CN106667720A - Hip joint spring and motor parallel driver for wearable lower extremity exoskeleton rehabilitation robot - Google Patents
Hip joint spring and motor parallel driver for wearable lower extremity exoskeleton rehabilitation robot Download PDFInfo
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- CN106667720A CN106667720A CN201510760745.2A CN201510760745A CN106667720A CN 106667720 A CN106667720 A CN 106667720A CN 201510760745 A CN201510760745 A CN 201510760745A CN 106667720 A CN106667720 A CN 106667720A
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- Prior art keywords
- spring
- component
- hip joint
- gear
- motor parallel
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2205/10—Leg
- A61H2205/108—Leg for the upper legs
Abstract
The invention discloses a structural design of a spring and motor parallel driver of an exoskeleton robot. The spring and motor parallel driver of the exoskeleton robot mainly comprises a hip joint component, a flexible structural component, a positioning switch structural component and a thigh bar component, wherein the hip joint component has driving capability; the rigidity of the flexible structural component can be adjusted; the flexible structural component has an energy storing and releasing function; the position of the positioning switch structural component can be adjusted; the positioning switch structural component can be fixed and locked; and the thigh bar component has a supporting effect. The hip joint component with the driving capability mainly comprises a joint driving motor assembly and a gear 1. The flexible structural component which has the adjustable rigidity and has the energy storing and releasing function mainly comprises a slider-crank mechanism, a spring rigidity adjusting component, a pinion assembly and a middle gear assembly. The position-adjustable positioning switch structural component which is fixed and locked mainly comprises a supporting piece, a positioning plate, a steering engine, a steering box, a transmission shaft, a gear and a rack. The thigh bar component with the supporting effect mainly comprises a thigh bar, a bearing upper cover and a bearing end cover.
Description
One. technical field
The present invention relates to medical instruments field, and in particular to a kind of Wearable lower limb exoskeleton rehabilitation robot hip joint bullet
Spring motor parallel driver.
Two. background technology
For the purpose of the present invention is to reduce exoskeleton robot hip joint motor peak torque and power consumption, current all electricity
The driving exoskeleton robot of machine, required power is all from motor, and this causes the gravity of script recoverable in walking process
Potential energy is not recycled.
Battery-powered time be affect auxiliary walking exoskeleton robot can practical application a key factor；This
Bright to reduce motor power consumption, so as to increase exoskeleton robot battery-powered time, the present invention can reduce motor peak torque again,
Such that it is able to reduce motor volume；Therefore, exoskeleton rehabilitation robot spring motor parallel drivers of the present invention exactly can be effective
Solve the driver of exoskeleton robot practical application.
At present healing robot mainly has two kinds：Auxiliary type healing robot and recovery exercising robot.Complementary rehabilitation machines
Device people is mainly to aid in the inconvenient patient of limb motion and completes various actions, such product have robot wheel chair, bionic nurse,
Robot artificial limb, robotic exoskeleton etc., the major function of recovery exercising robot is to aid in patient and completes various motor functions
Resume training；Divide by type of drive, exoskeleton robot is generally divided into hydraulic-driven, air pressure and drives and electrically driven.This three
Planting type of drive respectively has pluses and minuses.
Three. the content of the invention
Wearable lower limb exoskeleton rehabilitation robot spring motor parallel drivers of the present invention are using motor and flexible structure portion
Part form in parallel reduces motor peak torque as the driver of lower limb exoskeleton robot, and reducing energy consumption saves energy.
A kind of wearable lower limb exoskeleton robot spring motor parallel drivers, include the hip joint portion of driving force
Part, adjustable rigidity and the flexible structure part with energy storage and release function, adjustable position and the locked positioning of fixation
Construction of switch part, passive thigh rod unit, it is characterised in that by design, make spring motor parallel drivers
Flexible structure part can collect the gravitional force that exoskeleton robot loses in shaking peroid lower limb, it is and in the phase of support that energy is anti-
Feed lower limb, so as to reduce the purpose of motor power consumption and peak torque.
The described hip joint components for having a driving force, including joint drive electric machine assembly and gear wheel, gear wheel is solid
Drive on the shell of electrical component due to hip joint, hip joint components are exported by motor and gear wheel is connected with thigh bar.
