CN107898604A - A kind of flexibility lower limb exoskeleton - Google Patents
A kind of flexibility lower limb exoskeleton Download PDFInfo
- Publication number
- CN107898604A CN107898604A CN201711164791.1A CN201711164791A CN107898604A CN 107898604 A CN107898604 A CN 107898604A CN 201711164791 A CN201711164791 A CN 201711164791A CN 107898604 A CN107898604 A CN 107898604A
- Authority
- CN
- China
- Prior art keywords
- lower limb
- articular lamella
- connecting rod
- power bias
- bias slice
- 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.)
- Pending
Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 31
- 241000446313 Lamella Species 0.000 claims abstract description 40
- 210000003127 knee Anatomy 0.000 claims abstract description 23
- 230000001012 protector Effects 0.000 claims abstract description 23
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 15
- 244000309466 calf Species 0.000 claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims description 10
- 239000000872 buffer Substances 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 2
- 230000000630 rising effect Effects 0.000 claims 1
- 210000000629 knee joint Anatomy 0.000 abstract description 8
- 238000005452 bending Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001360 synchronised effect 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5084—Acceleration sensors
-
- 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
-
- 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
- A61H2205/102—Knee
Abstract
The present invention provides a kind of flexible lower limb exoskeleton, including flexible knee protector and bionic joint, bionic joint are arranged on the side of flexible knee protector；Bionic joint includes articular lamella, power bias slice, supporting item and connecting rod；Articular lamella is fixedly connected with the huckle of flexible knee protector, and power bias slice is fixedly connected with the calf of flexible knee protector；Supporting item is fixed at the first end of power bias slice, is used to support the first end of articular lamella；The both ends of connecting rod are rotatablely connected with the second end of articular lamella and the second end of power bias slice respectively.The present invention forms bionic joint by articular lamella, power bias slice, supporting item and connecting rod.Both ends by setting connecting rod are rotatablely connected with articular lamella and power bias slice respectively, supporting item is separated with articular lamella, are not influenced bending walking, it is consistent with human body knee joint componental movement；Supporting item produces support force when human body is stood, and mitigates human body self gravitation to kneed pressure.In addition, its is simple in structure, quality is small, easy to wear.
Description
Technical field
The present invention relates to technical field of medical equipment, and in particular to a kind of flexibility lower limb exoskeleton.
Background technology
At present, the research of ectoskeleton power assisting device is gradually risen, and is with a wide range of applications, and is such as helped the elderly and is help the disabled, medical treatment
The fields such as rehabilitation, industrial production, earthquake rescue, individual combat.General assistance exoskeleton has the characteristics that：People can be detected
The motion intention of body；With the joint freedom degrees similar with human body and articulation space；With necessary joint active drive
To aid in contributing；Carry control system and energy resource system；With certain Security mechanism.
Existing lower limb exoskeleton include back bracket, hip joint executing agency, thick link, knee joint executing agency,
Shank link and foot force footwear.Turning joint when its main activities position of the lower limb exoskeleton robot and the daily walking of people
It is adapted, can meets the secondary requirements of daily walking, avoids joint of robot and excessively flexibly lose necessary Auxiliary support
Effect；Using the flexible binding strip of multiple location, comfort level during user's wearing is improved；In waist, joint and sole
It is equipped with sensor or encoder carries out information gathering, and concentrate processing information, facilitates the daily exercise information of user, no
The walking habits for allowing robot predicting to go out user are only capable of, the physical condition that observer understands user is also convenient for, is carried for medical treatment
For convenient.
There are following defect for above-mentioned lower limb exoskeleton：1) sole mass is larger, and mechanical structure is complex；2) mainly adopt
With rigid rod, ergonomics relative theory is not met；3) design of the bondage device of the device and human body is complicated, it is impossible to very well
Satisfaction wearing simplification.
The content of the invention
(1) technical problems to be solved
It is contemplated that at least solve one of technical problem present in the prior art or correlation technique.It is for this reason, of the invention
A purpose be the flexible lower limb exoskeleton for proposing that a kind of quality is small, simple in structure, easy to wear.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of flexible lower limb exoskeleton, including flexible knee protector and bionical
Joint, the bionic joint are arranged on the side of the flexible knee protector；Wherein, the bionic joint include articular lamella, power bias slice,
Supporting item and connecting rod；The articular lamella is fixedly connected with the huckle of the flexible knee protector, the power bias slice and the flexibility
The calf of knee-pad is fixedly connected；The supporting item is fixed at the first end of the power bias slice, is used to support the joint
The first end of plate；The both ends of the connecting rod are rotatablely connected with the second end of the articular lamella and the second end of power bias slice respectively.
Wherein, the second end of the articular lamella is equipped with mounting hole, is equipped with the mounting hole in being circumferentially rotated along it
Bearing, the first end of the connecting rod are connected by locating shaft with the inner bearing, the second end of the connecting rod by pin with it is described
The second end rotation connection of power bias slice.
Wherein, the inner bearing is spherical bearing, and the mounting hole is equipped with the sphere coordinated with the spherical bearing.
Wherein, the outside of the mounting hole is equipped with spacing capping, the spacing capping and the positioning axis connection, the company
The first end of bar is connected with the spacing capping.
Wherein, the mounting hole is equipped with outwardly extending lug boss, and the lug boss is to coordinate with the spherical bearing
Spherical structure.
Wherein, the spacing capping is equipped with the sphere with the raised portion fits.
Wherein, the connecting rod is structure as a whole with the spacing capping.
Wherein, the supporting item is oil buffer.
Wherein, GPS module is further included, the GPS module is arranged on the articular lamella.
Wherein, acceleration transducer is further included, the acceleration transducer is arranged on the articular lamella.
(3) beneficial effect
Compared with prior art, the invention has the advantages that：
The present invention provides a kind of flexible lower limb exoskeleton, is made up of articular lamella, power bias slice, supporting item and connecting rod bionical
Joint.Both ends by setting connecting rod are rotatablely connected with articular lamella and power bias slice respectively, supporting item is separated with articular lamella, no
Lower limb bending walking is influenced, it is consistent with human body knee joint componental movement；Meanwhile supporting item produces support when human body is stood
Power, to mitigate human body self gravitation to kneed pressure.In addition, its is simple in structure, quality is small, easy to wear.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present disclosure or technical solution of the prior art
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some disclosed embodiments, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 is a kind of structure diagram of flexible lower limb exoskeleton of the present invention；
Fig. 2 is a kind of structure diagram of the bionic joint of flexible lower limb exoskeleton of the present invention；
Fig. 3 is a kind of structure diagram of the bionic joint outer shroud of flexible lower limb exoskeleton of the present invention；
Fig. 4 is a kind of front view of the bionic joint of flexible lower limb exoskeleton of the present invention；
Fig. 5 is sectional view along A-A in Fig. 4；
Description of reference numerals
1- thigh fixinig plates；2- articular lamellas；3- controller boxes；4- oil buffers；5- power bias slices；6- shanks are fixed
Piece；7- is sold；The spacing cappings of 8-；9- flexible knee protectors；10- inner bearings；11- end covers；12- locating shafts.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Following instance
For illustrating the present invention, but it is not limited to the scope of the present invention.
In the description of the present invention, it is necessary to explanation, unless otherwise indicated, " multiple " be meant that two or two with
On；The orientation of the instruction such as term " on ", " under ", "left", "right", " interior ", " outer ", " front end ", " rear end ", " head ", " afterbody "
Or position relationship is based on orientation shown in the drawings or position relationship, is for only for ease of the description present invention and simplifies description, and
It is not instruction or implies signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.In addition, term " first ", " second ", " the 3rd " etc. are only used for description purpose, and cannot
It is interpreted as indicating or implying relative importance.
In the description of the present invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Embodiment 1：
As shown in Figs. 1-5, it is a kind of flexible lower limb exoskeleton provided in this embodiment, including flexible knee protector 9 and bionical pass
Section, bionic joint are arranged on the side of flexible knee protector 9.
Bionic joint includes articular lamella 2, power bias slice 5, supporting item and connecting rod；The huckle of articular lamella 2 and flexible knee protector 9
It is fixedly connected, power bias slice 5 is fixedly connected with the calf of flexible knee protector 9；Supporting item is fixed at the first of power bias slice 5
End, is used to support the first end of articular lamella 2；The both ends of connecting rod respectively with the second end of articular lamella 2 and the second end of power bias slice 5
Rotation connection.
In the present embodiment, articular lamella 2 is fixedly connected by thigh fixinig plate 1 with the huckle of flexible knee protector 9；Power bias slice
5 are fixedly connected by shank fixinig plate 6 with the calf of flexible knee protector 9.
In the present embodiment, the second end of articular lamella 2 is equipped with mounting hole, and the interior axle that can be circumferentially rotated along it is equipped with mounting hole
10 are held, the first end of connecting rod is connected by locating shaft 12 with inner bearing 10, and the second end of connecting rod passes through pin 7 and power bias slice 5
Second end is rotatablely connected.
Further, inner bearing 10 is spherical bearing, and mounting hole is equipped with the sphere coordinated with spherical bearing.Spherical bearing can
Swing along the axial slight amplitude that carries out of mounting hole, add the axial free degree, itself and human body knee joint componental movement
It is consistent.In the present embodiment, mounting hole is equipped with outwardly extending lug boss, and lug boss is the spherical structure coordinated with spherical bearing,
Increase swing space of the inner bearing 10 in mounting hole.
Further, the outside of mounting hole is equipped with spacing capping 8, and spacing capping 8 is connected with locating shaft 12, and the first of connecting rod
End is connected with spacing capping 8.Spacing capping 8 can play inner bearing 10 spacing effect, prevent it from coming off.In the present embodiment,
Connecting rod is structure as a whole with spacing capping 8, reduces connector, makes the simpler beauty of structure.
Further, spacing capping 8 is equipped with the sphere with raised portion fits.
Further, supporting item is oil buffer 4.In person upright, oil buffer 4 is shunk, and buffers articular lamella 2
Impact force, and support the first end of articular lamella 2, reduce to kneed heavy burden.
In the present embodiment, mounting hole is through hole, and end cover 11 is equipped with its interior side port；End cover 11 is used for by
Bearing 10 is spacing and seals.
Below by specific process, further detailed description.
Flexible knee protector 9 is tightly bonded with human body lower limbs, is buckled and fixed by 9 rear of flexible knee protector.
Bionic joint and human body knee joint synchronous operation.Specifically, bending when, power bias slice 5 with flexible knee protector 9 shank
Portion is lifted, and the first end of articular lamella 2 is tilted to be departed from oil buffer 4；Meanwhile inner bearing 10 in mounting hole with human body lower limbs
Movement axially swings along it, realizes multivariant movement, reduces the influence to lower limb bending walking.When upright,
Power bias slice 5 protracts with the calf of flexible knee protector 9, and oil buffer 4 plays the work of support against the first end of articular lamella 2
With reducing to kneed damage.
Further, drive component is further included；Drive component includes hawser and driving motor, first end and the flexibility of hawser
The calf of knee-pad 9 or human calf's connection, the second end of hawser are connected with driving motor, and driving motor is arranged on human body waist.
Specifically, the snap ring for being used for constraining hawser, snap ring and flexible knee protector are equipped with the present embodiment, on the downside of shank gastrocnemius
9 rears snap connection, and hawser is connected with snap ring.
The present embodiment provides a kind of flexible lower limb exoskeleton, it is made up of articular lamella, power bias slice, supporting item and connecting rod imitative
Raw joint.Both ends by setting connecting rod are rotatablely connected with articular lamella and power bias slice respectively, supporting item is separated with articular lamella,
Lower limb bending walking is not influenced.It is spherical bearing by setting inner bearing, can swings in mounting hole along its circumferential direction, increases
The free degree is added, it is more consistent with human body knee joint componental movement；Meanwhile supporting item produces support force when human body is stood,
To mitigate human body self gravitation to kneed pressure.By driving motor to pull hawser, in the process of walking, there is provided power-assisted generation
For part human body self power, to slow down the knee joint fatigue caused by long-term motion；In addition, under flexibility provided in this embodiment
Limb ectoskeleton, its is simple in structure, and quality is small, easy to wear.
Embodiment 2：
The present embodiment is substantially the same manner as Example 1, brief for description, during the description of the present embodiment, no longer
Technical characteristic same as Example 1 is described, only illustrates the present embodiment difference from Example 1：
Further, GPS module is further included, GPS module is arranged on articular lamella, is positioned by GPS module, and record
User's track route.
Further, acceleration transducer is further included, acceleration transducer is arranged on articular lamella；When human body is stood, add
For the X-axis of velocity sensor with consistent immediately ahead of human body, Z axis is perpendicular to the ground.The information that acceleration transducer detects passes through control
Device processed is handled, and draws kneed degree of fatigue.Data processing method is as follows：
Gather real-time gait acceleration Sai(0 ＜ i≤n), Gassian low-pass filter is carried out by the value, to eliminate noise, is passed through
Data after gaussian filtering are denoted as Sai' (0 ＜ i≤n), filtered data are normalized
Each user can carry out data acquisition first, record data during non-fatigue stateThe data detected in real time are through excessive
This filtering is denoted as with the data after normalizedThe related coefficient of measured value and record value is calculated,Related coefficient value is 0~1, and closer with 0, degree of fatigue is higher.
In the present embodiment, articular lamella 2 is equipped with controller box 3, and GPS module is arranged on controller box with acceleration transducer
In 3.
Further, terminal display device is further included, GPS module and acceleration transducer connect with terminal display device
Connect, user can inquire about the track route and knee joint degree of fatigue of user at any time in terminal display device.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on, should all be included in the protection scope of the present invention god.
Claims (10)
1. a kind of flexibility lower limb exoskeleton, it is characterised in that including flexible knee protector and bionic joint, the bionic joint is arranged on institute
State the side of flexible knee protector；Wherein, the bionic joint includes articular lamella, power bias slice, supporting item and connecting rod；The articular lamella
It is fixedly connected with the huckle of the flexible knee protector, the power bias slice is fixedly connected with the calf of the flexible knee protector；Institute
The first end that supporting item is fixed at the power bias slice is stated, is used to support the first end of the articular lamella；The two of the connecting rod
End is rotatablely connected with the second end of the articular lamella and the second end of power bias slice respectively.
2. flexibility lower limb exoskeleton according to claim 1, it is characterised in that the second end of the articular lamella is equipped with installation
Hole, is equipped with the inner bearing that can be circumferentially rotated along it in the mounting hole, the first end of the connecting rod by locating shaft with it is described interior
Bearing connects, and the second end of the connecting rod is rotatablely connected by the second end of pin and the power bias slice.
3. flexibility lower limb exoskeleton according to claim 2, it is characterised in that the inner bearing is spherical bearing, described
Mounting hole is equipped with the sphere coordinated with the spherical bearing.
4. flexibility lower limb exoskeleton according to claim 3, it is characterised in that the outside of the mounting hole is equipped with spacing envelope
Lid, the spacing capping and the positioning axis connection, the first end of the connecting rod are connected with the spacing capping.
5. flexibility lower limb exoskeleton according to claim 4, it is characterised in that the mounting hole is equipped with outwardly extending convex
The portion of rising, the lug boss are the spherical structure coordinated with the spherical bearing.
6. flexibility lower limb exoskeleton according to claim 5, it is characterised in that the spacing capping is equipped with and the protrusion
The sphere that portion coordinates.
7. flexibility lower limb exoskeleton according to claim 4, it is characterised in that the connecting rod is one with the spacing capping
Body structure.
8. flexibility lower limb exoskeleton according to claim 1, it is characterised in that the supporting item is oil buffer.
9. according to claim 1-8 any one of them flexibility lower limb exoskeletons, it is characterised in that GPS module is further included, it is described
GPS module is arranged on the articular lamella.
10. according to claim 1-8 any one of them flexibility lower limb exoskeletons, it is characterised in that further include acceleration sensing
Device, the acceleration transducer are arranged on the articular lamella.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711164791.1A CN107898604A (en) | 2017-11-21 | 2017-11-21 | A kind of flexibility lower limb exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711164791.1A CN107898604A (en) | 2017-11-21 | 2017-11-21 | A kind of flexibility lower limb exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107898604A true CN107898604A (en) | 2018-04-13 |
Family
ID=61846918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711164791.1A Pending CN107898604A (en) | 2017-11-21 | 2017-11-21 | A kind of flexibility lower limb exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107898604A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110269289A (en) * | 2019-06-17 | 2019-09-24 | 柴圣 | A kind of intelligent reminding knee-pad |
| CN115137619A (en) * | 2022-07-05 | 2022-10-04 | 吉林大学 | Bionic lower limb mechanical exoskeleton |
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| CN201085759Y (en) * | 2007-09-21 | 2008-07-16 | 北京瑞海博科技有限公司 | Leg length adjusting mechanism of paraplegia walking vehicle |
| CN104665963A (en) * | 2013-11-26 | 2015-06-03 | 上海理工大学 | Bionic knee joint |
| JP2016059763A (en) * | 2014-09-22 | 2016-04-25 | 国立大学法人山梨大学 | Lower limb motion support apparatus |
| CN105904440A (en) * | 2016-05-26 | 2016-08-31 | 成都润惠科技有限公司 | Self-adaptation flexible joint exoskeleton device |
| CN106618830A (en) * | 2016-12-30 | 2017-05-10 | 北京林业大学 | Single-lower-limb exoskeleton orthopedic apparatus and orthopedic control method |
| KR20170111255A (en) * | 2016-03-25 | 2017-10-12 | 국방과학연구소 | Robot for lower limb with multi-link type knee joint and method for controlling the same |
| CN208552420U (en) * | 2017-11-21 | 2019-03-01 | 北京林业大学 | A kind of flexibility lower limb exoskeleton |
-
2017
- 2017-11-21 CN CN201711164791.1A patent/CN107898604A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201085759Y (en) * | 2007-09-21 | 2008-07-16 | 北京瑞海博科技有限公司 | Leg length adjusting mechanism of paraplegia walking vehicle |
| CN104665963A (en) * | 2013-11-26 | 2015-06-03 | 上海理工大学 | Bionic knee joint |
| JP2016059763A (en) * | 2014-09-22 | 2016-04-25 | 国立大学法人山梨大学 | Lower limb motion support apparatus |
| KR20170111255A (en) * | 2016-03-25 | 2017-10-12 | 국방과학연구소 | Robot for lower limb with multi-link type knee joint and method for controlling the same |
| CN105904440A (en) * | 2016-05-26 | 2016-08-31 | 成都润惠科技有限公司 | Self-adaptation flexible joint exoskeleton device |
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| CN208552420U (en) * | 2017-11-21 | 2019-03-01 | 北京林业大学 | A kind of flexibility lower limb exoskeleton |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110269289A (en) * | 2019-06-17 | 2019-09-24 | 柴圣 | A kind of intelligent reminding knee-pad |
| CN115137619A (en) * | 2022-07-05 | 2022-10-04 | 吉林大学 | Bionic lower limb mechanical exoskeleton |
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