,intelligent transmission joint,magnetorheological damper