CN108652916B8 - 一种膝关节外骨骼 - Google Patents

一种膝关节外骨骼 Download PDF

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Publication number
CN108652916B8
CN108652916B8 CN201810462531.0A CN201810462531A CN108652916B8 CN 108652916 B8 CN108652916 B8 CN 108652916B8 CN 201810462531 A CN201810462531 A CN 201810462531A CN 108652916 B8 CN108652916 B8 CN 108652916B8
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CN
China
Prior art keywords
oil cylinder
flexible
hinge
knee joint
piston type
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.)
Expired - Fee Related
Application number
CN201810462531.0A
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English (en)
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CN108652916A (zh
CN108652916B (zh
Inventor
李劼若
王秋实
刘方圆
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No1 Hospital Attached To Jinan Univ
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No1 Hospital Attached To Jinan University
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Priority to CN201810462531.0A priority Critical patent/CN108652916B8/zh
Publication of CN108652916A publication Critical patent/CN108652916A/zh
Publication of CN108652916B publication Critical patent/CN108652916B/zh
Application granted granted Critical
Publication of CN108652916B8 publication Critical patent/CN108652916B8/zh
Expired - Fee Related legal-status Critical Current
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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

本发明涉及一种医疗器械或机器人工业，具体涉及一种辅助用户行走的柔性膝关节外骨骼,主体分为柔性驱动模块和踝关节旋转驱动补偿模块，两模块共用一个机架，构成了具有柔性驱动和位移补偿功能的膝关节外骨骼，可以实现膝关节柔性驱动、小腿骨架位移补偿、踝关节旋转补偿的功能。柔性驱动模块由驱动关节和柔性油缸构成，柔性油缸包括活塞式主油缸和其侧面的副缓冲油缸；踝关节旋转驱动补偿模块由机架、直线油缸、推力杆、小腿骨架、滑动销、滑动轴承、铰链一、铰链二、铰链三、支撑器和推力杆构成。
CN201810462531.0A 2018-05-15 2018-05-15 一种膝关节外骨骼 Expired - Fee Related CN108652916B8 (zh)

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)

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CN108652916A CN108652916A (zh) 2018-10-16
CN108652916B CN108652916B (zh) 2019-11-08
CN108652916B8 true CN108652916B8 (zh) 2020-04-21

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7032727B2 (en) * 2004-09-09 2006-04-25 Tenneco Automotive Operating Company Inc. Shock absorber having a hydraulic stop

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

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Publication number Publication date
CN108652916A (zh) 2018-10-16
CN108652916B (zh) 2019-11-08

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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