CN110039518A - Exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move - Google Patents
Exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move Download PDFInfo
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- CN110039518A CN110039518A CN201910219158.0A CN201910219158A CN110039518A CN 110039518 A CN110039518 A CN 110039518A CN 201910219158 A CN201910219158 A CN 201910219158A CN 110039518 A CN110039518 A CN 110039518A
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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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Abstract
Exoskeleton robot, including trunk and arm are lifted in a kind of upper limb electromechanics power-assisted lift to move, and trunk two sides are separately installed with an arm, and torso interior is equipped with controller, driver and battery, by controller and driver control arm motion, realize that lift to move is lifted.Exoskeleton robot of the present invention uses motor driven, and high transmission accuracy, controllability is good, is suitable for the multivariant coordinated control of multi-joint, while completing lift to move function, realizes system lightweight, low energy consumption and wearing flexibility.
Description
Technical field
The present invention relates to a kind of upper limb lifts to move to lift electromechanical assistance exoskeleton robot, belongs to auxiliary lift to move and lifts operation etc.
Need to enhance the field of human upper limb function.
Background technique
It is a kind of enhanced ectoskeleton dynamical system of strength that electromechanical assistance exoskeleton robot is lifted in upper limb lift to move, by human body
It dresses and controls robot and carry out lift to move, lift, complete the tasks such as filling and short distance transportation shell, caisson, cargo supply.
Ectoskeleton is made of driving assembly, transmission mechanism, binding structure, sensing network and controller etc., passes through the diarthrodial outside of master
Power enhances the upper limbs force of human body.
It mainly includes military, fire-fighting, logistics and factory etc. that type assistance exoskeleton application field is lifted in upper limb lift to move, especially
Work outdoors, the environment such as mountain area or workshop, to own wt, carry weight, carry type and working time and have harsh want
The scene asked.
Existing upper limb ectoskeleton research can be divided into assistance type and rehabilitation type two major classes according to purposes.Rehabilitation type ectoskeleton is main
For patient's rehabilitation training of upper limbs, belong to Medical Devices, without the requirement of body-worn movement, therefore, to this weight and energy
Consumption requires lower.Existing upper limb ectoskeleton belongs to such.And assistance type ectoskeleton is used to help wearer's enhancing upper limbs force,
It needs human body to dress for a long time, while carrying out high-intensitive repetitive operation, use environment is complicated, it is therefore desirable to ectoskeleton itself
Light weight is worn off conveniently, and power-assisted is high-efficient.
The upper limb ectoskeleton driving Source Type for being currently used for power-assisted is generally hydraulic booster, air assisted.Hydraulic booster phase
There is higher power/quality ratio for air pressure assisted, and improved as quality increases.But hydraulic oil is easily revealed
And pollution, Hydraulic Elements manufacturing cost is relatively high, and hydraulicefficiency is low, and transmission accuracy is not high, and noise is also very big, fits
Ectoskeleton larger for quality, high load, wearing experience are poor.Air assisted is pollution-free, and running resistance is small, highly-safe,
It is not interfered by high temperature；But gas density changes greatly, and transmission stability is poor, and precision is lower.Compared with hydraulic booster and air assisted,
Electromechanical power-assisted uses motor driven, and high transmission accuracy, controllability is good, is more applicable for the multivariant coordinated control of multi-joint.
Therefore, for the upper limb assistance exoskeleton that size, weight, output torque, revolving speed and control stationarity have strict demand, it is badly in need of
Lightweight electromechanics power-assisted solution.
Summary of the invention
Technology of the invention solves the problems, such as: overcoming the deficiencies of the prior art and provide a kind of upper limb lift to move and lifts electromechanics and helps
Power exoskeleton robot realizes system lightweight, low energy consumption and wearing flexibility while completing lift to move function.
The technical solution of the invention is as follows:
Exoskeleton robot, including trunk and arm are lifted in a kind of upper limb electromechanics power-assisted lift to move, and trunk two sides are installed respectively
There is an arm, torso interior is equipped with controller and driver, and by controller and driver control arm motion, realization is removed
Lift is lifted.
Trunk includes back binding structure and waist support, and exoskeleton robot is worn on people by back binding structure and waist support
Body back and waist.
Back binding structure and waist support are made of the braided material of internal filling ergonomics memory foam, and are passed through
Low rigidity composite material baseboard support；
Shoulder belt and waist support adjustable in length on back binding structure and waist support, to adapt to different human body size.
Arm includes shoulder joint, big arm link, large arm, elbow joint, forearm and end effector；Shoulder joint is mounted on trunk
On, rotary axis direction is perpendicular to human body sagittal plane；Shoulder joint is connected by big arm link with large arm, and large arm and forearm are closed by elbow
Section connection, and elbow joint is mounted on large arm output end, rotary axis direction is also perpendicularly to human body sagittal plane；Forearm end is equipped with end
Hold actuator.
Forearm adjustment mechanism is provided on forearm, for adjusting the length of forearm.
Large arm is internally provided with large arm linkage mechanism, realizes the linkage of shoulder joint and elbow joint abduction/adduction freedom degree；Shoulder
It is designed with wheel hub with groove at the two axial lines of joint and elbow joint abduction/adduction freedom degree, large arm linkage mechanism passes through the
One wirerope is respectively wound around in wheel hub groove from opposite both direction, realize shoulder elbow joint linkage and two elbow joints it
Between distance freely adjust.
Linkage locking mechanism is additionally provided in large arm, the linkage locking mechanism is installed on the large arm connection for stretching out large arm shell
In motivation structure shoulder shaft, the folding of linkage locking mechanism is switched by lockable mechanism to be realized.
Linkage locking mechanism includes roller gear, two engagement connecting rods, sliding axle, spring and the second wirerope；
Roller gear is installed in large arm linkage mechanism shoulder shaft, and two engagement connecting rods are symmetrical along large arm sagittal plane, and
It is connect by pin shaft with the mounting hole on large arm shell；Two engagement connecting rod one end are engaged with roller gear, and the other end both passes through
Sliding axle；It is provided with boss on large arm shell, spring is installed between sliding axle and the boss, engagement connecting rod and gear are provided
The screen resilience of engagement；Second wirerope one end passes through the hole on sliding axle, and the other end and lockable mechanism switch are connected；
When lockable mechanism switch is pressed, the sliding axle can be along the sliding slot of large arm shell under the pulling of the second wirerope
The clutch between roller gear and two engagement connecting rods is realized in movement.
End effector includes control handle and clamping device pinboard；
Control handle includes grasping member, wrist joint connector, lockable mechanism switch, wrist joint mechanism and reciprocal force sensing
Device；Grasping member is connect with wrist joint connector, and wrist joint mechanism is equipped on wrist joint connector, and wrist joint mechanism passes through friendship
Mutual force snesor and end effector cage connection；Grasping member by wrist joint mechanism realize the rotary motion of human body wrist with
It is dynamic, the three-dimension interaction power between reciprocal force sensor for human detection and exoskeleton robot；
Clamping device pinboard and end effector cage connection, clamping device pinboard a front surface and a side surface are machined with switching
Interface, before carrying out operation, for the size and shape of object, the installation extension clamping device at clamping device pinboard.
It is as follows that realization process is lifted in the lift to move that assistance exoskeleton robot is lifted in upper limb lift to move:
(1) before carrying out operation, for the size and shape of object, extension grip is installed at clamping device pinboard (11)
Hold mechanism；
(2) human body has dressed upper limb lift to move and has lifted assistance exoskeleton robot, and both hands are held with a firm grip grasping member；
(3) lockable mechanism switch is pressed, the linkage locking mechanism being located at large arm is opened, it is double according to the size adjusting of object
Arm clamping device spacing；After being adjusted in place, lockable mechanism switch is unclamped, both arms operate grasping member grip objects；
(4) press power switch, wearer starts to carry out lift to move operation, the controller in trunk according to wearer's movement and
The load variation of interaction force snesor perception generates control signal, and driver generates driving signal under the control signal function,
Shoulder joint drives large arm link motion according to the driving signal output torque, drives large arm and elbow joint according to wearer's posture
Movement；Elbow joint also drives forearm and end effector according to the driving signal output torque, and realization lifts carrying to weight bearing.
Compared with prior art, the invention has the following beneficial effects:
(1) present invention is mainly directed towards upper limb lift to move power-assisted field, using electromechanical power-assisted mode, in conjunction with the passive multiple degrees of freedom of master
It is light that the form and driving perception integrated small joint designs of mechanism design realize upper limb lift to move assistance exoskeleton system
Quantization, reduces control system complexity.
