CN105877973A - Hip joint structure of wearable exterior skeleton robot - Google Patents
Hip joint structure of wearable exterior skeleton robot Download PDFInfo
- Publication number
- CN105877973A CN105877973A CN201610346270.7A CN201610346270A CN105877973A CN 105877973 A CN105877973 A CN 105877973A CN 201610346270 A CN201610346270 A CN 201610346270A CN 105877973 A CN105877973 A CN 105877973A
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- Prior art keywords
- hip joint
- centering block
- screw mandrel
- block
- joint structure
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/088—Hip
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a hip joint structure of a wearable exterior skeleton robot. The hip joint structure comprises a driving mechanism, a hip joint socket, a front-to-back swinging block, a left-to-right swinging block, and a leg support rod fixed at the lower end of the left-to-right swinging block. The driving mechanism comprises a motor, a screw connected with a rotary shaft of the motor, a slider penetratingly arranged on the screw in threaded fit, and a connecting rod hinged to the slider. The hip joint socket is hollow, the motor is fixed at the upper end of the hip joint socket, and the screw, the slider and the connecting rod are arranged in the hip joint socket. Two parts of the upper end of the front-to-back swinging block are hinged to the lower end of the hip joint socket and the free end of the connecting rod respectively, and the lower end of the front-to-back swinging block is hinged to the left-to-right swinging block. The motor drives the slider to reciprocate on the screw when working, and the connecting rod is driven by the slider to push the front-to-back swinging block to rotate in the front-back direction relative to the hip joint socket. The left-to-right swinging block rotates in the left to right direction relative to the front-to-back swinging block. The hip joint structure is convenient to wear, portable and reliable, and has driving way occupying small area.
Description
Technical field
The present invention relates to robotics, the hip particularly relating to a kind of wearable exoskeleton robot closes
Nodule structure.
Background technology
At present, the continuous increasing of the paraplegia number of patients caused due to apoplexy, cerebrovascular trauma, contingency etc.
Many, for paralytic patient, handicapped, it is impossible to stand and walk and their health will be brought seriously
Destruction, this also makes the research to lower limb rehabilitation exoskeleton robot increase, and some colleges and universities has been devised by
The hip joint of rehabilitation exoskeleton robot.
Common lower limb exoskeleton robot is based on type of drive such as chain driven, pneumatic type, hydraulic pressure,
Either which kind of type of drive, if applied in drive hip joint motion time, all can inevitably result in
Volume shared by ectoskeleton structure is bigger or heavier, generally exist simultaneously laterally cannot be movable shortcoming, affect people
Portable construction when dressing and property easy to use.
Summary of the invention
The deficiency existed in view of prior art, the invention provides a kind of can carry out easily lateral movable
The hip joint structure of wearable exoskeleton robot, easy to use and light.
In order to realize above-mentioned purpose, present invention employs following technical scheme:
The hip joint structure of a kind of wearable exoskeleton robot, including the drive mechanism being sequentially connected, hip
Socket joint, front and back centering block, left and right centering block and be fixed on the thigh support bar of centering block lower end, described left and right, institute
State screw mandrel that drive mechanism includes that motor is connected with the rotating shaft of described motor, be located on described screw mandrel and with
The slide block of described wire rod thread cooperation and the connecting rod hinged with described slide block；Described hip joint seat hollow, institute
Stating motor and be fixed on described hip joint seat upper end, described screw mandrel, described slide block and connecting rod are positioned at described hip joint
In seat；Before and after described, two positions of centering block upper end are respectively hinged at the lower end of described hip joint seat and described company
The free end of bar, and the lower end of described centering block front and back is hinged with described left and right centering block；The work of described motor drives
Described slide block moves back and forth on described screw mandrel, and described connecting rod is driven by described slide block and promotes described pendulum front and back
Block rotates at fore-and-aft direction relative to described hip joint seat；Described left and right centering block exists relative to described centering block front and back
Left and right directions is rotatable.
Further, described drive mechanism also includes the screw mandrel adapter sleeve being connected on described screw mandrel and is connected to
Shaft coupling between described screw mandrel adapter sleeve and the rotating shaft of described motor.
Further, the hip joint structure of described wearable exoskeleton robot also includes torsion spring, described
Torsion spring set be located at described before and after on jointed shaft between centering block and described hip joint seat, two bullets of described torsion spring
Property arm respectively towards both direction dorsad push described before and after centering block and described hip joint seat.
Further, described hip joint seat includes blocking surface, described blocking surface towards with described before and after centering block
Free rebound direction contrary, open amplitude with limit described torsion spring.
Further, the hip joint structure of described wearable exoskeleton robot also includes being fixed on described
The angular transducer on the jointed shaft between centering block and described hip joint seat front and back.
Further, the hip joint structure of described wearable exoskeleton robot also includes gripper shoe, institute
State gripper shoe to be fixed on the centering block of described left and right.
Further, the hip joint structure of described wearable exoskeleton robot also includes self-locking structure,
Described left and right centering block hollow in the longitudinal direction and there is the side opening of strip；Described self-locking structure includes being positioned at
Positioning stop pins in the centering block of described left and right and stage clip, described positioning stop pins includes being slidingly disposed at described
Operation ear in side opening, described stage clip pushes described positioning stop pins towards described centering block front and back；Pendulum before and after described
Block is positioned at the hinged end of described left and right centering block and offers the insertion inserted for described positioning stop pins free end
Portion.
Further, the hinged end outer surface that described centering block front and back is positioned at described left and right centering block is cambered surface or wedge
Shape face.
The present invention uses brushless electric machine, by ball screw arrangement, power is transmitted to hip joint so that it is according to appointment
Direction and speed motion, take volume little and light；Be simultaneous for cannot the shortcoming of lateral movement, design
Relative to hip joint seat, there is centering block and left and right centering block before and after different rotary direction so that hip joint moves
Freely；Further, since the existence of self-locking structure, it is opened rear hip joint and can dress people with lateral movement
After completing, joint is reset into after initial position self-locking structure can automatic locking lateral movement, can in case
Only there is lateral movement in motor process, it is ensured that the personal safety of user.
Accompanying drawing explanation
Fig. 1 is that the straight configuration of the hip joint structure of the wearable exoskeleton robot of the embodiment of the present invention shows
It is intended to.
Fig. 2 is a STRUCTURE DECOMPOSITION schematic diagram of the hip joint structure of the embodiment of the present invention.
Fig. 3 is a sectional structure schematic diagram of Fig. 1.
Fig. 4 is that the case of bending of the hip joint structure of the wearable exoskeleton robot of the embodiment of the present invention shows
It is intended to.
Fig. 5 is another STRUCTURE DECOMPOSITION schematic diagram of the hip joint structure of the embodiment of the present invention.
Fig. 6 is a sectional structure schematic diagram of Fig. 4.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality
Executing example, the present invention is described in more detail.Should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
Refering to shown in Fig. 1 and Fig. 2, the hip joint structure of the wearable exoskeleton robot of the present invention includes
The drive mechanism 10, hip joint seat 20, front and back centering block 30, the left and right centering block 40 that are sequentially connected and be fixed on
The thigh support bar 50 of left and right centering block 40 lower end, in conjunction with Fig. 3, wherein drive mechanism 10 include motor 11,
Screw mandrel 12 that rotating shaft with motor 11 is connected, be located on screw mandrel 12 and with the slide block of screw mandrel 12 threaded engagement
13 and the connecting rod 14 hinged with slide block 13, screw mandrel 12 and slide block 13 form ball screw arrangement, motor
11 preferably employ brushless electric machine, can be conveniently fixed on hip joint seat 20, take volume little, controlling party
The most accurate；Hip joint seat 20 hollow, motor 11 is fixed on hip joint seat 20 upper end, screw mandrel 12, slide block
13 and connecting rod 14 be positioned at hip joint seat 20；The position difference at two intervals before and after centering block 30 upper end front and back
It is hinged on lower end and the free end of connecting rod 14 of hip joint seat 20, and the lower end of front and back centering block 30 is put with left and right
Block 40 is hinged；Motor 11 work strip movable slider 13 moves back and forth on screw mandrel 12, and connecting rod 14 is by slide block 13
Drive and promote before and after centering block 30 relative to hip joint seat 20 fore-and-aft direction rotate；Left and right centering block 40 is relative
Rotatable at left and right directions in front and back's centering block 30.Owing to using the principle of ball-screw to carry out setting of drive mechanism
Meter so that it is electric rotating machine can be used, thus reduce the weight and volume in whole joint.
Preferably, front and back hinged with in left and right centering block 40 side of the centering block 30 jointed shaft in hip joint seat 20 side
Axle is orthogonal.Drive mechanism 10 also includes the screw mandrel adapter sleeve 15 being connected on screw mandrel 12 and is connected to silk
Shaft coupling 16 between the rotating shaft of bar adapter sleeve 15 and motor 11.Screw mandrel adapter sleeve 15 is as screw mandrel 12
Interface components, is connected by the rotating shaft of shaft coupling 16 with motor 11, and thus, the moment of torsion of motor 11 can pass
Being delivered on screw mandrel 12, band movable slider 13 slides along screw mandrel 12, connecting rod 14 under the drive of slide block 13 with front
Before and after angle between rear centering block 30 changes thus promotes, centering block 30 rotates relative to hip joint seat 20.
Fig. 4 is that the case of bending of the hip joint structure of the wearable exoskeleton robot of the embodiment of the present invention shows
It is intended to；Fig. 5 is another STRUCTURE DECOMPOSITION schematic diagram of the hip joint structure of the embodiment of the present invention；Fig. 6 is Fig. 4
A sectional structure schematic diagram.
In conjunction with Fig. 4～6, the process bent of moving before and after hip joint is as follows: stretching shown in Fig. 3
Under state, motor 11 work strip movable wire bar 12 rotates, and slide block 13 is along screw mandrel 12 towards lower slider, slide block 13
And the angle between connecting rod 14 is gradually increased, front and back centering block 30 under the thrust of connecting rod 14 around hip joint seat 20
On jointed shaft rotate, so that left and right centering block 40 and thigh support bar 50 rotate with and complete hip
The flexure operation in joint.Otherwise, when hip joint needs to return to shown in Fig. 3 from the complete state shown in Fig. 6
Straight configuration time, motor 11 counter-rotating belts movable wire bar 12 rotates backward, and slide block 13 is along screw mandrel 12 court
Upper slip, the angle between slide block 13 and connecting rod 14 tapers into, front and back centering block 30 drawing at connecting rod 14
Under power, the jointed shaft on hip joint seat 20 rotates, so that left and right centering block 40 and thigh support bar 50
Rotate with and complete hip joint stretch action.
As one of which embodiment, torsion spring K is set between before and after's centering block 30 and hip joint seat 20
On jointed shaft, before and after the both direction pushing dorsad of two elastic arms of torsion spring K court respectively, centering block 30 and hip close
Joint seat 20, makes the angle between before and after's centering block 30 and hip joint seat 20 in the trend of opening all the time.Specifically exist
Front and back it is convexly equipped with respectively for the two of torsion spring K elastic arms are kept out in it on centering block 30 and hip joint seat 20
In projection, or for fixing the fixed part of elastic arm.When hip joint is in seated position, torsion spring K
It is in compressive state；When robot needs during seated position changes into standing state, due to torsion spring K
Elastic-restoring force, it applies the power of rearward movement all the time to front and back's centering block 30 so that motor 11 promote before
Rear centering block 30 rearward movement (recovery initial angle) is more laborsaving, thus realizes labour-saving effect.
For the motion amplitude of hip joint is carried out certain restriction, prevent hip joint from rotating and excessively cause fracture
Occurring etc. phenomenon, such as Fig. 3, the inner surface bottom hip joint seat 20 also has blocking surface 21, blocking surface 21
Towards contrary with the free rebound direction of front and back centering block 30 (i.e. with the trailing flank of front and back centering block 30 just to),
With limit torsion spring K open amplitude, when front and back's centering block 30 backwards turn to abut blocking surface 21 time then cannot
Continue to rotate, thus protect user well.
Hip joint structure also has the angle on the jointed shaft being fixed between before and after's centering block 30 and hip joint seat 20
Degree sensor S.By utilizing angular transducer S to detect the rotational angle of this jointed shaft, hip can be drawn in real time
The angle value of joint motion, to realize accurate feedback and control.
The hip joint structure of the present embodiment also has gripper shoe 70, and gripper shoe 70 is fixed on left and right centering block 40,
When needing when people dresses to be stood by sitting state, thigh can be played the effect held, to people by gripper shoe 70
Stand up and play assosting effect.
In view of the demand of hip joint lateral movement, the present invention devises lateral movement self-locking mechanism so that it is can
To realize lateral movement, locked by self-locking mechanism in normal state simultaneously, prevent hip joint from normally transporting
Swing lateral time dynamic, it is ensured that the safety of wearer.Specifically such as Fig. 3 and 5, this self-locking structure 60 includes position
Positioning stop pins 61 in left and right centering block 40 and stage clip 62, left and right centering block 40 hollow in the longitudinal direction and
Side has the side opening 41 of strip, and positioning stop pins 61 includes the operation being slidingly disposed in side opening 41
Ear 61a, stage clip 62 pushes positioning stop pins 61 towards front and back's centering block 30；Front and back centering block 30 is positioned at left and right centering block
Hinged end in 40 offers the insertion section 31 inserted for positioning stop pins 61 free end.This insertion section 31 can
To be groove or through hole, stage clip 62 is located between positioning stop pins 61 and thigh support bar 50.At hip joint
Under unbending state, positioning stop pins 61 is inserted in insertion section 31 under the elastic thrust of stage clip 62,
Left and right centering block 40 then cannot rotate relative to front and back's centering block 30, and the two is relatively fixed；When needs are taken off or worn
When putting on, push away the operation ear 61a on positioning stop pins 61 down along side opening 41, positioning stop pins 61 upper
End then departs from insertion section 31, and left and right centering block 40 then can be transferred not relative to front and back's centering block 30 freely left-right rotary
Restricted, user can be sat down and taken off or be worn by hip joint.
Front and back centering block 30 is positioned at the hinged end outer surface (i.e. face around insertion section 31) of left and right centering block 40
For cambered surface or lozenges, preferably before and after centering block 30 with this at the concentric cambered surface of jointed shaft, positioning stop pins 61
Free end be chamfering or sphere, to facilitate the insertion section 31 preferably slipping into before and after's centering block 30.Work as hip joint
When the left and right centering block 40 of structure can freely swing, firmly rotate left and right centering block 40, positioning stop pins
61 slip into insertion section 31 along cambered surface or the lozenges of centering block 30 front and back under the elastic thrust of stage clip 62, it is achieved
Self-locking, now, left and right centering block 40 is then relatively fixed with front and back centering block 30 and cannot swing again.
Power is transmitted to hip joint by using brushless electric machine by ball screw arrangement by the present invention so that it is according to
The direction specified and speed motion, take volume little and light；Be simultaneous for cannot the shortcoming of lateral movement,
Devise, relative to hip joint seat, there is centering block and left and right centering block before and after different rotary direction so that hip joint
Motion is freely；Further, since the existence of self-locking structure, it opens rear hip joint can be with lateral movement, people
After wearing completes, joint is reset into after initial position self-locking structure can automatic locking lateral movement, can
To prevent motor process from lateral movement occurring, it is ensured that the personal safety of user；Further, owing to having angle
Degree sensor, can carry out real-time feedback to the rotational angle of hip joint, make system can do the control of closed loop,
Machine can utilize the angle of hip joint to judge human body attitude simultaneously.
The above is only the detailed description of the invention of the application, it is noted that common for the art
For technical staff, on the premise of without departing from the application principle, it is also possible to make some improvements and modifications,
These improvements and modifications also should be regarded as the protection domain of the application.
Claims (8)
1. the hip joint structure of a wearable exoskeleton robot, it is characterised in that include being sequentially connected
Drive mechanism (10), hip joint seat (20), front and back centering block (30), left and right centering block (40) and fixing
At the thigh support bar (50) of centering block (40) lower end, described left and right, described drive mechanism (10) includes motor
(11) rotating shaft with described motor (11) is connected screw mandrel (12), it is located on described screw mandrel (12)
And with the slide block (13) of described screw mandrel (12) threaded engagement and the connecting rod hinged with described slide block (13)
(14)；Described hip joint seat (20) hollow, described motor (11) is fixed on described hip joint seat (20)
Upper end, described screw mandrel (12), described slide block (13) and connecting rod (14) are positioned at described hip joint seat (20)
In；Before and after described, two positions of centering block (30) upper end are respectively hinged under described hip joint seat (20)
End and the free end of described connecting rod (14), and described before and after the lower end of centering block (30) and described left and right centering block
(40) hinged；Described motor (11) work drives described slide block (13) upper past at described screw mandrel (12)
Motion again, described connecting rod (14) is driven by described slide block (13) and promotes described centering block (30) phase front and back
Described hip joint seat (20) is rotated at fore-and-aft direction；Described left and right centering block (40) is relative to before described
Rear centering block (30) is rotatable at left and right directions.
The hip joint structure of wearable exoskeleton robot the most according to claim 1, its feature exists
In, described drive mechanism (10) also includes the screw mandrel adapter sleeve (15) being connected on described screw mandrel (12)
And the shaft coupling (16) being connected between the rotating shaft of described screw mandrel adapter sleeve (15) and described motor (11).
The hip joint structure of wearable exoskeleton robot the most according to claim 1, its feature exists
In, also include that torsion spring (K), described torsion spring (K) are set in described centering block (30) front and back and described hip joint
On jointed shaft between seat (20), two elastic arms of described torsion spring (K) are respectively towards both direction dorsad
Push described front and back centering block (30) and described hip joint seat (20).
The hip joint structure of wearable exoskeleton robot the most according to claim 3, its feature exists
In, described hip joint seat (20) includes blocking surface (21), described blocking surface (21) towards with described before
The free rebound direction of rear centering block (30) is contrary, opens amplitude with limit described torsion spring (K).
The hip joint structure of wearable exoskeleton robot the most according to claim 1, its feature exists
In, also include being fixed on described before and after on jointed shaft between centering block (30) and described hip joint seat (20)
Angular transducer (S).
The hip joint structure of wearable exoskeleton robot the most according to claim 1, its feature exists
In, also include that gripper shoe (70), described gripper shoe (70) are fixed on described left and right centering block (40).
7. according to the hip joint structure of the arbitrary described wearable exoskeleton robot of claim 1-6, its
It is characterised by, also includes self-locking structure (60), described left and right centering block (40) hollow in the longitudinal direction and tool
There is the side opening (41) of strip；Described self-locking structure (60) includes being positioned at described left and right centering block (40)
Positioning stop pins (61) and stage clip (62), described positioning stop pins (61) includes being slidingly disposed at described
Operation ear (61a) in side opening (41), described stage clip (62) pushes institute towards described centering block (30) front and back
State positioning stop pins (61)；Before and after described, centering block (30) is positioned at the hinged end of described left and right centering block (40)
Offer the insertion section (31) inserted for described positioning stop pins (61) free end.
The hip joint structure of wearable exoskeleton robot the most according to claim 7, its feature exists
In, described before and after centering block (30) be positioned at the hinged end outer surface of described left and right centering block (40) be cambered surface or
Lozenges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610346270.7A CN105877973B (en) | 2016-05-23 | 2016-05-23 | A kind of hip joint structure of wearable exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610346270.7A CN105877973B (en) | 2016-05-23 | 2016-05-23 | A kind of hip joint structure of wearable exoskeleton robot |
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| Publication Number | Publication Date |
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| CN105877973A true CN105877973A (en) | 2016-08-24 |
| CN105877973B CN105877973B (en) | 2018-09-21 |
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| CN201610346270.7A Active CN105877973B (en) | 2016-05-23 | 2016-05-23 | A kind of hip joint structure of wearable exoskeleton robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106109186A (en) * | 2016-08-31 | 2016-11-16 | 中国科学院深圳先进技术研究院 | Wearable lower limb exoskeleton robot |
| CN107049711A (en) * | 2017-06-20 | 2017-08-18 | 戴志杰 | Wearable multi-functional ectoskeleton mobile holder device and its control method |
| CN108838999A (en) * | 2018-08-07 | 2018-11-20 | 华东理工大学 | A kind of joint actuator for wearable ectoskeleton |
| CN109044742A (en) * | 2018-08-07 | 2018-12-21 | 华东理工大学 | A kind of rehabilitation type lower limb exoskeleton |
| CN112428253A (en) * | 2020-08-07 | 2021-03-02 | 天津大学 | Torque-editable passive exoskeleton driver |
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| CN205924413U (en) * | 2016-05-23 | 2017-02-08 | 深圳先进技术研究院 | Hip joint structure of wearable ectoskeleton robot |
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| WO2007103579A2 (en) * | 2006-03-09 | 2007-09-13 | The Regents Of The University Of California | Power generating leg |
| CN101518472A (en) * | 2009-03-24 | 2009-09-02 | 中国人民解放军海军航空工程学院 | Intelligent exoskeleton carrying system for lower limb and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106109186A (en) * | 2016-08-31 | 2016-11-16 | 中国科学院深圳先进技术研究院 | Wearable lower limb exoskeleton robot |
| CN106109186B (en) * | 2016-08-31 | 2018-08-14 | 中国科学院深圳先进技术研究院 | Wearable lower limb exoskeleton robot |
| CN107049711A (en) * | 2017-06-20 | 2017-08-18 | 戴志杰 | Wearable multi-functional ectoskeleton mobile holder device and its control method |
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| CN108838999A (en) * | 2018-08-07 | 2018-11-20 | 华东理工大学 | A kind of joint actuator for wearable ectoskeleton |
| CN109044742A (en) * | 2018-08-07 | 2018-12-21 | 华东理工大学 | A kind of rehabilitation type lower limb exoskeleton |
| CN112428253A (en) * | 2020-08-07 | 2021-03-02 | 天津大学 | Torque-editable passive exoskeleton driver |
| CN112428253B (en) * | 2020-08-07 | 2023-05-09 | 天津大学 | Torque editable passive exoskeleton driver |
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| Publication number | Publication date |
|---|---|
| CN105877973B (en) | 2018-09-21 |
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