CN109009893A - A kind of exoskeleton robot preventing hypsokinesis - Google Patents
A kind of exoskeleton robot preventing hypsokinesis Download PDFInfo
- Publication number
- CN109009893A CN109009893A CN201811022720.2A CN201811022720A CN109009893A CN 109009893 A CN109009893 A CN 109009893A CN 201811022720 A CN201811022720 A CN 201811022720A CN 109009893 A CN109009893 A CN 109009893A
- Authority
- CN
- China
- Prior art keywords
- knapsack
- exoskeleton robot
- adjusting bracket
- shank
- thigh
- 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.)
- Pending
Links
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
- 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
- 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
- A61H2201/16—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
- A61H2205/08—Trunk
- A61H2205/088—Hip
-
- 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
-
- 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)
- Rehabilitation Tools (AREA)
Abstract
A kind of exoskeleton robot preventing hypsokinesis, including top support structure and lower limb structure, the top support structure includes knapsack, the top of the lower limb structure is arranged in the knapsack, the knapsack includes the sticking part being directly or indirectly bonded with human upper's trunk, and the sticking part is adapted with the front side of human upper's trunk and/or the left and right sides.The knapsack for being used to place the objects such as controller, sensor and battery is placed on to the front side and/or the left and right sides of human upper's trunk, the center of gravity caused wearing to the rear of exoskeleton robot and unsafe problem of walking are avoided, crutch is lost when in use for rehabilitation exoskeleton robot and possibility is provided.
Description
Technical field
The present invention relates to a kind of exoskeleton robots, belong to human body auxiliary robot field, and in particular to after one kind prevents
The exoskeleton robot to incline.
Background technique
Rehabilitation type exoskeleton robot is the equipment for assisting leg deformity or paralytic patient to walk, and can suffer from paraplegia
Person is fixed in equipment with bandage or other component, and the strength by ectoskeleton helps patient to stand again walking；Currently on the market
Ectoskeleton product knapsack in need to place a series of objects such as controllers, sensor and battery, the weight of knapsack accounts for dermoskeleton
The one third or so of bone overall weight, it is very heavy, by knapsack be set to waist on rear side of, the center of gravity of integral device rearward so that suffer from
When in use, automatic body will lean forward person, to have to walk by crutch；And the general waist of paralytic patient does not have
Knapsack mounting means strong, that this center of gravity is located behind has certain risk for patient, especially upright to stand
When, if slightly hypsokinesis, it is possible to cause patient to topple over backward, to cause very serious injury to patient, and lean on
Center of gravity afterwards, which can make patient always, a kind of illusion toppled over backward, and certain pressure is psychologically also also generated to patient.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of exoskeleton robots for preventing hypsokinesis, make patient's weight
The heart is maintained at front end, increases the safety of walking, optimizes the walking experience of patient.
The invention is realized by the following technical scheme:
A kind of exoskeleton robot preventing hypsokinesis, including top support structure and lower limb structure, the top support knot
Structure includes knapsack, and the knapsack is arranged in the top of the lower limb structure, the knapsack include with human upper's trunk directly or
The sticking part being bonded indirectly, the sticking part are adapted with the front side of human upper's trunk and/or the left and right sides.
As a preferred option, the lower limb structure include can be to the hip adjusting bracket that hip width is adjusted, the hip
Portion's adjusting bracket is located at the topmost of the lower limb structure, and the knapsack is set in the hip adjusting bracket.
It as a preferred option, further include that can make the knapsack around the sideline of its left and right either side to human body in the knapsack
The rotary part that outside rotates and is connected with the hip adjusting bracket.
As a preferred option, flexible back cushion is arranged close to human upper's trunk in the sticking part on one side.
As a preferred option, when the knapsack is soft material, the knapsack passes through the knapsack that a hard material forms
Frame is detachably mounted in the hip adjusting bracket.
As a preferred option, when the knapsack is hard material, the knapsack is detachably mounted to the hip tune
It saves on bracket.
As a preferred option, detachable and adjustable-length knapsack bandage is additionally provided on the knapsack.
As a preferred option, the lower limb structure further includes being closed with the hip adjusting bracket by rotatable thigh
Connected huckle is saved, thigh bandage is installed on the huckle, the huckle includes thigh plate and is set to described big
The thigh movable part of leg members inside is additionally provided with the track slided up and down for the thigh movable part, institute in the thigh plate
It states to be equipped between thigh movable part and the thigh plate and adjusts bolt.
As a preferred option, the lower limb structure further includes being closed with the lower end of the huckle by rotatable shank
Connected calf is saved, knee baffle is fixed on the calf joint, the knee baffle is hard material and can be along its axis
To being opened and closed；The calf is equipped with shank bandage, and the calf includes shank plate and is set to the shank plate
Internal shank movable part is additionally provided with the track slided up and down for the shank movable part, the shank in the shank plate
It is equipped between movable part and the shank plate and adjusts bolt.
As a preferred option, the lower limb structure further includes the foot being connected with the calf by ankle-joint, institute
Stating ankle-joint can be such that the foot revolves upwards from horizontality and the foot is prevented to be rotated down from horizontality.
The present invention is relative to existing exoskeleton robot advantage:
A kind of exoskeleton robot preventing hypsokinesis of the present invention, will be used to place controller, sensor and electricity
The knapsack of the objects such as pond is placed on the front side and/or the left and right sides of human upper's trunk, avoids the center of gravity of exoskeleton robot
Wearing and unsafe problem of walking caused by the rear, losing that crutch provides when in use for rehabilitation exoskeleton robot can
Energy.Knee baffle part uses hard material structural support simultaneously, can withstand the knee portions of leg regions of the wearer of leg weakness, make
Wearer will not be because of leg curvature when walking and paralysis falls, and ankle portion is used and is only rotated up from horizontality
Structure type, the walking for preventing hemiplegic patient from generating when there is the case where drop foot stumbles phenomenon.
Figure of description:
Fig. 1 is a kind of a kind of main view of embodiment of exoskeleton robot for preventing hypsokinesis；
Fig. 2 is a kind of a kind of left view of embodiment of exoskeleton robot for preventing hypsokinesis；
Fig. 3 is a kind of a kind of top view of embodiment of exoskeleton robot for preventing hypsokinesis.
It is respectively marked in figure are as follows:
1- knapsack, 2- hip adjusting bracket, the big leg joint of 3-, 4- huckle, 5- calf joint, 6- calf, 7- knee
Baffle, 8- ankle-joint, 9- foot；11- flexibility back cushion, 12- knapsack bandage.
Specific embodiment
As shown in Figure 1-3, for a kind of first embodiment for the exoskeleton robot for preventing hypsokinesis of the present invention, including top branch
Structure and lower limb structure are held, the top support structure includes knapsack 1, and the top of the lower limb structure is arranged in the knapsack 1,
The knapsack 1 includes the sticking part being directly or indirectly bonded with human upper's trunk, the sticking part and human upper's trunk
Front side and/or the left and right sides are adapted.The lower limb structure includes the hip adjusting bracket 2 that wide to hip can be adjusted, described
Hip adjusting bracket 2 is located at the topmost of the lower limb structure, and the knapsack 1 is set to can the hip that is adjusted of or hip width wide to hip
The front side on the top of portion's adjusting bracket 2.Specifically, the knapsack 1 is close to the front of human body or the sticking part of abdomen or waist
Lower end, be removably attached to the front side on 2 top of hip adjusting bracket or be directly anchored to be located at the hip adjust
On the front side on 2 top of bracket and dismountable Knapsack-rack or the knapsack 1 directly with 2 top of hip adjusting bracket
Front side integral molding.When dressing to exoskeleton robot, the center of gravity of entire exoskeleton robot is located at the chest of wearer
The positions such as preceding or abdomen or waist, facilitate wearer to wear off it, and the center of gravity for avoiding exoskeleton robot is to the rear leads
The wearing and the unsafe problem of walking of cause, lose crutch for rehabilitation exoskeleton robot when in use and provide possibility.
It as a preferred option, further include that can make knapsack 1 around the sideline of its left and right either side to outside human body in the knapsack 1
The rotary part that side rotates and is connected with the hip adjusting bracket 2.The rotary part can be hinged shaft or other have rotation
Open and close the component of function.This kind setting opens and closes the knapsack at the front or the left and right sides of human body, facilitates wearing
Person dresses from the front or behind of exoskeleton robot.
As the second embodiment of the present invention, the difference with above-described embodiment is, chest of the knapsack 1 close to human body
The lower end of sticking part at left and right sides of preceding or abdomen or waist, before being removably attached to 2 top of hip adjusting bracket
Side and the left and right sides or be directly anchored to positioned at 2 top of hip adjusting bracket front side and the left and right sides and it is detachable
Knapsack-rack on or the knapsack 1 be directly integrally formed with the front side on 2 top of hip adjusting bracket and/or the left and right sides.
When being dressed to exoskeleton robot, the center of gravity of entire exoskeleton robot be still located at the body of wearer front or
Some forward position in body.Preferably, the knapsack 1 can be divided into before 2 top of hip adjusting bracket
Knapsack is set on a left side for the preposition knapsack of side and the left and right sides for being located at 2 top of hip adjusting bracket and knapsack is set on the right side,
When the left side set knapsack and it is right set knapsack and be detachably mounted to the left and right sides of the hip adjusting bracket 2 when, can will be located at
Its preposition knapsack do it is somewhat larger, so as to there are a part accommodating space, its left side can be set to knapsack and the right side is set knapsack and unloaded
Under be placed in the preposition knapsack.
As the third embodiment of the present invention, the difference with above-described embodiment is, waist of the knapsack 1 close to human body
The lower end of sticking part at left and right sides of portion is removably attached to the left and right sides or direct on 2 top of hip adjusting bracket
It is fixed on positioned at the left and right sides on 2 top of hip adjusting bracket and dismountable Knapsack-rack or the knapsack 1 is direct
It is integrally formed with the left and right sides on 2 top of hip adjusting bracket, to facilitate the hip adjusting bracket to adjust its crotch
Width.
As the fourth embodiment of the present invention, the difference with above-described embodiment is, when the knapsack 1 is soft material
When, the top support structure include positioned at the lower limb structure top, for fix the knapsack 1 and by hard material
The Knapsack-rack of composition, the Knapsack-rack are located at the front side and/or the left and right sides on 2 top of hip adjusting bracket, and the back
Packet frame is detachably mounted in the hip adjusting bracket.The main frame is detachably mounted to the hip adjusting bracket
On, not only ectoskeleton is facilitated and is worn off, the renewal product of knapsack can also be easily replaced.
As a preferred option, the knapsack 1 is close to the side of human body, that is, the sticking part is close to human upper's body
Flexible back cushion 11 is arranged in dry one side.Flexible back cushion 11 can be set to detachable or fixed, and may also include the summer
Season refrigerant money and winter in spring and autumn comfortable money.
As a preferred option, detachable and adjustable-length knapsack bandage 12 is additionally provided on the knapsack 1.Further will
The firm upper torso fixed to human body of knapsack, such as waist or shoulder.
As a preferred option, the lower limb structure further includes passing through rotatable thigh with the hip adjusting bracket 2
The connected huckle 4 in joint 3, the rotatable big leg joint 3 can be lower part with the hip adjusting bracket 2 and described big
The connected linkage (such as flexural pivot) in the top of leg 4 or bearing or other rotating mechanisms.Thigh is installed on the huckle 4
Bandage, the huckle 4 includes thigh plate and the thigh movable part set on the thigh members inside, in the thigh plate
It is additionally provided with the track slided up and down for the thigh movable part, is equipped with and adjusts between the thigh movable part and the thigh plate
Bolt can adjust the length that the thigh movable part stretches out the thigh plate by adjusting bolt, to adapt to different heights
Human body thigh length.
