CN103284822A - Lower limb exoskeleton boosting device and control method - Google Patents
Lower limb exoskeleton boosting device and control method Download PDFInfo
- Publication number
- CN103284822A CN103284822A CN2013102022053A CN201310202205A CN103284822A CN 103284822 A CN103284822 A CN 103284822A CN 2013102022053 A CN2013102022053 A CN 2013102022053A CN 201310202205 A CN201310202205 A CN 201310202205A CN 103284822 A CN103284822 A CN 103284822A
- Authority
- CN
- China
- Prior art keywords
- joint
- lower limb
- connecting rod
- limb exoskeleton
- gear
- 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.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a boosting device, in particular to a lower limb exoskeleton boosting device. The lower limb exoskeleton boosting device comprises thigh connecting rods, crus connecting rods, a waist protection pad, hip joints and knee joints, the thigh connecting rods are connected with the crus connecting rods through the knee joints, the waist protection pad is connected with the thigh connecting rods through the hip joints, and a joint portion of each of the hip joints and the knee joints comprises a joint box, a servo motor, a harmonic gear, a driving worm gear and a driven worm gear, wherein the servo motor is connected on the joint box, the driving worm gear and the harmonic gear are coaxially connected with the servo motor, and the driven worm gear is meshed with the driving worm gear. The driven worm gear of each hip joint is connected with the corresponding thigh connecting rod, and the driven worm gear of each knee joint is connected with the corresponding crus connecting rod. The lower limb exoskeleton boosting device is capable of providing walking power for wearers with moving difficulty so as to save labor, and is high in reliability and stability.
Description
Technical field
The present invention relates to a kind of power assisting device, particularly a kind of lower limb exoskeleton power assisting device.
Background technology
The lower limb exoskeleton power assisting device is as service robot, is a kind of people and biped walking machinery lower limb to be organically combined, and utilizes people's behavior to control robot, and powered assistance people's walking is provided, and strengthens ability and the speed of people's walking, the fatigue alleviating sense.
At present, particularly the U.S., Japan have carried out a large amount of research in this respect both at home and abroad.Wherein one of typical research is that the robot dress that Japanese University of tsukuba developed in 2002 mixes the power-assisted lower limb, the machinery ectoskeleton is strapped in the both sides of people's lower limb, utilization is attached to the electric current of the EMG sensor detection muscle on the leg skin, and control electrical motor driven machinery ectoskeleton moves with the action of auxiliary shank.In addition; robot of Univ California-Berkeley and Human Engineering Laboratory Aberdeen Proving Ground develop U.S. army's " Berkeley lower limb exoskeleton "; formed by Backpack type outrigger, metal leg and corresponding Hydraulically Operated Equipment; mechanical system has adopted the design with the humanoid structural similarity of class; the Backpack type outrigger can make the operator carry certain load, and its useful effect power directly reaches ground via ectoskeleton without wearer.
Yet said apparatus exists common shortcoming, because being skin surface transmits during according to musculation low current signal or the soft or hard degree of muscle, myoelectric sensor infers people's behavior consciousness, the most of sensor that causes adopting will directly contact and stick on the skin with human skin, need special fixture, so directly cause the inconvenience of dressing; The perspiration of human secretory can influence stability and the accuracy of the information that sensor obtains, and owing to contain much information, handle complexity, sensor is subject to disturb, and causes the control difficulty bigger.
Summary of the invention
The problem that the present invention will solve is: easy to control, the stable torque signal that utilizes power assisting device and people's lower limb to move mutually and produce, the powered assistance people is provided the lower limb exoskeleton power assisting device of walking, and save the human body self physical demands to reach.
For solving the problems of the technologies described above, a kind of lower limb exoskeleton power assisting device comprises, thigh connecting rod, shank connecting rod, waist protective pad, hip joint and knee joint, wherein big leg connecting rod is connected by knee joint with little leg connecting rod, and the waist protective pad is connected by hip joint with big leg connecting rod; Wherein, described hip joint, kneed joint component comprise joint casing, servomotor, harmonic gear, worm driver gear and driven worm gear, servomotor is connected on the casing of joint, and described worm driver gear is connected with harmonic gear and servomotor are coaxial, driven gear and worm driver gear engagement; Described harmonic gear is provided with torque sensor, and the servomotor afterbody is provided with the rotary encoder that detects the real-time corner in joint, and described waist protective pad top is connected with isochronous controller, and torque sensor, rotary encoder and isochronous controller electrically connect; The driven gear of hip joint is connected with big leg connecting rod, and kneed driven gear is connected with the shank connecting rod.
User at the human body waist, is fitted the waist pad fixation in dressing the lower limb exoskeleton power assisting device with little leg connecting rod and shank, big leg connecting rod and thigh are fitted; In the process of walking about, the IA harmonic gear that human body can drive the lower limb exoskeleton power assisting device rotates, detect the torque signal in described joint by being placed in torque sensor on the harmonic gear, detected torque signal is handled by isochronous controller; Isochronous controller output is given servomotor with this torque signal at the synchronous shift signal that frequency is consistent, servomotor just can provide and allow hip joint and kneed synchronous restoring force this moment, and the rotary encoder of the real-time corner in while servomotor aft mounted detection joint can be adjusted the deviation of restoring force.The present invention arranges torque sensor at harmonic gear, has abandoned the sensor that tradition is fitted at human body, has improved accuracy of detection greatly; And the servomotor afterbody is provided with the rotary encoder that detects the real-time corner in joint, makes its function with dynamic auto correction, thereby it is stable to reach The whole control system.
Further, dress for convenience, described big leg connecting rod and little leg connecting rod are provided with binder; The waist protective pad is provided with belt, is provided with braces between waist protective pad and isochronous controller.
Further, be provided with Digital Signal Processing harmonic gear device, A/D modular converter, D/A modular converter, signal amplifier and motor servo driver through electrically connecting in the described isochronous controller.
Further, more accurate for the signal that makes torque sensor gather; The described torque sensor that is arranged on the harmonic gear is provided with two, and its angle is 45 degree.
Further, be provided with pivoted arm between described hip joint and the waist protective pad, an end of pivoted arm is connected by bearing with the waist protective pad, and the joint casing of the other end and hip joint is slidingly matched, pivoted arm can be adjusted the distance between thigh and the waist protective pad, uses with the wearer that satisfies different heights.
Further, in order to prevent that initiatively situations such as causing friction takes place to be offset turbine, be provided with location bearing between described joint casing and the driven worm gear, the joint casing is provided with the mounting cover of protection location bearing.
Further, lighter in order to realize dressing comfortable and whole device, described waist protective pad is two plastics arcwall faces of fitting with waist, they connect by belt, the plastics arcwall face that be shaped as and the human body thigh face of described thigh connecting rod fitted, the shank connecting rod is shaped as and the plastics arcwall face of fitting with the human body shank, and pivoted arm is that the plastics pivoted arm also is for weight reduction.
At last, the pivoted arm that described joint casing is slidingly matched is provided with wear-resisting circle cover, and the be slidingly matched inboard of part of joint casing and pivoted arm is provided with anti-wearing liner, its objective is service life and the motility of raising pivoted arm.
The control method of lower limb exoskeleton power assisting device, step 1: the torque signal that torque sensor collection people's lower limb and lower limb exoskeleton power assisting device interact and produce; Step 2: the torque signal that detects is transferred in the digital signal processor by A/D mould/number conversion module after signal is big, and exports the given signal of joint displacements that is consistent in frequency, phase place with this torque signal by digital signal processor; Step 3: the given signal of joint displacements is controlled servomotor by the PD feedback control module, makes its output and people's lower limb all keep the synchronous required moment of torsion of hip joint, knee joint on motion frequency, amplitude and phase place; Step 4: repeat above-mentioned steps one to step 3, reach the seriality of walking.
