CN109124988A - Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot - Google Patents

Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot Download PDF

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Publication number
CN109124988A
CN109124988A CN201811118026.0A CN201811118026A CN109124988A CN 109124988 A CN109124988 A CN 109124988A CN 201811118026 A CN201811118026 A CN 201811118026A CN 109124988 A CN109124988 A CN 109124988A
Authority
CN
China
Prior art keywords
linking arm
guide wheel
guiding mechanism
ectoskeleton
section
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
Application number
CN201811118026.0A
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Chinese (zh)
Inventor
马舜
陈海平
谭高辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen City Prime Minister Hui Wei Intelligent Technology Co Ltd
Original Assignee
Shenzhen City Prime Minister Hui Wei Intelligent Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen City Prime Minister Hui Wei Intelligent Technology Co Ltd filed Critical Shenzhen City Prime Minister Hui Wei Intelligent Technology Co Ltd
Priority to CN201811118026.0A priority Critical patent/CN109124988A/en
Publication of CN109124988A publication Critical patent/CN109124988A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218Drawing-out devices
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165Wearable interfaces
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • A61H2201/1659Free spatial automatic movement of interface within a working area, e.g. Robot

Abstract

The present invention discloses its exoskeleton robot of a kind of guiding mechanism, lower limb rehabilitation ectoskeleton and application, wherein, guiding mechanism, for ectoskeleton, the ectoskeleton includes the first linking arm, the guiding mechanism includes: guide wheel assembly, and the guide wheel assembly is set to the end of first linking arm, plays the role of guiding with the movement to first linking arm.Technical solution of the present invention can play the role of guiding when ectoskeleton assists human body recovery.

Description

Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot
Technical field
The present invention relates to ectoskeleton technical field, in particular to a kind of guiding mechanism, lower limb rehabilitation ectoskeleton and ectoskeleton Robot.
Background technique
In clinical rehabilitation, in the rehabilitation early stage of the sufferers such as apoplexy, brain paralysis and acute stage, often need to call out by joint motion It wakes up, remold because brain tissue impairment interrupts and the cerebral nervous system of disorder, while muscular strength can also be improved by joint motion, avoided Muscular atrophy, limbs generate the other illnesss such as pressure sore.
It is mostly that rehabilitation teacher artificially helps patient to carry out corresponding rehabilitation movement in the rehabilitation department of existing clinic.Cause To collapse from physical exhaustion the phase in patient, the active force of movement can not be provided, so needing to contribute by rehabilitation teacher to help patient at this time completely It is trained, so greatly wastes manpower and time cost.Since the daily rehabilitation amount of every rehabilitation teacher is limited, so nothing Method meets the needs of brain tissue impairment patient and injury of orthopaedics department patient's rapid growth.And pass through with artificially carrying out acute stage health Refreshment is practiced, and cannot control rehabilitation modality well, such as carries out passive, active, effective switching of impedance mode, leads to rehabilitation efficacy It is unsatisfactory.
Summary of the invention
The main object of the present invention is to provide a kind of guiding mechanism, it is intended to when ectoskeleton assists human body recovery, play and lead To effect.
To achieve the above object, a kind of guiding mechanism proposed by the present invention, is used for ectoskeleton, and the ectoskeleton includes first Linking arm, the guiding mechanism include:
Guide wheel assembly, the guide wheel assembly is set to the end of first linking arm, with the fortune to first linking arm It is dynamic to play the role of guiding.
Optionally, the guide wheel assembly includes an at least guide wheel, and the guide wheel passes through rotation axis and first linking arm Rotation connection.
Optionally, the guide wheel and the rotation axis are rotatablely connected, and the guide wheel includes the first side surface being oppositely arranged With the second side surface, first side surface is connected with the second side surface by outer peripheral surface, from first side surface to second The diameter of guide wheel described in side surface is gradually reduced.
Optionally, the guide wheel is truncated cone-shaped.
Optionally, the angle between the axis and bus of the guide wheel is α, 3 °≤α≤10 °.
Optionally, the guide wheel assembly includes at least two spaced guide wheels, and at least two guide wheels are rotationally connected with Same rotation axis is connected in two guide wheels of same rotation axis, and a guide wheel is identical as the shape of another guide wheel, size It is zoomed in or out for equal proportion.
Optionally, the guide wheel assembly includes the connector connecting with the end of first linking arm, and the guide wheel is logical Rotation axis is crossed to connect with the connector.
The present invention also proposes a kind of lower limb rehabilitation ectoskeleton, comprising:
Joint assembly, the joint assembly include the second linking arm and the first linking arm, second linking arm and described The rotation connection of first linking arm;And
Guiding mechanism, the guiding mechanism are set to one end that first linking arm deviates from second linking arm.Wherein, Guiding mechanism includes:
Guide wheel assembly, the guide wheel assembly is set to the end of first linking arm, with the fortune to first linking arm It is dynamic to play the role of guiding.
Optionally, first linking arm includes the first seperated section being detachably connected and the second seperated section, and described first Seperated section is connect away from one end of the described second seperated section with second linking arm, and the described second seperated section deviates from described first One end of seperated section is connect with the guiding mechanism.
The present invention also proposes a kind of exoskeleton robot comprising lower limb rehabilitation ectoskeleton.
Technical solution of the present invention is set to the end of the first linking arm by using guiding mechanism, when the first linking arm is in external force Under the action of when moving, guiding mechanism can play the role of guiding to the movement of the first linking arm.
By taking the lower limb rehabilitation of ectoskeleton auxiliary human body as an example, the first linking arm is connect by bundled piece with human calf, it After power device can be set on the first linking arm so that the first linking arm moves under the action of power device, under driving Limb does flexion and extension.Human body is typically at the state of prone position either sitting posture when doing rehabilitation exercise, due in the first connection Arm is equipped with guide wheel assembly, so the first linking arm is during exercise, guide wheel assembly and bed surface or ground face contact, and guide wheel can be with Bed surface or ground relative rolling, therefore the resistance in the first linking arm motion process can be reduced, and then power can be reduced Loss, while can also ensure that human body along setting direction move, preferably to assist human body recovery.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of one embodiment of lower limb rehabilitation ectoskeleton of the present invention;
Fig. 2 is the structural schematic diagram at the another visual angle of one embodiment of lower limb rehabilitation ectoskeleton of the present invention;
Fig. 3 is the structural schematic diagram at the another visual angle of one embodiment of lower limb rehabilitation ectoskeleton of the present invention;
Fig. 4 is the knot of the second linking arm and power device and transmission component in one embodiment of lower limb rehabilitation ectoskeleton of the present invention Structure schematic diagram;
Fig. 5 is the decomposition diagram of Fig. 4;
Fig. 6 is that second linking arm and the first linking arm are arranged in angle in one embodiment of lower limb rehabilitation ectoskeleton of the present invention Structural schematic diagram;
Fig. 7 is the attachment structure schematic diagram of the first linking arm and guiding mechanism and ankle-joint regulating device of the invention;
Fig. 8 is the decomposition diagram of length adjustment device in the present invention;
Fig. 9 is the structural schematic diagram of ankle-joint regulating device in the present invention;
Figure 10 is the decomposition diagram of Fig. 9;
Figure 11 is the decomposition diagram of damping unit;
Figure 12 is the structural schematic diagram of one embodiment of guiding mechanism in the present invention;
Figure 13 is the structural schematic diagram of the another embodiment of guiding mechanism in the present invention.
Drawing reference numeral explanation:
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense, For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral;It can be mechanical connection, be also possible to Electrical connection;It can be directly connected, the connection inside two elements or two can also be can be indirectly connected through an intermediary The interaction relationship of a element, unless otherwise restricted clearly.It for the ordinary skill in the art, can basis Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ", The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment Case can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not the present invention claims guarantor Within the scope of shield.
The present invention proposes a kind of lower limb rehabilitation ectoskeleton 100, it is intended to be easy to implement the lower limb rehabilitation of patient.
In embodiments of the present invention, the lower limb rehabilitation ectoskeleton 100, as shown in Figure 1 to 11, comprising: joint assembly 10, Joint assembly 10 includes the second linking arm 11 and the first linking arm 12, and the second linking arm 11 and the first linking arm 12 are rotatablely connected; Transmission component 20, transmission component connect the second linking arm 11 and the first linking arm 12;And power device 30, power device 30 are set It in the one end of the second linking arm 11 far from the first linking arm 12, and is connect with transmission component 20, power device 30 passes through transmission group Part 20 drives the first linking arm 12 to rotate relative to the second linking arm 11.
In the present embodiment, the second linking arm 11 and the first linking arm 12 all can be the structures such as rod-shaped or tabular, In order to mitigate the weight of the second linking arm 11 and the first linking arm 12, can be set on the second linking arm 11 and the first linking arm 12 Set engraved structure.And the material of the second linking arm 11 and the first linking arm 12 can select carbon fiber, aluminium alloy, stainless steel etc..
Technical solution of the present invention is set to one of the second linking arm 11 far from the first linking arm 12 by using power device 30 End, avoids power device 30 and self gravity is overcome to do work, reduce the waste of the energy.
In use, being passed through with the second linking arm 11 by the connection of the thigh of bundled piece and human body or the first linking arm 12 For the connection of the shank of bundled piece and human body, power device 30 is set to the one end of the second linking arm 11 far from the first linking arm 12, That is, power device 30 is set at the hip joint of human body.Power device 30 is driving 12 turns of the first linking arm by transmission component When dynamic, the first linking arm 12 drives shank movement, and human body is made to complete the movement such as bend the knee, stretch, when completing these movements, power The change in location amplitude of device 30 is very little, therefore can reduce or even avoid power device 30 that self gravity is overcome to do work. Also avoid because 10 weight distribution of joint assembly unevenly caused by leg rotation, joint be misaligned the problem of, with preferably it is auxiliary Help user's rehabilitation.Ectoskeleton is dressed for the ease of patient, it is removable using power device 30 and the second linking arm 11 in the present embodiment The scheme for unloading connection can first remove power device 30 when dressing ectoskeleton to patient, ectoskeleton when mitigating wearing Weight dresses good and then power device 30 is mounted on the second linking arm 11 in joint assembly 10.In other of the invention In embodiment, the scheme that power device 30 is fixedly connected with the second linking arm 11 can also be used, when with reduction wearing ectoskeleton Process.
Position for the ease of immobilized patients limbs with respect to the second linking arm 11 and the first linking arm 12, in the technical program Fixing piece 13 is equipped on the second linking arm 11 and/or the first linking arm 12, in the present embodiment, fixing piece 13 is set to the second connection The upside of arm 11 and the first linking arm 12, it is as shown in Figure 1 to Figure 3, fixed when lower limb rehabilitation ectoskeleton 100 is connect with human body Part 13 is correspondingly arranged on front side of thigh and on front side of joint, and when dressing ectoskeleton, patient may be at the shape of prone position either sitting posture Ectoskeleton can be worn on the leg of patient by state, ectoskeleton from the front side of patient, subsequently through bandage by the lower limb of patient with Ectoskeleton is fixed together, and dresses convenient for patient.Joint play and torsion in order to prevent, in the second linking arm 11 and The close one end of one linking arm 12 is connected with the fixing piece 13 for fixing joint, 13 one end of fixing piece and the second linking arm 11 Connection, the other end are connect with the first linking arm 12, and the corresponding knee joint of the fixing piece 13 is equipped with fixation hole 131.In use, patient Joint be equipped with the fixation hole 131 so that joint assembly 10 is bonded to the greatest extent with human synovial, effectively improve pass The drag efficiency of component 10 is saved, while also making the rehabilitation efficacy of patient more preferable.Wherein, the material of fixing piece 13 can for rubber, Latex elastomeric material can also be made of multilayer cloth and/or cotton yarn, to increase its gas permeability, patient be facilitated to use.
Further, transmission component 20 includes the both ends being oppositely arranged, and one end of transmission component 20 is set to the second linking arm 11 one end far from the first linking arm 12, the other end of transmission component 20 and the second linking arm 11 are close to the one of the first linking arm 12 End is hinged, and connect with the first linking arm 12.The both ends that transmission component 20 is arranged are connect with the second linking arm 11 and first respectively Arm 12 connects, and to simplify arragement construction of the transmission component 20 on the second linking arm 11, and then is convenient for the production and processing of ectoskeleton.
In the present embodiment, transmission component 20 includes successively hinged first connecting rod 21, second connecting rod 22 and third connecting rod 23, The one end of first connecting rod 21 far from second connecting rod 22 is connect with power device 30, and third connecting rod 23 deviates from one end of second connecting rod 22 It is hinged close to one end of the first linking arm 12 with the second linking arm 11, and connect with the first linking arm 12.Third connecting rod 23 and It is the hinged place of two linking arms 11, coaxial with the hinged place of the second linking arm 11 and the first linking arm 12, such as the second linking arm 11 It is equipped with shaft hole, shaft is equipped in shaft hole, the first linking arm 12 and third connecting rod 23 are rotatablely connected with the shaft.And the The mode for being fixedly connected with either screw connection can be used between three-link 23 and the first linking arm 12.Wherein, power device 30 For motor 31, motor 31 is connect by electric machine support 32 with the second linking arm 11, output end and the first connecting rod 21 of motor 31 End connection.In order to reduce the width of lower limb rehabilitation ectoskeleton 100, the output end of motor 31 is arranged towards the second linking arm 11, First connecting rod 21 is set between motor 31 and the second linking arm 11.The form that the output end of motor 31 is connect with first connecting rod 21 can Think that the output shaft of motor 31 is connect with first connecting rod 21, output shaft is rotated to drive first connecting rod 21 to move, meanwhile, second connects It connects and is correspondingly arranged at shaft hole on arm 11, the output shaft and shaft hole of motor 31 are rotatablely connected, so that the connection for increasing output shaft is rigid Degree.Either the output end of motor 31 is equipped with ring flange, and ring flange is connect with first connecting rod 21, effect of the ring flange in motor 31 Lower movement, while first connecting rod 21 being driven to move.
For the ease of the assembling of ectoskeleton, in the present embodiment, pass through screw between electric machine support 32 and the second linking arm 11 Connection.Electric machine support 32 is cylindrical shape, and motor 31 is connected to the bottom of electric machine support 32, and the bottom of electric machine support 32 is equipped with installation The mounting hole of fixed motor 31 is equipped with perforative notch in the side wall of electric machine support 32, and the notch runs through the electric machine support 32 End face, first connecting rod 21 be set to the notch in, in order to be driven by motor 31.It, can in order to reduce the weight of electric machine support 32 Multiple perforative notches to be arranged on the side wall of electric machine support 32, it need to only guarantee the support stiffness of electric machine support 32.Together When in the end of electric machine support 32, flange is set, flange is equipped with through-hole, setting company corresponding with flange on the second linking arm 11 Access slot 111 is equipped with the through-hole through 11 thickness direction of the second linking arm in the slot bottom of link slot 111.Electric machine support 32 and second When linking arm 11 connects, the flange of electric machine support 32 is plugged in link slot 111, is realized later using the cooperation of bolt and through-hole The connection of electric machine support 32 and the second linking arm 11.
In the application, power device 30 is preferably servo motor 31, in order to control the second linking arm 11 and the first connection The speed that arm 12 is relatively rotated in different angles makes it more meet the physiological property of human motion, and then preferably assists using Family rehabilitation.Hydraulic motor equal power device 30 also can be selected in certain power device 30.And first connecting rod 21 in the present embodiment, The structure of two connecting rods 22 and third connecting rod 23 is not limited to direct rod shape, and structure is set according to the specific requirement in application.The The material of one connecting rod 21, second connecting rod 22 and third connecting rod 23 can select carbon fiber, aluminium alloy, stainless steel etc..
In order to preferably assist user's rehabilitation, while convenient for controlling and adjusting the movement effects of the first linking arm 12, this reality It applies in example, first connecting rod 21, second connecting rod 22, third connecting rod 23 and the combination of the second linking arm 11 form a parallelogram machine Structure.That is, first connecting rod 21 is identical with the length of third connecting rod 23, second connecting rod 22 is identical with the length of the second linking arm 11, on The identical theoretical length for referring to each connecting rod in four-bar mechanism of the length stated, rather than the physical length of each connecting rod.Due to Four-bar mechanism is suitable for transmitting biggish power, can be realized determining motion profile, and remote convenient for manufacturing and can be realized The advantages of distance transmitting, therefore, four-bar mechanism is selected in the present embodiment.Simultaneously as first connecting rod in parallelogram mechanism 21 with the movement of third connecting rod 23 be it is synchronous, therefore, first connecting rod 21 can be set by power device 30 in different conditions When movement velocity, that is, can determine the corresponding movement velocity of third connecting rod 23, and then the first linking arm 12 can be determined in difference Movement velocity when state so can set corresponding movement velocity according to the physiological status of patient, in order to which user uses, It is also convenient for producing and processing.In other embodiments of the invention, transmission component 20 can also be passed using belt wheel transmission mechanism, gear Motivation structure or other link mechanisms, preferably to assist Rehabilitation.
When doing rehabilitation exercise, in order to guarantee that the motion amplitude in the case where not interfering of transmission component 20 is minimum, this Relationship in embodiment, between the length of first connecting rod 21 and the length of second connecting rod 22 are as follows: 1:4 to 2:5.That is, first connecting rod Ratio range between 21 length and the length of second connecting rod 22 is 0.25 to 0.4, in practical applications, first connecting rod 21 Ratio between length and the length of second connecting rod 22 can select 0.25,0.28,0.3,0.32,0.35,0.37 or 0.4 Deng.
Since four-bar mechanism is when moving to extreme position, it may appear that the spacing of the second linking arm 11 and second connecting rod 22 From minimum phenomenon, even the second linking arm 11 is abutted with second connecting rod 22, leads to the appearance of movement dead, if without external force Auxiliary, four-bar mechanism is difficult to move, for this purpose, connecting between the second linking arm 11 and second connecting rod 22 in the present embodiment There is damping unit 40, as shown in Figures 1 to 6, damping unit 40 is resiliently attached between the second linking arm 11 and second connecting rod 22, Damping unit 40 and the second linking arm 11 are rotatablely connected, and second connecting rod 22 can drive damping unit under the action of power device 30 40 rotate relative to the second linking arm 11.When the position of parallel motion to mechanism dead point, damping unit 40 connects to second Bar 22 applies pulling force, and power device 30 drives first connecting rod 21 to move at this time, and second connecting rod 22 is incessantly right by power device 30 The driving force along 22 extending direction of second connecting rod that first connecting rod 21 applies, while being damped device 40 with second connecting rod 22 and being in The pulling force of angle setting, then the synthesis Impact direction of second connecting rod 22 and its extending direction are inconsistent, therefore second connecting rod 22 can It is moved under the driving of first connecting rod 21, avoids the presence of movement dead.
It, can be with simultaneously as the pulling force that damping unit 40 applies second connecting rod 22 is identical as the driving direction of driving force The gravity for the human body that partial offset second connecting rod 22 needs to overcome during the motion, the weight of joint assembly 10 and foot with Frictional force etc. between bed surface or ground, therefore the energy consumption of power device 30 can be reduced.In the present embodiment, damping dress Setting 40 includes damping ontology 41, is equipped with two spaced first connecting pins 42 and second connection end 43 on damping ontology 41, First connecting pin 42 and the second linking arm 11 are rotatablely connected, and second connection end 43 and damping ontology 41 are rotatablely connected and connect with second Bar 22 is fixedly connected.When second connecting rod 22 moves under the action of power device 30, second connection end 43 can be driven to move simultaneously, Second connection end 43 can be rotated with dynamic damping ontology 41 relative to the second linking arm 11.In the process of movement due to second connecting rod 22 Spacing between the second linking arm 11 is variation, therefore damping unit 40 can be in second connecting rod 22 and the second linking arm 11 Under the action of there is the phenomenon that extending or shortening.It can be designed between the second linking arm 11 and second connecting rod 22 in the application When spacing maximum, the damping of damping unit 40 is zero, later with spacing between the second linking arm 11 and second connecting rod 22 Reduce, the damping of damping unit 40 is gradually increased, and the damping that damping unit 40 provides can also be used to limit simultaneously transmission second The movement velocity of connecting rod 22, and then can be with the movement velocity of the first linking arm of auxiliary adjustment 12.
Figure 11 is please referred to, damping ontology 41 includes shell 411, and the first connecting pin 42 is set to the outer surface of shell 411, shell 411 middle part is equipped with accommodating cavity, is equipped with an opening being connected to accommodating cavity in the outer surface of shell 411, damping ontology 41 also wraps Damper rod 412 is included, one end of damper rod 412 is set in accommodating cavity, and the other end and second connection end 43 are hinged, on damper rod 412 It is arranged with spring 413, is located at one end in accommodating cavity equipped with stopper 4121 in damper rod 412, stopper 4121 is for stopping spring 413, prevent spring 413 from falling off from damper rod 412, certain spring 413 can using resilient sleeve 1243 or disc spring etc. its He replaces elastic component.It is equipped with end cap 414 in the opening of shell 411, end cap 414 is open for covering, while on end cap 414 Equipped with resigning mouthful 641, damper rod 412 stretches out from resigning mouthful 641, when second connection end 43 is under the action of second connecting rod 22, When pulling damper rod 412 mobile to the outside of shell 411, spring 413 follows damper rod 412 to transport under the action of stopper 4121 It is dynamic, while being connected between end cap 414 and stopper 4121 under the action of end cap 414, to increase the damping force of damper rod 412. For the ease of connecting damping unit 40 on transmission component 20, at the same when being also convenient for packing up ectoskeleton transmission component folding, this In embodiment, damper rod 412 is threadedly coupled with second connection end 43, for example damper rod 412 is equipped with external screw thread, second connection end 43 It is equipped with threaded hole equipped with matched threaded hole or damper rod 412, second connection end 43 is equipped with matched outer spiral shell Line.When not needing using lower limb rehabilitation ectoskeleton 100, it can be made to separate with second connection end 43 with rotary damping bar 412, And then the external force being applied on second connecting rod 22 can be removed, in order to adjust the state of lower limb exoskeleton.It is of course also possible to logical Rotation damper rod 412 is crossed, and then adjusts the damping force of damping unit 40, in order to be suitable for the patient of different weight.
Due to need lower limb rehabilitation user or patient leg power be it is very weak, power device 30 drive When joint assembly 10 drives lower extremity movement, the movement of lower limb will appear hip outward turning, put outside ankle etc. other freedom degrees, but in brain It is to prevent patient from hip outward turning, the ankle postures such as pendulum, drop foot outside occur by brace during apoplexy patient bed rehabilitation , if once limbs are formed in acute stage, it will to later period patient stand walking and other normal activities, cause extremely serious Influence.So it is very necessary for carrying out the freedom degree constraint of associated joint during the rehabilitation of acute stage.For this purpose, this reality It applies in example, increases guiding mechanism 50, guiding mechanism 50 is connected to one end that the first linking arm 12 deviates from the second linking arm 11.? When first linking arm 12 moves, guiding mechanism 50 plays the role of guiding, while playing limit to joint assembly 10, keeps away Exempt from the phenomenon that joint assembly 10 rotates, to guarantee the rehabilitation efficacy of patient.When in order to avoid the movement of guiding mechanism 50, patient Foot contacted with ground or bed surface, in the application, supporting element can be set on the first linking arm with the foot of immobilized patients.
In the application, guiding mechanism 50 also can be set on the only ectoskeleton of the first linking arm, at this point, the first connection Arm can be used for the rehabilitation of lower limb, it can also be used to assist the rehabilitation of upper limb.When assisting lower limb rehabilitation, the first linking arm and human body Shank connected by bundled piece, when assist upper limb healing, forearm connection that the first linking arm passes through bundled piece and human body.This When, power device is directly connect with the first linking arm.And when the first linking arm and the rotation connection of the second linking arm, it can also be by power Device is set at the first linking arm and the second linking arm rotation connection, or set on other convenient for the position of driving.
In the present embodiment, guiding mechanism 50 includes the guide wheel assembly 51 set on the first linking arm.Human body is doing rehabilitation exercise When, it is typically at the state of prone position either sitting posture, due to being equipped with guide wheel assembly 51 in the first linking arm, so the first connection Arm during exercise, guide wheel assembly 51 and bed surface perhaps face contact and guide wheel 511 can with bed surface or ground relative rolling, Therefore it can reduce the resistance in the first linking arm motion process, and then the loss of power can be reduced, can also ensure that simultaneously Human body is moved along the direction of setting, preferably to assist human body recovery.
Further, as shown in fig. 7, guide wheel assembly 51 includes being set to the first linking arm 12 to deviate from 11 one end of the second linking arm An at least guide wheel 511.Guide wheel 511 is connected directly between on the first linking arm 12 by rotation axis 513.With simplify guide wheel 511 with The connection of first linking arm.Wherein it is possible to which rotation axis 513 and the rotation connection of the first linking arm is arranged, rotation axis also can be set 513 are fixedly connected with the first linking arm, and rotation axis 513 and guide wheel 511 are rotatablely connected.
Further, as shown in Figure 12 and Figure 13, guide wheel 511 and rotation axis 513 are rotatablely connected, and guide wheel 511 includes opposite The the first side surface 511a and the second side surface 511b being arranged, the first side surface 511a and the second side surface 511b pass through outer peripheral surface 511c connection, the diameter from the first side surface 511a to the second side surface 511b guide wheel 511 are gradually reduced.Since patient is being in Collapse from physical exhaustion the phase when, Muscle tensility is lower, and after the phase of collapsing from physical exhaustion, and Muscle tensility gradually increases, and to carry out reconditioning as early as possible during this, keep away Exempt from limbs in the phase sizing that collapses from physical exhaustion, current ectoskeleton is usually to drive joint motions, and then realize the stretching or contraction of muscle, To restore muscular strength.But the mode of this rehabilitation, generally it is merely able to the front side taken exercise to thigh, the front side of rear side and shank And rear side, the muscle to leg two sides can not be tempered, patient is will lead to and the phenomenon that strephenopodia or hip outward turning occurs.So this In embodiment, the scheme that diameter caused by being arranged is gradually reduced from the first side surface 511a to the second side surface 511b, in this way, suffering from The leg of person is under the action of guide wheel 511, it may appear that the phenomenon that hip joint internal buckle or outward turning, is in internal buckle state in hip joint When, it can be stretched to the muscle of thigh and small leg outer side, and the muscle of thigh and medial leg is in the state shunk, in hip joint When in outward turning state, the muscle of thigh and medial leg is in the state stretched, and the muscle of thigh and small leg outer side, which is in, to be received The state of contracting can be realized the stretching of musculus lateralis externi meat in thigh and shank in conjunction with the stretching, extension of thigh and shank and the movement of bending knee And contraction avoids patient from hip outward turning or pigeon-toed phenomenon occur to restore the muscular strength of musculus lateralis externi meat in thigh and shank.When When not needing to adjust the muscular strength of musculus lateralis externi meat in the thigh of patient, guide wheel 511 can select cylindrical structure.
In one embodiment of this invention, guide wheel 511 is truncated cone-shaped.In order to the machine-shaping of guide wheel 511.Actually answering In, groove structure is also can be set in the outer peripheral surface 511c of guide wheel 511, to reduce the contact surface on when guide wheel 511 rolls and ground Product, and then reduce the external force that driving guide wheel 511 moves.
For the ease of adjusting the muscular strength in outside in thigh, while it is whole also to avoid the angle of guide wheel 511 that improper appearance is arranged It toppling, is unable to complete due movement, in the present embodiment, the angle selected between the axis and bus of guide wheel 511 is α, 3 °≤α ≤ 10 °, and the angular range also complies with the physiological property of human body, and patient is avoided to occur pulled muscle in the process of movement Phenomenon, in practical applications, the angular range that guide wheel 511 drives human body to be inclined outwardly selects 3 °≤α≤5 °, for example, α is selected 3 °, 4 ° or 5 °;And guide wheel 511 drives the intilted angular range of human body to select 5 °≤α≤10 °, α select 5 °, 8 ° or 10 °, it is of course also possible to other suitable angles be selected according to the concrete condition of patient, preferably to assist Rehabilitation.
In order to increase the stability of guide wheel assembly 51 during the motion, in the present embodiment, guide wheel assembly 51 includes at least Two spaced guide wheels 511, at least two guide wheels 511 are rotationally connected with same rotation axis 513, are connected to same rotation axis 513 Two guide wheels 511 in, a guide wheel 511 is identical as the shape of another guide wheel 511, zooms in or out having a size of equal proportion.At least two Spaced guide wheel 511 can be separately positioned on the two sides of the first linking arm, or positioned at the two sides of patient feet, to increase Patient is added to follow the stability in the first linking arm motion process.In order to guarantee the inclined consistency of guide wheel 511, it is connected to same In two guide wheels 511 of rotation axis 513, adjacent 511 equal proportion of guide wheel zooms in or out, it is understood that be connected to same turn The outer peripheral surface 511c of the guide wheel 511 of moving axis 513 is located at the same conical surface.Above-mentioned 511 size scaled down of guide wheel or amplification It is primarily referred to as the radial dimension scaled down or amplification of guide wheel 511, the thickness of guide wheel 511 can select according to actual needs Equal proportion adjustment does not adjust either.
Further, the foot motion of patient is driven for the ease of the first linking arm, while being also convenient for installation guide wheel 511, Guide wheel assembly 51 includes the connector 512 connecting with the end of the first linking arm, and guide wheel 511 passes through rotation axis 513 and connector 512 connections.Foot can be placed on connector 512 by patient, preferably to assist patient.In this implementation, connector 512 is Plate, connector 512 are vertically arranged with the first linking arm 12, and the side connecting to the first linking arm 12 with user extends, with Foot is placed on connector 512 convenient for user.Guide wheel 51 may be provided at the two sides of connector 512, or setting even The lower section of fitting 512.Since the structure of guide wheel 51 is relatively easy and the space occupied is few, the ectoskeleton in the present embodiment When being conveniently used for patient and being in bed state, rehabilitation exercise is carried out on one's sick bed.Certainly in the application, patient can also be in sitting posture Rehabilitation exercise is done under state.In other embodiments of the invention, guiding mechanism 50 can also be to deviate from set on the first linking arm 12 Guide rail of the end of second linking arm 11 either screw mechanism etc., guide rail or screw mechanism the space occupied are larger, but Its track moved determines, can reduce patient and the phenomenon that hip outward turning occurs.
For the ease of the assembling and transport of ectoskeleton, the first linking arm 12 includes the be detachably connected in the present embodiment One seperated section 121 and the second seperated section 122, one end of the first seperated section 121 are connect with transmission component 20, the other end and second point One end of body section 122 connects, and the other end of the second seperated section 122 is equipped with guiding mechanism 50.It, can when dressing ectoskeleton to patient First to dress the second linking arm 11 and the first seperated section 121, the second seperated section 122 is dressed later, can be dressed convenient for patient.And First seperated section 121 and the second seperated section 122, also can be convenient for the first seperated section 121 and the using the scheme being detachably connected The connection of diad section 122.Meanwhile the scheme that the first fission section section seperated with second is detachably connected can also be used, replacement is not With the guide wheel of tilt angle, in order to according to the physical condition of patient, flexibly replacement is provided with the of differing tilt angles guide wheel Diad section.
Since the height of patient is inconsistent, in order to increase the versatility for the product for using technical solution of the present invention production, with Play the role of auxiliary to patient convenient for guiding mechanism 50, in the present embodiment, the first linking arm 12 includes sequentially connected first One end of the seperated section 122 of seperated section 121, second and third fission section 123, the first seperated section 121 is connect with transmission component 20, the The other end section 122 seperated with second of one seperated section 121 is detachably connected, and the other end of the second seperated section 122 is seperated with third Length adjustment device 124 is connected between one end of section 123, guiding mechanism 50 is set to third fission section 123.Second seperated section It is connected between 122 sections 123 seperated with third using length adjustment device 124, therefore, the second fission section 122 section seperated with third Spacing between 123 can be adjusted by length adjustment device 124, and then the length of adjustable first linking arm 12, in order to suffer from Person is in use, guiding mechanism 50 is kept in contact with bed surface or ground always.
In the present embodiment, as shown in figure 8, length adjustment device 124 is section seperated with third set on the second fission section 122 Screw rod 1241 between 123 is equipped in the second seperated section 122 and adjusts screwed pipe 1242, adjusts screwed pipe 1242 and screw rod 1241 one end connection, the other end of screw rod 1241 section 123 seperated with third connect, and rotation adjusts screwed pipe 1242 and can drive The distance between screw rod 1241 is mobile, and then adjust the second fission section 122 section 123 seperated with third, that is, adjust the first linking arm 12 length.When for the ease of adjusting the first 12 length of linking arm, the steady movement of the first linking arm 12 and stress equalization, second It is additionally provided with guide rod 1244 between seperated section 122 section 123 seperated with third, is additionally provided with sleeve 1243, guide rod in the second seperated section 122 1244 one end is set in sleeve 1243, and the other end of guide rod 1244 section 123 seperated with third connects, to connect in adjusting first When 12 length of arm, play the role of guiding.In other embodiments of the invention, length adjustment device 124 can also for set on Gear and rack teeth mechanism between second fission section 122 section 123 seperated with third.
In another embodiment of the invention, the first linking arm 12 includes that section 121 seperated with first is detachably connected Diad section 122 deviates from the second seperated section 122 and is equipped with length adjustment device 124, length adjustment device to one end of seperated section 124 directly connect with guiding mechanism 50.To simplify the structure of the first linking arm 12, while the usage amount of raw material can be saved.
Meanwhile in the present embodiment, the first seperated section 121 and the second seperated section 122 are using the scheme being detachably connected, under Limb rehabilitation ectoskeleton 100 when not in use, can by from the junction of the first seperated section 121 and the second seperated section 122 by part the One linking arm 12 and the guiding mechanism 50 of lower section disassemble from the first seperated section 121 together, in order to store and transport.Its In, the scheme of the first seperated section 121 and the second seperated section 122 being detachably connected can be the first seperated section 121 and second point The scheme that body section 122 is connected by screw to, the scheme etc. that the scheme of plug connection is either threadedly coupled.
For the ease of the connection of the first fission section 121 section 122 seperated with second, as shown in Fig. 4, Fig. 5 and Fig. 7, first point One surface of body section 121 towards the second seperated section 122 is equipped with inserting groove 1211, and the opposite two sidewalls of inserting groove 1211 are equipped with and pass through The through-hole worn, when the second fission section 122 section 121 seperated with first connects, the second seperated section 122 is away from third fission section 123 End is plugged in inserting groove 1211, meanwhile, through-hole correspond in the second seperated section 122 and is equipped with the first connecting hole, first point later Body section 121 and the second seperated section 122 are realized by the cooperation of bolt and through-hole and the first connecting hole and are connected.For the ease of first point The cooperation of the section 122 seperated with second of body section 121, in the present embodiment, the one of the connection of section 121 seperated with first of the second seperated section 122 Two opposite surfaces are held to be all provided with fluted 1221, groove 1221 is arranged through the end face of the second seperated section 122, the second seperated section When 122 end is plugged in inserting groove 1211, the end of the first seperated section 121 is extend into groove 1221, the first seperated section 121 side surface is abutted with the side wall of groove 1221, need to be only pushed to the end face of the second seperated section 122 later and inserting groove 1211 bottom wall abuts, that is, realizes being correspondingly arranged for through-hole and the first connecting hole, only bolt realization need to be arranged in through-hole later The connection of first seperated section 121 and the second seperated section 122.
Since patient is also required to resume training the muscle of ankle-joint in rehabilitation, in order to restore the flesh of muscle Power, for this purpose, being additionally provided with ankle joint angle in the present embodiment away from one end of the second linking arm 11 in the first linking arm 12 and adjusting dress It sets, ankle joint angle regulating device is set to guiding mechanism 50.Ankle joint angle regulating device is for adjusting between shank and foot Angle, in order to adjust the muscular strength of ankle-joint and foot's different location.As shown in Fig. 1, Fig. 7, Fig. 9 and Figure 10, ankle-joint angle Degree regulating device includes the support plate 61 set on guiding mechanism 50, is rotatably connected to angle adjustment plate 62, angle in support plate 61 Adjustable plate 62 is used to support the foot of patient, in order to keep the foot of patient to be kept in contact with angle adjustment plate 62, by angle tune Section plate 62 is fixedly connected with the foot of patient by bandage.One of support plate 61 and angle adjustment plate 62 are equipped with angle tune Knothole 6221, wherein it is another be equipped with second connecting hole 611 corresponding with angle adjustment holes 6221, support plate 61 and angular adjustment Plate 62 is connected by fastener 63.In the present embodiment, support plate 61 is equipped with a circular through hole connecting with fastener 63, angle Adjustable plate 62 be equipped with it is multiple at support plate 61 and 62 rotation connection of angle adjustment plate centered on and spaced angle tune Knothole 6221, for the ease of the muscle strength of even regulation ankle, adjacent angular adjustment hole 6221 respectively with support plate 61 It is 10 ° with the angle being formed by between line at 62 rotation connection of angle adjustment plate.As multiple angle adjustment holes 6221 are distinguished The back song angle of corresponding foot is 20 °, 10 ° and toe song angle is 0 °, -10 °, -20 ° and -30 °.In practical applications, Adjacent angular adjustment hole 6221 can be set and be formed by line at support plate 61 and 62 rotation connection of angle adjustment plate respectively Between angle be 5 ° or other convenient for adjust ankle-joint foot muscles angles.Angle in other embodiments of the invention Regulating tank is strip-shaped hole, which is preferably the arcuation item centered at support plate 61 and 62 rotation connection of angle adjustment plate Shape hole, the second connecting hole 611 can be circular through hole, may be set to be structure identical with 6221 shape of angle adjustment holes. Wherein, fastener 63 can be pin, screw either bolt, and fastener 63 selects wing bolt in the present embodiment, in order to It manually adjusts.
In the present embodiment, angle adjustment plate 62 is including foot's fixed plate 621 and is set to 621 opposite sides of foot's fixed plate Adjustable plate 622, adjustable plate 622 be equipped with multiple angle adjustment holes 6221, guiding mechanism 50 be equipped with two branch being oppositely arranged Fagging 61, two support plates 61 are connect with two adjustable plates 622 respectively.Wherein, support plate 61 is set to the connector 512 of guiding mechanism 50 Upper surface.Ankle-joint is preferably adjusted for the ease of ankle-joint regulating device 60, shank is additionally provided on connector 512 and fixes Part 6413, shank fixing piece 6413 with shank for connecting, the phenomenon that fix shank, it is avoided to reverse.It is small in order to make It is more comfortable when leg bundled fixed, resigning mouthful 641 corresponding with calf protrusion can be offered on shank fixing piece 6413, Keep shank fixing piece 6413 and the compactness of shank more preferable, while the versatility of shank fixing piece 6413 can also be improved.This reality It applies in example, shank fixing piece 6413 is flat, while being arranged at the arcuation being bonded with shank.In the other embodiment of the present invention In, shank fixing piece 6413 can also be made using elastic material.
Ankle joint angle regulating device is arranged in the present embodiment realizes the fixed constraint to ankle-joint.Doctor or family members Ankle joint angle can be quickly adjusted manually according to the practical muscular strength situation of patient, realize the corresponding rehabilitation and protection of ankle-joint.It keeps away The additional complexity using power mechanism is exempted from, the generation of the diseases such as drop foot, strephenopodia, the strephexopodia can be effectively prevent.Pass through letter Single structure realizes the fixation of ankle joint angle, can be effectively improved the muscular strength of ankle-joint Surrounding muscles, facilitate cranial nerve weight Modeling.And do not need to introduce power source in ankle, system complexity is reduced, system weight is reduced.
The present invention also proposes a kind of exoskeleton robot (not shown), which includes lower limb rehabilitation ectoskeleton 100, the specific structure of the lower limb rehabilitation ectoskeleton 100 is referring to above-described embodiment, since this exoskeleton robot is using above-mentioned Whole technical solutions of all embodiments, thus it is at least all beneficial to effect brought by the technical solution with above-described embodiment Fruit, this is no longer going to repeat them.Wherein, a kind of lower limb rehabilitation ectoskeleton 100 characterized by comprising joint assembly 10 closes Saving component 10 includes the second linking arm 11 and the first linking arm 12, and the second linking arm 11 and the first linking arm 12 are rotatablely connected;It passes Dynamic component 20, transmission component connect the second linking arm 11 and the first linking arm 12;And power device 30, power device 30 are set to The one end of second linking arm 11 far from the first linking arm 12, and connect with transmission component 20, power device 30 passes through transmission component 20 the first linking arms 12 of driving are rotated relative to the second linking arm 11.
In the application, exoskeleton robot may include two lower limb rehabilitation ectoskeletons 100 and other with outside lower limb rehabilitation The mechanism that bone 100 connects, in order to carry out rehabilitation simultaneously to two lower limb of patient simultaneously.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly It is included in other related technical areas in scope of patent protection of the invention.

Claims (10)

1. a kind of guiding mechanism, is used for ectoskeleton, the ectoskeleton includes the first linking arm, which is characterized in that the Guiding machine Structure includes:
Guide wheel assembly, the guide wheel assembly are set to the end of first linking arm, are risen with the movement to first linking arm To the effect of guiding.
2. guiding mechanism as described in claim 1, which is characterized in that the guide wheel assembly includes an at least guide wheel, described to lead Wheel is rotatablely connected by rotation axis and first linking arm.
3. guiding mechanism as claimed in claim 2, which is characterized in that the guide wheel and the rotation axis are rotatablely connected, described Guide wheel includes the first side surface and the second side surface being oppositely arranged, and first side surface and the second side surface pass through outer peripheral surface Connection, is gradually reduced from the diameter of guide wheel described in first side surface to the second side surface.
4. guiding mechanism as claimed in claim 3, which is characterized in that the guide wheel is truncated cone-shaped.
5. guiding mechanism as claimed in claim 4, which is characterized in that the angle between the axis and bus of the guide wheel is α, 3°≤α≤10°。
6. the guiding mechanism as described in any in claim 2 to 5, which is characterized in that the guide wheel assembly include at least two between Every the guide wheel of setting, at least two guide wheels are rotationally connected with same rotation axis, are connected in two guide wheels of same rotation axis, one The guide wheel is identical as the shape of another guide wheel, zooms in or out having a size of equal proportion.
7. guiding mechanism as claimed in claim 5, which is characterized in that the guide wheel assembly includes and first linking arm The connector of end connection, the guide wheel are connect by rotation axis with the connector.
8. a kind of lower limb rehabilitation ectoskeleton characterized by comprising
Joint assembly, the joint assembly include the second linking arm and the first linking arm, second linking arm and described first Linking arm rotation connection;And
Guiding mechanism as described in any in claim 1 to 7, the guiding mechanism are set to first linking arm away from described One end of second linking arm.
9. lower limb rehabilitation ectoskeleton as claimed in claim 8, which is characterized in that first linking arm includes being detachably connected The first seperated section and the second seperated section, the described first seperated section connect away from one end of the described second seperated section with described second Arm connection, the described second seperated section are connect away from one end of the described first seperated section with the guiding mechanism.
10. a kind of exoskeleton robot, which is characterized in that including lower limb rehabilitation ectoskeleton as claimed in claim 8 or 9.
CN201811118026.0A 2018-09-25 2018-09-25 Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot Pending CN109124988A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110575357A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 Limb rehabilitation exoskeleton and limb rehabilitation system
CN110575358A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 Exoskeleton for limb rehabilitation
CN110575359A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 Limb rehabilitation exoskeleton and limb rehabilitation system
CN110575360A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 Limb rehabilitation exoskeleton and limb rehabilitation system
CN110575354A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 Limb rehabilitation exoskeleton and limb rehabilitation system

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110575357A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 Limb rehabilitation exoskeleton and limb rehabilitation system
CN110575358A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 Exoskeleton for limb rehabilitation
CN110575359A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 Limb rehabilitation exoskeleton and limb rehabilitation system
CN110575360A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 Limb rehabilitation exoskeleton and limb rehabilitation system
CN110575354A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 Limb rehabilitation exoskeleton and limb rehabilitation system
WO2021057189A1 (en) * 2019-09-25 2021-04-01 深圳市丞辉威世智能科技有限公司 Limb rehabilitation exoskeleton and limb rehabilitation system
CN110575358B (en) * 2019-09-25 2021-10-19 深圳市丞辉威世智能科技有限公司 Exoskeleton for limb rehabilitation
CN110575357B (en) * 2019-09-25 2021-10-29 深圳市丞辉威世智能科技有限公司 Limb rehabilitation exoskeleton and limb rehabilitation system
CN110575359B (en) * 2019-09-25 2022-04-22 深圳市丞辉威世智能科技有限公司 Limb rehabilitation exoskeleton and limb rehabilitation system

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