CN109340064A - Ectoskeleton becomes rigid elastic energy storage element with stepless - Google Patents
Ectoskeleton becomes rigid elastic energy storage element with stepless Download PDFInfo
- Publication number
- CN109340064A CN109340064A CN201811203617.8A CN201811203617A CN109340064A CN 109340064 A CN109340064 A CN 109340064A CN 201811203617 A CN201811203617 A CN 201811203617A CN 109340064 A CN109340064 A CN 109340064A
- Authority
- CN
- China
- Prior art keywords
- stepless
- energy storage
- rotary shaft
- storage element
- ectoskeleton
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004146 energy storage Methods 0.000 title claims abstract description 41
- 238000007906 compression Methods 0.000 claims abstract description 55
- 230000006835 compression Effects 0.000 claims abstract description 54
- 230000007704 transition Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000005021 gait Effects 0.000 abstract description 4
- 210000003141 lower extremity Anatomy 0.000 description 7
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 208000020084 Bone disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000451 tissue damage Effects 0.000 description 1
- 231100000827 tissue damage Toxicity 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G1/00—Spring motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G1/00—Spring motors
- F03G1/02—Spring motors characterised by shape or material of spring, e.g. helical, spiral, coil
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G1/00—Spring motors
- F03G1/02—Spring motors characterised by shape or material of spring, e.g. helical, spiral, coil
- F03G1/024—Spring motors characterised by shape or material of spring, e.g. helical, spiral, coil using helical springs
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G1/00—Spring motors
- F03G1/06—Other parts or details
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G1/00—Spring motors
- F03G1/06—Other parts or details
- F03G1/10—Other parts or details for producing output movement other than rotary, e.g. vibratory
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of ectoskeletons to become rigid elastic energy storage element with stepless, support housing including inner hollow, the rotary shaft of inner hollow in the support housing is set, compression stop in the support housing is set, bottom end is connect with the compression stop and upper end passes through the Kai Lafu line for stretching out the support housing in the middle part of the rotary shaft upwards, the adjusting handle of bottom end and the compression stop is affixed and upper end is set in the rotary shaft cylindroid helical-coil compression spring and the decrement for adjusting the cylindroid helical-coil compression spring that the rotary shaft upper end is set.By the way that ectoskeleton of the invention is become rigid elastic energy storage element reasonable Arrangement in each joint motions part of ectoskeleton equipment with stepless, the storage and release that energy-storage travelling wave tube through the invention recycles each joint energy of ectoskeleton equipment in a gait cycle, patient's assisted walk is helped, and completes specific active training movement.
Description
Technical field
The present invention relates to medical rehabilitation instrument field, in particular to a kind of ectoskeleton becomes rigid elastic energy storage element with stepless.
Background technique
Ectoskeleton equipment can effective Auxiliary support patient a part of weight, realize active assisted walk, improve
The harmony of lower limb muscles, increases the range of motion of joint of lower extremity, to improve the motor function of patient's lower limb；Storage therein
Energy element is the key technology for realizing its function, by energy-storage travelling wave tube to each joint energy of ectoskeleton equipment in a gait cycle
The storage and release recycled is measured, patient's assisted walk is helped, and completes specific active training movement.Existing energy storage
In element, power energy storage calorific value is big, and wiring is complicated, and additional power source increases the weight of equipment, increases power supply burden；It is hydraulic
Energy-storage system is complicated, is not suitable for and existing system combines, and hydraulic oil is easily revealed and is not easy to using medical device product.So
The energy-storage travelling wave tube for needing one kind new now is to overcome drawbacks described above.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of ectoskeleton use
It is stepless to become rigid elastic energy storage element.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of ectoskeleton stepless change just elasticity storage
Energy element, the rotary shaft of support housing, the inner hollow being arranged in the support housing including inner hollow are arranged in institute
State the compression stop in support housing, bottom end is connect with the compression stop and upper end passes through and stretches out upwards in the middle part of the rotary shaft
The Kai Lafu line of the support housing, bottom end is affixed with the compression stop and upper end is set in the cylinder spiral shell in the rotary shaft
It revolves compressed spring and the adjusting of the decrement for adjusting the cylindroid helical-coil compression spring of the rotary shaft upper end is set
Handwheel.
Preferably, to offer screw pitch on the outer wall on the rotary shaft top identical with the cylindroid helical-coil compression spring
Helicla flute, the upper end of the cylindroid helical-coil compression spring are fastened in the helicla flute.
Preferably, perforation is offered on the outer wall of the support housing to its internal vertical guide groove, the compression
The side of block offers jack, and the adjustable column that inner end is goed deep into the jack is inserted in the vertical guide groove.
Preferably, the adjustable column can move up and down in the guide groove.
Preferably, adjusting block moving up and down is additionally provided on the outer wall of the support housing.
Preferably, the lower end for adjusting block is offered for cooperating the arc groove contacted with the adjustable column.
Preferably, it is inserted on the adjusting block for the adjusting block to be connected in the support housing
Lock-screw.
Preferably, the upper periphery of the rotary shaft is arranged with bearing, and the upper end of the bearing is provided with and the branch
Support the affixed bearing (ball) cover of shell.
Preferably, the adjusting handle is set in the rotary shaft top, offers fixation hole on the adjusting handle,
The fixing screws for being fixedly connected with the adjusting handle and rotary shaft are inserted in the fixation hole.
Preferably, the connection transition block for being connected with ectoskeleton equipment is additionally provided in the support housing.
The beneficial effects of the present invention are:
Ectoskeleton of the invention can be directed to different wearings with the size of the stepless storage energy for becoming rigid elastic energy storage element
Person is adjusted, and meets the requirement of wearer's individual adaptability and comfort；
Ectoskeleton of the invention becomes rigid elastic energy storage element suitable for because of joint of lower extremity, muscle tissue damage or bone with stepless
The patient of lower limb disorder caused by bone disease or function limitation, can assist patient carry out normal level walking and on
It goes downstairs, realizes that minimal invasive treatment takes care of oneself, slow down the physiological pain sense of patient, mitigate the economy and energy burden of family numbers of patients, with
And reduction is engaged in repetitive, the activity duration is longer or forces the labour damage of the lower limb of the staff of position；
By the way that ectoskeleton of the invention is become rigid elastic energy storage element reasonable Arrangement in each pass of ectoskeleton equipment with stepless
Motion parts are saved, energy-storage travelling wave tube through the invention recycles each joint energy of ectoskeleton equipment in a gait cycle
Storage and release, help patient's assisted walk, and complete the movement of specific active training.The configuration of the present invention is simple uses
Effect is good, has good popularization and application foreground.
Detailed description of the invention
Fig. 1 is the cross-sectional view after ectoskeleton of the invention sheds connection transition block with the stepless rigid elastic energy storage element of change；
Fig. 2 is the stepless external structure schematic diagram for becoming rigid elastic energy storage element of ectoskeleton of the invention；
Fig. 3 is the stepless structural schematic diagram for becoming rigid elastic energy storage element of ectoskeleton of the invention；
Fig. 4 is that ectoskeleton of the invention is shown with the stepless adjusting block for becoming rigid elastic energy storage element in the decomposition of support housing
It is intended to；
Fig. 5 is a kind of stepless specific implementation for becoming rigid elastic energy storage element and being used for ectoskeleton equipment of ectoskeleton of the invention
The schematic diagram of example.
Description of symbols:
1-support housing；2-rotary shafts；3-compression stops；4-Kai Lafu lines；5-cylindroid helical-coil compression springs；6—
Adjusting handle；7-connection transition blocks；8-ectoskeleton equipment；9-ectoskeletons become rigid elastic energy storage element with stepless；10-is vertical
Guide groove；11-jacks；12-adjustable columns；13-adjust block；14-arc grooves；15-lock-screws；20-helicla flutes；
21-bearings；22-bearing (ball) covers；60-fixation holes.
Specific embodiment
The present invention will be further described in detail below with reference to the embodiments, to enable those skilled in the art referring to specification
Text can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein are not precluded one or more
The presence or addition of a other elements or combinations thereof.
As shown in Figs 1-4, a kind of ectoskeleton of the present embodiment becomes rigid elastic energy storage element with stepless, including inner hollow
Support housing 1, the rotary shaft 2 for the inner hollow being arranged in support housing 1, the compression stop 3 being arranged in support housing 1,
Bottom end is connect with compression stop 3 and upper end passes through Kai Lafu line 4, bottom end and pressure that support housing 1 is stretched out at 2 middle part of rotary shaft upwards
The cylindroid helical-coil compression spring 5 and being used for for 2 upper end of rotary shaft is set that contracting block 3 is affixed and upper end is set in rotary shaft 2
Adjust the adjusting handle 6 of the decrement of cylindroid helical-coil compression spring 5.
Screw pitch helicla flute 20 identical with cylindroid helical-coil compression spring 5, cylinder spiral shell are offered on the outer wall on 2 top of rotary shaft
The upper end of rotation compressed spring 5 is fastened in helicla flute 20.The compression end and lower section compression stop 3 of cylindroid helical-coil compression spring 5 are solid
Fixed connection.Triumphant pressgang line 4 is connected with the compression stop 3 that 5 compression end of cylindroid helical-coil compression spring is fixed, the drawing of Kai Lafu line 4
It is dynamic to drive compression stop 3, realize the energy storage of cylindroid helical-coil compression spring 5.
Adjusting handle 6 is set in 2 top of rotary shaft, and fixation hole 60 is offered on adjusting handle 6, is inserted in fixation hole 60
For being fixedly connected with the fixing screws of adjusting handle 6 and rotary shaft 2.
By rotating adjusting handle 6, drives rotary shaft 2 to rotate, occur between rotary shaft 2 and cylindroid helical-coil compression spring 5
Helical rotation, to increase or decrease effective work of the cylindroid helical-coil compression spring 5 between rotary shaft 2 and compression stop 3
Make circle number, to control the decrement of spring, realizes the stepless change of 5 rigidity of cylindroid helical-coil compression spring, realize energy storage
The control of amount.For example, referring to Fig. 1, rotation adjusting handle 6 is rotated clockwise, drives rotary shaft 2 to rotate clockwise, cylindrical screw
5 upper end of compressed spring is rotated up under the guiding function of helicla flute 20, and the cylindroid helical-coil compression spring 5 of more multi-turn number screws in spiral shell
It in spin slot 20, is equivalent to cylindroid helical-coil compression spring 5 and is moved up in rotary shaft 2, make to be fixed on rotary shaft 2 and compression stop
The number of active coils of cylindroid helical-coil compression spring 5 between 3 is reduced；Conversely, making to be fixed on rotation when rotating counterclockwise adjusting handle 6
The number of active coils of cylindroid helical-coil compression spring 5 between shaft 2 and compression stop 3 increases, so that elastic force effect can be generated by realizing
Effective cylindroid helical-coil compression spring 5 enclose the adjusting of number quantity and realize energy storage amount to control the decrement of spring
It controls to adjust, to adapt to different service conditions.
Perforation is offered on the outer wall of support housing 1 to its internal vertical guide groove 10, the side of compression stop 3 opens up
There is jack 11, the adjustable column 12 goed deep into jack 11 inner end is inserted in vertical guide groove 10.Adjustable column 12 can be in guide groove
It moves up and down.Compression stop 3 is set to move up and down in a certain range.Be additionally provided on the outer wall of support housing 1 can on move down
Dynamic adjusting block 13 adjusts block 13 and limits for the moving range upward to adjustable column 12.It adjusts under block 13
End is offered for cooperating the arc groove 14 contacted with adjustable column 12, blocks adjustable column 12 convenient for adjusting block 13.Adjust block
The lock-screw 15 being connected in support housing 1 for block 13 will to be adjusted is inserted on 13.
It adjusts block 13 to be used to control the adjustable range of cylindroid helical-coil compression spring 5, is fixed on shell with lock-screw 15
On.For compression stop 3 under the action of Kai Lafu line 4, driving spring, deformation occurs, and the adjustable column 12 in compression stop 3 is vertically
Guide groove 10 is mobile, and compression stop 3 is enable to slide up and down.It moves up again for example, block 13 will be adjusted through lock-screw 15
Afterwards, the distance for enabling compression stop 3 move up increases, and under the action of Kai Lafu line 4, compression stop 3 can be moved up more
It is more, compress cylindroid helical-coil compression spring 5 more.
The upper periphery of rotary shaft 2 is arranged with bearing 21, and the upper end of bearing 21 is provided with the bearing affixed with support housing 1
End cap 22.Bearing 21 is used to fix rotary shaft 2, guarantees that rotary shaft 2 is able to drive cylindrical spring and carries out energy storage.Bearing (ball) cover 22 is
Bearing 21 provides fixation.
The connection transition block 7 for being connected with ectoskeleton equipment 8 is additionally provided in support housing 1.Connection transition block 7 is used to
Energy-storage travelling wave tube is connected with ectoskeleton equipment 8, opens 4 holes in support housing 1 altogether, to fix transition block on energy storage component.
Referring to Fig. 5, in one embodiment, the stepless rigid elastic energy storage element 9 of change of ectoskeleton of the invention is applied to
One ectoskeleton equipment 8, each joint motions part are fitted with energy-storage travelling wave tube of the invention, can be right in a gait cycle
The storage and release that each joint energy of lower limb is recycled help patient's assisted walk, and complete specific active training and move
Make.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details.
Claims (10)
1. a kind of ectoskeleton becomes rigid elastic energy storage element with stepless, which is characterized in that support housing, setting including inner hollow
The rotary shaft of the inner hollow in the support housing, the compression stop being arranged in the support housing, bottom end with it is described
Compression stop connection and upper end pass through the Kai Lafu line for stretching out the support housing in the middle part of the rotary shaft upwards, bottom end with it is described
The cylindroid helical-coil compression spring and be arranged in the rotary shaft upper end that compression stop is affixed and upper end is set in the rotary shaft
For adjust the cylindroid helical-coil compression spring decrement adjusting handle.
2. ectoskeleton according to claim 1 becomes rigid elastic energy storage element with stepless, which is characterized in that in the rotary shaft
Screw pitch helicla flute identical with the cylindroid helical-coil compression spring is offered on the outer wall in portion, the cylindroid helical-coil compression spring
Upper end is fastened in the helicla flute.
3. ectoskeleton according to claim 1 becomes rigid elastic energy storage element with stepless, which is characterized in that the support housing
Outer wall on offer perforation to its internal vertical guide groove, the side of the compression stop offers jack, described vertical
The adjustable column that inner end is goed deep into the jack is inserted in guide groove.
4. ectoskeleton according to claim 3 becomes rigid elastic energy storage element with stepless, which is characterized in that the adjustable column can
It is moved up and down in the guide groove.
5. ectoskeleton according to claim 4 becomes rigid elastic energy storage element with stepless, which is characterized in that the support housing
Outer wall on be additionally provided with adjusting block moving up and down.
6. ectoskeleton according to claim 5 becomes rigid elastic energy storage element with stepless, which is characterized in that the adjusting block
Lower end offer for cooperating the arc groove that contacts with the adjustable column.
7. ectoskeleton according to claim 6 becomes rigid elastic energy storage element with stepless, which is characterized in that the adjusting block
On be inserted with for the adjusting block to be connected to lock-screw in the support housing.
8. ectoskeleton according to claim 1 becomes rigid elastic energy storage element with stepless, which is characterized in that the rotary shaft
Upper periphery is arranged with bearing, and the upper end of the bearing is provided with the bearing (ball) cover affixed with the support housing.
9. ectoskeleton according to claim 1 becomes rigid elastic energy storage element with stepless, which is characterized in that the adjusting handle
It is set in the rotary shaft top, fixation hole is offered on the adjusting handle, is inserted in the fixation hole and connects for fixed
Connect the fixing screws of the adjusting handle and rotary shaft.
10. ectoskeleton according to claim 1 becomes rigid elastic energy storage element with stepless, which is characterized in that outside the support
The connection transition block for being connected with ectoskeleton equipment is additionally provided on shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811203617.8A CN109340064A (en) | 2018-10-16 | 2018-10-16 | Ectoskeleton becomes rigid elastic energy storage element with stepless |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811203617.8A CN109340064A (en) | 2018-10-16 | 2018-10-16 | Ectoskeleton becomes rigid elastic energy storage element with stepless |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109340064A true CN109340064A (en) | 2019-02-15 |
Family
ID=65309686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811203617.8A Pending CN109340064A (en) | 2018-10-16 | 2018-10-16 | Ectoskeleton becomes rigid elastic energy storage element with stepless |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109340064A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070129653A1 (en) * | 2003-04-24 | 2007-06-07 | Thomas Sugar | Spring-over-muscle actuator |
| CN101518472A (en) * | 2009-03-24 | 2009-09-02 | 中国人民解放军海军航空工程学院 | Intelligent exoskeleton carrying system for lower limb and control method thereof |
| CN101934525A (en) * | 2010-09-15 | 2011-01-05 | 北京航空航天大学 | Variable-rigidity flexible joint design of humanoid robot |
| CN105798893A (en) * | 2016-06-03 | 2016-07-27 | 河北工业大学 | Human lower limb exoskeleton assisting in load bearing |
| US20170014993A1 (en) * | 2015-07-17 | 2017-01-19 | Lockheed Martin Corporation | Variable force exoskeleton hip joint |
| CN106667720A (en) * | 2015-11-10 | 2017-05-17 | 北京航空航天大学 | Hip joint spring and motor parallel driver for wearable lower extremity exoskeleton rehabilitation robot |
| CN107708639A (en) * | 2015-04-07 | 2018-02-16 | 万德克拉夫特公司 | Include the ectoskeleton of the mechanical ankle connector with two pivot axis |
| CN108161981A (en) * | 2018-02-24 | 2018-06-15 | 山东赢创机械有限公司 | A kind of ectoskeleton accumulation of energy telescopic joint device |
| CN209430350U (en) * | 2018-10-16 | 2019-09-24 | 中国科学院苏州生物医学工程技术研究所 | Ectoskeleton becomes rigid elastic energy storage element with stepless |
-
2018
- 2018-10-16 CN CN201811203617.8A patent/CN109340064A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070129653A1 (en) * | 2003-04-24 | 2007-06-07 | Thomas Sugar | Spring-over-muscle actuator |
| CN101518472A (en) * | 2009-03-24 | 2009-09-02 | 中国人民解放军海军航空工程学院 | Intelligent exoskeleton carrying system for lower limb and control method thereof |
| CN101934525A (en) * | 2010-09-15 | 2011-01-05 | 北京航空航天大学 | Variable-rigidity flexible joint design of humanoid robot |
| CN107708639A (en) * | 2015-04-07 | 2018-02-16 | 万德克拉夫特公司 | Include the ectoskeleton of the mechanical ankle connector with two pivot axis |
| US20170014993A1 (en) * | 2015-07-17 | 2017-01-19 | Lockheed Martin Corporation | Variable force exoskeleton hip joint |
| CN106667720A (en) * | 2015-11-10 | 2017-05-17 | 北京航空航天大学 | Hip joint spring and motor parallel driver for wearable lower extremity exoskeleton rehabilitation robot |
| CN105798893A (en) * | 2016-06-03 | 2016-07-27 | 河北工业大学 | Human lower limb exoskeleton assisting in load bearing |
| CN108161981A (en) * | 2018-02-24 | 2018-06-15 | 山东赢创机械有限公司 | A kind of ectoskeleton accumulation of energy telescopic joint device |
| CN209430350U (en) * | 2018-10-16 | 2019-09-24 | 中国科学院苏州生物医学工程技术研究所 | Ectoskeleton becomes rigid elastic energy storage element with stepless |
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