CN108338896A - A kind of wearable ankle rehabilitation running gear of five degree of freedom and its application method - Google Patents
A kind of wearable ankle rehabilitation running gear of five degree of freedom and its application method Download PDFInfo
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- CN108338896A CN108338896A CN201810317162.6A CN201810317162A CN108338896A CN 108338896 A CN108338896 A CN 108338896A CN 201810317162 A CN201810317162 A CN 201810317162A CN 108338896 A CN108338896 A CN 108338896A
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- electric pushrod
- ankle
- rigid connector
- rigid
- shank
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- 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
- 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
- A61H1/0266—Foot
-
- 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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/5007—Control means thereof computer controlled
-
- 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
- A61H2205/12—Feet
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
Abstract
A kind of wearable ankle rehabilitation running gear of five degree of freedom, including rigid sole, fixes sleeve under fixes sleeve and shank on shank, fixes sleeve on the shank, it is connected between fixes sleeve and rigid sole under shank and is coated on shank, the binding structure of the flexible material of ankle-joint and ankle and foot, electric pushrod before electric pushrod and second before rigid sole front end both sides have been movably connected with telescopic first, electric pushrod after electric pushrod and second after rigid sole rear end both sides have been movably connected with telescopic first, rigid sole front end top end is connected with electric pushrod before third.The present invention at least has the variation degree of freedom that can meet different type ankle rehabilitation training and is unlikely to cause the waste of mechanical material, moreover it is possible to the advantages that allowing patient to carry out the miscellaneous function of ankle rehabilitation training and normal walking during treatment.
Description
Technical field
The present invention relates to a kind of wearable ankle rehabilitation running gear of five degree of freedom and its application methods.
Background technology
The device for healing and training of general ankle is divided into wearable and non-wearable parallel institution.This parallel institution has
The multivariant characteristic of Double tabletop, one of platform is stationary, is brought and is changed by the change of 6 drive rods or 3 driving pole lengths
Become the pose of another platform, to carry out dorsiflexion to the ankle of damage automatically, turns up and acted around rehabilitations such as rings.And 6 drivings
The mechanical mechanism of bar can also be finely adjusted according to the different size and injury site of ankle.This general technology is also matched with computer
It closes, handles doctor the record of the servo-actuated data of damage ankle for the first time by parallel institution, ankle is carried out with the mode of teaching
The follow-up rehabilitation of injury.
The exoskeleton mechanism of general auxiliary walking is all the leg connected type of wearing, and general all for the trouble of lower limb paralysis
Person, less to carry out auxiliary propelling machine design for this specific position of ankle damage, these auxiliary propelling machines are general
Power-assisted is provided to human body lower limbs by various struts and fixed frame, makes one still can independently carry out in the case of injury
The action of the basis such as walking.
However the shortcomings that prior art, is：
First, what is generally used is all the parallel institution of 3DOF or 6DOF, and 3DOF is susceptible to and ankle
The problem of damage position is not adapted to, and then there are many unnecessary mechanical materials to waste for the parallel institution of 6DOF.So right
For the rehabilitation training of ankle damage patient, the convalescence device driving of the 3DOF of 3 drive rods is very few, and 6DOF is in parallel
Then redundancy is excessive for ankle rehabilitation for mechanism.
Second is that general device for healing and training is only applicable to carry out the part of rehabilitation training, and general auxiliary walking is outer
Bone mechanism generally directed to be all the patient of lower limb paralysis, and do not have the function of rehabilitation training.Because of most foot
Ankle rehabilitation mechanical does not contact to earth, and patient's use is generally only just given in rehabilitation training, does not have the function of auxiliary walking.
And the exoskeleton mechanism of common auxiliary walking is too many for simple ankle damage redundancy, specific aim is not strong, substantially uses
The part for not specially being directed to ankle rehabilitation in the mechanism of ankle damage auxiliary walking is designed.
Invention content
To solve defect existing for above-mentioned technology, the present invention is intended to provide a kind of wearable ankle rehabilitation walking of five degree of freedom
Device at least has the variation degree of freedom that can meet different type ankle rehabilitation training and is unlikely to cause mechanical material
Waste, moreover it is possible to allow patient carried out during treatment ankle rehabilitation training and auxiliary normal walking the advantages that.
Specific invention content is as follows：
A kind of wearable ankle rehabilitation running gear of five degree of freedom, be suitable for left foot or right crus of diaphragm, it include rigid sole,
Fixes sleeve under fixes sleeve and shank on shank, fixes sleeve and rigid shoes under fixes sleeve, shank on the shank
The binding structure for the flexible material for being coated on shank, ankle-joint and ankle and foot, the rigid sole front end are connected between bottom
Electric pushrod before electric pushrod and second before both sides have been movably connected with telescopic first, rigid sole rear end both sides difference
Electric pushrod after electric pushrod and second after being connected with telescopic first, rigid sole front end top end are connected with
Electric pushrod before third, electric pushrod upper end before electric pushrod upper end, third before electric pushrod upper end, second before described first,
Electric pushrod upper end is equipped with pressure sensor behind electric pushrod upper end and second after first, and the pressure sensor passes through number
It is connected according to acquisition system and computer control system control.
One of preferably, on the shank fixes sleeve both sides be respectively equipped on first rigid connector and
Rigid connector on second, the front side of fixes sleeve is equipped with rigid connector in third on the shank, fixed under the shank
Sleeve both sides are respectively equipped with first time rigid connector and second time rigid connector, the front end both sides difference of the rigid sole
Equipped with rigid connector before rigid connector and second before first, rigid sole front end top is rigidly connected before being equipped with third
Part, rigid connector after rigid connector and second after rigid sole rear end both sides are respectively equipped with first, before described first
The top and bottom end of electric pushrod are flexibly connected with rigid connector before rigid connector and first on described first respectively, described
The top and bottom end of electric pushrod connect with rigid connector activity before rigid connector and second on described second respectively before second
Connect, before the third top and bottom end of electric pushrod respectively with rigid connector before rigid connector in the third and third
Flexible connection, after described first the top and bottom end of electric pushrod respectively with after first time rigid connector and first rigidly
Connector is flexibly connected, after described second the top and bottom end of electric pushrod respectively with second time rigid connector and second
Rigid connector is flexibly connected afterwards, electric pushrod top before the pressure sensor on electric pushrod top, second before described first
Before pressure sensor, third after the pressure sensor on electric pushrod top, first pressure sensor on electric pushrod top and
After second the pressure sensor on electric pushrod top by flexural pivot respectively on rigid connector on corresponding first, second just
Property connector, rigid connector, first time rigid connector and second time rigid connector flexible connection in third.
One of preferably, the binding structure at the ankle and above ankle includes moccasin set and ties up
Band, the moccasin set are equipped with via, and the bandage is strapped in across via in moccasin set.
One of preferably, a kind of application method of the wearable ankle rehabilitation running gear of five degree of freedom
And step is：
(1) foot of patient is placed on the rigid sole, is tightened above rigid sole, at ankle and above ankle
Binding structure；
(2) under rehabilitation training pattern when, electric pushrod after electric pushrod and first, second before first, second, third
This five electric pushrods enter random movement method, carry out rehabilitation training to the damage location of ankle part by doctor, are recorded by computer
The stroke and pressure direction and size that five push rods change when training were then not necessarily to doctor and participate in, in the time set
Point controls the healing robot and independently carries out repeating rehabilitation training to patient according to the stroke recorded；
(3) under the pattern of auxiliary walking, first being worn in the healing robot on unmarred foot, five are pushed away
Bar is set as follower model, does not damage the Walking Mode of foot and the flexible and time-varying situation of push rod by analysis when on foot,
Symmetrically the healing robot of patient's wearing to damaging ankle carries out parameter setting, makes the rehabilitation machine for being damaged ankle wearing
People enters assistant mode, and does not damage the asynchronous symmetrical variation of healing robot progress of ankle, is carried out not damaging ankle
When stopping acts, the healing robot of damage ankle wearing also enters halted state, but five push rods still play a supportive role.
Advantageous effect：
The wearable ankle rehabilitation running gear of a kind of five degree of freedom provided by the invention, the five degree of freedom machine of five bars driving
Structure, had not only met the therapeutic scheme of the rehabilitation training of different ankles, but also saved mechanical material and cost；In addition, the present invention exists
Auxiliary walking is combined by ankle damage position with rehabilitation training function, and application range is wider；In the use of the present invention, making first
Carry out rehabilitation training with the mode of teaching, then by acquisition walking when the dynamic push rod of another health tape situation of change
And carry out symmetrical analysis so that robot of the invention can give the damage ankle of patient with power-assisted, reach daily normal
The purpose of walking.To sum up, the present invention, which at least has, can meet the variation degree of freedom of different type ankle rehabilitation training and unlikely
In the waste for causing mechanical material, moreover it is possible to allow patient to carry out ankle rehabilitation training and auxiliary normal walking etc. during treatment excellent
Point.
Description of the drawings
Fig. 1 is the dimensional structure diagram of one embodiment of the present invention.
Fig. 2 is the forward sight structural schematic diagram of one embodiment of the present invention.
Reference numeral：
1, rigid sole；2, fixes sleeve on shank；3, fixes sleeve under shank；4, binding structure；5, electronic before first
Push rod；6, electric pushrod before second；7, electric pushrod after first；8, electric pushrod after second；9, electric pushrod before third；10、
Rigid connector on first；11, rigid connector on second；12, rigid connector in third；13, first time rigid connector；
14, second time rigid connector；15, rigid connector before first；16, rigid connector before second；17, it is rigidly connected before third
Part；18, rigid connector after first；19, rigid connector after second.
Specific implementation mode
With reference to specific embodiment, the present invention will be described：
A kind of wearable ankle rehabilitation running gear of five degree of freedom is suitable for left foot or right crus of diaphragm, it includes rigid sole
1, fixes sleeve 3 under fixes sleeve 2 and shank on shank, on the shank under fixes sleeve 2, shank fixes sleeve 3 and
The binding structure 4 for the flexible material for being coated on shank, ankle-joint and ankle and foot, the rigidity are connected between rigid sole 1
Electric pushrod 6, rigid sole 1 before electric pushrod 5 and second before 1 front end both sides of sole have been movably connected with telescopic first
Electric pushrod 8 after electric pushrod 7 and second after rear end both sides have been movably connected with telescopic first, 1 front end of rigid sole
Top end is connected with electric pushrod 9 before third, 6 upper end of electric pushrod before 5 upper end of electric pushrod, second before described first,
8 upper end of electric pushrod is equipped with pressure sensing behind 7 upper end of electric pushrod and second after 9 upper end of electric pushrod, first before third
Device, the pressure sensor are connected by data collecting system and computer control system control.Computer control system passes through
Pressure sensor gathered data is simultaneously handled and is uploaded data by data stimulating system to computer control system, thus again by counting
Calculation machine control system makes feedback, provides the power-assisted of auxiliary walking and supplemental training.
One of preferably, 2 both sides of fixes sleeve are respectively equipped with rigid connector on first on the shank
Rigid connector 11 on 10 and second, the front side of fixes sleeve 2 is equipped with rigid connector 12 in third on the shank, described small
3 both sides of fixes sleeve are respectively equipped with first time rigid connector 13 and second time rigid connector 14, the rigid sole 1 under leg
Front end both sides be respectively equipped with first before rigid connector 16,1 front end of rigid sole top before rigid connector 15 and second
End is equipped with rigid connector 17 before third, rigid connector 18 and the after 1 rear end both sides of the rigid sole are respectively equipped with first
Rigid connector 19 after two, before described first the top and bottom end of electric pushrod 5 respectively with rigid connector 10 on described first
With first before rigid connector 15 be flexibly connected, before described second the top and bottom end of electric pushrod 6 respectively on described second
Rigid connector 16 is flexibly connected before rigid connector 11 and second, top and the bottom end difference of electric pushrod 9 before the third
It is flexibly connected with rigid connector 17 before rigid connector 12 in the third and third, the top of electric pushrod 7 after described first
End and bottom end are flexibly connected with rigid connector 18 after first time rigid connector 13 and first respectively, electric after described second
The top and bottom end of dynamic push rod 8 are flexibly connected with rigid connector 19 after second time rigid connector 14 and second respectively,
It is electric before the pressure sensor on 6 top of electric pushrod, third before the pressure sensor on 5 top of electric pushrod, second before described first
Electric pushrod 8 pushes up after the pressure sensor and second on 7 top of electric pushrod after the pressure sensor on dynamic 9 top of push rod, first
The pressure sensor at end by flexural pivot respectively with rigid connector 11, on rigid connector on corresponding first 10, second
Rigid connector 12, first time rigid connector 13 and second time rigid connector 14 are flexibly connected on three.
One of preferably, the binding structure 4 at the ankle and above ankle include moccasin set and
Bandage, the moccasin set are equipped with via, and the bandage is strapped in across via in moccasin set.
The present invention application method and step be：
(1) foot of patient is placed on the rigid sole 1, is tightened above rigid sole 1, at ankle and on ankle
The binding structure 4 of side；
(2) under rehabilitation training pattern when, five electric pushrods enter random movement method, by doctor to the pars affecta of ankle part
Position carries out rehabilitation training, the stroke and pressure direction and size that five push rods change when recording training by computer, then
Without doctor participate in, the time point set control the healing robot according to the stroke recorded independently to patient into
Row repeats rehabilitation training.
(3) under the pattern of auxiliary walking, first being worn in the healing robot on unmarred foot, five are pushed away
Bar is set as follower model, does not damage the Walking Mode of foot and the flexible and time-varying situation of push rod by analysis when on foot,
Symmetrically the healing robot of patient's wearing to damaging ankle carries out parameter setting, makes the rehabilitation machine for being damaged ankle wearing
People enters assistant mode, and does not damage the asynchronous symmetrical variation of healing robot progress of ankle, is carried out not damaging ankle
When stopping acts, the healing robot of damage ankle wearing also enters halted state, but five push rods still play a supportive role.
The above content is only presently preferred embodiments of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
Claims (4)
1. a kind of wearable ankle rehabilitation running gear of five degree of freedom is suitable for left foot or right crus of diaphragm, it is characterised in that：It includes
Fixes sleeve under fixes sleeve and shank on rigid sole, shank, on the shank under fixes sleeve, shank fixes sleeve with
And the binding structure for the flexible material for being coated on shank, ankle-joint and ankle and foot is connected between rigid sole, the rigidity
Electric pushrod, rigid sole rear end before electric pushrod and second before sole front end both sides have been movably connected with telescopic first
Electric pushrod after electric pushrod and second after both sides have been movably connected with telescopic first, rigid sole front end top end are lived
It moves and is connected with electric pushrod before third, it is electronic before electric pushrod upper end, third before electric pushrod upper end, second before described first to push away
Electric pushrod upper end is equipped with pressure sensor, the pressure sensing behind electric pushrod upper end and second after bar upper end, first
Device is connected by data collecting system and computer control system control.
2. the wearable ankle rehabilitation running gear of a kind of five degree of freedom according to claim 1, it is characterised in that：It is described small
Fixes sleeve both sides are respectively equipped on first rigid connector on rigid connector and second on leg, fixes sleeve on the shank
Front side be equipped with rigid connector in third, fixes sleeve both sides are respectively equipped with first time rigid connector and the under the shank
Two times rigid connectors are rigidly connected before the front end both sides of the rigid sole are respectively equipped with first before rigid connector and second
Part, rigid sole front end top are equipped with rigid connector before third, and rigid sole rear end both sides are respectively equipped with first
Rigid connector after rigid connector and second afterwards, before described first the top and bottom end of electric pushrod respectively on described first
Rigid connector is flexibly connected before rigid connector and first, before described second the top and bottom end of electric pushrod respectively with it is described
Rigid connector is flexibly connected before rigid connector and second on second, top and the bottom end difference of electric pushrod before the third
It is flexibly connected with rigid connector before rigid connector in the third and third, the top and bottom of electric pushrod after described first
End is flexibly connected with rigid connector after first time rigid connector and first respectively, the top of electric pushrod after described second
End and bottom end are flexibly connected with rigid connector after second time rigid connector and second respectively, electronic before described first to push away
The pressure on electric pushrod top passes before the pressure sensor on electric pushrod top, third before the pressure sensor on bar top, second
The pressure sensor on electric pushrod top passes through ball after the pressure sensor on electric pushrod top and second after sensor, first
Hinge respectively with rigid connector in rigid connector on rigid connector on corresponding first, second, third, rigidly connect for first time
Fitting and second time rigid connector flexible connection.
3. the wearable ankle rehabilitation running gear of a kind of five degree of freedom according to claim 1, it is characterised in that：The foot
Binding structure at ankle and above ankle includes moccasin set and bandage, and the moccasin set is equipped with via, and the bandage is worn
Via is strapped in moccasin set.
4. a kind of application method of the wearable ankle rehabilitation running gear of five degree of freedom according to claim 1, feature
It is：It is using step：
(1) foot of patient is placed on the rigid sole, tightens tying up above rigid sole, at ankle and above ankle
Tie up structure；
(2) under rehabilitation training pattern when, before first, second, third after electric pushrod and first, second electric pushrod this five
Root electric pushrod enters random movement method, carries out rehabilitation training to the damage location of ankle part by doctor, is recorded and trained by computer
The stroke and pressure direction and size of Shi Wugen push rods variation are then not necessarily to doctor and participate in, in the time point control set
The healing robot is made independently patient is carried out according to the stroke recorded to repeat rehabilitation training；
(3) under the pattern of auxiliary walking, first being worn in the healing robot on unmarred foot, five push rods are set
It is set to follower model, does not damage the Walking Mode of foot and the flexible and time-varying situation of push rod by analysis when on foot, symmetrically
Ground carries out parameter setting to the healing robot for damaging patient's wearing of ankle, make to be damaged the healing robot of ankle wearing into
Enter assistant mode, and do not damage the asynchronous symmetrical variation of healing robot progress of ankle, is stopped not damaging ankle
When action, the healing robot of damage ankle wearing also enters halted state, but five push rods still play a supportive role.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810317162.6A CN108338896A (en) | 2018-04-10 | 2018-04-10 | A kind of wearable ankle rehabilitation running gear of five degree of freedom and its application method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810317162.6A CN108338896A (en) | 2018-04-10 | 2018-04-10 | A kind of wearable ankle rehabilitation running gear of five degree of freedom and its application method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109966118A (en) * | 2019-03-25 | 2019-07-05 | 复旦大学 | Frame-type ankle foot walking aids |
| CN110368167A (en) * | 2019-08-14 | 2019-10-25 | 刘航宇 | One kind is intellectual to help ankle device |
| EP3636239A1 (en) * | 2018-10-12 | 2020-04-15 | Samsung Electronics Co., Ltd. | Walking assistance apparatus |
| CN111920652A (en) * | 2020-07-22 | 2020-11-13 | 燕山大学 | Auxiliary walker capable of adaptively adjusting ankle bearing capacity |
| CN112370314A (en) * | 2020-11-10 | 2021-02-19 | 电子科技大学 | Flexible ankle joint of stretch-draw dresses helping hand equipment based on double-wire pair drive |
| US11148279B1 (en) | 2020-06-04 | 2021-10-19 | Dephy, Inc. | Customized configuration for an exoskeleton controller |
| US11173093B1 (en) | 2020-09-16 | 2021-11-16 | Dephy, Inc. | Systems and methods for an active exoskeleton with local battery |
| US11298287B2 (en) | 2020-06-02 | 2022-04-12 | Dephy, Inc. | Systems and methods for a compressed controller for an active exoskeleton |
| US11389367B2 (en) | 2020-06-05 | 2022-07-19 | Dephy, Inc. | Real-time feedback-based optimization of an exoskeleton |
| US11944581B2 (en) | 2020-06-04 | 2024-04-02 | Dephy, Inc. | Systems and methods for bilateral wireless communication |
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