CN106965154A - 一种外骨骼助力设备 - Google Patents
一种外骨骼助力设备 Download PDFInfo
- Publication number
- CN106965154A CN106965154A CN201710172879.1A CN201710172879A CN106965154A CN 106965154 A CN106965154 A CN 106965154A CN 201710172879 A CN201710172879 A CN 201710172879A CN 106965154 A CN106965154 A CN 106965154A
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- CN
- China
- Prior art keywords
- wheel
- hinge
- upper joint
- signal
- tie
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
- G06F2218/02—Preprocessing
- G06F2218/04—Denoising
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
- G06F2218/08—Feature extraction
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710172879.1A CN106965154B (zh) | 2017-03-22 | 2017-03-22 | 一种外骨骼助力设备 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710172879.1A CN106965154B (zh) | 2017-03-22 | 2017-03-22 | 一种外骨骼助力设备 |
Publications (2)
Publication Number | Publication Date |
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CN106965154A true CN106965154A (zh) | 2017-07-21 |
CN106965154B CN106965154B (zh) | 2020-02-07 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201710172879.1A Active CN106965154B (zh) | 2017-03-22 | 2017-03-22 | 一种外骨骼助力设备 |
Country Status (1)
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CN (1) | CN106965154B (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109172286A (zh) * | 2018-07-25 | 2019-01-11 | 福州大学 | 一种下肢康复助行装置及其工作方法 |
CN109940594A (zh) * | 2019-05-05 | 2019-06-28 | 深圳航天科技创新研究院 | 动力外骨骼机器人 |
CN110977977A (zh) * | 2019-12-13 | 2020-04-10 | 华中科技大学 | 一种抓取用径向调节装置及机器人抓取系统 |
CN113199458A (zh) * | 2021-05-13 | 2021-08-03 | 宿州赛尔沃德物联网科技有限公司 | 一种用于随动控制的穿戴式机器人控制器 |
RU2793174C1 (ru) * | 2021-12-28 | 2023-03-29 | Общество с ограниченной ответственностью "Экзомед" | Промышленный экзоскелет для верхних и нижних конечностей |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102548514A (zh) * | 2009-09-28 | 2012-07-04 | 学校法人东京理科大学 | 腰部辅助装置 |
WO2013035814A1 (ja) * | 2011-09-06 | 2013-03-14 | 国立大学法人 和歌山大学 | パワーアシストロボット装置およびその制御方法 |
CN106109186A (zh) * | 2016-08-31 | 2016-11-16 | 中国科学院深圳先进技术研究院 | 可穿戴下肢外骨骼机器人 |
-
2017
- 2017-03-22 CN CN201710172879.1A patent/CN106965154B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102548514A (zh) * | 2009-09-28 | 2012-07-04 | 学校法人东京理科大学 | 腰部辅助装置 |
WO2013035814A1 (ja) * | 2011-09-06 | 2013-03-14 | 国立大学法人 和歌山大学 | パワーアシストロボット装置およびその制御方法 |
CN106109186A (zh) * | 2016-08-31 | 2016-11-16 | 中国科学院深圳先进技术研究院 | 可穿戴下肢外骨骼机器人 |
Non-Patent Citations (2)
Title |
---|
李力等: "《机械信号处理及其应用》", 31 August 2007, 华中科技大学出版社 * |
范渊杰: "基于 sEMG 与交互力等多源信号融合的下肢外骨骼康复机器人及其临床实验研究", 《中国博士学位论文全文数据库 信息科技辑》 * |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109172286A (zh) * | 2018-07-25 | 2019-01-11 | 福州大学 | 一种下肢康复助行装置及其工作方法 |
CN109172286B (zh) * | 2018-07-25 | 2020-10-02 | 福州大学 | 一种下肢康复助行装置及其工作方法 |
CN109940594A (zh) * | 2019-05-05 | 2019-06-28 | 深圳航天科技创新研究院 | 动力外骨骼机器人 |
CN110977977A (zh) * | 2019-12-13 | 2020-04-10 | 华中科技大学 | 一种抓取用径向调节装置及机器人抓取系统 |
CN113199458A (zh) * | 2021-05-13 | 2021-08-03 | 宿州赛尔沃德物联网科技有限公司 | 一种用于随动控制的穿戴式机器人控制器 |
CN113199458B (zh) * | 2021-05-13 | 2024-03-01 | 宿州赛尔沃德物联网科技有限公司 | 一种用于随动控制的穿戴式机器人控制器 |
RU2793174C1 (ru) * | 2021-12-28 | 2023-03-29 | Общество с ограниченной ответственностью "Экзомед" | Промышленный экзоскелет для верхних и нижних конечностей |
Also Published As
Publication number | Publication date |
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CN106965154B (zh) | 2020-02-07 |
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Legal Events
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PB01 | Publication | ||
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GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP03 | Change of name, title or address |
Address after: Xicha Road, Baiyun District of Guangzhou City, Guangdong province 510060 No. 799 first floor Patentee after: GUANGZHOU HAITONG INDUSTRIAL TECHNOLOGY Co.,Ltd. Address before: West Croucher road Julong Industrial Zone, Baiyun District of Guangzhou City, Guangdong province 510407 No. 799 6 1 floor Patentee before: GUANGZHOU HYETONE ELECTRICAL EQUIPMENT Co.,Ltd. |
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CP03 | Change of name, title or address | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: An exoskeleton power assisted device Effective date of registration: 20220303 Granted publication date: 20200207 Pledgee: CITIC Bank Co.,Ltd. Guangzhou Branch Pledgor: GUANGZHOU HAITONG INDUSTRIAL TECHNOLOGY Co.,Ltd. Registration number: Y2022980002118 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230607 Granted publication date: 20200207 Pledgee: CITIC Bank Co.,Ltd. Guangzhou Branch Pledgor: GUANGZHOU HAITONG INDUSTRIAL TECHNOLOGY Co.,Ltd. Registration number: Y2022980002118 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right |