CN104771292A - Wearable quasi-passive ankle joint exoskeleton recovery device - Google Patents
Wearable quasi-passive ankle joint exoskeleton recovery device Download PDFInfo
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- CN104771292A CN104771292A CN201510117202.9A CN201510117202A CN104771292A CN 104771292 A CN104771292 A CN 104771292A CN 201510117202 A CN201510117202 A CN 201510117202A CN 104771292 A CN104771292 A CN 104771292A
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 28
- 238000011084 recovery Methods 0.000 title abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 239000011230 binding agent Substances 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 10
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 239000003292 glue Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000005381 potential energy Methods 0.000 abstract description 2
- 206010034701 Peroneal nerve palsy Diseases 0.000 abstract 1
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- 210000003414 extremity Anatomy 0.000 abstract 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 abstract 1
- 210000002683 foot Anatomy 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 2
- 210000002808 connective tissue Anatomy 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 208000035475 disorder Diseases 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 206010002027 Amyotrophy Diseases 0.000 description 1
- 102000008186 Collagen Human genes 0.000 description 1
- 108010035532 Collagen Proteins 0.000 description 1
- 208000002740 Muscle Rigidity Diseases 0.000 description 1
- 206010062575 Muscle contracture Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000001361 achilles tendon Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 229920001436 collagen Polymers 0.000 description 1
- 208000006111 contracture Diseases 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
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- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 210000002235 sarcomere Anatomy 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 210000004233 talus Anatomy 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
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Abstract
The invention discloses a wearable quasi-passive ankle joint exoskeleton recovery device. An excising recovery walking assisting ankle joint exoskeleton system is normally an active driving system, the forced effect on the human body exists, the safety performance is poor, energy dissipation is large, and the gravitational potential energy of the human body is not sufficiently used. The wearable quasi-passive ankle joint exoskeleton recovery device comprises an extension spring connecting mechanism, a reversing spring, a torque compensation mechanism, a guide rail sliding block transmission mechanism and an electric control brake system; the extension spring connecting mechanism is combined with the reversing spring to achieve torque changes of the ankle joint during walking; and the electric control brake system, the torque compensation mechanism and the guide rail sliding block transmission mechanism achieve torque nolinear compensation, so that the torque of the ankle joint of a health person during walking is simulated. By means of the wearable quasi-passive ankle joint exoskeleton recovery device, on the premise that the safety of a patient is guaranteed, the patient suffering from low limb dysfunction such as strephenopodia and foot drop can conduct recovery walking with the wearable quasi-passive ankle joint exoskeleton recovery device.
Description
Technical field
The invention belongs to human-computer interaction technique field, be specifically related to a kind of wearable standard passive ankle joint exoskeleton rehabilitation device.
Background technology
Drop foot, strephenopodia, sufficient outward turning are the common complications of paralysis, lower limb disorder and the stiff patient of long-term bed, the change that is passive and initiatively characteristic of muscle, tendon and connective tissue is caused because patient's lower limb are stiff for a long time, comprise the change of meat fiber type cross bridge connective tissue, the change of the forfeiture of sarcomere, the forfeiture of moisture, collagen deposition and viscosity, causes muscle rigidity, muscular atrophy of disuse appears in muscle.Can not get drawing-off if triceps surae continues spasm and cause contracture of Achilles tendon, reversibility drop foot will be made to change irreversibility drop foot into.
The ankle joint exoskeleton system normally active drive system of existing recovering aid walking, by motor, hydraulic pressure, pneumatic etc. drives joint motion.But driving mechanism exists the positive action for human body, poor stability, and power consumption is comparatively large, does not make full use of gravitational potential energy of human body.
Summary of the invention
The present invention seeks to for the deficiencies in the prior art, a kind of wearable standard passive ankle joint exoskeleton rehabilitation device is provided, under the prerequisite ensureing patient safety, make to suffer from the lower limb disorder such as strephenopodia, drop foot patient and can wear the present invention and carry out rehabilitation walking.
The present invention includes extension spring bindiny mechanism, torsionspring, torque compensation mechanism, guide rail slide block drive mechanism and electric controlled brake system.
