CN107309867B - Lower limb assistance exoskeleton based on gravity support - Google Patents
Lower limb assistance exoskeleton based on gravity support Download PDFInfo
- Publication number
- CN107309867B CN107309867B CN201710706919.6A CN201710706919A CN107309867B CN 107309867 B CN107309867 B CN 107309867B CN 201710706919 A CN201710706919 A CN 201710706919A CN 107309867 B CN107309867 B CN 107309867B
- Authority
- CN
- China
- Prior art keywords
- support
- thigh
- main
- auxiliary
- gravity
- 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.)
- Active
Links
- 230000005484 gravity Effects 0.000 title claims abstract description 47
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 23
- 210000000689 upper leg Anatomy 0.000 claims abstract description 113
- 210000002414 leg Anatomy 0.000 claims abstract description 26
- 210000000629 knee joint Anatomy 0.000 claims abstract description 18
- 210000001217 buttock Anatomy 0.000 claims abstract description 4
- 239000002184 metal Substances 0.000 claims description 10
- 244000309466 calf Species 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 239000006260 foam Substances 0.000 claims 1
- 210000003127 knee Anatomy 0.000 description 11
- 230000036544 posture Effects 0.000 description 6
- 238000005452 bending Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229920001821 foam rubber Polymers 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C9/00—Stools for specified purposes
- A47C9/02—Office stools not provided for in main groups A47C1/00, A47C3/00 or A47C7/00; Workshop stools
- A47C9/025—Stools for standing or leaning against, e.g. in a semi-standing or half-seated position
-
- 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
Abstract
The invention relates to a lower limb power-assisted exoskeleton based on gravity support, which comprises a waist strap, a connecting belt for connecting thighs and a waist, and two legs, wherein the structures of the two legs are identical, and the upper part of each leg is fixedly connected with the corresponding position of the waist strap through the connecting belt; each leg comprises a thigh supporting part, a shank supporting part and a foot fixing part which are connected in sequence; the junction of thigh supporting part and shank supporting part is knee joint, its characterized in that: the thigh support part comprises a support seat, a thigh auxiliary support, a thigh main support and a binding belt binding with the thigh; the support seat is fixed on the upper surface of the thigh main support, the length of the support seat is longer than that of the thigh main support, the rear part of the support seat is connected with the lower part of the connecting belt, and the area where the support seat is connected with the connecting belt is the contact surface of the buttocks of a user when the user sits down; the middle part of the supporting seat is provided with a binding belt which is bound with thighs; the thigh main support is a convex clamping block provided with a through hole at the knee joint.
Description
Technical Field
The invention relates to the technical field of lower limb assistance exoskeleton, in particular to a lower limb assistance exoskeleton based on gravity support, which can realize gravity support under different squatting postures.
Background
Staff in many industries need to stand for a long time or need to bend knees in many times, which often brings discomfort to feet and knee joints to further influence the working efficiency, and occupational diseases can even be caused by daily accumulation and monthly accumulation. Staff in these industries often need to stand or bend their knees for long periods of time, but placing a conventional seat can be an obstacle due to the workspace and workplace.
Most of the existing exoskeleton devices provide walking power for a human body or improve the external load capacity of the human body, are mainly worn on two sides of the human body, cannot meet the gravity support of the human body, and the existing exoskeleton needs an external power source in the working process, so that the whole structure is complex and heavy. For example, the patent document "wearable exoskeleton chair (CN 201410705631)" relates to an exoskeleton chair that realizes sitting posture support at rest of a worker through two brackets of thigh and shank and a telescopic rod between the brackets, the chair being fixed to the shank through an articulation ring, which is disadvantageous in that the knee of the device is connected only by one articulation, and the stability is poor; the utility model has the advantages that the connecting ring is only arranged at the lower leg, and the lower leg and the exoskeleton are greatly misplaced when squatting. The sitting type lower limb exoskeleton (CN 201510384049) of the patent document can enable a person to sit on the seat at any time through the seat between the two legs and assist the person to walk through the driving of the motor, but the sitting posture support of the person is realized through the damping clutch of the knee, so that the person is unstable when sitting down, and the overall complexity and weight are increased due to the motor, which is inconvenient to carry.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a lower limb assistance exoskeleton based on gravity support. The exoskeleton is designed mainly aiming at the fact that the user needs to stand for a long time or bend knees to work normally, but the chair with the traditional meaning cannot be used due to occasions, working environments and the like, and the problem that the foot and the knees are damaged when the user stands for a long time and bends knees is solved. When the knee bending and supporting device is used, a user only needs to wear the knee bending and supporting device on the body, when the user bends and crouches with feet, the exoskeleton can provide enough supporting force, the device is just like an intangible stool, normal walking of the user is not affected, and the device is particularly suitable for environments needing to stand for a long time in manufacturing industry, hospitals and the like, and has a wide application prospect.
The technical scheme adopted for solving the technical problems is as follows: the lower limb power-assisted exoskeleton comprises a waist strap, a connecting belt for connecting thighs and the waist, and two legs, wherein the structures of the two legs are identical, and the upper part of each leg is fixedly connected with the corresponding position of the waist strap through the connecting belt; each leg comprises a thigh supporting part, a shank supporting part and a foot fixing part which are connected in sequence; the junction of thigh supporting part and shank supporting part is knee joint, its characterized in that:
the thigh support part comprises a support seat, a thigh auxiliary support, a thigh main support and a binding belt binding with the thigh; the support seat is fixed on the upper surface of the thigh main support, the length of the support seat is longer than that of the thigh main support, the rear part of the support seat is connected with the lower part of the connecting belt, and the area where the support seat is connected with the connecting belt is the contact surface of the buttocks of a user when the user sits down; the middle part of the supporting seat is provided with a binding belt which is bound with thighs; the thigh main support is provided with a convex clamping block with a through hole at the knee joint, and the thickness of the thigh main support increases gradually from far to near the knee joint; the shape of the upper surface of the thigh auxiliary support is matched with that of the lower surface of the thigh main support, and the upper surface of the thigh auxiliary support is fixedly connected with the lower surface of the thigh main support; the front end of the thigh auxiliary support is provided with a concave clamping groove, and the thigh auxiliary supports at the left side and the right side of the concave clamping groove are provided with pin shaft mounting holes;
the lower leg supporting part comprises a lower leg auxiliary support provided with a controllable gas spring, a lower leg main support and a gravity supporting rod; the upper end of the main shank support is provided with a groove matched with a convex clamping block on the main thigh support, and the main shank support is connected with the main thigh support by penetrating through the groove and a through hole on the convex clamping block through a pin shaft; the upper part of the shank auxiliary support is provided with a cavity for installing a controllable gas spring, and the lower part of the shank auxiliary support is provided with a gravity support installation hole for installing a gravity support rod; the lower part of the controllable gas spring is fixed with a gas spring bolt hole in the middle of the auxiliary shank support through a bolt; the lower surface of the main calf support is fixedly connected with the plane side of the auxiliary calf support; the upper end of the controllable gas spring is provided with a circular angle rectangular groove, the upper part of the controllable gas spring is matched with the shape of a concave clamping groove on the thigh auxiliary support, and the thigh auxiliary support and the controllable gas spring are connected together by a pin shaft through a pin shaft mounting hole on the thigh auxiliary support and the circular angle rectangular groove on the controllable gas spring; the gravity supporting rod is fixedly arranged at the lower part of the auxiliary shank support through a bolt, and an adjusting screw for adjusting the length of the gravity supporting rod is arranged at the lower part of the auxiliary shank support and is fixed in a rod adjusting screw hole; the gravity supporting rod is provided with a foot fixing part.
Compared with the prior art, the invention has the following beneficial effects:
the outstanding essential characteristics of the invention are as follows: the invention uses a hinge and a slidable hinge at the knee joint, and forms a triangular support when a human body squats down, so that the knee joint is stable. The supporting element is a controllable gas spring, and the working principle of the controllable gas spring is as follows: the gas spring can freely stretch out and draw back when not locked, and is fixed in a position when locking to accomplish the supporting role, controllable gas spring work does not need external power, consequently this application does not need external power such as motor.
The remarkable progress of the invention is:
the invention adopts the controllable gas spring, does not interfere with normal walking of a human body, and simultaneously adopts the manual control of the work of the gas spring so as to achieve the posture support at any time and any place when squatting underground. The invention does not need an external power source, not only can obviously save energy, but also greatly reduces the volume and weight of the equipment.
The leg support part is in an open structure, namely, the leg support part and the waist binding belt are in flexible connection instead of rigid connection, the length of the leg structure does not need to be adjusted, and the leg support part is more humanized. When the human body squats down, the support function can be well achieved, so that the fatigue of the human body is effectively relieved.
Third, the waist and thigh binding bands and the foot fixing parts are utilized to enable the device to well fix the exoskeleton with a wearer, and the using process is more stable.
The invention has the advantages of simple structure, small overall weight, convenient wearing and carrying, realization of support of squatting position when being worn, no complex operation and easy acceptance by users.
Drawings
FIG. 1 is a schematic perspective view of one embodiment of a lower limb assist exoskeleton of the present invention based on gravity support;
FIG. 2 is a schematic diagram of an exploded construction of a single leg of one embodiment of a gravity support based lower extremity assist exoskeleton of the present invention;
FIG. 3 is a schematic view of the mounting structure of a foot-securing portion and a lower leg support portion of one embodiment of a gravity-support-based lower limb assist exoskeleton of the present invention;
FIG. 4 is a schematic view of the mounting structure at the knee joint of one embodiment of a gravity support based lower extremity power assisting exoskeleton of the present invention;
FIG. 5 is a schematic view of the connection of the strap to the waist strap and thigh support portion of one embodiment of the lower extremity assisted exoskeleton of the present invention based on gravity support;
FIG. 6 is a schematic perspective view of a thigh sub-support 5 of one embodiment of a lower limb assist exoskeleton based on gravity support according to the present invention;
FIG. 7 is a schematic perspective view of a main thigh support 6 of one embodiment of a gravity support based lower extremity power assist exoskeleton of the present invention;
FIG. 8 is a schematic perspective view of a lower leg sub-support 8 of one embodiment of a gravity support-based lower limb assist exoskeleton of the present invention;
FIG. 9 is a schematic view of the semi-sectional structure of the calf auxiliary support of FIG. 8;
in the figures, 1, lumbar strap, 2, connecting strap, 3, support seat, 4, strap to thigh, 5, thigh secondary support, 6, thigh primary support, 7, controllable gas spring, 8, calf secondary support, 9, calf primary support, 10, side securing unit, 11, gravity support bar, 12, foot-face defining unit, 13, sole securing unit, 601, male clip block, 602 attachment hole, 501 female clip slot, 502 pin mounting hole, 801 cavity, 802 gravity support bar mounting hole, 803 bar adjustment screw hole, 804 gas spring screw hole, 112 securing block, 111 clip.
Detailed Description
The invention is further illustrated by the following examples and figures, which are not intended to limit the scope of the claims.
The lower limb power-assisted exoskeleton (exoskeleton for short, see fig. 1-4) based on gravity support comprises a waist strap 1, a connecting belt 2 for connecting thighs and a waist, and two legs, wherein the structures of the two legs are identical, and the upper part of each leg is fixedly connected with the corresponding position of the waist strap 1 through the connecting belt 2; each leg comprises a thigh supporting part, a shank supporting part and a foot fixing part which are connected in sequence; the joint of the thigh support part and the shank support part is knee joint,
the thigh support part comprises a support seat 3, a thigh auxiliary support 5, a thigh main support 6 and a binding belt 4 binding with the thigh; the support seat 3 is fixed on the upper surface of the thigh main support 6, the length of the support seat 3 is longer than that of the thigh main support 6, the rear part of the support seat 3 is connected with the lower part of the connecting belt 2, and the connection area of the support seat and the connecting belt is the contact surface of buttocks when a user sits down; the middle part of the supporting seat 3 is provided with a binding belt 4 binding with thighs; the main thigh support 6 (see fig. 7) is a convex clamping block 601 with a through hole at the knee joint, and the thickness of the main thigh support 6 increases gradually from far to near the knee joint, namely the thickness of the main thigh support at the knee joint is the largest; the upper surface of the thigh auxiliary support 5 (see fig. 6) is matched with the lower surface of the thigh main support 6 in shape, and is fixedly connected with the lower surface of the thigh main support through a plurality of connecting holes 602 by bolts; the front end of the thigh auxiliary support 5 is provided with a concave clamping groove 501, and the thigh auxiliary supports on the left side and the right side of the concave clamping groove 501 are provided with pin shaft mounting holes 502;
the lower leg supporting part comprises a lower leg auxiliary support 8, a lower leg main support 9 and a gravity supporting rod 11, wherein the lower leg auxiliary support is provided with a controllable gas spring; the upper end of the main leg support 9 is provided with a groove matched with a convex clamping block 601 on the main leg support, and the main leg support 9 is connected with the main leg support 6 by a pin shaft penetrating through the groove and a through hole on the convex clamping block 601; the upper part of the auxiliary shank support (see fig. 8 and 9) is provided with a cavity 801 for installing the controllable gas spring 7, and the lower part is provided with a gravity support installing hole 802 for installing the gravity support rod 11; the lower part of the controllable gas spring 7 is fixed with a gas spring bolt hole 804 in the middle of the auxiliary shank support through bolts; the lower surface of the main calf support is fixedly connected with the plane side of the auxiliary calf support; the upper end of the controllable gas spring 7 is provided with a circular angle rectangular groove 701, the upper part of the controllable gas spring 7 is matched with the shape of a concave clamping groove on the thigh auxiliary support 5, and the thigh auxiliary support and the controllable gas spring are connected together by a pin shaft penetrating through a pin shaft mounting hole 502 on the thigh auxiliary support and the circular angle rectangular groove 701 on the controllable gas spring 7; the pin shafts between the thigh auxiliary support and the thigh auxiliary support 8 can slide in the round-corner rectangular groove 701 when the thigh is bent and stretched, so that the connection between the thigh auxiliary support and the thigh main support and the connection between the thigh auxiliary support and the thigh main support can keep concentric movement, movement interference is avoided, and the connection between the thigh and the thigh simultaneously uses the main support and the auxiliary support, thereby being beneficial to increasing the strength of the exoskeleton; the gravity supporting rod 11 is fixedly arranged at the lower part of the auxiliary shank support through a bolt, an adjusting screw for adjusting the length of the gravity supporting rod 11 is arranged at the lower part of the auxiliary shank support, the adjusting screw is fixed in a rod adjusting screw hole 803, and the length of the auxiliary shank support part can be adjusted through the matching of different rod adjusting screw holes 803 between the auxiliary shank support and the gravity supporting rod, so that the auxiliary shank support has better compatibility; the gravity supporting rod is provided with a foot fixing part;
the foot fixing portion includes a foot surface defining unit 12, a sole fixing unit 13, and two side fixing units 10; the two side fixing units 10 enclose the shape of a foot, one end of each side fixing unit is fixed with the gravity supporting rod 11, and the other end of each side fixing unit is respectively connected with two ends of the foot surface limiting unit 12 and the foot sole fixing unit 13.
The foot surface limiting unit and the foot surface fixing unit are of U-shaped structures with openings, the foot surface fixing unit can be arranged in the U-shaped structures of the foot surface limiting unit, the two side surface fixing units are arranged on the outer sides of the foot bottom and the foot surface, and the joints of the side surface fixing unit, the foot surface limiting unit and the foot surface fixing unit are fixed through bolts. By the design, the opening of the U-shaped structure of the instep limiting unit can limit the action of the relative motion angle of the upper surface and the bottom surface of the foot of a human body, and meanwhile, the thickness among the connection of the side fixing unit, the instep limiting unit and the sole fixing unit is reduced, so that the structure is simpler, more convenient and more attractive.
The invention is further characterized in that the supporting seat is divided into two layers, the upper layer is a foam-rubber cushion, the lower layer is a metal supporting frame which is fixed with the thigh main support through screws, grooves are arranged on two sides of the metal supporting frame, binding bands 4 bound with the thigh are fixed with the metal supporting frame through pin shafts, and binding band mounting holes are formed in the grooves; the rear part of the metal support frame is provided with a connecting block, and the metal support frame is connected with the waist binding belt 1 through a connecting belt.
The invention is further characterized in that the rear part of the waist strap 1 is provided with a fixed block 112, the fixed block is provided with a connecting strap mounting hole, the connecting strap 2 is provided with a buckle 111, and the length of the connecting strap can be adjusted through the buckle.
The invention is further characterized in that the included angle between the tangent line of the lower surface of the main thigh support 6 near the knee joint and the upper surface of the main thigh support is 20-45 degrees, so that the proper angle between the main thigh support and the auxiliary thigh support is ensured, a triangular stable structure is formed between the main thigh support and the auxiliary thigh support and between the auxiliary thigh support and the main auxiliary thigh support during squatting, the auxiliary thigh support cannot deviate too far from the main thigh support, the structure is more compact, the wearing is convenient, and the design increases the stability of the controllable gas spring 7 on the main thigh support.
The rounded rectangular groove 701 at the upper end of the controllable gas spring 7 can be other similar long-strip grooves, and the pin shaft can move a certain distance in the long-strip grooves when being fixed by the pin shaft.
The working principle and the working process of the exoskeleton of the invention are as follows: when the waist belt is used, the waist belt 1 and the binding belt 4 binding with thighs are bound with a human body, the length of the connecting belt 2 is adjusted through the buckle 111 so that the wearing is comfortable, the foot fixing part is worn on the foot, and the proper position between the lower leg of the human body and the ground is kept through adjusting the gravity supporting rod 11; when a human body walks normally, the controllable gas spring 7 is in a free telescopic state, so that the normal walking of the human body is not influenced; when the human body squats down, the controllable gas spring is controlled manually, so that the controllable gas spring is in a locking state, and further the squatting position of the human body is supported. The controllable gas spring is commercially available.
The controllable gas spring switch is actively controlled by a person, so that the position locking and supporting of the human body under different squatting postures can be realized. When the human body is in a normal walking state, the controllable gas spring is in a free telescopic state, and the movement posture of the human body is not influenced. The human shank support part is provided with a gravity support rod which is contacted with the ground, a plurality of holes are drilled in the axial direction of the gravity support rod, and the function of adjusting the length of the shank support rod can be achieved through the cooperation of the gravity support rod and different holes on the shank auxiliary support. The invention is convenient to wear, can provide squat support at any time and any place during knee bending, lightens the tired degree of long-term standing or knee bending work, and further improves the working efficiency.
The invention is applicable to the prior art where it is not described.
Claims (6)
1. The lower limb power-assisted exoskeleton comprises a waist strap, a connecting belt for connecting thighs and a waist, and two legs, wherein the structures of the two legs are identical, and the upper part of each leg is fixedly connected with the corresponding position of the waist strap through the connecting belt; each leg comprises a thigh supporting part, a shank supporting part and a foot fixing part which are connected in sequence; the junction of thigh supporting part and shank supporting part is knee joint, its characterized in that:
the thigh support part comprises a support seat, a thigh auxiliary support, a thigh main support and a binding belt binding with the thigh; the support seat is fixed on the upper surface of the thigh main support, the length of the support seat is longer than that of the thigh main support, the rear part of the support seat is connected with the lower part of the connecting belt, and the area where the support seat is connected with the connecting belt is the contact surface of the buttocks of a user when the user sits down; the middle part of the supporting seat is provided with a binding belt which is bound with thighs; the thigh main support is provided with a convex clamping block with a through hole at the knee joint, and the thickness of the thigh main support increases gradually from far to near the knee joint; the shape of the upper surface of the thigh auxiliary support is matched with that of the lower surface of the thigh main support, and the upper surface of the thigh auxiliary support is fixedly connected with the lower surface of the thigh main support; the front end of the thigh auxiliary support is provided with a concave clamping groove, and the thigh auxiliary supports at the left side and the right side of the concave clamping groove are provided with pin shaft mounting holes;
the lower leg supporting part comprises a lower leg auxiliary support provided with a controllable gas spring, a lower leg main support and a gravity supporting rod; the upper end of the main shank support is provided with a groove matched with a convex clamping block on the main thigh support, and the main shank support is connected with the main thigh support by penetrating through the groove and a through hole on the convex clamping block through a pin shaft; the upper part of the shank auxiliary support is provided with a cavity for installing a controllable gas spring, and the lower part of the shank auxiliary support is provided with a gravity support installation hole for installing a gravity support rod; the lower part of the controllable gas spring is fixed with a gas spring bolt hole in the middle of the auxiliary shank support through a bolt; the lower surface of the main calf support is fixedly connected with the plane side of the auxiliary calf support; the upper end of the controllable gas spring is provided with a circular angle rectangular groove, the upper part of the controllable gas spring is matched with the shape of a concave clamping groove on the thigh auxiliary support, and the thigh auxiliary support and the controllable gas spring are connected together by a pin shaft through a pin shaft mounting hole on the thigh auxiliary support and the circular angle rectangular groove on the controllable gas spring; the gravity supporting rod is fixedly arranged at the lower part of the auxiliary shank support through a bolt, and an adjusting screw for adjusting the length of the gravity supporting rod is arranged at the lower part of the auxiliary shank support and is fixed in a rod adjusting screw hole; the gravity supporting rod is provided with a foot fixing part.
2. The gravity support-based lower extremity assist exoskeleton of claim 1 wherein said foot fixing portion includes a instep defining unit, a sole fixing unit and two side fixing units; the two side fixing units enclose a foot shape, one end of each side fixing unit is fixed with the gravity supporting rod, and the other end of each side fixing unit is respectively connected with the two ends of the foot surface limiting unit and the foot bottom fixing unit.
3. The gravity support-based lower extremity exoskeleton of claim 2 wherein said instep defining unit and said plantar securing unit are each a U-shaped structure with an opening and wherein said plantar securing unit is positionable within the U-shaped structure of said instep defining unit.
4. The lower limb assisting exoskeleton based on gravity support as claimed in claim 1, wherein the support base is divided into two layers, the upper layer is a foam cushion, the lower layer is a metal support frame, the lower layer is fixed with the thigh main support by a screw, grooves are arranged on two sides of the metal support frame, a binding belt mounting hole is formed in the grooves, and a binding belt bound with the thigh is fixed with the metal support frame by a pin shaft; the rear part of the metal support frame is provided with a connecting block, and the metal support frame is connected with the waist binding belt through a connecting belt.
5. The lower limb assisting exoskeleton based on gravity support according to claim 1, wherein the rear part of the waist strap is provided with a fixing block, the fixing block is provided with a connecting band mounting hole, the connecting band is provided with a buckle, and the length of the connecting band is adjusted through the buckle.
6. The gravity support-based lower limb assistance exoskeleton of claim 1, wherein the angle between the tangent line of the lower surface of said main thigh support near the knee joint and the upper surface of said main thigh support is 20-45 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710706919.6A CN107309867B (en) | 2017-08-17 | 2017-08-17 | Lower limb assistance exoskeleton based on gravity support |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710706919.6A CN107309867B (en) | 2017-08-17 | 2017-08-17 | Lower limb assistance exoskeleton based on gravity support |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107309867A CN107309867A (en) | 2017-11-03 |
| CN107309867B true CN107309867B (en) | 2023-05-23 |
Family
ID=60176249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710706919.6A Active CN107309867B (en) | 2017-08-17 | 2017-08-17 | Lower limb assistance exoskeleton based on gravity support |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107309867B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108030309B (en) * | 2017-11-17 | 2019-08-20 | 华南理工大学 | A kind of height-adjustable ectoskeleton seat |
| CN108297069A (en) * | 2017-12-17 | 2018-07-20 | 青岛万祥如光机械技术研究有限公司 | A kind of supporting mechanism facilitating adjusting |
| CN108324510A (en) * | 2017-12-17 | 2018-07-27 | 青岛万祥如光机械技术研究有限公司 | A kind of standing support device acting on thigh |
| CN108272599A (en) * | 2017-12-17 | 2018-07-13 | 青岛万祥如光机械技术研究有限公司 | A kind of general standing support device |
| CN108272600A (en) * | 2017-12-17 | 2018-07-13 | 青岛万祥如光机械技术研究有限公司 | A kind of standing support device |
| CN108030644A (en) * | 2017-12-17 | 2018-05-15 | 青岛万祥如光机械技术研究有限公司 | A kind of support device for acting on thigh |
| CN108272598A (en) * | 2017-12-17 | 2018-07-13 | 青岛万祥如光机械技术研究有限公司 | A kind of standing support device |
| CN108372498B (en) * | 2018-04-25 | 2023-11-07 | 河北工业大学 | Wearable sitting posture supporting device |
| CN109093587B (en) * | 2018-09-08 | 2020-06-16 | 蚌埠市神舟机械有限公司 | Human body auxiliary device for cabin welding |
| CN109676582B (en) * | 2018-11-29 | 2023-12-08 | 河北工业大学 | Exoskeleton anti-slip seat for assisting sitting of lower limbs |
| CN109927016B (en) * | 2019-04-15 | 2023-11-28 | 河北工业大学 | Lower limb exoskeleton with variable axis knee joint |
| CN110215295A (en) * | 2019-07-11 | 2019-09-10 | 河北工业大学 | A kind of lower limb help seat device |
| JP7230786B2 (en) * | 2019-11-28 | 2023-03-01 | トヨタ自動車株式会社 | Leg braces and clothing covering the leg braces |
| CN113084780A (en) * | 2021-03-29 | 2021-07-09 | 新疆大学 | Lower limb assistance exoskeleton seat capable of being adjusted at multiple angles |
| CN113829333B (en) * | 2021-11-01 | 2023-05-23 | 北京航空航天大学 | Wearable exoskeleton seat with auxiliary supporting device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009082249A2 (en) * | 2007-12-26 | 2009-07-02 | Richard Little | Mobility aid |
| CN202036370U (en) * | 2011-03-31 | 2011-11-16 | 徐迪 | Backpack embedded unpowered mechanical exoskeleton |
| CN204468352U (en) * | 2015-02-24 | 2015-07-15 | 吴娟 | Human body lower limbs ESD |
| CN105662780A (en) * | 2016-01-12 | 2016-06-15 | 武汉理工大学 | Lower limb powered shape righting device |
| CN106420280A (en) * | 2016-12-02 | 2017-02-22 | 华中科技大学 | Exoskeleton device for alleviating lower limb joint load and testing support force |
| CN106695760A (en) * | 2016-12-16 | 2017-05-24 | 江苏大学 | Whole body exoskeleton power-assisted robot for auxiliary carrying |
-
2017
- 2017-08-17 CN CN201710706919.6A patent/CN107309867B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009082249A2 (en) * | 2007-12-26 | 2009-07-02 | Richard Little | Mobility aid |
| CN202036370U (en) * | 2011-03-31 | 2011-11-16 | 徐迪 | Backpack embedded unpowered mechanical exoskeleton |
| CN204468352U (en) * | 2015-02-24 | 2015-07-15 | 吴娟 | Human body lower limbs ESD |
| CN105662780A (en) * | 2016-01-12 | 2016-06-15 | 武汉理工大学 | Lower limb powered shape righting device |
| CN106420280A (en) * | 2016-12-02 | 2017-02-22 | 华中科技大学 | Exoskeleton device for alleviating lower limb joint load and testing support force |
| CN106695760A (en) * | 2016-12-16 | 2017-05-24 | 江苏大学 | Whole body exoskeleton power-assisted robot for auxiliary carrying |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107309867A (en) | 2017-11-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107309867B (en) | Lower limb assistance exoskeleton based on gravity support | |
| CN109009892B (en) | Wearable intelligent exoskeleton seat device | |
| US7600524B2 (en) | Mono-Crutch for lower leg disability | |
| CN108372498B (en) | Wearable sitting posture supporting device | |
| CN109702715B (en) | Mechanical exoskeleton seat | |
| CN108582042B (en) | Unpowered sitting-assisting mechanical leg | |
| CN205626419U (en) | Walking auxiliary stand can bear a burden | |
| US20150209213A1 (en) | Wearable crutches | |
| CN208557478U (en) | It is a kind of prevent walking interfere lower limb help seat ectoskeleton | |
| CN109676582B (en) | Exoskeleton anti-slip seat for assisting sitting of lower limbs | |
| CN207027500U (en) | Lower limb assistance exoskeleton based on Gravity support | |
| TWM616176U (en) | Auxiliary support wearable exoskeleton device | |
| CN211433997U (en) | Unpowered flexible walking aid | |
| KR101512985B1 (en) | Assistant apparatus for sitting works | |
| CN110801373A (en) | Unpowered flexible walking aid | |
| CN210697845U (en) | Lower limb sitting assisting device | |
| JP3663168B2 (en) | Posture improvement band | |
| KR101575998B1 (en) | Assistant apparatus for sitting works | |
| JP4979139B2 (en) | Lumbar burden reduction device | |
| KR200431890Y1 (en) | Leg assistance device for bench work | |
| CN216933925U (en) | Lower limb walking power assisting device | |
| TWI748638B (en) | Auxiliary support wearable exoskeleton device | |
| CN220495232U (en) | Wearable bionic rehabilitation training device | |
| CN206026501U (en) | Lumbar vertebrae protection device | |
| CN217366453U (en) | Lower limb auxiliary exercise device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |