CN106335049A - Lower limb exosbone assisting device driven by pneumatic muscle - Google Patents
Lower limb exosbone assisting device driven by pneumatic muscle Download PDFInfo
- Publication number
- CN106335049A CN106335049A CN201611035785.1A CN201611035785A CN106335049A CN 106335049 A CN106335049 A CN 106335049A CN 201611035785 A CN201611035785 A CN 201611035785A CN 106335049 A CN106335049 A CN 106335049A
- Authority
- CN
- China
- Prior art keywords
- hip joint
- pulley
- pneumatic muscles
- pneumatic
- fixed
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Abstract
The invention discloses a lower limb exoskeleton power assisting device driven by pneumatic muscles, including the control chamber, back device, lumbar device, lower devices and the foot device that are sequentially connected; lumbar device includes rotating member and elongate member, and rotating member provides an auxiliary degree of freedom and is provided with safe spacing gear button, change and coordinate the length that can adjust lumbar device between the hole of elongate member; lower devices are double to pulling structure using the pneumatic muscles of pulley wire cord type, by two pneumatic muscles antithesis pulling steel wire ropes, drive pulley rotation so as to realize joint drive using frictional force of the flexible wire ropes with pulley room; motion intention closed loop control each articulation of the control chamber according to operator, so as to drive leg exercise to reach power-assistance purpose. The invention has the advantages of simple structure, size-adjustable, flexible and reliable, stable and reliable, and the like, and can effectively improve the carrying capacity and the control accuracy of the power assisting device, and is convenient to wear, easy for maintenance, cost-saving, clean, and environmental protective.
Description
Technical field
The present invention relates to the lower limb exoskeleton power assisting device that a kind of pneumatic muscles drive, belong to pneumatics and flexible dermoskeleton
Bone robot field.
Background technology
Flexible exoskeleton robot is that one kind is worn and is attached to operator, provides body-support, motion auxiliary for it and helps
The electromechanical integrated device of the functions such as power.Wherein, assistance exoskeleton robot is used for providing power-assisted and machine to the normal people of activity
Can amplify, be with a wide range of applications at aspects such as military affairs, the disaster relief, medical treatment.
Flexible exoskeleton power assisting device mainly adopts motor or hydraulic-driven both at home and abroad at present, and Motor drive can directly be made
Embed in ectoskeleton for joint, have the advantages that easy to control, control accuracy is high, but its power weight ratio is less, limited weight
Motor be difficult to undertake relatively large load.And hydraulic-driven has larger power weight ratio, less driving element can carry
Larger load, is the main type of drive of military ectoskeleton power assisting device at present, but it is susceptible to leakage and operating efficiency
Low, energy ezpenditure is big, the sustainable working time is short, system requirement on machining accuracy is high, expensive.
Compared with conventional motors, hydraulic-driven, pneumatic muscles are a kind of ideal execution of ectoskeleton power assisting device
Device: first, the working media that air pressure drives is friendly to environment and human body, has that components and parts are lightweight, low price, easy care etc.
Advantage；Secondly, based on bionic class people muscle-pneumatic muscles not only have the power-volume ratio comparing favourably with hydraulic cylinder and
Power weight ratio, and its force-displacement relationship characteristic is similar to human muscular's characteristic and has good compliance.
Therefore, those skilled in the art is devoted to developing the lower limb exoskeleton power assisting device that a kind of pneumatic muscles drive,
Using the double driving that pulling structure is realized with flexible exoskeleton of the pneumatic muscles of pulley wire cord type.
Content of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, under the present invention provides a kind of pneumatic muscles to drive
Limb ectoskeleton power assisting device, has the advantages that structure is simple, size adjustable, flexibly safe and stable reliable, can effectively improve power-assisted
The bearing capacity of device and control accuracy, and convenient for installation and maintenance, cost is relatively low, clean environment firendly.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
The lower limb exoskeleton power assisting device that a kind of pneumatic muscles drive, including the control cabinet being sequentially connected, back device, waist
Part device, lower devices and foot device；
Wherein, lumbar device include two hip joint extending-boards matching, two identical hip joint fixed plates, two
Identical hip joint swivel plate and two identical hip joint connecting plates；The inner side of two hip joint extending-boards is opposed to be connected, and leads to
The inner hole crossing diverse location realizes the Telescopic Fixed of two hip joint extending-boards；Two hip joint fixed plates are symmetrically fixed
Two symmetrical hip joint rotary stopper gears are provided with the outer end of two hip joint extending-boards, each hip joint fixed plate
Button；The inner of two hip joint swivel plates is hinged with the outer end of two hip joint fixed plates respectively, and rotates limit by hip joint
Position gear is detained and to be limited the slewing area of each hip joint swivel plate；The outer end of two hip joint swivel plates passes through Limiting hinge respectively
It is connected with two hip joint connecting plates, the rotational angle of Limiting hinge meets the range of movement at human thigh's hip joint.
Adjust the lateral length of lumbar device by the distance adjusting two hip joint extending-boards, to adapt to different physique
Crowd；It is provided with hip joint rotary stopper gear button at hip joint rotating mechanism, and Limiting hinge also limit rotational angle, effectively
Improve the security of device, prevent ectoskeletal rotation beyond human body limit from human body is damaged.
Lower devices include two big leg devices of identical and two identical lower-leg device, and big leg device and shank dress
The structure put is identical, and it includes pulley, pulley spindle, flexible steel cable, two pneumatic muscles, telescopic supporting rod and connecting rod；Described stretch
Contracting support bar is formed by two sections of support bars are sheathed, and the junction of two sections of support bars is provided with buckle with regular length；Pulley spindle
Along the upper end being radially disposed at telescopic supporting rod of telescopic supporting rod, the lower end of telescopic supporting rod is perpendicularly fixed in the middle part of connecting rod；
Pulley is installed on pulley spindle by rolling bearing, and the two ends of each pneumatic muscles are provided with earrings；Flexible steel cable bypasses
Pulley and two ends are connected with the earrings of two pneumatic muscles upper ends respectively, the earrings of two pneumatic muscles lower ends respectively with connecting rod
Two ends are hinged；By the telescopic band movable pulley of two pneumatic muscles with respect to pulley spindle rotation, that is, telescopic supporting rod phase
Rotation for pulley；
The pulley of two big leg devices is separately fixed on two hip joint connecting plates, and the pulley of two lower-leg device is respectively
It is fixed on the telescopic supporting rod bottom of two big leg devices.
Lower devices adopt the pneumatic muscles of pulley wire cord type double to pulling structure, by two pneumatic muscles antithesis controls
One articulation of system, its two ends connecting steel wire ropes and connecting rod respectively, control a shortening, another elongation during work, utilize
Flexible wire ropes drive pulley rotation thus realizing joint drive with the frictional force of pulley room.Compared with linkage, advocated
Concentrate on a steel cord, stress is more uniform, improve reliability and the security of device；And in the case of load excessive,
Wire rope pulley can occur skidding, plays overload protective function.And this connected mode can be changed and adopt different model
Pneumatic muscles, simple and fast.
Preferably, described control cabinet includes casing, is provided with controller, the gentle dynamic three linked piece of pneumatic valve group in casing；Control
Device transmission control signal processed gives pneumatic valve group, and pneumatic triple piece is connected with eight pneumatic muscles by pneumatic valve group.
Preferably, described back device includes backboard and flexible braces, and flexible braces is fixed on backboard；Control cabinet is fixed
On rear side of backboard, backboard bottom is connected with hip joint extending-board by connecting plate.
Preferably, described foot device includes two soles, and each sole is provided with bearing and rotating shaft, two soles
Hinged with the telescopic supporting rod bottom of two lower-leg device respectively by the structure of bearing and rotating shaft.By sole and rotating mechanism
Ensure that stability and the flexibility of power assisting device.
Power assisting device is fixed with operating personnel by upper body braces and lower limb bandage, is closed according to the motion intention of operating personnel
Ring controls each articulation, thus driving leg exercise to reach power-assisted purpose.
Preferably, the pulley of described two big leg devices and the pulley of two lower-leg device are provided with angle sensor
Device, angular transducer transmission detection signal, to controller, thus constituting feedback control system, effectively improves the control of power assisting device
Precision.
Beneficial effect: the lower limb exoskeleton power assisting device that a kind of pneumatic muscles that the present invention provides drive, with respect to existing
Technology, has the advantage that 1, present configuration is simple, reliable and stable, effectively increases bearing capacity and the control of power assisting device
Precision processed, and dress easy to maintenance, cost-effective, clean environment firendly；2nd, the present invention is provided with three degree of freedom, knee at hip joint
Joint one degree of freedom, ankle-joint one degree of freedom, Various Complex action, flexible and changeable and size adjustable can be completed；3rd, adopt
With the type of drive of pneumatic muscles, have the advantages that light weight, price be low, easy care, it is to avoid hydraulic-driven may oil leak
Situation, also compensate for Motor drive offer moment not enough the shortcomings of, safe and reliable, compliance is fabulous.
Brief description
Fig. 1 is the general structure schematic diagram of the lower limb exoskeleton power assisting device that a kind of pneumatic muscles of the present invention drive；
Fig. 2 is the structural representation of lumbar device in the lower limb exoskeleton power assisting device that a kind of pneumatic muscles of the present invention drive
Figure；
Fig. 3 is the knot of lower devices active unit in the lower limb exoskeleton power assisting device that a kind of pneumatic muscles of the present invention drive
Structure schematic diagram；
Fig. 4 be a kind of pneumatic muscles of the present invention drive lower limb exoskeleton power assisting device in control cabinet structural representation
Figure；
In figure includes: 1, control cabinet, and 2, back device, 3, lumbar device, 4, lower devices, 5, foot device, 3-1, hip
Joint extending-board, 3-2, hip joint fixed plate, 3-3, hip joint rotary stopper gear button, 3-4, hip joint swivel plate, 3-5, spacing
Hinge, 3-6, hip joint connecting plate, 4-1, pulley, 4-2, flexible steel cable, 4-3, earrings, 4-4, telescopic supporting rod, 4-5, buckle,
4-6, pneumatic muscles, 4-7, connecting rod, 4-8, pulley spindle, 1-1, casing, 1-2, pneumatic valve group, 1-3, pneumatic triple piece.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment is further described to the present invention.
It is illustrated in figure 1 the lower limb exoskeleton power assisting device that a kind of pneumatic muscles drive, including the control cabinet being sequentially connected
1st, back device 2, lumbar device 3, lower devices 4 and foot device 5；
As shown in Fig. 2 lumbar device 3 includes two hip joint extending-board 3-1 matching, two identical hip joints admittedly
Fixed board 3-2, two identical hip joint swivel plate 3-4 and two identical hip joint connecting plate 3-6；Two hip joint extending-boards
The inner side of 3-1 is opposed to be connected, and realizes the Telescopic Fixed of two hip joint extending-board 3-1 by the inner hole of diverse location, from
And adjust the lateral length of lumbar device 3；Two hip joint fixed plates 3-2 are symmetrically fixed on two hip joint extending-board 3-1
Outer end, each hip joint fixed plate 3-2 is provided with two symmetrical hip joint rotary stoppers gear button 3-3；Two hips close
The inner of section swivel plate 3-4 is hinged with the outer end of two hip joint fixed plates 3-2 respectively, and by hip joint rotary stopper gear button
3-3 is ensureing the safe rotational angle range of each hip joint swivel plate 3-4；The outer end of two hip joint swivel plate 3-4 is respectively
It is connected with two hip joint connecting plate 3-6 by Limiting hinge 3-5, the cooperation of hip joint connecting plate 3-6 and Limiting hinge 3-5 should
The mounting axis meeting axis of movement and Limiting hinge 3-5 at human thigh as possible are in same position.
As shown in figure 3, lower devices 4 include two big leg devices of identical and two identical lower-leg device, and thigh
Device is identical with the structure of lower-leg device, it include pulley 4-1, pulley spindle 4-8, flexible steel cable 4-2, two pneumatic muscles 4-6,
Telescopic supporting rod 4-4 and connecting rod 4-7；Described telescopic supporting rod 4-4 is formed by two sections of support bars are sheathed, and the company of two sections of support bars
The place of connecing is provided with buckle 4-5 with regular length, thus adjusting the length of lower devices 4；Pulley spindle 4-8 is along telescopic supporting rod 4-4
The upper end being radially disposed at telescopic supporting rod 4-4, the lower end of telescopic supporting rod 4-4 is perpendicularly fixed in the middle part of connecting rod 4-7；Pulley
4-1 is installed on pulley spindle 4-8 by rolling bearing, and the two ends of each pneumatic muscles 4-6 are provided with earrings 4-3, earrings
4-3 is threaded connection the end being fixed on pneumatic muscles 4-6；Flexible steel cable 4-2 bypass pulley 4-1 and two ends respectively with two
The earrings 4-3 of pneumatic muscles 4-6 upper end is connected, the earrings 4-3 two ends with connecting rod 4-7 respectively of two pneumatic muscles 4-6 lower ends
By bolted splice；By the rotation with respect to pulley spindle 4-8 for the telescopic band movable pulley 4-1 of two pneumatic muscles 4-6, that is,
The rotation with respect to pulley 4-1 for the telescopic supporting rod 4-4；
The pulley 4-1 of two big leg devices is bolted on two hip joint connecting plate 3-6 respectively, two shanks
The pulley 4-1 of device is bolted on the telescopic supporting rod 4-4 bottom of two big leg devices respectively.
As shown in figure 4, described control cabinet 1 includes casing 1-1, be provided with casing 1-1 controller, pneumatic valve group 1-2 and
Pneumatic triple piece 1-3；Controller transmission control signal gives pneumatic valve group 1-2, and pneumatic triple piece 1-3 is by pneumatic valve group 1-2
It is connected with eight pneumatic muscles 4-6.Specifically, the air inlet of described pneumatic triple piece 1-3 by tracheae connect source of the gas, pneumatic three
The gas outlet of connection part 1-3 connects the air inlet of pneumatic valve group 1-2 by tracheae, eight gas outlets of pneumatic valve group 1-2 respectively with
The air inlet connection of eight pneumatic muscles 4-6.Pneumatic valve group 1-2 can adoption rate pressure valve, proportional flow control valve, high-speed switch valve
And proportional direction valve.
In the present embodiment, described back device 2 includes backboard, flexible braces, bogie plate and reinforcement, and bogie plate passes through to add
Strong muscle is fixed on backboard, and flexible braces is fixed on backboard；Control cabinet 1 is fixed on rear side of backboard, and backboard bottom is passed through to connect
Plate is connected with hip joint extending-board 3-1.
In the present embodiment, described foot device 5 includes two soles, and each sole is provided with bearing and rotating shaft, and two
Individual sole passes through bearing and the structure of rotating shaft is hinged with the telescopic supporting rod 4-4 bottom of two lower-leg device respectively.
In the present embodiment, the pulley 4-1 of the described two big leg devices and pulley 4-1 of two lower-leg device is provided with
Angular transducer, angular transducer transmission detection signal is to controller.Angular transducer adopts optical rotary encoder, encoder
Connector is bolted with pulley 4-1, and optical rotary encoder is fixed on encoder connector, optical rotary encoder
Pass through open circles column sleeve, positioning pin connection with pulley spindle 4-8.
The specific embodiment of the present invention is as follows:
1st, this power assisting device is fixed by flexible braces and lower limb bandage and operating personnel, according to the build of operating personnel
The setting lateral length of lumbar device 3 and the length of each telescopic supporting rod 4-4, complete the wearing of power assisting device；
2nd, start prepares, and controller controls the air inlet of pneumatic muscles 4-6, the pneumatic flesh of respective sides by pneumatic valve group 1-2
Each self-expanding/the contraction of meat 4-6, up to the half to specified elongation, makes flexible steel cable 4-2 be exactly in the state of tensioning；
3rd, controller obtains the angle that need to rotate at thigh bar or shank bar joint according to given human motion signal of intent
Degree, then calculating each pneumatic muscles 4-6 needs the length elongating or shortening and is given vent to anger according to the calculating of controller internal algorithm
The controlled quentity controlled variable of dynamic muscle 4-6；
4th, controller is shunk by controlling pneumatic valve group 1-2 so that side pneumatic muscles 4-6 is inflated, opposite side pneumatic muscles 4-
6 venting elongations, amount of contraction was consistent with the elongation moment；The flexible pulling flexible wire ropes of pneumatic muscles 4-6 simultaneously pass through to rub
Wiping power band movable pulley 4-1 rotates, and because pulley 4-1 fixes, according to relative motion, pneumatic muscles 4-6 and steel wire rope 4-2 drives and stretches
Contracting support bar 4-4, pulley spindle 4-8 rotate around pulley 4-1, thus reaching power-assisted purpose.
The above be only the preferred embodiment of the present invention it should be pointed out that: for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (5)
1. the lower limb exoskeleton power assisting device that a kind of pneumatic muscles drive is it is characterised in that include the control cabinet being sequentially connected
(1), back device (2), lumbar device (3), lower devices (4) and foot device (5)；
Wherein, lumbar device (3) includes two the hip joint extending-boards (3-1) matching, two identical hip joint fixed plates
(3-2), two identicals hip joint swivel plate (3-4) and two identicals hip joint connecting plate (3-6)；Two hip joint elongations
The inner side of plate (3-1) is opposed to be connected, scalable fixation between two hip joint extending-boards (3-1)；Two hip joint fixed plate (3-
2) symmetrically it is fixed on the outer end of two hip joint extending-boards (3-1), each hip joint fixed plate (3-2) is provided with two
Hip joint rotary stopper gear button (3-3)；The inner of two hip joint swivel plates (3-4) respectively with two hip joint fixed plate (3-
2) outer end is hinged, and to limit the rotation model of each hip joint swivel plate (3-4) by hip joint rotary stopper gear button (3-3)
Enclose；The outer end of two hip joint swivel plates (3-4) passes through Limiting hinge (3-5) and two hip joint connecting plate (3-6) phases respectively
Even；
Lower devices (4) include two big leg devices of identical and two identical lower-leg device, and big leg device and shank dress
The structure put is identical, and it includes pulley (4-1), pulley spindle (4-8), flexible steel cable (4-2), two pneumatic muscles (4-6), flexible
Support bar (4-4) and connecting rod (4-7)；Described telescopic supporting rod (4-4) is formed by two sections of support bars are sheathed, and two sections of support bars
Junction is provided with buckle (4-5) with regular length；Pulley spindle (4-8) is flexible along being radially disposed at of telescopic supporting rod (4-4)
The upper end of support bar (4-4), the lower end of telescopic supporting rod (4-4) is perpendicularly fixed in the middle part of connecting rod (4-7)；Pulley (4-1) is installed
On pulley spindle (4-8), and the two ends of each pneumatic muscles (4-6) are provided with earrings (4-3)；Flexible steel cable (4-2) bypasses
Pulley (4-1) and two ends are connected with the earrings (4-3) of two pneumatic muscles (4-6) upper ends respectively, under two pneumatic muscles (4-6)
The earrings (4-3) at end is hinged with the two ends of connecting rod (4-7) respectively, by the telescopic band movable pulley (4- of two pneumatic muscles (4-6)
1) rotation with respect to pulley spindle (4-8)；
The pulley (4-1) of two big leg devices is separately fixed on two hip joint connecting plates (3-6), the cunning of two lower-leg device
Wheel (4-1) is separately fixed at telescopic supporting rod (4-4) bottom of two big leg devices.
2. a kind of pneumatic muscles according to claim 1 drive lower limb exoskeleton power assisting device is it is characterised in that described
Control cabinet (1) includes casing (1-1), is provided with controller, pneumatic valve group (1-2) and pneumatic triple piece (1- in casing (1-1)
3)；Controller transmission control signal give pneumatic valve group (1-2), pneumatic triple piece (1-3) by pneumatic valve group (1-2) with eight
Pneumatic muscles (4-6) are connected.
3. a kind of pneumatic muscles according to claim 1 drive lower limb exoskeleton power assisting device is it is characterised in that described
Back device (2) includes backboard and flexible braces, and flexible braces is fixed on backboard；Control cabinet (1) is fixed on rear side of backboard, the back of the body
Plate bottom is connected with hip joint extending-board (3-1) by connecting plate.
4. a kind of pneumatic muscles according to claim 1 drive lower limb exoskeleton power assisting device is it is characterised in that described
Foot device (5) includes two soles, and each sole is provided with bearing and rotating shaft, and two soles pass through bearing and rotating shaft
Structure is hingedly connected to telescopic supporting rod (4-4) bottom of two lower-leg device.
5. a kind of pneumatic muscles according to claim 2 drive lower limb exoskeleton power assisting device is it is characterised in that described
It is provided with angular transducer, angle sensor on the pulley (4-1) of the pulley (4-1) of two big leg devices and two lower-leg device
Device transmission detection signal is to controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611035785.1A CN106335049B (en) | 2016-11-09 | 2016-11-09 | A kind of lower limb exoskeleton power assisting device of pneumatic muscles driving |
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|---|---|---|---|
| CN201611035785.1A CN106335049B (en) | 2016-11-09 | 2016-11-09 | A kind of lower limb exoskeleton power assisting device of pneumatic muscles driving |
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| CN106335049A true CN106335049A (en) | 2017-01-18 |
| CN106335049B CN106335049B (en) | 2018-08-07 |
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| CN201611035785.1A Expired - Fee Related CN106335049B (en) | 2016-11-09 | 2016-11-09 | A kind of lower limb exoskeleton power assisting device of pneumatic muscles driving |
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Cited By (12)
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| CN106541393A (en) * | 2017-01-23 | 2017-03-29 | 哈尔滨工业大学 | Heavy load drive lacking with elastic buffer parallel connection lower limb assistance exoskeleton |
| CN106821689A (en) * | 2017-01-19 | 2017-06-13 | 武汉云云天下信息科技有限公司 | A kind of wearable human body exoskeleton robot |
| CN107137207A (en) * | 2017-07-03 | 2017-09-08 | 哈尔滨工业大学 | Drive lacking lower limb assistance exoskeleton robot based on rope pulley mechanism |
| CN107486839A (en) * | 2017-08-23 | 2017-12-19 | 北京铁甲钢拳科技有限公司 | A kind of mechanical device |
| CN107717961A (en) * | 2017-11-09 | 2018-02-23 | 嘉兴学院 | A kind of human emulated robot based on cylinder |
| JP2018158403A (en) * | 2017-03-22 | 2018-10-11 | 株式会社ジェイテクト | Assist device |
| CN109124983A (en) * | 2018-07-03 | 2019-01-04 | 浙江大学 | A kind of lower limb rehabilitation exoskeleton system based on pneumatic muscles |
| CN109940594A (en) * | 2019-05-05 | 2019-06-28 | 深圳航天科技创新研究院 | Power exoskeleton robot |
| CN110497387A (en) * | 2019-08-28 | 2019-11-26 | 华南理工大学 | The artificial skeleton and muscle framework and its design method of a kind of bionical anthropomorphic robot |
| US11357654B2 (en) | 2016-11-18 | 2022-06-14 | Exoiq Gmbh | System and method for reducing forces acting on a spinal column |
| US11369541B2 (en) | 2016-11-30 | 2022-06-28 | Exoiq Gmbh | Device and method for supplementing muscle strength |
| USD997108S1 (en) | 2021-08-13 | 2023-08-29 | Festool Gmbh | Operating element for a robotic exoskeleton |
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| USD1005363S1 (en) | 2021-08-13 | 2023-11-21 | Festool Gmbh | Wearable robotic exoskeleton |
| USD1005362S1 (en) | 2021-08-13 | 2023-11-21 | Festool Gmbh | Wearable robotic exoskeleton with belts |
| USD1005361S1 (en) | 2021-08-13 | 2023-11-21 | Festool Gmbh | Wearable robotic exoskeleton with belts |
| USD1011398S1 (en) | 2021-08-13 | 2024-01-16 | Festool Gmbh | Wearable robotic exoskeleton |
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| CN106335049B (en) | 2018-08-07 |
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