CN110039516A - Ankle-joint bearing part and exoskeleton robot - Google Patents
Ankle-joint bearing part and exoskeleton robot Download PDFInfo
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- CN110039516A CN110039516A CN201910153317.1A CN201910153317A CN110039516A CN 110039516 A CN110039516 A CN 110039516A CN 201910153317 A CN201910153317 A CN 201910153317A CN 110039516 A CN110039516 A CN 110039516A
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- component
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- shank
- carry out
- support plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
Abstract
This application provides a kind of ankle-joint bearing part and exoskeleton robots, the ankle-joint bearing part includes shank component, shoes shoe component and lock piece, shank component and shoes carry out component rotation connection, lock piece is used for when shank component carries out component relative to shoes and is rocked to predeterminated position, and locking shank component and shoes carry out component.User is after dressing ankle-joint bearing part, when shank component is rocked to predeterminated position relative to shoes shoe component, lock piece can carry out component with locking shank component and shoes, to assist user to maintain full crouching or semi-crouch state needed for production operation, avoid operating personnel that accident occurs and cause sprain of ankle joint etc..
Description
Technical field
This application involves assistant robot technical fields, more particularly to a kind of ankle-joint bearing part and ectoskeleton machine
People.
Background technique
Exoskeleton robot is a kind of non invasive mechanical device of the directly equipment on human body.User dresses ectoskeleton
After robot, exoskeleton robot can play bearing human body, auxiliary human motion and mitigate the effects of weight bearing is felt.
Currently, being engaged in the operating personnel that logistics carries, builds the industries such as carrying, automobile assembling, aircraft assembly, it is often necessary to
Be chronically at it is complete squat or half crouch operation, the injury such as operating personnel is easy to feel fatigue, and ankle-joint is also easy to be sprained.
Summary of the invention
The application is mainly to provide ankle-joint bearing part and exoskeleton robot, it is intended to improve and close in the prior art to ankle
The bearing of section and the poor problem of protecting effect.
In order to solve the above technical problems, this application provides a kind of ankle-joint bearing part, the ankle-joint bearing part packet
Include shank component, shoes carry out component and lock piece, shank component and shoes carry out component rotation connection, so that shank component can be relative to
Shoes are carried out component and are swung, and lock piece is used for when shank component carries out component relative to shoes and is rocked to predeterminated position, locking shank component
And shoes carry out component.
In order to solve the above technical problems, present invention also provides a kind of exoskeleton robot, which includes
Above-mentioned ankle-joint bearing part.
The beneficial effect of the application is: being in contrast to the prior art, ankle-joint bearing part packet provided by the present application
Include shank component, shoes carry out component and lock piece, shank component and shoes carry out component rotation connection, so that shank component can be relative to
Shoes are carried out component and are swung, and lock piece is used for when shank component carries out component relative to shoes and is rocked to predeterminated position, locking shank component
And shoes carry out component.
Using the above structure, user is after dressing ankle-joint bearing part, when user squats down to predeterminated position,
It is that shank component carries out component relative to shoes and is rocked to predeterminated position, and lock piece can carry out component with locking shank component and shoes, with
When user maintains full crouching needed for production operation or semi-crouch state, avoid operating personnel that accident occurs and ankle-joint is caused to turn round
Wound etc..
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, to this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is the structural schematic diagram of ankle-joint bearing part embodiment provided by the present application；
Fig. 2 is the structural schematic diagram of shank component in Fig. 1；
Fig. 3 is the structural schematic diagram that shoes carry out component in Fig. 1；
Fig. 4 is the structural schematic diagram of lock piece in Fig. 1；
Fig. 5 is the decomposition diagram of connection component in Fig. 1；
Fig. 6 is the schematic cross-section that shank component and shoes carry out component rotation connection in Fig. 1；
Fig. 7 is that shank component and shoes carry out the schematic cross-section that component is swung on the second plane of oscillation in Fig. 1；
Fig. 8 is the structural schematic diagram of exoskeleton robot embodiment provided by the present application；
Fig. 9 is front schematic view when exoskeleton robot is worn on user and is in upright state in Fig. 8；
Figure 10 is side schematic view when exoskeleton robot is worn on user and is in upright state in Fig. 8；
Figure 11 is side schematic view when exoskeleton robot is worn on user and is in semi-crouch state in Fig. 8.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiment of the application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
" embodiment " mentioned in this application is it is meant that a particular feature, structure, or characteristic described can be in conjunction with the embodiments
Included at least one embodiment of the application.The phrase, which occurs, in each position in the description might not each mean phase
Same embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art are explicitly
Implicitly understand, embodiment described herein can be combined with other embodiments.
Exoskeleton robot is a kind of non invasive mechanical device of the directly equipment on human body.User dresses ectoskeleton
After robot, exoskeleton robot can play bearing human body, auxiliary human motion and mitigate the effects of weight bearing is felt.
Present inventor is by the discovery that studies for a long period of time: being engaged in logistics and carries, builds carrying, automobile assembling, aircraft dress
With etc. industries operating personnel, it is often necessary to be chronically at complete squat or half crouch operation, operating personnel are easy to feel fatigue, ankle
Joint is also easy the injury such as to be sprained.For this purpose, this application provides following examples.
Refering to fig. 1, Fig. 1 is the structural schematic diagram of ankle-joint bearing part embodiment provided by the present application.
The ankle-joint bearing part 10 of the present embodiment includes shank component 11, shoes shoe component 12 and lock piece 13, shank group
Part 11 and shoes are carried out component 12 and are rotatablely connected, and swing so that shank component 11 can carry out component 12 relative to shoes.
Optionally, ankle-joint bearing part 10 further includes connection component 14, and connection component 14 is for connecting shank component 11
Component 12 is carried out with shoes, so that the two realizes rotation connection.
Referring to Fig.2, Fig. 2 is the structural schematic diagram of shank component 11 in Fig. 1.
Shank component 11 includes shank support plate 111 and shank bandage 112, and shank bandage 112 and shank support plate 111 connect
It connects, by 11 bondage of shank component in the shank of user.
It should be noted that " user " described in the embodiment of the present application is generally adult, for different uses
Person, there may be differences for gender, height, weight etc., so that the position of bondage may there is also differences.
Optionally, 111 part of shank support plate is arranged in bending, and in the present embodiment, shank support plate 111 is close to shoes shoe group
One end of part 12 is bent away from the direction of shank bandage 112, to keep away when 11 bondage of shank component is in the shank of user
The ankle of user is opened, to increase the compactness of shank component 11 Yu user's body.
Optionally, shank bandage 112 is made of materials such as textile fabric, leathers, so that shank bandage 112 has centainly
Intensity and flexibility, to increase the bondage effect between shank component 11 and user's shank.
Optionally, the length of shank support plate 111 is consistent with user's lower-leg length, and the quantity of shank bandage 112 can be with
To be multiple, multiple shank bandages 112 in different positions by 11 bondage of shank component in user's shank, thus increase bondage effect
Fruit.
In the description of the present application, the meaning of " plurality " is at least two, such as two, three etc., unless otherwise clearly having
The restriction of body.
Further, shank support plate 111 offers the first jack 1111, connection component close to one end that shoes carry out component 12
14 are arranged in the first jack 1111, are rotatablely connected so that shank support plate 111 and shoes carry out component 12, so that shank supports
Plate 111 can carry out component 12 relative to shoes and swing.
Optionally, the first jack 1111 is strip hole, to carry out 12 rotation connection of component in shank support plate 111 and shoes
Afterwards, it is mobile can also to carry out component 12 relative to shoes for shank support plate 111.
Optionally, the U-shaped opening at the first jack 1111 of shank support plate 111, and shank support plate 111 herein can
In curling or bending setting.
It is the structural schematic diagram that shoes carry out component 12 in Fig. 1 refering to Fig. 3, Fig. 3.
It includes that shoes carry out support plate 121, shoes carry out part 122 and shoes carry out bandage 123 that shoes, which carry out component 12, and shoes carry out part 122 and shoes carry out branch
Board 121 is connected far from one end of shank component 11, and shoes are carried out bandage 123 and connect with shoes shoe part 122, and shoes are carried out 12 bondage of component
In the foot of user.
Optionally, shoes are carried out 121 part of support plate and are arranged in bending, and in the present embodiment, shoes carry out support plate 121 far from shank group
The direction that part 122 is carried out away from shoes in one end of part 11 is bent, to avoid when shoes carry out 12 bondage of component in the foot of user
The ankle of user, to increase the compactness that shoes carry out component 12 and user's body.