As a preferred option, the lower limb structure further includes passing through rotatable shank with the lower end of the huckle 4
The connected calf 6 in joint 5, the calf joint 5 can be to be connected with the top of the lower end of huckle 4 and the calf 6
Linkage (such as flexural pivot) or bearing or other rotating mechanisms.The top of the calf is fixed with knee baffle 7, the knee
Baffle 7 is hard material and can be opened and closed in a certain range along its axis direction that the axis direction is the standing of human body
When up and down direction, to make the knee baffle 7 rotate to the direction far from human body, to facilitate wearer to dress the lower limb
Structure；After wearing is good, the knee baffle 7 is rotated to close to the direction of human body, and the knee baffle 7 is fixed on
The front side of human knee, the knee baffle 7 select hard material, can withstand leg or the knee of the wearer of leg weakness
Place, make wearer walking when will not be because of leg curvature and paralysis falls, the calf 6 is equipped with shank bandage, described
Calf 6 includes shank plate and the shank movable part set on the shank members inside, is additionally provided with confession in the shank plate
The track that the shank movable part slides up and down is equipped between the shank movable part and the shank plate and adjusts bolt, can
To adjust the length that the shank movable part stretches out the shank plate by adjusting bolt, to adapt to people of different heights's body
Lower-leg length.
As a preferred option, the lower limb structure further includes passing through the foot that ankle-joint 8 is connected with the calf 6,
The ankle-joint 8 can be such that foot 9 rotates upwards from horizontality, and foot 9 can not be made to be rotated down from horizontality, this kind setting
Wearer can be made to adapt to slope to walk about, and be unlikely to cause to trip due to its foot drop in the process of walking.
It should be pointed out that specific embodiment described above can make those skilled in the art that this hair be more fully understood
It is bright, but do not limit the invention in any way.Therefore, although this specification referring to drawings and examples to present invention has been
Detailed description, it will be understood by those skilled in the art, however, that still can modify or equivalently replace the present invention,
In short, all do not depart from the technical solution and its change of the spirit and scope of the present invention, should all cover in the invention patent
In protection scope.
Claims (10)
1. a kind of exoskeleton robot for preventing hypsokinesis, which is characterized in that including top support structure and lower limb structure, it is described on
Portion's support structure includes knapsack, and the top of the lower limb structure is arranged in the knapsack, and the knapsack includes and human upper's body
The dry sticking part being directly or indirectly bonded, the sticking part are adapted with the front side of human upper's trunk and/or the left and right sides.
2. a kind of exoskeleton robot for preventing hypsokinesis as described in claim 1, which is characterized in that the lower limb structure includes
The topmost of the lower limb structure can be located to the hip adjusting bracket that hip width is adjusted, the hip adjusting bracket, it is described
Knapsack is set in the hip adjusting bracket.
3. a kind of exoskeleton robot for preventing hypsokinesis as claimed in claim 2, which is characterized in that further include in the knapsack
The rotation that the knapsack can be made to rotate and be connected with the hip adjusting bracket to human body outside around the sideline of its left and right either side
Component.
4. a kind of exoskeleton robot for preventing hypsokinesis as described in one of claim 1-3, which is characterized in that the sticking part
Close to human upper's trunk, flexible back cushion is set on one side.
5. a kind of exoskeleton robot for preventing hypsokinesis as described in one of claim 2-4, which is characterized in that the knapsack is
When soft material, the knapsack is detachably mounted to the hip adjusting bracket by the Knapsack-rack that a hard material forms
On.
6. a kind of exoskeleton robot for preventing hypsokinesis as described in one of claim 1-4, which is characterized in that the knapsack is
When hard material, the knapsack is detachably mounted in the hip adjusting bracket.
7. a kind of exoskeleton robot for preventing hypsokinesis as described in one of claim 1-6, which is characterized in that on the knapsack
It is additionally provided with detachable and adjustable-length knapsack bandage.
8. a kind of exoskeleton robot for preventing hypsokinesis as described in one of claim 2-7, which is characterized in that the lower limb knot
Structure further includes the huckle being connected with the hip adjusting bracket by rotatable big leg joint, is equipped on the huckle
Thigh bandage, the huckle include thigh plate and the thigh movable part set on the thigh members inside, the thigh plate
It is additionally provided with the track slided up and down for the thigh movable part in part, is equipped between the thigh movable part and the thigh plate
Adjust bolt.
9. a kind of exoskeleton robot for preventing hypsokinesis as claimed in claim 8, which is characterized in that the lower limb structure is also wrapped
The calf being connected with the lower end of the huckle by rotatable calf joint is included, is fixed with knee on the calf joint
Baffle, the knee baffle are hard material and can be opened and closed along its axial direction；The calf is equipped with shank bandage, described
Calf includes shank plate and the shank movable part set on the shank members inside, is additionally provided in the shank plate for institute
The track that shank movable part slides up and down is stated, is equipped between the shank movable part and the shank plate and adjusts bolt.
10. a kind of exoskeleton robot for preventing hypsokinesis as claimed in claim 9, which is characterized in that the lower limb structure is also
Including the foot being connected with the calf by ankle-joint, the ankle-joint can be such that the foot revolves upwards simultaneously from horizontality
The foot is prevented to be rotated down from horizontality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022720.2A CN109009893A (en) | 2018-09-03 | 2018-09-03 | A kind of exoskeleton robot preventing hypsokinesis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022720.2A CN109009893A (en) | 2018-09-03 | 2018-09-03 | A kind of exoskeleton robot preventing hypsokinesis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109009893A true CN109009893A (en) | 2018-12-18 |
Family
ID=64623120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811022720.2A Pending CN109009893A (en) | 2018-09-03 | 2018-09-03 | A kind of exoskeleton robot preventing hypsokinesis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109009893A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111135020A (en) * | 2020-01-09 | 2020-05-12 | 郭继相 | Exoskeleton auxiliary treatment rehabilitation device |
| CN111840009A (en) * | 2020-07-22 | 2020-10-30 | 陈涛 | Leg rehabilitation treatment device with protection function and using method thereof |
| CN112060055A (en) * | 2020-05-25 | 2020-12-11 | 浙江大学 | Wearable walking assistance robot and hybrid assistance control method thereof |
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| US20070090143A1 (en) * | 2005-10-22 | 2007-04-26 | Cedar Mesa Design Company Llc. | System for carrying articles at the front torso of a human being |
| US20120271207A1 (en) * | 2011-03-14 | 2012-10-25 | Schoen Jason A | Orthosis and methods of using the same |
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN106074094A (en) * | 2016-08-17 | 2016-11-09 | 电子科技大学 | A kind of self adaptation ectoskeleton knee joint gripper shoe unlocked |
| CN209270247U (en) * | 2018-09-03 | 2019-08-20 | 杭州程天科技发展有限公司 | A kind of exoskeleton robot preventing hypsokinesis |
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2018
- 2018-09-03 CN CN201811022720.2A patent/CN109009893A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070090143A1 (en) * | 2005-10-22 | 2007-04-26 | Cedar Mesa Design Company Llc. | System for carrying articles at the front torso of a human being |
| US20120271207A1 (en) * | 2011-03-14 | 2012-10-25 | Schoen Jason A | Orthosis and methods of using the same |
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN106074094A (en) * | 2016-08-17 | 2016-11-09 | 电子科技大学 | A kind of self adaptation ectoskeleton knee joint gripper shoe unlocked |
| CN209270247U (en) * | 2018-09-03 | 2019-08-20 | 杭州程天科技发展有限公司 | A kind of exoskeleton robot preventing hypsokinesis |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111135020A (en) * | 2020-01-09 | 2020-05-12 | 郭继相 | Exoskeleton auxiliary treatment rehabilitation device |
| CN111135020B (en) * | 2020-01-09 | 2022-04-29 | 郭继相 | Exoskeleton auxiliary treatment rehabilitation device |
| CN112060055A (en) * | 2020-05-25 | 2020-12-11 | 浙江大学 | Wearable walking assistance robot and hybrid assistance control method thereof |
| CN112060055B (en) * | 2020-05-25 | 2021-08-03 | 浙江大学 | Wearable walking assistance robot and hybrid assistance control method thereof |
| CN111840009A (en) * | 2020-07-22 | 2020-10-30 | 陈涛 | Leg rehabilitation treatment device with protection function and using method thereof |
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