CN103190972B - Auxiliary ankle recovering device with sphere-pin pairs - Google Patents
Auxiliary ankle recovering device with sphere-pin pairs Download PDFInfo
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- CN103190972B CN103190972B CN201310126691.5A CN201310126691A CN103190972B CN 103190972 B CN103190972 B CN 103190972B CN 201310126691 A CN201310126691 A CN 201310126691A CN 103190972 B CN103190972 B CN 103190972B
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Abstract
The invention discloses an auxiliary ankle recovering device with sphere-pin pairs. The auxiliary ankle recovering device comprises an upper platform and a lower platform. A dorsiflex/plantar flexion drive device, an introversion/extroversion drive device and an ankle device are disposed between the upper platform and the lower platform. The dorsiflex/plantar flexion drive device is respectively connected with the upper platform and the lower platform through the sphere-pin pairs. The introversion/extroversion drive device is respectively connected with the upper platform and the lower platform through the sphere-pin pairs. Connecting pairs formed by U-shaped connectors and connecting platforms and connecting pairs formed by mobile boxes and connecting platforms are sphere-pin pairs. By the sphere-pin pairs, rotations except self-rotation are achieved, problems caused by self-rotation are avoided, and high anthropomorphic degree is achieved. The auxiliary ankle recovering device is capable of fully saving energy consumption. Different motor driving modes can be selected according to different restoring requirements of patients.
Description
Technical field
What the present invention relates to is a kind of human foot convalescence device, specifically a kind of ankle joint auxiliary rehabilitation device with sphere-pin pair.
Background technology
Due to the importance of ankle device to human motion, aspect rehabilitation engineering, also more and more to the research of ankle device, current disclosed ankle device structure has in many kinds of robots to be used, mainly by the P2 that continues of Japanese HONDA company, the anthropomorphic robot ASIMO releasing after P3, the SDR-4 compact anthropomorphic robot that Sony corporation of Japan is released, the HRP-4 anthropomorphic robot that Kawada Industries, Inc. (Kawada) and Japanese industries comprehensive study institute (AIST) release, the miniature anthropomorphic robot UT-μ 2 of Tokyo Univ Japan, the HUBO robot that Korea S sophisticated technologies institute (KAIST) delivers and HSR series robot, the THBIP-II of Tsing-Hua University of China development, anthropomorphic robot BHR-2 and the BHR-3 of Beijing Institute of Technology and Chinese Academy of Sciences's Shenyang Institute of Automation cooperation research and development, these robot anklebone devices have two degree of freedom conventionally, two joints of the forward swing that it has and side-sway, intersect vertical axis (being Hooke hinge structure), the ankle complex structure of this degree of freedom configuration and type of drive thereof.The M2 biped robot of Massachusetts Institute Technology can realize the passive dynamic walking of 3D, its ankle device also adopts the Hooke hinge body of 2DOF, realize motor control by two motors that are placed in shank top by parallel institution transmission, to alleviate the swing inertia of lower limb.Other is as hydraulic-driven class people biped robot PETMAN and the PETMAN II (Atlas) of the anthropomorphic robot Johnnie of German Mo Nihei technology university applied mechanics laboratory development, the development of Boston Dynamics Co., Ltd, the two-foot walking robot HEUBR_1 of Harbin Engineering University's development, ankle device has all adopted the 2DOF mechanism of parallel institution type of drive.The bipod walking robot SD-2 of doctor Zheng Yuanfang of Ohio university development has two ankle joint freedom degrees, and two joints axes present the arrangement that series connection, spatial vertical intersect, and is hinged with and is driven in rotating shaft by motor straight.Similarly, also has the human-like bipod walking robot of Chinese First class " antecessor " of Chinese National University of Defense technology development, the HIT-III bipod walking robot of Harbin Institute of Technology's development.This degree of freedom configuration and driving mechanism mode thereof are simple, but motor and deceleration device thereof have increased the swing inertia of lower limb, are unfavorable for driving and controlling, and are difficult to realize quick walking.For simulating human is rolled to the naturally dynamic walking step state of toe from sufficient root, part anthropomorphic robot arranges a sole of the foot toe degree of freedom at foot, thereby makes ankle foot mechanism freedom reach 3.The anthropomorphic robot AAU-BOT1 of the anthropomorphic robot WABIAN-2R of western pure husband's development as high in Japanese Waseda University and the development of Aalborg university of Denmark, adopts DC servo motor to drive, by decelerations such as harmonic drive gear, Timing Belt, pulleys.Its ankle device is 2DOF, and two rotation axiss intersect vertically, but foot is added with the toe joint of a passive rotation.The ankle device of the apery bipod walking robots such as the H7 of Tokyo Univ Japan, the German Mo Nihei LOLA of technology university, the LOCH of Nanyang Polytechnics of Singapore has 2 degree of freedom, and l, toes joint is degree of freedom initiatively, can simulate people's toe walking function.In sum, driven and control difficulty and limit, the pivot center that existing anthropomorphic robot ankle device mechanism adopts adjacent axis square crossing to intersect in any or spatial vertical mostly, drives the positive drive modes such as motor+gear, ball-screw or linkage that mostly adopt.
And after ankle device damage or operation, how to make ankle device recover as early as possible its function, also be a great problem undoubtedly, the lot of domestic and international scholar ankle device rehabilitation institution that all begins one's study, along with the development of electromechanical integration technology, occurred successively a lot of continuous passive motion device for rehabilitations by servomotor control, R mechanism, RR mechanism and the RR/RRR articulated robot in parallel of people's developments such as Salter R. B., all can realize the training that ankle device meets rehabilitation requirement.New Jersey university development based on Stewart mechanism, there is the ankle device healing robot in parallel of 6 degree of freedom, its motion platform can be realized 3 dimensions and rotate, also can drive sole and shank to move simultaneously, combined with virtual reality system, can make patient simulate the rehabilitation training of carrying out under multiple sight.Li Dan has proposed 4-UP (Pe) S/S biologic fusion ankle device healing robot, and its train of mechanism is made up of jointly the model of human ankle device and the basic machine that are reduced to ball pair, can realize the rehabilitation training taking ankle device as center of rotation.And a kind of 2-RRR/UPRR ankle device healing robot that the people such as Bian Hui proposes has been realized ankle device center consistent all the time with the device for rehabilitation centre of motion, be more conducive to the quick recovery of ankle device, avoid secondary damage.
In sum, existing anthropomorphic robot ankle device mechanism is complicated and heavy, and existing ankle device rehabilitation institution there are the following problems:
(1) mechanism freedom deficiency: robot can only realize the rotation around 1 or 2 axle, can not realize the 3 dimension composite rotation around ankle device central point, affects rehabilitation efficacy.As: R mechanism, RR mechanism, RR/RRR mechanism;
(2) mechanism freedom redundancy: robot, except realizing 3 dimensions rotate, also has 3 one-movement-freedom-degrees, in the time being fixed wtih the motion platform of foot and moving, if shank can not be servo-actuated or not in time servo-actuated, can cause the secondary damage of ankle device.As: 6-SPS mechanism;
(3) mechanism's center of rotation can not coincide with ankle device center.In rehabilitation exercise process, must be with movement when ankle device rotates with mechanism, now shank just needs servo-actuated.If it is not in place that shank is coordinated, gently not reaching movement angle affects rehabilitation progress, heavy cause ankle device secondary damage.As: 3-SPS/S, 3-PSS/S, 4-SPS/S;
(4) there is unexpected active force to ankle device in mechanism, based on the ankle device healing robot of biologic fusion theory invention, train of mechanism center of rotation is directly served as at ankle device center, utilize the kinesiology performance of human synovial to retrain the one-movement-freedom-degree of frame for movement, make ankle device bear the active force of 3 directions, be unfavorable for the early rehabilitation in affected part.As: 4-UP (Pe) S/S;
(5) mechanism's complexity.As: 2-RRR/UPRR.
Summary of the invention
The object of the present invention is to provide a kind of two-freedom but can be similar to and realize three-dimensional motion, in rehabilitation exercise process, ankle device only has to rotate with mechanism does not have to move, simple in structure, can realize a kind of ankle joint auxiliary rehabilitation device with sphere-pin pair regaining the function after ankle device damage.
Technical scheme of the present invention is: a kind of ankle joint auxiliary rehabilitation device with sphere-pin pair, it comprises upper mounting plate and lower platform, between upper mounting plate and lower platform, be provided with dorsiflex/plantar flexion driving device, in turn over/turn up driving device and ankle device, dorsiflex/plantar flexion driving device is connected with upper mounting plate and lower platform respectively by sphere-pin pair, inside turns over/turns up driving device and be connected with upper mounting plate and lower platform by sphere-pin pair.
Climbers molectron is installed on described upper mounting plate, climbers molectron comprises soft movable frame and fixed mount, fixed mount is fixedly connected on upper mounting plate by screw, and one end of soft movable frame is fixedly connected on upper mounting plate by screw, and the other end and the fixed mount of soft movable frame are bonding; Lower platform is provided with control device.
Described ankle device comprises ball cup, screw, ball, round pin and ball pin lid I, ball cup, screw, ball, round pin and ball pin lid I composition sphere-pin pair connect, ball cup is fixedly connected with by screw with ball pin lid I, ball is wrapped in the middle of ball cup and ball pin lid I, round pin is fixed on ball, on ball cup, be provided with elongated slot, in ball pin lid I, be provided with lower elongated slot, one end of ankle device is fixedly connected on upper mounting plate by ball cup, and the other end of ankle device is fixedly connected on lower platform by ball.
Described dorsiflex/plantar flexion driving device comprises upper connecting base, ball pin lid II, screw, movable case, round pin, spring, nut, slide block, screw, leading screw, screw, binaural connector, screw, holding screw, motor, U-shaped connector, ball pin lid III, lower connecting base, round pin lid III, upper connecting base is fixedly connected on upper mounting plate, lower connecting base is fixedly connected on lower platform, one end of U-shaped connector is spheroid, ball pin lid III is wrapped on spheroid, ball pin lid III is connected with lower connecting base, the round pin being arranged on spheroid passes the elongated slot in ball pin lid II, can realize moving along elongated slot, U-shaped connector forms sphere-pin pair with upper connecting base and is connected, motor relies on end face flange location, motor is fixedly connected with binaural connector by screw, binaural connector is fixed by screws on U-shaped connector, the endoporus that motor output shaft inserts leading screw one end is formed and is connected with leading screw by holding screw, transmitting movement, leading screw and nut composition screw pair, nut is connected with slide block by screw, slide block can move along the elongated slot of processing on movable case, at the upper and lower two ends of nut, spring is installed, form a kind of leading screw rotation, drive nut moves up and down, moving up and down by compression movable case of nut, drive the mode of movable case motion, movable case is connected with upper connecting base by sphere-pin pair.
Described dorsiflex/plantar flexion driving device with in to turn over/turn up the structure of driving device identical.
The plane α that described ankle device, dorsiflex/plantar flexion driving device form and ankle device, in turn over/turn up driving device formation plane β be 90 °.
Described control device comprises control chamber, wire; Wherein wire one termination control chamber, a termination motor.
By the motion of drive system control upper mounting plate, lower platform, realized cleverly between upper mounting plate and lower platform, simulate people's instep bend/plantar flexion, in turn over/turn up motion and compound motion; Dorsiflex/plantar flexion driving device, in turn over/turn up the interaction of motor, leading screw, slide block and spring in driving device, make the motion stable coordination more between upper mounting plate and lower platform, can better realize the rehabilitation of foot.By the motion of drive system control upper mounting plate and lower platform, between upper mounting plate and lower platform, realized cleverly simulation people instep bend/plantar flexion, in turn over/turn up motion and compound motion.Cover at ball cup and ball pin, have elongated slot along the round pin direction of motion, to realize the relative motion of ball cup and ball part, but stop the rotation around centrage separately.Ankle device is fixedly connected on upper mounting plate and lower platform by ball cup and ball respectively.Be arranged on the elongated slot that the round pin on spheroid covers through ball pin, can realize moving along elongated slot.U-shaped connector forms sphere-pin pair with Connection Block and is connected.
The present invention has following beneficial effect: the auxiliary connection that auxiliary connection, movable case and the connected unit that in (1) the present invention, U-shaped connector and connected unit form forms is all sphere-pin pairs, and ankle device adopts the form of sphere-pin pair, thereby realize other rotation except rotation, the problem of having avoided rotation to bring, has higher personification; (2) motion of upper plane and lower plane in the present invention, by driven by servomotor, the range of movement of upper mounting plate and lower platform and the adjustable extent of speed are large, are applicable to the treatment requirement in different crowd and different rehabilitation stages; (3) in the present invention dorsiflex/plantar flexion driving device and in turn over/turn up driving device movable case be built-in with spring, slide block etc., motor, leading screw, spring, slide block combined effect, form local flexibility and linked, made the motion stable coordination more of foot, can better realize the rehabilitation of foot; Two driving devices of the present invention, owing to having adopted local flexibility to link.In the time of the electric motor starting of one of them drive system, but its range of movement hour, and the motor of another drive system can not start, and adopts the change of distance between telescopic adjustment native system and upper mounting plate and lower platform two junction points of spring.As: in the time that device is done dorsiflex/plantar flexion motion, if the scope of motion is little, the motor that turns over/turn up driving device in is motionless; If the scope of motion is large, the motor that turns over/turn up driving device in need to start motion.Vice versa.In the time that device is made the compound motion of two motions, need to start two motors and move simultaneously.The present invention can fully save energy consumption.According to Rehabilitation needs, select different motor drive mode.
Brief description of the drawings
Fig. 1 is model of human ankle device schematic diagram;
Fig. 2 is schematic diagram of the present invention, wherein 1 soft movable frame, and 3 fixed mounts, 4 upper mounting plates, 5a dorsiflex/plantar flexion driving device, turns over/turns up driving device in 5b, 6 lower platforms, 7 control device, 8 ankle devices;
Fig. 3 is the explosive view at A place in Fig. 1, wherein 51 upper connecting bases, 52 ball pin lid II, 54 movable cases, 56 springs, 57 nuts, 58 slide blocks, 510 leading screws, 512 binaural connectors, 514 holding screws, 515 motors, 516U type connector, 517 ball pin lid III, 518 lower connecting bases;
Fig. 4 is the explosive view at B place in Fig. 1, wherein 81 ball cups, 83 balls, 85 ball pin lid I, the upper elongated slot of 86a, elongated slot under 86b;
Fig. 5 is the partial exploded view at C place in Fig. 3, wherein 51 upper connecting bases, 52 ball pin lid II, 54 movable cases;
Fig. 6 is the partial exploded view at D place in Fig. 3, wherein 516U type connector, 517 ball pin lid III, 518 lower connecting bases.
Detailed description of the invention
A kind of ankle joint auxiliary rehabilitation device with sphere-pin pair, it comprises upper mounting plate 4 and lower platform 6, between upper mounting plate 4 and lower platform 6, be provided with dorsiflex/plantar flexion driving device 5a, in turn over/turn up driving device 5b and ankle device 8, dorsiflex/plantar flexion driving device 5a is connected with upper mounting plate 4 and lower platform 6 respectively by sphere-pin pair, inside turns over/turns up driving device 5b and be connected with upper mounting plate 4 and lower platform 6 by sphere-pin pair.Climbers molectron is installed on upper mounting plate 4, climbers molectron comprises soft movable frame 1 and fixed mount 3, fixed mount 3 is fixedly connected on upper mounting plate 4 by screw, and one end of soft movable frame 1 is fixedly connected on upper mounting plate 4 by screw, and the other end of soft movable frame 1 and fixed mount 3 are bonding; Lower platform 6 is provided with control device 7.Ankle device 8 comprises ball cup 81, screw, ball 83, round pin and ball pin lid I 85, ball cup 81, screw, ball 83, round pin and ball pin lid I 85 form sphere-pin pair and connect, ball cup 81 is fixedly connected with by screw with ball pin lid I 85, ball 83 is wrapped in the middle of ball cup 81 and ball pin lid I 85, round pin is fixed on ball 83, on ball cup 81, be provided with elongated slot 86a, in ball pin lid I 85, be provided with lower elongated slot 86b, one end of ankle device 8 is fixedly connected on upper mounting plate 4 by ball cup 81, the other end of ankle device 8 is fixedly connected on lower platform 6 by ball 83, dorsiflex/plantar flexion driving device 5a with in to turn over/turn up the structure of driving device 5b identical, dorsiflex/plantar flexion driving device 5a comprises upper connecting base 51, ball pin lid II 52, screw, movable case 54, round pin, spring 56, nut 57, slide block 58, screw, leading screw 510, screw, binaural connector 512, screw, holding screw 514, motor 515, U-shaped connector 516, ball pin lid III 517, lower connecting base 518, round pin lid III, upper connecting base 51 is fixedly connected on upper mounting plate 4, lower connecting base 518 is fixedly connected on lower platform 6, one end of U-shaped connector 516 is spheroid, ball pin lid III 517 is wrapped on spheroid, ball pin lid III 517 is connected with lower connecting base 518, the round pin being arranged on spheroid passes the elongated slot in ball pin lid II 52, can realize moving along elongated slot, U-shaped connector 516 forms sphere-pin pair with upper connecting base 51 and is connected, motor 515 relies on end face flange location, motor 515 is fixedly connected with binaural connector 512 by screw, binaural connector 512 is fixed by screws on U-shaped connector 516, the endoporus that motor 515 output shafts insert leading screw 510 one end is formed and is connected with leading screw 510 by holding screw 514, transmitting movement, leading screw 510 forms screw pair with nut 57, nut 57 is connected with slide block 58 by screw, slide block 58 can move along the elongated slot of processing on movable case, Shang Xia 57, two ends spring 56 is installed at nut, form a kind of leading screw rotation, drive nut 57 moves up and down, moving up and down by compression movable case 54 of nut 57, the mode that drives movable case 54 to move, movable case 54 is connected with upper connecting base 51 by sphere-pin pair.The plane α that ankle device, dorsiflex/plantar flexion driving device form and ankle device, in turn over/turn up driving device formation plane β be 90 °, control device comprises control chamber, wire; Wherein wire one termination control chamber, a termination motor.
Work process of the present invention and principle are: in the time need to carrying out dorsiflex/plantar flexion recovering aid motion of ankle device, switch on to the motor 515 in dorsiflex/plantar flexion driving device 5a by control device 7, motor 515 rotates with leading screw 510 and drives nut 57 to move, when nut 57 is compressed to spring 56, under the effect of spring force, drive upper mounting plate 4 to move.Now, taking lower platform 6 as supporting, by ankle device 8, pushing away upper mounting plate 4 along the certain angle of dorsiflex/plantar flexion direction deflection, and reciprocating.When needing the foot joint of rehabilitation to anchor on upper mounting plate 4, just can realize dorsiflex/plantar flexion motion of foot; When the motion amplitude of dorsiflex/plantar flexion hour, only need the motor 515 in dorsiflex/plantar flexion driving device 5a to drive.And in the time that the motion amplitude of dorsiflex/plantar flexion reaches by a relatively large margin, in also needing to start, turn over/turn up the motor in driving device 5b, carry out servo-drive simultaneously.These different motor patterns are set in advance, automatically control complete operation by control device 7.Similarly, when need to carry out ankle device in turn over/turn up recovering aid when motion, the motor 515 that turns over/turn up in driving device 5b in giving by control device 7 is switched on, thus realize foot in turn over/turn up motion.When need to carry out dorsiflex/plantar flexion and in complex rehabilitation when motion of turning over/turning up, by control device 7 give simultaneously dorsiflex/plantar flexion driving device 5a and in the motor 515 that turns over/turn up in driving device 5b switch on, realized dorsiflex/plantar flexion and in the compound motion that turns over/turn up.Spring of the present invention and motor combined effect make the more motion of stable coordination of ankle device, are conducive to the better rehabilitation of patient's ankle device.
Claims (7)
1. one kind has the ankle joint auxiliary rehabilitation device of sphere-pin pair, it comprises upper mounting plate (4) and lower platform (6), between upper mounting plate (4) and lower platform (6), be provided with dorsiflex/plantar flexion driving device (5a), in turn over/turn up driving device (5b) and ankle device (8), it is characterized in that: dorsiflex/plantar flexion driving device (5a) is connected with upper mounting plate (4) and lower platform (6) respectively by sphere-pin pair, inside turn over/turn up driving device (5b) and be connected with upper mounting plate (4) and lower platform (6) by sphere-pin pair.
2. the ankle joint auxiliary rehabilitation device with sphere-pin pair according to claim 1, it is characterized in that: described upper mounting plate is provided with climbers molectron on (4), climbers molectron comprises soft movable frame (1) and fixed mount (3), fixed mount (3) is fixedly connected on upper mounting plate (4) by screw, it is upper that one end of soft movable frame (1) is fixedly connected on upper mounting plate (4) by screw, and the other end of soft movable frame (1) and fixed mount (3) are bonding; Lower platform (6) is provided with control device (7).
3. the ankle joint auxiliary rehabilitation device with sphere-pin pair according to claim 1, it is characterized in that: described ankle device (8) comprises ball cup (81), screw, ball (83), round pin and ball pin lid I (85), ball cup (81) is fixedly connected with by screw with ball pin lid I (85), ball (83) is wrapped in the middle of ball cup (81) and ball pin lid I (85), round pin is fixed on ball (83), on ball cup (81), be provided with upper elongated slot (86a), in ball pin lid I (85), be provided with lower elongated slot (86b), one end of ankle device (8) is fixedly connected on upper mounting plate (4) by ball cup (81), the other end of ankle device (8) is fixedly connected on lower platform (6) by ball (83).
4. the ankle joint auxiliary rehabilitation device with sphere-pin pair according to claim 1, is characterized in that: described dorsiflex/plantar flexion driving device (5a) comprises upper connecting base (51), ball pin lid II (52), screw, movable case (54), round pin, spring (56), nut (57), slide block (58), screw, leading screw (510), screw, binaural connector (512), screw, holding screw (514), motor (515), U-shaped connector (516), ball pin lid III (517), lower connecting base (518), upper connecting base (51) is fixedly connected on upper mounting plate (4), lower connecting base (518) is fixedly connected on lower platform (6), one end of U-shaped connector (516) is spheroid, ball pin lid III (517) is wrapped on spheroid, ball pin lid III (517) is connected with lower connecting base (518), motor (515) is fixedly connected with binaural connector (512) by screw, binaural connector (512) is fixed by screws on U-shaped connector (516), the endoporus that motor (515) output shaft inserts leading screw (510) one end is connected with leading screw (510) by holding screw (514), nut (57) is connected with slide block (58) by screw, at the two ends up and down of nut (57), spring (56) is installed, movable case (54) is connected with upper connecting base (51) by sphere-pin pair.
5. the ankle joint auxiliary rehabilitation device with sphere-pin pair according to claim 1, is characterized in that: in described, turn over/turn up driving device (5b) and comprise upper connecting base, ball pin lid II, screw, movable case, round pin, spring, nut, slide block, screw, leading screw, screw, binaural connector, screw, holding screw, motor, U-shaped connector, ball pin lid III, lower connecting base, round pin lid III; Upper connecting base is fixedly connected on upper mounting plate, lower connecting base is fixedly connected on lower platform, one end of U-shaped connector is spheroid, ball pin lid III is wrapped on spheroid, ball pin lid III is connected with lower connecting base, motor is fixedly connected with binaural connector by screw, binaural connector is fixed by screws on U-shaped connector, the endoporus that motor output shaft inserts leading screw one end is connected with leading screw by holding screw, nut is connected with slide block by screw, at the upper and lower two ends of nut, spring is installed, movable case is connected with upper connecting base by sphere-pin pair.
6. the ankle joint auxiliary rehabilitation device with sphere-pin pair according to claim 1 and 2, is characterized in that: the plane α that described ankle device, dorsiflex/plantar flexion driving device form and ankle device, in turn over/turn up driving device formation plane β be 90 °.
7. the ankle joint auxiliary rehabilitation device with sphere-pin pair according to claim 1 and 2, is characterized in that: described control device comprises control chamber, wire; Wherein wire one termination control chamber, a termination motor.
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| CN201310126691.5A CN103190972B (en) | 2013-04-12 | 2013-04-12 | Auxiliary ankle recovering device with sphere-pin pairs |
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| CN201310126691.5A CN103190972B (en) | 2013-04-12 | 2013-04-12 | Auxiliary ankle recovering device with sphere-pin pairs |
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| CN106003137B (en) * | 2016-04-22 | 2018-05-22 | 浙江大学 | A kind of two degrees of freedom /V exoskeleton ankle joint and its application |
| CN105997439B (en) * | 2016-07-26 | 2018-09-21 | 郑州轻工业学院 | The three-degree of freedom ankle joint auxiliary rehabilitation device with ball pair of electromyography signal control |
| CN107753244B (en) * | 2017-11-25 | 2019-12-17 | 福州大学 | Motion control method of series-parallel ankle joint rehabilitation machine based on nutation principle |
| CN109318208A (en) * | 2018-11-12 | 2019-02-12 | 郑州轻工业学院 | A kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom |
| CN112353643B (en) * | 2020-11-11 | 2023-05-23 | 武汉轻工大学 | Ankle joint rehabilitation device |
| CN113134841B (en) * | 2021-04-08 | 2022-05-17 | 北京理工大学 | Humanoid robot based on joint-crossing cooperative driving |
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| CN103027823A (en) * | 2012-11-30 | 2013-04-10 | 中国科学院深圳先进技术研究院 | Ankle joint rehabilitation training device, control system and ankle joint rehabilitation training machine |
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2013
- 2013-04-12 CN CN201310126691.5A patent/CN103190972B/en not_active Expired - Fee Related
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| FR2641183A1 (en) * | 1988-09-28 | 1990-07-06 | Heurte Alain | Apparatus for examination and reeducation of the ankle |
| CN1488474A (en) * | 2003-09-09 | 2004-04-14 | 北京航空航天大学 | Man-machine-interaction-oriented external-frame wearable data arm with force feedback |
| CN1923157A (en) * | 2006-09-14 | 2007-03-07 | 燕山大学 | Biological fusion type foot joint rehabilitation robot |
| CN101006958A (en) * | 2007-01-23 | 2007-08-01 | 四川大学 | Ankle joint rehabilitation training device |
| CN103027823A (en) * | 2012-11-30 | 2013-04-10 | 中国科学院深圳先进技术研究院 | Ankle joint rehabilitation training device, control system and ankle joint rehabilitation training machine |
| CN102991601A (en) * | 2012-12-09 | 2013-03-27 | 郑州轻工业学院 | Two-degree-of-freedom humanoid ankle joint |
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| CN103190972A (en) | 2013-07-10 |
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