CN109318208A - 一种多自由度自适应膝关节康复训练外骨骼 - Google Patents
一种多自由度自适应膝关节康复训练外骨骼 Download PDFInfo
- Publication number
- CN109318208A CN109318208A CN201811341178.7A CN201811341178A CN109318208A CN 109318208 A CN109318208 A CN 109318208A CN 201811341178 A CN201811341178 A CN 201811341178A CN 109318208 A CN109318208 A CN 109318208A
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- pulley
- shank
- set casing
- driving
- upper junction
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 37
- 238000012549 training Methods 0.000 title claims abstract description 23
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 18
- 210000000689 upper leg Anatomy 0.000 claims abstract description 21
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 230000007704 transition Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000013519 translation Methods 0.000 claims description 8
- 230000000994 depressogenic effect Effects 0.000 claims description 3
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 210000001699 lower leg Anatomy 0.000 abstract description 45
- 210000003127 knee Anatomy 0.000 abstract description 6
- 238000005452 bending Methods 0.000 abstract description 4
- 210000002414 leg Anatomy 0.000 abstract description 3
- 238000012546 transfer Methods 0.000 abstract description 2
- 210000003141 lower extremity Anatomy 0.000 description 10
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 4
- 208000014674 injury Diseases 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 210000004872 soft tissue Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
- 210000002303 tibia Anatomy 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811341178.7A CN109318208A (zh) | 2018-11-12 | 2018-11-12 | 一种多自由度自适应膝关节康复训练外骨骼 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN201811341178.7A CN109318208A (zh) | 2018-11-12 | 2018-11-12 | 一种多自由度自适应膝关节康复训练外骨骼 |
Publications (1)
Publication Number | Publication Date |
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CN109318208A true CN109318208A (zh) | 2019-02-12 |
Family
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Family Applications (1)
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CN201811341178.7A Pending CN109318208A (zh) | 2018-11-12 | 2018-11-12 | 一种多自由度自适应膝关节康复训练外骨骼 |
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CN (1) | CN109318208A (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112576008A (zh) * | 2019-09-29 | 2021-03-30 | 广东博智林机器人有限公司 | 上料机 |
CN113440372A (zh) * | 2021-04-16 | 2021-09-28 | 北京航空航天大学 | 一种柔性驱动膝关节外骨骼 |
CN114191259A (zh) * | 2021-11-09 | 2022-03-18 | 汕头大学 | 一种自适应穿戴外骨骼机器人 |
CN117547439A (zh) * | 2024-01-12 | 2024-02-13 | 清华大学 | 一种五自由度的中心自适应膝关节静态渐进性牵伸训练器 |
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JP2008200813A (ja) * | 2007-02-21 | 2008-09-04 | Kyoto Univ | 二足歩行ロボット |
CN103190972A (zh) * | 2013-04-12 | 2013-07-10 | 郑州轻工业学院 | 一种具有球销副的踝关节辅助康复装置 |
CN103536426A (zh) * | 2013-10-12 | 2014-01-29 | 华中科技大学 | 一种气动肌肉驱动的穿戴式肘关节康复训练装置 |
CN104257487A (zh) * | 2014-09-30 | 2015-01-07 | 安阳工学院 | 一种捆绑式手指康复训练器 |
CN104825312A (zh) * | 2015-05-06 | 2015-08-12 | 电子科技大学 | 一种外骨骼机器人小腿自适应绑缚设计 |
CN204677705U (zh) * | 2015-05-15 | 2015-09-30 | 上海东富龙科技股份有限公司 | 一种柔性传动装置 |
CN105480321A (zh) * | 2015-12-15 | 2016-04-13 | 中国北方车辆研究所 | 基于丝传动的武装机器人三自由度小惯量仿生腿 |
CN106309082A (zh) * | 2015-07-03 | 2017-01-11 | 深圳市肯綮科技有限公司 | 一种轻便运动助力装置执行机构 |
CN107260496A (zh) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | 一种可穿戴外骨骼下肢康复机器人 |
CN108721059A (zh) * | 2018-06-30 | 2018-11-02 | 中国科学院合肥物质科学研究院 | 一种圆盘式磁流变阻尼器下肢康复机器人 |
CN209036530U (zh) * | 2018-11-12 | 2019-06-28 | 郑州轻工业学院 | 一种多自由度自适应膝关节康复训练外骨骼 |
-
2018
- 2018-11-12 CN CN201811341178.7A patent/CN109318208A/zh active Pending
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008200813A (ja) * | 2007-02-21 | 2008-09-04 | Kyoto Univ | 二足歩行ロボット |
CN103190972A (zh) * | 2013-04-12 | 2013-07-10 | 郑州轻工业学院 | 一种具有球销副的踝关节辅助康复装置 |
CN103536426A (zh) * | 2013-10-12 | 2014-01-29 | 华中科技大学 | 一种气动肌肉驱动的穿戴式肘关节康复训练装置 |
CN104257487A (zh) * | 2014-09-30 | 2015-01-07 | 安阳工学院 | 一种捆绑式手指康复训练器 |
CN104825312A (zh) * | 2015-05-06 | 2015-08-12 | 电子科技大学 | 一种外骨骼机器人小腿自适应绑缚设计 |
CN204677705U (zh) * | 2015-05-15 | 2015-09-30 | 上海东富龙科技股份有限公司 | 一种柔性传动装置 |
CN106309082A (zh) * | 2015-07-03 | 2017-01-11 | 深圳市肯綮科技有限公司 | 一种轻便运动助力装置执行机构 |
CN105480321A (zh) * | 2015-12-15 | 2016-04-13 | 中国北方车辆研究所 | 基于丝传动的武装机器人三自由度小惯量仿生腿 |
CN107260496A (zh) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | 一种可穿戴外骨骼下肢康复机器人 |
CN108721059A (zh) * | 2018-06-30 | 2018-11-02 | 中国科学院合肥物质科学研究院 | 一种圆盘式磁流变阻尼器下肢康复机器人 |
CN209036530U (zh) * | 2018-11-12 | 2019-06-28 | 郑州轻工业学院 | 一种多自由度自适应膝关节康复训练外骨骼 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112576008A (zh) * | 2019-09-29 | 2021-03-30 | 广东博智林机器人有限公司 | 上料机 |
CN113440372A (zh) * | 2021-04-16 | 2021-09-28 | 北京航空航天大学 | 一种柔性驱动膝关节外骨骼 |
CN114191259A (zh) * | 2021-11-09 | 2022-03-18 | 汕头大学 | 一种自适应穿戴外骨骼机器人 |
CN117547439A (zh) * | 2024-01-12 | 2024-02-13 | 清华大学 | 一种五自由度的中心自适应膝关节静态渐进性牵伸训练器 |
CN117547439B (zh) * | 2024-01-12 | 2024-03-26 | 清华大学 | 一种五自由度的中心可调膝关节静态渐进性牵伸训练器 |
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Address after: 450002 No. 5 Dongfeng Road, Jinshui District, Henan, Zhengzhou Applicant after: ZHENGZHOU University OF LIGHT INDUSTRY Address before: 450002 No. 5 Dongfeng Road, Jinshui District, Zhengzhou, Henan, Zhengzhou Applicant before: ZHENGZHOU University OF LIGHT INDUSTRY |
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Address after: No. 136, Kexue Avenue, high tech Industrial Development Zone, Zhengzhou City, Henan Province Applicant after: ZHENGZHOU University OF LIGHT INDUSTRY Address before: 450002 No. 5 Dongfeng Road, Jinshui District, Henan, Zhengzhou Applicant before: ZHENGZHOU University OF LIGHT INDUSTRY |