CN108858148B - Pneumatic muscle-driven upper limb exoskeleton robot - Google Patents
Pneumatic muscle-driven upper limb exoskeleton robot Download PDFInfo
- Publication number
- CN108858148B CN108858148B CN201810785041.4A CN201810785041A CN108858148B CN 108858148 B CN108858148 B CN 108858148B CN 201810785041 A CN201810785041 A CN 201810785041A CN 108858148 B CN108858148 B CN 108858148B
- Authority
- CN
- China
- Prior art keywords
- shoulder
- upper arm
- joint
- fixed
- 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.)
- Expired - Fee Related
Links
- 210000003205 muscle Anatomy 0.000 title claims abstract description 64
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 20
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 45
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 36
- 229910000831 Steel Inorganic materials 0.000 claims description 14
- 239000010959 steel Substances 0.000 claims description 14
- 210000000245 forearm Anatomy 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 3
- 239000007779 soft material Substances 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 210000003414 extremity Anatomy 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 11
- 230000007547 defect Effects 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004118 muscle contraction Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
Images
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of robot system design, in particular to an upper limb exoskeleton robot driven by pneumatic muscles. The upper arm is fixed on the back support through the shoulder-back connecting piece, and the back support plays a role in connecting and supporting the upper arm. The structure of the limb exoskeleton robot is bilaterally symmetrical about the center line of the back support. The back support comprises a frame structure, a pulley, a shoulder-back connecting piece and shoulder joint driving muscles, and the pulley is fixed on the upper side of the frame structure; the upper arm comprises a locking ball joint, an upper arm outer side clamping plate, an upper arm inner side clamping plate, an upper arm pulley, an elbow joint fixed wheel and a series connection driving muscle; the locking type ball joint is fixed on the lower surface of the upper end of the shoulder-back connecting piece. The invention has the beneficial effects that: pneumatic muscles are used as driving, and compared with a motor and hydraulic driving, the structure complexity and cost are greatly reduced; the elbow joint is provided with the fixed wheel, so that the muscle in series connection can still be ensured to output enough torque under the condition of extreme angles.
Description
Technical Field
The invention belongs to the technical field of robot system design, and particularly relates to an upper limb exoskeleton robot driven by pneumatic muscles.
Background
An exoskeleton robot is essentially a wearable robot, i.e. a mechanical mechanism worn outside the body of an operator. The exoskeleton robot technology can enhance the ability of individuals to complete certain tasks, and a human-exoskeleton system consisting of an exoskeleton and an operator can have greater adaptability to the environment, so that the research on exoskeleton robots attracts the attention of many scientific researchers in recent years, and the exoskeleton robot is widely applied to the fields of individual military combat equipment, auxiliary medical equipment, power assisting mechanisms and the like.
The traditional exoskeleton is mainly driven by a motor and hydraulic pressure, the cost of the motor and the hydraulic pressure is too high, the output torque of the motor is too small, the structure is complex, and the noise of the hydraulic pressure is too large. The three-degree-of-freedom driving of the shoulder joint of the traditional upper limb exoskeleton is usually realized separately, the structure is complex and dispersed, and the bionic performance is low. Meanwhile, the exoskeleton driven by the traditional pneumatic muscles has the problem of small motion range due to small pneumatic muscle shrinkage.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the pneumatic muscle-driven upper limb exoskeleton robot which is mainly used for assisting the upper limbs of a human body to bear load and flexibly move.
In order to achieve the purpose, the invention adopts the following technical scheme:
an upper limb exoskeleton robot driven by pneumatic muscles comprises a back support and an upper arm.
The upper arm is fixed on the back support through the shoulder-back connecting piece, and the back support plays a role in connecting and supporting the upper arm; the structure of the limb exoskeleton robot is symmetrical along the central line of the back support.
The back support comprises a frame structure, pulleys, a shoulder-back connecting piece and shoulder joint driving muscles, and the six pulleys are fixed on the upper side of the frame structure at equal intervals; six shoulder joint driving muscles are arranged in the frame structure in parallel and correspond to the six pulleys respectively, the lower ends of the six shoulder joint driving muscles are fixed with the lower side of the frame structure, and the upper ends of the shoulder joint driving muscles are connected with a driving rope of the locking ball joint by bypassing the pulleys on the upper side of the frame structure through steel wire ropes respectively, so that the locking ball joint is driven. The pulley realizes the flexible direction of the output force direction of the shoulder joint driving muscle, reduces the friction force in the force conversion process and improves the transmission efficiency. The shoulder-back connecting piece is of a V-shaped structure, the angle of a V-shaped opening is larger than 90 degrees, the lower end of the V-shaped opening is fixed on the right side of the frame structure, and the upper end of the V-shaped opening is connected with the locking ball joint of the upper arm.
The upper arm comprises a locking ball joint, an upper arm outer side clamping plate, an upper arm inner side clamping plate, an upper arm pulley, an elbow joint fixed wheel and a series connection driving muscle; the closed ball joint is fixed on the lower surface of the shoulder-back connecting piece; the top plane of the closed ball joint is provided with three holes which are uniformly distributed and have distances R from the center of the top plane; the three shoulder guide pulleys are fixed on the upper surface of the shoulder-back connecting piece and correspond to the holes of the top plane of the locking ball joint one by one; three driving ropes of the locking ball joint respectively bypass the shoulder guide pulleys and are connected with the steel wire rope; the lower end of the locking ball joint is fixed between the outer side clamping plate of the upper arm and the inner side clamping plate of the upper arm, the lower ends of the inner side clamping plate and the outer side clamping plate of the upper arm are hinged with the small arm to realize the rotation of the small arm, and the elbow joint fixed wheel is fixed on the small arm by taking a hinged point as the circle center;
the upper arm pulley is fixed in the outer side of the upper arm outer side clamping plate, the steel wire rope bypasses the upper arm pulley to be connected with one ends of two elbow joint driving muscles respectively, the other ends of the two elbow joint driving muscles are connected with the elbow joint fixed wheel on the small arm and the lower end of the upper arm outer side clamping plate respectively, so that the muscle contraction quantity of the series connection is increased, and the elbow joint can be driven in a wider range under the condition of ensuring certain output torque.
Furthermore, the locking type ball joint comprises a shoulder joint fixing platform, a shoulder joint moving platform, a joint ball, an upper arm rotating shaft and a driving rope;
the shoulder joint fixing platform comprises a top plane and a strut, the top plane is provided with three holes which are uniformly distributed and have distances R from the center of the top plane, the top plane is fixed at the upper end of the strut, the center of the lower end of the strut is provided with a ball socket, and a joint ball is arranged in the ball socket; the lower end of the joint ball is connected with the upper arm rotating shaft; the shoulder joint moving platform is sleeved outside the upper arm rotating shaft and is in a sleeve shape, three connecting ends are uniformly distributed on the outer wall of the sleeve along the same cross section, and the distances between the connecting ends and the central axis of the sleeve are r; three driving ropes are respectively fixed at three connecting ends of the shoulder joint moving platform, and the other ends of the three driving ropes penetrate through three holes in the top plane of the shoulder joint fixing platform and then are connected with the steel wire rope.
Furthermore, the exoskeleton robot also comprises binding bands, wherein the binding bands comprise shoulder binding bands, chest binding bands, waist binding bands, upper arm binding bands and lower arm binding bands, the shoulder binding bands are made of U-shaped hard materials and used for dragging the exoskeleton of the upper limbs and the load weight, and the shoulder binding bands are symmetrically fixed on the frame structure; the other bandages are flexible bandages made of soft materials such as nylon, the chest bandage and the waist bandage are fixed on the frame structure and used for matching the relative positions between the human body trunk and the exoskeleton, the upper arm bandage is connected to the splint on the inner side of the upper arm, the lower arm bandage is fixed on the lower arm, the upper arm bandage and the lower arm bandage are used for ensuring the relative fixation between the human body arm and the exoskeleton, and the flexible bandages are mainly used for realizing the fixation and certain movement space between the human body and the exoskeleton so as to ensure the comfort of the human body to wear the exoskeleton.
Further, pneumatic muscle driven upper limbs ectoskeleton robot, its characterized in that, the elbow joint fixed wheel is fan-shaped takes the sheave, and the elbow joint fixed wheel is fixed with the forearm, and the elbow joint fixed wheel is concentric with the hinge, and the effect of elbow joint fixed wheel is: under the condition that the included angle between the small arm and the upper arm is close to 180 degrees, the elbow joint fixed wheel ensures that the elbow joint driving muscle can output enough torque to drive the elbow joint.
Furthermore, the frame structure adopts two transverse brackets and two vertical brackets to form the frame structure; the transverse support and the vertical support are formed by cutting and drilling angle aluminum materials, the supports are connected and fixed through bolts and can be tightly attached to the back of a human body, and the supports mainly play a role in connecting and supporting shoulder joint driving muscles.
The invention has the beneficial effects that: the self-made pneumatic muscle is used as the drive, the pneumatic muscle has good flexibility and bionic performance, and compared with a motor and a hydraulic drive, the pneumatic muscle greatly reduces the structural complexity and cost. The shoulder joint adopts a parallel structure in a ball joint form, and the ball socket inclines towards the right front, is consistent with the physiological performance of the shoulder joint of a human body, and has high bionic property and compact structure; the pneumatic muscle of the shoulder joint is arranged on the back support, and the guide effect is realized by using the pulley, so that the structure is compact and attractive, the defect of insufficient pneumatic muscle shrinkage can be overcome to a certain extent, the elbow joint is driven by connecting two pneumatic muscles in series, the length of the pneumatic muscle is increased, the defect of insufficient pneumatic muscle shrinkage is overcome, and the degree of freedom motion range of the elbow joint is enlarged; the elbow joint is provided with the fixed wheel, so that the muscle in series connection can still be ensured to output enough torque under the condition of extreme angles.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a right side view of fig. 1.
Fig. 4 is a schematic view of the connection of the upper arm and the lower arm.
Fig. 5 is a sectional view of the assembly of the upper arm rotation shaft and the shoulder joint movable platform.
In the figure: 1, erecting a bracket; 2, binding bands for small arms; 3 upper arm binding band; 4 shoulder joint wire ropes; 5 shoulder guide pulleys; 6 a back wire rope; 7, a transverse bracket; 8 back guide pulleys; 9 a shoulder-back connector; 10 shoulder pneumatic muscles; 10 shoulder pneumatic muscles; 11 waist strap; 12 chest strap; 13 shoulder straps; 14 shoulder joint fixation platforms; 15 joint balls; 16 an upper arm rotation shaft; 17 shoulder joint motion platforms; 18 an upper arm pulley; 19 pneumatic muscles are connected in series; 20 upper arm outside splint; 21 an upper arm inner side clamping plate; 22 small arms; 23 elbow joint fixed wheel; a 24 elbow joint hinge; 25 radial bearings A; 26 a thrust bearing; 27 radial bearing B.
Detailed Description
The pneumatic muscle-driven upper limb exoskeleton robot of the present invention is further described in detail with reference to fig. 1 to 5 and the specific embodiment.
Referring to fig. 1 to 5, the pneumatic muscle driven upper limb exoskeleton robot mainly comprises a back support, a shoulder-back connecting piece 9, a parallel driving shoulder joint, an upper arm, a series driving elbow joint, a forearm 20, a bandage and the like, wherein the back support is composed of a vertical support 1, a horizontal support 7, a shoulder joint driving muscle 10, a back support guide pulley 8 and a steel wire rope 6, the parallel driving shoulder joint is composed of a steel wire rope 4, a shoulder guide pulley 5, a shoulder joint fixing platform 14, a joint ball 15 and a shoulder joint moving platform 17, the upper arm is composed of an upper arm rotating shaft 16, an upper arm pulley 18, an upper arm outer side splint 20 and an upper arm inner side splint 21, the series driving elbow joint is composed of a series pneumatic muscle 19 and an elbow joint fixed pulley 23, the bandage part is composed of a forearm bandage 2, an upper arm bandage 3, a waist bandage 11, a chest bandage 12 and a shoulder bandage 14, and a radial bearing A25 is arranged between the rotating shaft 16 and the, The radial bearing B27 is connected to the thrust bearing 26.
The operation process of lifting the arm of the upper limb exoskeleton robot is explained by taking the shoulder joint flexion and extension motion and the elbow joint flexion and extension motion in the sagittal plane as examples.
Wearing
Firstly, a human body wears an upper limb exoskeleton, a shoulder strap 13 is a U-shaped hard strap and is erected above the shoulder of the human body, the shoulder strap is mainly used for enabling the human body to drag the upper limb exoskeleton from below, most of the mass of the exoskeleton and the load is transmitted to the human body through the shoulder U-shaped strap, a sponge and other soft objects can be padded below the exoskeleton to improve the wearing comfort, when the exoskeleton is worn, the shoulder strap is firstly erected on the shoulder of the human body, then a chest strap 12, a waist strap 11, an upper arm strap 2 and a lower arm strap 3 are tied, other straps except the shoulder strap are flexible straps, and the flexible straps mainly serve to achieve the purposes that the human body and the exoskeleton are fixed and have certain movement space so as to ensure the comfort of the human body.
Shoulder joint movement
Taking the right arm as an example, the control system sends a certain signal after detecting the movement intention of a human body, the control system respectively controls the internal air pressure of three shoulder joint driving muscles 10, the three pneumatic muscles 10 are positioned on the back support, the upper ends of the pneumatic muscles are connected with a steel wire rope 6, the steel wire rope bypasses pulleys positioned on the back support and the shoulder fixing platform and is connected on a shoulder joint moving platform 17, when the three pneumatic muscles contract or extend, the force and the movement are transmitted to the shoulder joint moving platform through the pulleys, the shoulder joint moving platform transmits the force to an upper arm rotating shaft 16, so that the swinging of the upper arm rotating shaft, namely two degrees of freedom of abduction/adduction and flexion/extension can be realized, as a thrust bearing 26, a radial bearing A25 and a radial bearing B27 are assembled between the shoulder joint moving platform and the upper arm rotating shaft, the shoulder joint can flexibly rotate, and the degree of freedom of internal/, this degree of freedom can be actively driven by the upper limbs of the human body.
Elbow joint movement
The pneumatic muscle 19 for driving the elbow joint is in a series connection mode, two muscles are connected through a steel wire rope, the series connection muscle bypasses a movable pulley 18, one end of the series connection muscle is connected with an elbow joint fixed wheel 23 on the forearm, the series connection muscle bypasses the elbow joint fixed wheel through the steel wire rope, the other end of the series connection muscle is connected with the lower end of an outer side clamping plate 20, when the pneumatic muscle is inflated, the series connection muscle contracts together, when the pneumatic muscle contracts, the elbow joint fixed wheel 23 is pulled to move, and the elbow joint fixed wheel 23 is fixed on the forearm 22, so that the forearm can be driven to rotate upwards around a hinge 24. When the pneumatic muscles are deflated, the tandem muscles are elongated, and the elbow joint is enabled to rotate downwards around the hinge under the condition of weight bearing or active driving of the human body.
Claims (3)
1. A pneumatic muscle-driven upper limb exoskeleton robot is characterized by comprising a back support and an upper arm;
the upper arm is fixed on the back bracket through a shoulder-back connecting piece (9); the structure of the upper limb exoskeleton robot is symmetrical along the central line of the back support;
the back support comprises a frame structure, pulleys (8), a shoulder-back connecting piece (9) and shoulder joint driving muscles (10), and the six pulleys (8) are fixed on the upper side of the frame structure at equal intervals; six shoulder joint driving muscles (10) are arranged in the frame structure in parallel and correspond to the six pulleys (8) respectively, the lower ends of the shoulder joint driving muscles are fixed with the lower side of the frame structure, and the upper ends of the shoulder joint driving muscles (10) are connected with a driving rope of the locking ball joint by bypassing the pulleys (8) on the upper side of the frame structure through steel wire ropes (6) respectively to realize the driving of the locking ball joint; the shoulder-back connecting piece (9) is of a V-shaped structure, the angle of a V-shaped opening is larger than 90 degrees, the lower end of the V-shaped opening is fixed on the right side of the frame structure, and the upper end of the V-shaped opening is connected with the locking ball joint of the upper arm;
the upper arm comprises a locking ball joint, an upper arm outer side clamping plate (20), an upper arm inner side clamping plate (21), an upper arm pulley (18), an elbow joint fixed wheel (23) and a series connection driving muscle (19); the locking ball joint is fixed on the lower surface of the shoulder-back connecting piece (9); the top plane of the closed ball joint is provided with three holes which are uniformly distributed and have distances R from the center of the top plane; the three shoulder guide pulleys (5) are fixed on the upper surface of the shoulder-back connecting piece (9), and the three shoulder guide pulleys (5) correspond to the holes of the top plane of the locking ball joint one by one; three driving ropes of the locking ball joint respectively bypass the shoulder guide pulley (5) and are connected with a steel wire rope (6); the lower end of a closed ball joint is fixed between an upper arm outer side clamping plate (20) and an upper arm inner side clamping plate (21), the lower ends of an upper arm inner side clamping plate and an upper arm outer side clamping plate are hinged with a small arm (22) to realize the rotation of the small arm (22), and an elbow joint fixed wheel (23) is fixed on the small arm (22) by taking a hinged point as a circle center; an upper arm pulley (18) is fixed on the outer side of an upper arm outer side clamping plate (20), a steel wire rope rounds the upper arm pulley (18) and is respectively connected with one ends of two elbow joint driving muscles (19), the other ends of the two elbow joint driving muscles (19) are respectively connected with an elbow joint fixed wheel (23) on a small arm (22) and the lower end of the upper arm outer side clamping plate (20), and the locking type ball joint comprises a shoulder joint fixing platform (14), a shoulder joint moving platform (17), a joint ball (15), an upper arm rotating shaft (16) and a driving rope;
the shoulder joint fixing platform (14) comprises a top plane and a strut, the top plane is provided with three holes which are uniformly distributed and have distances R from the center of the top plane, the top plane is fixed at the upper end of the strut, the center of the lower end of the strut is provided with a ball socket, and a joint ball (15) is arranged in the ball socket; the lower end of the joint ball (15) is connected with an upper arm rotating shaft (16); a shoulder joint moving platform (17) is sleeved outside the upper arm rotating shaft (16), the shoulder joint moving platform (17) is in a sleeve shape, three connecting ends are uniformly distributed on the outer wall of the sleeve along the same cross section, and the distances between the connecting ends and the central axis of the sleeve are r; three connecting ends of the shoulder joint moving platform (17) are respectively fixed with three driving ropes, the other ends of the three driving ropes penetrate through three holes in the top plane of the shoulder joint fixing platform (14) and then are connected with a steel wire rope (6), the exoskeleton robot further comprises a binding band, the binding band comprises a shoulder binding band (13), a chest binding band (12), a waist binding band (11), an upper arm binding band (3) and a forearm binding band (2), the shoulder binding band (13) is made of a U-shaped hard material, and the shoulder binding bands (13) are symmetrically fixed on a frame structure; the other binding bands are flexible binding bands made of soft materials, the chest binding band (12) and the waist binding band (11) are fixed on the frame structure and used for matching the relative positions between the human body trunk and the exoskeleton, the upper arm binding band (3) is connected to a splint (21) on the inner side of the upper arm, and the lower arm binding band (2) is fixed on the lower arm (22).
2. The pneumatic muscle powered upper extremity exoskeleton robot as claimed in claim 1, wherein said fixed elbow wheel (23) is a sector pulley, the fixed elbow wheel (23) is fixed to the small arm (22), and the fixed elbow wheel (23) is concentric with the hinge (24).
3. A pneumatic muscle powered upper extremity exoskeleton robot as claimed in claim 1 or 2 in which the frame structure is made up of two lateral supports (7) and two vertical supports (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810785041.4A CN108858148B (en) | 2018-07-17 | 2018-07-17 | Pneumatic muscle-driven upper limb exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810785041.4A CN108858148B (en) | 2018-07-17 | 2018-07-17 | Pneumatic muscle-driven upper limb exoskeleton robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108858148A CN108858148A (en) | 2018-11-23 |
| CN108858148B true CN108858148B (en) | 2020-11-20 |
Family
ID=64302864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810785041.4A Expired - Fee Related CN108858148B (en) | 2018-07-17 | 2018-07-17 | Pneumatic muscle-driven upper limb exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108858148B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746897B (en) * | 2019-01-07 | 2023-12-22 | 吉林大学 | Back bionic exoskeleton power assisting device |
| CN110385698A (en) * | 2019-07-30 | 2019-10-29 | 北京机械设备研究所 | A kind of motor-driven four-degree-of-freedom upper limb exoskeleton device |
| CN110421551B (en) * | 2019-08-08 | 2021-07-30 | 合肥哈工力训智能科技有限公司 | Bionic forearm mechanism with muscle tension expression |
| CN110812124B (en) * | 2019-12-06 | 2021-12-03 | 上海大学 | Pneumatic-driven flexible wearable upper limb rehabilitation system |
| WO2022240377A2 (en) * | 2021-05-11 | 2022-11-17 | Tb Teknoloji Sanayi Ve Ticaret Anonim Sirketi | Carrier body structure used in exoskeleton |
| CN114404216B (en) * | 2021-12-23 | 2022-10-25 | 燕山大学 | Wearable exoskeleton shoulder rehabilitation assistive device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101181177A (en) * | 2007-11-28 | 2008-05-21 | 华中科技大学 | Device for healing and training shoulder joint |
| CN201870898U (en) * | 2010-11-23 | 2011-06-22 | 哈尔滨工程大学 | Rope-drawn rehabilitation training machine for ankle joint |
| CN103465253A (en) * | 2013-09-10 | 2013-12-25 | 浙江大学 | Upper limb exoskeleton steering mechanism driven by pneumatic muscles |
| CN204219310U (en) * | 2014-11-12 | 2015-03-25 | 南京工程学院 | A kind of knee joint ectoskeleton servomechanism based on pneumatic muscles |
| CN104552276A (en) * | 2014-12-31 | 2015-04-29 | 浙江大学 | Pneumatic-muscle-driven exoskeleton assisting mechanism |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2390400A (en) * | 2002-03-07 | 2004-01-07 | Shadow Robot Company Ltd | Air muscle arrangement |
| US10231851B2 (en) * | 2014-08-29 | 2019-03-19 | Conor J. MADDRY | Pneumatic electromyographic exoskeleton |
| TWI584801B (en) * | 2016-04-15 | 2017-06-01 | 龍華科技大學 | Exoskeleton apparatus of pneumatic muscle with functions of upper limb power assist and rehabilitation training |
-
2018
- 2018-07-17 CN CN201810785041.4A patent/CN108858148B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101181177A (en) * | 2007-11-28 | 2008-05-21 | 华中科技大学 | Device for healing and training shoulder joint |
| CN201870898U (en) * | 2010-11-23 | 2011-06-22 | 哈尔滨工程大学 | Rope-drawn rehabilitation training machine for ankle joint |
| CN103465253A (en) * | 2013-09-10 | 2013-12-25 | 浙江大学 | Upper limb exoskeleton steering mechanism driven by pneumatic muscles |
| CN204219310U (en) * | 2014-11-12 | 2015-03-25 | 南京工程学院 | A kind of knee joint ectoskeleton servomechanism based on pneumatic muscles |
| CN104552276A (en) * | 2014-12-31 | 2015-04-29 | 浙江大学 | Pneumatic-muscle-driven exoskeleton assisting mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108858148A (en) | 2018-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108858148B (en) | Pneumatic muscle-driven upper limb exoskeleton robot | |
| CN106826763B (en) | Flexible exoskeleton robot for climbing knee joint power-assisted | |
| CN110787027B (en) | Exoskeleton robot for upper limb rehabilitation training | |
| CN105105973B (en) | Wearable power-assisted exoskeleton lower limb mechanism | |
| CN106913447B (en) | A kind of drive lacking type exoskeleton rehabilitation manipulator | |
| CN105520820B (en) | A kind of Three Degree Of Freedom wrist functional rehabilitation robot | |
| CN113352303B (en) | Wearable transport helping hand type ectoskeleton | |
| CN108939396A (en) | A kind of rope driving wearing type upper limb recovery training robot and its application method | |
| CN102499857A (en) | Exoskeleton wearable upper limb rehabilitation robot | |
| CN108814890B (en) | Gravity balance tail end traction type upper limb rehabilitation robot and working method | |
| CN110682305B (en) | Humanoid robot system | |
| CN108852739B (en) | Steel wire rope transmission upper limb rehabilitation arm with self-tensioning function | |
| CN107397647A (en) | Elbow joint power-assisted trainer | |
| CN109015605B (en) | Wearable configuration-variable outer limb robot | |
| WO2024022289A1 (en) | Lightweight human body assistance method and device based on single drive actuator | |
| CN111202656A (en) | Rope-driven parallel ankle joint rehabilitation device | |
| CN111374863B (en) | Hybrid driving type shoulder-elbow-wrist joint rehabilitation training device | |
| CN106943282A (en) | A kind of polypody power-assisted healing robot | |
| CN207139797U (en) | Ectoskeleton arm and ectoskeleton limb mechanism of upper | |
| CN211541213U (en) | Light high-compatibility shoulder rehabilitation exoskeleton | |
| CN212445219U (en) | Passive knee joint assistance exoskeleton device | |
| CN111281739B (en) | Recovered ectoskeleton robot | |
| CN113352294A (en) | Gravity compensator applied to wearable muscle strength auxiliary device | |
| CN206717857U (en) | A kind of modularized bionic snake-shaped robot based on RSR configuration parallel institutions | |
| CN110833493A (en) | Leg rehabilitation mechanism device based on cable driving |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201120 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |