CN108214458A - Wearable upper limb mechanical arm - Google Patents
Wearable upper limb mechanical arm Download PDFInfo
- Publication number
- CN108214458A CN108214458A CN201711449572.8A CN201711449572A CN108214458A CN 108214458 A CN108214458 A CN 108214458A CN 201711449572 A CN201711449572 A CN 201711449572A CN 108214458 A CN108214458 A CN 108214458A
- Authority
- CN
- China
- Prior art keywords
- motor
- mechanical arm
- fixed station
- fixed
- upper limb
- 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
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 20
- 230000005611 electricity Effects 0.000 claims abstract description 5
- 230000003183 myoelectrical effect Effects 0.000 claims description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical group [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 5
- 229910052744 lithium Inorganic materials 0.000 claims description 5
- 210000000245 forearm Anatomy 0.000 claims description 2
- 230000003387 muscular Effects 0.000 abstract description 5
- 230000002045 lasting effect Effects 0.000 abstract description 2
- 230000008447 perception Effects 0.000 abstract description 2
- 238000004088 simulation Methods 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 101150115013 DSP1 gene Proteins 0.000 description 3
- 239000003814 drug Substances 0.000 description 3
- 210000002310 elbow joint Anatomy 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 210000000323 shoulder joint Anatomy 0.000 description 3
- 101150052726 DSP2 gene Proteins 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000002405 diagnostic procedure Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
Wearable upper limb mechanical arm, the control device including mechanical device and on mechanical device；Mechanical device is included for the fixed station of wearing, the rear side of fixed station is equipped with dismountable mobile power, the downside of mobile power is pumped equipped with small power, the front side of fixed station is equipped with cross safety belt, one side roof part of fixed station is equipped with the first motor, the main shaft of first motor is set along the front-rear direction of fixed station, horizontal stand is fixed on the main shaft of first motor, the other end of horizontal stand is fixed with rotating disc, rotating disc is equipped with the second motor, and the main shaft of the second motor is set along the left and right directions of fixed station.The present invention provides a kind of wearable upper limb mechanical arm, compared with prior art, by setting the muscular movement of sensor perception user on the robotic arm and acting accordingly, mechanical arm shape is designed in simulation of human body, so that wearer is more comfortable, there is provided lasting electricity output makes mechanical arm running smooth, is restricted range shorter.
Description
Technical field
The invention belongs to human bodies to dress mechanical arm technical field, and in particular to a kind of wearable upper limb mechanical arm.
Background technology
Mechanical arm demand in modern industry, medical treatment and other field increasingly increases, and usually uses the machine of arm of force form
Tool arm especially clamps the mechanical arm of article function.But existing mechanical arm configuration cannot well adapt to during clamping article
The demand and idea of operator, cause user and mechanical arm coordinate it is not perfect cannot flexibly use, be detached from after fixed power source,
Prolonged supply of electric power can not be provided, limit the use scope of activities and usage time of mechanical arm.
In current existing similar-type products, mechanical arm, turning joint hand expanding-contracting action are mainstay, joint
There is clamper, but use the muscular movement rule that can not sensitively capture user and using idea, therefore cannot
Match with the intention of user.
In the field of medicine, mechanical arm is generally for arm disabled patient.This machinery arm configuration employ more stablize,
Reliable design method.This mechanical arm has used more easily operating method in operability, as long as user slightly moves
The novel sensor that upper limb is worn on upper limb will directly sense that muscle is small to tremble and move and be translated into instruction
Signal is communicated to mechanical arm, makes mechanical arm according to the intention movement of user and clamping article.
Invention content
In view of the above-mentioned drawbacks of the prior art, the present invention provides a kind of wearable upper limb mechanical arm, with existing skill
Art is compared, by setting the muscular movement of sensor perception user on the robotic arm and acting accordingly, outside mechanical arm
Shape is designed in simulation of human body so that wearer is more comfortable, and providing lasting electricity output makes mechanical arm running smooth, is limited
Range shorter processed.
In order to solve the above technical problems, the technical solution adopted in the present invention is as follows：
Wearable upper limb mechanical arm, the control device including mechanical device and on mechanical device；Mechanical device includes using
In the fixed station of wearing, the rear side of fixed station is equipped with dismountable mobile power, and the downside of mobile power is pumped equipped with small power,
The front side of fixed station is equipped with cross safety belt, and a side roof part of fixed station is equipped with the first motor, and the main shaft edge of the first motor is fixed
The front-rear direction of platform is set, and horizontal stand is fixed on the main shaft of the first motor, and the other end of horizontal stand is fixed with rotating disc,
Rotating disc is equipped with the second motor, and the main shaft of the second motor is set along the left and right directions of fixed station, solid on the main shaft of the second motor
Surely there is overarm brace, the other end of overarm brace is fixed with third motor, preceding arm support is fixed on the main shaft of third motor, preceding
The other end of arm support is equipped with manipulator, and driving telescopic rod is equipped between rotating disc and preceding arm support, and preceding arm support is equipped with extremely
Few two arm retainer rings；
Control device includes controller, rotary encoder, dsp chip, sensor and actuator, and controller is also electric with movement respectively
Source, the first motor, the second motor are connected with third motor.
The imitative human arm contour structures that the contour structures of the overarm brace and preceding arm support are surrounded using semicircle.
The manipulator is bionical the five fingers hand, three refer to handgrip or four finger handgrips.
The mobile power is lithium battery group.
The driving telescopic rod is air pressure telescopic link, hydraulic telescopic rod or electric pushrod.
The sensor includes myoelectric sensor and piezoresistive pressure sensor.
Above-mentioned technical proposal is used, the invention has the advantages that：
Compared with prior art, mechanical arm shape is in bionic design, is adapted with human body so that wearer is more comfortable；Both
Fixed power source can be connected by outside line plug to be powered, and can voluntarily be supplied using self-contained lithium battery group
Electricity；All support stressed members are made of alloy in lightweight, have many advantages, such as that light-weight, structural strength is high；Pass through setting
Myoelectric sensor on the robotic arm perceives the muscular movement of user, is understood by controller and judges and act accordingly, and moves
The article of the manipulator clamping constant weight of hand can be passed through when making；Both it can be worn on human body and be perceived by myoelectric sensor
Human action simultaneously acts accordingly, and can be used as tradition machinery arm, is fixed on rack or other objects, according to control
The action set in device carries out operation；It can be used to sufferer be helped to carry out arm recovery, and people can be used as in terms of medical treatment
Body auxiliary mechanical arm after human body puts on the mechanical arm, can carry out some operations beyond human body Lixing, can be with
It is fixed in rack as tradition machinery arm, performs pre-set action；In the field of medicine, controller, rotation are compiled
Code device, dsp chip, myoelectric sensor, piezoresistive pressure sensor and actuator can not only sense and identify the hand of wearer
The action signal that arm transmits performs corresponding action according to the action signal that wearer's arm transmits, can also record and preserve
The action signal of the arm of wearer facilitates doctor to understand the concrete condition of wearer's arm, and then is wearer convenient for doctor
Make accurate diagnostic and therapeutic method.
Description of the drawings
Fig. 1 is the structure diagram of mechanical arm control system in the present invention；
Fig. 2 is the structure diagram of the aufbauprinciple of mechanical arm in the present invention；
Fig. 3 is the dimensional structure diagram of the present invention；
Fig. 4 is the dimensional structure diagram of apparent direction after the present invention.
Fixed station 1, mobile power 2, cross safety belt 3, the first motor 4, horizontal stand 5, rotating disc 6, the second motor 7,
Arm support 8, third motor 9, preceding arm support 10, manipulator 11 drive telescopic rod 12, and small power pump 13, four refer to handgrip 14.
Specific embodiment
The specific embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings：
As Figure 1-Figure 4, wearable upper limb mechanical arm, the control device including mechanical device and on mechanical device；
Mechanical device is included for the fixed station 1 of wearing, and the rear side of fixed station 1 is equipped with dismountable mobile power 2, mobile power 2
Downside is equipped with small power and pumps 13, and 13 connection driving telescopic rod 12 of small power pump, the front side of fixed station 1 is equipped with cross safety belt
3, a side roof part of fixed station 1 is equipped with the first motor 4, and the main shaft of the first motor 4 is set along the front-rear direction of fixed station 1, and first
Horizontal stand 5 is fixed on the main shaft of motor 4, the other end of horizontal stand 5 is fixed with rotating disc 6, and rotating disc 6 is equipped with second
Motor 7, the main shaft of the second motor 7 are set along the left and right directions of fixed station 1, and overarm brace is fixed on the main shaft of the second motor 7
8, the other end of overarm brace 8 is fixed with third motor 9, arm support 10 before being fixed on the main shaft of third motor 9, preceding arm support
10 other end is equipped with manipulator 11, can also manipulator 11 be changed to four finger handgrips 14, rotating disc 6 and forearm as needed
Driving telescopic rod 12 is equipped between stent 10, preceding arm support 10 is equipped at least two arm retainer rings, and arm retainer ring is convenient
Preceding arm support 10 is fixed with human arm.All support stressed members are made of alloy in lightweight, have light-weight, structure
The advantages that intensity is high.
Control device include controller, rotary encoder, dsp chip, sensor and actuator, controller also respectively with shifting
Dynamic power supply 2, the first motor 4, the second motor 7 and third motor 9 connect.
The imitative human arm contour structures that the contour structures of overarm brace 8 and preceding arm support 10 are surrounded using semicircle, people
Body can ensure the compactness of mechanical arm and arm, guarantor's function effect when dressing.
Manipulator 11 is bionical the five fingers hand, three refer to handgrip or four finger handgrips, is replaced accordingly according to actual demand.
Mobile power 2 be lithium battery group, have it is light-weight, electricity is big, and duration of power supply is long.
It is air pressure telescopic link, hydraulic telescopic rod or electric pushrod to drive telescopic rod 12.
Sensor includes myoelectric sensor and piezoresistive pressure sensor, is separately mounted to the different position of mechanical arm, leads to
It crosses dsp chip and transmits signal to controller.
The course of work of the present invention is as follows：
In use, fixed station 1 is worn on human body back, fixed by the cross safety belt 3 of 1 front side of fixed station with human body, the
One motor 4 can drive horizontal stand 5 and rotating disc 6 to be acted along the horizontal direction of fixed station 1 when acting, i.e. the press horizontal mobile of mechanical arm
To make, the second motor 7 on rotating disc 6 can drive overarm brace 8 to be acted along the front-rear direction of fixed station 1, and the on overarm brace 8
Three motors 9 can drive before arm support 10 acted, i.e., elbow joint act, driving telescopic rod 12 can both strengthen rotating disc 6, on
Arm of force output between arm support 8 and preceding arm support 10, and can strengthen between rotating disc 6, overarm brace 8 and preceding arm support 10
Structural strength.
Controller, rotary encoder, dsp chip, myoelectric sensor and actuator in the present invention belong to existing routine
Technology, concrete structure are no longer described in detail.
The structure chart of mechanical arm control system, as shown in Figure 1.The pressure of muscle explosive force is measured by myoelectric sensor,
Constantly by conditionings such as amplifications, input in DSP, its pressure is extracted and identified in dsp, by BP algorithm etc. to it
It is analyzed, finally obtains the classification results of motor pattern.Power (torque) and position are generated in dsp using required motor pattern
The control signal put generates control to 3 brshless DC motors of upper limb installation, is passed by rotary encoder, pressure drag type pressure
Position that sensor works to upper limb exoskeleton robot, power (torque) signal are acquired in real time, form Dual-loop feedback control formula control
System.
Wearable upper limb mechanical arm designed by the present invention uses the assistant mode of PC control slave computer, and host computer was both
Controller, the complex function movement two ways that motor pattern includes simple joint self-movement and multi-joint links.Slave computer with
Two panels DSP chips are core, and DSP1 controls the horizontal and vertical movement of shoulder joint, and DSP2 then controls shoulder joint rotary motion
With the movement of elbow joint.Host computer can carry out the selection of movement power-assisted mode and the setting of joint kinematic parameter, then will be related
Parameter sends control chip DSP1, DSP1 to and again sends shoulder joint rotational motion parameter and elbow joint motion parameter to
DSP2, after operation, kinematic parameter is converted into motor rotation information by two pieces of control chips, is exported respectively to driving motor and driven
Device.Driver uses bipolarity H bridge drive amplification circuits, when designing control system, ensures stability and the user of system
Safety is the most important condition.Motor output torque is excessive and upper limb is damaged in order to prevent, will using current detection circuit
In the electric current Real-time Feedback to DSP of driver output, once detect that electric current is shut down at once more than permissible value.Using photoelectric coding
Device detects motor real time position, avoids the harmful effect caused by articulation is over or under use.
The scope of activities of human arm major joint can be intuitively seen by such as following table one, sets machine on this basis
The scope of activities and rotation angle of tool arm, in order to avoid human body use mechanical arm carry out rehabilitation action when in secondary damage occurs
Wound.
Compared with prior art, mechanical arm shape is in bionic design so that wearer is more comfortable；Both it can be inserted by outside line
Head connection fixed power source is powered, and self-contained lithium battery group can be used to carry out self-powered；By being arranged on machine
Myoelectric sensor on tool arm perceives the muscular movement of user, is understood by controller and judges and act accordingly, during action
Can by the article of the manipulator clamping constant weight of hand,；Both it can be worn on human body and people is perceived by myoelectric sensor
Body is acted and is acted accordingly, and can be used as tradition machinery arm, is fixed on rack or other objects, according to controller
The action inside set carries out operation；It can be used to sufferer be helped to carry out arm recovery, and human body can be used as in terms of medical treatment
Auxiliary mechanical arm after human body puts on the mechanical arm, can carry out some operations beyond human body Lixing, can also make
It is fixed in rack for tradition machinery arm, performs pre-set action；In the field of medicine, controller, rotary coding
Device, dsp chip, myoelectric sensor and actuator can not only sense and identify the action signal that the arm of wearer transmits, root
Corresponding action is performed according to the action signal that wearer's arm transmits, can also record and preserve the action letter of the arm of wearer
Number, doctor is facilitated to understand the concrete condition of wearer's arm, and then accurate diagnostic and therapeutic method is made convenient for doctor.
The present embodiment is every according to this hair not to the limitation of works in any form such as shape, material, the structures of the present invention
Any simple modification, equivalent change and modification that bright technical spirit makees above example, belongs to the technology of the present invention side
The protection domain of case.
Claims (6)
1. wearable upper limb mechanical arm, it is characterised in that：Control device including mechanical device and on mechanical device；Machine
Tool device is included for the fixed station of wearing, and the rear side of fixed station is equipped with dismountable mobile power, is set on the downside of mobile power
There is small power pump, the front side of fixed station is equipped with cross safety belt, and a side roof part of fixed station is equipped with the first motor, the first motor
Main shaft set along the front-rear direction of fixed station, be fixed with horizontal stand, the other end of horizontal stand on the main shaft of the first motor
Rotating disc is fixed with, rotating disc is equipped with the second motor, and the main shaft of the second motor is set along the left and right directions of fixed station, the second electricity
Overarm brace is fixed on the main shaft of machine, the other end of overarm brace is fixed with third motor, is fixed on the main shaft of third motor
There is preceding arm support, the other end of preceding arm support is equipped with manipulator, and driving telescopic rod, forearm are equipped between rotating disc and preceding arm support
Stent is equipped at least two arm retainer rings；
Control device includes controller, rotary encoder, dsp chip, sensor and actuator, and controller is also electric with movement respectively
Source, the first motor, the second motor are connected with third motor.
2. wearable upper limb mechanical arm according to claim 1, it is characterised in that：The overarm brace and preceding arm support
The imitative human arm contour structures that contour structures are surrounded using semicircle.
3. wearable upper limb mechanical arm according to claim 2, it is characterised in that：The manipulator for bionical the five fingers hand,
Three refer to handgrip or four finger handgrips.
4. wearable upper limb mechanical arm according to claim 3, it is characterised in that：The mobile power is lithium battery group.
5. wearable upper limb mechanical arm according to claim 4, it is characterised in that：The driving telescopic rod stretches for air pressure
Bar, hydraulic telescopic rod or electric pushrod.
6. wearable upper limb mechanical arm according to claim 5, it is characterised in that：The sensor includes myoelectric sensor
And piezoresistive pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711449572.8A CN108214458B (en) | 2017-12-27 | 2017-12-27 | Wearable upper limb mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711449572.8A CN108214458B (en) | 2017-12-27 | 2017-12-27 | Wearable upper limb mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108214458A true CN108214458A (en) | 2018-06-29 |
| CN108214458B CN108214458B (en) | 2023-09-01 |
Family
ID=62648163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711449572.8A Active CN108214458B (en) | 2017-12-27 | 2017-12-27 | Wearable upper limb mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108214458B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111650126A (en) * | 2020-07-09 | 2020-09-11 | 贵州师范大学 | Auxiliary mechanical arm device for handheld measurement of ground object spectrometer |
| CN113332686A (en) * | 2020-11-30 | 2021-09-03 | 浙江大学 | Mechanical arm based on bionics |
| CN113386107A (en) * | 2021-06-21 | 2021-09-14 | 杨壬达 | Passive mechanical auxiliary limb device |
| CN114248283A (en) * | 2021-12-30 | 2022-03-29 | 湖南农业大学 | Exoskeleton maintenance robot hand with Bluetooth sensing function |
| CN114748224A (en) * | 2022-04-24 | 2022-07-15 | 中国科学院沈阳自动化研究所 | Wearable forearm intelligent artificial limb containing elbow joint |
| CN108214458B (en) * | 2017-12-27 | 2023-09-01 | 郑州航空工业管理学院 | Wearable upper limb mechanical arm |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130001409A (en) * | 2011-06-27 | 2013-01-04 | 대우조선해양 주식회사 | Variable length link, wareable robot with variable length link and control method thereof |
| CN103707284A (en) * | 2013-12-29 | 2014-04-09 | 哈尔滨理工大学 | Wearable upper limb assistance arm and assistance method thereof |
| CN105963103A (en) * | 2016-06-08 | 2016-09-28 | 上海电气集团股份有限公司 | Portable and wearable exoskeleton upper limb robot |
| CN106695760A (en) * | 2016-12-16 | 2017-05-24 | 江苏大学 | Whole body exoskeleton power-assisted robot for auxiliary carrying |
| CN106994087A (en) * | 2017-04-24 | 2017-08-01 | 杭州众禾自动化设备有限公司 | A kind of auxiliary power upper limbs ectoskeleton |
| CN107296718A (en) * | 2016-04-15 | 2017-10-27 | 龙华科技大学 | Pneumatic muscle-driven exoskeleton device with functions of upper limb assistance and rehabilitation training |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214458B (en) * | 2017-12-27 | 2023-09-01 | 郑州航空工业管理学院 | Wearable upper limb mechanical arm |
-
2017
- 2017-12-27 CN CN201711449572.8A patent/CN108214458B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130001409A (en) * | 2011-06-27 | 2013-01-04 | 대우조선해양 주식회사 | Variable length link, wareable robot with variable length link and control method thereof |
| CN103707284A (en) * | 2013-12-29 | 2014-04-09 | 哈尔滨理工大学 | Wearable upper limb assistance arm and assistance method thereof |
| CN107296718A (en) * | 2016-04-15 | 2017-10-27 | 龙华科技大学 | Pneumatic muscle-driven exoskeleton device with functions of upper limb assistance and rehabilitation training |
| CN105963103A (en) * | 2016-06-08 | 2016-09-28 | 上海电气集团股份有限公司 | Portable and wearable exoskeleton upper limb robot |
| CN106695760A (en) * | 2016-12-16 | 2017-05-24 | 江苏大学 | Whole body exoskeleton power-assisted robot for auxiliary carrying |
| CN106994087A (en) * | 2017-04-24 | 2017-08-01 | 杭州众禾自动化设备有限公司 | A kind of auxiliary power upper limbs ectoskeleton |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214458B (en) * | 2017-12-27 | 2023-09-01 | 郑州航空工业管理学院 | Wearable upper limb mechanical arm |
| CN111650126A (en) * | 2020-07-09 | 2020-09-11 | 贵州师范大学 | Auxiliary mechanical arm device for handheld measurement of ground object spectrometer |
| CN113332686A (en) * | 2020-11-30 | 2021-09-03 | 浙江大学 | Mechanical arm based on bionics |
| CN113386107A (en) * | 2021-06-21 | 2021-09-14 | 杨壬达 | Passive mechanical auxiliary limb device |
| CN114248283A (en) * | 2021-12-30 | 2022-03-29 | 湖南农业大学 | Exoskeleton maintenance robot hand with Bluetooth sensing function |
| CN114248283B (en) * | 2021-12-30 | 2024-05-24 | 湖南农业大学 | Exoskeleton maintenance robot with Bluetooth perception function |
| CN114748224A (en) * | 2022-04-24 | 2022-07-15 | 中国科学院沈阳自动化研究所 | Wearable forearm intelligent artificial limb containing elbow joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108214458B (en) | 2023-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108214458A (en) | Wearable upper limb mechanical arm | |
| CN103707284B (en) | Wearable upper limb power assistant arm and boosting method thereof | |
| CN206982661U (en) | One kind can wear clad type human body power-assisted mechanical exoskeleton | |
| He et al. | Development of a novel autonomous lower extremity exoskeleton robot for walking assistance | |
| CN104586608B (en) | The wearable power-assisted finger controlled based on myoelectricity and its control method | |
| CN106325273A (en) | Multi-phase gait switching control system and control method for power-assisted exoskeleton robot | |
| CN108248717A (en) | It is a kind of can operated tool have terminal stabilization control function quadruped robot | |
| CN104983546B (en) | A kind of wearable wrist healing robot of Stewart types | |
| CN211193877U (en) | Wearable lower limb rehabilitation exoskeleton robot | |
| CN102793595A (en) | Wearable heavy material handling power-assisting bionic exoskeleton | |
| CN103558786A (en) | Human-computer interaction control system, embedded in Android mobile terminal and FPGA, of hand function rehabilitation robot | |
| KR101628397B1 (en) | Shoulder articulation structure of wearable robot | |
| CN109646156B (en) | Exoskeleton rehabilitation glove | |
| CN202875540U (en) | Wearable heavy goods carrying assisting bionic external skeleton | |
| CN107233190A (en) | A kind of multiple degrees of freedom thumb device for healing and training for hemiplegic patient | |
| Singh et al. | Modeling and simulation of a passive lower-body mechanism for rehabilitation | |
| Ercolini et al. | A novel generation of ergonomic upper-limb wearable robots: Design challenges and solutions | |
| KR20130113063A (en) | Human power amplification robot estimating user's intension by detecting joint torque and control method thereof | |
| CN109646246B (en) | Wearable lower limb exoskeleton robot stretching and bending device | |
| CN202890544U (en) | High strength full covering type exoskeleton system | |
| CN110385692B (en) | Pneumatic waist assistance exoskeleton robot | |
| Mozaffari Foumashi et al. | State-of-the-art of hand exoskeleton systems | |
| CN207627573U (en) | A kind of auxiliary power upper limb ectoskeleton | |
| Yan et al. | Development of an assist upper limb exoskeleton for manual handling task | |
| CN108436969A (en) | A kind of high-accuracy mechanical arm for Industry Control |
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 |