CN104306137B - A kind of shipment at the wearable type lower limb power-assisting robot pulling in case - Google Patents
A kind of shipment at the wearable type lower limb power-assisting robot pulling in case Download PDFInfo
- Publication number
- CN104306137B CN104306137B CN201410515227.XA CN201410515227A CN104306137B CN 104306137 B CN104306137 B CN 104306137B CN 201410515227 A CN201410515227 A CN 201410515227A CN 104306137 B CN104306137 B CN 104306137B
- Authority
- CN
- China
- Prior art keywords
- shank
- connecting rod
- thigh
- lower limb
- servo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of case that pulls for the shipment of wearable type lower limb power-assisting robot, it is characterized in that arranging one and can be used for taking up and haul the portable body of wearable type lower limb power-assisting robot and the casing of the servo-actuated support elastic parts of shank of being removed stage makeup and costume, back at casing is provided with braces, in the different lateral location of casing, be respectively arranged with the first handle, the second handle, telescopic lever, castor and bracket, casing can utilize bracket support on support, and carries on the back in shoulders of human body by braces. The present invention may be implemented in a variety of ways user to being convenient for carrying and collecting of wearable type lower limb power-assisting robot, and meets better the daily routines such as walking and the stair activity nursing demand of mid-aged population.
Description
The application is that application number is: 2013102573605; The applying date is: on June 26th, 2013; Denomination of invention is: a kind of wearable type lower limb power-assisting robot, its method for folding and the divisional application that pulls case for loading and transporting.
Technical field
The present invention relates to a kind of case that pulls for the shipment of wearable type lower limb power-assisting robot, especially be applied to the mid-aged population daily life care applications that lower limb are weak or joint action is inconvenient to some extent, help it in the time of walking and stair activity, to expand the exercise ability of lower limbs, belong to nursing type power-assisting robot technical field.
Background technology
Along with Chinese society progresses into the aging population stage, increasing the elderly is degenerated by function of joint, osteoporosis, there is the aching and limp symptom such as weak of lower limb in the impact of the various factors such as leg muscle strain, the basic daily routines such as walking and stair activity are had a strong impact on, in order to solve this class problem, ensure the normal body motion of mid-aged population, except taking traditional physical training, Traditional Chinese health treatment, medicine equipment is auxiliary to be waited routinely outside way, develop power-assisting robot technology and become the most effective current Novel intelligent nursing intervention, wherein wearable type lower limb power-assisting robot technology is a class the closest with human body relation. have at present Shuo Jia research institution both at home and abroad and carried out the research to wearable type lower limb power-assisting robot technology, indivedual achievements in research have even been converted into launch and have sold, the power-assisted machinery of developing as Univ California-Berkeley takes the exoskeleton robot HAL that BLEEX and the Japanese Cybernics of University of tsukuba laboratory development go out, although feature richness and power-assisted are respond well, but the power source and the sensing equipment that adopt due to robot body are numerous, cause manufacturing cost high, lose cost performance, and because mechanism is complicated and device is heavy, make robot control difficulty large, the heavy burden sense that is worn on human body is stronger, portable poor, be difficult to penetration and promotion.
ZL201310034245.1 has reported " a kind of wearable lower limb exoskeleton assistant robot ", by ankle motion module, motion of knee joint module, hip joint motion module, driver module, several most of formations such as waist and support frame module, coordinate screw nut driven mechanism to drive each joint motions module by direct current generator, lower limb power-assisted while realizing human body walking, there is man-machine sports coordination good, the advantages such as compact conformation, but this robot overall setup is comparatively complicated heavy, lack cushioning and supporting device, make the heavy burden sense of human body wearing exoskeleton robot strong, also inconvenient user carrying robot.
ZL201020568411.8 has reported " a kind of human exoskeleton loaded walking aiding device driving with linear electric motors ", by backrest, hip joint parts, thigh parts, shank parts, anklebone parts, base plate, power supply, control device, the each several part such as sensor and drive unit forms, rotate by the each joint of straight-line electric cylinder telescopic drive human body lower limbs, thereby power-assisted is provided to the human body of the walking of bearing a heavy burden, there is volume little, energy consumption is low, be easy to the advantages such as control and low cost of manufacture, but because the shared axial dimension of linear electric motors self is large and retrained by shift motion, limit the scope of activities of joint of lower extremity, because all needing separate straight lines motor, each joint drives again, be unfavorable for the coordinated movement of various economic factors control of whole human body lower limbs, and this walking power assisting device does not possess portable function, affect user's routine use.
ZL201210370645.5 has reported a kind of " portable wearable lower limb rehabilitation and walk-aiding exoskeleton robot ", comprise the thigh support component connecting successively, knee components, shank support component and ankle-joint foot section, adopt motor to drive the mode of screw pair drivening rod to drive joint motions, there is volume light and handy, be applicable to dressing and portable advantage, but this robot does not possess sensing module and necessary tumble-preventing device for detection of human-machine interactive information and human motion attitude, both be unfavorable for that external bone robot implemented Based Intelligent Control, affect the harmony of man-machine interaction, reduce again the security that user uses this robot, moreover, the portable performance of this robot is only to have the detachable combination of convenient type between the each parts for composition leg mechanism, its process is comparatively time-consuming, and this robot self can not change portable body into, lack and specifically take up and delivery instrument, collection problem after unresolved user uses, therefore versatility is poor.
Summary of the invention
The present invention is for avoiding the existing weak point of above-mentioned prior art, a kind of case that pulls for the shipment of wearable type lower limb power-assisting robot is provided, this robot can effectively alleviate the heavy burden sense that is worn on human body, there is security performance high, man-machine harmony control is simple, servo-actuated power-assisted is effective, cost performance high, this robot can be changed into the portable body of compact conformation by its method for folding, coordinate the case that pulls for loading and transporting to may be implemented in a variety of ways user's being convenient for carrying and collecting this robot, to better meet the daily routines such as walking and the stair activity nursing demand of mid-aged population.
The present invention is that technical solution problem adopts following technical scheme:
The design feature of wearable type lower limb power-assisting robot of the present invention is to arrange:
One lower limb assistance mechanical device is, in the bilateral symmetry of wearable waistband, wearable power-assisted pedipulator is set; The left and right sides of described waistband is a fixed boss respectively, is fixedly installed a support at the rear side middle part of described waistband;
One servo-control system, comprise be fixedly installed on described support microcontroller above, be fixed on the lithium battery group of the bottom of support, prediction and alarm circuit is fallen down at the rear that the front that is fixed on the front side of described waistband falls down prediction and alarm circuit, be fixed on the rear side of waistband, and is fixedly installed on the manual manipulator on the boss of the waistband left and right sides;
The structure of described power-assisted pedipulator is set to:
The upper end of hip joint rotary stopper dish is articulated with the bottom of described boss, and connects firmly with the inner side of hip joint disk; The discoid top of large leg connecting rod connects firmly in the first axle, and described the first axle is supported on the inner side of described hip joint disk and can be rotated around the central axis of hip joint disk by the first rolling bearing and the second rolling bearing;
Knee joint rotary stopper dish connects firmly in the inner side of knee joint disk of lower end that is positioned at described large leg connecting rod; The body of DC servo reducing motor is fixedly mounted on the outside of knee joint disk; The discoid upper end of little leg connecting rod connects firmly on the output shaft of described DC servo reducing motor, and the output shaft of described DC servo reducing motor is supported on the central axis rotation of the inner side of described knee joint disk the joint disk of can staying with one's parents in order to make them happy by the 3rd rolling bearing and the 4th rolling bearing;
Ankle-joint rotary stopper dish connects firmly in the inner side of ankle-joint disk of lower end that is positioned at shank connecting rod; The discoid sidepiece of sole connects firmly in the second axle, and described the second axle is supported on the inner side of described ankle-joint disk and can be rotated around the central axis of ankle-joint disk by the 5th rolling bearing and the 6th rolling bearing;
The inner side of described large leg connecting rod is connected by thigh reciprocal force sensor and thigh bandage, is connected by shank reciprocal force sensor and shank bandage in the inner side of described little leg connecting rod; On described sole, be fixedly installed foot's bandage; Sole distributed pressure sensor is multi-disc and is fixedly installed on respectively on described sole;
Described thigh reciprocal force sensor is made up of the first front shroud, the first elastomer and the first back shroud; One side of described the first front shroud and described thigh bandage connect firmly, and a side of described the first back shroud and the inner side of described large leg connecting rod connect firmly, and described the first elastomer is connected between described the first front shroud and described the first back shroud; Be pasted with respectively four the first foil gauges of circumference uniform distribution in described the first elastomeric cross spring beam root and corresponding position, end;
Described shank reciprocal force sensor is made up of the second front shroud, the second elastomer and the second back shroud; One side of described the second front shroud and described shank bandage connect firmly, and a side of described the second back shroud and the inner side of described little leg connecting rod connect firmly, and described the second elastomer is connected between described the second front shroud and described the second back shroud; Be pasted with respectively four the second foil gauges of circumference uniform distribution in described the second elastomeric cross spring beam root and corresponding position, end;
The design feature of wearable type lower limb power-assisting robot of the present invention is also:
The servo-actuated support elastic parts of shank are set between described support and described little leg connecting rod, the servo-actuated support elastic parts of described shank are to be made up of the first cover for seat coaxially arranging and the first bar core, and described the first cover for seat and the first bar core can be movable relatively vertically each other under compression force; The upper end of described the first cover for seat is connected with ball pivot by " L " shape support and described support, and the lower end of described the first bar core is connected with ball pivot with the projection seat connecting firmly in described shank connecting rod outside;
The servo-actuated support elastic parts of foot are set between described sole and described little leg connecting rod, the servo-actuated support elastic parts of described foot are to be made up of the second cover for seat coaxially arranging and the second bar core, and described the second cover for seat and the second bar core can be movable relatively vertically each other under compression force; The lower end of described the second cover for seat is hinged with connecting firmly at the little free bearing at described sole rear portion, the upper end of described the second bar core be the end that cantilever connects firmly the small rack on described little leg connecting rod and be hinged.
The design feature of wearable type lower limb power-assisting robot of the present invention is also: foldable structure is set, be to be connecting rod and thigh lower link on thigh by described large leg connecting rod subsection setup, on described thigh, connecting rod is to be connected with thigh folding means folding with thigh lower link; Be connecting rod and shank lower link on shank by described shank connecting rod subsection setup, on described shank, connecting rod is to be connected with shank folding means folding with shank lower link;
The structure of described thigh folding means is set to: described thigh folding means is the four-bar linkage being made up of the first rod member, the second rod member, the 3rd rod member and the 4th rod member, described the first rod member connects firmly the bottom of connecting rod on described thigh, described the 4th rod member connects firmly on the top of described thigh lower link, and described the first rod member, the second rod member, the 3rd rod member and the 4th rod member successively head and the tail are hinged;
The structure of described shank folding means is set to: described shank folding means is by the first projection, the second projection and is arranged at respectively the screw rod of both sides before and after described shank connecting rod and forms, described the first projection connects firmly the bottom of connecting rod on described shank, and described the second projection connects firmly the top at described shank lower link; Described the first projection and the second projection are hinged along sidepiece central axis; Described screw rod respectively by the first projection and the second projection the two one of screw screw in or screw out another screw of answering in contrast.
The feature of the method for folding of wearable type lower limb power-assisting robot of the present invention is to carry out as follows:
A, servo-actuated described shank support elastic parts are unloaded from described power-assisted pedipulator, taking the line of centres of described large leg connecting rod and little leg connecting rod in the time overlapping position as original state, utilize described thigh folding means and shank folding means successively by the hinged center half-twist laterally of the upper end edge of described hip joint rotary stopper dish and described boss bottom;
B, by described power-assisted pedipulator at shank folding means place laterally to folded;
C, by described power-assisted pedipulator at thigh folding means place to the inside to folded; Obtain the portable body of wearable type lower limb power-assisting robot;
The present invention for the design feature that pulls case of loading and transporting described wearable type lower limb power-assisting robot is: arrange one and can be used for taking up and haul the portable body of the wearable type lower limb power-assisting robot described in claim and the casing of the servo-actuated support elastic parts of shank of being removed stage makeup and costume, back at described casing is provided with braces, in the different lateral location of described casing, be respectively arranged with the first handle, the second handle, telescopic lever, castor and bracket, described casing can utilize described bracket support on support, and carries on the back in shoulders of human body by described braces.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, performance safety of the present invention is reliable. Drive because wearable type lower limb power-assisting robot of the present invention adopts DC servo reducing motor at knee joint disk place, output torque is large, and control accuracy is high; Because having adopted thigh reciprocal force sensor and shank reciprocal force sensor, the present invention detects respectively the size and Orientation of man-machine interaction power again, can timely and accurately body motion information be judged and be predicted, be provided with sole distributed pressure sensor as the auxiliary perception obtaining means to real time human-machine interaction information simultaneously, make user in the time that wearing lower limb power-assisting robot of the present invention carries out autonomous and stair activity, there is steadily the speed of travel and stronger climbing capacity reliably; The present invention is structurally provided with hip joint rotary stopper dish, knee joint rotary stopper dish and ankle-joint rotary stopper dish, can prevent the skeleton damage causing because joint rotation angle is excessive; When user is about to face while falling down danger, the present invention can fall down prediction and alarm circuit by forward and backward side and produce in time alarm signal, user, with applying human intervention to correct the athletic posture of lower limb power-assisting robot by the setting of manual manipulator, makes it to produce the rational act that more meets user intent.
2, in the present invention, the structure of the servo-actuated support elastic parts of shank and foot arranges advantages of simple, under compression force, cover for seat and the bar core of the servo-actuated support elastic parts of shank and foot all can be movable relatively each other vertically, can be user enough auxiliary bearing capacities are provided in the time of walking or stair activity, coordinate the effectively health of supporting user of lower limb assistance mechanical device, improve the holistic resistant behavior of man-machine interactive system, reduce human body in the heavy burden sense of dressing in lower limb assistance mechanical device walking process, promoted man-machine harmony.
3, simple, the servo-actuated power-assisted of the man-machine coordination control of the present invention is effective. shank and foot servo-actuated support elastic parts realized respectively power-assisted pedipulator in the present invention to human hip, ankle-joint with electric boosting function, directly drive in the power-assisted process of human body knee joint rotation at the DC servo reducing motor at knee joint disk place, the servo-actuated support elastic parts of shank are in the rotation of passive matrix human hip, also played the effect of the above load of leg-supporting, select the servo-actuated support elastic parts of suitable shank can make it in the time of inactive state, just be compressed by load, produce reaction force and prop up load, thereby can make the load that human body bears effectively be passed to sole ground, in the time that human body is dressed lower limb power-assisting robot walking of the present invention, compression stress can be released again, promotion human hip rotates, in the time that both legs are walked jointly, the servo-actuated support elastic parts of a shank at hip joint place play carrying effect, the servo-actuated support elastic parts of another shank play a part to drive hip joint to rotate, the servo-actuated support elastic parts of two shanks of left and right leg hocket, and have effectively realized the coordinated movement of various economic factors of both legs.
4, portable performance practicality of the present invention, user collects conveniently. Because the present invention is provided with foldable structure, power-assisted pedipulator is provided with thigh folding means and shank folding means, and in the wearable type lower limb power-assisting robot course of work of the present invention, large leg connecting rod and little leg connecting rod are all in launching locking state completely; And after wearable type lower limb power-assisting robot of the present invention work completes, user can all be adjusted to maximum to overlapping state by large leg connecting rod and little leg connecting rod, hip joint disk, knee joint disk and ankle-joint disk place associated components are set simultaneously and rotate to proper angle, can make wearable type lower limb power-assisting robot of the present invention change the portable body of volume compact into, facilitate user to be inserted to pull in case take up, haul or collect; The casing back that pulls case due to the present invention is again provided with braces, in the different lateral location of casing, be respectively arranged with the first handle, the second handle, telescopic lever, castor and bracket, make user can select three kinds of different modes such as hand pulling type, portable or Backpack type to carry wearable type lower limb power-assisting robot of the present invention, better to adapt to different environments for use and occasion.
