CN109318215A - Waist exoskeleton robot - Google Patents
Waist exoskeleton robot Download PDFInfo
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- CN109318215A CN109318215A CN201811484414.0A CN201811484414A CN109318215A CN 109318215 A CN109318215 A CN 109318215A CN 201811484414 A CN201811484414 A CN 201811484414A CN 109318215 A CN109318215 A CN 109318215A
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- bar
- hip
- fixedly connected
- leg
- exoskeleton robot
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- 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)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
Waist exoskeleton robot, including back support device, hip attachment device, leg energy storage device and top leg device, it is fixedly connected in the middle part of back support device and hip attachment device, the both ends of hip attachment device are fixedly connected with leg energy storage device, leg energy storage device is fixedly connected with top leg device, back support device can snugly be worn on the back of human body, significantly improve the comfort of human body wearing, fitting procedure is simple, it is simple and quick, leg energy storage device uses the design method of slider-crank mechanism combination spring, it completes after dressing energy storage when ectoskeleton is bent over to user, when human body is converted from stooped over position to standing state, the energy of spring store inversely can be transmitted to back support device by slider-crank mechanism, structure is simple and power-assisted effect is good, top leg device can be bonded well In the thigh of human body, guarantee the comfort of user's wearing, have the characteristics that structure simplify, flexibility it is high.
Description
Technical field
The invention belongs to robotic technology field, in particular to a kind of waist exoskeleton robot.
Background technique
Exoskeleton robot is a kind of physiological make-up, wearable of apery body, and cooperate with wearer motion while assists
The mechanical device of wearer.With the development of science and technology, exoskeleton robot has more wide in fields such as military and civilians
Wealthy application prospect has become current various countries in the research emphasis of robot field.
Existing waist exoskeleton robot uses the form of chest supporting device, i.e., support device is placed on human body
Front, when this design method causes user to dress the work of waist ectoskeleton, chest by biggish extruding force, wearing it is comfortable
Property is poor, and the flexibility of movement is lower.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is an object of the invention to propose a kind of waist exoskeleton robot,
Comfort after human body wearing ectoskeleton can largely be improved, improves the flexibility of movement, there is structure to simplify, flexibly
Property high, wearing comfort and simple and fast feature.
To achieve the goals above, the technical solution adopted by the present invention is that:
Waist exoskeleton robot, including back support device 1, hip attachment device 2, leg energy storage device 3 and top leg
It is fixedly connected in the middle part of device 4, back support device 1 and hip attachment device 2, the both ends and leg of hip attachment device 2 are stored up
Energy device 3 is hinged, and leg energy storage device 3 is fixedly connected with top leg device 4；
The back support device 1 includes the backboard 11 for meeting ergonomics, and the end of two harnesses 5 is separately fixed at back
The medial surface of plate 11 is fixedly connected with the waistband 6 with buckle between two harnesses 5, and the lateral surface lower part of backboard 11 is fixed with back
Portion stretches outer bar fixed block 10, and back outer bar 9 of stretching passes through back and stretches fixed, telescopic back inside outer bar fixed block 10
One end insertion back of flexible interior bar 8 is stretched in outer bar 9, and the hip top connection 12 of the other end and hip attachment device 2 is fixed to be connected
It connects；
The hip attachment device 2 includes hip top connection 12, and hip top connection 12 and hip stretch, and interior bar 13 is fixed to be connected
It connects, flexible 14 sets of the outer bar of hip is stretched in interior bar 13 in hip, and the flexible outer bar 14 of hip and one end of hip lower contact 15 are fixed
Connection, the other end of hip lower contact 15 and the leg connecting rod 21 of leg energy storage device 3 are hinged；
The leg energy storage device 3 includes bandage 19, and the both ends of bandage 19, which are fixed on interior plate 34, forms tubular, inside
Plate 34, bottom plate 23,18 is fixedly connected with composition box body under 20, shell on shell at outer panel 16, leg connecting rod 21 be located at box body
Interior crank 22 is fixedly connected, and crank 22 and straight pin 25, connecting rod 27 are hinged, the both ends of straight pin 25 respectively with outer panel 16,
Interior plate 34 connects, and connecting rod 27 and sliding block 28 are hinged, and spring retainer block 29, sliding block 28 and spring retainer are consolidated with below sliding block 28
29 sets of block are slidably connected on guide rod 30 and with it, one end for being fixedly connected with compressed spring 31 of spring retainer block 29, compress bullet
The other end of spring 31 is fixed on lower fixed block 33, and lower fixed block 33 is fixedly connected with bottom plate 23, and one end of long straight-bar 17 is under
Fixed block 33 is fixedly connected, and the other end of long straight-bar 17 is connected with top leg device 4；
The top leg device 4 includes vertical abduction rod 35, and one end of vertical abduction rod 35 is fixedly connected with long straight-bar 17, turns vertically
The other end of bar 35 is fixedly connected with horizontal abduction rod 36, and horizontal abduction rod 36 is fixedly connected with horizontal straight-bar 37, and horizontal straight-bar 37 is solid
It is scheduled on the thigh support block 38 being adapted with human thigh's curved surface.
It is equipped with screw hole in the flexible interior bar 8 in the back and the flexible outer bar 9 in back, the flexible interior bar 8 in back is stretched with back
Anchor location is adjusted by bolt or buckle between outer bar 9.
Back pad 7 is fixed on the backboard 11.
It is equipped with screw hole in the flexible outer bar 14 of the hip and the flexible interior bar 13 of hip, the flexible outer bar 14 of hip is stretched with hip
Anchor location is adjusted by bolt or buckle between contracting interior bar 13.
The top pillar 24 for enhancing structure stability is fixedly connected between the outer panel 16 and interior plate 34.
The supporting block 32 for enhancing structure stability is fixedly connected between the outer panel 16 and interior plate 34.
The bottom plate 23 is fixedly connected with the upper fixed block 26 of the movement for limiting guide rod 30.
The long straight-bar 17, horizontal abduction rod 36, is equipped with screw hole on horizontal straight-bar 37 at vertical abduction rod 35, long straight-bar 17 with
Pass through spiral shell between vertical abduction rod 35, between vertical abduction rod 35 and horizontal abduction rod 36, between horizontal abduction rod 36 and horizontal straight-bar 37
Bolt adjusts anchor location.
Waist exoskeleton robot provided by the present invention is based on hipbone bone and human hip movement mechanism
Between relationship and the biomimetic features of a kind of waist exoskeleton robot that design, using sequentially connected back support device,
Hip attachment device, leg energy storage device and top leg device, cooperative motion between each device；Back support device can be snugly
It is worn on the back of human body, on the one hand, can be as endorsement packet when user dresses waist ectoskeleton, it is possible to reduce dressed
The time of journey, fitting procedure is simple, simple and quick, on the other hand, compared with existing chest supporting structure, greatly changes
It has been apt to the comfort of human body wearing；Leg energy storage device use slider-crank mechanism combination spring design method, completion to
After energy storage when family wearing ectoskeleton is bent over, when human body is converted from stooped over position to standing state, the energy of spring store
Amount inversely can be transmitted to back support device by slider-crank mechanism, and user is assisted to complete the carrying of cargo, protect people
The structure of the waist of body, this design method is simple and power-assisted effect is good；Top leg device uses the curved surface being adapted with human thigh
Design, can fit in the thigh of human body well, good comfortable to guarantee still to have after user dresses waist ectoskeleton
Property.After user dresses waist ectoskeleton, the maximum angle to bend forward can achieve 90 °, ensure that user wears in this way
Its operating space is unaffected after wearing waist ectoskeleton, and there is waist exoskeleton robot provided by the present invention wearing to relax
Feature suitable, kinematic dexterity is high, power-assisted effect is good, compact-sized.
In addition, back support device and the size of hip attachment device are adjustable, the use of the different bodily forms can adapt to
Family wearing；The position of top leg device can be adjusted using bolt, to adapt to user's wearing of different thigh rugosity, long straight-bar
Anchor location is adjusted by bolt between vertical abduction rod, ectoskeleton can be made to adapt to the user of different thigh length, turned vertically
Anchor location is adjusted by bolt between bar and horizontal abduction rod, between horizontal abduction rod and horizontal straight-bar, ectoskeleton can be made suitable
The user of different thigh diameters is answered, to achieve the purpose that adjustment length, is dressed with adapting to the user of different statures.
Detailed description of the invention
Fig. 1 is waist exoskeleton robot structural schematic diagram.
Fig. 2 is the back support device structural schematic diagram of waist exoskeleton robot.
Fig. 3 is the partial structural diagram of the back support device of waist exoskeleton robot.
Fig. 4 is the first schematic diagram of the hip attachment device of waist exoskeleton robot.
Fig. 5 is the second schematic diagram of the hip attachment device of waist exoskeleton robot.
Fig. 6 is the leg energy storage device structure schematic diagram of waist exoskeleton robot.
Fig. 7 is the decomposition texture schematic diagram of the leg energy storage device of waist exoskeleton robot.
Fig. 8 is the top leg device structural schematic diagram of waist exoskeleton robot.
Fig. 9 is the decomposition texture schematic diagram of the top leg device of waist exoskeleton robot.
Appended drawing reference is as follows:
1. back support device；2. hip attachment device；3. leg energy storage device；4. pushing up leg device；5. harness；6. waist
Band；7. back pad；The interior bar 8. back is stretched；The outer bar 9. back is stretched；The outer bar fixed block 10. back is stretched；11. backboard；12. hip
Top connection；The interior bar 13. hip stretches；The outer bar 14. hip stretches；15. hip lower contact；16. outer panel；17. long straight-bar；18.
Under shell；19. bandage；20. on shell；21. leg connecting rod；22. crank；23. bottom plate；24. top pillar；25. straight pin；26.
Upper fixed block；27. connecting rod；28. sliding block；29. spring retainer block；30. guide rod；31. spring；32. supporting block；33. lower fixed block；
34. interior plate；35. vertical abduction rod；36. horizontal abduction rod；37. horizontal straight-bar；38. thigh support block.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
The structure of waist exoskeleton robot is as shown in Figure 1, include back support device 1, hip attachment device 2, leg
Energy storage device 3, top leg device 4, wherein be fixedly connected in the middle part of back support device 1 and hip attachment device 2, hip connection dress
Hingedly, leg energy storage device 3 is fixedly connected with top leg device 4 for the both ends for setting 2 and leg energy storage device 3.
The structure of back support device is as shown in Fig. 2, back support device 1 is stretched including harness 5, waistband 6, back pad 7, back
Contracting interior bar 8, the flexible outer bar 9 in back, the flexible outer bar fixed block 10 in back and the backboard 11 for meeting ergonomics, wherein two back
End with 5 is separately fixed at the medial surface of backboard 11, and back pad 7 is fixed on backboard 11, is fixedly connected between two harnesses 5
Waistband 6 with buckle, the lateral surface lower part of backboard 11 are fixed with the flexible outer bar fixed block 10 in back, and the flexible outer bar 9 in back passes through
Fixed inside the flexible outer bar fixed block 10 in back, one end insertion back of the flexible interior bar 8 in telescopic back is stretched in outer bar 9,
The other end is fixedly connected with the hip top connection 12 of hip attachment device 2.
The partial structurtes of the back support device of waist exoskeleton robot are provided in interior bar 8 as shown in figure 3, back is stretched
One row's threaded hole, back, which is stretched, to be provided with a row and back in outer bar 9 and stretches the corresponding threaded hole of interior bar 8, back stretch interior bar 8 and
Anchor location is changed by the threaded hole of bolt or buckle insertion different location between the flexible outer bar 9 in back, thus to adjust
Overall length is saved, uses waist exoskeleton robot to adapt to the user of different waist width.
First schematic diagram of the hip attachment device of waist exoskeleton robot is as shown in figure 4, hip attachment device 2 includes
Stretch interior bar 13, hip of hip top connection 12, hip stretches outer bar 14 and hip lower contact 15, wherein hip top connection 12 with
The flexible interior bar 13 of hip is fixedly connected, and flexible 14 sets of the outer bar of hip is stretched in interior bar 13 in hip, the flexible outer bar 14 of hip and hip
One end of subordinate's connector 15 is fixedly connected, and the other end of hip lower contact 15 and the leg connecting rod 21 of leg energy storage device 3 are cut with scissors
It connects.
It is provided with threaded hole of the row for adjustment length in the flexible outer bar 14 of hip, is provided with a row in the flexible interior bar 13 of hip
It stretches the corresponding threaded hole of outer bar 14 with hip, passes through bolt or card between interior bar 13 that hip stretches outer bar 14 and hip stretches
Button adjusts anchor location, so that adjustment length, uses waist exoskeleton robot to adapt to the user of different thigh length.
Second schematic diagram of the hip attachment device of waist exoskeleton robot as shown in figure 5, hip top connection 12 one
End is threadably secured with the flexible interior bar 8 in back and connect, and the flexible interior bar 13 of the other end and hip of hip top connection 12 passes through spiral shell
Line is fixedly connected.
The leg energy storage device structure schematic diagram of waist exoskeleton robot is as shown in fig. 6, waist exoskeleton robot
For the decomposition texture schematic diagram of leg energy storage device as shown in fig. 7, referring to Fig. 6 and Fig. 7, leg energy storage device 3 includes outer panel
16,18, bandage 19 under long straight-bar 17, shell, 20, leg connecting rod 21, crank 22, bottom plate 23, top pillar 24, straight pin on shell
25, upper fixed block 26, connecting rod 27, sliding block 28, spring retainer block 29, guide rod 30, spring 31, supporting block 32, lower fixed block 33 and
Interior plate 34.
Wherein, the both ends of bandage 19, which are threadedly secured on interior plate 34, forms tubular, interior plate 34, outer panel 16,
18 composition box body is fixedly connected under 20, shell on bottom plate 23, shell.Leg connecting rod 21 passes through with the intracorporal crank 22 of box is located at
Be screwed connection, and crank 22 and straight pin 25 and connecting rod 27 are hinged, the both ends of straight pin 25 respectively with outer panel 16, interior plate
34 connections, connecting rod 27 and sliding block 28 are hinged, are consolidated with spring retainer block 29 below sliding block 28, sliding block 28 and 29 sets of spring retainer block
It is slidably connected on guide rod 30 and with it, one end for being fixedly connected with compressed spring 31 of spring retainer block 29, compressed spring 31
The other end is fixed on lower fixed block 33, and lower fixed block 33 is threadably secured with bottom plate 23 to be connect, and the bottom plate 23 is fixed to be connected
It is connected to the upper fixed block 26 of the movement for limiting guide rod 30, for limiting the movement of guide rod 30, to guarantee sliding block 28 and spring
Limited block 29 stable can slide on guide rod 30.It is fixedly connected between the outer panel 16 and interior plate 34 for enhancing
The supporting block 32 of structural stability, supporting block 32 form stable frame for outer panel 16 and interior plate 34 to be connected
Structure enhances integrally-built stability.One end of long straight-bar 17 is threadably secured with supporting block 32 to be connect, long straight-bar 17
The other end is connected with top leg device 4.
The top pillar 24 for enhancing structure stability, top pillar 24 are fixedly connected between the outer panel 16 and interior plate 34
For outer panel 16 and interior plate 34 to be connected, stable frame structure is formed, integrally-built stability is enhanced.
The long straight-bar 17, horizontal abduction rod 36, is equipped with screw hole on horizontal straight-bar 37 at vertical abduction rod 35, long straight-bar 17 with
Anchor location is adjusted by bolt between vertical abduction rod 35, ectoskeleton can be made to adapt to the user of different thigh length, turned vertically
Anchor location is adjusted by bolt between bar 35 and horizontal abduction rod 36, between horizontal abduction rod 36 and horizontal straight-bar 37, to reach
To the purpose of adjustment length, ectoskeleton can be made to adapt to the user of different thigh diameters.
The maximum angle that user dresses waist ectoskeleton and can bend forward can achieve 90 °, when user dresses outside waist
When bone robot bends over by standing state, the hip lower contact 15 of hip attachment device 2 will drive leg energy storage device 3
Leg connecting rod 21, leg connecting rod 21 drive crank 22 around straight pin 25 to the front of user rotate, crank 22 revolve
Connecting rod 27 is driven to move when turning, band movable slider 28 is moved in a straight line along guide rod 30 when connecting rod 27 moves, 28 push the spring of sliding block
Limited block 29 is moved along guide rod 30, and 29 compressed spring 31 of spring retainer block completes the storage of energy.When user dresses outside waist
When bone robot is felt one's feet by stooped over position, the energy release that spring 31 stores helps user to return to standing state, completes
Power-assisted.
Waist exoskeleton robot top 4 structural schematic diagram of leg device as shown in figure 8, waist exoskeleton robot top leg
As shown in figure 9, referring to Fig. 8 and Fig. 9, top leg device 4 turns the decomposition texture schematic diagram of device 4 including vertical abduction rod 35, level
Bar 36, horizontal straight-bar 37 and thigh support block 38, wherein one end of vertical abduction rod 35 and long 17 company of being threadably secured of straight-bar
It connects, the other end of vertical abduction rod 35 is threadably secured with horizontal abduction rod 36 and connect, and horizontal abduction rod 36 passes through with horizontal straight-bar 37
Be screwed connection, and horizontal straight-bar 37 is fixed on the thigh support block 38 being adapted with human thigh's curved surface, to guarantee human body
Thigh is preferably bonded with top leg device 4.
The long straight-bar 17, horizontal abduction rod 36, is equipped with screw hole on horizontal straight-bar 37 at vertical abduction rod 35, long straight-bar 17 with
Pass through spiral shell between vertical abduction rod 35, between vertical abduction rod 35 and horizontal abduction rod 36, between horizontal abduction rod 36 and horizontal straight-bar 37
Bolt adjusts anchor location, to achieve the purpose that adjustment length.
Back support device, hip attachment device, leg energy storage device and top leg device of the invention, back support device
The back of human body can be snugly worn on, compared with existing chest supporting structure, significantly improve the comfortable of human body wearing
Property, leg energy storage device structure is simple and power-assisted effect is good, and top leg device can fit in the thigh of human body well, and user wears
The maximum angle that wearing waist ectoskeleton can bend forward can achieve 90 °.In addition, back support device and hip attachment device
Size it is adjustable, adapt to the different bodily forms user wearing.
Claims (8)
1. waist exoskeleton robot, which is characterized in that including back support device (1), hip attachment device (2), leg storage
Energy device (3) and top leg device (4), back support device (1) and hip attachment device (2) middle part are fixedly connected, hip connection
Hingedly, leg energy storage device (3) is fixedly connected with top leg device (4) at the both ends and leg energy storage device (3) of device (2)；
The back support device (1) includes the backboard (11) for meeting ergonomics, and the end of two harnesses (5) is separately fixed at
The medial surface of backboard (11), is fixedly connected with the waistband (6) with buckle between two harnesses (5), under the lateral surface of backboard (11)
Portion is fixed with back and stretches outer bar fixed block (10), and outer bar (9) are stretched across back flexible outer bar fixed block (10) inside in back
Fixed, stretch one end insertion back of interior bar (8) of telescopic back is stretched in outer bar (9), the other end and hip attachment device
(2) hip top connection (12) is fixedly connected；
The hip attachment device (2) includes hip top connection (12), and hip top connection (12) and hip stretch interior bar (13) admittedly
Fixed connection, hip outer bar (14) of stretch are covered and are stretched on interior bar (13) in hip, and hip stretches outer bar (14) and hip lower contact
(15) one end is fixedly connected, and the other end of hip lower contact (15) and the leg connecting rod (21) of leg energy storage device (3) are cut with scissors
It connects；
The leg energy storage device (3) includes bandage (19), and the both ends of bandage (19) are fixed on interior plate (34) and form tubular,
Interior plate (34), outer panel (16), bottom plate (23), (18) are fixedly connected with composition box body, leg connection under (20), shell on shell
Bar (21) is fixedly connected with the intracorporal crank of box (22) is located at, crank (22) and straight pin (25), connecting rod (27) hingedly, straight pin
(25) both ends are connect with outer panel (16), interior plate (34) respectively, connecting rod (27) and sliding block (28) hingedly, below sliding block (28)
It is consolidated with spring retainer block (29), sliding block (28) and spring retainer block (29) are covered on guide rod (30) and be slidably connected with it, bullet
The other end of one end for being fixedly connected with compressed spring (31) of spring limited block (29), compressed spring (31) is fixed on lower fixed block
(33) on, lower fixed block (33) is fixedly connected with bottom plate (23), and one end of long straight-bar (17) is fixedly connected with lower fixed block (33),
The other end of long straight-bar (17) is connected with top leg device (4)；
The top leg device (4) includes vertical abduction rod (35), and one end of vertical abduction rod (35) is fixedly connected with long straight-bar (17), is erected
The other end of straight abduction rod (35) is fixedly connected with horizontal abduction rod (36), and horizontal abduction rod (36) is fixedly connected with horizontal straight-bar (37),
Horizontal straight-bar (37) is fixed on the thigh support block (38) being adapted with human thigh's curved surface.
2. waist exoskeleton robot according to claim 1, which is characterized in that the back is stretched interior bar (8) and back
Portion, which stretches, is equipped with screw hole on outer bar (9), by bolt or card between interior bar (8) is stretched at back and back is stretched outer bar (9)
Button adjusts anchor location.
3. waist exoskeleton robot according to claim 1, which is characterized in that be fixed with back pad on the backboard (11)
(7)。
4. waist exoskeleton robot according to claim 1, which is characterized in that the hip stretches outer bar (14) and hip
Portion, which stretches, is equipped with screw hole on interior bar (13), between hip stretches outer bar (14) and hip stretches interior bar (13) by bolt or
Buckle is to adjust anchor location.
5. waist exoskeleton robot according to claim 1, which is characterized in that the outer panel (16) and interior plate
(34) top pillar (24) for enhancing structure stability is fixedly connected between.
6. waist exoskeleton robot according to claim 1, which is characterized in that the outer panel (16) and interior plate
(34) supporting block (32) for enhancing structure stability is fixedly connected between.
7. waist exoskeleton robot according to claim 1, which is characterized in that the bottom plate (23) is fixedly connected useful
In the upper fixed block (26) of the movement of limitation guide rod (30).
8. waist exoskeleton robot according to claim 1, which is characterized in that the long straight-bar (17), vertical abduction rod
(35), horizontal abduction rod (36), be equipped with screw hole on horizontal straight-bar (37), between long straight-bar (17) and vertical abduction rod (35), vertical
Consolidation position is adjusted by bolt between abduction rod (35) and horizontal abduction rod (36), between horizontal abduction rod (36) and horizontal straight-bar (37)
It sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811484414.0A CN109318215B (en) | 2018-12-06 | 2018-12-06 | Waist exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811484414.0A CN109318215B (en) | 2018-12-06 | 2018-12-06 | Waist exoskeleton robot |
Publications (2)
| Publication Number | Publication Date |
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| CN109318215A true CN109318215A (en) | 2019-02-12 |
| CN109318215B CN109318215B (en) | 2021-01-15 |
Family
ID=65256921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811484414.0A Active CN109318215B (en) | 2018-12-06 | 2018-12-06 | Waist exoskeleton robot |
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| Country | Link |
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| CN (1) | CN109318215B (en) |
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| CN110370250A (en) * | 2019-08-07 | 2019-10-25 | 广东博智林机器人有限公司 | Exoskeleton robot |
| CN111993393A (en) * | 2020-09-02 | 2020-11-27 | 湖南三一快而居住宅工业有限公司 | Limb driver and power assisting device |
| CN112970362A (en) * | 2021-04-20 | 2021-06-18 | 乔俊强 | Auxiliary working device |
| CN113442117A (en) * | 2021-06-28 | 2021-09-28 | 牛仁智能科技(杭州)有限公司 | Load-bearing assistance exoskeleton |
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| CN103610568A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| CN103735386A (en) * | 2013-11-15 | 2014-04-23 | 北京航空航天大学 | Wearable lower limb exoskeleton rehabilitation robot |
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| CN108247618A (en) * | 2018-04-12 | 2018-07-06 | 昆山市科洛克机器人科技有限公司 | It is a kind of to mitigate back and the lower limb exoskeleton of knee joint load |
| CN108393869A (en) * | 2018-03-01 | 2018-08-14 | 广州市海同机电设备有限公司 | A kind of passive assistance exoskeleton of intelligent waist |
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| CN103735386A (en) * | 2013-11-15 | 2014-04-23 | 北京航空航天大学 | Wearable lower limb exoskeleton rehabilitation robot |
| CN103610568A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110370250A (en) * | 2019-08-07 | 2019-10-25 | 广东博智林机器人有限公司 | Exoskeleton robot |
| CN111993393A (en) * | 2020-09-02 | 2020-11-27 | 湖南三一快而居住宅工业有限公司 | Limb driver and power assisting device |
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| CN113442117A (en) * | 2021-06-28 | 2021-09-28 | 牛仁智能科技(杭州)有限公司 | Load-bearing assistance exoskeleton |
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| Publication number | Publication date |
|---|---|
| CN109318215B (en) | 2021-01-15 |
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