CN101810533B - Walking aid exoskeleton rehabilitation robot - Google Patents
Walking aid exoskeleton rehabilitation robot Download PDFInfo
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- CN101810533B CN101810533B CN2010101191614A CN201010119161A CN101810533B CN 101810533 B CN101810533 B CN 101810533B CN 2010101191614 A CN2010101191614 A CN 2010101191614A CN 201010119161 A CN201010119161 A CN 201010119161A CN 101810533 B CN101810533 B CN 101810533B
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Abstract
The invention discloses a walking aid exoskeleton rehabilitation robot in the technical field of rehabilitation engineering, which comprises a mobile auxiliary mechanism, a control mechanism and an exoskeleton prosthesis mechanism, wherein the mobile auxiliary mechanism is connected with the exoskeleton prosthesis mechanism, and the control mechanism is connected with the mobile auxiliary mechanism and the exoskeleton prosthesis mechanism respectively. The exoskeleton prosthesis mechanism has compact design structure and large rotation range of each joint, and can meet the requirement on actual motion of a human body. By adopting a servo motor to drive, the control precision is high, and the output torque is large; and the mobile auxiliary mechanism rotates under the driving of the servo motor, can freely move, and has higher climbing capacity and movement speed. The height of the mobile auxiliary mechanism is adjusted to be applied to people with different heights. When the patient undergoes gait rehabilitation training, the human gravity center is actively adjusted to accord with the characteristics that the human body is fluctuated along with alternative gait. The mobile auxiliary mechanism also can support the human body, prevent people from tumbling in walking, and guarantee the whole stability.
Description
Technical field
What the present invention relates to is the device in a kind of rehabilitative engineering technology field, in particular a kind of walking aid exoskeleton rehabilitation robot.
Background technology
In recent years, a kind of exoskeleton robot that has dyskinetic patient to carry out rehabilitation training at old people and lower limb has obtained using and promoting, it breaks through traditional recovery training method, robot active control technology and artificial limb " are helped away " the function combination, be worn on extremity disabled persons and carry out the gait rehabilitation training on one's body.
In the design of lower limb exoskeleton robot, should consider that on the one hand mechanism bears the ability of load, will there be bigger output torque in each joint, can support the patient and carry out normal gait training; Should take into full account mechanism stability on the other hand; Exoskeleton robot should have more function simultaneously, can satisfy the multiple demand of human body recovery training.But in the existing at home and abroad lower limb exoskeleton artificial limb, function ratio is more single, and the range of motion of exoskeleton artificial limb body construction is less, has problems such as the not enough and load capacity of rigidity is less simultaneously; After particularly exoskeleton artificial limb being worn on people's lower limb, the stability of human motion is difficult to guarantee that system stability has become a big difficult point of ectoskeleton technology.
Find by prior art documents, Chinese patent application number: 200410053695.6, title: wearable lower limb walking ectoskeleton, this technology readme: supporting successively by lumbar support, hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism and vola, polyphone constitutes.Owing to adopt Driven by Hydraulic Cylinder, need hydraulic power source, the mechanism controls precision is not high, and rigidity and stability are not enough.
Chinese patent application number: 200610155048.5, title: a kind of robot for multiple posture exoskeleton lower limb rehabilitation training, this technology readme: robot comprises support, guardrail, suspension system, ectoskeleton training devices and computer control system.It utilizes ectoskeleton and treadmill to carry out the gait rectificative training, the effect that has come buffering and part body support by the passive type elastic damper, but it can not independently move.
Summary of the invention
The objective of the invention is to overcome the prior art deficiency, a kind of walking aid exoskeleton rehabilitation robot is provided, satisfy human body lower limbs actual walking pattern motion requirement, the patient of convenient different heights uses.The compact conformation of whole recovery robot system, working stability can be realized auxiliary walking, independently move and function such as lower limb rehabilitation training.
The present invention is achieved by the following technical solutions, the present invention includes: portable auxiliary body, controlling organization and exoskeleton artificial limb mechanism, wherein: portable auxiliary body links to each other with exoskeleton artificial limb mechanism, and controlling organization links to each other with exoskeleton artificial limb mechanism with portable auxiliary body respectively.
Described exoskeleton artificial limb mechanism comprises: hip joint and knee joint, and wherein: hip joint links to each other with knee joint, and hip joint links to each other with portable auxiliary body, and hip joint links to each other with controlling organization respectively with knee joint.
Described hip joint comprises: rear bearing sheet, first servomotor, first ball-screw, first slide block, the hip joint connecting rod, hip joint axle and imitative thigh skeleton, wherein: rear bearing sheet links to each other with first servomotor, first servomotor links to each other with controlling organization, first servomotor links to each other with first ball-screw, first ball-screw links to each other with first slide block, first slide block links to each other with rear bearing sheet, hip joint connecting rod one end links to each other with first ball-screw, the other end links to each other with imitative thigh skeleton, hip joint axle one end links to each other with imitative thigh skeleton, and the other end links to each other with rear bearing sheet with first ball-screw respectively.
Described knee joint comprises: second servomotor, second ball-screw, second slide block, the knee joint connecting rod, knee axis, shank flange, little leg connecting rod and imitative shank skeleton, wherein: second servomotor links to each other with imitative thigh skeleton, second servomotor links to each other with controlling organization, second ball-screw links to each other with second servomotor, second slide block links to each other with second ball-screw, one end of knee joint connecting rod links to each other with second ball-screw, the other end links to each other with shank flange, shank flange links to each other with knee axis, knee axis links to each other with imitative thigh skeleton, shank flange links to each other with little leg connecting rod, and little leg connecting rod links to each other with imitative shank skeleton.
Described portable auxiliary body comprises: locomotive, suspension holdfast and sliding platform, and wherein: locomotive is provided with sliding platform, and sliding platform links to each other with suspension holdfast, and suspension holdfast links to each other with exoskeleton artificial limb mechanism.
Described locomotive comprises: universal wheel before universal wheel, vehicle frame, the first back directional wheel, the 3rd servomotor, the 4th servomotor, the second back directional wheel and second before first, wherein: the universal wheel and the second preceding universal wheel are fixedlyed connected with vehicle frame respectively before first, the 3rd servomotor links to each other with the first back directional wheel, the 4th servomotor links to each other with the second back directional wheel, the 3rd servomotor links to each other with vehicle frame respectively with the 4th servomotor, and the 3rd servomotor links to each other with controlling organization respectively with the 4th servomotor.
Described suspension holdfast comprises: support bar, right support bar, right bar, bracing piece, left bar and left socle bar, wherein: support bar is fixedly set in the top of left socle bar and right support bar, left side bar is fixedlyed connected with the left socle bar, right handrail is fixedlyed connected with the right support bar, bracing piece is fixedly set in the middle of left socle bar and the right support bar, and rear bearing sheet flexibly connects with right bar and left bar respectively.
Be fixed with suspender belt on the described support bar.
Described sliding platform comprises: the 3rd slide block, fixed station, the 3rd ball-screw, link plate and the 5th servomotor, wherein: the 3rd slide block links to each other with fixed station, link plate is fixedlyed connected with the 3rd slide block, the 5th servomotor links to each other with the 3rd ball-screw, the 3rd ball-screw links to each other with the 3rd slide block, link plate links to each other with suspension holdfast, and the 5th servomotor links to each other with controlling organization.
During hip joint work: first servomotor rotates and drives the rotation of first ball-screw, and the rotation of first ball-screw makes and promotes the hip joint link motion, and the hip joint connecting rod promotes imitative thigh skeleton, makes imitative thigh skeleton center on the hip joint axle and rotates.
During knee joint work: second servomotor rotates and drives the rotation of second ball-screw, second ball-screw promotes the knee joint link motion, the knee joint connecting rod promotes shank flange, makes shank flange center on knee axis and rotates, and rotates around knee axis thereby drive whole imitative shank skeleton.
During locomotive work: the 3rd servomotor rotates and drives the first back directional wheel rotation, the 4th servomotor rotates and drives the second back directional wheel rotation, when two directional wheels rotate simultaneously, locomotive travels forward, and directional wheel rotates after first, and the second back directional wheel transfixion, then locomotive turns right, directional wheel transfixion after first, and the second back directional wheel is when rotating, locomotive turns left.
During sliding platform work: the 5th servomotor rotates and drives the rotation of the 3rd ball-screw, driving link plate and the 3rd slide block moves up and down, the suspension holdfast that is fixedly set on the link plate is moved up and down, thereby adjust the height of suspension holdfast, satisfy different height people's instructions for use.
The present invention has the following advantages compared to existing technology: exoskeleton artificial limb mechanism design compact conformation of the present invention, each joint slewing area are big, can satisfy human body actual motion requirement.Adopt driven by servomotor, the control accuracy height, output torque is big, portable auxiliary body is rotated by driven by servomotor, can independently move, have higher climbing capacity and translational speed, adjust the height of portable auxiliary body, the people who is fit to different heights uses, and when the patient being carried out the gait rehabilitation training, can carry out active adjustment to the gravity center of human body, meet the feature that human body fluctuates alternately and up and down along with gait, portable auxiliary body can also support the human body body, prevents to fall down when the people from walking, and guarantees whole stability.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a side view of the present invention;
Fig. 3 is an exoskeleton artificial limb mechanism structure sketch map of the present invention;
Fig. 4 is a locomotive structural representation of the present invention;
Fig. 5 is a suspension holdfast structural representation of the present invention;
Fig. 6 is a mobile platform structural representation of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As Fig. 1, shown in Figure 2, present embodiment comprises: portable auxiliary body 1, controlling organization 2 and exoskeleton artificial limb mechanism 3, and wherein: exoskeleton artificial limb mechanism 3 links to each other with portable auxiliary body 1, and controlling organization 2 links to each other with exoskeleton artificial limb mechanism 3 with portable auxiliary body 1 respectively.
As shown in Figure 3, exoskeleton artificial limb mechanism 3 comprises: hip joint 4 and knee joint 5, and wherein: hip joint 4 links to each other with knee joint 5, and hip joint 4 links to each other with portable auxiliary body 1, and hip joint 4 links to each other with controlling organization 2 respectively with knee joint 5.
Hip joint 4 comprises: rear bearing sheet 6, first servomotor 7, first motor cabinet 8, first shaft coupling 9, clutch shaft bearing seat 10, first angular contact bearing 11, first ball-screw 12, the first lead screw shaft end bearing 13, first feed screw nut 14, the first feed screw nut overcoat 15, first line slideway 16, first slide block 17, first connecting rod support 18, first connecting rod bearing pin 19, hip joint connecting rod 20, second connecting rod bearing pin 21, second connecting rod support 22, hip joint bearing block 23, hip joint axle 24, hip joint bearing 25, support 26 of hip joint axle and imitative thigh skeleton 27, wherein: first motor cabinet 8 is fixedlyed connected with rear bearing sheet 6, first servomotor 7 is fixed in first motor cabinet 8, first servomotor 7 links to each other with first ball-screw 12 by first shaft coupling 9, first servomotor 7 links to each other with controlling organization 2, first ball-screw, 12 1 ends link to each other with first angular contact bearing 11, the other end and the first lead screw shaft end bearing 13 flexibly connect, first angular contact bearing 11 is arranged on the clutch shaft bearing seat 10, the first lead screw shaft end bearing 13 is arranged on the hip joint bearing block 23, clutch shaft bearing seat 10 and hip joint bearing block 23 are fixedly set on the rear bearing sheet 6, first feed screw nut 14 and first ball-screw 12 flexibly connect, first feed screw nut 14 is fixedlyed connected with the first feed screw nut overcoat 15, the first feed screw nut overcoat 15 is fixedlyed connected with first slide block 17, first line slideway 16 is fixedly set on the rear bearing sheet 6, first connecting rod support 18 is fixedlyed connected with the first feed screw nut overcoat 15, hip joint connecting rod 20 1 ends link to each other with first connecting rod support 18 by first connecting rod bearing pin 19, the other end links to each other with second connecting rod support 22 by second connecting rod bearing pin 21, second connecting rod support 22 is fixedly set on the imitative thigh skeleton 27, imitative thigh skeleton 27 supports 26 with the hip joint axle fixedlys connected, hip joint axle 24 1 ends and hip joint axle support 26 and flexibly connect, the other end and hip joint bearing 25 flexibly connect, and hip joint bearing 25 is separately positioned on hip joint bearing block 23 and the rear bearing sheet 6.
Thigh protective sleeve 51 is fixedlyed connected with imitative thigh skeleton 27, is used to protect patient's thigh, and drives the thigh motion.
Shank protective sleeve 52 is fixedlyed connected with imitative shank skeleton 50, is used to protect patient's shank, and drives the shank motion.
Portable auxiliary body 1 comprises: locomotive 53, suspension holdfast 54 and sliding platform 55, and wherein: locomotive 53 is provided with sliding platform 55, and sliding platform 55 links to each other with suspension holdfast 54, and suspension holdfast 54 links to each other with exoskeleton artificial limb mechanism 3.
As shown in Figure 4, locomotive 53 comprises: universal wheel 56 before first, vehicle frame 57, the first back directional wheel 58, first connecting axle 59, the 3rd bearing 60, the 3rd bearing block 61, the 3rd shaft coupling 62, the 3rd motor cabinet 63, the 3rd servomotor 64, the 4th servomotor 65, the 4th motor cabinet 66, second connecting axle 67, the 4th bearing block 68, tetrad axial organ 69, the 4th bearing 70, universal wheel 72 before the second back directional wheel 71 and second, wherein: the universal wheel 56 and the second preceding universal wheel 72 are fixedlyed connected with vehicle frame 57 respectively before first, the 3rd servomotor 64 is fixed on the 3rd motor cabinet 63, the 3rd motor cabinet 63 is fixed on the vehicle frame 57, the 3rd servomotor 64 links to each other with first connecting axle 59 by the 3rd shaft coupling 62, first connecting axle 59 is fixedlyed connected with the first back directional wheel 58, first connecting axle 59 and the 3rd bearing 60 flexibly connect, the 3rd bearing 60 is arranged on the 3rd bearing block 61, the 3rd bearing block 61 is fixedly set on the vehicle frame 57, and the 3rd servomotor 64 passes to the first back directional wheel 9 by the 3rd shaft coupling 62 with output torque.Equally, the 4th servomotor 65 is fixedlyed connected with vehicle frame 57 by the 4th motor cabinet 66, second connecting axle 67 and the 4th bearing 70 flexibly connect, the 4th bearing 70 is arranged on the 4th bearing block 68, the 4th bearing block 68 is fixedly set on the vehicle frame 57, the output shaft of the 4th servomotor 65 links to each other with tetrad axial organ 69, tetrad axial organ 69 links to each other with the second back directional wheel 71 by second connecting axle 67, the output torque of the 4th servomotor 65 passes to second back directional wheel 71, the three servomotors 64 by second connecting axle 67 and links to each other with controlling organization 2 respectively with the 4th servomotor 65.
As shown in Figure 5, suspension holdfast 54 comprises: support bar 73, right support bar 74, right bar 75, bracing piece 76, left side bar 77 and left socle bar 78, wherein: support bar 73 is fixedly set on right support bar 74 and the left socle bar 78, left side bar 77 is fixedlyed connected with left socle bar 78, right bar 75 is fixedlyed connected with right support bar 74, bracing piece 76 is fixedly set in the middle of left socle bar 78 and the right support bar 74, increase the support performance of whole suspension holdfast 54, rear bearing sheet 6 flexibly connects with right bar 75 and left bar 77 respectively, and can adjust the width between left exoskeleton artificial limb and the right exoskeleton artificial limb.Be fixed with suspender belt 79 on the support bar 73 of suspension holdfast 54, suspender belt 79 1 ends are fixedly set on the support bar 73, and the other end is used to support patient's upper body body.
As shown in Figure 6, sliding platform 55 comprises: fixed station 80, the 5th bearing block 81, the 5th bearing 82, the 3rd ball-screw 83, the 3rd feed screw nut 84, the 3rd line slideway 85, the 3rd slide block 86, link plate 87, the 5th servomotor 88,5-linked axial organ 89 and motor cover 90, wherein: the 5th bearing 82 and the 5th bearing block 81 are fixedly set in respectively on the fixed station 80, the 3rd ball-screw 83 1 ends and the 5th bearing 82 flexibly connect, the other end and the 5th bearing block 81 flexibly connect, the 3rd feed screw nut 84 cooperates by spiral with the 3rd ball screw 83 and links to each other, the 3rd line slideway 85 is fixedly set on the fixed station 80, the 3rd slide block 86 and the 3rd line slideway 85 flexibly connect, link plate 87 is fixedlyed connected with the 3rd slide block 86, link plate 87 is fixedlyed connected with the 3rd feed screw nut 84, link plate 87 links to each other with left socle bar 78 with right support bar 74 respectively, the 5th servomotor 88 links to each other with the 3rd ball-screw 83 by 5-linked axial organ 89, motor cover 90 is fixedlyed connected with fixed station 80 in the outside of the 5th servomotor 88, the 5th servomotor 88 drives the 3rd ball-screw 83 and rotates, move up and down thereby drive link plate 87, the 5th servomotor 88 links to each other with controlling organization 2.
But 3 self-movements of exoskeleton artificial limb mechanism also can be according to the coordination exercise of human body actual walking pattern.During hip joint 4 work: first servomotor 7 rotates first shaft coupling 9 is rotated, thereby driving first ball-screw 12 rotates, the rotation of first ball-screw 12 makes first feed screw nut, 14 moving linearlies, first feed screw nut 14 promotes 20 motions of hip joint connecting rod, hip joint connecting rod 20 promotes imitative thigh skeleton 27, and imitative thigh skeleton 27 is rotated around hip joint axle 24.
During knee joint 5 work: second servomotor 28 rotates and drives 30 rotations of second shaft coupling, making second shaft coupling 30 drive second ball-screw 31 rotates, second ball-screw 31 makes second feed screw nut, 35 moving linearlies, second feed screw nut 35 promotes 41 motions of knee joint connecting rod, knee joint connecting rod 41 promotes shank flange 43, shank flange 43 is rotated around knee axis 46, rotate around knee axis 46 thereby drive whole imitative shank skeleton 50.
When the locomotive 53 of present embodiment was worked: the 3rd servomotor 64 rotated and drives 62 rotations of the 3rd shaft coupling, thereby making the 3rd shaft coupling 62 drive first connecting axle 59 rotates, first connecting axle 59 drives the first back directional wheel 58 and rotates, the 4th servomotor 65 rotates and drives 69 rotations of tetrad axial organ, tetrad axial organ 69 drives second connecting axle 67 and rotates, and the second back directional wheel 71 is rotated.When two directional wheels rotate simultaneously, drive locomotive 53 and travel forward, directional wheel 58 rotates after first, second back directional wheel 71 transfixions, then locomotive 53 turns right, and is opposite, directional wheel 58 transfixions after first, and the second back directional wheel 71 is when rotating, locomotive 53 turns left.
During sliding platform 55 work: the 5th servomotor 88 rotates and drives 89 rotations of 5-linked axial organ, thereby the 3rd ball-screw 83 is rotated, the 3rd feed screw nut 84 moves on the 3rd ball-screw 83, driving link plate 87 moves up and down, the suspension holdfast 54 that is fixedly set on the link plate 87 is moved up and down, thereby adjust the height of suspension holdfast 54, satisfy different height people's instructions for use.
Claims (6)
1. walking aid exoskeleton rehabilitation robot, comprising: portable auxiliary body, controlling organization and exoskeleton artificial limb mechanism is characterized in that: described exoskeleton artificial limb mechanism comprises: hip joint and knee joint;
Described hip joint comprises: rear bearing sheet, first servomotor, first ball-screw, first slide block, the hip joint connecting rod, the hip joint axle, the hip joint axle supports, the hip joint bearing, hip joint bearing block and imitative thigh skeleton, wherein: rear bearing sheet links to each other with first servomotor, first servomotor links to each other with controlling organization, first servomotor links to each other with first ball-screw, first ball-screw links to each other with first slide block, first slide block links to each other with rear bearing sheet, hip joint connecting rod one end links to each other with first ball-screw, the other end links to each other with imitative thigh skeleton, one end of hip joint axle and hip joint axle support and flexibly connect, the other end and hip joint bearing flexibly connect, and the hip joint bearing is separately positioned on hip joint bearing block and the rear bearing sheet;
Described knee joint comprises: second servomotor, second ball-screw, second slide block, the knee joint connecting rod, knee axis, shank flange, little leg connecting rod and imitative shank skeleton, wherein: second servomotor links to each other with imitative thigh skeleton, second servomotor links to each other with controlling organization, second ball-screw links to each other with second servomotor, second slide block links to each other with second ball-screw, one end of knee joint connecting rod links to each other with second ball-screw, the other end links to each other with shank flange, shank flange links to each other with knee axis, knee axis links to each other with imitative thigh skeleton, shank flange links to each other with little leg connecting rod, and little leg connecting rod links to each other with imitative shank skeleton;
Described hip joint links to each other with knee joint, and hip joint links to each other with described portable auxiliary body, and hip joint links to each other with described controlling organization respectively with described knee joint;
Described portable auxiliary body links to each other with described exoskeleton artificial limb mechanism, and described controlling organization links to each other with exoskeleton artificial limb mechanism with portable auxiliary body respectively.
2. walking aid exoskeleton rehabilitation robot according to claim 1, it is characterized in that, described portable auxiliary body comprises: locomotive, suspension holdfast and sliding platform, wherein: locomotive is provided with sliding platform, sliding platform links to each other with suspension holdfast, and suspension holdfast links to each other with exoskeleton artificial limb mechanism.
3. walking aid exoskeleton rehabilitation robot according to claim 2, it is characterized in that, described locomotive comprises: universal wheel before first, vehicle frame, the first back directional wheel, the 3rd servomotor, the 4th servomotor, universal wheel before the second back directional wheel and second, wherein: the universal wheel and the second preceding universal wheel are fixedlyed connected with vehicle frame respectively before first, the 3rd servomotor links to each other with the first back directional wheel, the 4th servomotor links to each other with the second back directional wheel, the 3rd servomotor links to each other with vehicle frame respectively with the 4th servomotor, and the 3rd servomotor links to each other with controlling organization respectively with the 4th servomotor.
4. walking aid exoskeleton rehabilitation robot according to claim 2, it is characterized in that, described suspension holdfast comprises: support bar, right support bar, right bar, bracing piece, left bar and left socle bar, wherein: support bar is fixedly set in the top of left socle bar and right support bar, left side bar is fixedlyed connected with the left socle bar, right bar is fixedlyed connected with the right support bar, bracing piece is fixedly set in the middle of left socle bar and the right support bar, and rear bearing sheet flexibly connects with right bar and left bar respectively.
5. walking aid exoskeleton rehabilitation robot according to claim 4 is characterized in that, is fixed with suspender belt on the described support bar.
6. walking aid exoskeleton rehabilitation robot according to claim 2, it is characterized in that, described sliding platform comprises: the 3rd slide block, fixed station, the 3rd ball-screw, link plate and the 5th servomotor, wherein: the 3rd slide block links to each other with fixed station, link plate is fixedlyed connected with the 3rd slide block, and the 5th servomotor links to each other with the 3rd ball-screw, and the 3rd ball-screw links to each other with the 3rd slide block, link plate links to each other with suspension holdfast, and the 5th servomotor links to each other with controlling organization.
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| CN2010101191614A CN101810533B (en) | 2010-03-08 | 2010-03-08 | Walking aid exoskeleton rehabilitation robot |
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| CN2010101191614A CN101810533B (en) | 2010-03-08 | 2010-03-08 | Walking aid exoskeleton rehabilitation robot |
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| CN101810533B true CN101810533B (en) | 2011-06-29 |
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| TWI254627B (en) * | 2003-05-21 | 2006-05-11 | Matsushita Electric Works Ltd | Leg training device |
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| CN101204347B (en) * | 2007-12-06 | 2010-07-07 | 上海大学 | Automatic gait correcting device in lower limb rehabilitation |
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- 2010-03-08 CN CN2010101191614A patent/CN101810533B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101450590B1 (en) | 2013-07-18 | 2014-10-15 | 충남대학교산학협력단 | Walker and Walking training apparatus using the same |
| CN109009885A (en) * | 2018-05-28 | 2018-12-18 | 芜湖纵横智能制造产业技术研究有限公司 | A kind of ectoskeleton type lower limb rehabilitation robot easy to use |
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