CN108652916A - 一种膝关节外骨骼 - Google Patents
一种膝关节外骨骼 Download PDFInfo
- Publication number
- CN108652916A CN108652916A CN201810462531.0A CN201810462531A CN108652916A CN 108652916 A CN108652916 A CN 108652916A CN 201810462531 A CN201810462531 A CN 201810462531A CN 108652916 A CN108652916 A CN 108652916A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- hinge
- joint
- space
- rack
- 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 26
- 230000009975 flexible effect Effects 0.000 claims abstract description 49
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 36
- 210000000744 eyelid Anatomy 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 14
- 210000003128 head Anatomy 0.000 claims description 13
- 210000000689 upper leg Anatomy 0.000 claims description 11
- 230000003139 buffering effect Effects 0.000 claims description 4
- 239000003921 oil Substances 0.000 description 80
- 230000033001 locomotion Effects 0.000 description 31
- 239000010720 hydraulic oil Substances 0.000 description 12
- 241000469816 Varus Species 0.000 description 10
- 230000009471 action Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 210000000549 articulatio subtalaris Anatomy 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000009987 spinning Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 210000000988 bone and bone Anatomy 0.000 description 4
- 238000013016 damping Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 3
- 210000001694 thigh bone Anatomy 0.000 description 3
- 241001227561 Valgus Species 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 230000003319 supportive effect Effects 0.000 description 2
- 241001212149 Cathetus Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000007306 turnover 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
- A61H1/024—Knee
-
- 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
-
- 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
- A61H2201/1409—Hydraulic or pneumatic means
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810462531.0A CN108652916B8 (zh) | 2018-05-15 | 2018-05-15 | 一种膝关节外骨骼 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810462531.0A CN108652916B8 (zh) | 2018-05-15 | 2018-05-15 | 一种膝关节外骨骼 |
Publications (3)
Publication Number | Publication Date |
---|---|
CN108652916A true CN108652916A (zh) | 2018-10-16 |
CN108652916B CN108652916B (zh) | 2019-11-08 |
CN108652916B8 CN108652916B8 (zh) | 2020-04-21 |
Family
ID=63778576
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810462531.0A Expired - Fee Related CN108652916B8 (zh) | 2018-05-15 | 2018-05-15 | 一种膝关节外骨骼 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN108652916B8 (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110116423A (zh) * | 2019-06-19 | 2019-08-13 | 重庆大学 | 一种传动轴保护装置、步行机器人关节结构及步行机器人 |
CN110302036A (zh) * | 2019-07-30 | 2019-10-08 | 上海理工大学 | 一种旋转瞬心可变的膝关节运动仿生机构 |
CN114714326A (zh) * | 2021-01-04 | 2022-07-08 | 重庆牛迪创新科技有限公司 | 腰部助力机构及腰部外骨骼 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060049014A1 (en) * | 2004-09-09 | 2006-03-09 | Vincent Vanspauwen | Shock absorber having a hydraulic stop |
CN104013514A (zh) * | 2014-06-19 | 2014-09-03 | 中国北方车辆研究所 | 一种液压驱动的可穿戴式人体助力行走机器人 |
CN104595281A (zh) * | 2015-01-21 | 2015-05-06 | 柳州柳工液压件有限公司 | 缓冲油缸 |
CN104758142A (zh) * | 2015-04-10 | 2015-07-08 | 电子科技大学 | 一种助力外骨骼机器人 |
CN105500343A (zh) * | 2016-01-15 | 2016-04-20 | 中国矿业大学 | 一种线传动穿戴式机械外骨骼 |
CN106151160A (zh) * | 2015-04-28 | 2016-11-23 | 徐工集团工程机械股份有限公司 | 具有缓冲功能的液压油缸及挖掘机 |
EP3248576A2 (en) * | 2013-08-27 | 2017-11-29 | Freedom Innovations, LLC | Microprocessor controlled prosthetic ankle system for footwear and terrain adaptation |
CN207028932U (zh) * | 2017-06-20 | 2018-02-23 | 浙江工业大学 | 一种汽车座椅减振装置 |
-
2018
- 2018-05-15 CN CN201810462531.0A patent/CN108652916B8/zh not_active Expired - Fee Related
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060049014A1 (en) * | 2004-09-09 | 2006-03-09 | Vincent Vanspauwen | Shock absorber having a hydraulic stop |
EP3248576A2 (en) * | 2013-08-27 | 2017-11-29 | Freedom Innovations, LLC | Microprocessor controlled prosthetic ankle system for footwear and terrain adaptation |
CN104013514A (zh) * | 2014-06-19 | 2014-09-03 | 中国北方车辆研究所 | 一种液压驱动的可穿戴式人体助力行走机器人 |
CN104595281A (zh) * | 2015-01-21 | 2015-05-06 | 柳州柳工液压件有限公司 | 缓冲油缸 |
CN104758142A (zh) * | 2015-04-10 | 2015-07-08 | 电子科技大学 | 一种助力外骨骼机器人 |
CN106151160A (zh) * | 2015-04-28 | 2016-11-23 | 徐工集团工程机械股份有限公司 | 具有缓冲功能的液压油缸及挖掘机 |
CN105500343A (zh) * | 2016-01-15 | 2016-04-20 | 中国矿业大学 | 一种线传动穿戴式机械外骨骼 |
CN207028932U (zh) * | 2017-06-20 | 2018-02-23 | 浙江工业大学 | 一种汽车座椅减振装置 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110116423A (zh) * | 2019-06-19 | 2019-08-13 | 重庆大学 | 一种传动轴保护装置、步行机器人关节结构及步行机器人 |
CN110116423B (zh) * | 2019-06-19 | 2024-02-27 | 重庆大学 | 一种传动轴保护装置、步行机器人关节结构及步行机器人 |
CN110302036A (zh) * | 2019-07-30 | 2019-10-08 | 上海理工大学 | 一种旋转瞬心可变的膝关节运动仿生机构 |
CN114714326A (zh) * | 2021-01-04 | 2022-07-08 | 重庆牛迪创新科技有限公司 | 腰部助力机构及腰部外骨骼 |
Also Published As
Publication number | Publication date |
---|---|
CN108652916B8 (zh) | 2020-04-21 |
CN108652916B (zh) | 2019-11-08 |
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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 | ||
CB03 | Change of inventor or designer information |
Inventor after: Li Jieruo Inventor after: Wang Qiushi Inventor after: Liu Fangyuan Inventor before: Liu Fang Yuan |
|
CB03 | Change of inventor or designer information | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20191016 Address after: 510630 No. 613, Whampoa Avenue, Guangzhou, Guangdong Applicant after: No.1 Hospital Attached to Jinan Univ. Address before: 261061 unit 601, building 19, Fenghuang villa, Hi-tech Zone, Kuiwei District, Weifang, Shandong. Applicant before: Liu Fang Yuan |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CI03 | Correction of invention patent |
Correction item: Inventor Correct: Li Jieruo|Wang Qiushi|Liu Fangyuan False: Wang Qiushi|Liu Fangyuan Number: 45-02 Page: The title page Volume: 35 Correction item: Inventor Correct: Li Jieruo|Wang Qiushi|Liu Fangyuan False: Wang Qiushi|Liu Fangyuan Volume: 35 |
|
CI03 | Correction of invention patent | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191108 Termination date: 20200515 |
|
CF01 | Termination of patent right due to non-payment of annual fee |