CN109998868A - A kind of bionical gait motion image training robot - Google Patents
A kind of bionical gait motion image training robot Download PDFInfo
- Publication number
- CN109998868A CN109998868A CN201910446712.9A CN201910446712A CN109998868A CN 109998868 A CN109998868 A CN 109998868A CN 201910446712 A CN201910446712 A CN 201910446712A CN 109998868 A CN109998868 A CN 109998868A
- Authority
- CN
- China
- Prior art keywords
- lead screw
- fixed
- bearing
- pin
- casing
- 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.)
- Granted
Links
Classifications
-
- 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/1628—Pelvis
- A61H2201/1633—Seat
-
- 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
-
- 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
- A61H2201/50—Control means thereof
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- 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
Abstract
A kind of bionical gait motion image training robot mainly includes saddle gear, sensing loss of weight mechanism, main brace linkage, secondary support rod mechanism, middle control power mechanism, footstep mechanism, pedestal.According to bionics data such as hip, knee and ankle-joint key freedom degrees in healthy human body gait, effectively linkage support is carried out to three positions of user's hip and both feet by mechanical structure, guarantee that saddle gear track is consistent with human buttock's walking process track, cooperate transmission mechanism using only single motor, it can make double-pedal mechanism and 3 points of saddle gear are completed at the same time bionic motion track, auxiliary user carries out gait training according to the bionics characteristics to mark healthy human body.The use function for the bionic intelligences such as sensing loss of weight mechanism can support according to Rehabilitation state progress real-time quantitative loss of weight, and realization original place assisted walk, the bionical training of gait, stance Reduction of Students' Study Load be had a rest.Light-weighted self weight and cheap processing cost, it is universal conducive to merchandized handling, family oriented, field blank can be filled up.
Description
Technical field
The invention belongs to movable machinery apparatus field, it is related to that gait motion instruction can be carried out to lower extremity motor function impaired patients
A kind of bionical gait motion image training robot of experienced electromechanical integration.
Background technique
The main behavior of human motion first is that gait walk.Medical science of recovery therapy clinical practice proves, cuts to impermanency
Paralysed patient carries out passive type gait training, can effectively excite the vigor of its neuromuscular system, it is contemplated that the rehabilitation of the direction Xiang Youyi.It is right
In lower extremity motor function impaired patients, entirely autonomous gait training can not be carried out in rehabilitation course, and passive type gait is instructed
White silk need to be assisted by effective power-equipment.Currently, the simple gait training equipment of domestic external structure, is common in body-building power
Apparatus field is difficult that patient is made to realize bionic movement training effect, rather than bionical gait motion training can give patient muscle's bone
Bone etc. causes different degrees of abnormal state rehabilitation.It is exclusively used in the power-equipment of bionical gait training both at home and abroad at present substantially mostly freely
The mechanical system of degree, left and right leg move auxiliary body by multi power source drive execute, then by control system coordination hip, knee and
Large and small leg forms bionical gait.Mechanical construction and control system is complicated, and at high cost, cost is expensive, it is difficult in hospital or rehabilitation institution
Middle popularity, it is more difficult to family oriented application.Therefore, based on to hip when marking healthy user's gait walking states, knee and
Ankle-joint freedom degree, according to bionics and principle of human engineering, design mechanical structure is simple, low cost, easy to use, lightweight
Bionical gait motion image training robot, be all of great significance in terms of bionical rehabilitation equipment research field and the market demand.
Summary of the invention
The purpose of the present invention is to provide a kind of bionical gait motion image training robots to make to solve the above technical problems
Mechanism is simple, facilitates family's application and popularizations, according to bionics principle, designs one kind when user carries out gait Walking,
The good machinery equipment of man-machine interaction experience sense reduces motor and using number of units and does structure lightened processing, passes through saddle and beam
Band is higher than position of human center in waist and does safe bundle, provides and falls down protection auxiliary force, moves ZMP criterion based on body gait
The design of mechanical structure dynamic balance analysis is carried out, user is avoided to fall down in gait training；Motion of foot track is based on
Body gait walking bionic data under big data statistics are designed, and can be enabled the patient to according to mark healthy human body gait
Feature carries out bionical rehabilitation training.Pressure sensor is installed at saddle, real-time detection analyzes user's upper body to the pressure of lower limb,
Real-time feedback control linear servo-actuator output loads provide loss of weight support to patient upwardly through saddle, share patient's upper body
Weight realizes Reduction of Students' Study Load effect to lower limb load, is different lower extremity motor functions according to different case states and walking ability
Impaired patients provide the gait Walking plan of customization, and section realizes targeted gait rehabilitation training.
In order to achieve the above objectives, the present invention is achieved by following technical solution:
A kind of bionical gait motion image training robot, including saddle gear 1, sensing loss of weight mechanism 2, main supporting rod machine
Structure 3, secondary support rod mechanism 4, middle control power mechanism 5, footstep mechanism 6, pedestal 7, the saddle gear 1 are connected firmly by support 104
201 upper end of pressure sensor in loss of weight mechanism 2 is sensed, sensing loss of weight mechanism 2 is bolted to downwards the upper boom in main brace linkage 3
301 upper ends, 3 lower end of main brace linkage are hingeably secured to the corresponding position of middle control power mechanism 5, and secondary 4 upper end of support rod mechanism is hinged
At the middle part of main brace linkage 3, secondary 4 lower end of support rod mechanism is hingedly fixed in corresponding position on middle control power mechanism 5, middle control power
The whole bolt of mechanism 5 is fixed on pedestal 7, and two groups of footstep mechanisms 6 are connected in middle control power mechanism 5 by internal drive.