Described extension spring bindiny mechanism comprises sufficient type base plate, convex riser, long main shaft, short main shaft, transmission long axis, upper mounted plate, bottom plate, shank binding block, hook fixing plate, screwed hook, extension spring, installation riser and mounting base.Described sufficient type bottom board symmetry is fixed with two pieces of convex risers, and mounting base is fixed on bottom the convex riser in outside, and installation riser and mounting base are fixed; The two ends of described long main shaft are bearing in the convex riser in outside respectively by bearing and install on riser, and short main shaft is bearing on the convex riser of inner side by bearing; Long main shaft and short main shaft are all fixed with transmission long axis; Described upper mounted plate and bottom plate are fixed, and clamp two transmission long axis; Upper mounted plate offers fixing band mounting groove; Shank fixed block and upper mounted plate glue together; Multiple hook chute places of described bottom plate are all connected with screwed hook by nut; Described hook fixing plate offers regulating tank and hook chute; Polylith hook fixing plate spacing is arranged, and is all bolted at regulating tank place and sufficient type base plate; The quantity of hook fixing plate is equal with the quantity of the hook chute of bottom plate; The hook chute place of every block hook fixing plate is all connected with screwed hook by nut; Screwed hook on bottom plate is connected by extension spring with the screwed hook on corresponding one piece of hook fixing plate; The two ends of described torsionspring are connected with the transmission long axis installing riser and outside respectively.
Described torque compensation mechanism comprises video disc, video disc fixed disk and binder assembly; Described video disc fixed disk and long main shaft are coaxially arranged, and are bolted; Described video disc and video disc fixed disk are fixed; Described binder assembly is fixed with installation riser, and video disc embeds between the two panels disc brake sheet of binder assembly.
Described guide rail slide block drive mechanism comprises linear stepping motor, guide rail one, slide block one, guide rail two, slide block two, guide rail three, slide block three, guide rail one fixing head, guide rail three fixing head, long connecting rod and short connecting rod.Described electric controlled brake system controls linear stepping motor; Described linear stepping motor is fixed on the installation riser in outside, and its output shaft and slide block one are bolted; Described guide rail one is fixed on guide rail one fixing head, and forms sliding pair with slide block one; The two ends of guide rail one fixing head are respectively with the convex riser in outside with install riser and fix; Described guide rail two is fixed on the convex riser in outside, and forms sliding pair with slide block two; Described guide rail three fixing head and mounting base are fixed, and guide rail three is fixed on guide rail three fixing head, and forms sliding pair with slide block three; Slide block three is fixed with the sliding axle of binder assembly; The two ends of described long connecting rod respectively with slide block one and slide block two hinged, the two ends of short connecting rod respectively with slide block two and slide block three hinged.
Described video disc is in fan annular, and corresponding central angle is 120 °, and the center of circle overlaps with the center of circle of fixed disk.
Described binder assembly adopts YUS disc brake Bicycle dished brake device, and model is ANS-02.
Beneficial effect of the present invention:
1, combined by extension spring, torsionspring and electric controlled brake system, normally walk under the condition that wearing patient of the present invention cannot be able to be exerted a force at amyotrophy, ankle joint.
2, the motor of rehabilitation of anklebone system different from the past drives or drive lacking design, and native system is for preparing motivation structure, and object makes patient obtain buffering in the process of walking, strengthens comfortableness, reduces the unexpected possibility occurred; And utilize energy storage device storage power, energy efficient.
3, effectively avoid active drive exoskeleton mechanism for the pressure driving effect of human body, reduce the possibility of patient injury, use patient of the present invention freer in walking.
4, strong adaptability, energy storage original paper (extension spring) is easily changed, and can adapt to different weight, different leg speed, the training for recovery of different restoration processes crowd and walking auxiliary.
5, attempt expanding applicable object, meet the demand that non-patient reduces ankle joint fatigue.
Accompanying drawing explanation
Fig. 1 is overall structure assembling stereogram of the present invention;
Fig. 2-1 is the front perspective view of extension spring bindiny mechanism in the present invention;
Fig. 2-2 is the back axonometric chart of extension spring bindiny mechanism in the present invention;
Fig. 3 is the assembling stereogram of torsionspring in the present invention;
Fig. 4-1 is the assembling stereogram of video disc in the present invention;
Fig. 4-2 is the assembling stereogram of binder assembly in the present invention;
Fig. 5-1 is an assembling stereogram of middle guide slider driving gear of the present invention;
Fig. 5-2 is another assembling stereogram of middle guide slider driving gear of the present invention.
In figure: 1, convex riser, 2, long main shaft, 3, short main shaft, 4, transmission long axis, 5, upper mounted plate, 6, bottom plate, 7, shank binding block, 8, hook fixing plate, 9, screwed hook, 10, extension spring, 11, foot type base plate, 12, riser is installed, 13, torsionspring, 14, video disc, 15, video disc fixed disk, 16, binder assembly, 17, linear stepping motor, 18, mounting base, 19, guide rail one, 20, slide block one, 21, guide rail two, 22, slide block two, 23, guide rail three, 24, slide block three, 25, guide rail one fixing head, 26, guide rail three fixing head, 27, long connecting rod, 28, short connecting rod.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, wearable standard passive ankle joint exoskeleton rehabilitation device, comprises extension spring bindiny mechanism, torsionspring 13, torque compensation mechanism, guide rail slide block drive mechanism and electric controlled brake system; Stretch the change in torque that spring connecting mechanism and torsionspring 13 combine ankle joint when realizing walking, electric controlled brake system, torque compensation mechanism and guide rail slide block drive mechanism realize the nonlinear compensation of moment of torsion, thus simulate the torque of ankle joint when Healthy People is walked.
As shown in Fig. 2-1,2-2 and 3, extension spring bindiny mechanism comprises sufficient type base plate 11, convex riser 1, long main shaft 2, short main shaft 3, transmission long axis 4, upper mounted plate 5, bottom plate 6, shank binding block 7, hook fixing plate 8, screwed hook 9, extension spring 10, installs riser 12 and mounting base 18.Foot type base plate 11 is symmetrically fixed with two pieces of convex risers 1 by bolt, and mounting base 18 is bolted on bottom the convex riser 1 in outside, installs riser 12 and is bolted with mounting base 18; The two ends of long main shaft 2 are bearing in the convex riser 1 in outside respectively by bearing and install on riser 12, and short main shaft 3 is bearing on the convex riser 1 of inner side by bearing; Long main shaft 2 and short main shaft 3 are all fixed with transmission long axis 4; Upper mounted plate 5 and bottom plate 6 are bolted, and clamp two transmission long axis 4; Upper mounted plate 5 offers fixing band mounting groove, and little leg restraint webbing is passed; Shank fixed block 7 and upper mounted plate 5 glue together; Three hook chute places of bottom plate 6 are all connected with screwed hook 9 by nut; Hook fixing plate 8 offers regulating tank and hook chute; Three pieces of hook fixing plate 8 spacing are arranged, and are all bolted at regulating tank place and sufficient type base plate 11; The hook chute place of three pieces of hook fixing plates 8 is all connected with screwed hook 9 by nut; Screwed hook 9 on bottom plate 6 is connected by extension spring 10 with the screwed hook 9 on corresponding one piece of hook fixing plate 8; The hook chute of bottom plate 6, the regulating tank of hook fixing plate 8 and hook chute make extension spring 10 position adjustable; The two ends of torsionspring 13 are connected with the transmission long axis 4 installing riser 12 and outside respectively.
As shown in Fig. 4-1 and 4-2, torque compensation mechanism comprises video disc 14, video disc fixed disk 15 and binder assembly 16; Video disc fixed disk 15 and long main shaft 2 are coaxially arranged, and are bolted; Video disc 14 and video disc fixed disk 15 are bolted; Video disc 14 is in fan annular, and corresponding central angle is 120 °, and the center of circle overlaps with the center of circle of fixed disk 15; Binder assembly 16 is bolted with installation riser 12, and video disc 14 embeds between the two panels disc brake sheet of binder assembly 16; Binder assembly 16 adopts YUS disc brake Bicycle dished brake device, and model is ANS-02.
As shown in Fig. 5-1 and 5-2, guide rail slide block drive mechanism comprises linear stepping motor 17, guide rail 1, slide block 1, guide rail 2 21, slide block 2 22, guide rail 3 23, slide block 3 24, guide rail one fixing head 25, guide rail three fixing head 26, long connecting rod 27 and short connecting rod 28.Electric controlled brake system controls linear stepping motor 17; Linear stepping motor 17 is bolted on the installation riser 12 in outside, and its output shaft and slide block 1 are bolted; Guide rail 1 is bolted on guide rail one fixing head 25, and forms sliding pair with slide block 1; The two ends of guide rail one fixing head 25 by bolt respectively with the convex riser 1 in outside with to install riser 12 fixing; Guide rail 2 21 is bolted on the convex riser 1 in outside, and forms sliding pair with slide block 2 22; Guide rail three fixing head 26 is fixed by bolt and mounting base 18, and guide rail 3 23 is bolted on guide rail three fixing head 26, and forms sliding pair with slide block 3 24; Slide block 3 24 is fixed with the sliding axle of binder assembly 16; The two ends of long connecting rod 27 respectively with slide block 1 and slide block 2 22 hinged, the two ends of short connecting rod 28 respectively with slide block 2 22 and slide block 3 24 hinged.
The operation principle of this wearable standard passive ankle joint exoskeleton rehabilitation device:
In the gait walking cycle of Healthy People, the moment of torsion-angle function relation of ankle joint is cyclic curve.This wearable standard passive ankle joint exoskeleton rehabilitation device combines produce piecewise linear moment of torsion-angle function relation by stretching spring connecting mechanism and torsionspring 13, and by the non-linear deviation of electric controlled brake system, torque compensation mechanism and guide rail slide block drive mechanism compensation torque, under the condition that patient is not exerted a force at ankle joint, obtain the moment of torsion-angular relationship identical with Healthy People, thus in gait cycle, simulate the motion of Healthy People ankle joint.In the process that ankle joint toe is bent, torsionspring 13 and extension spring 10 segmenting function, storage power, electric controlled brake system for input quantity, produces the nonlinear compensation to long main shaft 2 moment of torsion with the angle of long main shaft 2 (simulation ankle joint); In the process of ankle dorsal flexion, electric controlled brake system does not work, and torsionspring 13 and extension spring 10 release energy.
Electric controlled brake system controls linear stepping motor, linear stepping motor move through the transmission of guide rail slide block drive mechanism, compress or loosen the sliding axle of binder assembly 16, to control the pressure of binder assembly for video disc 14, and then control torque compensation mechanism produces non-linear torque compensation to long main shaft 2.For weight in patients 60kg, leg speed 1.070m/s, to the nonlinear compensation function of long main shaft 2 moment of torsion be:
In formula, N compensates to long main shaft 2 the non-linear moment of torsion exported, and x is the corner of long main shaft 2; Under original state, shank is vertical with sufficient type base plate 11, x=0; X>0 when ankle joint toe is bent, x<0 during ankle dorsal flexion; During x<0, without the need to non-linear torque compensation, non-linear moment of torsion N=0.
Claims (3)
1. wearable standard passive ankle joint exoskeleton rehabilitation device, comprises extension spring bindiny mechanism, torsionspring, torque compensation mechanism, guide rail slide block drive mechanism and electric controlled brake system, it is characterized in that:
Described extension spring bindiny mechanism comprises sufficient type base plate, convex riser, long main shaft, short main shaft, transmission long axis, upper mounted plate, bottom plate, shank binding block, hook fixing plate, screwed hook, extension spring, installation riser and mounting base; Described sufficient type bottom board symmetry is fixed with two pieces of convex risers, and mounting base is fixed on bottom the convex riser in outside, and installation riser and mounting base are fixed; The two ends of described long main shaft are bearing in the convex riser in outside respectively by bearing and install on riser, and short main shaft is bearing on the convex riser of inner side by bearing; Long main shaft and short main shaft are all fixed with transmission long axis; Described upper mounted plate and bottom plate are fixed, and clamp two transmission long axis; Upper mounted plate offers fixing band mounting groove; Shank fixed block and upper mounted plate glue together; Multiple hook chute places of described bottom plate are all connected with screwed hook by nut; Described hook fixing plate offers regulating tank and hook chute; Polylith hook fixing plate spacing is arranged, and is all bolted at regulating tank place and sufficient type base plate; The quantity of hook fixing plate is equal with the quantity of the hook chute of bottom plate; The hook chute place of every block hook fixing plate is all connected with screwed hook by nut; Screwed hook on bottom plate is connected by extension spring with the screwed hook on corresponding one piece of hook fixing plate; The two ends of described torsionspring are connected with the transmission long axis installing riser and outside respectively;
Described torque compensation mechanism comprises video disc, video disc fixed disk and binder assembly; Described video disc fixed disk and long main shaft are coaxially arranged, and are bolted; Described video disc and video disc fixed disk are fixed; Described binder assembly is fixed with installation riser, and video disc embeds between the two panels disc brake sheet of binder assembly;
Described guide rail slide block drive mechanism comprises linear stepping motor, guide rail one, slide block one, guide rail two, slide block two, guide rail three, slide block three, guide rail one fixing head, guide rail three fixing head, long connecting rod and short connecting rod; Described electric controlled brake system controls linear stepping motor; Described linear stepping motor is fixed on the installation riser in outside, and its output shaft and slide block one are bolted; Described guide rail one is fixed on guide rail one fixing head, and forms sliding pair with slide block one; The two ends of guide rail one fixing head are respectively with the convex riser in outside with install riser and fix; Described guide rail two is fixed on the convex riser in outside, and forms sliding pair with slide block two; Described guide rail three fixing head and mounting base are fixed, and guide rail three is fixed on guide rail three fixing head, and forms sliding pair with slide block three; Slide block three is fixed with the sliding axle of binder assembly; The two ends of described long connecting rod respectively with slide block one and slide block two hinged, the two ends of short connecting rod respectively with slide block two and slide block three hinged.
2. wearable standard according to claim 1 passive ankle joint exoskeleton rehabilitation device, is characterized in that: described video disc is in fan annular, and corresponding central angle is 120 °, and the center of circle overlaps with the center of circle of fixed disk.
3. wearable standard according to claim 1 passive ankle joint exoskeleton rehabilitation device, is characterized in that: described binder assembly adopts YUS disc brake Bicycle dished brake device, and model is ANS-02.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510117202.9A CN104771292B (en) | 2015-03-17 | 2015-03-17 | Wearable standard passive ankle joint exoskeleton rehabilitation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510117202.9A CN104771292B (en) | 2015-03-17 | 2015-03-17 | Wearable standard passive ankle joint exoskeleton rehabilitation device |
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| CN104771292A true CN104771292A (en) | 2015-07-15 |
| CN104771292B CN104771292B (en) | 2016-11-16 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105030486A (en) * | 2015-07-27 | 2015-11-11 | 燕山大学 | Walking-aiding exoskeleton power-free mechanical foot |
| CN105520821A (en) * | 2016-01-26 | 2016-04-27 | 哈尔滨工业大学 | Spring energy storage device with continuous variable stiffness |
| CN105662780A (en) * | 2016-01-12 | 2016-06-15 | 武汉理工大学 | Lower limb powered shape righting device |
| CN105943314A (en) * | 2016-05-10 | 2016-09-21 | 江南大学 | Assistant leg based on multi-stage spring lock mechanism |
| CN105943315A (en) * | 2016-05-10 | 2016-09-21 | 江南大学 | Multi-stage energy-storage assistant exoskeleton |
| CN107571240A (en) * | 2017-08-29 | 2018-01-12 | 中国科学院深圳先进技术研究院 | A kind of exoskeleton robot |
| CN107595555A (en) * | 2017-08-29 | 2018-01-19 | 中国科学院深圳先进技术研究院 | A kind of exoskeleton robot and its foot support section |
| CN109702715A (en) * | 2018-12-06 | 2019-05-03 | 西安交通大学 | A kind of mechanical ectoskeleton seat |
| CN110141464A (en) * | 2019-05-22 | 2019-08-20 | 电子科技大学 | A kind of high energy efficiency energy-controllable foot mechanism |
| CN111920650A (en) * | 2020-09-28 | 2020-11-13 | 上海傅利叶智能科技有限公司 | Rotary buffering power-assisted mechanism and exoskeleton ankle joint buffering power-assisted device |
| CN111936100A (en) * | 2018-03-30 | 2020-11-13 | 山本圭治郎 | Joint movement assisting device |
| CN112515921A (en) * | 2020-11-27 | 2021-03-19 | 上海交通大学 | Flexible lower limb rehabilitation robot for assisting stroke patient to recover gait |
| CN113520792A (en) * | 2021-07-14 | 2021-10-22 | 秦皇岛市第一医院 | Foot drop patient rehabilitation training robot based on myoelectric signals |
| CN114654449A (en) * | 2022-03-29 | 2022-06-24 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Active-passive combined wearable knee joint assistance exoskeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105030486A (en) * | 2015-07-27 | 2015-11-11 | 燕山大学 | Walking-aiding exoskeleton power-free mechanical foot |
| CN105662780A (en) * | 2016-01-12 | 2016-06-15 | 武汉理工大学 | Lower limb powered shape righting device |
| CN105520821A (en) * | 2016-01-26 | 2016-04-27 | 哈尔滨工业大学 | Spring energy storage device with continuous variable stiffness |
| CN105520821B (en) * | 2016-01-26 | 2017-11-03 | 哈尔滨工业大学 | A kind of spring energy storage device of continuous variable-stiffness |
| CN105943315B (en) * | 2016-05-10 | 2018-01-30 | 江南大学 | A kind of multistage energy storage assistance exoskeleton |
| CN105943314A (en) * | 2016-05-10 | 2016-09-21 | 江南大学 | Assistant leg based on multi-stage spring lock mechanism |
| CN105943315A (en) * | 2016-05-10 | 2016-09-21 | 江南大学 | Multi-stage energy-storage assistant exoskeleton |
| CN107571240A (en) * | 2017-08-29 | 2018-01-12 | 中国科学院深圳先进技术研究院 | A kind of exoskeleton robot |
| CN107595555A (en) * | 2017-08-29 | 2018-01-19 | 中国科学院深圳先进技术研究院 | A kind of exoskeleton robot and its foot support section |
| CN107571240B (en) * | 2017-08-29 | 2023-11-24 | 中国科学院深圳先进技术研究院 | Exoskeleton robot |
| CN111936100A (en) * | 2018-03-30 | 2020-11-13 | 山本圭治郎 | Joint movement assisting device |
| CN111936100B (en) * | 2018-03-30 | 2023-03-17 | 山本圭治郎 | Joint movement assisting device |
| CN109702715A (en) * | 2018-12-06 | 2019-05-03 | 西安交通大学 | A kind of mechanical ectoskeleton seat |
| CN109702715B (en) * | 2018-12-06 | 2020-08-14 | 西安交通大学 | Mechanical exoskeleton seat |
| CN110141464A (en) * | 2019-05-22 | 2019-08-20 | 电子科技大学 | A kind of high energy efficiency energy-controllable foot mechanism |
| CN110141464B (en) * | 2019-05-22 | 2020-04-14 | 电子科技大学 | High-energy efficiency controllable foot mechanism |
| CN111920650A (en) * | 2020-09-28 | 2020-11-13 | 上海傅利叶智能科技有限公司 | Rotary buffering power-assisted mechanism and exoskeleton ankle joint buffering power-assisted device |
| CN112515921A (en) * | 2020-11-27 | 2021-03-19 | 上海交通大学 | Flexible lower limb rehabilitation robot for assisting stroke patient to recover gait |
| CN112515921B (en) * | 2020-11-27 | 2022-02-25 | 上海交通大学 | Flexible lower limb rehabilitation robot for assisting stroke patient to recover gait |
| CN113520792A (en) * | 2021-07-14 | 2021-10-22 | 秦皇岛市第一医院 | Foot drop patient rehabilitation training robot based on myoelectric signals |
| CN114654449A (en) * | 2022-03-29 | 2022-06-24 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Active-passive combined wearable knee joint assistance exoskeleton |
| CN114654449B (en) * | 2022-03-29 | 2024-04-12 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Active and passive combined wearable knee joint power assisting exoskeleton |
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| CN104771292B (en) | 2016-11-16 |
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