CN106335049B - A kind of lower limb exoskeleton power assisting device of pneumatic muscles driving - Google Patents
A kind of lower limb exoskeleton power assisting device of pneumatic muscles driving Download PDFInfo
- Publication number
- CN106335049B CN106335049B CN201611035785.1A CN201611035785A CN106335049B CN 106335049 B CN106335049 B CN 106335049B CN 201611035785 A CN201611035785 A CN 201611035785A CN 106335049 B CN106335049 B CN 106335049B
- Authority
- CN
- China
- Prior art keywords
- hip joint
- pulley
- pneumatic muscles
- pneumatic
- power assisting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- 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 kind of lower limb exoskeleton power assisting devices of pneumatic muscles driving, including control cabinet, back device, lumbar device, lower devices and the foot device being sequentially connected；Lumbar device includes rotating member and elongate member, and rotating member provides an auxiliary degree of freedom and is simultaneously equipped with safe spacing gear button, and the length of lumbar device can be adjusted by changing cooperation between the hole of elongate member；Lower devices are double to pulling structure using the pneumatic muscles of pulley wire cord type, pull steel wire rope by two pneumatic muscles antithesis, drive pulley rotation to realize joint drive using the frictional force of flexible wire ropes and pulley room；Control cabinet is according to each articulation of motion intention closed-loop control of operating personnel, to drive leg exercise to reach power-assisted purpose.The present invention has many advantages, such as simple in structure, size adjustable, flexibly safe and stable reliable, can effectively improve the bearing capacity and control accuracy of power assisting device, and dress easy to maintain, cost-effective, clean environment firendly.
Description
Technical field
The present invention relates to a kind of lower limb exoskeleton power assisting devices of pneumatic muscles driving, 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, movement auxiliary for it and helps
The electromechanical integrated device of the functions such as power.Wherein, assistance exoskeleton robot is used to provide power-assisted and machine to the normal people of activity
It can amplify, be with a wide range of applications in military affairs, the disaster relief, medical treatment etc..
Flexible exoskeleton power assisting device mainly uses motor or hydraulic-driven, motor driving that can directly make both at home and abroad at present
It is embedded in ectoskeleton for joint, has many advantages, such as that easy to control, control accuracy is high, but its power weight ratio is smaller, limited weight
Motor be difficult to undertake relatively large load.And there is hydraulic-driven larger power weight ratio, smaller driving element can carry
Larger load is the main type of drive of current military ectoskeleton power assisting device, but it is easy to happen leakage and working efficiency
It is low, energy expenditure 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 of air pressure driving is friendly to environment and human body, has light-weight, cheap, easy care of component etc.
Advantage；Secondly, not only had based on bionic class people muscle-pneumatic muscles power-volume ratio for comparing favourably with hydraulic cylinder and
Power weight ratio, and its force-displacement relationship characteristic it is similar to human muscular's characteristic and have good compliance.
Therefore, those skilled in the art is dedicated to developing a kind of lower limb exoskeleton power assisting device of pneumatic muscles driving,
The driving of flexible exoskeleton is realized to pulling structure using the pneumatic muscles pair of pulley wire cord type.
Invention content
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention is provided under a kind of pneumatic muscles driving
Limb ectoskeleton power assisting device, have many advantages, such as simple in structure, size adjustable, flexibly it is safe and stable reliable, power-assisted can be effectively improved
The bearing capacity and control accuracy of device, and it is convenient for installation and maintenance, cost is relatively low, clean environment firendly.
Technical solution：To achieve the above object, the technical solution adopted by the present invention is：
A kind of lower limb exoskeleton power assisting device of pneumatic muscles driving, including the control cabinet, back device, the waist that are sequentially connected
Part device, lower devices and foot device；
Wherein, lumbar device include two matched hip joint extending-boards, two identical hip joint fixed plates, two
Identical hip joint swivel plate and two identical hip joint connecting plates；The inside of two hip joint extending-boards is opposed to be connected, and leads to
Cross the Telescopic Fixed of inner hole two hip joint extending-boards of realization of different location；Two hip joint fixed plates are symmetrically fixed
In being respectively provided on the outer end of two hip joint extending-boards, each hip joint fixed plate, there are two symmetrical hip joint rotary stoppers to keep off
Button；The inner end of two hip joint swivel plates is hinged with the outer end of two hip joint fixed plates respectively, and is rotated and limited by hip joint
Position gear is detained to limit 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 motion range at human thigh's hip joint.
Distance by adjusting two hip joint extending-boards adjusts the lateral length of lumbar device, to adapt to different physique
Crowd；Hip joint rotary stopper gear button is provided at hip joint rotating mechanism, and Limiting hinge also limits rotational angle, effectively
The safety for improving device prevents the rotation of ectoskeleton from being damaged to human body beyond human body limit.
Lower devices include two identical big leg devices and two identical lower-leg devices, and big leg device and shank fill
The structure set is identical comprising pulley, pulley spindle, flexible steel cable, two pneumatic muscles, telescopic supporting rod and connecting rod；It is described to stretch
Contracting supporting rod is arranged by two sections of supporting rods, and the junction of two sections of supporting rods is provided with buckle with regular length；Pulley spindle
Along the upper end for 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 by rolling bearing on pulley spindle, and the both ends of each pneumatic muscles are both provided with earrings；Flexible steel cable bypasses
Pulley and both 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
Both ends are hinged；Rotation by the telescopic band movable pulley of two pneumatic muscles relative to pulley spindle, that is, telescopic supporting rod phase
Rotation for pulley；
The pulley of two big leg device is separately fixed on two hip joint connecting plates, the pulley difference of two lower-leg devices
It is fixed on the telescopic supporting rod bottom of two big leg device.
Lower devices are double to pulling structure using the pneumatic muscles of pulley wire cord type, pass through two pneumatic muscles antithesis controls
Make an articulation, both ends are separately connected steel wire rope and connecting rod, when work control one shorten, another elongation, utilize
The frictional force of flexible wire ropes and pulley room drives pulley rotation to realize joint drive.Compared with link mechanism, advocated
It concentrates on a steel cord, stress is more uniform, improves reliability and the safety of device；And in the case of load excessive,
Slipping phenomenon can occur for wire rope pulley, play overload protective function.And this connection type can be replaced using different model
Pneumatic muscles, it is simple and fast.
Preferably, the control cabinet includes babinet, and the gentle dynamic three linked piece of controller, pneumatic valve group is provided in babinet；Control
Device processed transmits control signal to pneumatic valve group, and pneumatic triple piece is connected by pneumatic valve group with eight pneumatic muscles.
Preferably, the back device includes that backboard and flexible shoulder strap, flexible shoulder strap are fixed on backboard；Control cabinet is fixed
On rear side of backboard, backboard bottom is connected by connecting plate with hip joint extending-board.
Preferably, the foot device includes two soles, and bearing and shaft, two soles are both provided on each sole
It is hinged with the telescopic supporting rod bottom of two lower-leg devices respectively by the structure of bearing and shaft.Pass through sole and rotating mechanism
It ensure that stability and the flexibility of power assisting device.
Power assisting device is fixed by upper body shoulder strap and lower limb bandage with operating personnel, is closed according to the motion intention of operating personnel
Ring controls each articulation, to drive leg exercise to reach power-assisted purpose.
Preferably, it is both provided with angle sensor on the pulley of described two big leg devices and the pulley of two lower-leg devices
Device, angular transducer transmit detection signal to controller, to constitute feedback control system, effectively improve the control of power assisting device
Precision.
Advantageous effect：The lower limb exoskeleton power assisting device of a kind of pneumatic muscles driving provided by the invention, relative to existing
Technology has the following advantages：1, the configuration of the present invention is simple, it is reliable and stable, effectively increase bearing capacity and the control of power assisting device
Precision processed, and dress easy to maintain, cost-effective, clean environment firendly；2, 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 can complete Various Complex action, flexible and changeable and size adjustable；3, it adopts
With the type of drive of pneumatic muscles, have many advantages, such as that light weight, price be low, easy care, avoiding hydraulic-driven may oil leak
Situation also compensates for the shortcomings of motor drives the torque provided insufficient, and safe and reliable, compliance is fabulous.
Description of the drawings
Fig. 1 is a kind of general structure schematic diagram of the lower limb exoskeleton power assisting device of pneumatic muscles driving of the present invention；
Fig. 2 is the structural representation of lumbar device in a kind of lower limb exoskeleton power assisting device of pneumatic muscles driving of the present invention
Figure；
Fig. 3 is the knot of lower devices active unit in a kind of lower limb exoskeleton power assisting device of pneumatic muscles driving of the present invention
Structure schematic diagram；
Fig. 4 is the structural representation of control cabinet in a kind of lower limb exoskeleton power assisting device of pneumatic muscles driving of the present invention
Figure；
Figure includes：1, control cabinet, 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, limit
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, babinet, 1-2, pneumatic valve group, 1-3, pneumatic triple piece.
Specific implementation mode
The present invention is further described with reference to the accompanying drawings and embodiments.
It is as shown in Figure 1 a kind of lower limb exoskeleton power assisting device of pneumatic muscles driving, including the control cabinet being sequentially connected
1, back device 2, lumbar device 3, lower devices 4 and foot device 5；
As shown in Fig. 2, lumbar device 3 is solid including two matched hip joint extending-board 3-1, two identical hip joints
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 inside of 3-1 is opposed to be connected, and realizes that two hip joint extending-board 3-1's is Telescopic Fixed by the inner hole of different location, from
And adjust the lateral length of lumbar device 3；Two hip joint fixed plate 3-2 are symmetrically fixed on two hip joint extending-board 3-1
Outer end, be respectively provided with that there are two symmetrical hip joint rotary stopper gear button 3-3 on each hip joint fixed plate 3-2；Two hips close
The inner end for saving swivel plate 3-4 is hinged with the outer end of two hip joint fixed plate 3-2 respectively, and is kept off and being detained by hip joint rotary stopper
3-3 ensures the safe rotational angle range of each hip joint swivel plate 3-4；The outer end difference of two hip joint swivel plate 3-4
It is connected with two hip joint connecting plate 3-6 by Limiting hinge 3-5, hip joint connecting plate 3-6 and the cooperation of Limiting hinge 3-5 are answered
Meet the mounting axis of axis of movement and Limiting hinge 3-5 at human thigh as possible in same position.
As shown in figure 3, lower devices 4 include two identical big leg devices and two identical lower-leg devices, and thigh
Device is identical with the structure of lower-leg device comprising 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；The telescopic supporting rod 4-4 is arranged by two sections of supporting rods, and the company of two sections of supporting rods
The place of connecing is provided with buckle 4-5 with regular length, so as to adjust the length of lower devices 4；Pulley spindle 4-8 is along telescopic supporting rod 4-4
The upper end for 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 by rolling bearing on pulley spindle 4-8, and the both ends of each pneumatic muscles 4-6 are both provided with earrings 4-3, earrings
4-3 is connected through a screw thread the end for being fixed on pneumatic muscles 4-6；Flexible steel cable 4-2 around pulley 4-1 and both ends respectively with two
The earrings 4-3 of the upper ends pneumatic muscles 4-6 is connected, the both ends with connecting rod 4-7 respectively the earrings 4-3 of two lower ends pneumatic muscles 4-6
Pass through bolted splice；Rotation by the telescopic band movable pulley 4-1 of two pneumatic muscles 4-6 relative to pulley spindle 4-8, that is,
Rotations of the telescopic supporting rod 4-4 relative to pulley 4-1；
The pulley 4-1 of two big leg device is bolted on respectively on two hip joint connecting plate 3-6, two shanks
The pulley 4-1 of device is bolted on the bottoms telescopic supporting rod 4-4 of two big leg device respectively.
As shown in figure 4, the control cabinet 1 includes babinet 1-1, be provided in babinet 1-1 controller, pneumatic valve group 1-2 and
Pneumatic triple piece 1-3；Controller transmits control signal to 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 the pneumatic triple piece 1-3 by tracheae connect air source, 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.Proportional pressure valve, proportional flow control valve, high-speed switch valve can be used in pneumatic valve group 1-2
And proportional direction valve.
In the present embodiment, the back device 2 includes backboard, flexible shoulder strap, bogie plate and reinforcing rib, and bogie plate is by adding
Strengthening tendons are fixed on backboard, and flexible shoulder strap is fixed on backboard；Control cabinet 1 is fixed on rear side of backboard, and backboard bottom passes through connection
Plate is connected with hip joint extending-board 3-1.
In the present embodiment, the foot device 5 includes two soles, is both provided with bearing and shaft on each sole, and two
A sole is hinged with the bottoms telescopic supporting rod 4-4 of two lower-leg devices respectively by the structure of bearing and shaft.
In the present embodiment, it is both provided on the pulley 4-1 of the pulley 4-1 of described two big leg devices and two lower-leg devices
Angular transducer, angular transducer transmit detection signal to controller.Angular transducer uses 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 implementation mode of the present invention is as follows：
1, the power assisting device is fixed by flexible shoulder strap and lower limb bandage and operating personnel, according to the build of operating personnel
The lateral length of lumbar device 3 and the length of each telescopic supporting rod 4-4 are set, the wearing of power assisting device is completed；
2, booting 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/contractions of meat 4-6 make flexible steel cable 4-2 be exactly in the state of tensioning up to the half to specified elongation；
3, controller obtains the angle that need to be rotated at thigh bar or shank bar joint according to given human motion signal of intent
Then degree calculates each pneumatic muscles 4-6 and needs the length elongated or shortened and calculate outlet according to controller internal algorithm
The controlled quentity controlled variable of dynamic muscle 4-6；
4, controller makes pneumatic muscles 4-6 inflations in side shrink by controlling pneumatic valve group 1-2, other side pneumatic muscles 4-
6, which deflate, extends, and shrinkage is consistent with the elongation moment；The flexible pulling flexible wire ropes of pneumatic muscles 4-6 and by rubbing
Power band movable pulley 4-1 rotations are wiped, since pulley 4-1 is fixed, according to relative motion, pneumatic muscles 4-6 and steel wire rope 4-2 drives are stretched
Contracting supporting rod 4-4, pulley spindle 4-8 are rotated around pulley 4-1, to reach power-assisted purpose.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of lower limb exoskeleton power assisting device of pneumatic muscles driving, which is characterized in that including 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 matched hip joint extending-boards (3-1), two identical hip joint fixed plates
(3-2), two identical hip joint swivel plates (3-4) and two identical hip joint connecting plates (3-6)；Two hip joint elongations
The inside 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) be symmetrically fixed on the outer end of two hip joint extending-boards (3-1), be respectively provided on each hip joint fixed plate (3-2) there are two
Hip joint rotary stopper gear button (3-3)；The inner end of two hip joint swivel plates (3-4) respectively with two hip joint fixed plate (3-
2) outer end is hinged, and keeps off button (3-3) by hip joint rotary stopper to limit the rotation model of each hip joint swivel plate (3-4)
It encloses；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 identical big leg devices and two identical lower-leg devices, and big leg device and shank fill
The structure set is identical comprising pulley (4-1), flexible steel cable (4-2), two pneumatic muscles (4-6), stretches pulley spindle (4-8)
Supporting rod (4-4) and connecting rod (4-7)；The telescopic supporting rod (4-4) is arranged by two sections of supporting rods, and two sections of supporting rods
Junction is provided with buckle (4-5) with regular length；Pulley spindle (4-8) is flexible along being radially disposed at for telescopic supporting rod (4-4)
The lower end of the upper end of supporting rod (4-4), telescopic supporting rod (4-4) is perpendicularly fixed in the middle part of connecting rod (4-7)；Pulley (4-1) is installed
In on pulley spindle (4-8), and the both ends of each pneumatic muscles (4-6) are both provided with earrings (4-3)；Flexible steel cable (4-2) bypasses
Pulley (4-1) and both 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 both ends of connecting rod (4-7) respectively, passes through the telescopic band movable pulley (4- of two pneumatic muscles (4-6)
1) rotation relative to pulley spindle (4-8)；
The pulley (4-1) of two big leg device is separately fixed on two hip joint connecting plates (3-6), the cunning of two lower-leg devices
Wheel (4-1) is separately fixed at bottom telescopic supporting rod (4-4) of two big leg device.
2. a kind of lower limb exoskeleton power assisting device of pneumatic muscles driving according to claim 1, which is characterized in that described
Control cabinet (1) includes babinet (1-1), and controller, pneumatic valve group (1-2) and pneumatic triple piece (1- are provided in babinet (1-1)
3)；Controller transmit 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 lower limb exoskeleton power assisting device of pneumatic muscles driving according to claim 1, which is characterized in that described
Back device (2) includes that backboard and flexible shoulder strap, flexible shoulder strap are fixed on backboard；Control cabinet (1) is fixed on rear side of backboard, the back of the body
Board bottom portion is connected by connecting plate with hip joint extending-board (3-1).
4. a kind of lower limb exoskeleton power assisting device of pneumatic muscles driving according to claim 1, which is characterized in that described
Foot device (5) includes two soles, is both provided with bearing and shaft on each sole, and two soles pass through bearing and shaft
Structure is hingedly connected to bottom telescopic supporting rod (4-4) of two lower-leg devices.
5. a kind of lower limb exoskeleton power assisting device of pneumatic muscles driving according to claim 2, which is characterized in that described
It is both provided with angular transducer, angle sensor on the pulley (4-1) of two big leg device and the pulley (4-1) of two lower-leg devices
Device transmits detection signal to controller.
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| Application Number | Priority Date | Filing Date | Title |
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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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| 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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| CN106335049B true CN106335049B (en) | 2018-08-07 |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016122282A1 (en) | 2016-11-18 | 2018-05-24 | Helmut-Schmidt-Universität Universität der Bundeswehr Hamburg | SYSTEM AND METHOD FOR REDUCING FORCES AFFORDING ON A SPINE |
| DE102016123153A1 (en) | 2016-11-30 | 2018-05-30 | Helmut-Schmidt-Universität Universität der Bundeswehr Hamburg | DEVICE AND METHOD FOR MUSCLE POWER SUPPORT |
| CN106821689B (en) * | 2017-01-19 | 2023-07-04 | 武汉云云天下信息科技有限公司 | Wearable human exoskeleton robot |
| CN106541393B (en) * | 2017-01-23 | 2018-12-11 | 哈尔滨工业大学 | Heavy load drive lacking parallel connection lower limb assistance exoskeleton with elastic buffer |
| JP2018158403A (en) * | 2017-03-22 | 2018-10-11 | 株式会社ジェイテクト | Assist device |
| CN107137207B (en) * | 2017-07-03 | 2019-05-17 | 哈尔滨工业大学 | Based on rope-pulley mechanism drive lacking lower limb assistance exoskeleton robot |
| CN107486839B (en) * | 2017-08-23 | 2020-04-14 | 北京铁甲钢拳科技有限公司 | Mechanical device |
| CN107717961B (en) * | 2017-11-09 | 2019-09-24 | 嘉兴学院 | A kind of human emulated robot based on cylinder |
| 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 |
| USD1011398S1 (en) | 2021-08-13 | 2024-01-16 | Festool Gmbh | Wearable robotic exoskeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2730338Y (en) * | 2004-08-10 | 2005-10-05 | 浙江大学 | Wearable lower limb dermoskeleton for walking use |
| AU2008341232B2 (en) * | 2007-12-26 | 2015-04-23 | Rex Bionics Limited | Mobility aid |
| US9662261B2 (en) * | 2013-01-16 | 2017-05-30 | Ekso Bionics, Inc. | Fail-safe system for exoskeleton joints |
| US9421143B2 (en) * | 2013-03-15 | 2016-08-23 | Bionik Laboratories, Inc. | Strap assembly for use in an exoskeleton apparatus |
| CN105686927B (en) * | 2016-01-08 | 2017-07-11 | 中国人民解放军理工大学 | Collapsible mobile lower limb exoskeleton |
| CN206242039U (en) * | 2016-11-09 | 2017-06-13 | 中国矿业大学 | The lower limb exoskeleton power assisting device that a kind of pneumatic muscles drive |
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2016
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