A kind of bionical gait motion image training robot, it is characterised in that: saddle gear 1 include fourth pencil of forms band 101,
Backboard 102, seat plate 103, support 104,101 left and right ends of fourth pencil of forms band are respectively embedded into the left and right two for being fixed on backboard 102
End, the insertion of 101 bottom end of fourth pencil of forms band are fixed on 103 front end of seat plate, and backboard 102, seat plate 103, support 104 pass through tapping respectively
Riveting is solidly fixed.
A kind of bionical gait motion image training robot, it is characterised in that: sensing loss of weight mechanism 2 includes pressure sensing
Device 201, fastening nail 202, linear servo-actuator 203, the 201 pedestal interference of pressure sensor are embedded in linear servo-actuator
In 203 mover upper end institute opening slots, fastening nail 202 passes through opened hole on 203 mover of linear servo-actuator, by pressure sensor
201 upper ends and 104 lower end of support are connected.
A kind of bionical gait motion image training robot, it is characterised in that: main brace linkage 3 includes upper boom 301, the
One bayonet lock 302, the first lead screw casing 303, the first connector 305, hold-down support 306, the first upper bearing (metal) 307, first are toward multifilament
Thick stick 308, the first lower bearing 309, first bevel gear 310, the upper boom 301 are fixed on the first screw set by the first bayonet lock 302
In the pin hole of 303 upper end of pipe, by selecting different pin holes, initial length of the whole main brace linkage 3 before use is adjusted, with suitable
The demand of different height users, the first lead screw casing 303 and 305 through-hole internal diameter clearance fit of connector are answered, it can be in lubrication shape
Opposite sliding up and down, the first connector 305 and two 306 shapes of hold-down support being fixed on middle control power mechanism 5 are realized under state
At fixed hinge support restraint, it can realize that fixed-axis rotation, 307 outer diameter of the first upper bearing (metal) are interference fitted in first under lubricating status
303 internal diameter upper end of lead screw casing, the first lower bearing 309 and the cooperation of 303 internal diameter lower thread of the first lead screw casing fasten, and first is past
308 outer diameter of multifilament thick stick is each passed through the first upper bearing (metal) 307 and 309 internal diameter of the first lower bearing and is interference fitted, so that first is past
Multifilament thick stick 308 can duplex bearing constraint under, may be implemented inside the first lead screw casing 303 it is stable be freely rotated, first
Thick stick screw 304 engages after the lateral aperture of the first lead screw casing 303 with the past two-start screw on the first reciprocal lead screw 308, and
And first reciprocal 308 lower end of lead screw pass through the first lower bearing 309 after with first bevel gear 310 fasten.
A kind of bionical gait motion image training robot, it is characterised in that: secondary support rod mechanism 4 include position blocking pin 401,
Rectangular outer tube 402, the second bayonet lock 403, rectangular inner sleeve 404, the second upper bearing (metal) 405, the second lead screw casing 406, second
Thick stick screw 407, the second connector 408, the second reciprocal lead screw 409, the second lower bearing 410, second bevel gear 411 are described rectangular
The support position of main brace linkage 3 is connected at 402 upper end hook of outer tube by position blocking pin 401 to unload convenient for fixing or plucking, it is rectangular
Inner sleeve 404 is fixed inside rectangular outer tube 402 by the second bayonet lock 403, is inserted into rectangular outer tube by the second bayonet lock 403
Different pin holes realizes length adjustment on 402, and 404 lower end of inner sleeve and 405 upper end of the second upper bearing (metal) are connected, the second upper bearing (metal)
405 and second lower bearing 410 406 upper and lower ends of the second lead screw casing, the second reciprocal lead screw 409 are fixed on by external screw thread respectively
The internal diameter of upper and lower side outer diameter and the second upper bearing (metal) 405 and the second lower bearing 410 interference fit is realized by duplex bearing constraint the
Two lead screw casings, the 406 without hindrance rotation in inside, 408 through-hole internal diameter clearance fit of 406 outer diameter of the second lead screw casing and the second connector,
It can realize that opposite sliding, 408 lower end of the second connector are hinged in middle control power mechanism 5 up and down, are formed solid under lubricating status
Determine rocker bar bearing constraint, can realize that fixed-axis rotation, the second lead screw screw 407 pass through the second lead screw casing 406 under lubricating status
Lateral aperture after engaged with the past two-start screw on the second reciprocal lead screw 409, and the second reciprocal 409 lower end of lead screw pass through second
It is fastened after lower bearing 410 with second bevel gear 411.
A kind of bionical gait motion image training robot, it is characterised in that: middle control power mechanism 5 include cabinet 501,
Limit track 502, foot pedal bearing 503, tooth band 504, outer tensioning wheel 505, third transmission belt 506, the 4th belt wheel 507, third
Driven shaft 508, driven wheel of differential 509, middle fixing plate 510, secondary bar transmission case 511, Tension gear 512, mobile jib transmission case
513, the second belt wheel 514, first driven shaft 515, the first transmission belt 516, first pulley 517, motor 518, crankshaft 519, cam
520, connecting rod 521, sliding block 522, limit spring 523, limit sliding chutes 524, third belt wheel 525, the second transmission belt 526, driving cog
527, drive bevel gear 528, interior Tension gear 529, second driven shaft 530, the 4th belt wheel 531, the 5th belt wheel 532 are taken turns, it is described
Two outer tensioning wheels 505 and four interior Tension gears 529 connect firmly six points on middle fixing plate 510 respectively, according to limit
Position 502 extension profile underlap of track is spaced apart, and for being tensioned tooth band 504 into preset bionical track, transmission gear 527 is sold
It is connected in first driven shaft 515, and is tensioned tooth band 504 in predeterminated position, transmission gear 527 receives transmission rear-drive movable tooth band 504
Rotation, foot pedal bearing 503 are embedded in the inside for being fixed on 504 corresponding position of tooth band, connect footstep mechanism 6 outward, pass through tooth band
504 transmissions are to drive footstep mechanism 6 to move according to the bionical track of setting, secondary bar transmission case 511,513 and of mobile jib transmission case
Motor 518 is separately fixed at the corresponding position on middle fixing plate 510, cam 520 with pin-connection in motor 518 rotor output,
Limit sliding chutes 524 are fixed on the corresponding position of 501 inside of cabinet, and sliding block 522 is nested in limit sliding chutes 524, can slide along slot,
523 one end of limit spring is fixed on 524 inner end of limit sliding chutes, and the other end is fixed on sliding block 522, and 521 one end of connecting rod is articulated with
On sliding block 522, the other end is hinged at the crank on crankshaft 519, and the cooperation of 519 gap between two ends of crankshaft is fixed on middle fixing plate
510 and cabinet 501 aperture in, 515 gap between two ends of first driven shaft cooperation is fixed on limit track 502 and middle fixing plate
In 510 aperture, also clearance fit is fixed on mobile jib transmission case respectively at the both ends of second driven shaft 530 and third driven shaft 508
511 and 513 inside corresponding position of secondary bar transmission case aperture in, the pin of first pulley 517 is solid on crankshaft 519, transmission gear
527, the second belt wheel 514 and the pin of third belt wheel 525 are solid on driven shaft 1, and the 4th belt wheel 531, the 5th belt wheel 532 pin exist admittedly
In second driven shaft 530, the 4th belt wheel 507 pin is solid on third driven shaft 508, drive bevel gear 528, driven wheel of differential 509
Pin is solid in second driven shaft 530 and third driven shaft 508 respectively, and cabinet 501 and limit track 502 are fixedly mounted on centre admittedly
It is above only by taking 510 side of middle fixing plate as an example on fixed board 510,510 other side components assembly relation phase of middle fixing plate
Together.
A kind of bionical gait motion image training robot, it is characterised in that: footstep mechanism 6 includes outer fastening screw
601, the reciprocal lead screw 607 of outer mounting 602, lead screw pin 603, casing 604, pedal 605, interior mounting 606, third, bearing 608,
Pin key 609, synchromesh gear 610, interior pin for suppressing metal 611, the lead screw pin 603 pass through on pedal 605 after opened threaded hole again
The opened threaded hole on casing 604 is finally engaged with the reciprocal thread groove opened on the reciprocal lead screw 607 of third, outer mounting 602
It is fixed on inside and outside pedal 605 with interior mounting 606, and casing 604 is encapsulated in inside pedal 605, it is final to guarantee that casing 604 exists
It is fixed inside pedal 605 and without rotation, outer fastening screw 601 is bolted to reciprocal 607 left end of lead screw of third, for the outer mounting of block
602 do not depart from the reciprocal lead screw 607 of third always, and 608 internal diameter interference of bearing is fastened on the reciprocal lead screw 607 of third, and bearing 608 is pacified
In 501 inner tracks of left box body, synchromesh gear 610 is fixed on the reciprocal lead screw 607 of third by pin key 609, outer diameter tooth
Wheel is engaged in middle control power mechanism 5 in respective rail, and reciprocal 607 left end of lead screw of third is connected in tooth by interior pin for suppressing metal 611
On band 504.
A kind of bionical gait motion image training robot, it is characterised in that: pedestal 7 includes singletree 701, perpendicular strut
702, singletree 701 is bolted together with perpendicular strut 702.
The beneficial effects of the present invention are: fully consider that hip, knee and ankle-joint are being transported in healthy human body gait walking process
Crucial freedom degree and human space posture during dynamic, according to bionics principle by the Design of Mechanical Structure at proper constraint system
System is supported by effective linkage to three positions of user's hip and both feet, can assist the user of dyskinesia
Simulated training is carried out according to mark healthy human body bionics walking states, and is guaranteeing to efficiently accomplish auxiliary human locomotion movement
On the basis of reduce power source number as far as possible, single driving motor is used only and cooperates transmission mechanism, double-legged footrest mechanism can be made
It is completed at the same time bionic motion track with saddle gear, realizes the motor function of predetermined design.Again by sensing loss of weight mechanism
Force snesor real-time detection saddle holding power, by linear servo-actuator implement closed-loop control, it can be achieved that press patient demand
Carry out the weight-losing effect of real-time quantitative.Middle control power mechanism cabinet, main supporting mechanism and secondary supporting mechanism configuration design
It fully considers the ergonomics feature such as human thigh, shank, is designed as meeting the curved shape of mechanical attribute, further, pass through
Structure and dimensionally-optimised analysis reduce element of installation and are self-possessed and can save manufacturing cost.Present invention can be implemented in indoor carry out power-assisteds
The using effect of more postures such as walking, the bionical training of gait, interval sitting posture have a rest, stance Reduction of Students' Study Load, it is friendly usage experience, bionical
Intelligent use function, light-weighted self weight and cheap processing cost, have filled up field blank, be conducive to merchandized handling,
Universal and popularization.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative example and its explanation is used to explain the present invention, and is not constituted improper limitations of the present invention.
The axonometric drawing of bionical gait motion image training robot Fig. 1 of the invention
The Structure explosion diagram of saddle gear Fig. 2 of the invention
The Structure explosion diagram of sensing loss of weight mechanism Fig. 3 of the invention
The Structure explosion diagram of main brace linkage Fig. 4 of the invention
The Structure explosion diagram of secondary support rod mechanism Fig. 5 of the invention
The Structure explosion diagram of middle control power mechanism Fig. 6 of the invention
The Structure explosion diagram of footstep mechanism Fig. 7 of the invention
The Structure explosion diagram of pedestal Fig. 8 of the invention
Specific embodiment
Detailed content and its specific embodiment of the invention are further illustrated with reference to the accompanying drawing.
Bionical gait motion image training robot shown in Figure 1, of the invention, including saddle gear 1, sensing loss of weight mechanism
2, main brace linkage 3, secondary support rod mechanism 4, middle control power mechanism 5, footstep mechanism 6, pedestal 7, the saddle gear 1 pass through support
104 connect firmly 201 upper end of pressure sensor in sensing loss of weight mechanism 2, and sensing loss of weight mechanism 2 is bolted to downwards main brace linkage
301 upper end of upper boom in 3,3 lower end of main brace linkage are hingeably secured to the corresponding position of middle control power mechanism 5, secondary support rod mechanism 4
Upper end is hinged on the middle part of main brace linkage 3, and secondary 4 lower end of support rod mechanism is hingedly fixed in corresponding position on middle control power mechanism 5,
The whole bolt of middle control power mechanism 5 is fixed on pedestal 7, and two groups of footstep mechanisms 6 are connected in middle control engine by internal drive
In structure 5.
Shown in Figure 2, the saddle gear 1 includes fourth pencil of forms band 101, backboard 102, seat plate 103, support 104, institute
The left and right ends that fastening envelope 101 left and right ends of band are separately fixed at backboard 102 are stated, the insertion of 101 bottom end of fourth pencil of forms band is fixed on seat
103 front end of plate forms " T-shaped " structure, discharges the freedom degree of human hip all directions；Backboard 102, seat plate
103, support 104 is solidly fixed by tapping riveting respectively, senses the pressure sensing in loss of weight mechanism 2 by support 104
201 upper end of device is being higher than position of human center progress beam by fourth pencil of forms band 101 after user is sitting in 1 inside of saddle gear
It ties up, avoids falling down in training process because of gravity center instability.
Shown in Figure 3, the sensing loss of weight mechanism 2 includes pressure sensor 201, fastening nail 202, linear servo electricity
Machine 203,201 interference of pressure sensor are embedded in 203 mover upper end institute opening slot of linear servo-actuator；Fastening nail 202
Elongated pore in 203 interior bar of linear servo-actuator is connected on support 104, guarantees that pressure sensor 201 measures under human body
The accuracy of pressure；203 outer bar of linear servo-actuator bolts 301 upper end of upper boom in main brace linkage 3.After device power-up,
Network analysis handles the detection data of pressure sensor 201, according to set-up function demand, feedback control linear servo-actuator 203
Output displacement and load, and then control saddle gear 1 feeding space, provide weight-losing effect for patient.
It is shown in Figure 4, the main brace linkage 3 include main brace linkage 3 include upper boom 301, the first bayonet lock 302,
First lead screw casing 303, the first connector 305, hold-down support 306, the first upper bearing (metal) 307, the first reciprocal lead screw 308, first
Lower bearing 309, first bevel gear 310, the upper boom 301 are fixed on 303 upper end of the first lead screw casing by the first bayonet lock 302
In pin hole, by selecting different pin holes, initial length of the whole main brace linkage 3 before use is adjusted, to adapt to different heights
The demand of user, the first lead screw casing 303 and 305 through-hole internal diameter clearance fit of connector, can realize under lubricating status
Lower opposite sliding, the first connector 305 form fixed hinge with two hold-down supports 306 being fixed on middle control power mechanism 5
Support restraint can realize that fixed-axis rotation, 307 outer diameter of the first upper bearing (metal) are interference fitted in the first lead screw casing under lubricating status
303 internal diameter upper ends, the first lower bearing 309 and the cooperation of 303 internal diameter lower thread of the first lead screw casing fasten, the first reciprocal lead screw
308 outer diameters are each passed through the first upper bearing (metal) 307 and 309 internal diameter of the first lower bearing and are interference fitted, so that the first reciprocal lead screw
308 can upper and lower duplex bearing constraint under, may be implemented inside the first lead screw casing 303 it is stable be freely rotated, the first lead screw
Screw 304 engages after the lateral aperture of the first lead screw casing 303 with the past two-start screw on the first reciprocal lead screw 308, and
First reciprocal 308 lower end of lead screw fastens after passing through the first lower bearing 309 with first bevel gear 310.After user's upper machine first
According to height and long adjustment 3 car space of main brace linkage of leg, in favor of using, after booting, the first reciprocal lead screw 308 receives
Transmission starts turning, due to the position-limiting action of past two-start screw of the first lead screw screw 304 on the first reciprocal lead screw 308, so that
First lead screw casing 303 moves back and forth in above-below direction, meets a linear degrees of freedom of saddle gear 1 first.
Shown in Figure 5, the secondary support rod mechanism 4 includes position blocking pin 401, rectangular outer tube 402, the second bayonet lock 403, side
Shape inner sleeve 404, the second upper bearing (metal) 405, the second lead screw casing 406, the second lead screw screw 407, the second connector 408, second
Reciprocal lead screw 409, the second lower bearing 410, second bevel gear 411 pass through position blocking pin at the rectangular 402 upper end hook of outer tube
401 are connected to the support position of main brace linkage 3 unloads convenient for fixing or plucking, and rectangular inner sleeve 404 passes through the second bayonet lock 403 and fixes
Inside rectangular outer tube 402, pin hole different on rectangular outer tube 402 is inserted by the second bayonet lock 403 and realizes length adjustment,
404 lower end of inner sleeve and 405 upper end of the second upper bearing (metal) are connected, and the second upper bearing (metal) 405 and the second lower bearing 410 pass through outer spiral shell respectively
Line is fixed on 406 upper and lower ends of the second lead screw casing, the second reciprocal 409 upper and lower side outer diameter of lead screw and the second upper bearing (metal) 405 and
The internal diameter of two lower bearings 410 is interference fitted, and is realized by duplex bearing constraint in the 406 without hindrance rotation in inside of the second lead screw casing, the
408 through-hole internal diameter clearance fit of two lead screw casings, 406 outer diameter and the second connector can be realized relatively sliding up and down under lubricating status
Dynamic, 408 lower end of the second connector is hinged in middle control power mechanism 5, forms fixed hinge support restraint, can be under lubricating status
Realize fixed-axis rotation, the second lead screw screw 407 pass through the second lead screw casing 406 lateral aperture after with the second reciprocal lead screw 409
On the engagement of past two-start screw, and the second reciprocal 409 lower end of lead screw pass through it is tight with second bevel gear 411 after the second lower bearing 410
Gu.Booting is worked as in favor of using according to height and long adjustment time 4 car space of support rod mechanism of leg first after user's upper machine
Afterwards, the second reciprocal lead screw 409 receives to be driven and start turning, since the second lead screw screw 407 is past on the second reciprocal lead screw 409
The position-limiting action of two-start screw meets the another of saddle gear 1 so that the second lead screw casing 406 moves back and forth in above-below direction again
One linear degrees of freedom, finally achievable flatness and reciprocator curvilinear motion of the saddle gear 1 in human body sagittal plane.
Shown in Figure 6, the middle control power mechanism 5 includes cabinet 501, limit track 502, foot pedal bearing 503, tooth
Band 504, outer tensioning wheel 505, third transmission belt 506, the 4th belt wheel 507, third driven shaft 508, driven wheel of differential 509, centre
Fixed plate 510, secondary bar transmission case 511, Tension gear 512, mobile jib transmission case 513, the second belt wheel 514, first driven shaft 515,
First transmission belt 516, first pulley 517, motor 518, crankshaft 519, cam 520, connecting rod 521, sliding block 522, limit spring
523, limit sliding chutes 524, third belt wheel 525, the second transmission belt 526, transmission gear 527, drive bevel gear 528, interior tensioning tooth
529, second driven shaft 530, the 4th belt wheel 531, the 5th belt wheel 532 are taken turns, are tensioned tooth in described two outer tensioning wheels 505 and four
Wheel 529 connects firmly six points on middle fixing plate 510 respectively, according to 502 extension profile underlap interval of limit track point
Cloth, for being tensioned tooth band 504 into preset bionical track, transmission gear 527 is being preset in first driven shaft 515
Position is tensioned tooth band 504, and transmission gear 527 receives the rotation of transmission rear-drive movable tooth band 504, and the insertion of foot pedal bearing 503 is fixed on
The inside of 504 corresponding position of tooth band, outward connect footstep mechanism 6, by tooth band 504 be driven to drive footstep mechanism 6 according to
The bionical track movement of setting, secondary bar transmission case 511, mobile jib transmission case 513 and motor 518 are separately fixed at middle fixing plate
Corresponding position on 510, for cam 520 with pin-connection in the rotor output of motor 518, limit sliding chutes 524 are fixed on the inside of cabinet 501
Corresponding position, sliding block 522 is nested in limit sliding chutes 524, can slide along slot, and 523 one end of limit spring is fixed on limit and slides
524 inner end of slot, the other end are fixed on sliding block 522, and 521 one end of connecting rod is articulated on sliding block 522, and the other end is hinged on crankshaft
At crank on 519,519 gap between two ends of crankshaft cooperation is fixed in the aperture of middle fixing plate 510 and cabinet 501, first from
The cooperation of 515 gap between two ends of moving axis is fixed in the aperture of limit track 502 and middle fixing plate 510, second driven shaft 530 and the
Also clearance fit is fixed on 513 inside corresponding position of mobile jib transmission case 511 and secondary bar transmission case respectively at the both ends of three driven shafts 508
Aperture in, the pin of first pulley 517 is solid on crankshaft 519, and transmission gear 527, the second belt wheel 514 and the pin of third belt wheel 525 are solid
On driven shaft 1, the 4th belt wheel 531, the 5th belt wheel 532 pin are solid in second driven shaft 530, and the 4th belt wheel 507 pin is solid
On third driven shaft 508, drive bevel gear 528, driven wheel of differential 509 sell respectively it is solid second driven shaft 530 and third from
On moving axis 508, cabinet 501 and limit track 502 are fixedly mounted on middle fixing plate 510, above only with middle fixing plate 510
For side, 510 other side components assembly relation of middle fixing plate is identical.After motor 518 starts turning, band moving cam
520 rotations, while sliding block 522 is slided along 520 outer rim of cam always under the support of limit spring 523, and then with dynamic crankshaft
519 realize according to the rotation to mark healthy human body gait motion speed, and further, first pulley 517 passes through the first transmission belt
516 and second belt wheel 514 link, and then third belt wheel 525 by cogged drive belt 2 526 and the 4th belt wheel 531 linkage, the 5th band
Wheel 532 is linked by transmission belt 506 and the 4th belt wheel 507, achievees the effect that be driven step by step, and one side transmission gear 527 receives
Transmission rear-drive movable tooth band 504 rotates, so that footstep mechanism 6 is driven to move according to the bionical track of setting, another aspect initiative taper
Gear 528 and driven wheel of differential 509 start turning after receiving transmission respectively, export rotational power to main supporting rod outward by engagement
Mechanism 3 and time support rod mechanism 4.
Shown in Figure 7, the footstep mechanism 6 includes outer fastening screw 601, outer mounting 602, lead screw pin 603, casing
604, the reciprocal lead screw 607 of pedal 605, interior mounting 606, third, bearing 608, pin key 609, synchromesh gear 610, interior pin for suppressing metal
611, the lead screw pin 603 passes through and is then passed through opened threaded hole on casing 604 after opened threaded hole on pedal 605, finally with
The reciprocal thread groove engagement opened on the reciprocal lead screw 607 of third, outer mounting 602 and interior mounting 606 are fixed on two inside and outside pedal 605
Side, and casing 604 is encapsulated in inside pedal 605, it is final to guarantee that casing 604 is fixed inside pedal 605 and without rotation, outer fastening
Screw 601 is bolted to reciprocal 607 left end of lead screw of third, does not depart from the reciprocal lead screw 607 of third always for mounting 602 outside block,
608 internal diameter interference of bearing is fastened on the reciprocal lead screw 607 of third, and bearing 608 is mounted in 501 inner tracks of left box body, synchronous
Gear 610 is fixed on the reciprocal lead screw 607 of third by pin key 609, and outer diameter gear is engaged in corresponding rail in middle control power mechanism 5
In road, reciprocal 607 left end of lead screw of third is connected on tooth band 504 by interior pin for suppressing metal 611.After equipment operation, tooth band 504 is connect
It is started turning by higher level's transmission, and then the footstep mechanism 6 being connected is driven integrally to do the plane motion that track is curve, synchronous gear
Wheel 610 is become rotating under the engagement of 502 gear track of limit track from translation, and one drives reciprocal 607 turns of lead screw of third
Dynamic, being stepped on pedal 605 due to user's step rotate pedal can not, logical with the fixed lead screw pin 603 of pedal 605 at this time
Inside is crossed to engage with the reciprocal thread groove opened on the reciprocal lead screw 607 of third, so that 603 one of pedal 605 and lead screw pin
The left and right reciprocally swinging in the axial direction of the reciprocal lead screw 607 of third engages ratio, it can be achieved that human body is sufficient by rationally designing gears at different levels
Portion is displaced according to the primary swing on left and right directions in gait cycle, reaches bionical effect.
Shown in Figure 8, the pedestal 7 includes singletree 701, perpendicular strut 702, and singletree 701 and perpendicular strut 702 bolt
Together, by 4 points of support ground, stable supporting role is provided for equipment.
The foregoing is merely preferred embodiments of the invention, are not intended to restrict the invention, for the technology of this field
For personnel, the invention may be variously modified and varied.All any modification, equivalent substitution, improvement and etc. made for the present invention,
It should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of bionical gait motion image training robot, it is characterised in that: including saddle gear (1), sensing loss of weight mechanism (2),
Main brace linkage (3), secondary support rod mechanism (4), middle control power mechanism (5), footstep mechanism (6), pedestal (7), the saddle gear
(1) pressure sensor (201) upper end in sensing loss of weight mechanism (2) is connected firmly by support (104), sensed loss of weight mechanism (2)
It is bolted to upper boom (301) upper end in main brace linkage (3) downwards, main brace linkage (3) lower end is hingeably secured to middle control power
The corresponding position of mechanism (5), secondary support rod mechanism (4) upper end are hinged on the middle part of main brace linkage (3), under secondary support rod mechanism (4)
End is hingedly fixed in corresponding position on middle control power mechanism (5), and integrally bolt is fixed on pedestal (7) middle control power mechanism (5),
Two groups of footstep mechanisms (6) are connected in middle control power mechanism (5) by internal drive.
2. a kind of bionical gait motion image training robot according to claim 1, it is characterised in that: saddle gear 1 includes
Fourth pencil of forms band (101), backboard (102), seat plate (103), support (104), fourth pencil of forms band (101) left and right ends are respectively embedded into
The left and right ends of backboard (102) are fixed on, fourth pencil of forms band (101) bottom end, which is embedded in, is fixed on seat plate (103) front end, backboard (102),
Seat plate (103), support (104) are solidly fixed by tapping riveting respectively.
3. a kind of bionical gait motion image training robot according to claim 1, it is characterised in that: sensing loss of weight mechanism
It (2) include pressure sensor (201), fastening nail (202), linear servo-actuator (203), pressure sensor (201) pedestal
Interference is embedded in linear servo-actuator (203) mover upper end institute opening slot, and fastening nail (202) passes through linear servo-actuator
(203) pressure sensor (201) upper end and support (104) lower end are connected by opened hole on mover.
4. a kind of bionical gait motion image training robot according to claim 1, it is characterised in that: main brace linkage (3)
Including upper boom (301), the first bayonet lock (302), the first screw rod casing (303), the first connector (305), hold-down support (306),
First upper bearing (metal) (307), the first reciprocal lead screw (308), the first lower bearing (309), first bevel gear (310), the upper boom
(301) it is fixed in the pin hole of first screw rod casing (303) upper end by the first bayonet lock (302), it is whole by selecting different pin holes
Initial length of the body main brace linkage 3 before use is adjusted, to adapt to the demand of different height users, the first screw rod casing
(303) with connector (305) through-hole internal diameter clearance fit, opposite sliding up and down, the first connector can be realized under lubricating status
(305) fixed hinge support restraint is formed with two hold-down supports (306) being fixed on middle control power mechanism (5), can moistened
Realize that fixed-axis rotation, the first upper bearing (metal) (307) outer diameter are interference fitted in first screw rod casing (303) internal diameter upper end under sliding state,
First lower bearing (309) and the cooperation of the first screw rod casing (303) internal diameter lower thread fasten, the first reciprocal lead screw (308) outer diameter
It is each passed through the first upper bearing (metal) (307) and the first lower bearing (309) internal diameter and is interference fitted, so that the first reciprocal lead screw
(308) can under duplex bearing constraint, may be implemented inside the first screw rod casing (303) it is stable be freely rotated, the first lead screw
Screw (304) engages after the lateral aperture of the first screw rod casing (303) with the past two-start screw on the first multifilament thick stick (308),
And the first reciprocal lead screw (308) lower end passes through the first lower bearing (309) and fastens afterwards with first bevel gear (310).
5. a kind of bionical gait motion image training robot according to claim 1, it is characterised in that: secondary support rod mechanism (4)
Including position blocking pin (401), rectangular outer tube (402), the second bayonet lock (403), rectangular inner sleeve (404), the second upper bearing (metal)
(405), the second lead screw casing (406), the second lead screw screw (407), the second connector (408), the second reciprocal lead screw (409),
Second lower bearing (410), second bevel gear (411) are blocked by position blocking pin (401) at rectangular outer tube (402) the upper end hook
The support position connect in main brace linkage 3 unloads convenient for fixing or plucking, and rectangular inner sleeve (404) passes through the second bayonet lock (403) and fixes
It is internal in rectangular outer tube (402), pin hole different on rectangular outer tube (402), which is inserted into, by the second bayonet lock (403) realizes length
Degree is adjusted, and inner sleeve (404) lower end and the second upper bearing (metal) (405) upper end are connected, the second upper bearing (metal) (405) and the second lower bearing
(410) second lead screw casing (406) upper and lower ends are fixed on by external screw thread respectively, outside the second reciprocal lead screw (409) upper and lower side
The internal diameter of diameter and the second upper bearing (metal) (405) and the second lower bearing (410) interference fit is realized by duplex bearing constraint at second
The internal without hindrance rotation of thick stick casing (406), the second lead screw casing (406) outer diameter are matched with the second connector (408) through-hole internal diameter gap
It closes, can realize that opposite sliding, the second connector (408) lower end are hinged in middle control power mechanism (5) up and down under lubricating status,
Fixed hinge support restraint is formed, can realize that fixed-axis rotation, the second lead screw screw (407) pass through the second lead screw under lubricating status
It is engaged after the lateral aperture of casing (406) with the past two-start screw on the second reciprocal lead screw (409), and the second reciprocal lead screw
(409) lower end passes through the second lower bearing (410) and fastens afterwards with second bevel gear (411).
6. a kind of bionical gait motion image training robot according to claim 1, it is characterised in that: middle control power mechanism
It (5) include cabinet (501), limit track (502), foot pedal bearing (503), tooth band (504), outer tensioning wheel (505), third biography
Dynamic band (506), the 4th belt wheel (507), third driven shaft (508), driven wheel of differential (509), middle fixing plate (510), secondary bar
Transmission case (511), Tension gear (512), mobile jib transmission case (513), the second belt wheel (514), first driven shaft (515), first
Transmission belt (516), first pulley (517), motor (518), crankshaft (519), cam (520), connecting rod (521), sliding block (522),
Limit spring (523), limit sliding chutes (524), third belt wheel (525), the second transmission belt (526), transmission gear (527), active
Bevel gear (528), interior Tension gear (529), second driven shaft (530), the 4th belt wheel (531), the 5th belt wheel (532), it is described
Two outer tensioning wheels (505) and four interior Tension gears (529) connect firmly six points on middle fixing plate (510) respectively,
It is spaced apart according to limit track (502) extension profile underlap, for being tensioned tooth band (504 one-tenth preset bionical tracks, transmission
Gear (527) is tensioned tooth band (504) on first driven shaft (515), and in predeterminated position, and transmission gear (527) receives
Transmission rear-drive movable tooth band (504) rotation, foot pedal bearing (503) insertion be fixed on tooth band (inside of 504 corresponding positions, outward
It connects footstep mechanism (6), is driven that footstep mechanism (6) is driven to move according to the bionical track of setting by tooth band (504), it is secondary
Bar transmission case (511), mobile jib transmission case (513) and motor (518) are separately fixed at the corresponding positions on middle fixing plate (510)
It sets, (520 with pin-connection in motor, (518 rotor output, limit sliding chutes (524) are fixed on corresponding on the inside of cabinet (501) cam
Position, (522 are nested in limit sliding chutes (524) sliding block, can slide along slot, limit spring (523) one end is fixed on limit sliding chutes
(524) inner end, the other end is fixed on sliding block, and (on 522, connecting rod (521) one end is articulated on sliding block (522), and the other end is hinged on
At crank on crankshaft (519), (cooperation of 519 gap between two ends is fixed on opening for middle fixing plate (510) and cabinet (501) to crankshaft
In hole, the cooperation of first driven shaft (515) gap between two ends is fixed in the aperture of limit track (502) and middle fixing plate (510),
Also clearance fit is fixed on mobile jib transmission case (511) and pair respectively at the both ends of second driven shaft (530) and third driven shaft (508)
In the aperture of the internal corresponding position of bar transmission case (513), first pulley (517) pin is solid on crankshaft (519), transmission gear
(527), the second belt wheel (514) and third belt wheel (525) pin are solid on driven shaft one (529), the 4th belt wheel (531), the 5th band
It is solid on second driven shaft (530) to take turns (532) pin, (507 pins are solid on third driven shaft (508), drive bevel gear for the 4th belt wheel
(528), driven wheel of differential (509) sells solid in second driven shaft (530) and third driven shaft (508) respectively, cabinet (501) and
Limit track (502) is fixedly mounted on middle fixing plate (510), above only by taking middle fixing plate (510) side as an example, intermediate
Fixed plate (510) other side components assembly relation is identical.
7. a kind of bionical gait motion image training robot according to claim 1, it is characterised in that: footstep mechanism (6) packet
Include outer fastening screw (601), outer mounting (602), lead screw pin (603), casing (604), pedal (605), interior mounting (606),
The reciprocal lead screw of third (607), bearing (608), pin key (609), synchromesh gear (610), interior pin for suppressing metal (611), the lead screw
Pin (603) passes through and is then passed through opened threaded hole on casing (604) after opened threaded hole on pedal (605), finally past with third
It is inside and outside that the reciprocal thread groove engagement opened on multifilament thick stick (607), outer mounting (602) and interior mounting (606) are fixed on pedal (605)
Two sides, and casing (604) is encapsulated in pedal (605) inside, finally guarantee casing (604) in the internal fixation of pedal (605) and nothing
Rotation, outer fastening screw (601) are bolted to the reciprocal lead screw of third (607) left end, do not depart from always for the outer mounting (602) of block
The reciprocal lead screw of third (607), bearing (608) internal diameter interference are fastened on the reciprocal lead screw of third (607), and bearing (608) is mounted on
In 501 inner tracks of left box body, synchromesh gear (610) is fixed on the reciprocal lead screw of third (607) by pin key (609), outer diameter
Gear is engaged in middle control power mechanism (5) in respective rail, and interior pin for suppressing metal (611) is by the reciprocal lead screw of third (607) left end
It is connected on tooth band (504).
8. a kind of bionical gait motion image training robot according to claim 1, it is characterised in that: pedestal (7) includes cross
Strut (701), perpendicular strut (702), singletree (701) are bolted together with perpendicular strut (702).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910446712.9A CN109998868B (en) | 2019-05-27 | 2019-05-27 | Bionic gait motion training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910446712.9A CN109998868B (en) | 2019-05-27 | 2019-05-27 | Bionic gait motion training robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109998868A true CN109998868A (en) | 2019-07-12 |
| CN109998868B CN109998868B (en) | 2021-05-04 |
Family
ID=67177904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910446712.9A Active CN109998868B (en) | 2019-05-27 | 2019-05-27 | Bionic gait motion training robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109998868B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111035539A (en) * | 2019-12-31 | 2020-04-21 | 吉林大学 | Walking-aid parallel robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201019975Y (en) * | 2007-03-27 | 2008-02-13 | 中国矿业大学 | Human walking imitation function rehabilitation machine |
| CN102225033A (en) * | 2011-04-25 | 2011-10-26 | 中国科学院合肥物质科学研究院 | Gait rehabilitation training robot |
| CN202154836U (en) * | 2011-06-02 | 2012-03-07 | 耿庆山 | Airbag type weight-reducing walking rehabilitation training device |
| WO2013073782A1 (en) * | 2011-11-17 | 2013-05-23 | Park Seong Gi | Corrective walking aid |
| CN103301006A (en) * | 2013-06-26 | 2013-09-18 | 中国科学院合肥物质科学研究院 | Rehabilitation gait track generator |
| US9248071B1 (en) * | 2013-03-15 | 2016-02-02 | Ergoflex, Inc. | Walking, rehabilitation and exercise machine |
-
2019
- 2019-05-27 CN CN201910446712.9A patent/CN109998868B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201019975Y (en) * | 2007-03-27 | 2008-02-13 | 中国矿业大学 | Human walking imitation function rehabilitation machine |
| CN102225033A (en) * | 2011-04-25 | 2011-10-26 | 中国科学院合肥物质科学研究院 | Gait rehabilitation training robot |
| CN202154836U (en) * | 2011-06-02 | 2012-03-07 | 耿庆山 | Airbag type weight-reducing walking rehabilitation training device |
| WO2013073782A1 (en) * | 2011-11-17 | 2013-05-23 | Park Seong Gi | Corrective walking aid |
| US9248071B1 (en) * | 2013-03-15 | 2016-02-02 | Ergoflex, Inc. | Walking, rehabilitation and exercise machine |
| CN103301006A (en) * | 2013-06-26 | 2013-09-18 | 中国科学院合肥物质科学研究院 | Rehabilitation gait track generator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111035539A (en) * | 2019-12-31 | 2020-04-21 | 吉林大学 | Walking-aid parallel robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109998868B (en) | 2021-05-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106038175B (en) | A kind of joint compound motion mechanical arm for rehabilitation training of upper limbs | |
| CN107811805A (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| CN105686927B (en) | Collapsible mobile lower limb exoskeleton | |
| CN107773384A (en) | A kind of variation rigidity lower limb exoskeleton robot | |
| CN102871822B (en) | Portable and wearable exoskeleton robot for lower limb recovery and walking aid | |
| CN106585763B (en) | A kind of biped robot with flexible ankle-joint | |
| CN108078737A (en) | A kind of amplitude automatic adjustable leg device for healing and training and control method | |
| CN106361537A (en) | Seven-freedom-degree upper limb rehabilitation robot based on combination drive | |
| CN108992259B (en) | Sit and stand and go multi-functional motion auxiliary robot | |
| CN109848967B (en) | Bionic mechanical exoskeleton wearing device | |
| CN109773755A (en) | A kind of wearable knee joint assistance exoskeleton robot of no driving | |
| CN102846448B (en) | Portable and wearable exoskeleton robot for lower limb rehabilitation and walk aid | |
| CN105456002A (en) | Rehabilitation training robot capable of achieving normal gait pattern | |
| CN112739302B (en) | Unpowered multi-joint synchronous training device | |
| CN109124990A (en) | Lower limb rehabilitation ectoskeleton and exoskeleton robot | |
| CN108721050A (en) | Limbs active-passive rehabilitation training device and control method under a kind of magnetorheological force feedback type | |
| CN107198639B (en) | A kind of master for upper limb healing exoskeleton mechanism is fused joint | |
| CN108836732A (en) | A kind of rehabilitation training of upper limbs exoskeleton mechanism with people-machine motion compatibility and passive gravitational equilibrium characteristic | |
| CN110478196A (en) | A kind of lower limbs rehabilitation training robot | |
| CN112137842A (en) | Parallel three-degree-of-freedom ankle joint rehabilitation robot | |
| CN205459236U (en) | Collapsible portable low limbs ectoskeleton | |
| CN109998868A (en) | A kind of bionical gait motion image training robot | |
| CN209122794U (en) | Lower limb rehabilitation ectoskeleton and exoskeleton robot | |
| CN112057302B (en) | Leg rehabilitation training system | |
| CN209286071U (en) | Transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210416 Address after: 130000 Changchun Qianjin Street, Jilin, No. 2699 Applicant after: Jilin University Address before: 130000 No. 142 Renmin Street, Nanguan District, Jilin, Changchun Applicant before: Liu Kun |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |