CN104771292B - Wearable standard passive ankle joint exoskeleton rehabilitation device - Google Patents
Wearable standard passive ankle joint exoskeleton rehabilitation device Download PDFInfo
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- CN104771292B CN104771292B CN201510117202.9A CN201510117202A CN104771292B CN 104771292 B CN104771292 B CN 104771292B CN 201510117202 A CN201510117202 A CN 201510117202A CN 104771292 B CN104771292 B CN 104771292B
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- guide rail
- slide block
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- plate
- hook
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 210000002683 foot Anatomy 0.000 claims abstract description 15
- 239000011230 binding agent Substances 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 13
- 239000007787 solid Substances 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 abstract description 5
- 210000003141 lower extremity Anatomy 0.000 abstract description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 2
- 208000035475 disorder Diseases 0.000 abstract description 2
- 230000008092 positive effect Effects 0.000 abstract description 2
- 238000005381 potential energy Methods 0.000 abstract description 2
- 210000003423 ankle Anatomy 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008450 motivation Effects 0.000 description 3
- 208000034657 Convalescence Diseases 0.000 description 2
- 210000002808 connective tissue Anatomy 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
- 230000008569 process Effects 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
- 210000001361 achilles tendon Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight 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
- 230000007812 deficiency Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 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
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 238000011084 recovery Methods 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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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of wearable standard passive ankle joint exoskeleton rehabilitation device.The ankle joint exoskeleton system of existing recovering aid walking is typically active drive system, there is the positive action for human body, poor stability, and it is relatively big to consume energy, and does not make full use of gravitational potential energy of human body.The present invention includes stretching spring connecting mechanism, torsionspring, torque compensation mechanism, guide rail slide block drive mechanism and electric controlled brake system；Stretching the change in torque of ankle joint when spring connecting mechanism realizes walking with torsionspring combination, 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.The present invention is ensureing on the premise of patient safety so that suffers from the lower limb disorder patient such as strephenopodia, drop foot and can wear the present invention and carry out rehabilitation walking.
Description
Technical field
The invention belongs to human-computer interaction technique field, be specifically related to outside a kind of passive ankle joint of wearable standard
Skeleton convalescence device.
Background technology
Drop foot, strephenopodia, foot outward turning are that paralysis, lower limb disorder and long-term bed are stiff
The common complication of patient, causes muscle, tendon and connective tissue owing to patient's lower limb are the most stiff
Passive and actively characteristic change, including the change of meat fiber type cross bridge connective tissue, sarcomere
Forfeiture, the forfeiture of moisture, collagen deposition and the change of viscosity, cause muscle rigidity, muscle to occur
Muscular atrophy of disuse.Can not get drawing-off if triceps surae continues spasm and cause contracture of Achilles tendon, will make
Obtain reversibility drop foot and be changed into irreversibility drop foot.
The ankle joint exoskeleton system of existing recovering aid walking is typically active drive system, by electricity
Machine, hydraulic pressure, pneumatic etc. drive joint motion.But there is the positive action for human body in driving mechanism,
Poor stability, and it is relatively big to consume energy, and 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, it is provided that outside a kind of passive ankle joint of wearable standard
Skeleton convalescence device, on the premise of ensureing patient safety so that suffer from the lower limb such as strephenopodia, drop foot
Dysfunction can be worn the present invention and carry out rehabilitation walking.
The present invention includes stretching spring connecting mechanism, torsionspring, torque compensation mechanism, guide rail slide block biography
Motivation structure and electric controlled brake system.