Description of drawings
Fig. 1 is the structure chart of present embodiment lower limb exoskeleton power assisting device;
Fig. 2 is the profile of present embodiment lower limb exoskeleton power assisting device hip joint;
Fig. 3 is the control system electrical diagram of present embodiment lower limb exoskeleton power assisting device.
The specific embodiment
Below in conjunction with accompanying drawing and example technical solution of the present invention is further specified:
As shown in Figure 1, a kind of lower limb exoskeleton power assisting device includes isochronous controller 1, braces 2, waist protective pad 3, belt 4, hip joint 5, thigh binder 6, big leg connecting rod 7, knee joint 8, shank binder 9 and shank connecting rod 10.
As shown in Figure 2, be the profile of the hip joint 5 of lower limb exoskeleton power assisting device among Fig. 1, comprise pivoted arm 12, bearing 11, wear-resisting circle cover 14, joint casing 17, anti-wearing liner 13, harmonic gear 16, servomotor 15, worm driver gear 18, location bearing 19, mounting cover 20 and driven worm gear 21.
Lower limb exoskeleton power assisting device of the present invention, wherein big leg connecting rod 7 is connected by knee joint 8 with shank connecting rod 10, and waist protective pad 3 is connected by hip joint 5 with big leg connecting rod 7; Servomotor 15 is connected on the joint casing 17, worm driver gear 18 and harmonic gear 16 and 15 coaxial connections of servomotor, 18 engagements of driven gear 21 worm driver gear, the driven gear of hip joint 5 is fixedlyed connected with big leg connecting rod 7, and the driven gear of knee joint 8 is connected with shank connecting rod 10; Harmonic gear 16 is provided with torque sensor 22; Servomotor 15 afterbodys are provided with the rotary encoder 23 that detects the real-time corner in joint, and described waist protective pad 3 tops are connected with isochronous controller 1, electrically connect between torque sensor 22, rotary encoder 23 and the isochronous controller 1.
User is fixed on the human body waist with waist protective pad 3 when dressing lower limb exoskeleton power assisting device of the present invention, shank connecting rod 10 and shank are fitted, and big leg connecting rod 7 and thigh are fitted; In the process of walking, the IA harmonic gear 16 that human body can drive the lower limb exoskeleton power assisting device rotates, detect the torque signal of hip joint 5 and knee joint 8 by being placed in torque sensor 22 on the harmonic gear 16, detected torque signal is handled by isochronous controller 1; Isochronous controller 1 output is afterwards given servomotor 15 with this torque signal at the synchronous shift signal that frequency is consistent, servomotor 15 just can provide and allow the synchronous restoring force of hip joint 5 and knee joint 8 this moment, and the rotary encoder 23 of the real-time corner in while servomotor 15 aft mounted detection joints can be adjusted the deviation of restoring force.The present invention arranges torque sensor 22 at harmonic gear 16, has abandoned the sensor that tradition is fitted at human body, has improved accuracy of detection greatly; And the servomotor afterbody is provided with the rotary encoder that detects the real-time corner in joint, makes its function with dynamic auto correction, thereby it is stable to reach The whole control system.
Dress for convenience, described big leg connecting rod 7 and shank connecting rod 10 are provided with binder 6; Waist protective pad 3 is provided with belt 4, is provided with braces 2 between waist protective pad 3 and isochronous controller 1.
Described isochronous controller 1 inside is provided with digital signal processor 150, A/D modular converter 133, D/A modular converter 161, signal amplifier 132 and motor servo driver 121,122,123,124; Torque sensor 22 collects the torque signal that harmonic gear 16 produces, amplify torque signal by signal amplifier 132, be transferred to A/D modular converter 133 afterwards, make conversion of signals become digital signal, be sent to again and carry out analyzing and processing in the digital processing unit 150, convert analogue signal to for D/A modular converter 133 by the signal after the digital processing unit 150 output processing, give motor servo driver 121 with analog signal transmission subsequently, 122,123,124, thereby controlling servomotor 15 rotates, realize hip joint 5, the motion of knee joint 8 is to reach the effect of power-assisted.These elements are integrated on the same circuit board, realize integraty and the portability of isochronous controller 1.
Harmonic gear 16 is provided with two torque sensors 22 that angle is 45 degree, and the output torque of measuring harmonic gear 16 produces the shear stress signal that takes place when being out of shape, and obtains torque signal 121 after signal amplifier 132 amplifies.Be 6000 with torque signal 121 amplifications; The speed reducing ratio of described harmonic gear 16 is designed to 160:1 and 80:1 respectively.
Be provided with pivoted arm 12 between hip joint 5 and the waist protective pad 3, one end of pivoted arm 12 is connected by bearing 11 with waist protective pad 3, the joint casing of the other end and hip joint 5 is slidingly matched, and pivoted arm 12 can be adjusted the distance between thigh and the waist protective pad 3, uses with the wearer that satisfies different heights.
In order to prevent that initiatively situations such as causing friction takes place to be offset turbine 18, be provided with location bearing 19 between joint casing 17 and the driven worm gear 21, joint casing 17 is provided with the mounting cover 20 of protection location bearing 19.
Lighter in order to realize dressing comfortable and whole device, described waist protective pad 3 is two plastics arcwall faces of fitting with waist, they connect by belt, described thigh connecting rod 7 is arranged to the plastics arcwall face with the applying of human body thigh face, shank connecting rod 10 is arranged to the plastics arcwall face with the applying of human body shank, and the manufactured materials of pivoted arm 12 is that plastics also are for weight reduction.
Described pivoted arm 12 and the joint casing place of being slidingly matched are provided with wear-resisting circle cover 13, and the inboard of joint casing 17 is provided with anti-wearing liner 13, its objective is the service life and the motility that improve pivoted arm 12.
As shown in Figure 3, be the control system electrical diagram of present embodiment lower limb exoskeleton power assisting device, the function of isochronous controller 1 realizes that by digital signal processor 150 programmings the digital signal processor 150 that uses in the present invention is single board computer; Be transferred to motor servo driver 121,122,123,124 by four road D/A modular converters, 161 output expectation displacement signals 162, drive two hip joints 5 and two knee joint 8 servomotor rotations separately.
In the process of walking, the torque signal 131 that is detected by the torque sensor 22 that is installed on the harmonic gear 16 is input to digital signal processor 150 through signal amplifier 132 and four road A/D modular converters 133 and realizes the expectation displacement signal 162 next time exported; The rotary encoder 23 that is installed on each joint is input to detected actual rotational angle displacement signal 140 in the digital signal processor 150, plays a feedback in real time, makes that expectation displacement signal 162 can correctly be adjusted at any time.
For a person skilled in the art, under the prerequisite that does not break away from structure of the present invention, can also make some distortion and improvement, these also should be considered as protection scope of the present invention, and these can not influence effect of the invention process and practical applicability.
Claims (9)
1. a lower limb exoskeleton power assisting device comprises, thigh connecting rod, shank connecting rod, waist protective pad, hip joint and knee joint, and wherein big leg connecting rod is connected by knee joint with little leg connecting rod, and the waist protective pad is connected by hip joint with big leg connecting rod; It is characterized in that:
Described hip joint, kneed joint component comprise joint casing, servomotor, harmonic gear, worm driver gear and driven worm gear, servomotor is connected on the casing of joint, described worm driver gear is connected with harmonic gear and servomotor are coaxial, driven gear and worm driver gear engagement; Described harmonic gear is provided with torque sensor, and the servomotor afterbody is provided with the rotary encoder that detects the real-time corner in joint, and described waist protective pad top is connected with isochronous controller, and torque sensor, rotary encoder and isochronous controller electrically connect; The driven gear of hip joint is connected with big leg connecting rod, and kneed driven gear is connected with the shank connecting rod.
2. lower limb exoskeleton power assisting device as claimed in claim 1, it is characterized in that: described big leg connecting rod and little leg connecting rod are provided with binder; The waist protective pad is provided with belt, is provided with braces between waist protective pad and isochronous controller.
3. lower limb exoskeleton power assisting device as claimed in claim 1 is characterized in that: the digital signal processor, A/D modular converter, D/A modular converter, signal amplifier and the motor servo driver that are provided with electric connection in the described isochronous controller.
4. lower limb exoskeleton power assisting device as claimed in claim 1, it is characterized in that: be provided with pivoted arm between described hip joint and the waist protective pad, one end of pivoted arm and waist protective pad are by bearing hinge connection, and the joint casing of the other end and hip joint is slidingly matched, and described pivoted arm is the plastics pivoted arm.
5. lower limb exoskeleton power assisting device as claimed in claim 2, it is characterized in that: described waist protective pad be shaped as two plastics arcwall faces of fitting with waist, and connect by belt, described thigh connecting rod is the plastics arcwall face of fitting with human body thigh face, the shank connecting rod be shaped as the plastics arcwall face of fitting with the human body shank.
6. lower limb exoskeleton power assisting device as claimed in claim 4 is characterized in that: the pivoted arm that is slidingly matched with the joint casing of hip joint is provided with wear-resisting circle cover, and the inboard of this joint casing is provided with anti-wearing liner.
7. lower limb exoskeleton power assisting device as claimed in claim 1 is characterized in that: be provided with location bearing between described joint casing and the driven worm gear, the joint casing is provided with the mounting cover of protection location bearing.
8. lower limb exoskeleton power assisting device as claimed in claim 1, it is characterized in that: the described torque sensor that is arranged on the harmonic gear is provided with two, and its angle is 45 degree.
9. the control method of lower limb exoskeleton power assisting device as claimed in claim 3 is characterized in that:
Step 1: the torque signal that torque sensor collection people's lower limb and lower limb exoskeleton power assisting device interact and produce;
Step 2: the torque signal that detects is transferred in the digital signal processor by the A/D modular converter after signal amplifies, and exports the given signal of joint displacements that is consistent in frequency, phase place with this torque signal by digital signal processor;
Step 3: the given signal of joint displacements is controlled servomotor by the PD feedback control module, makes its output and people's lower limb all keep the synchronous required moment of torsion of hip joint, knee joint on motion frequency, amplitude and phase place;
Step 4: repeat above-mentioned steps one to step 3, reach the continuous of walking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310202205.3A CN103284822B (en) | 2013-05-28 | 2013-05-28 | Lower limb exoskeleton boosting device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310202205.3A CN103284822B (en) | 2013-05-28 | 2013-05-28 | Lower limb exoskeleton boosting device and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103284822A true CN103284822A (en) | 2013-09-11 |
| CN103284822B CN103284822B (en) | 2015-04-08 |
Family
ID=49086730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310202205.3A Active CN103284822B (en) | 2013-05-28 | 2013-05-28 | Lower limb exoskeleton boosting device and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103284822B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103610524A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Portable energy-storage type external skeleton assisting robot |
| CN103892943A (en) * | 2014-03-19 | 2014-07-02 | 中国人民解放军理工大学 | Driving-and-driven combined boosting type flexible lower limb exoskeleton |
| CN104083236A (en) * | 2014-07-11 | 2014-10-08 | 电子科技大学 | Compact type lower limb exoskeleton driving device |
| CN104490396A (en) * | 2013-10-24 | 2015-04-08 | 山东大学齐鲁医院(青岛) | Hip joint torque measuring system |
| CN104784016A (en) * | 2015-04-22 | 2015-07-22 | 余运波 | Portable movement power assisting device and control method thereof |
| CN104490396B (en) * | 2013-10-24 | 2017-01-04 | 山东大学齐鲁医院(青岛) | A kind of hip joint torch measuring system |
| CN106859922A (en) * | 2017-03-13 | 2017-06-20 | 张萌 | A kind of lower limb assistance exoskeleton robot based on variable flexibility joint |
| WO2018072485A1 (en) * | 2016-10-21 | 2018-04-26 | 深圳光启合众科技有限公司 | Waist rotating mechanism |
| CN108135712A (en) * | 2015-09-24 | 2018-06-08 | 奥托·博克保健产品有限公司 | Prosthetic device |
| CN109717990A (en) * | 2018-12-29 | 2019-05-07 | 攀枝花市午跃科技有限公司 | A kind of new titanium alloy geometry lock knee joint |
| CN114366574A (en) * | 2021-12-31 | 2022-04-19 | 航天科工智能机器人有限责任公司 | Exoskeleton robot and control method thereof |
| CN115674159A (en) * | 2022-10-31 | 2023-02-03 | 国网山西省电力公司太原供电公司 | Force feedback wearable flexible exoskeleton control method and device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060064047A1 (en) * | 2004-09-21 | 2006-03-23 | Honda Motor Co., Ltd. | Walking assistance system |
| US20070027409A1 (en) * | 2003-05-21 | 2007-02-01 | Honda Motor Co., Ltd. | Walk assisting device |
| JP2011177329A (en) * | 2010-03-01 | 2011-09-15 | Toyota Motor Corp | Movement support system |
| JP2011212122A (en) * | 2010-03-31 | 2011-10-27 | Toyota Motor Corp | Mounting type assisting device |
| CN202211834U (en) * | 2011-06-23 | 2012-05-09 | 天津科技大学 | Line angle driven lower limb walking aid |
| CN102871822A (en) * | 2012-09-28 | 2013-01-16 | 中国科学院深圳先进技术研究院 | Portable and wearable exoskeleton robot for lower limb recovery and walking aid |
-
2013
- 2013-05-28 CN CN201310202205.3A patent/CN103284822B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070027409A1 (en) * | 2003-05-21 | 2007-02-01 | Honda Motor Co., Ltd. | Walk assisting device |
| US20060064047A1 (en) * | 2004-09-21 | 2006-03-23 | Honda Motor Co., Ltd. | Walking assistance system |
| JP2011177329A (en) * | 2010-03-01 | 2011-09-15 | Toyota Motor Corp | Movement support system |
| JP2011212122A (en) * | 2010-03-31 | 2011-10-27 | Toyota Motor Corp | Mounting type assisting device |
| CN202211834U (en) * | 2011-06-23 | 2012-05-09 | 天津科技大学 | Line angle driven lower limb walking aid |
| CN102871822A (en) * | 2012-09-28 | 2013-01-16 | 中国科学院深圳先进技术研究院 | Portable and wearable exoskeleton robot for lower limb recovery and walking aid |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104490396A (en) * | 2013-10-24 | 2015-04-08 | 山东大学齐鲁医院(青岛) | Hip joint torque measuring system |
| CN104490396B (en) * | 2013-10-24 | 2017-01-04 | 山东大学齐鲁医院(青岛) | A kind of hip joint torch measuring system |
| CN103610524B (en) * | 2013-12-16 | 2015-09-09 | 哈尔滨工业大学 | A kind of Portable energy storage ectoskeleton power-assisting robot |
| CN103610524A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Portable energy-storage type external skeleton assisting robot |
| CN103892943A (en) * | 2014-03-19 | 2014-07-02 | 中国人民解放军理工大学 | Driving-and-driven combined boosting type flexible lower limb exoskeleton |
| CN104083236B (en) * | 2014-07-11 | 2016-02-03 | 电子科技大学 | A kind of compact lower limb exoskeleton driving device |
| CN104083236A (en) * | 2014-07-11 | 2014-10-08 | 电子科技大学 | Compact type lower limb exoskeleton driving device |
| CN104784016A (en) * | 2015-04-22 | 2015-07-22 | 余运波 | Portable movement power assisting device and control method thereof |
| CN108135712A (en) * | 2015-09-24 | 2018-06-08 | 奥托·博克保健产品有限公司 | Prosthetic device |
| US11931274B2 (en) | 2015-09-24 | 2024-03-19 | Otto Bock Healthcare Products Gmbh | Prosthesis device |
| US11033409B2 (en) | 2015-09-24 | 2021-06-15 | Otto Bock Healthcare Products Gmbh | Prosthesis device |
| US10932977B2 (en) | 2016-10-21 | 2021-03-02 | Shen Zhen Kuang-Chi Hezhong Technology Ltd | Waist rotating mechanism |
| WO2018072485A1 (en) * | 2016-10-21 | 2018-04-26 | 深圳光启合众科技有限公司 | Waist rotating mechanism |
| CN106859922A (en) * | 2017-03-13 | 2017-06-20 | 张萌 | A kind of lower limb assistance exoskeleton robot based on variable flexibility joint |
| CN109717990B (en) * | 2018-12-29 | 2020-08-28 | 攀枝花市午跃科技有限公司 | Titanium alloy geometric lock knee joint |
| CN109717990A (en) * | 2018-12-29 | 2019-05-07 | 攀枝花市午跃科技有限公司 | A kind of new titanium alloy geometry lock knee joint |
| CN114366574A (en) * | 2021-12-31 | 2022-04-19 | 航天科工智能机器人有限责任公司 | Exoskeleton robot and control method thereof |
| CN115674159A (en) * | 2022-10-31 | 2023-02-03 | 国网山西省电力公司太原供电公司 | Force feedback wearable flexible exoskeleton control method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103284822B (en) | 2015-04-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103284822B (en) | Lower limb exoskeleton boosting device and control method | |
| Lee et al. | Improved assistive profile tracking of soft exosuits for walking and jogging with off-board actuation | |
| Kwa et al. | Development of the IHMC mobility assist exoskeleton | |
| Hao et al. | Supernumerary robotic limbs to assist human walking with load carriage | |
| US9498401B2 (en) | Robotic system for simulating a wearable device and method of use | |
| Kim et al. | Mechanical design of the Hanyang exoskeleton assistive robot (HEXAR) | |
| CN108283564A (en) | A kind of intelligent ankle-joint exoskeleton system of light-type rope driving | |
| Lim et al. | Development of a lower extremity exoskeleton robot with a quasi-anthropomorphic design approach for load carriage | |
| Liu et al. | An ankle exoskeleton using a lightweight motor to create high power assistance for push-off | |
| Lee et al. | Technical trend of the lower limb exoskeleton system for the performance enhancement | |
| EP2823792B1 (en) | Movement support apparatus | |
| KR102193771B1 (en) | Wearable robot and method for controlling the same | |
| CN110251898B (en) | Closed-loop control system of wrist rehabilitation exoskeleton based on force feedback | |
| CN201920941U (en) | Human body exoskeleton walking-aid device with four exoskeleton lower limbs | |
| Suzuki et al. | Control method for powered ankle prosthesis via internal model control design | |
| Han et al. | Research on a multimodal actuator-oriented power-assisted knee exoskeleton | |
| Luo et al. | Design and control for a compliant knee exoskeleton | |
| US20230398003A1 (en) | Powered prosthesis with torque dense, low ratio actuation | |
| CN206764764U (en) | Drive dynamic control device and there is its exoskeleton robot | |
| Hosseini et al. | Development of sEMG-driven assistive devices based on twisted string actuation | |
| CN112549001A (en) | Exoskeleton joint force position composite compliance control method and system based on elastic element | |
| Li et al. | Design and research of lower limb walking-assisted exoskeleton robot | |
| Ficanha et al. | Preliminary design and evaluation of a multi-axis ankle-foot prosthesis | |
| Chen et al. | Implementation of robotic ankle–foot orthosis with an impedance-based assist-as-needed control strategy | |
| Zhou et al. | Concept and prototype design of a robotic ankle-foot rehabilitation system with passive mechanism for coupling motion |
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 |