CN109048872A - A kind of wearable lower limb auxiliary is stood up ectoskeleton - Google Patents
A kind of wearable lower limb auxiliary is stood up ectoskeleton Download PDFInfo
- Publication number
- CN109048872A CN109048872A CN201811268671.0A CN201811268671A CN109048872A CN 109048872 A CN109048872 A CN 109048872A CN 201811268671 A CN201811268671 A CN 201811268671A CN 109048872 A CN109048872 A CN 109048872A
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- Prior art keywords
- support
- thigh
- foot
- leg
- leg support
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 22
- 210000000689 upper leg Anatomy 0.000 claims abstract description 91
- 210000002414 leg Anatomy 0.000 claims abstract description 53
- 210000000629 knee joint Anatomy 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 2
- 244000309466 calf Species 0.000 claims 1
- 230000002035 prolonged effect Effects 0.000 claims 1
- 238000005096 rolling process Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 210000003127 knee Anatomy 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 210000003108 foot joint Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of wearable lower limb auxiliary and stands up ectoskeleton, including upper body bandage, thigh support part, leg support part, foot's fixed part；Two connecting pins of the lower part of upper body bandage are connected with separate kneed one end of two thigh support parts respectively, the other end of thigh support part is connected with one end of leg support part, the two junction forms knee joint, and the other end of leg support part is connected with foot's fixed part；One thigh support part, a leg support part and foot's fixed part constitute a single lower limb and assist the ectoskeleton that stands up, and two single lower limbs auxiliary stand up ectoskeleton in symmetrical assembly.User is worn, when stand up act when, it is capable of providing enough support forces, simultaneously also when human body carries out walking, the power that walking can be provided to human body has broad application prospects for the environment that manufacturing industry, hospital etc. need to stand for a long time, squat down.
Description
Technical field
The present invention relates to a kind of auxiliary to stand up ectoskeleton, and in particular to a kind of wearable lower limb auxiliary is stood up ectoskeleton.
Technical background
With the gradually arrival of China's aging, there is to a certain degree for the elderly for this daily simple action that stands up
Difficulty；Furthermore the employee of many industries is many times needing to carry out long-time standing or work of bending the knee, this often gives double
Foot and knee joint bring uncomfortable and then influence working efficiency, and occupational disease can even be caused by accumulating over a long period.But due to working space
And the reason of workplace, be not suitable for putting traditional Chinese chair.
Existing exoskeleton device is mostly to provide the power of walking for human body or improve the outer weight bearing energy of human body
Power is mainly worn on human body two sides, is unable to satisfy the gravity support to human body itself, and existing ectoskeleton is worked
Cheng Dangzhong needs external power supply, and power source keeps whole structure complex, and than cumbersome.For example, patent document " is worn
Wear formula ectoskeleton seat (CN201410705631) " the ectoskeleton seat that is related to passes through two brackets and branch of thigh and shank
Telescopic rod between frame realizes that sitting posture when worker's rest supports that the device is bundled on shank by bandage, and there are biggish
Defect: can not for example be bound well with human body, and knee only passes through one and is hingedly attached, and stability is poor etc..Specially
The sitting type lower limb ectoskeleton that a kind of sharp document " sitting type lower limb ectoskeleton (CN201510384049) " is related to passes through the seat between two legs
Chair, which can make one body, to be sat on the seat at any time, and by the driving of motor, can assist human body walking；But human body
Sitting posture supports it is the damping clutch realization by knee, therefore when human body is sat down and unstable, additionally due to motor
Reason increases whole complexity and weight, and energy consumption is higher.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of wearable lower limb auxiliary and stands up ectoskeleton, to assist human body
Completion is stood up movement, while can carry out Auxiliary support to human body sitting posture, solve human body because it is long-term stand, bend the knee when to foot and
Kneed damage problem.
The technical solution that the present invention solves the technical problem is: it designs a kind of wearable lower limb auxiliary and stands up ectoskeleton,
It is characterised in that it includes upper body bandage, thigh support part, leg support part, foot's fixed part；The lower part of upper body bandage
Two connecting pins be connected respectively with two thigh support parts far from kneed one end, the other end of thigh support part
It is connected with one end of leg support part, the two junction forms knee joint, and the other end and the foot of leg support part are fixed
Part is connected；One thigh support part, a leg support part and foot's fixed part constitute a single lower limb
The ectoskeleton that stands up is assisted, two single lower limbs auxiliary stand up ectoskeleton in symmetrical assembly；
The thigh support part is made of adjusting support plate, the main support of thigh, the support of thigh pair, is set in the main support of thigh
There is leg strap；The top that support plate is set to the main support of thigh is adjusted, thigh pair supports the lower section for being set to the main support of thigh,
There are sliding rail in the two sides for adjusting support plate bottom surface, and multiple card slots are provided on bottom surface；Thigh is main to be supported close to one end of upper body bandage
End on be provided with open-ended keyway, the fixture block that the centre inside keyway is provided with a row and card slot matches, keyway
Internal two sides are provided with sliding slot corresponding with sliding rail；Spring is housed inside fixture block so that fixture block jack-up or whereabouts, work as fixture block
It is caught in when jack-up in the card slot for adjusting support plate, so that the main support of thigh be made to fix with support Board position is adjusted；When fixture block falls
When, adjusting support plate can slide in sliding slot, fixture block adjusted by engaging from different card slot thigh support part length with
Adapt to different users；Thigh pair, which is supported on, is provided with the upward protrusion with through-hole, thigh close to one end of upper body bandage
Master is supported on corresponding position and sets there are two downward band through-hole protrusion, and the band through-hole protrusion that thigh pair supports is located at the main branch of thigh
Between two band through-hole protrusions in support, the two passes through pin-hinges together；
There are extension in the two sides of the end of one end that the main support of thigh is connect with the support of thigh pair with leg support part,
Extension in the support of thigh pair is provided with through-hole on extension compared with the extension minister in the main support of thigh；The support of thigh pair
It is hinged by No.1 screw with the extension of the main support of thigh；
Leg support part includes leg support, support link of standing up, adjustable lever, is equipped with lead screw mould on leg support
Block, motor module, lead screw module include lead screw, two nut seats, slide units, motor module include motor, retarder, motor cabinet,
Shaft coupling；The extension end of the main support of thigh is hinged by No. two screws and the one end for support link of standing up, the support of thigh pair
Extension end it is hinged by one end of No. three screws and leg support；
Leg support is with radian and to be provided with the connecting plates of several mounting holes, with one end of thigh pair support connection
Two sides are provided with extension, and the end of two extensions is provided with for the mounting hole with the support connection of thigh pair；Leg support
There are four threaded holes for the upper end setting at middle part to install nut seat, and four through-holes are arranged to install in the lower end in the middle part of leg support
Motor cabinet；The back side of leg support lower part is provided with boss, and there are two square holes for setting in the distal end faces of its underpart, to hold
It receives the top of adjustable lever, adjustment length can be played the role of by the depth for being inserted into different；
Motor cabinet, two nut seats are installed on the back side of leg support, and lead screw is installed on two nut seats, slide unit installation
On lead screw；Shaft coupling one end and the lower end of lead screw connect, and the other end of shaft coupling is connected with retarder, retarder and motor
Output end is connected, and is set on the boss at the back side of leg support lower part on the downside of motor；
The other end for support link of standing up is hinged by the upper end of screw and slide unit；The lower end of adjustable lever is arranged
There is mounting hole, is connected by the upper end of screw and supporting block；The two sides of supporting block are provided with mounting hole；It is connected in supporting block
There is foot fixing device, foot fixing device includes two arc fixed plates, sole fixed plate and Liang Ge foot bandage；Two arcs
Opposite shape fixed plate is in U-typed installation, and one end of the two is separately fixed in the mounting hole on supporting block two sides by screw；
Liang Ge foot bandage is transversely mounted on the different location of two arc fixed plate open ends, Liang Ge foot bandage respectively
One end be separately fixed on an arc fixed plate, the other end of the two is pasted onto another arc by velcro and fixes
On plate, to be fixed with foot；Sole fixed plate is set to the lower section of two arc fixed plates, and there are two both ends settings upwards
Protrusion, this two project through between the Liang Ge foot bandage that screw is separately fixed on two arc fixed plates.
Compared with prior art, the invention has the following beneficial effects:
One, present invention auxiliary is stood up drives slide unit to prop up human body by the support link on slide unit using lead screw, human body
Using the mobile auxiliary human body walking of slide unit when normal walking, when human body is in sitting posture, using the self-locking of lead screw or motor
The support to sitting posture is completed, the present apparatus only to power is provided at knee joint, saves energy.
The two, present invention are worn on human body lower limbs rear portion, may be worn in human body clothes, by adjust leg support device,
The length of thigh support adjustable plate, to be applicable in different crowds.It is a humanized design.It is equal when human body stands up or walks
Good supporting role can be played, effectively mitigation human-body fatigue.
Three, structure of the invention are very easy, and overall weight is small, facilitates wearing and carrying.Complicated operation is not needed.
Detailed description of the invention
Fig. 1 is the overall structure diagram of an embodiment of the present invention.
Fig. 2 is the thigh support structural schematic diagram of an embodiment of the present invention.
Fig. 3 is the leg support structural schematic diagram of an embodiment of the present invention.
Fig. 4 is the knee joint structure schematic diagram of an embodiment of the present invention.
Fig. 5 is the foot fixing device structural schematic diagram of an embodiment of the present invention.
Specific embodiment
It elaborates with reference to the accompanying drawings of the specification to the present invention.
The present invention provides a kind of wearable lower limb auxiliary and stands up ectoskeleton (referring to Fig. 1-5), including upper body bandage 1, thigh
Support section, leg support part, foot's fixed part；Two connecting pins of the lower part of upper body bandage 1 respectively with two thighs
Support section is connected far from kneed one end, and the other end of thigh support part is connected with one end of leg support part,
The two junction forms knee joint, and the other end of leg support part is connected with foot's fixed part.One thigh support part,
One leg support part and foot's fixed part constitute a single lower limb and assist the ectoskeleton that stands up, two single lower limbs
Auxiliary stands up ectoskeleton in symmetrical assembly.Ectoskeleton is stood up with a single lower limb auxiliary to be illustrated below.
The thigh support part is made of adjusting support plate 2, the main support 3 of thigh, thigh pair support 5, the main support 3 of thigh
It is equipped with leg strap 4；The top that support plate 2 is set to the main support 3 of thigh is adjusted, thigh pair support 5 is set to the main branch of thigh
There are sliding rail in the lower section of support 3, the two sides for adjusting 2 bottom surface of support plate, multiple card slots are provided on bottom surface；The main support of thigh is 3 close to upper
Open-ended keyway is provided on the end of one end of body bandage, the centre inside keyway is provided with a row and matches with card slot
Fixture block, the two sides inside keyway are provided with sliding slot corresponding with sliding rail；Spring is housed inside fixture block so that fixture block jack up or
It falls, is caught in the card slot for adjusting support plate 2 when fixture block jack-up, so that the main support 3 of thigh be made to consolidate with 2 position of support plate is adjusted
It is fixed；When fixture block falls, adjusting support plate 2 can slide in sliding slot, and fixture block is by engaging from different card slots to adjust thigh
Support section length is to adapt to different users；Thigh pair support 5 is provided with upward band in one end close to upper body bandage
The protrusion of through-hole, thigh is main to support 3 to set in corresponding position there are two downward band through-hole protrusion, and thigh pair supports the band logical on 5
Hole protrusion is located between two band through-hole protrusions in the main support 3 of thigh, and the two passes through pin-hinges together.
There are extension in the two sides of the end of one end that the main support 3 of thigh is connect with thigh pair support 5 with leg support part
Portion, thigh pair support the extension minister in the support 3 main compared with thigh of the extension on 5, are provided with through-hole on extension；Thigh pair
Support 5 and the extension of the main support 3 of thigh are hinged by No.1 screw 101.
Leg support part includes leg support 7, support link of standing up 6, adjustable lever 15, is equipped on leg support 7
Lead screw module, motor module, lead screw module include 10, two nut seats 8, slide units 9 of lead screw (ball-screw or trapezoidal screw), electricity
Machine module includes motor 14, retarder 13, motor cabinet 12, shaft coupling 11.The extension end of the main support 3 of thigh passes through No. two spiral shells
Nail 102 is hinged with the one end for support link 6 of standing up, and the extension end of thigh pair support 5 passes through No. three screws 103 and shank branch
One end of support 7 is hinged.
Leg support 7 is with radian and to be provided with the connecting plates of several mounting holes, the one end connecting with thigh pair support 5
Two sides be provided with extension, the end of two extensions is provided with the mounting holes 206 for connecting with thigh pair support 5；It is small
There are four threaded holes 201 for the upper end setting at 7 middle part of leg support to install nut seat 8, and the lower end at 7 middle part of leg support is arranged four
Through-hole 202 is to install motor cabinet 12；The back side of 7 lower part of leg support is provided with boss, is arranged in the distal end faces of its underpart
There are two square holes 305, to accommodate the top of adjustable lever 15, can play the work of adjustment length by being inserted into the different depths
With.
12, two nut seats 8 of motor cabinet are installed on the back side of leg support 7, and lead screw 10 is installed on two nut seats 8,
Slide unit 9 is mounted on lead screw 10.11 one end of shaft coupling is connect with the lower end of lead screw 10, the other end and retarder 13 of shaft coupling 11
It is connected, retarder 13 is connected with the output end of motor 14, and the downside of motor 14 is set to the boss at the back side of 7 lower part of leg support
On.
The other end of support link of standing up 6 is hinged by screw 203 and the upper end of slide unit 9.Adjustable lever 15
Lower end is provided with mounting hole, is connect by screw 302 with the upper end of supporting block 16.The two sides of supporting block 16 are provided with installation
Hole；Foot fixing device is connected in supporting block 16, foot fixing device includes two arc fixed plates 17, sole fixed plate 18
With Liang Ge foot bandage 19.Two arc fixed plates 17 are opposite to be installed in U-typed, and one end of the two is solid respectively by screw 304
It is scheduled in the mounting hole on 16 two sides of supporting block.
Liang Ge foot bandage 19 is transversely mounted on the different location of two 17 open ends of arc fixed plate, Liang Ge foot respectively
One end of bandage 19 is separately fixed on an arc fixed plate 17, and the other end of the two is pasted onto separately by velcro 303
On one arc fixed plate 17, to be fixed with foot.Sole fixed plate 18 is set to the lower section of two arc fixed plates 17, and two
End setting there are two upward protrusion, this two project through that screw 301 is separately fixed on two arc fixed plates 17 two
Between a foot's bandage 19.
Working principle of the present invention: the wearable lower limb auxiliary ectoskeleton that stands up is worn on rear side of human body, when human body stands up
Constantly, the slide unit at knee joint drives support link to prop up thigh support part human body is helped to complete movement of standing up.When
When human body is in sitting posture, slide unit is moved to section in a length mutually appropriate, is played by motor or the self-locking of lead screw to human body
Sitting posture supporting role.Furthermore human body walking is assisted using the mobile completion of slide unit when human normal is walked.
The present invention solves the deficiencies in the prior art, and user only needs to be worn, when carrying out movement of standing up
When, it is capable of providing enough support forces, just looks like that an invisible support stool is the same, while also carrying out walking in human body
When, the power of walking can be provided to human body, for the environment that manufacturing industry, hospital etc. need to stand for a long time, squat down, with wide
Application prospect.
The present invention does not address place and is suitable for the prior art.
Claims (2)
- The ectoskeleton 1. a kind of wearable lower limb auxiliary is stood up, which is characterized in that including upper body bandage, thigh support part, shank Support section, foot's fixed part；Two connecting pins of the lower part of upper body bandage are separate with two thigh support parts respectively Kneed one end is connected, and the other end of thigh support part is connected with one end of leg support part, and the two junction is formed Knee joint, the other end of leg support part are connected with foot's fixed part；One thigh support part, a calf support Divide and foot's fixed part constitutes a single lower limb and assists the ectoskeleton that stands up, two single lower limbs assist the ectoskeleton that stands up In symmetrical assembly；The thigh support part is made of adjusting support plate, the main support of thigh, the support of thigh pair, and the main support of thigh is equipped with leg Portion's bandage；The top that support plate is set to the main support of thigh is adjusted, thigh pair supports the lower section for being set to the main support of thigh, adjusts There are sliding rail in the two sides of support plate bottom surface, and multiple card slots are provided on bottom surface；Thigh is main to support the end close to one end of upper body bandage It is provided with open-ended keyway on end, the fixture block that the centre inside keyway is provided with a row and card slot matches, inside keyway Two sides be provided with sliding slot corresponding with sliding rail；Spring is housed inside fixture block so that fixture block jacks up or falls, when fixture block jacks up When be caught in adjust support plate card slot in, thus make thigh it is main support with adjust support Board position fix；When fixture block falls, adjust Section support plate can be slided in sliding slot, and fixture block is by engaging from different card slots to adjust thigh support part length to adapt to not Same user；Thigh pair, which is supported on, is provided with the upward protrusion with through-hole, the main support of thigh close to one end of upper body bandage It sets in corresponding position there are two downward band through-hole protrusion, what thigh pair supported is located in the main support of thigh with through-hole protrusion Between two band through-hole protrusions, the two passes through pin-hinges together；There are extension, thigh in the two sides of the end of one end that the main support of thigh is connect with the support of thigh pair with leg support part Extension in pair support is provided with through-hole on extension compared with the extension minister in the main support of thigh；The support of thigh pair with it is big The extension of the main support of leg is hinged by No.1 screw；Leg support part includes leg support, support link of standing up, adjustable lever, be equipped on leg support lead screw module, Motor module, lead screw module include lead screw, two nut seats, slide units, and motor module includes motor, retarder, motor cabinet, shaft coupling Device；The extension end of the main support of thigh is hinged by No. two screws and the one end for support link of standing up, and the support of thigh pair is prolonged Long portion end is hinged by one end of No. three screws and leg support；Leg support is with radian and to be provided with the connecting plates of several mounting holes, the two sides with one end of thigh pair support connection It is provided with extension, the end of two extensions is provided with for the mounting hole with the support connection of thigh pair；In the middle part of leg support Upper end setting there are four threaded holes to install nut seat, four through-holes are arranged to install motor in lower end in the middle part of leg support Seat；The back side of leg support lower part is provided with boss, and there are two square holes for setting in the distal end faces of its underpart, can to accommodate The top of adjusting rod can play the role of adjustment length by the depth for being inserted into different；Motor cabinet, two nut seats are installed on the back side of leg support, and lead screw is installed on two nut seats, and slide unit is mounted on silk On thick stick；Shaft coupling one end and the lower end of lead screw connect, and the other end of shaft coupling is connected with retarder, the output of retarder and motor End is connected, and is set on the boss at the back side of leg support lower part on the downside of motor；The other end for support link of standing up is hinged by the upper end of screw and slide unit；The lower end of adjustable lever is provided with peace Hole is filled, is connected by the upper end of screw and supporting block；The two sides of supporting block are provided with mounting hole；Foot is connected in supporting block Device is fixed in portion, and foot fixing device includes two arc fixed plates, sole fixed plate and Liang Ge foot bandage；Two arcs are solid Opposite fixed board is in U-typed installation, and one end of the two is separately fixed in the mounting hole on supporting block two sides by screw；Liang Ge foot bandage is transversely mounted on the different location of two arc fixed plate open ends respectively, and the one of Liang Ge foot bandage End is separately fixed on an arc fixed plate, and the other end of the two is pasted onto another arc fixed plate by velcro On, to be fixed with foot；Sole fixed plate is set to the lower section of two arc fixed plates, and there are two upwards convex for both ends setting It rises, this two project through between the Liang Ge foot bandage that screw is separately fixed on two arc fixed plates.
- The ectoskeleton 2. a kind of wearable lower limb auxiliary according to claim 1 is stood up, which is characterized in that the lead screw is rolling Ballscrew or trapezoidal screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811268671.0A CN109048872B (en) | 2018-10-29 | 2018-10-29 | Wearable lower limb auxiliary standing exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811268671.0A CN109048872B (en) | 2018-10-29 | 2018-10-29 | Wearable lower limb auxiliary standing exoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109048872A true CN109048872A (en) | 2018-12-21 |
| CN109048872B CN109048872B (en) | 2023-11-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811268671.0A Active CN109048872B (en) | 2018-10-29 | 2018-10-29 | Wearable lower limb auxiliary standing exoskeleton |
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| Country | Link |
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| CN (1) | CN109048872B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232009A (en) * | 2021-05-21 | 2021-08-10 | 河北工业大学 | Multi-position auxiliary support exoskeleton |
| CN113664805A (en) * | 2021-08-24 | 2021-11-19 | 河北工业大学 | Full-body exoskeleton for auxiliary support |
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| CN108372498A (en) * | 2018-04-25 | 2018-08-07 | 河北工业大学 | A kind of wearable sitting posture support device |
| CN208005664U (en) * | 2018-02-12 | 2018-10-26 | 成都云鼎康德科技有限公司 | A kind of human body walking walk helper |
| CN208896094U (en) * | 2018-10-29 | 2019-05-24 | 河北工业大学 | A kind of wearable lower limb auxiliary is stood up ectoskeleton |
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Patent Citations (5)
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|---|---|---|---|---|
| KR20140064217A (en) * | 2012-11-20 | 2014-05-28 | 대우조선해양 주식회사 | Wearable robot with parallel links |
| CN106377394A (en) * | 2016-12-02 | 2017-02-08 | 华中科技大学 | Wearable exoskeleton seat device capable of measuring sitting posture of lower limbs of human body |
| CN208005664U (en) * | 2018-02-12 | 2018-10-26 | 成都云鼎康德科技有限公司 | A kind of human body walking walk helper |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113232009A (en) * | 2021-05-21 | 2021-08-10 | 河北工业大学 | Multi-position auxiliary support exoskeleton |
| CN113232009B (en) * | 2021-05-21 | 2022-10-11 | 河北工业大学 | Multi-position auxiliary support exoskeleton |
| CN113664805A (en) * | 2021-08-24 | 2021-11-19 | 河北工业大学 | Full-body exoskeleton for auxiliary support |
| CN113664805B (en) * | 2021-08-24 | 2022-07-19 | 河北工业大学 | Full-body exoskeleton for auxiliary support |
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| Publication number | Publication date |
|---|---|
| CN109048872B (en) | 2023-11-07 |
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