Described stretching spring connecting mechanism include foot type base plate, convex riser, long main shaft, short main shaft,
Transmission long axis, upper mounted plate, bottom plate, shank are bound block, hook fixing plate, screwed hook, are drawn
Stretch spring, riser and mounting base are installed.Described sufficient type bottom board symmetry is fixed with two pieces of convex risers,
Mounting base is fixed on bottom the convex riser in outside, installs riser and fixes with mounting base；Described length
The two ends of main shaft are bearing in the convex riser in outside respectively by bearing and install on riser, and short main shaft leads to
Cross bearing to be bearing on the convex riser of inner side；Long main shaft and short main shaft are respectively and fixedly provided with transmission long axis；Institute
Upper mounted plate and the bottom plate stated are fixed, and clamp two transmission long axis；Upper mounted plate offers fixing
Band mounting groove；Shank binding block is glued with upper mounted plate；At multiple hook chutes of described bottom plate equal
Connected by nut and have screwed hook；Described hook fixing plate offers regulating tank and hook chute；Many
Block hook fixing plate spacing is arranged, and is all bolted with foot type base plate at regulating tank；Hook is solid
Determine the quantity of plate equal with the quantity of the hook chute of bottom plate；The hook chute of every piece of hook fixing plate
Place is all connected by nut screwed hook；Screwed hook on bottom plate is fixing with corresponding one piece of hook
Screwed hook on plate is connected by stretching spring；The two ends of described torsionspring respectively with install riser and
The transmission long axis in outside connects.
Described torque compensation mechanism includes video disc, video disc fixed disk and binder assembly；Described video disc
Fixed disk is coaxially disposed with long main shaft, and is bolted；Described video disc is fixed with video disc fixed disk；
Described binder assembly is fixed with installing riser, and video disc embeds between the two panels disc brake sheet of binder assembly.
Described guide rail slide block drive mechanism include linear stepping motor, guide rail one, slide block one, guide rail two,
Slide block two, guide rail three, slide block three, guide rail one fixed plate, guide rail three fixed plate, long connecting rod and short connecting rod.
Described electric controlled brake system controls linear stepping motor；Described linear stepping motor is fixed on outside
Installing on riser, its output shaft is bolted with slide block one；Described guide rail one is fixed on guide rail one
In fixed plate, and constitute sliding pair with slide block one；The two ends of guide rail one fixed plate respectively with the type in outside
Type riser and installation riser are fixed；Described guide rail two be fixed on outside convex riser on, and with cunning
Block two constitutes sliding pair；Described guide rail three fixed plate is fixed with mounting base, and guide rail three is fixed on guide rail
In three fixed plates, and constitute sliding pair with slide block three；The sliding axle of slide block three and binder assembly is fixed；
The two ends of described long connecting rod are hinged with slide block one and slide block two respectively, the two ends of short connecting rod respectively with slide block two
Hinged with slide block three.
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 uses YUS disc brake Bicycle dished brake device, and model is ANS-02.
Beneficial effects of the present invention:
1, combined with electric controlled brake system by stretching spring, torsionspring so that dress patient of the present invention
Normally cannot can walk under conditions of exerting 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, purpose makes patient obtain buffering in the process of walking, strengthens comfortableness, reduces unexpected generation
May；And utilize energy storage device to store energy, energy efficient.
3, it is prevented effectively from the pressure driving effect for human body of the active drive exoskeleton mechanism, reduces patient and be subject to
The possibility of wound, uses the patient of the present invention freer in walking.
4, strong adaptability, energy storage original paper (stretching spring) is easily changed, it is possible to adapt to different weight, difference
Leg speed, the training for recovery of different restoration processes crowd and walking auxiliary.
5, attempt expanding applicable object, meet non-patient and reduce the demand that ankle joint is tired.
Accompanying drawing explanation
Fig. 1 is the overall structure assembling stereogram of the present invention；
Fig. 2-1 is the front perspective view stretching spring connecting mechanism in the present invention；
Fig. 2-2 is the back axonometric chart stretching spring connecting 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 solid
Determine plate, 6, bottom plate, 7, shank binding block, 8, hook fixing plate, 9, screwed hook, 10,
Stretching 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, lead
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 fixed plate, 26, guide rail three fixed plate, 27, long connecting rod, 28, short connecting rod.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
As it is shown in figure 1, wearable standard passive ankle joint exoskeleton rehabilitation device, including stretching spring even
Connection mechanism, torsionspring 13, torque compensation mechanism, guide rail slide block drive mechanism and electric controlled brake system；
Stretch the change in torque of ankle joint, electric control braking when spring connecting mechanism realizes walking with torsionspring 13 combination
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 during Healthy People walking.
As shown in Fig. 2-1,2-2 and 3, stretching spring connecting mechanism includes that foot type base plate 11, convex stand
Plate 1, long main shaft 2, short main shaft 3, transmission long axis 4, upper mounted plate 5, bottom plate 6, shank are bound
Block 7, hook fixing plate 8, screwed hook 9, stretching spring 10, installation 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 solid by bolt
It is scheduled on bottom the convex riser 1 in outside, riser 12 is installed 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,
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 the most solid
Surely there is transmission long axis 4；Upper mounted plate 5 and bottom plate 6 are bolted, and it is long to clamp two transmissions
Axle 4；Upper mounted plate 5 offers fixing band mounting groove, makes little leg restraint webbing pass；Shank binding block 7 with
Upper mounted plate 5 is glued；All connected by nut at three hook chutes of bottom plate 6 and have screwed hook 9；
Hook fixing plate 8 offers regulating tank and hook chute；Three pieces of hook fixing plate 8 spacing are arranged, and all
It is bolted with foot type base plate 11 at regulating tank；At the hook chute of three pieces of hook fixing plates 8 equal
Connected by nut and have screwed hook 9；Screwed hook 9 on bottom plate 6 is fixing with corresponding one piece of hook
Screwed hook 9 on plate 8 is connected by stretching spring 10；The hook chute of bottom plate 6, hook are solid
Regulating tank and the hook chute of determining plate 8 make stretching spring 10 position adjustable；The two ends of torsionspring 13
It is 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 includes video disc 14, video disc fixed disk 15 and binder
Assembly 16；Video disc fixed disk 15 is coaxially disposed with long main shaft 2, and is bolted；Video disc 14
It is bolted with video disc fixed disk 15；Video disc 14 is in fan annular, and corresponding central angle is 120 °,
The center of circle overlaps with the center of circle of fixed disk 15；Binder assembly 16 is bolted with installing riser 12,
Video disc 14 embeds between the two panels disc brake sheet of binder assembly 16；Binder assembly 16 uses YUS disc brake
Bicycle dished brake device, model is ANS-02.
As shown in Fig. 5-1 and 5-2, guide rail slide block drive mechanism includes linear stepping motor 17, guide rail one
19, slide block 1, guide rail 2 21, slide block 2 22, guide rail 3 23, slide block 3 24, guide rail one are fixed
Plate 25, guide rail three fixed plate 26, long connecting rod 27 and short connecting rod 28.Electric controlled brake system controls straight line step
Enter motor 17；Linear stepping motor 17 is bolted on the installation riser 12 in outside, its output
Axle is bolted with slide block 1；Guide rail 1 is bolted in guide rail one fixed plate 25,
And constitute sliding pair with slide block 1；The two ends of guide rail one fixed plate 25 by bolt respectively with outside
Convex riser 1 and installation riser 12 are fixed；Guide rail 2 21 is bolted on the convex in outside
On riser 1, and constitute sliding pair with slide block 2 22；Guide rail three fixed plate 26 is by bolt and the installation end
Plate 18 is fixed, and guide rail 3 23 is bolted in guide rail three fixed plate 26, and with slide block 3 24
Constitute sliding pair；The sliding axle of slide block 3 24 and binder assembly 16 is fixed；The two ends of long connecting rod 27 are divided
Not hinged with slide block 1 and slide block 2 22, the two ends of short connecting rod 28 respectively with slide block 2 22 and slide block
3 24 is 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 of ankle joint-angle function relation is cyclic curve.Should
Wearable standard passive ankle joint exoskeleton rehabilitation device is by stretching spring connecting mechanism and torsionspring 13 groups
Close the piecewise linear moment of torsion-angle function relation that produces, and by electric controlled brake system, torque compensation mechanism
With the non-linear deviation that guide rail slide block drive mechanism compensates moment of torsion so that the bar that patient does not exerts a force at ankle joint
Under part, it is thus achieved that the moment of torsion-angular relationship identical with Healthy People, thus in gait cycle, simulate Healthy People ankle
The motion in joint.During ankle joint toe is bent, torsionspring 13 and stretching spring 10 segmenting function,
Storing energy, electric controlled brake system is with the angle of long main shaft 2 (simulation ankle joint) as input quantity, and it is right to produce
The nonlinear compensation of long main shaft 2 moment of torsion；During ankle dorsal flexion, electric controlled brake system does not works,
Torsionspring 13 and stretching spring 10 release energy.
Electric controlled brake system controls linear stepping motor, and the guide rail slide block that moves through of linear stepping motor passes
Motivation structure transmits, and compresses or loosen the sliding axle of binder assembly 16, to control binder assembly for dish
The pressure of sheet 14, so control torque compensation mechanism long main shaft 2 is produced non-linear torque compensation.To suffer from
As a example by person's body weight 60kg, leg speed 1.070m/s, to the nonlinear compensation function of long main shaft 2 moment of torsion it is:
In formula, N is the non-linear moment of torsion that long main shaft 2 compensates output, and x is the corner of long main shaft 2；Initial shape
Under state, shank is vertical with foot type base plate 11, x=0；X when ankle joint toe is bent>0, x<0 during ankle dorsal flexion；
X < when 0, it is not necessary to non-linear torque compensation, non-linear moment of torsion N=0.
Claims (3)
- The most wearable standard passive ankle joint exoskeleton rehabilitation device, including stretching spring connecting mechanism, torsion Turn spring, torque compensation mechanism, guide rail slide block drive mechanism and electric controlled brake system, it is characterised in that:Described stretching spring connecting mechanism include foot 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, stretching Spring, installation riser and mounting base；Described sufficient type bottom board symmetry is fixed with two pieces of convex risers, peace Dress base plate is fixed on bottom the convex riser in outside, installs riser and fixes with mounting base；Described long main shaft Two ends be bearing in the convex riser in outside respectively by bearing and install on riser, short main shaft passes through bearing It is bearing on the convex riser of inner side；Long main shaft and short main shaft are respectively and fixedly provided with transmission long axis；Described is upper solid Determine plate and bottom plate is fixed, and clamp two transmission long axis；Upper mounted plate offers fixing band mounting groove； Shank binding block is glued with upper mounted plate；All connected by nut at multiple hook chutes of described bottom plate There is screwed hook；Described hook fixing plate offers regulating tank and hook chute；Between polylith hook fixing plate Away from setting, and all it is bolted with foot type base plate at regulating tank；The quantity of hook fixing plate is solid with lower The quantity of the hook chute determining plate is equal；All connected by nut at the hook chute of every piece of hook fixing plate and have Screwed hook；Screwed hook on bottom plate passes through to draw with the screwed hook on corresponding one piece of hook fixing plate Stretch spring to connect；The two ends of described torsionspring are connected with the transmission long axis installing riser and outside respectively；Described torque compensation mechanism includes video disc, video disc fixed disk and binder assembly；Described video disc is solid Price fixing is coaxially disposed with long main shaft, and is bolted；Described video disc is fixed with video disc fixed disk；Institute The binder assembly stated is fixed with installing riser, and video disc embeds between the two panels disc brake sheet of binder assembly；Described guide rail slide block drive mechanism include linear stepping motor, guide rail one, slide block one, guide rail two, Slide block two, guide rail three, slide block three, guide rail one fixed plate, guide rail three fixed plate, long connecting rod and short connecting rod； Described electric controlled brake system controls linear stepping motor；Described linear stepping motor is fixed on the peace in outside On dress riser, its output shaft is bolted with slide block one；Described guide rail one is fixed on guide rail one and fixes On plate, and constitute sliding pair with slide block one；The two ends of guide rail one fixed plate respectively with the convex riser in outside Fix with installing riser；Described guide rail two is fixed on the convex riser in outside, and constitutes with slide block two Sliding pair；Described guide rail three fixed plate is fixed with mounting base, and guide rail three is fixed in guide rail three fixed plate, And constitute sliding pair with slide block three；The sliding axle of slide block three and binder assembly is fixed；The two of described long connecting rod Holding hinged with slide block one and slide block two respectively, the two ends of short connecting rod are hinged with slide block two and slide block three respectively.
- Wearable standard the most according to claim 1 passive ankle joint exoskeleton rehabilitation device, it is special Levy and be: described video disc is in fan annular, and corresponding central angle is 120 °, the center of circle and the center of circle of fixed disk Overlap.
- Wearable standard the most according to claim 1 passive ankle joint exoskeleton rehabilitation device, it is special Levy and be: described binder assembly uses YUS disc brake Bicycle dished brake device, and model is ANS-02.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510117202.9A CN104771292B (en) | 2015-03-17 | 2015-03-17 | Wearable standard passive ankle joint exoskeleton rehabilitation device |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN104771292A CN104771292A (en) | 2015-07-15 |
| CN104771292B true CN104771292B (en) | 2016-11-16 |
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| CN201510117202.9A Expired - Fee Related CN104771292B (en) | 2015-03-17 | 2015-03-17 | Wearable standard passive ankle joint exoskeleton rehabilitation device |
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Families Citing this family (14)
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| CN105030486B (en) * | 2015-07-27 | 2017-03-01 | 燕山大学 | A kind of walk-aiding exoskeleton unpowered mechanical foot |
| CN105662780B (en) * | 2016-01-12 | 2018-03-20 | 武汉理工大学 | A kind of lower limb power-assisted KAFO |
| 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 |
| CN105943314B (en) * | 2016-05-10 | 2018-10-16 | 江南大学 | A kind of power-assisted leg based on multistage snap-lock mechanism |
| CN107571240B (en) * | 2017-08-29 | 2023-11-24 | 中国科学院深圳先进技术研究院 | Exoskeleton robot |
| CN107595555B (en) * | 2017-08-29 | 2023-07-28 | 中国科学院深圳先进技术研究院 | Exoskeleton robot and foot supporting part thereof |
| WO2019187030A1 (en) * | 2018-03-30 | 2019-10-03 | 圭治郎 山本 | Joint movement assistance device |
| CN109702715B (en) * | 2018-12-06 | 2020-08-14 | 西安交通大学 | Mechanical exoskeleton seat |
| CN110141464B (en) * | 2019-05-22 | 2020-04-14 | 电子科技大学 | High-energy efficiency controllable foot mechanism |
| CN111920650B (en) * | 2020-09-28 | 2021-01-08 | 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 |
| 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 |
| CN113520792B (en) * | 2021-07-14 | 2023-06-13 | 秦皇岛市第一医院 | Foot drop patient rehabilitation training robot based on electromyographic signals |
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3610570A1 (en) * | 1986-03-27 | 1987-10-01 | Gerd Dr Jungkunz | Sports and training device for strengthening the jumping power of the foot during the jumping phase |
| CA2937610C (en) * | 2007-12-26 | 2021-03-23 | Rex Bionics Limited | Self-contained powered exoskeleton walker for a disabled user |
| US7771327B1 (en) * | 2009-04-02 | 2010-08-10 | Terry Reams | Exercise device with footboards having tubular support |
| CN102319166A (en) * | 2011-06-29 | 2012-01-18 | 上海工商信息学校 | Walking aid for fracture personnel |
| CN103040594B (en) * | 2013-01-24 | 2014-06-25 | 哈尔滨工业大学 | Pseudo passive power assisting device for ankle joint movement |
| CN104055653A (en) * | 2014-06-03 | 2014-09-24 | 上海交通大学 | Lower-limb reinforced exoskeleton robot with series-parallel leg structure |
| CN204723356U (en) * | 2015-03-17 | 2015-10-28 | 浙江大学 | A kind of wearable standard passive ankle joint exoskeleton rehabilitation device |
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