CN106514630A - Follow-up supporting and locking joint device - Google Patents
Follow-up supporting and locking joint device Download PDFInfo
- Publication number
- CN106514630A CN106514630A CN201710004755.2A CN201710004755A CN106514630A CN 106514630 A CN106514630 A CN 106514630A CN 201710004755 A CN201710004755 A CN 201710004755A CN 106514630 A CN106514630 A CN 106514630A
- Authority
- CN
- China
- Prior art keywords
- arm link
- big arm
- disc brake
- servo
- locking joint
- 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.)
- Granted
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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
- B25J17/00—Joints
- B25J17/02—Wrist joints
Abstract
The invention relates to the technical field of virtual reality, in particular to a follow-up supporting and locking joint device which can support a user to move at will, is simple in structure and is low in cost. The follow-up supporting and locking joint device comprises a small arm connecting rod and a big arm connecting rod, wherein the small arm connecting rod is connected with the big arm connecting rod through a shaft hinge; a disc brake mechanism is arranged at the joint of the small arm connecting rod and the big arm connecting rod in a matched mode; a PCB control circuit board is arranged on the big arm connecting rod in the matched mode; two micro switches are symmetrically mounted on the surface of the small arm connecting rod; the micro switches are connected with the PCB control circuit board; the disc brake mechanism is matched with a linkage disc; and a free end of the linkage disc corresponds to the positions of the micro switches. The follow-up supporting and locking joint device keeps synchronous movement with a connected joint when a disc brake shaft lever is not locked, and stops joint motion when the disc brake shaft lever is locked. The two micro switches on the small arm connecting rods separately correspond to two motion directions of the joint, and a touch block at the free end of the linkage disc keeps an association state with the two micro switches on the small arm connecting rod.
Description
Technical field
The present invention relates to technical field of virtual reality, particularly one kind can support user voluntary movement and structure letter
Single, servo-actuated support locking joint arrangement with low cost.
Background technology
At present virtual reality industry is just risen, in evolution, for how preferably to allow user's free movement into
In order to perplex a difficult problem of vast content development team.Traditional solution has two kinds, and the first is by space orientation skill
Art allows user to move in real space, but this mode is to having many require and floor space is larger using space.So
Occur in that second use annular jogging machine based on, limit user a fixed position and can by motion in the way of, at this
In the mode of kind, annular jogging machine mainly uses suspension control regular user's waist, or guardrail to surround user's waist, will
User is limited in a specific position, and provides a smooth chassis (foot disk), and user with naked foot or can wear band
There are the customization footwear of traveller or pulley, move on smooth chassis.
The core purpose of second scheme is exactly, by user's control while particular location, to support that user is made substantially
Walk, run, jumping, squatting, sitting back and waiting attitude.But user is in motor process, the attitude externally launched is in above the waist all the time, quickly
Tired state can be entered, " orangutan arm " effect is absorbed in.The lower part of the body in the system of turnover, is susceptible to sideslip etc. under open environment
It is dangerous.During mass motion, lack force feedback and remind, body can not be carried out based on body to external environment condition in virtual reality world
The interaction of motion.So the first scheme has excessively harsh and expensive requirement to space, second scheme can only then meet short
The use of experience property in time, in this case virtual reality industry be difficult further to be promoted and popularize, more talk irresponsibly into
For the exhibition method of Next Generation Internet.
Present invention mainly solves user voluntary movement can be supported in the case of fixed position in virtual reality, and
Force feedback is provided, and allows user this problem can be interacted with the virtual objects in virtual reality.
Traditional mechanical exoskeleton system is mainly for medical treatment, industrial application, so core design direction is offer support
When support, user is helped to obtain extra power-assisted in motion.So most of mechanical exoskeleton systems have additionally
Force aid system, this force aid system generally uses micromachine to realize.Motor is made when the torsion as certain direction is provided
Electric moter voltage instantaneously can be increased by user's stop motion, judge that user is, after needs are supported or strengthen power-assisted, to may be selected
Motor stops or increases torsion and provides higher power-assisted.In case of need, micromachine is also carried while power-assisted is provided
Locking is supplied.EC90 float brushless electric machines of such as Maxon etc..
The needs of exoskeleton can be met using motor, but motor is expensive, completing whole frame system can lead
Cause finished product substantial appreciation of prices.Motor can generate heat in voltage elevation process simultaneously, and multiple motor persistent fevers can cause certain safety
Hidden danger.
The content of the invention
In view of this, it is an object of the invention to overcome the deficiencies in the prior art, there is provided one kind can support user with
Meaning motion and simple structure, servo-actuated support locking joint arrangement with low cost.
The present invention solves its technical problem：Servo-actuated support locking joint arrangement, including forearm company
Bar and big arm link, described little arm link and big arm link are connected by pivot hinge, are combined with disc brake mechanism in the junction,
Described disc brake mechanism is combined with corresponding brake, in described big arm link is combined with PCB control boards；
Permanent magnetic iron block is provided with described little arm link, in described PCB control boards, microswitch control module is provided with
With magnetic degree sensor, the magnetic degree sensor and the cooperation of permanent magnetic iron block magnetic；It is symmetrically installed in described forearm rod surface
There are two microswitch, described microswitch is connected with PCB control boards；Described disc brake mechanism is combined with linkage disk,
The free end of the linkage disk is corresponding with the position of microswitch.
Further, the first through hole coaxial with disc brake mechanism, described linkage are provided with the middle part of described linkage disk
The disk edge position of disk is evenly arranged with multiple circles and lacks, and described circle is lacked and is connected with disc brake mechanism.
Further, described microswitch includes touching piece, is provided with and touches with this on the free end of described linkage disk
The corresponding shake-up block in moving plate position.
Further, it is provided with the forearm described in the second through hole coordinated with axle to connect in the connection end of described little arm link
It is symmetrically arranged with one group of stopper slot near disc brake mechanism on bar, is provided with and the stopper slot on the free end of described linkage disk
The limited block that gap coordinates.
Further, one end of described big arm link is provided with the third through-hole coordinated with axle, and the other end is connected with perpendicular
Straight installing plate, offers through and terminates in the groove of installing plate in big arm link；Described brake includes thick stick
Bar fixed seat, lever and electric magnet, the both sides for being located at groove in the upper and lower surface of big arm link are provided with lever
Fixed seat, is connected with lever by bearing pin between two lever fixed seats on the same surface of big arm link；In described installation
Electric magnet is installed on plate, described lever one end is coordinated with electric magnet, and the other end is driven with the brake block of disc brake mechanism.
Further, the fourth hole coordinated with bearing pin is provided with the middle part of described lever, one end is provided with electric magnet
Stress is clapped, and the other end is provided with brake block catch bar；Described electric magnet stress is clapped and is coordinated with electric magnet, and described brake block is pushed away
Bar is connected with brake block.
Further, the spring coordinated with limited block is provided with described stopper slot.
Further, brake block fixed column is provided with described big arm link, the brake of the fixed column and disc brake mechanism
Installing hole correspondence on piece, for fixing brake block.
Further, PCB control board connecting holes are provided with described big arm link.
Further, described little arm link and big arm link are made using carbon fibre material.
The invention has the beneficial effects as follows：The servo-actuated support locking joint arrangement of the present invention, is connected by big arm link, forearm
The cooperation of bar, disc brake mechanism and PCB control boards etc., it would be preferable to support user voluntary movement, and have simple structure,
The characteristics of with low cost.In the present system, big arm link, little arm link, three structural members of disc brake mechanism link together, large arm
Connecting rod and little arm link connect motion limbs movable part respectively, and three structural members are under the situation of disc brake axostylus axostyle non-locking and even
The joint for connecing keeps being synchronized with the movement, and in the case of brake axle rod lock stops joint motions.There are two fine motions in little arm link
Switch, respectively two directions of motion of corresponding joint, the disk free end that links touch in block and little arm link the two are micro-
Dynamic switch keeps association status.When virtual world is moved, when limb motion, little arm link will extrude microswitch first,
As long as PCB control boards obtain the change of the on off state of microswitch, it is possible to get the direction of limb motion, while
The magnetic degree sensor being integrated in PCB control boards is changed by the magnetic strength with permanent magnetic iron block, can know motion
Angle.We can set up the attitude of user motion in virtual world.