The described adjustable rigidity and flexible structure part with energy storage and release function mainly includes crank block
Mechanism, spring rate adjusting part, pinion assemblies, middle gear component；Described slider-crank mechanism mainly includes crank circle
Disk, connecting rod, slide block, slide bar, bracing frame；Described spring rate regulating member mainly includes special bolts, rotating ring, silk
Thick stick plate, spring；Gear wheel is engaged with middle gear, and middle gear is engaged with little gear, and middle gear, little gear are arranged on thigh bar；
Crank disk is fixed in little gear, is connected with slide block by connecting rod, and slide block can slide on slide bar, and slide bar is solid by bracing frame
It is scheduled on thigh bar；Spring one end is fixed on slide block by rotating ring, and the other end is curled up on leading screw plate, and leading screw plate is fixed on
On location-plate, location-plate can slide on slide bar；When spring is stretched, the gravitional force that flexible structure part loses in lower limb
Stored in the form of elastic potential energy, by the optimization design to each accessory size, after hip joint enters the support phase, due to song
The handle slide block mechanism movement characteristic of itself, makes the direction that spring is ultimately applied to moment of torsion at hip joint there occurs change, just with hip
Joint drive motor output torque direction is identical, so as to elastic potential energy is fed back to into lower limb.
Described adjustable position and the locked position-sensing switch structure member of fixation include fixed dam, location-plate, steering wheel,
Steering wheel frame, steering wheel, power transmission shaft, gear, tooth bar；Fixed dam is fixed on thigh bar, and its fixed position can be firm according to spring
The position of degree regulating member is adjusted；Steering wheel is arranged on fixed dam by steering wheel frame, and steering wheel is fixedly connected with power transmission shaft,
Gear is arranged on power transmission shaft, realizes driving of the steering wheel to gear；In the embedded guide groove installed on fixed dam of tooth bar 1,
Moved along a straight line under the drive of gear, in can be inserted into the guide groove of location-plate, be fixed；When needing flexible structure component working
When, steering wheel rotational band carry-over bar motion, location-plate is fixed, and spring end is locked；When do not need flexible structure component working
When, steering wheel is reversely rotated, and band carry-over bar motion, tooth bar departs from location-plate guide groove, and location-plate is in free state, spring end
It is released.
Described passive thigh rod unit includes thigh bar, supports lid and bearing (ball) cover；Characterized in that,
Thigh bar is connected with motor output shaft, while realize the fixation of flexible structure part and position-sensing switch structure member mechanism, can be by closing
The moment of torsion that section motor output torque and spring energy release are produced drives jointly.
The present invention has advantages below and particularity effect：The type of drive of described motor and flexible structure Components Parallel Connection,
Simple structure, starts braking relatively easily, is swift in response sensitive, and dynamic response capability is good, can reduce motor peak torque,
Reducing energy consumption, saves energy；Described adjustable rigidity and the flexible structure part with energy storage Yu release function, can be with
The rigidity of spring is adjusted, the patient of different weight is adapted to, the gravitional force of storage loss, then passes through in the form of elastic potential energy
Crank and rocker mechanism is exported in the form of torque；Described adjustable position and the locked position-sensing switch structure member of fixation, control
Simply, rapid, good stability is responded.
Four. description of the drawings
Fig. 1 is Wearable lower limb exoskeleton rehabilitation robot spring motor parallel drivers of the present invention；
Fig. 2 is the hip joint components partitioned organization schematic diagram for having driving force in the present invention；
Fig. 3 is that rigidity and the flexible structure member segmentation mechanism with energy storage Yu release function are can adjust in the present invention
Schematic diagram；
Fig. 4 is described adjustable rigidity and shows with the flexible structure modular construction decomposition of release function with energy storage
It is intended to；
Fig. 5 is adjustable position and the locked position-sensing switch structure member result decomposing schematic representation of fixation in the present invention；
Fig. 6 is passive thigh bar modular construction decomposing schematic representation in the present invention；
Five. specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described with specific embodiment, but not as a limitation of the invention.
Referring to Fig. 1, a kind of wearable lower limb exoskeleton robot spring motor parallel drivers mainly include driving
The hip joint components 1 of ability, adjustable rigidity and the flexible structure part 2, adjustable position with energy storage and release function
And fixation locked position-sensing switch structure member 3, passive thigh rod unit 4.
Referring to Fig. 2, the hip joint components 1 for having driving force include joint drive electric machine assembly 1.1 and gear wheel 1.2,
Gear wheel 1.2 is fixedly connected by bolt with joint drive electric machine assembly 1.1, and gear wheel 1.2 is nibbled with flexible structure part 2
Close transmission, it is possible to achieve the transmission of torque.
Referring to Fig. 3, Fig. 4, described adjustable rigidity and the flexible structure part 2 with energy storage Yu release function,
Mainly include slider-crank mechanism 2.1, pinion assemblies 2.2, middle gear component 2.3 and spring rate adjusting part 2.4；It is bent
Handle slide block mechanism 2.1 includes slide bar 2.11, slide block 2.12, bearing pin without a head 2.13, connecting rod 2.14, gland 2.15, rotating disk
2.16 and bracing frame 2.17；Pinion assemblies 2.2 include bearing 2.21, gear 2.22, rotary shaft 2.23, shaft block ring 2.24
And bearing 2.25；Middle gear component 2.3 includes rotary shaft 2.31, gear 2.32 and bearing 2.33；Spring rate regulation group
Part 2.4 includes special bolts 2.41, rotating ring 2.42, spring 2.43 and leading screw plate 2.44；It is explained in detail below between each element and closes
System.
Gear 2.32 is arranged in rotary shaft 2.31, and the two ends of rotary shaft 2.31 are fixed on thigh bar by bearing 2.33
On part 4；Gear 2.22 is arranged in rotary shaft 2.23, and the two ends of rotary shaft 2.23 are fixed on thigh bar by bearing 2.25
On part 4, the shaft block ring 2.24 in rotary shaft 2.23 can limit the axial displacement of bearing 2.21 and gear 2.22, turn
The one end of moving axis 2.23 is designed with hexagon boss；The one end of connecting rod 2.14 is connected by gland 2.15 with rotating disk 2.16, separately
One end is connected by bearing pin without a head 2.13 with slide block 2.12, and slide block 2.12 can slide along slide bar 2.11, and slide bar 2.11 is fixed on
On bracing frame 2.17；Hexagonal indentations are designed with rotating disk 2.16, are coordinated with rotary shaft 2.23, while being bolted
Connection, can prevent from being relatively rotated between rotating disk 2.16 and rotary shaft 2.23；Rotating ring 2.42 passes through special bolts
2.41 are fixed on slide block 2.12, and the one end of spring 2.43 is hooked on rotating ring 2.42, and the other end coordinates with leading screw plate 2.44 and connects
Connect, be designed with leading screw plate 2.44 and the pitch identical screw thread of spring 2.43, spring 2.43 can be fixed, by adjusting spring
2.43 length for being hung into leading screw plate 2.44, just can realize the regulation to the rigidity of flexible structure part 2；Leading screw plate 2.44 is installed
On location-plate 3.1 in position-sensing switch structure member 3.
The adjustable rigidity of the present embodiment and have the advantages that energy storage and the flexible structure part 2 of release function exist
In the number of active coils that spring is adjusted by leading screw plate, the regulation to flexible structure part rigidity, simple structure are realized, and be easy to
Realize；Slide block has periodically reciprocating motion in slider-crank mechanism, therefore spring is fixedly connected with a slide block, it is possible to achieve bullet
Energy storage and release of the spring with gait cycle property performance period.
Referring to Fig. 5, described adjustable position and the locked position-sensing switch structure member 3 of fixation, including location-plate 3.1,
Tooth bar 3.2, gear 3.3, fixed dam 3.4, power transmission shaft 3.5, steering wheel 3.6, steering wheel 3.7 and steering wheel frame 3.8；Steering wheel
3.7 are fixed on thigh rod unit 4 by steering wheel frame 3.8, steering wheel 3.7 by the output torque of steering wheel 3.6, steering wheel 3.6 with
Power transmission shaft 3.5 is bolted to connection, and gear 3.3 is arranged on power transmission shaft 3.5, and tooth bar 3.2 is embedded to be arranged on fixed gear
On plate 3.4, can rotate along the guide groove movement on fixed dam 3.4, the rotation driven gear 3.3 of steering wheel 3.7, make tooth bar 3.2
In the location hole of insertion location-plate 3.1, the locked fixation to location-plate 3.1 is realized；Fixed dam 3.4 is fixed on by gain
On thigh rod unit 4, fixed position can be adjusted according to the effective length of spring 2.43 in flexible structure part 2.
The advantage of described adjustable position and the locked position-sensing switch structure member 3 of fixation is direct using steering wheel 3.7
Drive gear 3.3, simple structure, good stability, without energy loss；Rack pinion, realizes positioning locked, structure
Simply, it is easy to control.
Referring to Fig. 6, described passive thigh rod unit, including little support lid 4.1, middle support lid 4.2,
Thigh bar 4.3 and bearing (ball) cover 4.4；Little support lid 4.1 and bearing (ball) cover 4.4 fix pinion assemblies 2.2, middle to support lid
Middle gear component 2.3 is fixed with bearing (ball) cover；Thigh bar is connected with the output shaft of joint drive electric machine assembly, while being provided with soft
Property structure member 2 and position-sensing switch structure member 3；Thigh bar can be released by joint drive electric machine assembly output torque and spring energy
The moment of torsion for putting generation drives jointly, it is possible to decrease joint drive Motor torque peak value, small electric function consumption.
The advantage of the wearable lower limb exoskeleton robot spring motor parallel drivers of the present embodiment is：1) may be used
Adjust rigidity and the flexible structure part 2 with energy storage and release function adjusts the number of active coils of spring by leading screw plate, it is real
Now to the regulation of flexible structure part rigidity, simple structure, and it is easily achieved；Slide block has periodically in slider-crank mechanism
Reciprocating motion, therefore spring is fixedly connected with a slide block, it is possible to achieve spring with gait cycle property performance period energy storage with
Release；2) the adjustable position and locked position-sensing switch structure member 3 of fixation directly drives gear 3.3, knot using steering wheel 3.7
Structure is simple, good stability, without energy loss；Rack pinion, realizes positioning locked, simple structure, easy to control；3)
The moment of torsion that thigh bar can be produced by joint drive motor output torque and spring energy release in passive thigh rod unit 4
It is common to drive, it is possible to decrease joint drive Motor torque peak value, small electric function consumption.
This embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the guarantor of the present invention
Shield scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (5)
1. a kind of wearable lower limb exoskeleton robot spring motor parallel drivers, mainly include the hip joint components of driving force, adjustable rigidity and flexible structure part with energy storage and release function, adjustable position and fix locked position-sensing switch structure member, passive thigh rod unit.
2. wearable lower limb exoskeleton robot spring motor parallel drivers according to claim 1, it is characterised in that：The described hip joint components for having driving force mainly include joint drive electric machine assembly, gear wheel, gear wheel is fixed on the shell of joint drive electric machine assembly, and hip joint components can be worked together on the passive thigh bar by motor output shaft and gear wheel.
3. wearable lower limb exoskeleton robot spring motor parallel drivers according to claim 1, it is characterised in that：The described adjustable rigidity and flexible structure part with energy storage and release function mainly includes slider-crank mechanism, spring rate adjusting part, pinion assemblies, middle gear component；Described spring rate adjusting part includes spring, special bolts, rotating ring, slide block, leading screw plate, the length of leading screw plate is hung into by adjusting spring spring rate can be adjusted.
4. wearable lower limb exoskeleton robot spring motor parallel drivers according to claim 1, it is characterised in that：The described adjustable position and locked position-sensing switch structure member of fixation mainly includes fixed dam, location-plate, steering wheel frame, steering wheel, steering wheel, power transmission shaft, gear, tooth bar, fixed dam is designed with gain, it is fixed on thigh bar, its fixed position can be adjusted according to the position of spring rate adjusting part, and the embedded location-plate of tooth bar is capable of achieving the locked positioning of position-sensing switch.
5. wearable lower limb exoskeleton robot spring motor parallel drivers according to claim 1, it is characterised in that：Described passive thigh rod unit mainly includes thigh bar, supports lid, bearing (ball) cover, main support compliant mechanism and position-sensing switch mechanism, swings around hip joint together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510760745.2A CN106667720B (en) | 2015-11-10 | 2015-11-10 | Hip joint spring motor parallel driver of wearable lower limb exoskeleton rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510760745.2A CN106667720B (en) | 2015-11-10 | 2015-11-10 | Hip joint spring motor parallel driver of wearable lower limb exoskeleton rehabilitation robot |
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| CN106667720A true CN106667720A (en) | 2017-05-17 |
| CN106667720B CN106667720B (en) | 2020-06-12 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351067A (en) * | 2017-08-24 | 2017-11-17 | 苏州致康医疗机器人科技有限公司 | Doctor's posture towards operation application keeps force aid system |
| CN108042316A (en) * | 2017-10-19 | 2018-05-18 | 布法罗机器人科技（成都）有限公司 | A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot |
| CN108071566A (en) * | 2017-11-14 | 2018-05-25 | 华中科技大学 | A kind of knee joint power generator |
| CN108670713A (en) * | 2018-04-23 | 2018-10-19 | 中国科学院深圳先进技术研究院 | A kind of exoskeleton robot |
| CN108972534A (en) * | 2018-09-18 | 2018-12-11 | 清华大学 | The disengaging type flexible actuator of stiffness variable wind spring and motor parallel |
| CN109318215A (en) * | 2018-12-06 | 2019-02-12 | 西安交通大学 | Waist exoskeleton robot |
| CN109340064A (en) * | 2018-10-16 | 2019-02-15 | 中国科学院苏州生物医学工程技术研究所 | Ectoskeleton becomes rigid elastic energy storage element with stepless |
| CN109381324A (en) * | 2017-08-11 | 2019-02-26 | 上海奕然康复器械有限公司 | Adjustable orthoses |
| CN110666783A (en) * | 2019-11-20 | 2020-01-10 | 北京工业大学 | Hip joint exoskeleton assistance mechanism |
| CN111481402A (en) * | 2020-04-24 | 2020-08-04 | 合肥工业大学 | Knee joint exoskeleton based on rope variable-stiffness multifunctional driver and control method |
| CN112076070A (en) * | 2020-09-17 | 2020-12-15 | 中国科学院深圳先进技术研究院 | Flexible lower limb exoskeleton and control method thereof |
| CN112739302A (en) * | 2019-07-08 | 2021-04-30 | 北京大艾机器人科技有限公司 | Cam for unpowered multi-joint synchronous trainer, non-circular gear pair, manufacturing method of cam and non-circular gear pair, transmission mechanism using cam and non-circular gear pair and unpowered multi-joint synchronous trainer |
| CN114305990A (en) * | 2021-12-29 | 2022-04-12 | 杭州程天科技发展有限公司 | Active and passive parallel driving wearable walking assistance device |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109381324A (en) * | 2017-08-11 | 2019-02-26 | 上海奕然康复器械有限公司 | Adjustable orthoses |
| CN107351067A (en) * | 2017-08-24 | 2017-11-17 | 苏州致康医疗机器人科技有限公司 | Doctor's posture towards operation application keeps force aid system |
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| CN108042316A (en) * | 2017-10-19 | 2018-05-18 | 布法罗机器人科技（成都）有限公司 | A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot |
| CN108071566A (en) * | 2017-11-14 | 2018-05-25 | 华中科技大学 | A kind of knee joint power generator |
| CN108071566B (en) * | 2017-11-14 | 2019-07-09 | 华中科技大学 | A kind of knee joint power generator |
| CN108670713A (en) * | 2018-04-23 | 2018-10-19 | 中国科学院深圳先进技术研究院 | A kind of exoskeleton robot |
| CN108972534A (en) * | 2018-09-18 | 2018-12-11 | 清华大学 | The disengaging type flexible actuator of stiffness variable wind spring and motor parallel |
| CN108972534B (en) * | 2018-09-18 | 2024-01-30 | 清华大学 | Clutch type flexible driver with variable stiffness coil spring and motor connected in parallel |
| CN109340064A (en) * | 2018-10-16 | 2019-02-15 | 中国科学院苏州生物医学工程技术研究所 | Ectoskeleton becomes rigid elastic energy storage element with stepless |
| CN109318215A (en) * | 2018-12-06 | 2019-02-12 | 西安交通大学 | Waist exoskeleton robot |
| CN112739302A (en) * | 2019-07-08 | 2021-04-30 | 北京大艾机器人科技有限公司 | Cam for unpowered multi-joint synchronous trainer, non-circular gear pair, manufacturing method of cam and non-circular gear pair, transmission mechanism using cam and non-circular gear pair and unpowered multi-joint synchronous trainer |
| CN112739302B (en) * | 2019-07-08 | 2024-01-26 | 北京大艾机器人科技有限公司 | Unpowered multi-joint synchronous training device |
| CN110666783A (en) * | 2019-11-20 | 2020-01-10 | 北京工业大学 | Hip joint exoskeleton assistance mechanism |
| CN110666783B (en) * | 2019-11-20 | 2021-03-16 | 北京工业大学 | Hip joint exoskeleton assistance mechanism |
| CN111481402A (en) * | 2020-04-24 | 2020-08-04 | 合肥工业大学 | Knee joint exoskeleton based on rope variable-stiffness multifunctional driver and control method |
| CN112076070A (en) * | 2020-09-17 | 2020-12-15 | 中国科学院深圳先进技术研究院 | Flexible lower limb exoskeleton and control method thereof |
| CN114305990A (en) * | 2021-12-29 | 2022-04-12 | 杭州程天科技发展有限公司 | Active and passive parallel driving wearable walking assistance device |
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