CN103735386A - Wearable lower limb exoskeleton rehabilitation robot - Google Patents
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Cited By (33)
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CN104042428A (en) * | 2014-06-27 | 2014-09-17 | 电子科技大学 | Adjusting device used for fixing lower limb exoskeleton robot and human body waist |
CN104068950A (en) * | 2014-07-23 | 2014-10-01 | 哈尔滨工业大学 | Single drive linkage type lower limb power assisting exoskeleton |
CN104274299A (en) * | 2014-06-05 | 2015-01-14 | 长春工业大学 | Lower limb rehabilitation training device |
CN104440884A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Hip-length-adjustable laborsaving device for human lower-limb exoskeleton robot |
CN104523405A (en) * | 2014-12-05 | 2015-04-22 | 中国康复研究中心 | Energy storing type front-mounted rigid bracket walking aided exoskeleton |
CN104814822A (en) * | 2015-04-27 | 2015-08-05 | 电子科技大学 | Limiting structure for external skeletons |
CN104983542A (en) * | 2015-07-24 | 2015-10-21 | 天津科技大学 | Exoskeleton type auxiliary rehabilitation apparatus |
CN105030485A (en) * | 2015-09-18 | 2015-11-11 | 中国科学院自动化研究所 | Leg mechanism for lower limb rehabilitation training |
CN105167963A (en) * | 2015-07-13 | 2015-12-23 | 北京理工大学 | Waist adjusting device for exoskeleton robot |
WO2015177760A3 (en) * | 2014-05-23 | 2016-01-14 | Zhou Tiger | Unmanned drone, robot system for delivering mail, goods, humanoid security, crisis negotiation, mobile payments, smart humanoid mailbox and wearable personal exoskeleton heavy load flying machine |
CN105362043A (en) * | 2015-12-14 | 2016-03-02 | 谭峰 | Lower limb movement assisting device |
EP2995291A1 (en) * | 2014-09-10 | 2016-03-16 | Uprobots S. de R.L. de C.V. | Adjustable mechanical exoskeleton, for a biped animal with impaired bone and muscle |
CN105496735A (en) * | 2016-01-27 | 2016-04-20 | 郑凯 | Caterpillar-drive walking assisting exoskeleton |
CN105856190A (en) * | 2016-03-17 | 2016-08-17 | 西南交通大学 | Wearable handling assistor |
CN106002950A (en) * | 2016-06-30 | 2016-10-12 | 张学衡 | Exoskeleton robot lower limb mechanism with adjustable length |
CN106142056A (en) * | 2016-08-15 | 2016-11-23 | 江苏大学 | A kind of portable hip joint servomechanism |
CN106426097A (en) * | 2016-10-26 | 2017-02-22 | 北京航空航天大学 | Exoskeleton assisting mechanism for lower limb |
CN106691784A (en) * | 2016-12-02 | 2017-05-24 | 同济大学 | Wearable knee exoskeleton assist |
CN106859922A (en) * | 2017-03-13 | 2017-06-20 | 张萌 | A kind of lower limb assistance exoskeleton robot based on variable flexibility joint |
CN106956243A (en) * | 2017-03-06 | 2017-07-18 | 武汉大学 | A kind of bionical lower limb exoskeleton robot driven based on rope |
CN106965156A (en) * | 2017-03-30 | 2017-07-21 | 北京精密机电控制设备研究所 | A kind of integrated multiple degrees of freedom lower limb exoskeleton of auxiliary lightness |
CN107049715A (en) * | 2017-05-17 | 2017-08-18 | 山东科技大学 | A kind of assisted walk robot used suitable for medical rehabilitation, correction or training |
CN107928996A (en) * | 2017-11-22 | 2018-04-20 | 上海理工大学 | A kind of semi-passive light-type lower limb exoskeleton |
CN108283568A (en) * | 2017-12-22 | 2018-07-17 | 北京精密机电控制设备研究所 | Wearable hip joint exoskeleton rehabilitation device |
CN108852755A (en) * | 2018-05-07 | 2018-11-23 | 天津科技大学 | Hip joint training device, knee joint training device and joint of lower extremity training system |
CN109318215A (en) * | 2018-12-06 | 2019-02-12 | 西安交通大学 | Waist exoskeleton robot |
CN109330257A (en) * | 2018-09-06 | 2019-02-15 | 华中科技大学 | A kind of wearable ectoskeleton seat |
CN109648546A (en) * | 2019-02-25 | 2019-04-19 | 清华大学 | Adjustable frivolous ectoskeleton knee joint driver |
CN109674626A (en) * | 2019-02-18 | 2019-04-26 | 清华大学 | Hip joint can outreach adduction dynamical type lower limb exoskeleton |
CN109834700A (en) * | 2019-02-28 | 2019-06-04 | 中国科学院深圳先进技术研究院 | Knee joint bearing part and exoskeleton robot |
CN110039516A (en) * | 2019-02-28 | 2019-07-23 | 中国科学院深圳先进技术研究院 | Ankle-joint bearing part and exoskeleton robot |
CN111358669A (en) * | 2018-12-26 | 2020-07-03 | 北京大艾机器人科技有限公司 | Driving device for exoskeleton robot and exoskeleton robot |
CN113352303A (en) * | 2021-07-03 | 2021-09-07 | 西北工业大学 | Wearable transport helping hand type ectoskeleton |
Families Citing this family (1)
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CN105835041B (en) * | 2016-05-23 | 2018-07-13 | 深圳先进技术研究院 | A kind of exoskeleton robot hip joint, exoskeleton robot and its control method |
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CN102327173A (en) * | 2011-09-29 | 2012-01-25 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
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 |
CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
CN103330635A (en) * | 2013-06-26 | 2013-10-02 | 中国科学院合肥物质科学研究院 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
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WO2010036791A1 (en) * | 2008-09-24 | 2010-04-01 | Berkeley Bionics | Hip and knee actuation systems for lower limb orthotic devices |
CN101623547A (en) * | 2009-08-05 | 2010-01-13 | 燕山大学 | Lower limb rehabilitation medical robot used for paralytic patient |
CN102327173A (en) * | 2011-09-29 | 2012-01-25 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
KR20130111763A (en) * | 2012-04-02 | 2013-10-11 | 유승현 | Walk assist apparatus |
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 |
CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
CN103330635A (en) * | 2013-06-26 | 2013-10-02 | 中国科学院合肥物质科学研究院 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
Cited By (46)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015177760A3 (en) * | 2014-05-23 | 2016-01-14 | Zhou Tiger | Unmanned drone, robot system for delivering mail, goods, humanoid security, crisis negotiation, mobile payments, smart humanoid mailbox and wearable personal exoskeleton heavy load flying machine |
CN104274299A (en) * | 2014-06-05 | 2015-01-14 | 长春工业大学 | Lower limb rehabilitation training device |
CN104042428A (en) * | 2014-06-27 | 2014-09-17 | 电子科技大学 | Adjusting device used for fixing lower limb exoskeleton robot and human body waist |
CN104068950B (en) * | 2014-07-23 | 2016-02-03 | 哈尔滨工业大学 | Single driving coordinated type lower limb assistance exoskeleton |
CN104068950A (en) * | 2014-07-23 | 2014-10-01 | 哈尔滨工业大学 | Single drive linkage type lower limb power assisting exoskeleton |
EP2995291A1 (en) * | 2014-09-10 | 2016-03-16 | Uprobots S. de R.L. de C.V. | Adjustable mechanical exoskeleton, for a biped animal with impaired bone and muscle |
CN104440884A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Hip-length-adjustable laborsaving device for human lower-limb exoskeleton robot |
CN104440884B (en) * | 2014-12-04 | 2015-10-28 | 电子科技大学 | A kind of hip adjustable length for human body lower limbs exoskeleton robot and work-saving device |
CN104523405A (en) * | 2014-12-05 | 2015-04-22 | 中国康复研究中心 | Energy storing type front-mounted rigid bracket walking aided exoskeleton |
CN104814822A (en) * | 2015-04-27 | 2015-08-05 | 电子科技大学 | Limiting structure for external skeletons |
CN104814822B (en) * | 2015-04-27 | 2016-07-13 | 电子科技大学 | The position limiting structure that a kind of ectoskeleton uses |
CN105167963A (en) * | 2015-07-13 | 2015-12-23 | 北京理工大学 | Waist adjusting device for exoskeleton robot |
CN104983542A (en) * | 2015-07-24 | 2015-10-21 | 天津科技大学 | Exoskeleton type auxiliary rehabilitation apparatus |
CN104983542B (en) * | 2015-07-24 | 2017-05-31 | 天津科技大学 | Exoskeleton-type rehabilitation servicing unit |
CN105030485A (en) * | 2015-09-18 | 2015-11-11 | 中国科学院自动化研究所 | Leg mechanism for lower limb rehabilitation training |
CN105362043A (en) * | 2015-12-14 | 2016-03-02 | 谭峰 | Lower limb movement assisting device |
CN105496735A (en) * | 2016-01-27 | 2016-04-20 | 郑凯 | Caterpillar-drive walking assisting exoskeleton |
CN105856190A (en) * | 2016-03-17 | 2016-08-17 | 西南交通大学 | Wearable handling assistor |
CN105856190B (en) * | 2016-03-17 | 2017-10-17 | 西南交通大学 | A kind of wearable carrying power assisting device |
CN106002950A (en) * | 2016-06-30 | 2016-10-12 | 张学衡 | Exoskeleton robot lower limb mechanism with adjustable length |
CN106142056A (en) * | 2016-08-15 | 2016-11-23 | 江苏大学 | A kind of portable hip joint servomechanism |