(2) present invention realizes system flexibility by coupling mechanism and by dynamic auxiliary joint designs, to a certain extent
Realize the adaptability to different size objects.
(3) present invention saves system energy consumption by retaining mechanism design, can be realized pair without powering
By the locking of lift to move object.
Detailed description of the invention
Fig. 1 is the main view of the present invention electromechanical assistance exoskeleton robot；
Fig. 2 is the side view of the present invention electromechanical assistance exoskeleton robot；
Fig. 3 is large arm linkage mechanism schematic diagram；
Fig. 4 is linkage locking structural scheme of mechanism；
Fig. 5 is control handle schematic diagram.
Specific embodiment
The present invention is based on active drive, passive linkage mechanism, the local designs with movable joint and retaining mechanism, for enhancing
Human upper limb lift to move function provides the solution for having many advantages, such as that light weight, structure are simple, low energy consumption, movement is flexible, energy
Enough realize is lifted and is transported to the lift to move of different size objects.
For the lightweight and flexibility for realizing upper limb lift to move ectoskeleton, necessary letter has been carried out to human upper limb freedom degree
Change.Simplified single armed shares 5 joints, respectively 2 active freedom degrees of shoulder and ancon, 2 cooperating joints of big forearm and
1 passive synkinesia of hand.Such setting reduces system weight and control system complexity.It drives in 2 active joints
Power can help upper limb to carry out active lift to move, and cooperating joint and hand synkinesia can then help people in a certain range
Body carries out operation adjustment, increases system flexibility.
To realize the adaptability to different size objects, upper limb ectoskeleton large arm position is coupled using 2 joint steel wire ropes
Linkage mechanism drives forearm to carry out abduction/adduction movement, and then realizes and remove to different size objects with this by large-arm joint
Lift.
To realize that without locking under electric power thus supplied, by lift to move object, large arm position uses linkage locking mechanism.The mechanism
It is made of gear, engagement connecting rod, wirerope and spring etc., pulls engagement connecting rod to realize engagement connecting rod and gear by wirerope
Disengage, provide restoring force by spring and guarantee engaging for engagement connecting rod and gear, thus mechanically realize band-type brake without
Power supply.
Specific design is as follows:
As depicted in figs. 1 and 2, assistance exoskeleton robot, including trunk 1 are lifted in a kind of upper limb lift to move proposed by the present invention
And arm, 1 two sides of trunk are separately installed with an arm, are equipped with controller, driver and battery inside trunk 1, pass through control
Device processed and driver control arm motion realize that lift to move is lifted.
Trunk 1 includes back binding structure 13 and waist support 14, and exoskeleton robot passes through back binding structure 13 and waist support
14 are worn on human body back and waist.Back binding structure 13 and shoulder belt and waist support adjustable in length on waist support 14, to adapt to
Different human body size.
Back binding structure 13 and waist support 14 are made of the braided material of internal filling ergonomics memory foam, and
Pass through Low rigidity composite material baseboard support.
Arm includes shoulder joint 2, big arm link 3, large arm 4, elbow joint 7, forearm 8 and end effector 15；Shoulder joint 2 is pacified
On trunk 1, rotary axis direction is perpendicular to human body sagittal plane.Shoulder joint 2 is connected by big arm link 3 and large arm 4, large arm 4
It is connected with forearm 8 by elbow joint 7, and elbow joint 7 is mounted on 4 output end of large arm, rotary axis direction is also perpendicularly to human body sagittal
Face.8 end of forearm is equipped with end effector 15.
As shown in figure 3, large arm 4 is internally provided with large arm linkage mechanism 5, shoulder joint 2 and 7 abduction/adduction of elbow joint are realized
The linkage of freedom degree.Wheel hub with groove, large arm are designed at the two axial lines of shoulder joint and elbow joint abduction/adduction freedom degree
Linkage mechanism 5 is respectively wound around in wheel hub groove by the first wirerope 20 from opposite both direction, realizes shoulder elbow joint connection
Distance freely adjusts between dynamic and two elbow joints.
Contain rimless motor, harmonic speed reducer and position sensor, one be a highly integrated in shoulder joint and elbow joint
Body joint provides active drive power under the driving signal control of driver.Position sensor being capable of real-time monitoring pass simultaneously
Section is set, and feeds back to the controller in trunk, is used for position control.
Linkage locking mechanism 6 is additionally provided in large arm 4, the linkage locking mechanism 6, which is installed on, stretches out the big of large arm shell
In 5 shoulder shaft of arm linkage mechanism, the folding of linkage locking mechanism 6 is realized by lockable mechanism switch 12.
As shown in figure 4, linkage locking mechanism 6 includes roller gear 16, two engagement connecting rods 17, sliding axles 18, spring 19
With wirerope 21.Roller gear 16 is installed in 5 shoulder shaft of large arm linkage mechanism, and two engagement connecting rods 17 are along large arm sagittal plane
Symmetrically, and by pin shaft it is connect with the mounting hole on large arm shell.Two 17 one end of engagement connecting rod are engaged with roller gear 16, separately
One end both passes through sliding axle 18.It is provided with boss on large arm shell, spring 19 is installed between sliding axle 18 and the boss, is mentioned
The screen resilience engaged for engagement connecting rod with gear.Second wirerope, 21 one end passes through the hole on sliding axle 18, the other end and locking
Organization switch 12 is connected.Lockable mechanism switch 12 is pressed, the sliding axle 18 can be along large arm under the pulling of the second wirerope 21
The runner movement of shell realizes the clutch between roller gear 16 and two engagement connecting rods 17.
Lockable mechanism switch 12 can also be realized by modes such as electromagnetic clutch, electromagnetic brakes.
Forearm adjustment mechanism 9 is provided on forearm 8, for adjusting the length of forearm 8.
End effector 15 includes control handle 10 and clamping device pinboard 11.
As shown in figure 5, control handle 10 includes grasping member 101, wrist joint connector 102, lockable mechanism switch 12, wrist
Articulation mechanism 103 and interaction force snesor 104.Grasping member 101 is connect with wrist joint connector 102, wrist joint connector 102
On wrist joint mechanism 103 is installed, wrist joint mechanism 103 passes through interaction force snesor 104 and 15 cage connection of end effector.
Grasping member 101 provides the passive freedom degree of wrist rotation by wrist joint mechanism, realizes human body wrist in a certain range
It is servo-actuated.Interaction force snesor 104 detects the three-dimension interaction power between human body and exoskeleton robot.
Clamping device pinboard 11 and end effector cage connection, 11 a front surface and a side surface of clamping device pinboard are machined with
Switching interface, before carrying out operation, for the size and shape of object, the installation extension clamping machine at clamping device pinboard 11
Structure.
It is as follows that realization process is lifted in the lift to move that assistance exoskeleton robot is lifted in upper limb lift to move:
(1) before carrying out operation, for the size and shape of object, extension clamping is installed at clamping device pinboard 11
Mechanism.
(2) human body has dressed upper limb exoskeleton robot, and both hands are held with a firm grip grasping member 101；
(3) lockable mechanism switch 12 is pulled, the linkage locking mechanism 6 being located at large arm 4 is opened, according to the size tune of object
Whole both arms clamping device spacing；After being adjusted in place, lockable mechanism switch 12 is unclamped, both arms operate 101 grip objects of grasping member；
(4) power switch is pressed, wearer starts to carry out lift to move operation；Controller in trunk 1 is acted according to wearer
The load variation perceived with interaction force snesor 104 generates control signal, and driver generates driving under the control signal function
Signal, shoulder joint 2 drive big arm link 3 to move according to the driving signal output torque, drive large arm 4 and elbow joint 7 according to wearing
Wearer's attitude motion；Elbow joint 7 also drives forearm 8 and end effector 15 according to the driving signal output torque, realizes to negative
Weight lifts carrying.
The present invention is mainly directed towards upper limb lift to move power-assisted field, using electromechanical power-assisted mode, in conjunction with the passive multiple degrees of freedom machine of master
Structure design and driving-perception miniaturization Integrated design realize the lightweight of upper limb lift to move assistance exoskeleton system；Pass through coupling
It closes mechanism and realizes system flexibility by dynamic auxiliary joint designs；Lock is realized by linkage locking mechanism and lockable mechanism switch
Tight mechanism design, saves system energy consumption.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (10)
1. exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move, it is characterised in that: including trunk (1) and arm, trunk
(1) two sides are separately installed with an arm, are equipped with controller and driver inside trunk (1), pass through controller and driver
Arm motion is controlled, realizes that lift to move is lifted.
2. exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move according to claim 1, it is characterised in that: trunk
It (1) include back binding structure (13) and waist support (14), exoskeleton robot passes through back binding structure (13) and waist support (14)
It is worn on human body back and waist.
3. exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move according to claim 2, it is characterised in that: back
Binding structure (13) and waist support (14) are made of the braided material of internal filling ergonomics memory foam, and by low rigid
Spend composite material baseboard support；
Back binding structure (13) and shoulder belt and waist support adjustable in length on waist support (14), to adapt to different human body size.
4. exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move according to claim 1, it is characterised in that: arm
Including shoulder joint (2), big arm link (3), large arm (4), elbow joint (7), forearm (8) and end effector (15)；Shoulder joint (2)
It is mounted on trunk (1), rotary axis direction is perpendicular to human body sagittal plane；Shoulder joint (2) passes through big arm link (3) and large arm (4)
Connection, large arm (4) and forearm (8) are connected by elbow joint (7), and elbow joint (7) is mounted on large arm (4) output end, rotary shaft
Direction is also perpendicularly to human body sagittal plane；Forearm (8) end is equipped with end effector (15).
5. exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move according to claim 4, it is characterised in that: forearm
(8) forearm adjustment mechanism (9) are provided on, for adjusting the length of forearm (8).
6. exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move according to claim 4, it is characterised in that: large arm
(4) it is internally provided with large arm linkage mechanism (5), realizes the linkage of shoulder joint (2) and elbow joint (7) abduction/adduction freedom degree；Shoulder
Wheel hub with groove is designed at the two axial lines of joint and elbow joint abduction/adduction freedom degree, large arm linkage mechanism (5) passes through
First wirerope (20) is respectively wound around in wheel hub groove from opposite both direction, realizes shoulder elbow joint linkage and two elbows
Distance freely adjusts between joint.
7. exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move according to claim 6, it is characterised in that: large arm
(4) it is additionally provided on linkage locking mechanism (6), the linkage locking mechanism (6) is installed on the large arm linkage for stretching out large arm shell
In mechanism (5) shoulder shaft, the folding of linkage locking mechanism (6) is realized by lockable mechanism switch (12).
8. exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move according to claim 7, it is characterised in that: linkage
Lockable mechanism (6) includes roller gear (16), two engagement connecting rods (17), sliding axle (18), spring (19) and the second wirerope
(21)；
Roller gear (16) is installed in large arm linkage mechanism (5) shoulder shaft, and two engagement connecting rods (17) are along large arm sagittal plane
Symmetrically, and by pin shaft it is connect with the mounting hole on large arm shell；It is nibbled with roller gear (16) two engagement connecting rod (17) one end
It closes, the other end both passes through sliding axle (18)；It is provided with boss on large arm shell, is equipped between sliding axle (18) and the boss
Spring (19) provides the engagement screen resilience that connecting rod is engaged with gear；Second wirerope (21) one end passes through on sliding axle (18)
Hole, the other end and lockable mechanism switch (12) are connected；
When lockable mechanism switch (12) is pressed, the sliding axle (18) can be outside large arm in the case where the second wirerope (21) pull
The runner movement of shell realizes the clutch between roller gear (16) and two engagements connecting rod (17).
9. exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move according to claim 8, it is characterised in that: end
Actuator (15) includes control handle (10) and clamping device pinboard (11)；
Control handle (10) includes grasping member (101), wrist joint connector (102), lockable mechanism switch (12), wrist joint machine
Structure (103) and interaction force snesor (104)；Grasping member (101) is connect with wrist joint connector (102), wrist joint connector
(102) it is equipped on wrist joint mechanism (103), wrist joint mechanism (103) passes through interaction force snesor (104) and end effector
(15) cage connection；Grasping member (101) realizes the servo-actuated of human body wrist rotary motion, reciprocal force sensing by wrist joint mechanism
Device (104) detects the three-dimension interaction power between human body and exoskeleton robot；
Clamping device pinboard (11) and end effector cage connection, clamping device pinboard (11) a front surface and a side surface are machined with
Switching interface, before carrying out operation, for the size and shape of object, the installation extension clamping machine at clamping device pinboard (11)
Structure.
10. exoskeleton robot is lifted in a kind of upper limb electromechanics power-assisted lift to move according to claim 9, it is characterised in that: on
It is as follows that realization process is lifted in the lift to move that assistance exoskeleton robot is lifted in limb lift to move:
(1) before carrying out operation, for the size and shape of object, extension clamping machine is installed at clamping device pinboard (11)
Structure；
(2) human body has dressed upper limb lift to move and has lifted assistance exoskeleton robot, and both hands hold grasping member (101) with a firm grip；
(3) lockable mechanism switch (12) is pressed, the linkage locking mechanism (6) being located at large arm (4) is opened, according to the size of object
Adjust both arms clamping device spacing；After being adjusted in place, lockable mechanism switch (12) is unclamped, both arms operate grasping member (101) folder
Tight object；
(4) press power switch, wearer starts to carry out lift to move operation, the controller in trunk (1) according to wearer's movement and
The load variation of interaction force snesor (104) perception generates control signal, and driver generates driving under the control signal function
Signal, shoulder joint (2) drive big arm link (3) to move, drive large arm (4) and elbow joint according to the driving signal output torque
(7) according to wearer's attitude motion；Elbow joint (7) is also executed according to driving signal output torque driving forearm (8) and end
Device (15), realization lift carrying to weight bearing.
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| CN110434837A (en) * | 2019-09-10 | 2019-11-12 | 深圳市迈步机器人科技有限公司 | A kind of upper limb assistance device |
| CN110605706A (en) * | 2019-10-16 | 2019-12-24 | 杨凯 | Exoskeleton type auxiliary force-increasing mechanical arm |
| CN110623585A (en) * | 2019-09-25 | 2019-12-31 | 湖北工业大学 | Auxiliary device for replacing electromagnetic force trousers for paralyzed upper limbs when using toilet |
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| CN115741642A (en) * | 2022-11-28 | 2023-03-07 | 合肥工业大学 | Passive upper limb assisting carrying exoskeleton based on load transfer |
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| CN110623585A (en) * | 2019-09-25 | 2019-12-31 | 湖北工业大学 | Auxiliary device for replacing electromagnetic force trousers for paralyzed upper limbs when using toilet |
| CN110623585B (en) * | 2019-09-25 | 2021-10-19 | 湖北工业大学 | Auxiliary device for replacing electromagnetic force trousers for paralyzed upper limbs when using toilet |
| CN110605706A (en) * | 2019-10-16 | 2019-12-24 | 杨凯 | Exoskeleton type auxiliary force-increasing mechanical arm |
| CN111840848A (en) * | 2020-07-27 | 2020-10-30 | 哈尔滨永泓科技有限公司 | Fire control AR helmet |
| CN111840848B (en) * | 2020-07-27 | 2021-06-22 | 哈尔滨徙木科技有限公司 | Fire control AR helmet |
| CN114378788A (en) * | 2020-10-20 | 2022-04-22 | 北京机械设备研究所 | Wearable active and passive hybrid power assisting mechanism and power assisting method |
| CN112894792A (en) * | 2021-01-29 | 2021-06-04 | 王安平 | 9-shaft double-arm robot |
| CN113199458B (en) * | 2021-05-13 | 2024-03-01 | 宿州赛尔沃德物联网科技有限公司 | Wearable robot controller for follow-up control |
| CN113199458A (en) * | 2021-05-13 | 2021-08-03 | 宿州赛尔沃德物联网科技有限公司 | Wearable robot controller for follow-up control |
| CN113663303A (en) * | 2021-09-27 | 2021-11-19 | 国网江苏省电力有限公司扬州供电分公司 | Wearable climbing device |
| CN114193516A (en) * | 2021-12-31 | 2022-03-18 | 重庆特斯联智慧科技股份有限公司 | Robot supporting mechanism with inflation fixing function |
| CN114193516B (en) * | 2021-12-31 | 2024-05-28 | 重庆特斯联智慧科技股份有限公司 | Robot bearing mechanism with inflation and fixing functions |
| WO2023173976A1 (en) * | 2022-03-18 | 2023-09-21 | 宿州赛尔沃德物联网科技有限公司 | Hydraulic engineering machinery manipulator |
| CN115741642A (en) * | 2022-11-28 | 2023-03-07 | 合肥工业大学 | Passive upper limb assisting carrying exoskeleton based on load transfer |
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