CN109702715B - Mechanical exoskeleton seat - Google Patents
Mechanical exoskeleton seat Download PDFInfo
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- CN109702715B CN109702715B CN201811484251.6A CN201811484251A CN109702715B CN 109702715 B CN109702715 B CN 109702715B CN 201811484251 A CN201811484251 A CN 201811484251A CN 109702715 B CN109702715 B CN 109702715B
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Abstract
A mechanical exoskeleton chair comprises a leg connecting module, a buffering angle adjustable module and a foot connecting module, wherein the leg connecting module comprises a cushion plate fixedly connected with a flexible belt, the flexible belt is fixed with a waist belt of a wearer, a binding belt which is used for binding on the thigh of the wearer and has adjustable length is fixed on a long strip-shaped hole of the cushion plate, and the cushion plate is fixedly connected with a first connecting rod through a length adjusting module positioned below the cushion plate; the buffer angle adjustable module comprises a first connecting rod and a second connecting rod which accord with human engineering, the first connecting rod and the second connecting rod are rotatably connected through a hinge, and an elastic supporting module and an angle adjusting module are installed in the second connecting rod; the foot connecting module comprises a foot length adjustable module fixed in a groove of the second connecting rod, the foot length adjustable module is hinged to a foot ring, the foot ring is hinged to a foot bottom plate, flexibility in the sitting process can be improved, the walking of a human body cannot be influenced, a power assisting effect can be achieved when a wearer stands up, and energy consumption is not needed.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a mechanical exoskeleton seat.
Background
The squatting and kneeling postures are poor working postures, and when people work in the postures for a long time, muscles are easy to fatigue, and injuries and diseases occur over time. The leg supporting exoskeleton can support a human body when the human body squats, and reduces leg muscle fatigue. The existing exoskeleton seat mostly uses a stepping motor and a lead screw to adjust a supporting angle, an electric push rod to adjust the supporting angle and a damper to adjust the supporting angle, but when a wearer walks in the modes, the walking of the wearer is influenced due to low flexibility of angle change of the wearer. Secondly, the adjusting process is complex and needs to be accurately controlled, and the motor and the electric push rod need to be powered all the time.
Therefore, the existing wearable leg supporting exoskeleton mainly has the problems that the adaptability of the exoskeleton seat to people in two states of walking and squatting is poor, the exoskeleton angle is not flexible when people walk or go upstairs, and the problem of interference to the human body is caused; the angle adjusting process is complicated, and the energy consumption caused by the electric element is low.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a mechanical exoskeleton seat which can meet the requirements of following performance and sitting performance and has the characteristics of simplicity in operation, high flexibility and no energy consumption.
In order to achieve the purpose, the invention adopts the technical scheme that:
a mechanical exoskeleton chair comprises a leg connecting module, a buffering angle adjustable module and a foot connecting module;
the leg connecting module comprises a cushion plate 5 fixedly connected with a flexible belt 1, the flexible belt 1 is fixed with a waistband of a wearer, a binding belt 3 which is used for binding on the thigh of the wearer and has adjustable length is fixed on a strip-shaped hole of the cushion plate 5, and the cushion plate 5 is fixedly connected with a first connecting rod 10 through a length adjusting module positioned below the cushion plate;
the buffer angle adjustable module comprises a first connecting rod 10 and a second connecting rod 11 which accord with human engineering, the first connecting rod 10 and the second connecting rod 11 are hinged through a first pin 12 and are in rotating connection, and an elastic supporting module and an angle adjusting module are installed inside the second connecting rod 11;
the elastic support module comprises an inner cylinder 15, the upper end of the inner cylinder 15 is hinged with the first connecting rod 10 through a second pin 13, an outer cylinder 16 is sleeved outside the inner cylinder 15 and is in sliding connection with the inner cylinder 15 and the outer cylinder, the lower end of the outer cylinder 16 is hinged with a sliding block 19 through a third pin 18, a spring 17 is sleeved on the side face of the outer cylinder 16, and two ends of the spring 17 are directly contacted with the inner cylinder 15 and the outer cylinder 16;
the angle adjusting module comprises a sliding block 19 with two round holes, the sliding block 19 is sleeved on a guide pipe 24 positioned below the sliding block, two end parts of the guide pipe 24 are respectively inserted into non-through holes of an upper fixed seat 23 and a lower fixed seat 22 for fixation, the upper fixed seat 23 and the lower fixed seat 22 are both fixedly connected with a second connecting rod 11, one end of an elastic belt 21 is fixed on a cylindrical body of the lower fixed seat 22, the other end of the elastic belt is fixed on an adjusting shaft 20, the adjusting shaft 20 is clamped into special-shaped holes formed in two side surfaces of the second connecting rod 11 for sliding connection, the special-shaped holes are composed of three round holes and a linear sliding hole, and the size of the three round holes is the same;
the foot connecting module comprises a foot length adjustable module fixed in a groove of the second connecting rod 11, the foot length adjustable module is hinged with a foot ring 30, and the foot ring 30 is hinged with a foot bottom plate 31.
The length adjustment module comprises a plate fixing block 6, the plate fixing block 6 is fixedly connected below the cushion plate 5, the plate fixing block 6 is fixedly connected with an upper inner tube 7, the upper inner tube 7 is sleeved into an upper outer tube 8 to form a telescopic tube, the upper outer tube 8 is arranged in a groove of a first connecting rod 10 and is fixedly connected with the first connecting rod 10, a V-shaped spring piece 9 is arranged in the upper inner tube 7, and a cylinder of the V-shaped spring piece 9 is clamped into side holes of the upper inner tube 7 and the upper outer tube 8.
The foot length adjustable module comprises a lower outer tube 26, the lower outer tube 26 is sleeved on a lower inner tube 27 to form an extension tube, the lower inner tube 27 is provided with a V-shaped spring piece 28, and a cylinder of the V-shaped spring piece 28 can be clamped into side holes of the lower outer tube 26 and the lower inner tube 27.
The bottom end of the lower inner pipe 27 is sleeved with a rubber foot sleeve 29, and the rubber foot sleeve 29 is in direct contact with the ground.
The lower part of the cushion plate 5 is fixedly connected with a shell 2, a cushion 4 is fixed on the cushion plate 5, and the cushion 4 is directly contacted with the thighs of a wearer.
The first connecting rod 10 and the second connecting rod 11 are designed to be curved surfaces which are matched with the leg contours of a wearer.
The second pin 13 is sleeved with two limiting pipes 14, and the two limiting pipes 14 are respectively positioned on two sides of the inner cylinder 15 and the second pin 13.
The hinge joint of the foot ring 30 and the foot bottom plate 31 is provided with a limiting ring 32, the foot ring 30 is sleeved on the stepped excircle of the limiting ring 32, and the limiting ring 32 is fixed with the foot bottom plate 31.
The guide pipe 24 is sleeved with a buffer spring 25 to freely slide, the buffer spring 25 is arranged between the sliding block 19 and the lower fixed seat 22, and when a wearer sits down, the buffer spring 25 generates damping to the movement of the sliding block 19 to play a role in buffering.
The invention has the beneficial effects that:
the invention adopts a double-buffering mode of sliding buffering of the sliding block and buffering of the supporting device, can improve the flexibility in the sitting process, does not influence the walking of a human body, and can play a role in assisting power when a wearer stands up; the mechanical three-gear adjusting device does not need energy consumption, the supporting angle can be adjusted more simply, and the exoskeleton does not have adverse effects such as interference on a wearer in a walking mode. The main differences between the present invention and other exoskeleton seats are: the angle adjusting devices of other exoskeleton chairs mainly adopt power modes such as motors, hydraulic cylinders and the like or gas-liquid pressure rods. The exoskeleton can be used for controlling the sitting angle by operating the wearer in each sitting process, and the exoskeleton can be used for a certain working condition only by adjusting the gear once. Secondly, when the wearer walks in these modes, the angle adjusting device also needs to be electrified to work, needs to be accurately controlled to meet the angle change of the exoskeleton and the angle change of the knee joint of the wearer, is complex to control, has poor following performance, and influences the normal walking, running or climbing stairs of the wearer. When the exoskeleton walks, only the gear position needs to be adjusted to the lowest gear, the angle of the exoskeleton joints is flexible to change, the exoskeleton can freely follow the large and small legs of a wearer to move, and a three-gear sitting posture is provided to meet the requirements of different working conditions. In addition, the whole is heavy and energy is consumed in a power mode, the exoskeleton is light in whole structure and convenient to wear and operate by workers due to the adoption of an unpowered mode, and energy consumption is not required.
Drawings
Fig. 1 is a schematic structural diagram of a mechanical exoskeleton seat with adjustable gears according to an embodiment of the invention.
Fig. 2 is a schematic structural view of a cushion plate module according to an embodiment of the present invention.
Fig. 3 is an exploded view of a cushion plate module according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a buffer angle adjustable module according to an embodiment of the present invention.
Fig. 5 is an exploded view of the buffer angle adjustable module according to the embodiment of the present invention.
Fig. 6 is an exploded view of the elastic support device block according to the embodiment of the present invention.
Fig. 7 is a functional schematic diagram of a buffer angle adjustable module according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a foot module according to an embodiment of the invention.
The reference numbers are as follows: 1-a flexible belt; 2-a housing; 3-binding band; 4-cushion; 5-cushion plate; 6-fixing the plate; 7-upper inner tube; 8-upper outer tube; 9-V-shaped spring pieces; 10-a first link; 11-a second link; 12-pin one; 13-pin two; 14-a limiting tube; 15-inner cylinder; 16-an outer cylinder; 17-a spring; 18-pinning three; 19-a slide block; 20-an adjustment shaft; 21-an elastic band; 22-lower fixed seat; 23-upper fixing seat; 24-a catheter; 25-a buffer spring; 26-lower outer tube; 27-lower inner tube; 28-V-shaped spring leaf; 29-rubber foot cover; 30-a foot ring; 31-a sole plate; 32-a stop collar.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A mechanical exoskeleton chair comprises a leg connecting module, a buffering angle adjustable module and a foot connecting module.
Referring to fig. 1, the leg connection module comprises a cushion plate 5 fixedly connected with a flexible belt 1, the flexible belt 1 is fixed with a waist belt of a wearer, referring to fig. 2, a length-adjustable binding band 3 for binding on the thigh of the wearer is fixed on a strip-shaped hole of the cushion plate 5, and the cushion plate 5 is fixedly connected with a first connecting rod 10 through a length-adjusting module located below the cushion plate; the lower part of the cushion plate 5 is fixedly connected with a shell 2, a cushion 4 is fixed on the cushion plate 5, and the cushion 4 is directly contacted with the thighs of a wearer.
Referring to fig. 3, the length adjusting module includes a plate fixing block 6, the plate fixing block 6 is fixedly connected below the cushion plate 5, the plate fixing block 6 is used as an interlayer block, the plate fixing block 6 is fixedly connected with an upper inner tube 7, the upper inner tube 7 is sleeved in an upper outer tube 8 to form a telescopic tube, the upper outer tube 8 is disposed in a groove of a first connecting rod 10, fixedly connected with a first connecting rod 10, a V-shaped spring piece 9 is arranged in the upper inner tube 7, the cylinder of the V-shaped spring piece 9 is clamped into the side holes of the upper inner tube 7 and the upper outer tube 8, thereby fixing the relative positions of the upper inner tube 7 and the upper outer tube 8, changing the position of the clamping side hole can adjust the position of the upper inner tube 7 in the upper outer tube 8, and then the degree of expansion of the telescopic pipe is changed, and the position of the cushion plate 5 relative to the first connecting rod 10 is changed by adjusting the position of the inner pipe 7 in the telescopic pipe, so as to adapt to the thigh lengths of different wearers.
Referring to fig. 4 and 5, the buffering angle adjustable module comprises a first connecting rod 10 and a second connecting rod 11 which accord with human engineering, the first connecting rod 10 and the second connecting rod 11 are hinged through a first pin 12 and are rotatably connected, and an elastic supporting module and an angle adjusting module are installed inside the second connecting rod 11; first connecting rod 10 and second connecting rod 11 all adopt the curved surface design of adaptation wearer's shank profile, can improve man-machine matching nature. The curved surface design mainly avoids the contact of the connecting rod with the large and small legs and the knee joint, and the exoskeleton has no interference effect on human bodies in walking, going upstairs, sitting and other states.
Referring to fig. 6, the elastic support module includes an inner cylinder 15, the upper end of the inner cylinder 15 is hinged to the first connecting rod 10 through a second pin 13, two limit pipes 14 are sleeved on the second pin 13, and the two limit pipes 14 are respectively located at two sides of the inner cylinder 15 and the second pin 13. The outer cylinder 16 is sleeved outside the inner cylinder 15 and is in sliding connection with the inner cylinder, the lower end of the outer cylinder 16 is in hinged connection with the sliding block 19 through the pin III 18, the depth of a hole of the outer cylinder 16 meets the maximum sliding 10mm of the inner cylinder 15, the spring 17 is sleeved on the side face of the outer cylinder 16, two ends of the spring 17 are directly in contact with the inner cylinder 15 and the outer cylinder 16, the spring 17 plays a buffering role when a wearer sits down, the compression amount is 10mm based on the sliding distance of the inner cylinder 15, and the upward assisting force effect is played when the wearer stands.
The angle adjusting module comprises a sliding block 19 with two round holes, the sliding block 19 is sleeved on a guide pipe 24 below the sliding block, two end parts of the guide pipe 24 are respectively inserted into non-through holes of an upper fixing seat 23 and a lower fixing seat 22 to be fixed, the upper fixing seat 23 and the lower fixing seat 22 are fixedly connected with a second connecting rod 11, one end of an elastic belt 21 is fixed on a cylindrical body of the lower fixing seat 22, the other end of the elastic belt is fixed on an adjusting shaft 20, and free sliding of the elastic belt is limited through pretightening force of the elastic belt 21, as shown in fig. 7. The adjusting shaft 20 is a bolt and a nut, the adjusting shaft 20 is clamped in special-shaped holes formed in two side faces of the second connecting rod 11 and is in sliding connection, the special-shaped holes are formed by three circular holes and one linear sliding hole, the size of the three circular holes is the same as the diameter of the adjusting shaft 20 for limiting, the positions of the adjusting shaft 20 in the three circular holes correspond to three gears, different positions can be switched at will, namely the sitting posture switching of the three gears of the exoskeleton is realized, during adjustment, the adjusting shaft 20 slides in the linear sliding holes in the side faces of the second connecting rod 11, and exoskeleton angles corresponding to the three gears are 70 degrees, 55 degrees and 40 degrees respectively; the guide pipe 24 is sleeved with a buffer spring 25, the buffer spring 25 is arranged between the sliding block 19 and the lower fixed seat 22, no fixed connection exists, the buffer spring 25 can freely slide, and when a wearer sits down, the buffer spring 25 can damp the movement of the sliding block 19 to play a buffer role.
The specific operation flow is as follows: in the non-working mode, the position of the adjusting shaft 20 in the angle adjusting device for the wearer is adjusted to the lowest gear, the first connecting rod 1 and the second connecting rod 2 rotate freely, the minimum free angle is 40 degrees, the two connecting rods can swing along with the two legs during walking of the wearer, the angle change of the knee joint under normal movement of the wearer can be adapted, the exoskeleton does not have resistance to the wearer, and the walking or the scenes such as going upstairs are not influenced. Under the working mode, a wearer can directly sit down by adjusting the shaft 20 in the angle adjusting device to a corresponding gear according to the squatting height required by different working conditions. In the sitting process, the sliding block 19 slides to a certain position to be in contact with the buffer spring 25, the buffer spring 25 plays a buffering role on the sliding block 19, impact is reduced, and the flexibility is improved. When the wearer stands up, the spring 17 in its compressed state releases energy, creating an upward force assist to the wearer.
Referring to fig. 8, the foot connection module includes a foot length adjustable module fixed in a groove of the second link 11, the foot length adjustable module is hinged to a foot ring 30, the foot ring 30 serves as a middle rod, and the foot ring 30 is hinged to a foot bottom plate 31. The foot length adjustable module comprises a lower outer tube 26, the lower outer tube 26 is sleeved on a lower inner tube 27 to form an extension tube, the lower inner tube 27 is provided with a V-shaped spring piece 28, and a cylinder of the V-shaped spring piece 28 can be clamped into side holes of the lower outer tube 26 and the lower inner tube 27. The bottom end of the lower inner tube 27 is sleeved with a rubber foot sleeve 29, and the rubber foot sleeve 29 is in direct contact with the ground, so that the impact of the exoskeleton on the ground when the exoskeleton sits down is reduced. The position of the cylinder of the V-shaped spring piece 28 on the lower outer tube can be changed according to the height of different wearers, so as to adjust the length of the exoskeleton lower rod relative to the lower leg. The telescoping tubes have three lengths for adjustment by the wearer.
Referring to fig. 8 and 9, a limiting ring 32 is arranged at the hinged position of the foot ring 30 and the foot bottom plate 31, the foot ring 30 is sleeved on the stepped excircle of the limiting ring 32, and the limiting ring 32 is fixed with the foot bottom plate 31.
The working principle of the invention is as follows:
the main body of the invention takes a first connecting rod 10 and a second connecting rod 11 as acting rods, and the connecting rods move along with the upper and lower legs when walking; when the wearer sits down, the connecting rod forms a fixed angle to support the whole human body weight from the back of the wearer. One end of the flexible belt 1 is fixed with the cushion plate 5, and the other end is fixed with the waist belt of the wearer. The shell 2 is fixedly connected with the cushion plate 5. The exoskeleton is connected with the wearer in the form of: the sole plate 31 is connected with the feet through the binding bands, the cushion 4 is connected with the thighs through the binding bands 3, and the flexible belt 1 is connected with the waistband. When a wearer wears the exoskeleton to walk, the foot ring 30 empties the second connecting rod 11 behind the lower leg, and the second connecting rod 11 keeps a certain distance from the lower leg in the whole process and moves along with the lower leg. When sitting down, the foot ring 30 guides the second link 11 to the ground, and the weight of the wearer's body is guided to the ground via the seat cushion 4, the first link 10, the second link 11, and the like.
Claims (9)
1. A mechanical exoskeleton chair is characterized by comprising a leg connecting module, a buffering angle adjustable module and a foot connecting module;
the leg connecting module comprises a cushion plate (5) fixedly connected with a flexible belt (1), the flexible belt (1) is fixed with a waistband of a wearer, a binding band (3) which is used for binding on the thigh of the wearer and has adjustable length is fixed on a strip-shaped hole of the cushion plate (5), and the cushion plate (5) is fixedly connected with a first connecting rod (10) through a length adjusting module positioned below the cushion plate;
the buffer angle adjustable module comprises a first connecting rod (10) and a second connecting rod (11) which accord with human engineering, the first connecting rod (10) and the second connecting rod (11) are hinged through a first pin (12) and are rotatably connected, and an elastic supporting module and an angle adjusting module are installed inside the second connecting rod (11);
the elastic support module comprises an inner cylinder (15), the upper end of the inner cylinder (15) is in hinged connection with the first connecting rod (10) through a second pin (13), an outer cylinder (16) is sleeved outside the inner cylinder (15) and is in sliding connection with the inner cylinder and the outer cylinder, the lower end of the outer cylinder (16) is in hinged connection with a sliding block (19) through a third pin (18), a spring (17) is sleeved on the side face of the outer cylinder (16), and two ends of the spring (17) are directly contacted with the inner cylinder (15) and the outer cylinder (16);
the angle adjusting module comprises a sliding block (19) provided with two round holes, the sliding block (19) is sleeved on a guide pipe (24) positioned below the sliding block, two end parts of the guide pipe (24) are respectively inserted into non-through holes of an upper fixing seat (23) and a lower fixing seat (22) to be fixed, the upper fixing seat (23) and the lower fixing seat (22) are fixedly connected with a second connecting rod (11), one end of an elastic belt (21) is fixed on a cylindrical body of the lower fixing seat (22), the other end of the elastic belt is fixed on an adjusting shaft (20), the adjusting shaft (20) is clamped into a special-shaped hole formed in two side surfaces of the second connecting rod (11) to be in sliding connection, the special-shaped hole consists of three round holes and a linear sliding hole, and the size of the three round holes is the same;
the foot connecting module comprises a foot length adjustable module fixed in a groove of the second connecting rod (11), the foot length adjustable module is hinged with a foot ring (30), and the foot ring (30) is hinged with a foot bottom plate (31).
2. The mechanical exoskeleton chair as claimed in claim 1, wherein the length adjustment module comprises a plate fixing block (6), the plate fixing block (6) is fixedly connected below the cushion plate (5), the plate fixing block (6) is fixedly connected with an upper inner tube (7), the upper inner tube (7) is sleeved in an upper outer tube (8) to form a telescopic tube, the upper outer tube (8) is arranged in a groove of a first connecting rod (10) and is fixedly connected with the first connecting rod (10), a V-shaped spring leaf (9) is arranged in the upper inner tube (7), and a cylinder of the V-shaped spring leaf (9) is clamped into side holes of the upper inner tube (7) and the upper outer tube (8).
3. The mechanical exoskeleton chair as claimed in claim 1, wherein the foot length adjustable module comprises a lower outer tube (26), the lower outer tube (26) is sleeved on a lower inner tube (27) to form a telescopic tube, the lower inner tube (27) is provided with a V-shaped spring leaf (28), and a cylinder of the V-shaped spring leaf (28) can be clamped into side holes of the lower outer tube (26) and the lower inner tube (27).
4. A mechanical exoskeleton seat as claimed in claim 3 wherein the lower inner tube (27) is fitted at its lower end with a rubber foot cuff (29), the rubber foot cuff (29) being in direct contact with the ground.
5. A mechanical exoskeleton seat as claimed in claim 1 characterised in that the lower part of the cushion plate (5) is fixedly connected with the housing (2), the cushion plate (5) is fixed with the cushion (4), and the cushion (4) is in direct contact with the thighs of the wearer.
6. A mechanical exoskeleton seat as claimed in claim 1 wherein the first and second links (10, 11) are each of a curved design to fit the contours of the wearer's leg.
7. The mechanical exoskeleton chair as claimed in claim 1, wherein the second pin (13) is sleeved with two limiting tubes (14), and the two limiting tubes (14) are respectively located on two sides of the inner column body (15) and the second pin (13).
8. The mechanical exoskeleton chair as claimed in claim 1, wherein a limit ring (32) is arranged at the hinged position of the foot ring (30) and the foot bottom plate (31), the foot ring (30) is sleeved on the stepped excircle of the limit ring (32), and the limit ring (32) is fixed with the foot bottom plate (31).
9. The mechanical exoskeleton chair as claimed in claim 1, wherein the guide tube (24) is sleeved with a buffer spring (25) which is freely slidable, and the buffer spring (25) is interposed between the slide block (19) and the lower fixed seat (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811484251.6A CN109702715B (en) | 2018-12-06 | 2018-12-06 | Mechanical exoskeleton seat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811484251.6A CN109702715B (en) | 2018-12-06 | 2018-12-06 | Mechanical exoskeleton seat |
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| Publication Number | Publication Date |
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| CN109702715A CN109702715A (en) | 2019-05-03 |
| CN109702715B true CN109702715B (en) | 2020-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811484251.6A Active CN109702715B (en) | 2018-12-06 | 2018-12-06 | Mechanical exoskeleton seat |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110353943B (en) * | 2019-07-30 | 2021-11-09 | 烟台科宇机器人科技有限公司 | Exoskeleton robot |
| CN111329721B (en) * | 2020-02-29 | 2021-10-08 | 同济大学 | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading |
| CN111329720B (en) * | 2020-02-29 | 2021-10-08 | 同济大学 | Air-supported passive lower limb assistance exoskeleton device |
| CN111728798B (en) * | 2020-06-28 | 2021-08-06 | 扬州大学 | Exoskeleton appliance assisting human body in supporting and helping people sit up |
| CN112587377B (en) * | 2020-12-09 | 2023-01-17 | 四川大学华西医院 | Knee joint flexible exoskeleton |
| CN113084780A (en) * | 2021-03-29 | 2021-07-09 | 新疆大学 | Lower limb assistance exoskeleton seat capable of being adjusted at multiple angles |
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| CA2884905A1 (en) * | 2014-09-10 | 2016-03-10 | Norberto Velazquez Nino | Adjustable mechanical exoskeleton, for a biped animal with impaired bone and muscle |
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| CN109702715A (en) | 2019-05-03 |
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