When other entities of the athletic posture and virtual world of the user in virtual world collide interaction, we
Different collision effects are simulated by disc brake mechanism.When user collides other pseudo-entities in virtual world, cause motion
Stop, the sensory perceptual system control electric magnet 10 being integrated in PCB control boards promotes lever, with brake disc locking brake block,
To realize stopping joint as the motion in certain direction.If user can slowly promote pseudo-entity in virtual world, that
The joint under certain stress condition can be simulated as the motion in certain direction in the way of use half is locked by disc brake mechanism.If
User relieves pseudo-entity and continues limb motion, then disc brake mechanism will be unlocked after locking again, realizes from locking onto out
The process of lock.So after the joint of user is restricted as certain direction motion, rightabout is moved, then microswitch switch
State changes, and whole articular system starts the judgement of whole kinestate again.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of orientation schematic diagram of the servo-actuated support locking joint arrangement of the present invention；
Fig. 2 is another kind of orientation schematic diagram of the servo-actuated support locking joint arrangement of the present invention；
Fig. 3 is the structural representation of the big arm link of the servo-actuated support locking joint arrangement of the present invention；
Fig. 4 is the structural representation of the linkage disk of the servo-actuated support locking joint arrangement of the present invention；
Fig. 5 is the structural representation of the little arm link of the servo-actuated support locking joint arrangement of the present invention；
Fig. 6 is the structural representation of the lever of the servo-actuated support locking joint arrangement of the present invention；
In figure, 1 little arm link；2 big arm links；3 PCB control boards；4 microswitch；5 touch block；
6 stopper slots；7 springs；8 installing plates；9 levers；10 electric magnet；11 disc brake mechanisms；12 brake block mounting seats；
13 axles；14 third through-holes；15 PCB control board connecting holes；16 lever fixed seats；17 brake block fixed columns；
18 circles lack；19 limited blocks；20 second through holes；21 electric magnet stress are clapped；22 fourth holes；23 brake blocks are pushed away
Bar.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical scheme will be carried out below
Detailed description.Obviously, described embodiment is only that present invention one side divides embodiment, rather than comprehensively embodiment.Base
Embodiment in the present invention, those of ordinary skill in the art are resulting on the premise of creative work is not made to be owned
Other embodiment, belongs to the scope protected by the present invention.
As shown in Figures 1 to 6, servo-actuated support locking joint arrangement of the invention, including little arm link 1 and big arm link 2,
Described little arm link 1 and big arm link 2 are combined with disc brake mechanism 11 in the junction by 13 chain connection of axle, described
Disc brake mechanism 11 is combined with corresponding brake, in described big arm link 2 is combined with PCB control boards 3；
Permanent magnetic iron block is provided with described little arm link 1, in described PCB control boards 3, microswitch control module is provided with
With magnetic degree sensor, the magnetic degree sensor and the cooperation of permanent magnetic iron block magnetic；It is symmetrically installed on described 1 surface of little arm link
There are two microswitch 4, described microswitch 4 is connected with PCB control boards 3；Described disc brake mechanism 11 is combined with connection
Moving plate, the free end of the linkage disk are corresponding with the position of microswitch 4.The servo-actuated support locking joint arrangement of the present invention, passes through
The cooperation of big arm link 2, little arm link 1, disc brake mechanism 11 and PCB control boards 3 etc., it would be preferable to support user is arbitrarily transported
It is dynamic, and have simple structure, it is with low cost the characteristics of.In the present system, big arm link 2, little arm link 1, disc brake mechanism 11
Three structural members link together, and big arm link 2 and little arm link 1 connect motion limbs movable part, three structural members respectively
Under the situation of disc brake axostylus axostyle non-locking keep being synchronized with the movement with the joint of connection, stop closing in the case of brake axle rod lock
Section motion.Have two microswitch 4 in little arm link 1, respectively two directions of motion of corresponding joint, linkage disk free end with it is little
The two microswitch 4 in arm link 1 keep association status.When virtual world is moved, when limb motion, forearm connects
Bar 1 will extrude microswitch 4 first, as long as PCB control boards 3 obtain the change of the on off state of microswitch 4, it is possible to
The direction of limb motion is got, while the magnetic strength of the magnetic degree sensor being integrated in PCB control boards 3 and permanent magnetic iron block
Change and can just know the angle of motion.We can set up the attitude of user motion in virtual world.
It is as the first through hole 24 coaxial with disc brake mechanism 11 is provided with the middle part of preferred, described linkage disk, described
The disk edge position of linkage disk be evenly arranged with multiple circles and lack 18, described circle is lacked 18 and is connected with disc brake mechanism 11.Merit attention
, described disk edge refers to, the card edge of the disk that links.Circle lack 18 effect be for 11 corresponding bearing pin of disc brake mechanism
Or stud coordinates, stable fixed effect is realized, stability is improved, and can conveniently be dismantled and safeguard.
Include touching piece as preferred, described microswitch 4, be provided with and this on the free end of described linkage disk
Touch the corresponding shake-up block 5 in piece position.It should be noted that the microswitch 4 of this structure is mechanical type touch switch, pass through
Touch block 5 and realize switching on-off come shake-up piece；In actual production process, photosensitive switch or magnetic can also be adopted dynamic
Switch etc..
As preferred, it is provided with described in the second through hole 20 with the cooperation of axle 13 in the connection end of described little arm link 1
Little arm link 1 on be symmetrically arranged with one group of stopper slot 6 near disc brake mechanism 11, arrange on the free end of described linkage disk
There is the limited block 19 coordinated with 6 gap of the stopper slot.By the cooperation of stopper slot 6 and limited block 19, certain angle can be played
The activity point of view of degree restriction effect, i.e., big arm link 2 and little arm link 1 is in design, general to consider that limited angular is to the maximum
150 ° to 160 °, the joint extension angle automatching with human body.
One end of preferred, described big arm link 2 is provided with the third through-hole 14 with the cooperation of axle 13, the other end connects
Vertical installing plate 8 is connected to, the groove of installing plate 8 is offered through and terminated in big arm link 2；Described braking drives dress
Put including lever fixed seat 16, lever 9 and electric magnet 10, the two of groove is located in the upper and lower surface of big arm link 2
Side is provided with lever fixed seat 16, is connected by bearing pin between two lever fixed seats 16 on 2 same surface of big arm link
There is lever 9；Electric magnet 10 is installed on described installing plate 8, described 9 one end of lever is coordinated with electric magnet 10, the other end
It is driven with the brake block of disc brake mechanism 11.It should be noted that described lever 9 is under the cooperation of electric magnet 10, can be conveniently
Brake block in ground drive disc brake mechanism 11 realizes half lock, locking and other states, and the setting of groove is provided to lever 9 fills
The space of foot, facilitates the motion of lever 9.PCB control boards 3 include magnet control module, microswitch control module
With magnetic degree sensor, the function of magnetic degree sensor is to obtain current joint folding angle, and microswitch control module is received
The signal that microswitch is transmitted, coordinates the angle information that this angular transducer is obtained know the position shape of user exactly
State, controls the action of electric magnet 10 by magnet control module, promotes 9 action of lever, and corresponding system is taken to disc brake mechanism
Dynamic effect.
The middle part of preferred, described lever 9 is provided with the fourth hole 22 with bearing pin cooperation, one end is provided with electricity
Magnet stress claps 21, and the other end is provided with brake block catch bar 23；Described electric magnet stress is clapped 21 and is coordinated with electric magnet 10, institute
The brake block push rod 23 stated is connected with brake block.When electric magnet 10 is powered or when power-off, described electric magnet stress is clapped
21 absorption are flicked, and drive 23 action of brake block push rod, so as to drive brake block to realize half lock, locking and other states.
As the spring 7 being provided with preferred, described stopper slot 6 with the cooperation of limited block 19.The setting of spring 7, side
Reset, when whole device is not used, can be with Rapid reset.
As being provided with brake block fixed column 17 in preferred, described big arm link 2, the fixed column 17 and disc brake mechanism
Installing hole correspondence on 11 brake block, for fixing brake block.The setting of brake block fixed column 17 facilitates disc brake mechanism 11
Installation fix.
As being provided with PCB control boards connecting hole 15 in preferred, described big arm link 2.PCB control boards
The setting of connecting hole 15 can facilitate the installation of PCB control boards 3, and PCB control boards connecting hole 15 can be screwed hole.
It is made using carbon fibre material as preferred, described little arm link 1 and big arm link 2, with strong
Degree is high, the advantage of light weight.Certainly the high metal material such as rustless steel of intensity can also be adopted, it would however also be possible to employ high its of intensity
His nonmetallic materials, such as Cupressus funebris Endl. are first-class.With the progress of technology, the composite of other superior performances can also be adopted.
It should be noted that described disc brake mechanism 11, is also combined with corresponding brake block mounting seat.Described is symmetrically
Refer to along center line specular, the microswitch 4 of the symmetrical setting of center line mirror, stopper slot 6 such as along little arm link 1.
As it is a kind of preferred embodiment, when the athletic posture and virtual world of the user in virtual world other
Entity collide interaction when, we simulate different collision effects by disc brake mechanism 11.When user is in virtual world
Other pseudo-entities are collided, causes motion to stop, the sensory perceptual system control electric magnet 10 being integrated in PCB control boards 3 is pushed away
Dynamic lever 9, with brake disc locking brake block, realizes stopping motion of the joint picture to certain direction.If user can be
Virtual world slowly promotes pseudo-entity, then disc brake mechanism 11 can be simulated in certain stress bar in the way of use half is locked
Motion of the joint picture under part to certain direction.If user relieves pseudo-entity and continues limb motion, then disc brake
Mechanism 11 will be unlocked after locking again, be realized from the process for locking onto unlocking.So the joint picture of user is moved to certain direction
After being restricted, move round about, then 4 on off state of microswitch changes, and whole articular system starts again
The judgement of whole kinestate.
It should be noted that the servo-actuated support locking joint arrangement scope of application of the present invention includes being not limited to elbow joint, can
Using under all holding states, the movable position of exoskeleton system and body association.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by the scope of the claims.
Claims (10)
1. support locking joint arrangement is servo-actuated, it is characterised in that：Including little arm link (1) and big arm link (2), described forearm
Connecting rod (1) and big arm link (2) are combined with disc brake mechanism (11), described dish in the junction by axle (13) chain connection
Mechanism (11) of stopping is combined with corresponding brake, in described big arm link (2) is combined with PCB control boards
(3)；Permanent magnetic iron block is provided with described little arm link (1), fine motion is provided with described PCB control boards (3) and is opened
Control module and magnetic degree sensor are closed, the magnetic degree sensor is coordinated with permanent magnetic iron block magnetic；Described little arm link (1) table
Two microswitch (4) are symmetrically installed with face, described microswitch (4) is connected with PCB control boards (3)；Described
Disc brake mechanism (11) is combined with linkage disk, and the free end of the linkage disk is corresponding with the position of microswitch (4).
2. servo-actuated support locking joint arrangement according to claim 1, it is characterised in that：Set in the middle part of described linkage disk
The first through hole (24) coaxial with disc brake mechanism (11) is equipped with, the disk edge position of described linkage disk is evenly arranged with multiple circles and lacks
(18), described circle is lacked (18) and is connected with disc brake mechanism (11).
3. servo-actuated support locking joint arrangement according to claim 2, it is characterised in that：Described microswitch (4) bag
Include shake-up piece, on the free end of described linkage disk, be provided with shake-up block (5) corresponding with the shake-up piece position.
4. servo-actuated support locking joint arrangement according to claim 3, it is characterised in that：In described little arm link (1)
Connection end be provided with the little arm link (1) described in the second through hole (20) coordinated with axle (13) and be symmetrically arranged near disc brake
One group of stopper slot (6) of mechanism (11), is provided with the limit coordinated with the stopper slot (6) gap on the free end of described linkage disk
Position block (19).
5. the servo-actuated support locking joint arrangement according to any one claim in Claims 1-4, its feature exist
In：One end of described big arm link (2) is provided with the third through-hole (14) coordinated with axle (13), and the other end is connected with vertical
Installing plate (8), offers the groove for running through and terminating in installing plate (8) in big arm link (2)；Described brake bag
Lever fixed seat (16), lever (9) and electric magnet (10) are included, and groove are located in the upper and lower surface of big arm link (2)
Both sides be provided with lever fixed seat (16), lead between two lever fixed seats (16) on the same surface of big arm link (2)
Cross bearing pin and be connected with lever (9)；Electric magnet (10), described lever (9) one end and electricity are installed on described installing plate (8)
Magnet (10) coordinates, and the other end is driven with the brake block of disc brake mechanism (11).
6. servo-actuated support locking joint arrangement according to claim 5, it is characterised in that：The middle part of described lever (9)
The fourth hole (22) coordinated with bearing pin is provided with, one end is provided with electric magnet stress and claps (21), and the other end is provided with brake block
Catch bar (23)；Described electric magnet stress claps (21) and electric magnet (10) cooperation, described brake block push rod (23) and brake
Piece connects.
7. servo-actuated support locking joint arrangement according to claim 6, it is characterised in that：Set in described stopper slot (6)
It is equipped with the spring (7) coordinated with limited block (19).
8. servo-actuated support locking joint arrangement according to claim 7, it is characterised in that：In described big arm link (2)
Brake block fixed column (17) is provided with, the fixed column (17) is corresponding with the installing hole on the brake block of disc brake mechanism (11), is used for
Fixed brake block.
9. servo-actuated support locking joint arrangement according to claim 8, it is characterised in that：In described big arm link (2)
It is provided with PCB control board connecting holes (15).
10. servo-actuated support locking joint arrangement according to claim 1, it is characterised in that：Described little arm link (1) and
Big arm link (2) is made using carbon fibre material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710004755.2A CN106514630B (en) | 2017-01-04 | 2017-01-04 | Servo-actuated support locking joint arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710004755.2A CN106514630B (en) | 2017-01-04 | 2017-01-04 | Servo-actuated support locking joint arrangement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106514630A true CN106514630A (en) | 2017-03-22 |
| CN106514630B CN106514630B (en) | 2018-11-27 |
Family
ID=58335206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710004755.2A Expired - Fee Related CN106514630B (en) | 2017-01-04 | 2017-01-04 | Servo-actuated support locking joint arrangement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106514630B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN113208876A (en) * | 2021-04-21 | 2021-08-06 | 南京林业大学 | Lower limb exoskeleton without power |
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| CN1676286A (en) * | 2004-04-02 | 2005-10-05 | 李朝辉 | Biological information follow-up instant-teaching control robot |
| RU2007133694A (en) * | 2007-09-10 | 2009-03-20 | Общество с ограниченной ответственностью "Транспортные шагающие системы" (RU) | PASSIVE CARGO EXOSKELETON, KNEE HINGE OF PASSIVE CARGO EXOSKELETON, COMPENSATOR OF PASSIVE CARGO EXOSKELETON |
| EP2153804A1 (en) * | 2007-04-23 | 2010-02-17 | Golden Crab, S.L. | Exoskeleton |
| CN104490563A (en) * | 2014-12-25 | 2015-04-08 | 电子科技大学 | Pneumatic muscle based intelligent wearable lower limb |
| CN105108760A (en) * | 2015-08-14 | 2015-12-02 | 上海申磬产业有限公司 | Control method of wearable type power-assisted exoskeleton upper limb mechanism |
| CN206551006U (en) * | 2017-01-04 | 2017-10-13 | 孙蓬阳 | Servo-actuated support locking joint arrangement |
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2017
- 2017-01-04 CN CN201710004755.2A patent/CN106514630B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1676286A (en) * | 2004-04-02 | 2005-10-05 | 李朝辉 | Biological information follow-up instant-teaching control robot |
| EP2153804A1 (en) * | 2007-04-23 | 2010-02-17 | Golden Crab, S.L. | Exoskeleton |
| RU2007133694A (en) * | 2007-09-10 | 2009-03-20 | Общество с ограниченной ответственностью "Транспортные шагающие системы" (RU) | PASSIVE CARGO EXOSKELETON, KNEE HINGE OF PASSIVE CARGO EXOSKELETON, COMPENSATOR OF PASSIVE CARGO EXOSKELETON |
| CN104490563A (en) * | 2014-12-25 | 2015-04-08 | 电子科技大学 | Pneumatic muscle based intelligent wearable lower limb |
| CN105108760A (en) * | 2015-08-14 | 2015-12-02 | 上海申磬产业有限公司 | Control method of wearable type power-assisted exoskeleton upper limb mechanism |
| CN206551006U (en) * | 2017-01-04 | 2017-10-13 | 孙蓬阳 | Servo-actuated support locking joint arrangement |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN107901075B (en) * | 2017-11-28 | 2023-12-01 | 天津扬天科技有限公司 | Joint module adopted by multi-degree-of-freedom hollow cooperative mechanical arm |
| CN113208876A (en) * | 2021-04-21 | 2021-08-06 | 南京林业大学 | Lower limb exoskeleton without power |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106514630B (en) | 2018-11-27 |
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