5, only there is an independent power source of DC servo reducing motor at knee joint disk place due to wearable type lower limb power-assisting robot of the present invention, coordinate shank and the servo-actuated support elastic parts of foot, realize the multi-functional such as active power-assisted and the servo-actuated power-assisted to human hip and ankle-joint to human body knee joint, therefore system energy consumption is low and cost performance is high.
6, the present invention can be applicable to the mid-aged population daily life care applications that lower limb are weak or joint action is inconvenient to some extent, help it in the time of walking and stair activity, to expand the exercise ability of lower limbs, for the sound general population of limb function, scientific investigation equipment when walking-replacing tool when the present invention also can be used as hiking or field exploration uses, and has wide commercial application prospect.
Brief description of the drawings
Fig. 1 is the overall frame for movement front view of the present invention;
Fig. 2 is the overall frame for movement rearview of the present invention;
Fig. 3 a is hip joint place partial sectional view in the present invention;
Fig. 3 b is knee joint place partial sectional view in the present invention;
Fig. 3 c is ankle partial sectional view in the present invention;
Fig. 4 a is thigh reciprocal force sensor place top view in the present invention;
Fig. 4 b is the A-A view of Fig. 4 a;
Fig. 5 a is shank reciprocal force sensor place top view in the present invention;
Fig. 5 b is the B-B view of Fig. 5 a;
Fig. 6 is that the present invention is worn on human body schematic diagram;
Fig. 7 is the folding rear portable pattern schematic figure of the present invention;
Fig. 8 a is the portable case closing lid structural representation that pulls in the present invention;
Fig. 8 b is the portable case cover-opening structure schematic diagram that pulls in the present invention;
Fig. 9 is that in the present invention, user utilizes the portable case haul lower limb power-assisting robot schematic diagram that pulls;
Figure 10 is thigh folding means structural representation in the present invention;
Figure 11 a is that in the present invention, thigh folding means is looked schematic diagram in launching locking state master completely;
Figure 11 b be in the present invention thigh folding means in launching locking state schematic side view completely;
Figure 12 is shank folding means structural representation in the present invention;
Figure 13 a is that in the present invention, shank folding means is looked schematic diagram in launching locking state master completely;
Figure 13 b be in the present invention shank folding means in launching locking state schematic side view completely;
Figure 14 a is the servo-actuated support elastic modular construction of shank schematic diagram in the present invention;
Figure 14 b is the servo-actuated support elastic modular construction of foot schematic diagram in the present invention;
Figure 15 is the second foil gauge distribution schematic diagram in the present invention.
Number in the figure: prediction and alarm circuit is fallen down in 1 front; 2 waistbands; 3 boss; 4 hip joint rotary stopper dishes; 5 hip joint disks; 6 thigh folding means; 7 large leg connecting rods; Connecting rod on 7A thigh; 7B thigh lower link; 8 DC servo reducing motors; 8A body; 8B output shaft; 9 knee joint rotary stopper dishes; 10 shank folding means; 11 little leg connecting rods; Connecting rod on 11A shank; 11B shank lower link; 12 ankle-joint disks; 13 soles; The discoid sidepiece of 13A; 14 foot's bandages; 15 sole distributed pressure sensors; Prediction and alarm circuit is fallen down at 16 rears; 17 supports; 18 microcontrollers; 19 lithium battery groups; 20 little free bearings; The 21 servo-actuated support elastic parts of foot; 21A the second cover for seat; 21B the second bar core; 22 small racks; 23 shank bandages; 24 shank reciprocal force sensors; 24A the second front shroud; 24B the second elastomer; 24C the second cover plate; 24D the second foil gauge; 25 projection seats; The servo-actuated support elastic parts of 26 shank; 26A the first cover for seat; 26B the first bar core; 27 thigh reciprocal force sensors; 27A the first front shroud; 27B the first elastomer; 27C the first back shroud; 27D the first foil gauge; 28 thigh bandages; 29 " L " shape support; 30 manual manipulators; 31 second rod members; 32 the 3rd rod members; 33 second projections; 34 first projections; 35 screw rods; 37 telescopic levers; 38 second handles; 42 first handles; 43 castors; 48 power-assisted pedipulators; 49 portable bodies; 50 first rod members; 51 the 4th rod members; 53 knee joint disks; 54 casings; 55 brackets; 56 braces; 57 first rolling bearings; 58 second rolling bearings; 59 first axles; 60 the 3rd rolling bearings; 61 the 4th rolling bearings; 62 the 5th rolling bearings; 63 the 6th rolling bearings; 64 second axles; 65 ankle-joint rotary stopper dishes.
Detailed description of the invention
The structure of the present embodiment wearable type lower limb power-assisting robot is set to:
Referring to Fig. 1, Fig. 2 and Fig. 6, lower limb assistance mechanical device is, in the bilateral symmetry of wearable waistband 2, wearable power-assisted pedipulator 48 is set; The left and right sides of waistband 2 is a fixed boss 3 respectively, is fixedly installed a support 17 at the rear side middle part of waistband 2; Power-assisted pedipulator 48 is bonded to human body shank and foot by thigh bandage 28, shank bandage 23 and foot's bandage 14 respectively, and waistband 2 is bonded to human body waist, and support 17 is for carrying and microcontroller 18, lithium battery group 19, bracket 55 and casing 54 are installed;
Servo-control system comprise be fixedly installed on support 17 microcontroller 18 above, be fixed on the lithium battery group 19 of the bottom of support 17, prediction and alarm circuit 16 is fallen down at the rear that the front that is fixed on the front side of waistband 2 falls down prediction and alarm circuit 1, be fixed on the rear side of waistband 2, and is fixedly installed on the manual manipulator 30 on waistband left and right sides boss 3, wherein, lithium battery group 19 is power sources of wearable type lower limb power-assisting robot system each several part, and takes general-purpose interface mode to be connected between wearable type lower limb power-assisting robot, microcontroller 18 drives DC servo reducing motor 8 by certain moving law rotation and output torque with drive pattern and the control algolithm of default, and the photoelectric encoder subsidiary according to DC servo reducing motor 8, thigh reciprocal force sensor 27, the human body sport parameter information that each sensing modules such as shank reciprocal force sensor 24 and sole distributed pressure sensor 15 detect, the real motion situation of real-time analysis lower limb power-assisting robot, and by analysis result immediate feedback to servo-control system self, to send command adapted thereto, the working condition of DC servo reducing motor 8 is regulated, form a closed-loop control system, embody the intelligent coordinated property of wearable type lower limb power-assisting robot to human body power-assisted, front is fallen down prediction and alarm circuit 1 and rear and is fallen down prediction and alarm circuit 16 and all comprise attitude detecting sensor and acceleration transducer, body posture information and limbs acceleration information while on the one hand human body being dressed to the walking of lower limb power-assisting robot detect in real time, in the time that detection information is tending towards abnormal, can send in time alarm signal on the other hand, microcontroller 18 sends command adapted thereto control DC servo reducing motor 8 thereupon and changes in time operating mode to prevent the generation of falling over of human body behavior, the setting of manual manipulator 30 can assisting users manual intervention wearable type lower limb power-assisting robot assistant mode, better to adapt to hommization operation.
The structure of power-assisted pedipulator 48 is set to:
As shown in Fig. 1 and Fig. 3 a, the upper end of hip joint rotary stopper dish 4 is articulated with the bottom of boss 3, and connects firmly with the inner side of hip joint disk 5; The discoid top of large leg connecting rod 7 connects firmly in the first axle 59, and the first axle 59 is supported on the inner side of hip joint disk 5 and can be rotated around the central axis of hip joint disk 5 by the first rolling bearing 57 and the second rolling bearing 58; Wherein, hip joint rotary stopper dish 4, for limiting the rotary moveable scope of large leg connecting rod 7 around human hip, prevents from, because the anglec of rotation is excessive, human hip is caused to damage.
As shown in Fig. 1 and Fig. 3 b, knee joint rotary stopper dish 9 connects firmly in the inner side of knee joint disk 53 of lower end that is positioned at thigh connecting rod 7; The body 8A of DC servo reducing motor 8 is fixedly mounted on the outside of knee joint disk 53; The discoid upper end of shank connecting rod 11 connects firmly on the output shaft 8B of DC servo reducing motor 8, and the output shaft 8B of DC servo reducing motor 8 is supported on the central axis rotation of the inner side of knee joint disk 53 the joint disk 53 of can staying with one's parents in order to make them happy by the 3rd rolling bearing 60 and the 4th rolling bearing 61; Wherein, DC servo reducing motor 8 is power set of wearable type lower limb power-assisting robot, specifically comprise the assemblies such as DC servo motor, precision speed reduction device and photoelectric encoder, the control instruction that can send according to servo-control system is exported torque according to certain rules, drive between large leg connecting rod 7 and shank connecting rod 11 and produce relative rotary motion, then drive the joint of staying with one's parents in order to make them happy between human body thigh and shank to produce relative rotary motion by being worn on thigh bandage 28 on human body and shank bandage 23, realize the active assist function of lower limb power-assisting robot to human body knee joint; Knee joint rotary stopper dish 9, for limiting the rotary moveable scope of shank connecting rod 11 around human body knee joint, prevents from, because the anglec of rotation is excessive, human body knee joint is caused to damage.
As shown in Fig. 1 and Fig. 3 c, ankle-joint rotary stopper dish 65 connects firmly in the inner side of ankle-joint disk 12 of lower end that is positioned at shank connecting rod 11; The discoid sidepiece 13A of sole 13 connects firmly in the second axle 64, and the second axle 64 is supported on the inner side of ankle-joint disk 12 and can be rotated around the central axis of ankle-joint disk 12 by the 5th rolling bearing 62 and the 6th rolling bearing 63; Wherein, ankle-joint rotary stopper dish 65, for limiting the rotary moveable scope of sole 13 around model of human ankle, prevents from, because the anglec of rotation is excessive, model of human ankle is caused to damage.
As depicted in figs. 1 and 2, the inner side of large leg connecting rod 7 is connected by thigh reciprocal force sensor 27 and thigh bandage 28, is connected by shank reciprocal force sensor 24 and shank bandage 23 in the inner side of shank connecting rod 11; Thigh reciprocal force sensor 27 and shank reciprocal force sensor 24 are tied up the optimal perceived position at human body shank people-machine touch interaction by thigh bandage 28 and shank bandage 23 respectively, be used for detecting the size and Orientation of man-machine interaction power, to timely and accurately body motion information is judged and predicted; On sole 13, be fixedly installed foot's bandage 14; Sole distributed pressure sensor 15 is multi-disc and is fixedly installed on respectively on sole 13, is used for comprehensive detection user real-time pressure information to sole 13 in the time dressing the walking of lower limb power-assisting robots, as the auxiliary perception obtaining means to human-machine interactive information.
As shown in Figure 1, Figure 2, shown in Fig. 4 a and Fig. 4 b, thigh reciprocal force sensor 27 is made up of the first front shroud 27A, the first elastomer 27B and the first back shroud 27C, a side and the thigh bandage 28 of the first front shroud 27A connect firmly, and a side of the first back shroud 27C connects firmly with the inner side of large leg connecting rod 7, and the first elastomer 27B is connected between the first front shroud 27A and the first back shroud 27C, when user is in the time dressing the walking of lower limb power-assisting robot, man-machine interaction power on thigh bandage 28 reaches on the first elastomer 27B by the first front shroud 27A, cause that strain occurs the first elastomer 27B, and then the resistance that causes the first foil gauge 27D changes, be pasted with respectively four the first foil gauge 27D of circumference uniform distribution in the cross spring beam root of the first elastomer 27B and corresponding position, end, thereby in orthogonal direction, form two groups of Hui Sitong bridge roads, be respectively used to measure two groups of strain values in mutually perpendicular direction, and then can detect respectively along thigh direction and perpendicular to the man-machine interaction power size in thigh direction, the first back shroud 27C is used for the first foil gauge 27D and magnification circuit plate to carry out seal protection on the one hand, is used on the other hand associated lead to be fixed.
As shown in Figure 1, Figure 2, shown in Fig. 5 a and Fig. 5 b, shank reciprocal force sensor 24 is made up of the second front shroud 24A, the second elastomer 24B and the second back shroud 24C, a side and the shank bandage 23 of the second front shroud 24A connect firmly, and a side of the second back shroud 24C and the inner side of shank connecting rod 11 connect firmly, and the second elastomer 24B is connected between the second front shroud 24A and the second back shroud 24C, when user is in the time dressing the walking of lower limb power-assisting robot, man-machine interaction power on shank bandage 23 reaches on the second elastomer 24B by the second front shroud 24A, cause that strain occurs the second elastomer 24B, and then the resistance that causes the second foil gauge 24D changes, be pasted with respectively four the second foil gauge 24D of circumference uniform distribution in the cross spring beam root of the second elastomer 24B and corresponding position, end, thereby in orthogonal direction, form two groups of Hui Sitong bridge roads, be respectively used to measure two groups of strain values in mutually perpendicular direction, and then can detect respectively along shank direction and perpendicular to the man-machine interaction power size in shank direction, the second back shroud 24C is used for the second foil gauge 24D and magnification circuit plate to carry out seal protection on the one hand, is used on the other hand associated lead to be fixed, and as shown in figure 15, the first foil gauge 27D has identical distribution form with the second foil gauge 24D.
In concrete enforcement, corresponding structure setting also comprises:
As shown in Figure 1, Figure 2 with shown in Figure 14 a, the servo-actuated support elastic parts 26 of shank are set between support 17 and shank connecting rod 11, the servo-actuated support elastic parts 26 of shank are to be made up of the first cover for seat 26A coaxially arranging and the first bar core 26B, and the first cover for seat 26A and the first bar core 26B can be movable relatively vertically each other under compression force; The upper end of the first cover for seat 26A is connected with ball pivot by " L " shape support 29 and support 17, and the lower end of the first bar core 26B is connected with ball pivot with connecting firmly in the projection seat 25 in shank connecting rod 11 outsides; Wherein, shank servo-actuated support elastic parts 26 realized wearable type lower limb power-assisting robot to human hip with electric boosting function, in the rotation of passive matrix human hip, also played the effect of the above load of leg-supporting, select the servo-actuated support elastic parts 26 of suitable shank can make it in the time of inactive state, just be compressed by load, produce reaction force and prop up load, thereby can make the load that human body bears effectively be passed to sole ground, in the time that human body is dressed the walking of lower limb power-assisting robot, compression stress can be released again, promotes human hip and rotates; In the time that both legs are walked jointly, the servo-actuated support elastic parts 26 of a shank at hip joint place play carrying effect, the servo-actuated support elastic parts 26 of another shank play a part to drive hip joint to rotate, the servo-actuated support elastic parts 26 of two shanks of left and right leg hocket, effectively realize the coordinated movement of various economic factors of both legs, reduce user in the heavy burden sense of dressing in lower limb assistance mechanical device walking process, promoted man-machine harmony.
As shown in Figure 1, Figure 2 with shown in Figure 14 b, the servo-actuated support elastic parts 21 of foot are set between sole 13 and shank connecting rod 11, the servo-actuated support elastic parts 21 of foot are to be made up of the second cover for seat 21A coaxially arranging and the second bar core 21B, and the second cover for seat 21A and the second bar core 21B can be movable relatively vertically each other under compression force; The lower end of the second cover for seat 21A is hinged with connecting firmly at the little free bearing 20 at sole 13 rear portions, the upper end of the second bar core 21B be the end that cantilever connects firmly the small rack 22 on shank connecting rod 11 and be hinged; Wherein, foot servo-actuated support elastic parts 21 realized wearable type lower limb power-assisting robot to model of human ankle with electric boosting function, in the rotation of passive matrix model of human ankle, also played the effect of supporting the above load of foot, select the servo-actuated support elastic parts 21 of suitable foot can make it in the time of inactive state, just be compressed by load, produce reaction force and prop up load, thereby can make the load that human body bears effectively be passed to sole ground, in the time that human body is dressed the walking of lower limb power-assisting robot, compression stress can be released again, promotes model of human ankle and rotates; The servo-actuated support elastic parts 21 of foot match with the servo-actuated support elastic parts 26 of shank, jointly play servo-actuated power-assisted, motion buffering and supplemental support effect to human body lower limbs; Here, the way of realization of the servo-actuated support elastic parts 26 of shank or the servo-actuated support elastic parts 21 of foot can be air spring, can be also the large stroke linear Compress Spring of tape guide cylinder.
As shown in Figure 1, it is to be connecting rod 7A and thigh lower link 7B on thigh by large leg connecting rod 7 subsection setups that foldable structure is set, and on thigh, connecting rod 7A is to be connected with thigh folding means 6 foldings with thigh lower link 7B; Be connecting rod 11A and shank lower link 11B on shank by shank connecting rod 11 subsection setups, on shank, connecting rod 11A is to be connected with shank folding means 10 foldings with shank lower link 11B; Thigh folding means 6 and shank folding means 10 can be used to lower limb assistance mechanical device to launch locking or folding packing up, and be convenient to user lower limb power-assisting robot is carried out to function switching between wearing work and collection are carried.
As shown in Figure 10, Figure 11 a and Figure 11 b, the structure of thigh folding means 6 is set to: thigh folding means 6 is the four-bar linkages that are made up of the first rod member 50, the second rod member 31, the 3rd rod member 32 and the 4th rod member 51, the first rod member 50 connects firmly the bottom of connecting rod 7A on thigh, the 4th rod member 51 connects firmly on the top of thigh lower link 7B, and the first rod member 50, the second rod member 31, the 3rd rod member 32 and the 4th rod member 51 successively head and the tail are hinged; Now each hinged center is designated as to E1, E2, E3 and E4 successively, if slightly firmly pull the end coupler body of the 3rd rod member 32, make E1, E2, E3 three point on a straight line and meet the position of E1 between E2 and E3, this four-bar linkage is in dead point duty, just the first rod member 50 and the 4th rod member 51 can be clamped fasteningly, and the end coupler body of oppositely pulling the 3rd rod member 32 can be removed the clamp position to the first rod member 50 and the 4th rod member 51; Therefore, user can realize expansion locking to large leg connecting rod 7 by the action of reasonable operation thigh folding means 6 or very easily to azido functional.
As shown in Figure 12, Figure 13 a and Figure 13 b, the structure of shank folding means 10 is set to: shank folding means 10 is to be made up of the first projection 34, the second projection 33 and the screw rod 35 that is arranged at respectively shank connecting rod 11 both sides, front and back, the first projection 34 connects firmly the bottom of connecting rod 11A on shank, and the second projection 33 connects firmly the top at shank lower link 11B; The first projection 34 and the second projection 33 are hinged along sidepiece central axis; Screw rod 35 respectively by the first projection 34 and the second projection 33 the two one of screw screw in or screw out another screw of answering in contrast; When manual adjustment the first projection 34 and the second projection 33 along the angle at hinged center until screw rod 35 with corresponding another screw during in coaxial position, twist respectively the screw rod 35 of shank connecting rod 11 both sides, front and back until the deep-seated that engagement enters in another screw of answering is in contrast put, the first projection 34 and the second projection 33 can be fastenedly connected; Oppositely twist respectively the screw rod 35 of shank connecting rod 11 both sides, front and back until the deep-seated from another screw of answering is in contrast put exits completely, can remove the state that is fastenedly connected of the first projection 34 and the second projection 33; Therefore, user can realize expansion locking to shank connecting rod 11 by the action of reasonable operation shank folding means 10 or very easily to azido functional.
As shown in Figure 6 and Figure 7, the method for folding of wearable type lower limb power-assisting robot carries out as follows:
1, servo-actuated shank support elastic parts 26 are unloaded from power-assisted pedipulator 48, taking the line of centres of large leg connecting rod 7 and shank connecting rod 11 in the time overlapping position as original state, utilize thigh folding means 6 and shank folding means 10 successively by the hinged center half-twist laterally of the upper end edge of hip joint rotary stopper dish 4 and boss 3 bottoms;
2, by power-assisted pedipulator 48 at shank folding means 10 places laterally to folded;
3, by power-assisted pedipulator 48 at thigh folding means 6 places to the inside to folded; Obtain the portable body 49 of wearable type lower limb power-assisting robot;
As shown in Fig. 6, Fig. 7, Fig. 8 a, Fig. 8 b and Fig. 9, be provided for loading and transporting the case that pulls of wearable type lower limb power-assisting robot, be to arrange one to can be used for taking up and haul the portable body 49 of wearable type lower limb power-assisting robot and the casing 54 of the servo-actuated support elastic parts 26 of shank of being removed stage makeup and costume, wherein the space three-dimensional size of casing 54 should adapt with the appearance and size of portable body 49 and volume; Be provided with braces 56 at the back of casing 54, in the different lateral location of casing 54, be respectively arranged with the first handle 42, the second handle 38, telescopic lever 37, castor 43 and bracket 55; The structure set-up mode of casing 54 had both been convenient to user and is selected three kinds of different modes such as hand pulling type, portable or Backpack type to carry wearable type lower limb power-assisting robot, was conducive to again user in the time not using wearable type lower limb power-assisting robot, it is collected; In the wearable type lower limb power-assisting robot course of work, the casing 54 of interior sky is carried on the back in shoulders of human body by braces 56 on the one hand, utilize on the other hand bracket 55 to be supported on support 17, the overwhelming majority load that now casing 54 is applied on human body is carried by the servo-actuated support elastic parts 26 of shank, has effectively reduced human body in the heavy burden sense of dressing in lower limb assistance mechanical device walking process; And after wearable type lower limb power-assisting robot end-of-job, the casing 54 that user can be equipped with inside portable body 49 like a cork by telescopic lever 37 pulls delivery; And when running into while being not suitable for terrain environment that hand pulling type carries, the casing 54 that user can be equipped with portable body 49 by inside by the first handle 42 or the second handle 38 carries out portable carrying, and also can carry out Backpack type by braces 56 to carry; In a word, by above three kinds of different carrying modes, can make user better adapt to different environments for use and occasion.
The wearable type lower limb power-assisting robot of present embodiment can be applicable to the mid-aged population daily life care applications that lower limb are weak or joint action is inconvenient to some extent, help it in the time of walking and stair activity, to expand the exercise ability of lower limbs, for the sound general population of limb function, scientific investigation equipment when walking-replacing tool when the wearable type lower limb power-assisting robot of present embodiment also can be used as hiking or field exploration uses, the locomitivity of carrying weight while helping it to strengthen walking, improve limit of sports record, sense lessens fatigue; The wearable type lower limb power-assisting robot energy consumption of present embodiment is low and cost performance is high, has wide commercial application prospect.
Claims (2)
1. can load and transport at the wearable type lower limb power-assisting robot pulling in case, it is characterized in that:
Setting pulls case: have a portable body (49) that can be used for taking up and hauling described wearable type lower limb power-assisting robotCasing (54) with the servo-actuated support elastic parts of the shank of being removed stage makeup and costume (26), is provided with braces (56) at the back of described casing (54),In the different lateral location of described casing (54), be respectively arranged with the first handle (42), the second handle (38), telescopic lever (37),Castor (43) and bracket (55), it is upper that described casing (54) can utilize described bracket (55) to be supported on support (17), and pass throughDescribed braces (56) is carried on the back in shoulders of human body;
The structure of described wearable type lower limb power-assisting robot is set to:
One lower limb assistance mechanical device is, in the bilateral symmetry of wearable waistband (2), wearable power-assisted pedipulator (48) is set;The left and right sides of described waistband (2) is a fixed boss (3) respectively, is fixedly installed one at the rear side middle part of described waistband (2)Frame (17);
One servo-control system, comprise be fixedly installed on described support (17) microcontroller (18) above, be fixed on support(17) the lithium battery group (19) of bottom, the front that is fixed on the front side of described waistband (2) fall down prediction and alarm circuit (1),Prediction and alarm circuit (16) is fallen down at the rear that is fixed on the rear side of waistband (2), and is fixedly installed on waistband left and right sides boss (3)On manual manipulator (30);
The structure of described power-assisted pedipulator (48) is set to:
The upper end of hip joint rotary stopper dish (4) is articulated with the bottom of described boss (3), and with hip joint disk (5) inSide connects firmly; The discoid top of large leg connecting rod (7) connects firmly in the first axle (59) upper, and described the first axle (59) is by theOne rolling bearing (57) and the second rolling bearing (58) are supported on the inner side of described hip joint disk (5) and can justify around hip jointThe central axis rotation of dish (5);
Knee joint rotary stopper dish (9) connects firmly and is being positioned at the knee joint disk (53) of lower end of described large leg connecting rod (7)Side; The body (8A) of DC servo reducing motor (8) is fixedly mounted on the outside of knee joint disk (53); Little leg connecting rod (11)Discoid upper end connect firmly at the output shaft (8B) of described DC servo reducing motor (8) upper, the described DC servo electricity that slows downThe output shaft (8B) of machine (8) is supported on described knee joint circle by the 3rd rolling bearing (60) and the 4th rolling bearing (61)The central axis rotation of the inner side of dish (53) the joint disk (53) of can staying with one's parents in order to make them happy;
Ankle-joint rotary stopper dish (65) connects firmly in the inner side of ankle-joint disk (12) of lower end that is positioned at shank connecting rod (11);The discoid sidepiece (13A) of sole (13) connects firmly in the second axle (64) upper, and described the second axle (64) is rolled by the 5thDynamic bearing (62) and the 6th rolling bearing (63) be supported on described ankle-joint disk (12) inner side and can be around ankle-joint disk(12) central axis rotation;
The inner side of described large leg connecting rod (7) is connected by thigh reciprocal force sensor (27) and thigh bandage (28), describedThe inner side of little leg connecting rod (11) is connected by shank reciprocal force sensor (24) and shank bandage (23); In described sole (13)On be fixedly installed foot's bandage (14); Sole distributed pressure sensor (15) is multi-disc and is fixedly installed on respectively described sole (13)On;
Described thigh reciprocal force sensor (27) is by the first front shroud (27A), the first elastomer (27B) and the first back shroud (27C)Composition; One side of described the first front shroud (27A) and described thigh bandage (28) connect firmly, described the first back shroud (27C)A side and the inner side of described large leg connecting rod (7) connect firmly, described the first elastomer (27B) is connected in described the first front shroud (27A)And between described the first back shroud (27C); In the corresponding position of cross spring beam root and end of described the first elastomer (27B)The place of putting is pasted with respectively four first foil gauges (27D) of circumference uniform distribution;
Described shank reciprocal force sensor (24) is by the second front shroud (24A), the second elastomer (24B) and the second back shroud (24C)Composition; One side of described the second front shroud (24A) and described shank bandage (23) connect firmly, described the second back shroud (24C)A side and the inner side of described little leg connecting rod (11) connect firmly, described the second elastomer (24B) is connected in described the second front shroud (24A)And between described the second back shroud (24C); In the corresponding position of cross spring beam root and end of described the second elastomer (24B)The place of putting is pasted with respectively four second foil gauges (24D) of circumference uniform distribution;
Foldable structure is set, and is to be connecting rod on thigh (7A) and thigh lower link (7B) by described large leg connecting rod (7) subsection setup,Connecting rod on described thigh (7A) is to be connected with thigh folding means (6) folding with thigh lower link (7B); By described littleLeg connecting rod (11) subsection setup is connecting rod on shank (11A) and shank lower link (11B), connecting rod on described shank (11A)To be connected with shank folding means (10) folding with shank lower link (11B);
The structure of described thigh folding means (6) is set to: described thigh folding means (6) is by the first rod member (50),The four-bar linkage that two rod members (31), the 3rd rod member (32) and the 4th rod member (51) form, described the first rod member (50)Connect firmly the bottom of connecting rod on described thigh (7A), described the 4th rod member (51) connects firmly at described thigh lower link (7B)Top, described the first rod member (50), the second rod member (31), the 3rd rod member (32) and the 4th rod member (51) be head and the tail hinge successivelyConnect;
The structure of described shank folding means (10) is set to: described shank folding means (10) be by the first projection (34),The second projection (33) and the screw rod (35) that is arranged at respectively both sides before and after described little leg connecting rod (11) form, described first protrudingPiece (34) connects firmly the bottom of connecting rod on described shank (11A), and described the second projection (33) connects firmly at described shank lower link(11B) top; Described the first projection (34) is hinged along sidepiece central axis with the second projection (33); Described screw rod (35)Respectively by the first projection (34) and the second projection (33) the two one of screw screw in or screw out another spiral shell of answering in contrastHole;
Described wearable type lower limb power-assisting robot, it arranges shank between described support (17) and described little leg connecting rod (11)Servo-actuated support elastic parts (26), the servo-actuated support elastic parts of described shank (26) are by the first cover for seat (26A) coaxially arrangingForm with the first bar core (26B), described the first cover for seat (26A) and the first bar core (26B) be mutual edge under compression forceAxially can be movable relatively; The upper end of described the first cover for seat (26A) by " L " shape support (29) and described support (17) with ballHinge is connected, the lower end of described the first bar core (26B) with connect firmly projection seat (25) in described little leg connecting rod (11) outside with ball pivotBe connected;
Between described sole (13) and described little leg connecting rod (11), the servo-actuated support elastic parts of foot (21) are set, described pinThe servo-actuated support elastic parts of portion (21) are to be made up of the second cover for seat (21A) coaxially arranging and the second bar core (21B), described inThe second cover for seat (21A) and the second bar core (21B) can be movable relatively vertically each other under compression force; Described secondThe lower end of cover (21A) is hinged with connecting firmly at the little free bearing (20) at described sole (13) rear portion, described the second bar core (21B)Upper end be the end that cantilever connects firmly the small rack (22) on described little leg connecting rod (11) and be hinged.
2. can load and transport according to claim 1 at the wearable type lower limb power-assisting robot pulling in case, it is characterized in that: described in wearWearing type lower limb power-assisting robot folds as follows:
A, servo-actuated described shank support elastic parts (26) are unloaded from described power-assisted pedipulator (48), connect with described thighBar (7) is original state with the line of centres of little leg connecting rod (11) in the time overlapping position, utilizes described thigh folding partPart (6) and shank folding means (10) are successively by the upper end edge of described hip joint rotary stopper dish (4) and described boss (3)The hinged center half-twist laterally of bottom;
B, described power-assisted pedipulator (48) is located laterally folded at shank folding means (10);
C, described power-assisted pedipulator (48) is located to the inside folded at thigh folding means (6); Obtain wearable type lower limb power-assistedThe portable body (49) of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410515227.XA CN104306137B (en) | 2013-06-26 | 2013-06-26 | A kind of shipment at the wearable type lower limb power-assisting robot pulling in case |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310257360.5A CN103330635B (en) | 2013-06-26 | 2013-06-26 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
| CN201410515227.XA CN104306137B (en) | 2013-06-26 | 2013-06-26 | A kind of shipment at the wearable type lower limb power-assisting robot pulling in case |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310257360.5A Division CN103330635B (en) | 2013-06-26 | 2013-06-26 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104306137A CN104306137A (en) | 2015-01-28 |
| CN104306137B true CN104306137B (en) | 2016-05-25 |
Family
ID=49238889
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410515251.3A Expired - Fee Related CN104257490B (en) | 2013-06-26 | 2013-06-26 | A kind of method for folding of wearable type lower limb power-assisting robot |
| CN201310257360.5A Active CN103330635B (en) | 2013-06-26 | 2013-06-26 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
| CN201410515227.XA Expired - Fee Related CN104306137B (en) | 2013-06-26 | 2013-06-26 | A kind of shipment at the wearable type lower limb power-assisting robot pulling in case |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410515251.3A Expired - Fee Related CN104257490B (en) | 2013-06-26 | 2013-06-26 | A kind of method for folding of wearable type lower limb power-assisting robot |
| CN201310257360.5A Active CN103330635B (en) | 2013-06-26 | 2013-06-26 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN104257490B (en) |
Families Citing this family (66)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103735386B (en) * | 2013-11-15 | 2015-11-18 | 北京航空航天大学 | Wearable lower limb exoskeleton rehabilitation robot |
| CN103610569B (en) * | 2013-11-28 | 2015-12-09 | 中山大学 | A kind of wearable lower limb power assisting device and control method thereof |
| CN103610568B (en) * | 2013-12-16 | 2015-05-27 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| CN103750843B (en) * | 2014-01-10 | 2016-04-06 | 北京工业大学 | Human body motion capture device in joint space |
| TWI556809B (en) | 2014-03-27 | 2016-11-11 | 財團法人工業技術研究院 | Walking assist device |
| CN104000708B (en) * | 2014-06-19 | 2016-11-16 | 陕西科技大学 | A kind of running gear assisting upper and lower stair |
| CN104013514B (en) * | 2014-06-19 | 2017-02-15 | 中国北方车辆研究所 | Hydraulically-driven wearable human body assisting walking robot |
| CN104083268B (en) * | 2014-07-15 | 2017-02-08 | 陕西鑫带路电子科技有限公司 | Wearable intelligent hemiplegia lower limb rehabilitation training robot |
| CN104224498B (en) * | 2014-09-24 | 2016-04-20 | 哈尔滨工业大学 | A kind of exoskeleton robot system and the control method based on kinesiology end point detection |
| CN104188675B (en) * | 2014-09-24 | 2016-04-20 | 哈尔滨工业大学 | There is exoskeleton robot system and the control method of human motion measuring ability |
| CN104470305A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Circuit board position adjusting device for human body 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 |
| CN104490563A (en) * | 2014-12-25 | 2015-04-08 | 电子科技大学 | Pneumatic muscle based intelligent wearable lower limb |
| CN104814822B (en) * | 2015-04-27 | 2016-07-13 | 电子科技大学 | The position limiting structure that a kind of ectoskeleton uses |
| CN104879343A (en) * | 2015-06-24 | 2015-09-02 | 中国北方车辆研究所 | Hydrocylinder used for human-assisted walking mechanism |
| CN105055126B (en) * | 2015-07-24 | 2017-03-01 | 黄河科技学院 | The rotational support mechanism of powder actuated joint of the lower extremity decompressor |
| CN104983543B (en) * | 2015-07-29 | 2016-08-24 | 张士勇 | A kind of Intelligent lower limb rehabilitation training aids |
| CN105213156B (en) | 2015-11-05 | 2018-07-27 | 京东方科技集团股份有限公司 | A kind of power exoskeleton and its control method |
| CN105662780B (en) * | 2016-01-12 | 2018-03-20 | 武汉理工大学 | A kind of lower limb power-assisted KAFO |
| CN105686931A (en) * | 2016-04-01 | 2016-06-22 | 彭传新 | Walking assisting device |
| CN105726264B (en) * | 2016-04-25 | 2017-12-26 | 合肥工业大学 | A kind of healthy image training robot |
| CN105795649A (en) * | 2016-05-13 | 2016-07-27 | 上海酷哇机器人有限公司 | Traveling case and front case cover thereof |
| CN106181966A (en) * | 2016-07-01 | 2016-12-07 | 河海大学常州校区 | Lower limb power-assisted mechanical exoskeleton |
| CN106217352A (en) * | 2016-08-17 | 2016-12-14 | 尖叫智能科技（上海）有限公司 | Exoskeleton robot gait control method based on pressure transducer |
| CN106236518B (en) * | 2016-08-31 | 2018-08-14 | 中国科学院深圳先进技术研究院 | Exoskeleton robot line winding driving hip joint |
| CN106239484A (en) * | 2016-09-23 | 2016-12-21 | 北京灵铱科技有限公司 | A kind of wearable lower limb walking ESD |
| CN106344355B (en) * | 2016-10-28 | 2017-07-18 | 广州初曲科技有限公司 | A kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function |
| JP6650384B2 (en) * | 2016-11-02 | 2020-02-19 | 本田技研工業株式会社 | Motion assist device |
| CN106695760B (en) * | 2016-12-16 | 2018-11-09 | 江苏大学 | A kind of whole body ectoskeleton power-assisting robot for assisting carrying |
| CN107127736B (en) * | 2017-03-29 | 2020-02-21 | 艾施科（杭州）科技有限公司 | Exoskeleton device with human hip assistance function |
| CN107115191A (en) * | 2017-04-27 | 2017-09-01 | 北京航空航天大学 | A kind of leg device with interaction measurement of force suitable for lower limb rehabilitation exoskeleton robot |
| CN107116535A (en) * | 2017-05-22 | 2017-09-01 | 合肥工业大学 | Ectoskeleton power assisting device |
| CN107414789B (en) * | 2017-05-24 | 2020-03-24 | 同济大学 | Closed hydraulic transmission wearable leg power assisting device |
| CN109223449A (en) * | 2017-07-10 | 2019-01-18 | 郑州大学 | A kind of lower limb assisted walk device of band support |
| CN107243889A (en) * | 2017-07-21 | 2017-10-13 | 安徽新华学院 | Heavy burden exoskeleton robot |
| CN107414799A (en) * | 2017-09-06 | 2017-12-01 | 四川拜赛特高新科技有限公司 | A kind of unpowered power-assisting robot screwed on |
| CN107802461A (en) * | 2017-11-15 | 2018-03-16 | 北京林业大学 | A kind of wearable single lower limb intelligence assistance exoskeleton and its control method |
| CN107753246B (en) * | 2017-11-25 | 2020-06-23 | 包梓扬 | Anti-falling auxiliary device |
| CN108309593B (en) * | 2018-02-22 | 2019-12-03 | 哈尔滨工业大学 | A kind of sufficient isomorphism deformation type wheelchair exoskeleton robot of wheel |
| US11135122B2 (en) | 2018-05-14 | 2021-10-05 | Human In Motion Robotics Inc. | Self-supported device for guiding motions of a passive target system |
| CN108942885B (en) * | 2018-07-23 | 2021-08-27 | 东北大学 | Wearable lower limb exoskeleton robot with hip joints |
| CN109528439A (en) * | 2018-09-29 | 2019-03-29 | 杭州瑞必莅机器人科技有限公司 | A kind of rush general formula knee joint bends and stretches function rehabilitation training device |
| CN109528444A (en) * | 2018-12-05 | 2019-03-29 | 常州市钱璟康复股份有限公司 | A kind of lower limbs of children dyskinesia intelligent trainer |
| CN109718065B (en) * | 2018-12-13 | 2024-04-26 | 上海电子信息职业技术学院 | Mobile booster |
| CN109752131B (en) * | 2019-02-27 | 2020-11-13 | 北京理工大学 | Two-dimensional force measuring device and method for exoskeleton robot |
| KR102681454B1 (en) * | 2019-04-02 | 2024-07-04 | 현대자동차주식회사 | Seating support device of wearable chair |
| CN110292506B (en) * | 2019-06-06 | 2021-05-18 | 西南交通大学 | Auxiliary exercise system and lower limb exoskeleton control method |
| CN110584945B (en) * | 2019-09-20 | 2021-08-10 | 杨慧 | Rehabilitation training device for fixing hip and shoulder of cerebral palsy patient |
| CN110812154B (en) * | 2019-11-28 | 2022-04-12 | 温州市坤元电气制造有限公司 | 3D manipulator for massage |
| CN111759682B (en) * | 2020-07-14 | 2023-03-28 | 北方工业大学 | Unpowered human body lower limb assistance exoskeleton device |
| CN111773038B (en) * | 2020-08-06 | 2022-04-15 | 长春工业大学 | Novel lower limb rehabilitation exoskeleton robot and control method |
| CN111938996A (en) * | 2020-08-24 | 2020-11-17 | 四川大学华西医院 | Auxiliary rehabilitation equipment for lower limb paralysis patient |
| CN112060060B (en) * | 2020-09-22 | 2024-02-13 | 南京理工大学 | Active and passive hybrid driven lower limb power-assisted exoskeleton robot and control method |
| CN112388617B (en) * | 2020-12-02 | 2021-10-12 | 浙江理工大学 | Lower limb exoskeleton robot |
| CN112451321A (en) * | 2020-12-03 | 2021-03-09 | 张琳 | Traditional Chinese medicine orthopedic lower limb fracture auxiliary walking device and use method thereof |
| CN112937719B (en) * | 2021-02-05 | 2021-09-10 | 重庆工程职业技术学院 | Walking robot shank structure |
| CN113547505B (en) * | 2021-06-18 | 2023-02-28 | 迈宝智能科技(苏州)有限公司 | Highly integrated load-bearing lower limb leg control module |
| CN113771005B (en) * | 2021-08-12 | 2023-04-18 | 重庆交通大学 | Wearable follow-up control electric drive power-assisted exoskeleton device |
| CN114029928B (en) * | 2021-08-12 | 2023-05-05 | 重庆交通大学 | Follow-up bionic multi-rod virtual wearable hip joint |
| CN113771004B (en) * | 2021-08-12 | 2023-04-18 | 重庆交通大学 | Wearable follow-up power-assisted exoskeleton body posture control device |
| CN113601489B (en) * | 2021-10-11 | 2021-12-28 | 北京动思创新科技有限公司 | Hip joint assistance exoskeleton |
| CN114043453B (en) * | 2021-10-27 | 2023-07-28 | 中国船舶集团有限公司第七一六研究所 | Three-stage limiting supported passive wearable lower limb exoskeleton robot |
| CN114770457A (en) * | 2022-04-20 | 2022-07-22 | 天津大学医疗机器人与智能系统研究院 | Manipulator and slave operation end using same |
| CN115070741B (en) * | 2022-08-23 | 2022-11-01 | 广东工业大学 | Adjustable boosting type mechanical connecting piece |
| CN115435828A (en) * | 2022-09-13 | 2022-12-06 | 清华大学 | Posture changing device and multi-posture dummy model |
| CN116509690B (en) * | 2023-06-28 | 2024-01-26 | 四川省骨科医院(成都体育医院、成都运动创伤研究所) | Auxiliary walking device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101786478A (en) * | 2010-02-23 | 2010-07-28 | 华东理工大学 | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure |
| US8348875B2 (en) * | 2008-10-13 | 2013-01-08 | Argo Medical Technologies Ltd. | Locomotion assisting device and method |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| JP2013090844A (en) * | 2011-10-26 | 2013-05-16 | Toyota Motor Corp | Walking assist device and method for controlling the same |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2166657Y (en) * | 1993-04-26 | 1994-06-01 | 陈首卯 | Multi-function combination type hand trunk |
| KR100941209B1 (en) * | 2001-08-23 | 2010-02-10 | 소니 주식회사 | Robot apparatus, face recognition method, and face recognition apparatus |
| DE202004015475U1 (en) * | 2004-10-04 | 2005-01-05 | Ortlieb, Hartmut | Container especially backpack or luggage item has an outer hard shell with integral hinge and with separate waterproof sliding clasp fasteners to separately access each section |
| CN101594800B (en) * | 2007-02-07 | 2012-03-21 | 新秀丽Ip控股有限责任公司 | System for cinching a resilient luggage case |
| US20090166141A1 (en) * | 2007-12-31 | 2009-07-02 | Hl Operating Corp. | Flat packing suitcase system |
| WO2010027968A2 (en) * | 2008-09-04 | 2010-03-11 | Iwalk, Inc. | Hybrid terrain-adaptive lower-extremity systems |
| EP2473140A1 (en) * | 2009-08-31 | 2012-07-11 | Iwalk, Inc. | Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis |
-
2013
- 2013-06-26 CN CN201410515251.3A patent/CN104257490B/en not_active Expired - Fee Related
- 2013-06-26 CN CN201310257360.5A patent/CN103330635B/en active Active
- 2013-06-26 CN CN201410515227.XA patent/CN104306137B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8348875B2 (en) * | 2008-10-13 | 2013-01-08 | Argo Medical Technologies Ltd. | Locomotion assisting device and method |
| CN101786478A (en) * | 2010-02-23 | 2010-07-28 | 华东理工大学 | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure |
| JP2013090844A (en) * | 2011-10-26 | 2013-05-16 | Toyota Motor Corp | Walking assist device and method for controlling the same |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104306137A (en) | 2015-01-28 |
| CN104257490B (en) | 2016-04-13 |
| CN103330635B (en) | 2014-11-05 |
| CN103330635A (en) | 2013-10-02 |
| CN104257490A (en) | 2015-01-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104306137B (en) | A kind of shipment at the wearable type lower limb power-assisting robot pulling in case | |
| CN105213155B (en) | A kind of artificial intelligence motion's auxiliary equipment | |
| CN103610568B (en) | Human-simulated external skeleton robot assisting lower limbs | |
| CN108606907B (en) | Movable parallel flexible cable driven lower limb rehabilitation robot and implementation method thereof | |
| CN107296718B (en) | Pneumatic muscle-driven exoskeleton device with functions of upper limb assistance and rehabilitation training | |
| CN103610524B (en) | A kind of Portable energy storage ectoskeleton power-assisting robot | |
| CN110695959A (en) | Exoskeleton robot and control system thereof | |
| CN108283564A (en) | A kind of intelligent ankle-joint exoskeleton system of light-type rope driving | |
| CN103610569A (en) | Wearable lower limb power-assisting device and control method thereof | |
| CN107015564B (en) | Walking-aid robot and combined intelligent control method | |
| CN111067760B (en) | Upper limb rehabilitation training robot based on omnidirectional mobile platform | |
| CN206745590U (en) | Unpowered walking booster | |
| CN111513982B (en) | Parallel ankle rehabilitation robot | |
| Singh et al. | Modeling and simulation of a passive lower-body mechanism for rehabilitation | |
| CN203749802U (en) | Exoskeleton walking aiding and rehabilitation robot | |
| CN211592758U (en) | Redundant series-parallel electro-hydraulic hybrid driving anthropomorphic mechanical leg | |
| CN106361541A (en) | Knee joint load-bearing power assisting exoskeleton device and working method thereof | |
| CN1057581A (en) | Electric walking machine for high leg paraplegia patients | |
| CN209827471U (en) | Four-foot power-assisted walking rehabilitation robot with balancing device | |
| CN111496803A (en) | Tai Ji pushing robot | |
| CN206154300U (en) | Device of human strength is assisted and strengthened | |
| Luo et al. | Design and development of a wearable lower limb exoskeleton robot | |
| CN110696941B (en) | Redundant hybrid electrohydraulic hybrid driving anthropomorphic mechanical leg | |
| WO2022188605A1 (en) | Multifunctional intelligent walking assistance robot for lower-limb rehabilitation | |
| CN103989570A (en) | Interactive paraplegia walking-assisting outer bone driven by external power |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20200626 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |