CN101691036A - Joint assistance adjusting device - Google Patents
Joint assistance adjusting device Download PDFInfo
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- CN101691036A CN101691036A CN200910184810A CN200910184810A CN101691036A CN 101691036 A CN101691036 A CN 101691036A CN 200910184810 A CN200910184810 A CN 200910184810A CN 200910184810 A CN200910184810 A CN 200910184810A CN 101691036 A CN101691036 A CN 101691036A
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Abstract
The invention relates to a joint assistance adjusting device, which relates to a podosoma one and a podosoma two which are hinged through a joint rotating shaft. The joint assistance adjusting device comprises a torque adjusting device used for adjusting a joint rotating torque; two ends of the torque adjusting device are fixedly connected to the podosoma one and the podosoma two respectively; the torque adjusting device is a rotary joint assistance mechanism consisting of a cam and elastic parts; and an effective contour surface curve of the cam is obtained through reverse by numeric iteration according to a torque assistant function. The joint assistance adjusting device realizes a rigidity changing torsion elastic device through the cam so as to adjust the joint rotating torque, make the reduction of a joint rotating torque peak possible, and improve a joint rotating torque valley; therefore, a motor with smaller power and smaller maximum torque can be selected, the self weight of a joint mechanism is lightened, and the energy is saved; or the driving torque of artificial limb wearers is increased, so labor is saved.
Description
Technical field
The present invention relates to joint assistance adjusting device, be used to reduce the peak torque that the joint drives, belong to mechanism design, Robotics field and and human body recovery mechanism, can be applicable to walking robot and intelligent artificial limb knee joint.
Background technology
At present, the design of low-power consumption walking mechanism is the basis of human walking mechanism of research and the reasonable walking mechanism of exploitation, and wherein the kneed design of walking robot is crucial.
In the prior art, the kneed driving of robot mainly is directly to utilize driving arrangements such as motor to carry out active drive, that is: in the robot ambulation process, kneed angle is controlled by driving arrangements such as motors fully, and in a kneed walking period, kneed turning moment exists peak value and valley, and when selecting drive motors for use, obviously be to determine according to peak value, therefore, the problem that this driving method exists is to select drive motors relatively conservative, and the weight of motor is one of chief component of walking mechanism weight, cause mechanism's operation power consumption big indirectly, be not suitable for the research and the application of current walking mechanism.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, joint assistance adjusting device is provided, to regulate the moment that the joint drives, make peak value reduce, and valley improves, thereby can select power and the littler motor of peak torque, alleviate the articulation mechanism deadweight, save energy consumption, perhaps make the prosthesis wearer driving moment reduce, more laborsaving.
For realizing above technical purpose, the present invention will take following technical scheme:
A kind of joint assistance adjusting device, relate to limbs one and limbs two, and limbs one and limbs two are hinged by the joint rotating shaft, comprise the moment regulating device that is used to reduce joint turning moment peak value, and the two ends of this moment regulating device are fixedly connected on respectively on limbs one and the limbs two.
Described moment regulating device comprises cam, elastomeric element and rigid element, described cam is fixedly mounted on the limbs one, fixedly connected with elastomeric element with limbs one respectively in the two ends of rigid element, the other end of elastomeric element is then fixedlyed connected with limbs two, and the part table body of rigid element is on the cam contour face.
Also be connected with rigid connector between the described elastomeric element and second fixed part.
Moment regulating device also includes the installation locating rack, this installation locating rack is made up of first fixed part that is hinged and second fixed part, described cam is installed on the limbs one by first fixed part, elastomeric element then is installed on the limbs two by second fixed part, and rigid element then is installed on the limbs one by first fixed part.
Also be connected with rigid connector between the described elastomeric element and second fixed part.
Described rigid element is rope form or sheet.
Rigid element is a steel wire rope.
Described elastomeric element is extension spring.
Described first fixed part and second fixed part all are the panel beating frame.
According to above technical scheme, can realize following beneficial effect:
1. the present invention is connected a moment regulating device on the limbs one of forming the joint and limbs two, this moment regulating device can reduce joint turning moment peak value, also improve joint turning moment valley simultaneously, thereby can select the less motor of power and peak torque, alleviate the articulation mechanism deadweight, save energy consumption, perhaps make the prosthesis wearer driving moment reduce, more laborsaving;
2. moment regulating device of the present invention comprises cam, elastomeric element and rigid element, cam is fixed on the limbs one, and elastomeric element is with after rigid element is connected, fixedly connected with limbs with limbs one respectively in two ends, and the part table body of rigid element is on the contoured surface of cam, when the joint rotation, be that limbs two are when limbs one rotation, the straight line that elastomeric element and rigid element are linked to be will roll along the cam contour face, make the arm of force of elastic force change, the power value of this elastic force also can change simultaneously, promptly this moment regulating device provides the auxiliary torque of an expectation to the joint rotation, joint rotating moment peak value can be reduced, the less motor of power and peak torque can be selected thus, energy efficient;
3. moment regulating device also comprises the installation locating rack, it comprises first fixed part and second fixed part that is hinged, and cam is fixedly mounted on the limbs one by first fixed part, elastomeric element then is installed on the limbs two by second fixed part, rigid element then is installed on the limbs one by first fixed part, therefore, the installation of more convenient this moment regulating device of this mode on limbs is easy to promote and carries out;
The method for designing of described cam effective contour surface curve, key step is: the elastic force initial value of at first setting elastomeric element, to obtain one group of cam envelope, used one group of ray of cam center to scan the cam envelope then, thereby obtain a series of cam profile curve point coordinates values to be verified, then obtain the pairing elastomeric element amount of elastic deformation of these cam profile curve point coordinates values to be verified, can try to achieve each pairing elastomeric element elastic force of cam profile curve point coordinates value to be verified, whether the check elastomeric element elastic force of asking satisfies iterated conditional at last: if the satisfied cam profile curve point coordinates value of then this iteration being obtained to be verified is as the cam profile curve point coordinates value of reality; If do not satisfy then one group of elastomeric element elastic force of trying to achieve with this iteration as the elastic force initial value, to obtain one group of new cam envelope, loop iteration like this goes down, till satisfying iterated conditional.
Hence one can see that, effective cam contour surface curve of the present invention can carry out respective design in the required torque of out of phase according to the robot knee joint, can be according to the designed different different respective cams outline line of knee joint torque function curve design for the uniform machinery people; Different knee joint torque function curve for the different machines people also can carry out the design of respective cams profile, thereby has increased the flexibility and the versatility of this patent.
Description of drawings
Fig. 1 is that the present invention is θ in the joint anglec of rotation
iThe time structural representation;
Fig. 2 is that the present invention is θ in the joint anglec of rotation
jThe time structural representation;
Fig. 3 is the flow chart that cam contour surface curve of the present invention obtains;
Wherein, limbs one 1 fixed connecting pieces 2 rigid elements 3 cams 4 joint rotating shafts 5 elastomeric elements 6 rigid connectors 7 limbs 28.
The specific embodiment
Explain the technical solution of the utility model below with reference to accompanying drawing.
As shown in Figure 1, joint assistance adjusting device of the present invention, relate to limbs 1 and limbs 28, and limbs 1 and limbs 28 are hinged by joint rotating shaft 5, comprise the moment regulating device that is used to reduce joint turning moment peak value, the two ends of this moment regulating device are fixedly connected on respectively on limbs 1 and the limbs 28, joint assistance adjusting device described in the present embodiment is mainly used in knee joint, then the two ends of moment regulating device are fixedly connected on respectively on thigh and the shank, it comprises cam 4, elastomeric element 6 and rigid element 3, described cam 4 is fixedly mounted on the limbs 1, fixedly connected with elastomeric element 6 with limbs 1 respectively in the two ends of rigid element 3, and it is connected on the limbs 1 by fixed connecting piece 2, the other end of elastomeric element 6 is then fixedlyed connected with limbs 28, and the part table body of rigid element 3 is on cam 4 contoured surfaces, and in addition described elastomeric element 6 is extension spring.
For making things convenient for the installation of the present invention on limbs 1 and limbs 28, then moment regulating device also includes the installation locating rack, this installation locating rack is made up of first fixed part that is hinged and second fixed part, and first fixed part and second fixed part all are the panel beating frame, described cam 4 is installed on the limbs 1 by first fixed part, elastomeric element 6 then is installed on the limbs 28 by second fixed part, 3 of rigid elements are installed on the limbs 1 by first fixed part, promptly earlier cam 4 is fixedly mounted on first fixed part, elastomeric element 6 then is fixedly connected on respectively on first fixed part and second fixed part with rigid element 3 formed connector two ends, and with the part table body of rigid element 3 contoured surface around cam 4, described rigid element 3 is rope form or sheet, the present invention selects steel wire rope for use, also is connected with rigid connector 7 between the elastomeric element 6 and second fixed part in addition.
During use, first fixed part is installed on the thigh, and second fixed part is installed on the shank, in human body or robot gait processes, locating rack is installed will be rotated along with kneed rotatablely moving, different elastic deformations then can take place around cam 4 in elastomeric element 6, and the elastic force that each rotation initial elasticity parts 6 is produced is all to there being the corresponding arm of force, thereby this device can provide a moment values, so that kneed turning moment is adjusted, that is: make kneed turning moment peak value reduce, and valley improves, thereby can select power and the littler motor of peak torque, alleviate the knee-joint mechanism deadweight, save the walking energy consumption, perhaps make the prosthesis wearer driving moment reduce, walking is more laborsaving.
The acquisition methods of cam 4 effective contour surface curves of the present invention, flow chart as shown in Figure 3, it is according to the auxiliary torque function, use the anti-cam 4 effective contour surface curves of asking of method of numerical value iteration, this effective contour surface curve is the set at elastomeric element 6 place straight lines and cam 4 point of contacts in the articulations digitorum manus rotary course, key step is: the elastic force initial value of at first setting elastomeric element 6, to obtain one group of cam 4 envelope, used one group of ray at cam 4 centers to scan cam 4 envelopes then, thereby obtain a series of cam to be verified 4 contour curve point coordinates values, then obtain pairing elastomeric element 6 amount of elastic deformation of these cam 4 contour curve point coordinates values to be verified, can try to achieve the pairing elastomeric element 6 elastic force calculated values of each cam to be verified 4 contour curve point coordinates value, whether last testing elastic parts 6 elastic force calculated values satisfy iterated conditional: if the satisfied cam to be verified 4 contour curve point coordinates values of then this iteration being obtained are as the cam 4 contour curve point coordinates values of reality; If do not satisfy then one group of elastomeric element, the 6 elastic force calculated values of trying to achieve with this iteration as the elastic force initial value, to obtain one group of new cam 4 envelope, loop iteration like this goes down, till satisfying iterated conditional.
Specifically, in conjunction with Fig. 1 to 3, these cam 4 effective contour surface curves obtain and may further comprise the steps:
(1) the elastic force initial value of setting elastomeric element 6 is f
0, set up cam 4 disjunctor coordinate systems, choose n discrete angle position θ simultaneously
i(i=1,2,3, Ln) as the data fitting desired value, then with initial value f
0Compose respectively and give and rotational angle theta
iCorresponding elastic force f
(i, 1)(i=1,2,3, L j, L, n), f
(i, 1)Represent rotational angle theta in the 1st iteration
iCorresponding elastic force, a among the figure
(i, k)Represent rotational angle theta in the k time iteration
iThe corresponding elastomeric element 6 place straight lines and the point of contact of cam 4;
(2), choose expectation assistance torque value τ according to the target that reduces the driving moment peak value
i, in the present invention, the realizability through research cam 4 effective contour surface curves adopts linear auxiliary torque τ
i=τ
0+ k
aθ
i,, ask for and rotational angle theta according to the elastic force value that obtains in (1)
iCorresponding elastic force arm of force d
(i, 1)=τ
i/ f
(i, 1), d wherein
(i, 1)Represent rotational angle theta in the 1st iteration
iThe corresponding elastic force arm of force;
Utilize the SimMechanics module among the Simmulink to set up the dynamics simulation model of leading leg, obtain cycle stability walking swing time dependent curve of phase stage motion of knee joint angle and the time dependent curve of corresponding knee joint driving torque, satisfy knee joint expectation auxiliary torque design principle simultaneously: (1) is because linear function is simple relatively, so auxiliary torque is designed to linearity, i.e. τ
i=τ
0+ k
aθ
i(2) along with the increase of motion of knee joint angle, auxiliary torque reduces gradually; (3) guarantee that knee joint forward maximum drive torque has significantly and reduce, and restriction knee joint negative sense maximum drive torque increase; (4) add auxiliary torque after, the peak torque of knee joint driving torque has obviously and reduces; (5), when the motion of knee joint angle is identical, provide identical auxiliary torque in different time points; (6) auxiliary torque just is, and greater than zero, is counterclockwise, and the relation function that then can obtain auxiliary torque and motion of knee joint angle is:
τ
i(θ)＝-0.147θ
knee+18.6298，15°≤θ
knee≤72°
And the time dependent function of motion of knee joint is as follows:
θ
knee(t)＝19648t
3-4864t
2-13t-25，0≤t≤T
Therefore, the time dependent relation function of cycle stability walking swing phase stage auxiliary torque:
τ
i(t)＝2847.4t
3-710.2t
2-2.3t+15，0≤t≤T
τ wherein
i(t) be auxiliary torque, unit is Nm; θ
Knee(t) be the motion of knee joint angle, unit is degree; T is the time, and unit is s; T=0.26s is the swing phase cycle;
(3) according to d
(i, 1)Obtain the arm of force point A corresponding with it
(i, 1)Coordinate [x in cam 4 disjunctor coordinate systems
(i, 1), y
(i, 1)], obtain the fixed connection point B between the corresponding elastomeric element 6 and second fixed part simultaneously
(i, 1)With respect to the coordinate of cam 4 disjunctor coordinate systems [x '
(i, 1), y '
(i, 1)], then can obtain a series of envelopes according to following formula:
B among Fig. 1
(i, k)Represent rotational angle theta in the k time iteration
iCorresponding elastomeric element 6 and the coordinate of the fixed connection point between second fixed part in cam 4 disjunctor coordinate systems; And the B among Fig. 2
(j, k)Represent rotational angle theta in the k time iteration
jCorresponding elastomeric element 6 and the coordinate of the fixed connection point between second fixed part in cam 4 disjunctor coordinate systems;
(4) envelope of using the ray of cam 4 disjunctor coordinate origins that above-mentioned steps is obtained scans, to obtain the point coordinates value of corresponding cam to be verified 4 outline lines;
(5) the cam to be verified 4 outline line point coordinates values that obtain according to (4) step are obtained its pairing elastomeric element 6 amount of elastic deformation, and then obtain corresponding elastic force f
(i, 1)'=ε [l
(i, 1)-l
0], (i=1,2,3, L n), wherein, ε is the elastic stiffness coefficient, l
(i, 1)It is rotational angle theta in the 1st iteration
iCorresponding amount of elastic deformation, l
0Then be the former length of spring;
(6) check the f ' that is obtained
(i, 1)Whether satisfy iterated conditional, i.e. max{|f '
(i, 1)-f
0|＜Δ, wherein, Δ is the iterated conditional value, if satisfy iterated conditional, then cam 4 outline line corresponding points coordinates to be verified are actual cam 4 outline line point coordinates in the step (4), if do not satisfy iterated conditional, then return (2) step, and with f '
(i, 1)As elastomeric element 6 initial values, obtain new cam 4 envelopes, so loop iteration goes down, up to f '
(i, k)Satisfy till the iterated conditional f '
(i, k)Rotational angle theta in the k time iteration that expression is obtained
iCorresponding elastic force, k=1,2,3, L n.
The actual cam 4 outline line point matches of (7) (6) step being obtained obtain this effective contour surface curve equation:
y＝6.2563x
2-0.0475x-0.0161，(0.013299≤x≤0.03232)
This section of being obtained is cam 4 contour curves effectively, promptly in the rotary course of joint, and that section cam 4 outline lines that steel wire rope is fitted in the motion of knee joint angular range.
Claims (10)
1. joint assistance adjusting device, relate to limbs one and limbs two, and limbs one and limbs two are hinged by the joint rotating shaft, it is characterized in that, comprise the moment regulating device that is used to reduce joint turning moment peak value, the two ends of this moment regulating device are fixedly connected on respectively on limbs one and the limbs two.
2. joint assistance adjusting device according to claim 1, it is characterized in that, described moment regulating device comprises cam, elastomeric element and rigid element, described cam is fixedly mounted on the limbs one, fixedly connected with elastomeric element with limbs one respectively in the two ends of rigid element, the other end of elastomeric element is then fixedlyed connected with limbs two, and the part table body of rigid element is on the cam contour face.
