CN206007549U - A kind of ectoskeleton self adaptation lower limb power assisting device - Google Patents
A kind of ectoskeleton self adaptation lower limb power assisting device Download PDFInfo
- Publication number
- CN206007549U CN206007549U CN201620500519.0U CN201620500519U CN206007549U CN 206007549 U CN206007549 U CN 206007549U CN 201620500519 U CN201620500519 U CN 201620500519U CN 206007549 U CN206007549 U CN 206007549U
- Authority
- CN
- China
- Prior art keywords
- ankle
- assisted
- front foot
- self adaptation
- power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The utility model discloses a kind of ectoskeleton self adaptation lower limb power assisting device, including front foot fixed mechanism, self adaptation ankle governor motion, little leg restraint gear.Front foot fixed mechanism is by front foot volar plate（1）With riveting adhesive tape latch closure thereon（2）Constitute；Front foot volar plate（1）Tail end symmetrically couples two elastic power-assisted bars, the other end of two elastic power-assisted bars respectively be placed in ankle adjustable plate（5）Chute（11）Interior adjustment axis（10）Connection；Little leg restraint gear is using two rigid shank retainer rings, shank retainer ring and ankle adjustable plate（5）It is fixedly connected using wing nut.Needs are designed according to bionical physiological structure, wherein servomechanism is that spring assist and the free expandable part of spring are constituted, and effectively improves the power-assisted effect of device, and power-assisted effectively can discharge, and meet coupled demand.
Description
Technical field
This utility model is related to human body wearable device, especially ectoskeleton self adaptation lower limb power assisting device.
Background technology
Lower extremity movement drives gravity center of human body's movement, realizes that human body both legs are walked, in the process, in order to keep body kinematicses
And balance, ankle portion motion is main kinetic energy consumption.
In current lower limb exoskeleton device, major part only considered the wearable property of the structure of ectoskeleton and human body and device
Freedom of motion, do not consider motion power-assisted in human walking procedure and keep the importance of posture balancing.
Utility model content
The purpose of this utility model is to provide a kind of lower limb ankle arthrosis power-assisted balance and stability device of design, realizes human body row
Power-assisted is walked, and keeps the stability of gravity motion.
Utility model purpose is realized by the following means：A kind of ectoskeleton self adaptation lower limb power assisting device, including front
Sufficient fixed mechanism, self adaptation ankle governor motion, little leg restraint gear.Front foot fixed mechanism by front foot volar plate 1 and is riveted thereon
Adhesive tape latch closure 2 constitute；1 tail end of front foot volar plate symmetrically couples two elastic power-assisted bars, two elastic power-assisted bars another
One end is coupled with the adjustment axis 6 being placed in the chute 5 of ankle adjustable plate 4 respectively；Little leg restraint gear is using two rigid shanks
Retainer ring, shank retainer ring are fixedly connected using wing nut with ankle adjustable plate 4.
This utility model ectoskeleton self adaptation lower limb power assisting device makes that front end vola and ground are embedded be connected, and rear end connection is led to
Toning nodal axisn connects self adaptation ankle governor motion, constitutes and achieves foot walking power-assisted, while device is with ankle motion certainly
Adapt to coupling, do not interfere the flexible motion of foot, realize human body walking stability.
Description of the drawings
Structural representations of the Fig. 1 for this utility model ectoskeleton self adaptation lower limb power assisting device.
Side views of the Fig. 2 for Fig. 1.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model method is described in further detail.
Adhesive tape latch closure 2 of the front foot fixed mechanism by front foot volar plate 1 and riveting thereon is constituted；1 tail end of front foot volar plate or so is right
Claim ground connection two elastic power-assisted bars 3, the other end of two elastic power-assisted bars respectively be placed in the chute 5 of ankle adjustable plate 4
Adjustment axis 6 couple；Little leg restraint gear is using two rigid shank retainer rings 7 and 8, shank retainer ring and ankle adjustable plate 4
It is fixedly connected using wing nut 9.
The adjustment axis 6 are coupled using nut with ankle adjustable plate 4, after the appropriate height that walks is regulated, use nut
Adjustment axis are fixed on the corresponding site of chute 5 with the screw thread in the middle part of adjustment axis 6.
Claims (2)
1. a kind of ectoskeleton self adaptation lower limb power assisting device, including front foot fixed mechanism, self adaptation ankle governor motion, shank are solid
Determine mechanism, it is characterised in that：Front foot fixed mechanism is by front foot volar plate（1）With riveting adhesive tape latch closure thereon（2）Constitute；Front vola
Plate（1）Tail end symmetrically couples two elastic power-assisted bars, the other end of two elastic power-assisted bars respectively be placed in ankle tune
Section plate（5）Chute（11）Interior adjustment axis（10）Connection；Using two rigid shank retainer rings, shank is solid for little leg restraint gear
Determine ring and ankle adjustable plate（5）It is fixedly connected using wing nut.
2. ectoskeleton self adaptation lower limb power assisting device according to claim 1, it is characterised in that the adjustment axis（10）With
Ankle adjustable plate（5）Coupled using nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620500519.0U CN206007549U (en) | 2016-05-26 | 2016-05-26 | A kind of ectoskeleton self adaptation lower limb power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620500519.0U CN206007549U (en) | 2016-05-26 | 2016-05-26 | A kind of ectoskeleton self adaptation lower limb power assisting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206007549U true CN206007549U (en) | 2017-03-15 |
Family
ID=58242297
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620500519.0U Expired - Fee Related CN206007549U (en) | 2016-05-26 | 2016-05-26 | A kind of ectoskeleton self adaptation lower limb power assisting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206007549U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105943319A (en) * | 2016-05-26 | 2016-09-21 | 成都润惠科技有限公司 | An exoskeleton self-adaptive lower limb assisting device |
| CN109363891A (en) * | 2018-11-23 | 2019-02-22 | 清华大学 | Man-machine joint shaft offset compensation device and the man-machine interconnection equipment of lower limb exoskeleton |
-
2016
- 2016-05-26 CN CN201620500519.0U patent/CN206007549U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105943319A (en) * | 2016-05-26 | 2016-09-21 | 成都润惠科技有限公司 | An exoskeleton self-adaptive lower limb assisting device |
| CN109363891A (en) * | 2018-11-23 | 2019-02-22 | 清华大学 | Man-machine joint shaft offset compensation device and the man-machine interconnection equipment of lower limb exoskeleton |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11638673B2 (en) | Hip-knee passive exoskeleton device based on clutch time-sharing control | |
| CN107126348B (en) | A kind of quasi- passive knee ankle-joint coupling lower limb exoskeleton and its control method | |
| Wiggin et al. | An exoskeleton using controlled energy storage and release to aid ankle propulsion | |
| CN107126344B (en) | Exoskeleton rehabilitation robot for rehabilitation of lower limb walking function and control system and method | |
| CN107811805B (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| CN104869969B (en) | Soft exterior protector for aiding in human motion | |
| CN106821684B (en) | A kind of passive energy storage ankle-joint and foot mechanism for lower limb assistance exoskeleton | |
| CN103892943B (en) | Active/passive is in conjunction with the flexible lower limb exoskeleton of force booster type | |
| WO2018098895A1 (en) | Self-driven and adaptive-gait wearable knee-joint walking assistance device | |
| CN208729781U (en) | Lower limb exoskeleton servomechanism | |
| CN106806089B (en) | A kind of wearable power joint recovering device of gear-rack drive | |
| CN108743227A (en) | A kind of flexible exoskeleton wrist functional rehabilitation device based on spring leaf driving | |
| CN206007549U (en) | A kind of ectoskeleton self adaptation lower limb power assisting device | |
| CN208877230U (en) | A kind of leg movements device for patient with severe symptoms | |
| CN113478466A (en) | Passive lower limb exoskeleton with load conduction and walking energy saving functions | |
| CN209827446U (en) | Wearable unilateral lower limb rehabilitation power assisting device | |
| CN208641205U (en) | Lower limb exoskeleton robot | |
| Xiong et al. | Multi-articular passive exoskeleton for reducing the metabolic cost during human walking | |
| CN207221003U (en) | A kind of walk supporting device | |
| CN105943319A (en) | An exoskeleton self-adaptive lower limb assisting device | |
| CN206007548U (en) | A kind of assistance type ankle ESD | |
| CN209286071U (en) | Transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot | |
| CN110623817A (en) | Unpowered hip joint energy storage walking aid exoskeleton | |
| CN107661193B (en) | Walking-aid boots | |
| WO2022056754A1 (en) | Flexible lower limb exoskeletons and control method therefor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190704 Address after: 610094 Tianjiubei Lane 139, Chengdu High-tech Zone, Sichuan Province Patentee after: Chengdu Outwit Science & Technology Co., Ltd. Address before: 610041 No. 33 Ximianqiao Street, Wuhou District, Chengdu City, Sichuan Province Patentee before: CHENGDU RUNHUI TECHNOLOGY CO., LTD. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170315 Termination date: 20200526 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |