CN107320286A - It is a kind of can elastic compensating axis shift knee joint exoskeleton device - Google Patents
It is a kind of can elastic compensating axis shift knee joint exoskeleton device Download PDFInfo
- Publication number
- CN107320286A CN107320286A CN201710676529.9A CN201710676529A CN107320286A CN 107320286 A CN107320286 A CN 107320286A CN 201710676529 A CN201710676529 A CN 201710676529A CN 107320286 A CN107320286 A CN 107320286A
- Authority
- CN
- China
- Prior art keywords
- box
- knee joint
- wedge
- spring
- adjusting lever
- 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
Links
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 210000002414 leg Anatomy 0.000 claims abstract description 28
- 238000006073 displacement reaction Methods 0.000 claims abstract description 26
- 210000004907 gland Anatomy 0.000 claims description 9
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 7
- 239000004917 carbon fiber Substances 0.000 claims description 7
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 7
- 210000000689 upper leg Anatomy 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 3
- 210000003127 knee Anatomy 0.000 abstract description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract 1
- 210000004394 hip joint Anatomy 0.000 abstract 1
- 230000008901 benefit Effects 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- IXSZQYVWNJNRAL-UHFFFAOYSA-N etoxazole Chemical compound CCOC1=CC(C(C)(C)C)=CC=C1C1N=C(C=2C(=CC=CC=2F)F)OC1 IXSZQYVWNJNRAL-UHFFFAOYSA-N 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001769 paralizing effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2201/1642—Holding means therefor
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
The invention discloses it is a kind of can elastic compensating axis shift knee joint exoskeleton device, belong to ectoskeleton structure-design technique field.The device includes displacement compensating mechanism, leg member, two sets of size adjusting mechanisms and Liang Tao bondages mechanism, leg member is connected with displacement compensating mechanism with revolute pair, two packet size adjustment mechanisms respectively with leg member and displacement compensating mechanism mode connects for screw, Liang Tao bondages mechanism respectively with two sets of size adjusting mechanisms by wedge lock box be connected.The present invention compensates displacement of the human body knee axis line in sagittal plane by displacement compensating mechanism, reduces the discomfort due to ectoskeleton revolute pair axis and the misaligned generation of human body knee joint pivot center；Bondage mechanism is adjusted in the position of human leg by size adjusting mechanism, and can be connected with hip joint, ankle-joint module by adjusting lever；Position of the bondage axis in its vertical plane is adjusted by the L-type adjusting lever in bondage mechanism, the bondage demand of different leg sizes is adapted to.
Description
Technical field
The invention belongs to ectoskeleton structure-design technique field, and in particular to it is a kind of can elastic compensating axis shift knee close
Save exoskeleton device.
Background technology
Ectoskeleton equipment is a kind of wearable device, to strengthen the physical efficiency of human body, realize the rehabilitation training of paralytic
Deng.Knee joint is that human body lower limbs are important and baroque articular system, on the one hand, the pivot center position of human body knee joint is
Change with the change of angle of bend, on the other hand, for different individuals, its kneed size is not quite similar so that
Joint rotation axis displacement law is also differed.
Knee joint is all simply processed into the rotation of single-degree-of-freedom fixed axis by most of existing exoskeleton robot
Pair, this mechanism structure is fixed so that the pivot center of knee joint ectoskeleton can not be overlapped with the pivot center of human body knee joint,
Reduce comfortableness and be likely to cause secondary damage.Accordingly, it would be desirable to which the knee joint ectoskeleton of design should possess axis shift benefit
Repay and size adjustable function.
The content of the invention
The problem of purpose of the present invention aims to solve the problem that knee joint ectoskeleton axis of movement and misaligned human body knee joint axis,
Offer is a kind of can elastic compensating axis shift, the knee joint exoskeleton device of size adjustable.
Designed by the present invention can elastic compensating axis shift knee joint exoskeleton device include displacement compensating mechanism, it is big
Leg member, two sets of size adjusting mechanisms and Liang Tao bondages mechanism；The leg member and displacement compensating mechanism are to rotate parafacies
Even, the upper end position of leg member is connected with a packet size adjustment mechanism, and the lower end position of displacement compensating mechanism is connected with one group
Size adjusting mechanism, locks box by wedge per packet size adjustment mechanism and is connected with a set of bondage mechanism.
Described displacement compensating mechanism includes rotating shaft, slide bar, spring, spring guide, sliding block, contiguous block and link；Institute
The rotating shaft stated with the slide bar of two right-angled intersections in the form of cylindrical pair while be connected, it is possible to achieve in plane two it is orthogonal
Displacement on direction；Described slide bar two ends are connected with sliding block；Described sliding block is connected in the form of cylindrical pair with spring guide,
And can be moved axially with moving slide-bar together relative spring guide；Described spring is installed on spring guide, and is distributed in connection
Between block and sliding block；Described contiguous block is placed in one end of spring guide, and two mutually perpendicular spring guides are connected；Institute
On the one hand the end of mutually perpendicular spring guide is connected the link stated by connected two contiguous blocks, is on the other hand adjusted with size
Whole box is with mode connects for screw.Described rotating shaft is fixed relative to thigh position, and described link is fixed relative to shank position, is led to
Displacement of the rotating shaft with respect to link in sagittal plane horizontally and vertically in two vertical direction is realized in the compression for crossing spring.
Described size adjusting mechanism includes size adjusting box and adjusting lever, for realizing the adjustment along leg axial dimension.
Described adjusting lever axial design has equidistant positioning hole, is connected with adjustment box by positioning hole with positioned fastener, adjusting lever
Side design is fixed with wedge locking box, for realizing the connection with bondage mechanism.
Described size adjusting box includes housing, positioned fastener, spring and gland；Described positioned fastener one end is set
In respect of knob, the other end is designed with the positioning gradient, and is threadedly coupled with housing realization fastening；Described spring is placed in positioning fastening
Between part and gland, the automatic recovery for realizing positioned fastener position；Described gland is with housing with mode connects for screw.
Described leg member includes bearing base, bearing cap and bearing；Described bearing is placed in bearing base and bearing
Between lid；Described bearing base one end is connected by bearing with rotating shaft, and the other end is with size adjusting box with mode connects for screw.
Described bondage mechanism includes wedge locking box, L-shaped adjusting lever and arc carbon fiber plate；Described arc carbon is fine
Dimension plate is fixed on wedge by screw and locks box side, and can be fixed on human leg by bandage.Described wedge lock
Tight box is consistent with the structure in size adjusting mechanism, is made up of pedestal, wedge, tommy, passes through the increasing of screw thread and wedge shape
Power effect compresses L-shaped adjusting lever with locking case base；
Advantages and positive effects of the present invention are：
The present invention provide can elastic compensating axis shift knee joint exoskeleton device, can be with by displacement compensating mechanism
Reduce in motion process in sagittal plane due to knee joint ectoskeleton rotary shaft and human body knee joint rotary shaft it is misaligned produced by
Harmful effect, improves the comfortableness of wearing, bandage can be also adjusted by size adjusting mechanism in the position of human leg, to adapt to
Different human legs is long.
Brief description of the drawings
Fig. 1 be the present invention can elastic compensating axis shift knee joint exoskeleton device structural representation；
Fig. 2 is the structural representation of displacement compensating mechanism in apparatus of the present invention；
Fig. 3 is the exploded perspective view of size adjusting box in apparatus of the present invention；
Fig. 4 is the exploded perspective view of wedge locking box in apparatus of the present invention；
Wherein：
1- links；2- rotating shafts；3- sliding blocks；4- springs；5- spring guides；6- slide bars；7- contiguous blocks；8- size adjustings
Box；
9- adjusting levers；10-L shape adjusting levers；11- wedges lock box；12- arc carbon fiber plates；13- bearing bases；14-
Bearing；
15- bearing caps；16- housings；17- glands；18- springs；19- positioned fasteners；20- pedestals；21- wedges；
22- tommies.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples.
As shown in figure 1, be the present invention can elastic compensating axis shift knee joint exoskeleton device structural representation, bag
Include displacement compensating mechanism, leg member, two sets of size adjusting mechanisms and Liang Tao bondages mechanism.Leg member and bit shift compensation machine
Structure with revolute pair be connected, one end bolt connection of a packet size adjustment mechanism and leg member, another packet size adjustment mechanism with
One end bolt connection of displacement compensating mechanism, Liang Tao bondages mechanism locks box with two sets of size adjusting mechanisms by wedge respectively
Connection.
Described displacement compensating mechanism, as shown in Fig. 2 including link 1, rotating shaft 2, sliding block 3, spring 4, spring guide 5,
Slide bar 6 and contiguous block 7.Rotating shaft 2 is connected with the slide bar 6 of two right-angled intersections in the form of cylindrical pair simultaneously, it is possible to achieve plane
Displacement in interior two orthogonal directions.Specifically, orthogonal two holes are provided with the centre of rotating shaft 2 to be used to install cunning
Bar 6.One end of rotating shaft 2 is designed with position limiting structure and the axis hole coordinated with encoder axle, and position limiting structure is relative for limiting shank
The slewing area of thigh, prevents negative angle backwards rotation from being damaged to people's leg, another long external part of rotating shaft 2 be used to connecting by
Decelerator, elastic driver, the part of motor composition.The two ends of slide bar 6 are connected with sliding block 3.Sliding block 3 is in the form of cylindrical pair and bullet
Spring guide rod 5 is connected, and can be moved axially with moving slide-bar 6 together relative spring guide 5.Specifically, sliding block 3, which is designed with, is mutually perpendicular to
Two holes, one is that through hole is used to install spring guide 5, and one is that blind hole is used to lay the end of slide bar 6.Spring guide 5
Two ends are connected with a contiguous block 7, and spring 4 is arranged on spring guide 5 and is placed between sliding block 3 and contiguous block 7.Each connect
Connect block 7 and be fixed with two mutually perpendicular spring guides 5.Contiguous block 7 be designed as above and below two parts be easy to assembling, in contiguous block 7
Inside is provided with nut neck, and nut and the end of spring guide 5 are with screw threads for fastening, so as to fix spring guide 5 with nut neck.Even
Connected two contiguous blocks 7 in one end of frame 1 are connect, the other end, which is provided with two holes, is used for size for connection adjustment box 8.In displacement compensating mechanism
Four spring guides 5 and four contiguous blocks 7 connection one plane of composition on mouth word structure.Rotating shaft 2 is relative to thigh position
Fixed, link 1 is fixed relative to shank position, and rotating shaft 2 can be achieved with respect to link 1 in sagittal plane by the compression of spring 4
Inside displacement horizontally and vertically in two vertical direction, reaches the meta of elastic compensating human body knee joint axis and the axis of rotating shaft 2
The purpose of shifting, and can also realize automatic recovery and the gravitational equilibrium of initial position.
As shown in figure 1, leg member includes bearing base 13, bearing 14 and bearing cap 15, bearing 14 is placed in bearing base
Between 13 and bearing cap 15.Rotating shaft 2 is arranged in bearing base 13 and bearing cap 15 by bearing 14.The lower end of bearing base 13
It is connected by bearing 14 with rotating shaft 2, upper end is fixedly connected with a size adjusting box 8 with screw.On the one hand leg member is used for
Installation site is provided for rotating shaft, plays a part of supporting, is on the other hand for connection to rotating shaft and size adjusting mechanism.
As shown in figures 1 and 3, size adjusting mechanism includes size adjusting box 8 and adjusting lever 9, and bearing base is connected in respectively
13 one end and one end of link 1, it is possible to achieve along the adjustment of leg axial dimension.The axial design of adjusting lever 9 has equidistant positioning
Hole, is connected with size adjusting box 8 by positioning hole with positioned fastener 19.The side of adjusting lever 9 is also devised with wedge locking
Box 11, for realizing the connection with bondage mechanism.Adjusting lever 9 and thereon wedge locking box 11 design be integrally formed.
As shown in figure 3, being the exploded perspective view of size adjusting box 8, it includes housing 16, gland 17, spring 18 and positioning
Fastener 19.The similar frustum in one end of positioned fastener 19, is positioned for injecting in the positioning hole of adjusting lever 9, and medium design has spiral shell
Line is used for and housing 16 connects to hold out against adjusting lever 9, and the other end of positioned fastener 19 is provided with knob and is easy to operation.Spring 18
It is placed between the shaft shoulder and gland 17, for restoring positioned fastener 19 automatically.
As shown in Figure 1 and Figure 4, bondage mechanism includes wedge locking box 11, L-shaped adjusting lever 10 and arc carbon fiber plate
12.Being realized using wedge reinforcement for the two ends of L-shaped adjusting lever 10 locks being connected for box 11 with wedge.Bondage mechanism passes through
Voussoir clamping structure is connected on adjusting lever 9, it is possible to achieve the adjustment of bondage position in horizontal plane.Arc carbon fiber plate 12 passes through
Screw is fixed on wedge locking box 11 side, and can be fixed on human leg by bandage.
As shown in figure 4, being the exploded perspective view that wedge locks box 11, it includes pedestal 20, wedge 21 and screw thread rotation
Power is amplified by bar 22, rotation tommy 22 by screw thread and wedge structure, and then the L-shaped adjusting lever in hold-down apertures.
Generally speaking, the present invention provide can the knee joint exoskeleton device of elastic compensating axis shift being capable of elastic compensating
Site error between human body knee joint pivot center and knee joint ectoskeleton pivot center, it is ensured that preferable wearing comfort,
Bondage position can be also adjusted along the axially adjustable size of leg, in the plane of vertical leg simultaneously, to adapt to the need of different human body lower limb
Ask.
Claims (6)
1. it is a kind of can elastic compensating axis shift knee joint exoskeleton device, it is characterised in that including displacement compensating mechanism, big
Leg member, two sets of size adjusting mechanisms and Liang Tao bondages mechanism；Leg member is connected with displacement compensating mechanism with revolute pair, greatly
The upper end position of leg member is connected with a packet size adjustment mechanism, and the lower end position of displacement compensating mechanism is connected with packet size tune
Complete machine structure, locks box by wedge per packet size adjustment mechanism and is connected with a set of bondage mechanism；
Described displacement compensating mechanism includes rotating shaft, slide bar, spring, spring guide, sliding block, contiguous block and link；Described
Rotating shaft is connected with the slide bar of two right-angled intersections in the form of cylindrical pair simultaneously；Described slide bar two ends are connected with sliding block；It is described
Sliding block be connected in the form of cylindrical pair with spring guide, and moved axially with moving slide-bar together relative spring guide；Described
Spring is installed on spring guide, is distributed between contiguous block and sliding block；Described contiguous block is placed in one end of spring guide, and
Two mutually perpendicular spring guides are connected；Described connected two contiguous blocks of link one side, another aspect and size
Box is adjusted with mode connects for screw；Described rotating shaft is fixed relative to thigh position, and described link is fixed relative to shank position,
Displacement of the rotating shaft with respect to link in sagittal plane horizontally and vertically in two vertical direction is realized by the compression of spring；
Described size adjusting mechanism includes size adjusting box and adjusting lever, for realizing the adjustment along leg axial dimension；It is described
Adjusting lever axial design have equidistant positioning hole, be connected with size adjusting box by positioning hole with positioned fastener, adjusting lever
Side design is fixed with wedge locking box.
2. knee joint exoskeleton device according to claim 1, it is characterised in that described leg member includes bearing base
Seat, bearing cap and bearing；Described bearing is placed between bearing base and bearing cap；The lower end of described bearing base passes through axle
Hold and be connected with rotating shaft, upper end is with being fixedly connected with a size adjusting box.
3. knee joint exoskeleton device according to claim 1, it is characterised in that described bondage mechanism includes wedge
Lock box, L-shaped adjusting lever and arc carbon fiber plate；Box is locked by wedge and connected with adjusting lever in described L-shaped adjusting lever one end
Connect, the other end is locked box by wedge and is connected with arc carbon fiber plate, and arc carbon fiber plate is fixed on wedge by screw
Lock box side.
4. knee joint exoskeleton device according to claim 3, it is characterised in that described wedge locking box includes base
Seat, wedge and tommy, are compressed L-shaped adjusting lever with locking case base by screw thread and the boosting function of wedge shape.
5. the knee joint exoskeleton device according to claim 1 or 2 or 3, it is characterised in that described size adjusting box bag
Include housing, positioned fastener, spring and gland；Described positioned fastener one end is designed with knob, and the other end is designed with positioning
The gradient, and it is threadedly coupled with housing realization fastening；Described spring is placed between positioned fastener and gland, for realizing positioning
The automatic recovery of fastener locations；Described gland is with housing with mode connects for screw.
6. the knee joint exoskeleton device according to claim 1 or 2 or 3, it is characterised in that described displacement compensating mechanism
In, one end of rotating shaft is designed with position limiting structure, for limiting slewing area of the shank with respect to thigh.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710676529.9A CN107320286B (en) | 2017-08-09 | 2017-08-09 | It is a kind of can elastic compensating axis shift knee joint exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710676529.9A CN107320286B (en) | 2017-08-09 | 2017-08-09 | It is a kind of can elastic compensating axis shift knee joint exoskeleton device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107320286A true CN107320286A (en) | 2017-11-07 |
| CN107320286B CN107320286B (en) | 2019-06-28 |
Family
ID=60200161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710676529.9A Active CN107320286B (en) | 2017-08-09 | 2017-08-09 | It is a kind of can elastic compensating axis shift knee joint exoskeleton device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107320286B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108836755A (en) * | 2018-09-10 | 2018-11-20 | 安庆中船柴油机有限公司 | A kind of hip joint driving device of healing robot |
| CN108853928A (en) * | 2018-09-10 | 2018-11-23 | 安庆中船柴油机有限公司 | A kind of healing robot |
| CN108969306A (en) * | 2018-09-10 | 2018-12-11 | 安庆中船柴油机有限公司 | A kind of lower limb exoskeleton device of healing robot |
| CN110539289A (en) * | 2019-08-09 | 2019-12-06 | 北京航空航天大学 | Three-degree-of-freedom centering hip joint mechanism of power-assisted exoskeleton |
| CN111184620A (en) * | 2020-01-14 | 2020-05-22 | 哈尔滨工业大学 | Elbow joint exoskeleton robot is driven to flexible rope with compensation arrangement |
| CN111249115A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Exoskeleton assembly and lower limb rehabilitation device |
| WO2022222506A1 (en) * | 2021-04-23 | 2022-10-27 | 中国科学院深圳先进技术研究院 | Exoskeleton robot knee joint having self-adaptive binding function |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2172099Y (en) * | 1993-07-19 | 1994-07-20 | 杨世光 | Artificial knee joint |
| WO2011052032A1 (en) * | 2009-10-27 | 2011-05-05 | トヨタ自動車株式会社 | Walking aid device |
| CN102961202A (en) * | 2012-11-14 | 2013-03-13 | 国家康复辅具研究中心 | Thigh and shank junction function compensation device capable of simulating normal gait of real people |
| CN105012056A (en) * | 2015-06-01 | 2015-11-04 | 北京航空航天大学 | Structure body of lower extremity exoskeleton with bionic knee joint |
| CN106333772A (en) * | 2016-01-07 | 2017-01-18 | 国家康复辅具研究中心 | Elastic knee-bending type lower-limb knee-joint artificial limb |
| CN106378767A (en) * | 2016-08-30 | 2017-02-08 | 北京航空航天大学 | Binding device for wearable power-assisting equipment |
| CN106926220A (en) * | 2017-02-28 | 2017-07-07 | 北京航空航天大学 | A kind of wearable power assistive device of human hip for possessing the rotation of RCM Three Degree Of Freedoms |
-
2017
- 2017-08-09 CN CN201710676529.9A patent/CN107320286B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2172099Y (en) * | 1993-07-19 | 1994-07-20 | 杨世光 | Artificial knee joint |
| WO2011052032A1 (en) * | 2009-10-27 | 2011-05-05 | トヨタ自動車株式会社 | Walking aid device |
| CN102961202A (en) * | 2012-11-14 | 2013-03-13 | 国家康复辅具研究中心 | Thigh and shank junction function compensation device capable of simulating normal gait of real people |
| CN105012056A (en) * | 2015-06-01 | 2015-11-04 | 北京航空航天大学 | Structure body of lower extremity exoskeleton with bionic knee joint |
| CN106333772A (en) * | 2016-01-07 | 2017-01-18 | 国家康复辅具研究中心 | Elastic knee-bending type lower-limb knee-joint artificial limb |
| CN106378767A (en) * | 2016-08-30 | 2017-02-08 | 北京航空航天大学 | Binding device for wearable power-assisting equipment |
| CN106926220A (en) * | 2017-02-28 | 2017-07-07 | 北京航空航天大学 | A kind of wearable power assistive device of human hip for possessing the rotation of RCM Three Degree Of Freedoms |
Non-Patent Citations (1)
| Title |
|---|
| 吴腾 张武翔 丁希仑: "一种新型并联变胞机构的设计与分析", 《机械工程学报》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108836755A (en) * | 2018-09-10 | 2018-11-20 | 安庆中船柴油机有限公司 | A kind of hip joint driving device of healing robot |
| CN108853928A (en) * | 2018-09-10 | 2018-11-23 | 安庆中船柴油机有限公司 | A kind of healing robot |
| CN108969306A (en) * | 2018-09-10 | 2018-12-11 | 安庆中船柴油机有限公司 | A kind of lower limb exoskeleton device of healing robot |
| CN110539289A (en) * | 2019-08-09 | 2019-12-06 | 北京航空航天大学 | Three-degree-of-freedom centering hip joint mechanism of power-assisted exoskeleton |
| CN110539289B (en) * | 2019-08-09 | 2022-09-16 | 北京航空航天大学 | Three-degree-of-freedom centering hip joint mechanism of power-assisted exoskeleton |
| CN111184620A (en) * | 2020-01-14 | 2020-05-22 | 哈尔滨工业大学 | Elbow joint exoskeleton robot is driven to flexible rope with compensation arrangement |
| CN111249115A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Exoskeleton assembly and lower limb rehabilitation device |
| WO2022222506A1 (en) * | 2021-04-23 | 2022-10-27 | 中国科学院深圳先进技术研究院 | Exoskeleton robot knee joint having self-adaptive binding function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107320286B (en) | 2019-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107320286A (en) | It is a kind of can elastic compensating axis shift knee joint exoskeleton device | |
| CN105107144B (en) | A kind of multistation limb motion rehabilitation trainer | |
| CN105853146A (en) | Functional rehabilitation training device for hands | |
| CN209316388U (en) | A kind of sphere parallel mechanism ankle convalescence device | |
| CN104546362A (en) | Multidirectional shoulder arthroscopy operative position regulating system | |
| CN104434469A (en) | Exoskeleton type arm rehabilitation training device | |
| CN102743838A (en) | Novel lower limb joint mechanism of reclining-type Lower limb rehabilitation robot | |
| CN104644377B (en) | A kind of sitting and lying formula recovery set for lower limbs | |
| CN110200784A (en) | A kind of supplemental training convalescence device for leaden paralysis person | |
| CN205849605U (en) | Support type shoulder joint rehabiliation apparatus | |
| CN111920644B (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| CN105833468B (en) | A kind of four limbs linkage recovery training appliance for recovery | |
| CN108539595A (en) | A kind of electrical equipment having self-protection function | |
| CN102551988B (en) | Exoskeleton-type desktop rehabilitation exercise machine for lower limbs | |
| CN107307930A (en) | A kind of novel orthopaedics joint dedicated positioning device | |
| CN202426824U (en) | Exoskeleton platform-type lower limb healing exercise machine | |
| CN208910866U (en) | Family type lower limb exoskeleton recovery exercising robot | |
| CN105496726B (en) | Sleeping vertical multi-angle regulation healing robot | |
| CN205868970U (en) | A punch press for punching press glasses accessory | |
| CN110327181B (en) | Arm length adjusting device and tensioning mechanism of upper limb exoskeleton rehabilitation robot | |
| CN215979755U (en) | Air pump with vibration damper | |
| CN217967004U (en) | Knee bending energy storage exoskeleton | |
| CN107823854B (en) | A kind of wrist device for healing and training | |
| CN211301909U (en) | Spring damping system for pelvic rehabilitation training | |
| CN107260491A (en) | A kind of medical rehabilitation is with stand-type arm rotary torso machine structure |
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 |