CN101786478B - Fictitious force-controlled lower limb exoskeleton robot with counter torque structure - Google Patents
Fictitious force-controlled lower limb exoskeleton robot with counter torque structure Download PDFInfo
- Publication number
- CN101786478B CN101786478B CN2010101120407A CN201010112040A CN101786478B CN 101786478 B CN101786478 B CN 101786478B CN 2010101120407 A CN2010101120407 A CN 2010101120407A CN 201010112040 A CN201010112040 A CN 201010112040A CN 101786478 B CN101786478 B CN 101786478B
- Authority
- CN
- China
- Prior art keywords
- counter torque
- lower limb
- torque structure
- shank
- joint
- 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
Images
Abstract
The invention relates to a fictitious force-controlled lower limb exoskeleton robot with a counter torque structure. The robot comprises sensing boots, ankle joints, shanks, knee joints, a hydraulic actuator, thighs, the counter torque structure, a waistband, hip joints, a damping spring, batteries, a carrying rack, a back frame, a controller and a hydraulic system, wherein the sensing boots are connected with the shanks through the ankle joints; the shanks are connected with the thighs through the knee joints; the thighs are connected with the waistband through the hip joints; the carrying rack is stably hung on the back frame through a mechanical structure; the batteries are fixed on the two sides of the carrying rack through bandages; the controller is fixed on a position between the carrying rack and the batteries; and the hydraulic system is arranged on a position below the battery and is flexibly connected with the hydraulic actuator. The robot has the advantages of reducing loading effect felt by a human body, reducing human body energy consumption and fatigue feeling and realizing long-distance and long-time load walking.
Description
[technical field]
The present invention relates to the exoskeleton robot technical field, specifically, is a kind of Fictitious force-controlled lower limb exoskeleton robot with counter torque structure.
[background technology]
Lower limb exoskeleton robot is generally used at a distance (normally outdoor) carrying heavy goods, and its road of walking is that other wheeled vehicles are intransitable.The wheeled vehicles of comparing has many potential advantages based on ectoskeletal power assisting device, if can adapt to complicated rugged topography.The people is in amusement, work or when military operation, can bear a heavy burden with lower limb exoskeleton robot: the hiker carries assistant product with lower limb exoskeleton robot, fire fighter or first aid team member carry oxygen tank and other plant equipment with lower limb exoskeleton robot, the soldier carries weight with lower limb exoskeleton robot, passes through various complex-terrains and long distance walking.
[summary of the invention]
The objective of the invention is to overcome the deficiencies in the prior art, a kind of Fictitious force-controlled lower limb exoskeleton robot with counter torque structure is provided.
The objective of the invention is to be achieved through the following technical solutions:
A kind of Fictitious force-controlled lower limb exoskeleton robot with counter torque structure comprises the sensing boots, ankle joint, shank, knee joint, hydraulic actuator, thigh, counter torque structure, belt, hip joint, damping spring, battery, luggage carrier, back of the body frame, controller and hydraulic system; The sensing boots are connected by ankle joint with shank, and shank is connected by knee joint with thigh, and thigh is connected by hip joint with belt; Luggage carrier firmly is affiliated on back of the body frame by frame for movement, and battery is fixed on the luggage carrier both sides by bandage, and controller is fixed on the centre position of luggage carrier and battery, and hydraulic system is arranged on the battery lower position, is connected with hydraulic actuator is submissive;
Respectively be provided with the link of hydraulic actuator on described thigh and the shank,, realize kneed rotatablely moving by stretching of hydraulic actuator;
Described sensing boots mainly comprise load are sent to the heel on ground and are the toe head of the comfortable bending that designs, and are used to measure the plantar pressure of human body plantar pressure and ectoskeleton end; By being embedded into the forward foot in a step pressure transducer in the sole, the variation that rear foot pressure transducer is measured foot force, be used for virtually being controlled by power; See also Fig. 4, the sensing boots contain the forward foot in a step pressure transducer that is placed in sensing boots tiptoe place, the rear foot pressure transducer at sensing boots heel place and the foot side pressure sensor at sensing boots foot side place, are respectively applied for measurement human body tiptoe, human body heel and ectoskeleton and act on ground pressure;
The foot side pressure sensor of sensing boots connects firmly by ankle joint and shank end, the setting of this pick off is in order to carry out the test of lower limb exoskeleton load capacity, under the ideal control condition, all heavy burdens all will act on the lower limb exoskeleton, therefore the pressure of lower limb exoskeleton end should be the summation of sole mass and heavy burden, value by measuring the foot side pressure sensor can evaluation system load-bearing capacity, this method is more convenient than other method, succinctly;
Described ankle joint adopts sphere higher pair connected mode, realizes that three of joint rotatablely move, and mainly is made up of ball-type dwang, ball-type turning set, and is connected with foot side senser connecting rod by connector, finishes being connected of shank and sensing boots; With reference to Fig. 3, the energy-stored spring upper end of ankle joint connects firmly on the shank expansion link, the lower end connects firmly on foot side senser connecting rod, be used for storing the part muscular energy that the walking human body is consumed, and discharge this part energy automatically in suitable gait phase and be used for auxiliary human body walking, to save energy;
Described thigh adopts the arc design, has guaranteed that hip joint crosses along slipping over to kneed geometric position, and hydraulic actuator is thoroughly withdrawn when shank is crooked; Hip joint adopts sphere higher pair connected mode, realizes that two of joint rotatablely move, and the assurance ectoskeleton can be realized keeping straight on and turning with human body; With reference to Fig. 2, near the counter torque structure the hip joint comprises the countertorque spring, buffer spring, sliding sleeve, slide bar etc., the assist function of realization hip joint; Countertorque spring one end is connected by sphere higher pair and belt are terminal, and an end and sliding sleeve are connected; The moment loading of countertorque spring has been resisted the turning torque of bearing a heavy burden and causing, makes ectoskeleton keep anterior-posterior balance, and this method for designing need not control, has passive dynamic (dynamical) characteristic, has reduced system energy consumption.
Compared with prior art, good effect of the present invention is:
Principle of the present invention is the flexible member of the counter torque structure by hip joint, kneed hydraulic unit driver and ankle joint, to be made it by power-control method be a telescopic crutch in the equivalence of single lower limb driving phase by virtual, directly give ground with the heavy burden force transmission, thereby reduce the load effect that the human feeling arrives, reduce energy consumption of human body and feeling of fatigue, realize long distance time heavy burden walking.
It is big that the virtual characteristics of being controlled by power of the present invention are that this control algolithm has remedied the departure that adopts constant-rate spring open loop control to be caused in the passive dynamic Control, the suitability is single, defective such as can't regulate in real time, it does not need accurate kinetic model to carry out the calculating of real-time moment of torsion simultaneously, improved the reliability of computational speed and system, owing to made full use of the dynamics of human body, will help to reduce the consumption of energy in addition.
[description of drawings]
Fig. 1 is a lower limb exoskeleton robot population structure sketch map;
Fig. 2 is a lower limb exoskeleton robot counter torque structure sketch map;
Fig. 3 is a lower limb exoskeleton robot ankle joint structural representation;
Fig. 4 is that lower limb exoskeleton robot sensing boots pressure transducer is arranged sketch map;
Fig. 5 is virtual by power controller chassis figure for the lower limb exoskeleton robot use;
Label in the accompanying drawing is respectively: 1, the sensing boots, 2, ankle joint, 3, shank, 4, knee joint, 5, hydraulic actuator, 6, thigh, 7, counter torque structure, 8, belt, 9, hip joint, 10, damping spring, 11, hydraulic system, 12, battery, 13, controller, 14, luggage carrier, 15, back of the body frame, 16, retracting cylinder, 17, buffer spring, 18, sliding sleeve, 19, the countertorque spring, 20, slide bar, 21, the shank expansion link, 22, energy-stored spring, 23, the ball-type dwang, 24, the ball-type turning set, 25, connector, 26, foot side senser connecting rod, 27, sole, 28, forward foot in a step pressure transducer, 29, the foot side pressure sensor, 30, rear foot pressure transducer.
[specific embodiment]
The present invention below is provided a kind of specific embodiment with Fictitious force-controlled lower limb exoskeleton robot of counter torque structure.
See also accompanying drawing 1, a kind of Fictitious force-controlled lower limb exoskeleton robot with counter torque structure comprises sensing boots 1, ankle joint 2, shank 3, knee joint 4, hydraulic actuator 5, thigh 6, counter torque structure 7, belt 8, hip joint 9, damping spring 10, hydraulic system 11, battery 12, controller 13, luggage carrier 14 and back of the body frame 15; Sensing boots 1 are connected by ankle joint 2 with shank 3, and shank 3 is connected by knee joint 4 with thigh 6, and thigh 6 is connected by hip joint 9 with belt 8; Luggage carrier 14 firmly is affiliated on back of the body frame 15 by frame for movement, battery 12 is fixed on luggage carrier 14 both sides by bandage, controller 13 is fixed on the centre position of luggage carrier 14 and battery 12, and hydraulic system 11 is arranged on battery 12 lower positions, with 5 submissive connections of hydraulic actuator;
Shank 3 is connected by ankle joint 2 with sensing boots 1, ankle joint 2 uses sphere higher pair connected mode, three that realize the joint rotatablely move, mainly form by ball-type dwang 23, ball-type turning set 24, and be connected with foot side senser connecting rod 26 by connector 25, finish being connected of shank 3 and sensing boots 1.See also accompanying drawing 3, energy-stored spring 22 upper ends of ankle joint 2 connect firmly on shank expansion link 21, the lower end connects firmly on foot side senser connecting rod 26, be used for storing the part muscular energy that the walking human body is consumed, and discharge this part energy automatically in suitable gait phase and be used for auxiliary human body walking, to save energy.
The foot side pressure sensor 29 of sensing boots 1 connects firmly by ankle joint 2 and shank 3 ends.The demarcation of this pick off can be undertaken by the test of lower limb exoskeleton load capacity.Value by measuring foot side pressure sensor 29 can also evaluation system load-bearing capacity.This method is more more convenient than other method, and is succinct.
Sensing boots 1 mainly comprise load are sent to the heel on ground and are the toe head of the comfortable bending that designs, and are used to measure the plantar pressure of human body plantar pressure and ectoskeleton end.By being embedded into the forward foot in a step pressure transducer 28 in the sole 27, the variation that rear foot pressure transducer 30 is measured foot force, be used for virtually being controlled by power.See also accompanying drawing 4, sensing boots 1 contain the forward foot in a step pressure transducer 28 that is placed in sensing boots 1 tiptoe place, the rear foot pressure transducer 30 at sensing boots 1 heel place and the foot side pressure sensor 29 at sensing boots 1 foot side place, are respectively applied for measurement human body tiptoe, human body heel and ectoskeleton and act on ground pressure.
The length that the slide bar 20 of exoskeleton robot thigh 6 ends and the shank expansion link 21 of shank 3 ends can be regulated thigh 6 and shank 3 respectively to enlarge the adaptability scope of lower limb exoskeleton robot, adapts to different wearers and dresses.
When human body is being born weight when walking, the gait of human body mainly be divided into support and swing mutually, the lower limb exoskeleton control section that the present invention relates to mainly acts on the support phase stage.
See also accompanying drawing 2, when the people is supporting phase time, sliding sleeve 18 in the counter torque structure 7 will move downward along slide bar 20, extruding buffer spring 17, along with the trunk of human body and the angle of thigh become big, it is big that the active force of buffer spring 17 becomes, be converted to the reaction torque of hip joint 9, compress fully up to buffer spring 17, make hip joint 9 motion locked, bear a heavy burden then by counter torque structure 7 the load force transmission to knee joint 4.
See also accompanying drawing 1, when the people is supporting phase time, knee joint 4 adopts the hydraulic-driven technology, and by power-control method, when being implemented in knee joint 4 and stretching, hydraulic actuator 5 is makeup energy effectively, the jacking weight by virtual; When knee joint 4 bendings, hydraulic actuator 5 is as the antivibrator consumed energy.
See also accompanying drawing 3, when the people is supporting phase time, the energy-stored spring 22 of ankle joint 2 is subjected to the pressure of load and shrinks, thereby the part elastic energy is stored.When the people in the time will lifting foot, energy-stored spring discharges this part elastic energy that stores, and helps people and exoskeleton robot to lift foot, thus the consumption of bioenergy when saving people's walking reduces human-body fatigue.
See also accompanying drawing 1, when the people the swing phase time, hip joint 9, ankle joint 2, counter torque structure 7 grades all need not control, follow the human body passive exercise with ectoskeleton.
See also accompanying drawing 5, the virtual main thought of being controlled by power is summarized as follows, (1) from the angle of body gait biomechanics, make full use of the peculiar spring performance of human muscle, on the ectoskeleton joint, add equivalence by dynamic elements, as spring, antivibrator, mass, latch etc., make its all kinds of power that produce the simulate muscular action effect and the linearity and the non-linear relation of position, make up feedforward controller with this at body gait.(2) utilization active force control mode is by virtual these passive devices of mechanical hydraulic unit, the joint can be produced meet the various impedance operators of body gait mechanical property, really participated in ectoskeletal action as these virtual components, keep the passive characteristic of ectoskeleton self simultaneously, make system stability.(3) dress skeleton when walking clothes as the people, actuator will fictionalize as the similar mechanical organ by dynamics, make ectoskeleton can follow the human synovial motion and produce suitable moment of torsion, thereby reduce the energy expenditure of human body.This control method is by active force feedback control moment of torsion, rather than control joint angle position, thereby has fully simulated the natural characteristic of human walking.
The principle of feedforward controller is that the passive characteristic of utilization mechanical organ is simulated human body muscular movement mechanical property, parameter presets is carried out in control, can standard turn to a kind of state machine system in form, when running into the working condition change, need change the combination of mechanical organ again and reset original state, help improving response time and reduce energy consumption.By the body gait experiment, gather the motion-promotion force mathematic(al) parameter in human body each joint under gait different phase and different loads state earlier; Be optimized for data by data processing algorithm again, to obtain suitable parameters and to regulate rule; Need model at last, can set up required passive device model and parameter setting thereof in conjunction with the human muscle.
Feedback controller is followed the tracks of human body motion track by controlling the between humans and machines active force in real time, and correction power control parameter improves system stability, helps helping wearer to finish more motor function.Adopt the active force feedback control algorithm, realize the compliance control in joint, simultaneously can't shock resistance in order to overcome that ACTIVE CONTROL is existing, problems such as high energy consumption by adding flexible damping element, are improved systematic function.
See also accompanying drawing 5, the Gait Recognition device in the control system can be judged the residing gait state of human body according to the measured value of forward foot in a step pressure transducer 28, rear foot pressure transducer 30.
It is big that the virtual characteristics of being controlled by power are that this control algolithm has remedied the departure that adopts constant-rate spring open loop control to be caused in the passive dynamic Control, the suitability is single, defective such as can't regulate in real time, it does not need accurate kinetic model to carry out the calculating of real-time moment of torsion simultaneously, improved the reliability of computational speed and system, owing to made full use of the dynamics of human body, will help to reduce the consumption of energy in addition.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, without departing from the inventive concept of the premise; can also make some improvements and modifications, these improvements and modifications also should be considered within the scope of protection of the present invention.
Claims (5)
1. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure comprises the sensing boots, ankle joint, shank, knee joint, hydraulic actuator, thigh, counter torque structure, belt, hip joint, damping spring, battery, luggage carrier, back of the body frame, controller and hydraulic system; It is characterized in that the sensing boots are connected by ankle joint with shank, shank is connected by knee joint with thigh, and thigh is connected by hip joint with belt; Luggage carrier firmly is affiliated on back of the body frame by frame for movement, and battery is fixed on the luggage carrier both sides by bandage, and controller is fixed on the centre position of luggage carrier and battery, and hydraulic system is arranged on the battery lower position, is connected with hydraulic actuator is submissive; Belt links to each other with rotary motion pair symmetrically with luggage carrier; Between belt and luggage carrier, add damping spring;
Near the described hip joint counter torque structure comprises the countertorque spring, buffer spring, sliding sleeve, slide bar, the assist function of realization hip joint; Countertorque spring one end is connected by sphere higher pair and belt are terminal, and an end and sliding sleeve are connected.
2. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1 is characterized in that, respectively is provided with the link of hydraulic actuator on described thigh and the shank.
3. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1, it is characterized in that described sensing boots contain the forward foot in a step pressure transducer that is placed in sensing boots tiptoe place, the rear foot pressure transducer at sensing boots heel place and the foot side pressure sensor at sensing boots foot side place.
4. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1, it is characterized in that, described ankle joint adopts sphere higher pair connected mode, form by ball-type dwang, ball-type turning set, and be connected with foot side senser connecting rod by connector, finish being connected of shank and sensing boots; The energy-stored spring upper end of ankle joint connects firmly on the shank expansion link, and the lower end connects firmly on foot side senser connecting rod.
5. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1, it is characterized in that, described thigh adopts the arc design, hip joint adopts sphere higher pair connected mode, two that realize the joint rotatablely move, and guarantee that ectoskeleton can be with human body realization craspedodrome and turning.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2010101120407A CN101786478B (en) | 2010-02-23 | 2010-02-23 | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2010101120407A CN101786478B (en) | 2010-02-23 | 2010-02-23 | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101786478A CN101786478A (en) | 2010-07-28 |
CN101786478B true CN101786478B (en) | 2011-09-07 |
Family
ID=42529899
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2010101120407A Expired - Fee Related CN101786478B (en) | 2010-02-23 | 2010-02-23 | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN101786478B (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104546384A (en) * | 2015-01-16 | 2015-04-29 | 江苏理工学院 | Pneumatic and particle damping based walking-aiding protection device for old people |
Families Citing this family (58)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140254896A1 (en) * | 2011-07-18 | 2014-09-11 | Tiger T G Zhou | Unmanned drone, robot system for delivering mail, goods, humanoid security, crisis negotiation, mobile payments, smart humanoid mailbox and wearable personal exoskeleton heavy load flying machine |
US9801772B2 (en) * | 2010-10-06 | 2017-10-31 | Ekso Bionics, Inc. | Human machine interfaces for lower extremity orthotics |
CN102440854B (en) * | 2011-09-05 | 2014-04-23 | 中国人民解放军总后勤部军需装备研究所 | Human-machine coupling overload carrying system device and control method thereof |
CN102429753B (en) * | 2011-09-07 | 2013-01-30 | 上海电机学院 | Knee joint assisting device and use method thereof |
EP2827809B1 (en) * | 2012-03-22 | 2017-09-06 | Ekso Bionics, Inc. | Human machine interface for lower extremity orthotics |
KR101438970B1 (en) * | 2012-12-27 | 2014-09-15 | 현대자동차주식회사 | Method for controlling walking of robot |
CN103330635B (en) * | 2013-06-26 | 2014-11-05 | 中国科学院合肥物质科学研究院 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
CN103315834B (en) * | 2013-06-27 | 2015-04-22 | 北京交通大学 | Wearable lower-limb assistance exoskeleton |
CN103610569B (en) * | 2013-11-28 | 2015-12-09 | 中山大学 | A kind of wearable lower limb power assisting device and control method thereof |
CN103612257B (en) * | 2013-12-02 | 2015-08-26 | 电子科技大学 | A kind of ectoskeleton pump valve Combined Control Unit and control method |
CN103622796B (en) * | 2013-12-17 | 2016-01-27 | 哈尔滨工程大学 | A kind of wearable lower limb device for healing and training |
CN103908392B (en) * | 2014-02-25 | 2017-09-08 | 北京航空航天大学 | A kind of lumbar device with hip joint parameter measurement suitable for ectoskeleton Auxiliary support robot |
CN103860358B (en) * | 2014-02-25 | 2017-10-27 | 北京航空航天大学 | A kind of size leg device with knee joint parameter measurement suitable for ectoskeleton Auxiliary support robot |
CN103816001A (en) * | 2014-03-07 | 2014-05-28 | 西安博奥假肢医疗用品开发有限公司 | Assembly lower limb fixing adjustable orthosis |
CN103950038B (en) * | 2014-04-25 | 2016-03-30 | 大连楚云天科技开发有限公司 | Mechanical joint and biomimetic mechanical dinosaur neck, tail structure |
KR101630929B1 (en) * | 2014-08-21 | 2016-06-16 | 주식회사 포스코 | Wearable robot |
CN104188675B (en) * | 2014-09-24 | 2016-04-20 | 哈尔滨工业大学 | There is exoskeleton robot system and the control method of human motion measuring ability |
CN104523405A (en) * | 2014-12-05 | 2015-04-22 | 中国康复研究中心 | Energy storing type front-mounted rigid bracket walking aided exoskeleton |
CN104605967B (en) * | 2015-02-26 | 2016-06-15 | 王黎锋 | Two lower limb decompression treatment device |
CN105105976A (en) * | 2015-05-18 | 2015-12-02 | 重庆倍精科技研发有限公司 | Stepped-up walking assisting device |
CN105105973B (en) * | 2015-08-14 | 2017-03-22 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
CN105108761B (en) * | 2015-08-14 | 2017-05-24 | 浙江大学 | Reduced-order adaptive robust cascading force control method for single-joint powered exoskeleton |
CN105055136B (en) * | 2015-08-31 | 2017-07-11 | 中国兵器工业集团第二O二研究所 | Bimodulus self-sustaining power assisting device on foot |
CN105105986B (en) * | 2015-09-10 | 2017-05-03 | 哈尔滨工业大学 | Walking aid exoskeleton robot with wheel type mobile function |
CN106580635B (en) * | 2015-10-20 | 2018-10-26 | 沈阳新松机器人自动化股份有限公司 | Simple mechanical walking power assisting device |
CN105686927B (en) * | 2016-01-08 | 2017-07-11 | 中国人民解放军理工大学 | Collapsible mobile lower limb exoskeleton |
CN105856194A (en) * | 2016-05-19 | 2016-08-17 | 成都润惠科技有限公司 | Bearing device for hip exoskeleton |
CN105943316B (en) * | 2016-05-23 | 2018-06-29 | 成都润惠科技有限公司 | A kind of human body lower limbs ectoskeleton for having resilient structure |
CN105798893B (en) * | 2016-06-03 | 2017-09-12 | 河北工业大学 | One kind auxiliary heavy burden human body lower limbs ectoskeleton |
CN105943320A (en) * | 2016-07-17 | 2016-09-21 | 哈尔滨鼎智瑞光科技有限公司 | Simple walking aid |
CN106137686A (en) * | 2016-08-02 | 2016-11-23 | 鹰普(中国)有限公司 | A kind of knee joint power assisting device |
CN106137687B (en) * | 2016-08-17 | 2017-09-05 | 中国人民解放军63908部队 | A kind of lower limb exoskeleton robot |
CN106344354A (en) * | 2016-10-28 | 2017-01-25 | 张立沼 | Orthopedic walking aid |
CN106821689B (en) * | 2017-01-19 | 2023-07-04 | 武汉云云天下信息科技有限公司 | Wearable human exoskeleton robot |
CN107490470B (en) * | 2017-07-03 | 2018-09-18 | 浙江大学 | A kind of detection method for upper limb ectoskeleton power-assisted efficiency |
CN107595544A (en) * | 2017-08-30 | 2018-01-19 | 深圳市罗伯医疗科技有限公司 | A kind of lower limb rehabilitation device control method, system and device |
CN107414799A (en) * | 2017-09-06 | 2017-12-01 | 四川拜赛特高新科技有限公司 | A kind of unpowered power-assisting robot screwed on |
CN110202542B (en) * | 2017-09-07 | 2022-08-23 | 重庆市牛迪科技发展有限公司 | Exoskeleton |
CN108945146B (en) * | 2018-07-30 | 2021-12-07 | 中国矿业大学 | Spider robot leg mechanism for game and working method |
CN109431513A (en) * | 2018-10-25 | 2019-03-08 | 武汉拓睿传奇科技有限公司 | A kind of simulation of monopodia gait and plantar pressure simulator |
CN109528444A (en) * | 2018-12-05 | 2019-03-29 | 常州市钱璟康复股份有限公司 | A kind of lower limbs of children dyskinesia intelligent trainer |
CN109718066A (en) * | 2018-12-14 | 2019-05-07 | 王东伟 | A kind of Chinese medicine othopedics fracture of lower limb walking aid |
JP7132159B2 (en) * | 2019-03-11 | 2022-09-06 | 本田技研工業株式会社 | Control device for motion support device |
CN109760026A (en) * | 2019-03-14 | 2019-05-17 | 布法罗机器人科技(成都)有限公司 | Hip mechanism for wearable ectoskeleton |
CN110864865B (en) * | 2019-11-22 | 2021-05-07 | 天津瑷睿赛福科技有限公司 | Automobile collision dummy chest structure with collision detection mode |
CN111017063B (en) * | 2019-12-17 | 2022-03-22 | 上海哲谦应用科技有限公司 | Direct-drive type humanoid biped robot |
CN111604890B (en) * | 2019-12-30 | 2021-05-25 | 合肥工业大学 | Motion control method suitable for exoskeleton robot |
WO2021138828A1 (en) * | 2020-01-08 | 2021-07-15 | 复旦大学 | Support phase control knee joint brace |
CN111251275A (en) * | 2020-01-20 | 2020-06-09 | 杭州风行医疗器械有限公司 | Intelligent sensing boots and contain its lower limbs ectoskeleton robot |
CN111252162B (en) * | 2020-02-24 | 2021-07-23 | 北京理工大学 | Foot soft balance control system and method for biped robot |
CN111906752B (en) * | 2020-07-10 | 2023-08-25 | 北京理工大学 | Passive exoskeleton robot for enhancing human body load transportation capacity |
CN111759682B (en) * | 2020-07-14 | 2023-03-28 | 北方工业大学 | Unpowered human body lower limb assistance exoskeleton device |
CN112113689A (en) * | 2020-09-15 | 2020-12-22 | 智能移动机器人(中山)研究院 | Spring plantar sensor system based on Hall |
CN112618285A (en) * | 2020-12-30 | 2021-04-09 | 华南理工大学 | Walking ankle joint exoskeleton auxiliary torque generation method based on genetic algorithm |
CN113442174B (en) * | 2021-05-27 | 2023-05-02 | 重庆理工大学 | Exoskeleton performance testing method, device and system |
CN115056883A (en) * | 2022-05-06 | 2022-09-16 | 纯米科技(上海)股份有限公司 | Leg structure and quadruped robot |
CN115648175B (en) * | 2022-09-10 | 2023-06-20 | 中国农业科学院果树研究所 | Exoskeleton with auxiliary support |
CN116211462B (en) * | 2023-04-26 | 2023-07-18 | 中国科学技术大学 | Human leg muscle simulator and leg simulator for rehabilitation robot |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1992016177A1 (en) * | 1991-03-13 | 1992-10-01 | Polycane Australia Pty. Ltd. | Walking aid |
US5476441A (en) * | 1993-09-30 | 1995-12-19 | Massachusetts Institute Of Technology | Controlled-brake orthosis |
GB2400686A (en) * | 2003-04-04 | 2004-10-20 | Christopher Charles Box | Motion logging and robotic control and display system |
WO2008094191A2 (en) * | 2006-07-17 | 2008-08-07 | Raytheon Sarcos, Llc | Contact displacement actuator system |
US7628766B1 (en) * | 2003-10-29 | 2009-12-08 | The Regents Of The University Of California | Lower extremity enhancer |
-
2010
- 2010-02-23 CN CN2010101120407A patent/CN101786478B/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1992016177A1 (en) * | 1991-03-13 | 1992-10-01 | Polycane Australia Pty. Ltd. | Walking aid |
US5476441A (en) * | 1993-09-30 | 1995-12-19 | Massachusetts Institute Of Technology | Controlled-brake orthosis |
GB2400686A (en) * | 2003-04-04 | 2004-10-20 | Christopher Charles Box | Motion logging and robotic control and display system |
US7628766B1 (en) * | 2003-10-29 | 2009-12-08 | The Regents Of The University Of California | Lower extremity enhancer |
WO2008094191A2 (en) * | 2006-07-17 | 2008-08-07 | Raytheon Sarcos, Llc | Contact displacement actuator system |
Non-Patent Citations (3)
Title |
---|
孙建等.基于接触力信息的可穿戴型下肢助力机器人传感系统研究.《中国科学技术大学学报》.2008,(第12期), * |
李向军.外骨骼助力机器人研究现状及应用领域展望.《中小企业管理与科技(下旬刊)》.2009,(第05期), * |
蔡兆云等.外骨骼机器人技术研究综述.《国防科技》.2007,(第12期), * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104546384A (en) * | 2015-01-16 | 2015-04-29 | 江苏理工学院 | Pneumatic and particle damping based walking-aiding protection device for old people |
Also Published As
Publication number | Publication date |
---|---|
CN101786478A (en) | 2010-07-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN101786478B (en) | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure | |
US11273060B2 (en) | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components | |
Zelik et al. | Systematic variation of prosthetic foot spring affects center-of-mass mechanics and metabolic cost during walking | |
Curtze et al. | Comparative roll-over analysis of prosthetic feet | |
Gregg et al. | Towards biomimetic virtual constraint control of a powered prosthetic leg | |
Shultz et al. | Preliminary evaluation of a walking controller for a powered ankle prosthesis | |
Hansen et al. | Effective rocker shapes used by able-bodied persons for walking and fore-aft swaying: Implications for design of ankle–foot prostheses | |
Jin et al. | Kinematic and dynamic performance of prosthetic knee joint using six-bar mechanism. | |
Kim et al. | An ankle–foot prosthesis emulator with control of plantarflexion and inversion–eversion torque | |
US20070061016A1 (en) | Foot prosthetic and methods of use | |
CN107486842A (en) | A kind of wearable hip joint flexibility power-assisted coat | |
EP2663267A1 (en) | Powered joint orthosis | |
CN102256580A (en) | Wearable material handling system | |
CN103895016A (en) | Method for controlling gait of robot | |
Wang et al. | PALExo: A parallel actuated lower limb exoskeleton for high-load carrying | |
KR20180094576A (en) | Motion assist apparatus | |
Tahir et al. | Case study: a bio-inspired control algorithm for a robotic foot-ankle prosthesis provides adaptive control of level walking and stair ascent | |
Witte et al. | Design of lower-limb exoskeletons and emulator systems | |
Lawson et al. | Ground adaptive standing controller for a powered transfemoral prosthesis | |
Hoover et al. | A configuration dependent muscle model for the myoelectric control of a transfemoral prosthesis | |
Tian et al. | Design and control of a compliant electro-hydrostatic-powered ankle prosthesis | |
Zhao et al. | Design of variable-damping control for prosthetic knee based on a simulated biped | |
Fang et al. | Modeling and simulation of muscle forces of trans-tibial amputee to study effect of prosthetic alignment | |
LaPrè et al. | Redefining prosthetic ankle mechanics: Non-anthropomorphic ankle design | |
CN209850913U (en) | Lower limb exoskeleton with variable-axis knee joint |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110907 Termination date: 20150223 |
|
EXPY | Termination of patent right or utility model |