3. joint assistance adjusting device according to claim 2 is characterized in that, the obtaining of effective contour surface curve of described cam may further comprise the steps:
(1) the elastic force initial value of setting elastomeric element is f
0, then set up cam disjunctor coordinate system, choose n discrete joint rotation angle θ simultaneously
i(i=1,2,3, L is n) as the data fitting impact point, then with initial value f
0Compose respectively and give and joint rotation angle θ
iCorresponding elastic force f
(i, 1)(i=1,2,3, L, n), f
(i, 1)Represent rotational angle theta in the 1st iteration
iCorresponding elastic force;
(2), choose specific and each θ according to known joint turning moment value
iCorresponding expectation assistance torque value τ
i, realize reducing the driving moment peak value, then obtain respectively and θ
iCorresponding elastic force arm of force d
(i, 1)=τ
i/ f
(i, 1), d wherein
(i, 1)Represent rotational angle theta in the 1st iteration
iThe corresponding elastic force arm of force;
(3) according to d
(i, 1)Obtain the arm of force point A corresponding with it
(i, 1)Coordinate [x in cam disjunctor coordinate system
(i, 1), y
(i, 1)], obtain simultaneously between the corresponding elastomeric element and second fixed part fixed connection point with respect to the coordinate of cam disjunctor coordinate system [x '
(i, 1), y '
(i, 1)], then can obtain a series of envelopes according to following formula:
(4) envelope of using the ray of cam disjunctor coordinate origin that above-mentioned steps is obtained scans, to obtain corresponding cam profile curve point coordinates value to be verified;
(5) the cam profile point coordinates value to be verified that obtains according to (4) step is obtained its pairing elastomeric element amount of elastic deformation, and then obtains corresponding elastic force f '
(i, 1)=ε [l
(i, 1)-l
0], (i=1,2,3, Ln), wherein, ε is the elastic stiffness coefficient, l
(i, 1)It is rotational angle theta in the 1st iteration
iCorresponding amount of elastic deformation, l
0Then be the former length of spring;
(6) check the f ' that is obtained
(i, 1)Whether satisfy iterated conditional, i.e. max{|f '
(i, 1)-f
0|＜Δ, wherein, Δ is the iterated conditional value, if satisfy iterated conditional, then cam profile corresponding points coordinate to be verified is actual cam profile point coordinates in the step (4); If do not satisfy iterated conditional, then return (2) step, and with f '
(i, 1)As the elastomeric element initial value, obtain new cam envelope, so loop iteration goes down, up to f '
(i, k)Satisfy till the iterated conditional f '
(i, k)Rotational angle theta in the k time iteration that expression is obtained
iCorresponding elastic force.
4. joint assistance adjusting device according to claim 2 is characterized in that, the time dependent relation function of knee joint cycle stability walking swing phase stage auxiliary torque is:
τ
i(t)＝2847.4t
3-710.2t
2-2.3t+15(0≤t≤T)；
Then effective contour surface curve equation is:
y＝6.2563x
2-0.0475x-0.0161 (0.013299≤x≤0.03232)
Wherein, τ
i(t) be auxiliary torque, unit is Nm; T is the time, and unit is s; T=0.26s is the swing phase cycle.
5. joint assistance adjusting device according to claim 2 is characterized in that, also is connected with rigid connector between described elastomeric element and the limbs two.
6. joint assistance adjusting device according to claim 2, it is characterized in that, moment regulating device also includes the installation locating rack, this installation locating rack is made up of first fixed part that is hinged and second fixed part, described cam is installed on the limbs one by first fixed part, elastomeric element then is installed on the limbs two by second fixed part, and rigid element then is installed on the limbs one by first fixed part.
7. joint assistance adjusting device according to claim 2 is characterized in that described rigid element is rope form or sheet.
8. joint assistance adjusting device according to claim 7 is characterized in that, rigid element is a steel wire rope.
9. joint assistance adjusting device according to claim 6 is characterized in that, described first fixed part and second fixed part all are the panel beating frame.
10. joint assistance adjusting device according to claim 2 is characterized in that, described elastomeric element is extension spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101848106A CN101691036B (en) | 2009-10-13 | 2009-10-13 | Joint assistance adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101848106A CN101691036B (en) | 2009-10-13 | 2009-10-13 | Joint assistance adjusting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101691036A true CN101691036A (en) | 2010-04-07 |
| CN101691036B CN101691036B (en) | 2012-01-04 |
Family
ID=42079780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101848106A Expired - Fee Related CN101691036B (en) | 2009-10-13 | 2009-10-13 | Joint assistance adjusting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101691036B (en) |
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| CN103029135A (en) * | 2012-12-13 | 2013-04-10 | 东北大学 | Muscle driving simulation robot joint |
| CN106826763A (en) * | 2017-01-23 | 2017-06-13 | 哈尔滨工业大学 | For the flexible exoskeleton robot of climbing knee joint power-assisted |
| CN107998646A (en) * | 2017-09-22 | 2018-05-08 | 深圳市御嘉鑫五金制品有限公司 | A kind of intelligent switch joint variable force protector |
| CN108145743A (en) * | 2017-12-05 | 2018-06-12 | 常州大学 | A kind of dedicated double freedom flexibility knee joint of anthropomorphic robot |
| CN108161981A (en) * | 2018-02-24 | 2018-06-15 | 山东赢创机械有限公司 | A kind of ectoskeleton accumulation of energy telescopic joint device |
| CN108381528A (en) * | 2018-05-21 | 2018-08-10 | 深圳市丞辉威世智能科技有限公司 | Energy storage type ectoskeleton and robot |
| CN108420574A (en) * | 2017-11-27 | 2018-08-21 | 华中科技大学 | A kind of variation rigidity stored energy mechanism applied to type ankle-foot prosthesis |
| CN110944804A (en) * | 2017-07-18 | 2020-03-31 | Iuvo公司 | System for assisting operator force application |
| CN111015727A (en) * | 2019-12-10 | 2020-04-17 | 长春工业大学 | Stretching bionic artificial knee joint |
| CN114654449A (en) * | 2022-03-29 | 2022-06-24 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Active-passive combined wearable knee joint assistance exoskeleton |
| WO2024109774A1 (en) * | 2022-11-24 | 2024-05-30 | 中国科学院深圳先进技术研究院 | Powered knee joint prosthesis based on multi-cam parallel elastic driver |
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2009
- 2009-10-13 CN CN2009101848106A patent/CN101691036B/en not_active Expired - Fee Related
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| CN103029135B (en) * | 2012-12-13 | 2015-08-26 | 东北大学 | The joint of robot that a kind of imitative muscle drives |
| CN103029135A (en) * | 2012-12-13 | 2013-04-10 | 东北大学 | Muscle driving simulation robot joint |
| CN106826763A (en) * | 2017-01-23 | 2017-06-13 | 哈尔滨工业大学 | For the flexible exoskeleton robot of climbing knee joint power-assisted |
| CN110944804A (en) * | 2017-07-18 | 2020-03-31 | Iuvo公司 | System for assisting operator force application |
| US11801596B2 (en) | 2017-07-18 | 2023-10-31 | Iuvo S.R.L | System for assisting an operator in exerting efforts |
| CN107998646A (en) * | 2017-09-22 | 2018-05-08 | 深圳市御嘉鑫五金制品有限公司 | A kind of intelligent switch joint variable force protector |
| CN107998646B (en) * | 2017-09-22 | 2023-01-06 | 深圳市御嘉鑫科技股份有限公司 | Intelligent joint variable force protective tool |
| CN108420574A (en) * | 2017-11-27 | 2018-08-21 | 华中科技大学 | A kind of variation rigidity stored energy mechanism applied to type ankle-foot prosthesis |
| CN108420574B (en) * | 2017-11-27 | 2019-12-20 | 华中科技大学 | Variable-stiffness energy storage mechanism applied to ankle foot prosthesis |
| CN108145743A (en) * | 2017-12-05 | 2018-06-12 | 常州大学 | A kind of dedicated double freedom flexibility knee joint of anthropomorphic robot |
| CN108145743B (en) * | 2017-12-05 | 2020-09-08 | 常州大学 | Dedicated two degree of freedom flexible knee joints of humanoid robot |
| CN108161981B (en) * | 2018-02-24 | 2023-08-29 | 山东赢创机械有限公司 | Energy storage telescopic joint device for exoskeleton |
| CN108161981A (en) * | 2018-02-24 | 2018-06-15 | 山东赢创机械有限公司 | A kind of ectoskeleton accumulation of energy telescopic joint device |
| CN108381528A (en) * | 2018-05-21 | 2018-08-10 | 深圳市丞辉威世智能科技有限公司 | Energy storage type ectoskeleton and robot |
| CN108381528B (en) * | 2018-05-21 | 2024-05-07 | 深圳市丞辉威世智能科技有限公司 | Energy-storage exoskeleton and robot |
| CN111015727A (en) * | 2019-12-10 | 2020-04-17 | 长春工业大学 | Stretching bionic artificial knee joint |
| CN114654449A (en) * | 2022-03-29 | 2022-06-24 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Active-passive combined wearable knee joint assistance exoskeleton |
| CN114654449B (en) * | 2022-03-29 | 2024-04-12 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Active and passive combined wearable knee joint power assisting exoskeleton |
| WO2024109774A1 (en) * | 2022-11-24 | 2024-05-30 | 中国科学院深圳先进技术研究院 | Powered knee joint prosthesis based on multi-cam parallel elastic driver |
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|---|---|
| CN101691036B (en) | 2012-01-04 |
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