CN106426097A (en) * | 2016-10-26 | 2017-02-22 | 北京航空航天大学 | Exoskeleton assisting mechanism for lower limb |
CN106426097B (en) * | 2016-10-26 | 2018-06-15 | 北京航空航天大学 | A kind of lower limb exoskeleton servomechanism |
CN106691784A (en) * | 2016-12-02 | 2017-05-24 | 同济大学 | Wearable knee exoskeleton assist |
CN106956243A (en) * | 2017-03-06 | 2017-07-18 | 武汉大学 | A kind of bionical lower limb exoskeleton robot driven based on rope |
CN106956243B (en) * | 2017-03-06 | 2019-08-02 | 武汉大学 | A kind of bionical lower limb exoskeleton robot driven based on rope |
CN106859922A (en) * | 2017-03-13 | 2017-06-20 | 张萌 | A kind of lower limb assistance exoskeleton robot based on variable flexibility joint |
CN106965156A (en) * | 2017-03-30 | 2017-07-21 | 北京精密机电控制设备研究所 | A kind of integrated multiple degrees of freedom lower limb exoskeleton of auxiliary lightness |
CN107049715A (en) * | 2017-05-17 | 2017-08-18 | 山东科技大学 | A kind of assisted walk robot used suitable for medical rehabilitation, correction or training |
CN107049715B (en) * | 2017-05-17 | 2019-02-12 | 山东科技大学 | A kind of assisted walk robot used suitable for medical rehabilitation, correction or training |
CN107928996B (en) * | 2017-11-22 | 2023-10-31 | 上海理工大学 | Semi-passive light-weight lower limb exoskeleton |
CN107928996A (en) * | 2017-11-22 | 2018-04-20 | 上海理工大学 | A kind of semi-passive light-type lower limb exoskeleton |
CN108283568A (en) * | 2017-12-22 | 2018-07-17 | 北京精密机电控制设备研究所 | Wearable hip joint exoskeleton rehabilitation device |
CN108852755A (en) * | 2018-05-07 | 2018-11-23 | 天津科技大学 | Hip joint training device, knee joint training device and joint of lower extremity training system |
CN109330257A (en) * | 2018-09-06 | 2019-02-15 | 华中科技大学 | A kind of wearable ectoskeleton seat |
CN109318215A (en) * | 2018-12-06 | 2019-02-12 | 西安交通大学 | Waist exoskeleton robot |
CN111358669A (en) * | 2018-12-26 | 2020-07-03 | 北京大艾机器人科技有限公司 | Driving device for exoskeleton robot and exoskeleton robot |
CN111358669B (en) * | 2018-12-26 | 2023-07-14 | 北京大艾机器人科技有限公司 | Driving device for exoskeleton robot and exoskeleton robot |
CN109674626A (en) * | 2019-02-18 | 2019-04-26 | 清华大学 | Hip joint can outreach adduction dynamical type lower limb exoskeleton |
CN109648546B (en) * | 2019-02-25 | 2021-09-07 | 清华大学 | Adjustable light and thin exoskeleton knee joint driver |
CN109648546A (en) * | 2019-02-25 | 2019-04-19 | 清华大学 | Adjustable frivolous ectoskeleton knee joint driver |
CN110039516A (en) * | 2019-02-28 | 2019-07-23 | 中国科学院深圳先进技术研究院 | Ankle-joint bearing part and exoskeleton robot |
CN109834700A (en) * | 2019-02-28 | 2019-06-04 | 中国科学院深圳先进技术研究院 | Knee joint bearing part and exoskeleton robot |
CN110039516B (en) * | 2019-02-28 | 2022-03-25 | 中国科学院深圳先进技术研究院 | Ankle joint support member and exoskeleton robot |
CN113352303A (en) * | 2021-07-03 | 2021-09-07 | 西北工业大学 | Wearable transport helping hand type ectoskeleton |
CN113352303B (en) * | 2021-07-03 | 2022-08-09 | 西北工业大学 | Wearable transport helping hand type ectoskeleton |
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Effective date of registration: 20161201 Address after: 100083 Beijing city Haidian District Wangzhuang Road No. 1 Building No. 4 hospital room 0903 Patentee after: Sky Airlines (Beijing) Technology Co., Ltd. Address before: 100191 Haidian District, Xueyuan Road, No. 37, Patentee before: Beihang University |
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Effective date of registration: 20170308 Address after: 100176 Beijing economic and Technological Development Zone, Beijing, No. three sea road, No. 139, building C, room 1, block Patentee after: Beijing AI Robot Technology Co., Ltd. Address before: 100083 Beijing city Haidian District Wangzhuang Road No. 1 Building No. 4 hospital room 0903 Patentee before: Sky Airlines (Beijing) Technology Co., Ltd. |
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Denomination of invention: Wearable lower limb exoskeleton rehabilitation robot Effective date of registration: 20220325 Granted publication date: 20151118 Pledgee: Zhongguancun Beijing technology financing Company limited by guarantee Pledgor: BEIJING AI-ROBOTICS TECHNOLOGY Co.,Ltd. Registration number: Y2022990000174 |