CN108839006A - Wearable shoulder assistance exoskeleton - Google Patents
Wearable shoulder assistance exoskeleton Download PDFInfo
- Publication number
- CN108839006A CN108839006A CN201811135764.6A CN201811135764A CN108839006A CN 108839006 A CN108839006 A CN 108839006A CN 201811135764 A CN201811135764 A CN 201811135764A CN 108839006 A CN108839006 A CN 108839006A
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- Prior art keywords
- arm
- shell
- spring
- wind spring
- type driving
- 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.)
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- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 210000004907 gland Anatomy 0.000 claims description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 238000003756 stirring Methods 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 7
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000006748 scratching Methods 0.000 description 2
- 230000002393 scratching effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000007790 scraping Methods 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- 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
- A61H2201/16—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
Abstract
The invention discloses a kind of wearable shoulder assistance exoskeleton, the symmetrically arranged support section to connect including wearing portion, with wearing portion, the symmetrically arranged arm mechanism for being connected to each support section upper end, the spring type driving mechanism to connect with arm mechanism；The rear portion of the waistband in wearing portion is arranged in the spring type driving mechanism, and the bracing wire that power-assisted is generated in spring type driving mechanism is located in stay wire tube, and the end of bracing wire connects with arm mechanism.Simple with structure, drive part leaves the moving parts such as shoulder, arm, increases stability, the component of shoulder, arm position is reduced, total quality is light, does not interfere phenomenon with other relevant devices in application process, also any influence, the reliable advantage of using flexible are not generated to operator itself.
Description
Technical field
It is a kind of to provide branch using elastic element for human arm the present invention relates to a kind of wearable shoulder assistance exoskeleton
The equipment of support force.
Background technique
Currently, the passive ectoskeleton of shoulder power-assisted is a kind of to provide the equipment of support force using elastic element for human arm.
It is characterized in that not needing any energy input, only realized by the application of elastic element and Design of Mechanical Structure to human body
Arm provides upward gamut support force.Because such ectoskeleton needs to cooperate the movement of human arm and shoulder,
Need freedom degree identical with shoulders of human body and flexibility.Otherwise the movement of wearer will be generated and hinders to result in this
Sense of discomfort even influences functionality.Integral device should also be tightly attached to human body, prevent the mechanical structure and building ring of prominent human body
Scraping collision occurs for other objects in border.It also needs to consider ergonomic problem in ectoskeleton whole design, prevents equipment and wearer's body
Each position of body collides.The equipment needs to dress for a long time in production process, therefore the equipment should carry out structure optimization to drop
Low weight prevents wearing fatigue.
The flexible drive device of traditional passive shoulder assistance exoskeleton equipment is placed at shoulder mostly, packet in driving device
Mechanical structure and tension spring needed for having contained driving, pressure spring, the flexible drives element such as wind spring or gas spring.Whole driving equipment
Weight, which all concentrates on, needs the position constantly moved in use, increased moving resistance and drop due to inertia
Stability in low moving process.The volume of driving device makes shoulder device have a possibility that scratching, and is both to dermoskeleton
The damage of bone equipment itself also can cause security risk to other equipment in production environment.
The shoulder frame of traditional passive shoulder assistance exoskeleton is often using the shaft by one or more vertical directions
Mode is designed.Vertical this mode of shaft makes shoulder frame structure must be placed on human body shoulder or need complexity
Multiple axes system as back.There is the possibility for generating collision is moved with human body head for shoulder frame structure above shoulder
Property, there is security risks.Such shoulder frame itself also increases additional weight.Multiaxial type system complexity is high, though
Mechanical structure is not present above right shoulder, but increases the number of parts at body rear portion and the spatial volume of ectoskeleton.
Excessive the security risk for scratching and colliding is equally existed since back extends.
Summary of the invention
The object of the present invention is to provide a kind of structure is simple, drive part leaves the moving parts such as shoulder, arm, increases and stablizes
Property, the component of shoulder, arm position is reduced, total quality is light, does not interfere phenomenon in application process with other relevant devices, also not
Any influence, the reliable wearable shoulder assistance exoskeleton of using flexible are generated to operator itself.
Wearable shoulder assistance exoskeleton of the invention, connects symmetrically arranged including wearing portion, with wearing portion
Support section, the symmetrically arranged arm mechanism for being connected to each support section upper end, the spring type to connect with arm mechanism drive
Motivation structure；The rear portion of the waistband in wearing portion is arranged in the spring type driving mechanism, generates in spring type driving mechanism
The bracing wire of power-assisted is located in stay wire tube, and the end of bracing wire connects with arm mechanism.
The arm mechanism includes support arm, and one end of support arm is connected with the braced frame for holding up arm, support arm it is another
End is rotatablely connected by one end of support arm shaft and pivoted arm, and the other end of pivoted arm is rotated by one end of tumbler shaft and linking arm to be connected
It connects, is rotatably connected to third wheel in the other end of linking arm, the wheel cover of crossing covered on the outside of third wheel is connected on linking arm, and third wheel turns
Axis is parallel with tumbler shaft, and tumbler shaft is vertical with support arm shaft；It is fixedly connected with connection frame in the side of linking arm, connection frame is equipped with
Connecting hole；It is connected with bracket in the end of linking arm, casing holds rack-mount, sleeve upper end screw thread by a pair of of shouldered shaft
It is connected with the upper cap nut of axial locking, lower end is threaded with the lower nut of fixed bracing wire pipe end；With arm mechanism phase
The centre bore for being drawstring through lower nut, casing, upper cap nut is connect, and hanging scroll is articulated in by connector around third wheel follower head
On, hanging scroll is connected on the end of pivoted arm；Stay wire tube is between casing and spring type driving mechanism；Arm mechanism passes through connection
Frame and connecting hole and pin shaft are rotatably connected on mounting rack, and mounting rack is fixedly connected on the strut upper end in support section.
The spring type driving mechanism includes wind spring shell, and wind spring shell is equipped with opening, and wind spring is located in wind spring shell, wind spring
External end head is hooked in opening, and there is left housing lid in the side of wind spring shell, and there is right cap in the other side, is equipped with a left side in left housing lid central hole
Bearing is equipped with right bearing in right cap central hole；Gland is fixed with by screw on wind spring shell, bracing wire is wound on outside wind spring shell
On circumference and end is fixed and clamped on wind spring shell by gland；
Wind spring shell be located at shell and casing cover composition shell in, attachment base fixed clamp the top of shell and casing cover it
Between, connecting tube is threaded on attachment base, the threaded upper ends of connecting tube are connected with screw, are drawstring through attachment base, connection
The centre bore of pipe, screw；It is connected with mounting ear on the shell, the lower end of the bracket in mounting ear and support section passes through pole pedestal
Connect；It is fixed with mounting plate on the shell, connecting plate is fixed on casing cover, spring type driving mechanism passes through mounting plate and company
Fishplate bar connects with waistband；
Rotatable enwinding spring axis, the middle part insertion left bearing and right bearing of enwinding spring axis are fitted in shell and casing cover central hole
Inner hole, wind spring inner termination be inserted into enwinding spring axis on longitudinal groove in；One end of enwinding spring axis reaches the outside of shell, and wind spring
Ratchet is housed, the pawl to match with ratchet is rotatably connected on the lateral surface of shell by pawl shaft, pawl on the external end head of axis
One be terminated with and stir handle.
There is bundling belt between armband in the support section top and wearing portion.
Wearable shoulder assistance exoskeleton of the invention, simplify overall structure compared with prior art, shoulder, arm section
Component is few, light weight, while ensure that movement of the user in each freedom degree direction, flexibility and reliability, with operator periphery
Any interference phenomenon does not occur for relevant device and operator itself, overcomes the security risk mentioned in the prior art.
Detailed description of the invention
Fig. 1 is the stereochemical structure rear side viewing schematic diagram of the specific embodiment of the invention.
Fig. 2 be the specific embodiment of the invention stereochemical structure before schematic side view.
Fig. 3 is the structural schematic diagram of transverse direction swing arm when the present invention uses.
Fig. 4 is the structural schematic diagram of carry arm forward when the present invention uses.
Fig. 5 is arm mechanism in the specific embodiment of the invention, the spring type driving mechanism solid to connect with arm mechanism
Structural schematic diagram.
Fig. 6 is the portion A shown in fig. 5 schematic diagram.
Fig. 7 is the portion B shown in fig. 5 schematic diagram.
Fig. 8 is the portion C shown in Fig. 7 schematic cross-sectional view.
Fig. 9 is the stereo decomposing of the wind spring and wind spring shell in the spring type driving mechanism part of the specific embodiment of the invention
Schematic diagram.
Figure 10 is the perspective exploded view of the spring type driving mechanism part of the specific embodiment of the invention.
Specific embodiment
As shown in figures 1-4：Wearable shoulder assistance exoskeleton of the invention, including wearing portion, connect with wearing portion
Symmetrically arranged support section, be connected to each support section upper end symmetrically arranged arm mechanism, with arm mechanism phase
The spring type driving mechanism connect.
Wherein wearing portion includes waistband 50, and the posterior medial of waistband 50 connects with the lower end of harness 53, harness 53 it is upper
There is backboard 54 in portion, and 54 top of backboard is connected to the rear side of waistband 50 with two symmetrical shoulder belts 56, the other end of shoulder belt 56 is connect
Middle part, shoulder belt 56 are equipped with the adjusting buckle for adjusting length.
As shown in Fig. 1,3,4：The rear portion of the waistband 50 in wearing portion is arranged in two groups of spring type driving mechanisms, in waistband
50 rear outside is fixed with mounting base 51, there is supporting plate 60, the peace connected on spring type driving mechanism shell 33 in mounting base 51
Loading board 41 is fixedly connected by pressing plate 52 and screw with supporting plate 60.The connecting plate 40 that is connected on shell in spring type driving mechanism with
The relatively fixed connection of waistband 50.
Support section includes two symmetrically set strut 57, and the middle section of strut 57 is equipped with expansion piece 44, uses
In the length for adjusting strut 57.The lower end of strut 57 is rotatablely connected by pole pedestal 59 and pin shaft and mounting ear 32, mounting ear 32
It is connected in spring type driving mechanism on shell 33.
57 upper end bending follower head of strut is rotatablely connected by mounting rack 58 and pin shaft using connecting hole 7 and connection frame 6.
Connection frame 6 is fixed on the linking arm 10 in arm mechanism, and connection frame 6 is the connector of arm mechanism Yu strut 57.
The bracing wire 27 that power-assisted is generated in spring type driving mechanism is located in stay wire tube 34, the end of bracing wire 27 and arm mechanism
Connect.
As shown in Fig. 5,6,7,8：Arm mechanism includes support arm 2, and one end of support arm 2 is connected with the braced frame for holding up arm
1.The other end of support arm 2 is rotatablely connected by one end of support arm shaft 3 and pivoted arm 4.The other end of pivoted arm 4 is by tumbler shaft 5 and even
Connect one end rotation connection of arm 10.It is rotatably connected to the third wheel 8 around bracing wire 27 in the other end of linking arm 10, is covered on outside third wheel 8
The wheel cover 42 of crossing of side is connected on linking arm 10.The shaft for installing third wheel 8 is parallel with tumbler shaft 5, and tumbler shaft 5 and support arm shaft 3 hang down
Directly.
It is fixedly connected with connection frame 6 in the side of linking arm 10, connection frame 6 is equipped with connecting hole 7, is used for and 57 end of strut
The connection of the mounting rack 58 of head.Rectangular-shaped bracket 9 is connected in the end of linking arm 10, casing 12 is held by a pair of of shouldered shaft
13 are mounted on bracket 9, and 12 threaded upper ends of casing are connected with the upper cap nut 14 of axial locking, and 12 lower thread of casing is connected with solid
Determine the lower nut 11 of 34 end of stay wire tube；The bracing wire 27 that connects with arm mechanism is in lower nut 11, casing 12, upper cap nut 14
Heart hole, and be articulated on hanging scroll 43 around 8 follower head of third wheel by connector, hanging scroll 43 is connected on the end of pivoted arm 4.It draws
Spool 34 is between casing 12 and spring type driving mechanism.Arm mechanism is connected by connection frame 6 and the rotation of connecting hole 7 and pin shaft
It connects on mounting rack 58, mounting rack 58 is fixedly connected on 57 upper end of strut in support section.
As shown in Figures 9 and 10：Spring type driving mechanism includes wind spring shell 20, and wind spring shell 20 is equipped with opening 45, and wind spring 22
In in wind spring shell 20, wind spring external end head 25 is hooked in opening 45, and there is left housing lid 23 in the side of wind spring shell 20, and there is right shell in the other side
Lid 28, is equipped with left bearing 24 in 23 central hole of left housing lid, is equipped with right bearing 29 in right 28 central hole of cap.In wind spring shell 20
Upper to be fixed with gland 26 by screw, bracing wire 27 is wound on 20 excircle of wind spring shell and end is fixed and clamped by gland 26
On wind spring shell 20.
Wind spring shell 20 is located in the shell that shell 33 and casing cover 38 form, and 37 fixed clamp of attachment base is in shell 33 and outside
Between the top of cap 38, connecting tube 36 is threaded on attachment base 37, the threaded upper ends of connecting tube 36 are connected with screw
35, bracing wire 27 passes through the centre bore of attachment base 37, connecting tube 36, screw 35.Mounting ear 32, mounting ear are connected on shell 33
32 are connected with the lower end of the bracket 57 in support section by pole pedestal 59.Mounting plate 41 is fixed on shell 33, in shell
Connecting plate 40 is fixed on lid 38, spring type driving mechanism is connected by mounting plate 41 and connecting plate 40 with waistband 50.
Rotatable enwinding spring axis 31, the middle part insertion of enwinding spring axis 31 are fitted in shell 33 and 38 central hole of casing cover
The inner hole of left bearing 24 and right bearing 29, wind spring inner termination 21 are inserted into the longitudinal groove 30 on enwinding spring axis 31.Enwinding spring axis 31
One end reaches the outside of shell 33, and ratchet is housed on the external end head of enwinding spring axis 31, and the pawl to match with ratchet passes through pawl
Axis 46 is rotatably connected on the lateral surface of shell 33, and the one of pawl, which is terminated with, stirs handle 47.
There is bundling belt 55 between 57 top of strut in support section and the armband 56 in wearing portion, prevents strut 57 from inclining
Tiltedly.
In use, shoulder assistance exoskeleton is installed on operator's upper body and shoulder arm by wearing portion, bracing wire is adjusted
27 pretightning force can hand remove and stir handle 47, release pawl with ratchet and engage, then rotating ratchet, ratchet wheel can drive volume
Spring axis 31 rotates, and wind spring 22 is made to roll tightly or fluff, and achievees the purpose that the pulling force for adjusting bracing wire 27.As shown in Figure 3,4：It can after wearing
Pivoted arm 4 is lifted by bracing wire 27, pivoted arm 4 is made to have a upward power, forms power-assisted.Due to having mounting rack 58 and connection frame 6
Rotation connection, operator can arbitrarily convert between lateral semi-girder and forward direction semi-girder.Simple with structure, drive part leaves
The moving parts such as shoulder, arm, increase stability, reduce shoulder, arm position component, total quality is light, in application process not with other
Relevant device interferes phenomenon, does not also generate any influence, the reliable advantage of using flexible to operator itself.
Claims (4)
1. a kind of wearable shoulder assistance exoskeleton, the symmetrically arranged support portion to connect including wearing portion, with wearing portion
Divide, the symmetrically arranged arm mechanism for being connected to each support section upper end, the spring type driving mechanism to connect with arm mechanism；
It is characterized in that:The waistband in wearing portion is arranged in the spring type driving mechanism（50）Rear portion, spring type driving machine
The bracing wire of power-assisted is generated in structure（27）Positioned at stay wire tube（34）It is interior, bracing wire（27）End connect with arm mechanism.
2. wearable shoulder assistance exoskeleton according to claim 1, it is characterised in that：The arm mechanism includes branch
Arm（2）, support arm（2）One end be connected with hold up arm braced frame（1）, support arm（2）The other end pass through support arm shaft（3）With
Pivoted arm（4）One end rotation connection, pivoted arm（4）The other end pass through tumbler shaft（5）With linking arm（10）One end rotation connection,
In linking arm（10）The other end be rotatably connected to third wheel（8）, cover on third wheel（8）Wheel cover is crossed in outside（42）It is connected to linking arm
（10）On, third wheel（8）Shaft and tumbler shaft（5）In parallel, tumbler shaft（5）With support arm shaft（3）Vertically；In linking arm（10）Side
Face is fixedly connected with connection frame（6）, connection frame（6）It is equipped with connecting hole（7）；In linking arm（10）End be connected with bracket
（9）, casing（12）It is held by a pair of of shouldered shaft（13）It is mounted on bracket（9）On, casing（12）Threaded upper ends are connected with axial lock
Tight upper cap nut（14）, casing（12）Lower thread is connected with fixed stay wire tube（34）The lower nut of end（11）；With arm machine
Structure connects bracing wire（27）Across lower nut（11）, casing（12）, upper cap nut（14）Centre bore, and bypass third wheel（8）Rear end
Head is articulated in hanging scroll by connector（43）On, hanging scroll（43）It is connected to pivoted arm（4）End on；Stay wire tube（34）Positioned at casing
（12）Between spring type driving mechanism；Arm mechanism passes through connection frame（6）And connecting hole（7）And pin shaft is rotatably connected on installation
Frame（58）On, mounting rack（58）The strut being fixedly connected in support section（57）Upper end.
3. wearable shoulder assistance exoskeleton according to claim 2, it is characterised in that：The spring type driving mechanism
Including wind spring shell（20）, wind spring shell（20）It is equipped with opening（45）, wind spring（22）Positioned at wind spring shell（20）It is interior, wind spring external end head
（25）It is hooked on opening（45) on, wind spring shell（20）Side have left housing lid（23）, there is right cap in the other side（28）, in left housing lid
（23）Central hole is equipped with left bearing（24）, in right cap（28）Central hole is equipped with right bearing（29）；In wind spring shell（20) on
Gland is fixed with by screw（26）, bracing wire（27）It is wound on wind spring shell（20）On excircle and end passes through gland（26) fixed
It is pressed on wind spring shell（20）On；
Wind spring shell（20）Positioned at shell（33）And casing cover（38）In the shell of composition, attachment base（37）Fixed clamp is in shell
（33）And casing cover（38）Top between, in attachment base（37) connecting tube is threaded on（36）, connecting tube（36）It is upper
End is threaded with screw（35）, bracing wire（27）Across attachment base（37）, connecting tube（36）, screw（35）Centre bore；Outside
Shell（33）On be connected with mounting ear（32）, mounting ear（32）With the bracket in support section（57）Lower end pass through pole pedestal（59）
Connect；In shell（33）On be fixed with mounting plate（41）, in casing cover（38）On be fixed with connecting plate（40）, spring type driving machine
Structure passes through mounting plate（41）And connecting plate（40）With waistband（50) connect；
In shell（33）And casing cover（38) central hole is fitted with rotatable enwinding spring axis（31）, enwinding spring axis（31）Middle part
It is inserted into left bearing（24）And right bearing（29）Inner hole, wind spring inner termination（21）It is inserted into enwinding spring axis（31）On longitudinal groove（30）
It is interior；Enwinding spring axis（31）One end reach shell（33）Outside, and enwinding spring axis（31）External end head on be equipped with ratchet, with ratchet
The pawl of matching passes through pawl shaft（46）It is rotatably connected on shell（33）Lateral surface on, the one of pawl, which is terminated with, stirs handle
（47）.
4. wearable shoulder assistance exoskeleton according to claim 3, it is characterised in that：The support section top with
Armband in wearing portion（56）Between have bundling belt（55）.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811560643.6A CN109291038B (en) | 2018-09-28 | 2018-09-28 | Wearable shoulder assistance exoskeleton |
| CN201811135764.6A CN108839006B (en) | 2018-09-28 | Wearable shoulder assistance exoskeleton | |
| PCT/CN2019/104688 WO2020063297A1 (en) | 2018-09-28 | 2019-09-06 | Wearable shoulder power assist exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811135764.6A CN108839006B (en) | 2018-09-28 | Wearable shoulder assistance exoskeleton |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811560643.6A Division CN109291038B (en) | 2018-09-28 | 2018-09-28 | Wearable shoulder assistance exoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108839006A true CN108839006A (en) | 2018-11-20 |
| CN108839006B CN108839006B (en) | 2024-04-26 |
Family
ID=
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340870A (en) * | 2019-07-08 | 2019-10-18 | 华中科技大学 | A kind of shoulder joint keeps ectoskeleton and its application |
| WO2020063297A1 (en) * | 2018-09-28 | 2020-04-02 | 赤源动力大连科技有限责任公司 | Wearable shoulder power assist exoskeleton |
| CN112502099A (en) * | 2020-11-18 | 2021-03-16 | 国家电网有限公司 | Device for repairing side slope crack |
| CN112548988A (en) * | 2019-09-26 | 2021-03-26 | 中船人因工程研究院(青岛)有限公司 | Auxiliary mechanical arm for battle |
| CN113334353A (en) * | 2021-05-19 | 2021-09-03 | 黄河科技学院 | Electromagnetic braking type arm power-assisted flexible exoskeleton |
| CN114714325A (en) * | 2021-01-04 | 2022-07-08 | 重庆牛迪创新科技有限公司 | Upper limb assistance exoskeleton and exoskeleton device capable of assisting in carrying |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020063297A1 (en) * | 2018-09-28 | 2020-04-02 | 赤源动力大连科技有限责任公司 | Wearable shoulder power assist exoskeleton |
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| CN112548988A (en) * | 2019-09-26 | 2021-03-26 | 中船人因工程研究院(青岛)有限公司 | Auxiliary mechanical arm for battle |
| CN112502099A (en) * | 2020-11-18 | 2021-03-16 | 国家电网有限公司 | Device for repairing side slope crack |
| CN114714325A (en) * | 2021-01-04 | 2022-07-08 | 重庆牛迪创新科技有限公司 | Upper limb assistance exoskeleton and exoskeleton device capable of assisting in carrying |
| CN113334353A (en) * | 2021-05-19 | 2021-09-03 | 黄河科技学院 | Electromagnetic braking type arm power-assisted flexible exoskeleton |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109291038B (en) | 2024-02-27 |
| CN109291038A (en) | 2019-02-01 |
| WO2020063297A1 (en) | 2020-04-02 |
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