Optionally, shoes are carried out bandage 123 and are made of materials such as textile fabric, leathers, so that shoes, which carry out bandage 123, to be had centainly
Intensity and flexibility, to increase the bondage effect that shoes are carried out between component 12 and user foot.
Optionally, shoes carry out the in the same size of part 122 and user's heel, shoes carry out bandage 123 quantity can be it is multiple,
Multiple shoes carry out bandage 123 and shoes are carried out 12 bondage of component in user foot, to increase bondage effect in different positions.
In the present embodiment, user dresses shoes and carries out after component 12, and shoes are carried out part 122 and are respectively acting on shoes shoe bandage 123
The heel and instep of user, with user normally walk when, or lift shank even foot when, shoes carry out component 12 be close to
User foot.
Further, shoes carry out support plate 121 and offer the second jack 1211, connection component close to one end of shank component 11
14 are arranged in the first jack 1111 and the second jack 1211, connect so that shank support plate 111 and shoes carry out the rotation of support plate 121
It connects, is swung so that shank support plate 111 can carry out support plate 121 relative to shoes.
Optionally, the second jack 1211 is strip hole, is rotatablely connected with carrying out support plate 121 in shank support plate 111 and shoes
Later, it is mobile can also to carry out support plate 121 relative to shoes for shank support plate 111.
Jointly refering to fig. 4 to fig. 6, Fig. 4 is the structural schematic diagram of lock piece 13 in Fig. 1, and Fig. 5 is connection component 14 in Fig. 1
Decomposition diagram, Fig. 6 is that shank component 11 and shoes carry out the schematic cross-section that component 12 is rotatablely connected in Fig. 1.
Lock piece 13 is carried out component 12 with shank component 11 or shoes and is fixedly connected, and for carrying out in shank component 11 relative to shoes
When component 12 is rocked to predeterminated position, locking shank component 11 and shoes carry out component 12.
Wherein, lock piece 13 offers accommodating space 131, and the opening of accommodating space 131 carries out component 12 or shank towards shoes
Component 11.
In the present embodiment, lock piece 13 is fixedly connected with shank support plate 111, and is carried out support plate 121 with shoes and be located at shank
The same side of support plate 111, and the opening of accommodating space 131 carries out support plate 121 towards shoes.
In the present embodiment, predeterminated position can be user after dressing ankle-joint bearing part 10, and user is in
When full crouching, semi-crouch state, shank component 11 carries out the position of component 12 relative to shoes.
It should be noted that the predeterminated position in the present embodiment can be arbitrary, it has with the degree that user squats down
It closes, the flexibility of ankle-joint bearing part 10 can be improved in this way.
Optionally, lock piece 13 is detachably connected with shank support plate 111, with lock piece 13 damage after, easily
It is replaced, to extend the service life of shank component 11.
Optionally, lock piece 13 and shank support plate 111 are integrally formed part, difficult with the assembly for reducing shank component 11
Degree.
Optionally, the shape of accommodating space 131 and shoes carry out support plate 121 close to the shape one of 111 one end of shank support plate
It causes, and 131 volume of accommodating space carries out support plate 121 close to the volume of 111 that one end of shank support plate, so that shoes slightly larger than shoes
Accommodating space 131 can be partially inserted in by carrying out support plate 121.
Further, connection component 14 includes the first connector 141 and the second connector 142, and the first connector 141 is worn
Component 12 is carried out in shank component 11 and shoes, is put so that shank component 11 can carry out component 12 relative to shoes on the first plane of oscillation
Dynamic, the second connector 142 is arranged in the first connector 141 and carries out component 12 with shank component 11 or shoes and connect, so that shank
Component 11 can carry out component 12 relative to shoes on the second plane of oscillation and swing.
Wherein, the second plane of oscillation is perpendicular to the first plane of oscillation.
In the present embodiment, the first plane of oscillation can be user after dressing ankle-joint bearing part 10, for example, using
Person in the process of walking or user during squatting down user be in it is complete squat or when semi-crouch state lean forward or after
During facing upward, shank component 11 carries out the plane that the direction that component 12 is swung is constituted relative to shoes, for example, the first plane of oscillation is parallel to
Shank support plate 111 and/or shoes carry out the plane where support plate 121, at this point, shank component 11 carry out component 12 relative to shoes can be with
Swing.
In the present embodiment, the second plane of oscillation can be user after dressing ankle-joint bearing part 10, for example, shoes are carried out
When component 12 leaves ground, shoes are carried out component 12 and can also be rotated relative to shank component 11, such as can swing, such as Fig. 7
(a), shown in (b), so that ankle-joint bearing part 10 follows the ankle-joint of user to carry out multidirectional rotation, Jin Erzeng
Add the flexibility of ankle-joint bearing part 10.But user is in the process of walking or user is during squatting down, or makes
When user is in full crouching or semi-crouch state, it is undesirable that shank component 11 turns on the second plane of oscillation relative to shoes shoe component 12
It is dynamic, the injury such as sprained to avoid ankle-joint.For this purpose, lock piece 13 carries out component 12 the relative to shoes for shank component 11
When being rocked to predeterminated position on one plane of oscillation, locking shank component 11 carries out pendulum of the component 12 on the second plane of oscillation relative to shoes
It is dynamic, as shown in Figure 6.
The directional instruction (such as up, down, left, right, before and after ...) of institute is only used for explaining at certain in the embodiment of the present application
Relative positional relationship, motion conditions etc. under one particular pose (as shown in the picture) between each component, if the particular pose is sent out
When raw change, then directionality instruction also correspondingly changes correspondingly.
Optionally, the first connector 141 is arranged in the first jack 1111 and the second jack 1211, so that shank support plate
111, which can carry out support plate 121 relative to shoes on the first plane of oscillation, swings, so that shank component 11 can be on the first plane of oscillation
Component 12 is carried out relative to shoes to swing.
Optionally, the first connector 141 offers third jack 1411, is inserted with being arranged in first in the first connector 141
After hole 1111 and the second jack 1211, the second connector 142 be arranged in third jack 1411 and with shank support plate 111 or shoes
It carries out support plate 121 to connect, be swung so that shank support plate 111 can carry out support plate 121 relative to shoes on the second plane of oscillation, from
And makes shank component 11 that can carry out component 12 relative to shoes on the second plane of oscillation and swing.
Term " first ", " second " and " third " in the application are used for description purposes only, and should not be understood as instruction or
It implies relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " first ", " second " and
The feature of " third " can explicitly or implicitly include at least one of the features.
In the present embodiment, after the first connector 141 is arranged in the first jack 1111 and the second jack 1211, second connects
Fitting 142 is arranged in third jack 1411 and connect with shank support plate 111, inserts for example, the second connector 142 is arranged in third
The part that hole 1411 and shank support plate 111 are arranged in curling or bending, as shown in Figure 6.It in this way can be to avoid the second connection
Part 142 rotates on the first plane of oscillation relative to shank support plate 111.
Further, since the first jack 1111 and/or the second jack 1211 are strip hole, in the present embodiment, with first
Jack 1111 and the second jack 1211 are to be illustrated for strip hole, are arranged in the first jack in the first connector 141
1111 and second after jack 1211, and shank support plate 111 not only can carry out support plate 121 relative to shoes on the first plane of oscillation
It swings, it is also possible that shank support plate 111 can carry out the movement of support plate 121 relative to shoes, and carries out 121 part of support plate in shoes and insert
When set on accommodating space 131,13 locking shank component 11 of lock piece carries out swing of the component 12 on the second plane of oscillation relative to shoes,
As shown in Figure 6.
In addition, when shoes are carried out support plate 121 and are detached from accommodating space 131, for example, when shoes shoe component 12 leaves ground, it is small
Leg assembly 11 can carry out component 12 relative to shoes on the second plane of oscillation and swing, and can increase the spirit of ankle-joint bearing part 10 in this way
Activity, and shank support plate 111 can be used for backstop shank component 11 and carry out swing of the component 12 on the second plane of oscillation relative to shoes,
As shown in Fig. 7 (a), (b), it can control shank component 11 in this way relative to shoes and carry out amplitude of fluctuation of the component 12 on the second plane of oscillation
Degree, to improve safety.
After dressing ankle-joint bearing part 10 to user below, 13 locking shank component 11 of lock piece and shoes carry out component
12 process is described in detail.
User is after dressing ankle-joint bearing part 10, for example, user is in the process of walking or user is under
During crouching or when user is in full crouching or semi-crouch state, by the effect of self gravity, shank support plate 111 is relative to shoes
It is mobile to carry out support plate 121, so that shoes carry out 121 part of support plate and are inserted in accommodating space 131, as shown in fig. 6, at this point, shank group
Part 11 carries out component 12 relative to shoes and is rocked to predeterminated position, and 13 locking shank component 11 of lock piece carries out component 12 the relative to shoes
Swing on two planes of oscillation, that is to say, shank component 11 is carried out swing of the component 12 on the second plane of oscillation relative to shoes and received
The limitation of lock piece 13 can be sprained so that the ankle of user is difficult to swing to avoid ankle-joint in this way
Injury.
It is the structural schematic diagram of exoskeleton robot embodiment provided by the present application refering to Fig. 8, Fig. 8.
The exoskeleton robot 20 of the present embodiment includes the ankle-joint bearing part 10 in above-described embodiment.
About the specific structure of ankle-joint bearing part 10, the detailed of above-mentioned 10 embodiment of ankle-joint bearing part is please referred to
Description, details are not described herein.
It is jointly that exoskeleton robot 20 is worn on user and in upright state in Fig. 8 refering to Fig. 9 to Figure 11, Fig. 9
When front schematic view, Figure 10 is that exoskeleton robot 20 is worn on user in Fig. 8 and side when in upright state shows
It is intended to, Figure 11 is side schematic view when exoskeleton robot 20 is worn on user and is in semi-crouch state in Fig. 8.
In the present embodiment, exoskeleton robot 20 includes two groups of ankle-joint bearing parts 10, one group of ankle-joint bearing part
10 bondages are in the left leg of user and left foot, and another group of 10 bondage of ankle-joint bearing part is in the right leg of user and right crus of diaphragm, to make
When user squats down to predeterminated position, auxiliary user more easily control maintains needed for production operation crouching or semi-crouch state entirely, thus
Avoid operating personnel that accident occurs and cause sprain of ankle joint etc..
It is in contrast to the prior art, ankle-joint bearing part provided by the present application includes shank component, shoes shoe component
And lock piece, shank component and shoes carry out component rotation connection, swing so that shank component can carry out component relative to shoes, lock piece
For when shank component carries out component relative to shoes and is rocked to predeterminated position, locking shank component and shoes to carry out component.
Using the above structure, user is after dressing ankle-joint bearing part, when user squats down to predeterminated position,
It is that shank component carries out component relative to shoes and is rocked to predeterminated position, and lock piece can carry out component with locking shank component and shoes, with
When user maintains full crouching needed for production operation or semi-crouch state, avoid operating personnel that accident occurs and ankle-joint is caused to turn round
Wound etc..
Claims (11)
1. a kind of ankle-joint bearing part, which is characterized in that the ankle-joint bearing part include shank component, shoes carry out component and
Lock piece, the shank component and the shoes carry out component rotation connection, so that the shank component can be carried out relative to the shoes
Component is swung, and the lock piece is used for when the shank component carries out component relative to the shoes and is rocked to predeterminated position, locking
The shank component and the shoes carry out component.
2. ankle-joint bearing part according to claim 1, which is characterized in that the ankle-joint bearing part further includes connecting
Connected components, the connection component include the first connector and the second connector, and first connector is arranged in the shank group
Part and the shoes carry out component, swing so that the shank component can carry out component relative to the shoes on the first plane of oscillation, institute
It states the second connector to be arranged in first connector and connect with the shank component or shoes shoe component, so that described
Shank component can carry out component relative to the shoes on the second plane of oscillation perpendicular to first plane of oscillation and swing, the locking
Part is carried out component with the shank component or the shoes and is fixedly connected, and carries out component in institute relative to the shoes for the shank component
It states when being rocked to predeterminated position on the first plane of oscillation, shank component described in locking carries out component in second pendulum relative to the shoes
Swing on dynamic face.
3. ankle-joint bearing part according to claim 2, which is characterized in that the shank component includes shank bearing
Plate, the shank support plate offer the first jack close to one end that the shoes carry out component, and it includes that shoes carry out branch that the shoes, which carry out component,
Board, the shoes carry out support plate and offer the second jack close to one end of the shank component, and first connector is arranged in
First jack and second jack, so that the shank component can be on the first plane of oscillation relative to the shoes shoe group
Part is swung.
4. ankle-joint bearing part according to claim 3, which is characterized in that first connector offers third and inserts
Hole, with after first connector is arranged in first jack and second jack, second connector is worn
In third jack and support plate is carried out with the shank support plate or the shoes connect, so that the shank component can be described the
Component is carried out relative to the shoes on two planes of oscillation to swing.
5. ankle-joint bearing part according to claim 3, which is characterized in that the lock piece and the shank support plate
It is fixedly connected, and carries out the same side that support plate is located at the shank support plate with the shoes, it is empty that the lock piece offers receiving
Between, the opening of the accommodating space carries out support plate towards the shoes, and first jack or/and second jack are strip
Hole so that the shank support plate can carry out support plate movement relative to the shoes, and is carried out support plate part in the shoes and is plugged
When the accommodating space, shank component described in the lock piece locking carries out component in second plane of oscillation relative to the shoes
On swing.
6. ankle-joint bearing part according to claim 5, which is characterized in that carry out support plate in the shoes and be detached from described
When accommodating space, the shank component can carry out component relative to the shoes on second plane of oscillation and swing, and the shank
Support plate can be used for shank component described in backstop and carry out swing of the component on second plane of oscillation relative to the shoes.
7. ankle-joint bearing part according to claim 5, which is characterized in that the lock piece and the shank support plate
It is detachably connected.
8. ankle-joint bearing part according to claim 3, which is characterized in that shank support plate part is set in bending
It sets.
9. ankle-joint bearing part according to claim 3, which is characterized in that the shoes are carried out support plate part and set in bending
It sets.
10. ankle-joint bearing part according to claim 9, which is characterized in that it further includes that shoes carry out part that the shoes, which carry out component,
The shoes are carried out part and are connect with shoes shoe support plate far from one end of the shank component.
11. a kind of exoskeleton robot, which is characterized in that the exoskeleton robot includes as described in claim 1-10 is any
Ankle-joint bearing part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910153317.1A CN110039516B (en) | 2019-02-28 | 2019-02-28 | Ankle joint support member and exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910153317.1A CN110039516B (en) | 2019-02-28 | 2019-02-28 | Ankle joint support member and exoskeleton robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110039516A true CN110039516A (en) | 2019-07-23 |
| CN110039516B CN110039516B (en) | 2022-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910153317.1A Active CN110039516B (en) | 2019-02-28 | 2019-02-28 | Ankle joint support member and exoskeleton robot |
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| CN (1) | CN110039516B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103735386A (en) * | 2013-11-15 | 2014-04-23 | 北京航空航天大学 | Wearable lower limb exoskeleton rehabilitation robot |
| CN204192809U (en) * | 2014-10-28 | 2015-03-11 | 高月明 | Multi-functional ankle joint orthotic device |
| CN104758142A (en) * | 2015-04-10 | 2015-07-08 | 电子科技大学 | Assistance exoskeleton robot |
| JP2016083100A (en) * | 2014-10-24 | 2016-05-19 | トヨタ自動車株式会社 | Joint lock device for foot orthosis |
| CN108247607A (en) * | 2016-12-27 | 2018-07-06 | 本田技研工业株式会社 | Action assisting device |
| CN208005664U (en) * | 2018-02-12 | 2018-10-26 | 成都云鼎康德科技有限公司 | A kind of human body walking walk helper |
-
2019
- 2019-02-28 CN CN201910153317.1A patent/CN110039516B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103735386A (en) * | 2013-11-15 | 2014-04-23 | 北京航空航天大学 | Wearable lower limb exoskeleton rehabilitation robot |
| JP2016083100A (en) * | 2014-10-24 | 2016-05-19 | トヨタ自動車株式会社 | Joint lock device for foot orthosis |
| CN204192809U (en) * | 2014-10-28 | 2015-03-11 | 高月明 | Multi-functional ankle joint orthotic device |
| CN104758142A (en) * | 2015-04-10 | 2015-07-08 | 电子科技大学 | Assistance exoskeleton robot |
| CN108247607A (en) * | 2016-12-27 | 2018-07-06 | 本田技研工业株式会社 | Action assisting device |
| CN208005664U (en) * | 2018-02-12 | 2018-10-26 | 成都云鼎康德科技有限公司 | A kind of human body walking walk helper |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110039516B (en) | 2022-03-25 |
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