CN110181486A - The arm movable support and upper half of human body ectoskeleton of upper half of human body ectoskeleton - Google Patents
The arm movable support and upper half of human body ectoskeleton of upper half of human body ectoskeleton Download PDFInfo
- Publication number
- CN110181486A CN110181486A CN201910554071.9A CN201910554071A CN110181486A CN 110181486 A CN110181486 A CN 110181486A CN 201910554071 A CN201910554071 A CN 201910554071A CN 110181486 A CN110181486 A CN 110181486A
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- arm
- shoulder
- swing arm
- shaft
- human body
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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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of arm movable support of upper half of human body ectoskeleton and upper half of human body ectoskeletons, including shoulder swing arm, first rotating shaft and hand swing arm, first rotating shaft is mounted in the back bracket at back rear, shoulder swing arm is rotatably installed in first rotating shaft, shoulder swing arm is connect with hand swing arm, hand swing arm is mounted on arm, and hand swing arm is lifted up in trunk side or declines to drive shoulder swing arm to rotate around first rotating shaft.Back bracket forms the support to shoulder swing arm and hand swing arm, and when arm activity drives hand swing arm rotation, and hand swing arm drives shoulder swing arm rotation.Wherein the back under first rotating shaft and upright state is vertical or near normal, therefore rotation of the arm on trunk is lateral can be converted into shoulder swing arm around the rotation of first rotating shaft.The rotational plane of arm and the verticality of first rotating shaft are higher, smaller by resistance when rolling over, therefore first rotating shaft provides arm movable support and laterally goes up rotational freedom in human body.
Description
[technical field]
The present invention relates to a kind of arm movable support of upper half of human body ectoskeleton and upper half of human body ectoskeleton, belong to outer
Bone field.
[background technique]
Ectoskeleton is to play a kind of mechanical device of external support to human body to act on wherein there is a kind of arm support
It is supported in arm.But the setting of the operation freedom degree of existing arm ectoskeleton is very unreasonable, leads to the work of arm
It is dynamic very stiff, it is unable to satisfy actual demand.
[summary of the invention]
A kind of arm activity is provided technical problem to be solved by the present invention lies in overcome the deficiencies in the prior art more
The arm movable support and upper half of human body ectoskeleton of flexible upper half of human body ectoskeleton.
Above-mentioned technical problem is solved, the present invention adopts the following technical scheme:
A kind of arm movable support of upper half of human body ectoskeleton, including shoulder swing arm, first rotating shaft and hand swing arm, the
One shaft is mounted in the back bracket at back rear, and shoulder swing arm is rotatably installed in first rotating shaft, shoulder swing arm with
Hand swing arm connection, hand swing arm are mounted on arm, and hand swing arm is lifted up in trunk side or declines to drive shoulder to put
Arm is rotated around first rotating shaft.
The invention has the benefit that
Back bracket forms the support to shoulder swing arm and hand swing arm, and when arm activity drives hand swing arm rotation,
Hand swing arm drives shoulder swing arm rotation.Wherein the back under first rotating shaft and upright state is vertical or near normal, therefore
Rotation of the arm on trunk is lateral can be converted into shoulder swing arm around the rotation of first rotating shaft.The rotational plane of arm and first turn
The verticality of axis is higher, smaller by resistance when rolling over, therefore first rotating shaft provides arm movable support in human body side
It is rotated up freedom degree.Especially when arm carries out elevating operation, arm is supported by hand swing arm, is suitable for wearing
Wear long term of the personnel in the case where needing some more extreme movements.
First rotating shaft of the present invention and human body back angle are 70 ° -90 °.
The invention also includes the second shaft, third shaft and rotating bar, the second shaft is arranged in shoulder swing arm, rotation
One end of bar is rotatably connected in shoulder swing arm around the second shaft, and the other end of rotating bar, hand swing arm is arranged in third shaft
It is rotatably connected in rotating bar around third shaft, the second shaft and third shaft are obliquely installed with respect to first rotating shaft, and third
Shaft is obliquely installed with respect to plane where the second shaft and first rotating shaft, and shoulder swing arm is connect with hand swing arm by rotating bar.
Plane where second shaft and first rotating shaft is while being parallel to the plane of the second shaft and first rotating shaft.
Second shaft of the present invention is perpendicular to first rotating shaft.
Arm is installed to sliding rail in hand swing arm of the present invention, arm is slipped on sliding rail has arm to sliding block, and arm is to sliding block
It is slided on sliding rail in arm to be moved up in arm axis, arm is equipped with arm fixation part on sliding block, and hand swing arm passes through hand
Arm fixing piece is mounted on arm.
Shoulder is installed to sliding rail in back bracket of the present invention, arm movable support further includes shoulder sliding block, and shoulder is sliding
Block is slipped in shoulder on sliding rail, and shoulder sliding block is slided in shoulder on sliding rail to move between two shoulders, and first rotating shaft is mounted on
On shoulder sliding block, first rotating shaft is mounted in back bracket by shoulder sliding block.
The locating part limited to shoulder swing arm is provided on shoulder sliding block of the present invention.
Locating part of the present invention is the adjusting nut being threadedly coupled with shoulder sliding block.
Gear mechanism is installed, third shaft is connect with gear mechanism, and third shaft turns in hand swing arm of the present invention
Dynamic driving gear mechanism provides support force to hand swing arm.
A kind of upper half of human body ectoskeleton, including arm movable support.
The other features and advantages of the invention will the detailed exposure in following specific embodiment, attached drawing.
[Detailed description of the invention]
Following further describes the present invention with reference to the drawings:
Fig. 1 be upper half of human body of embodiment of the present invention ectoskeleton state one (shoulder sliding block before shoulder is mobile on sliding rail,
Rotating bar is before the rotation of the second shaft, and shoulder swing arm is before first rotating shaft rotation) schematic view of the front view；
Fig. 2 be upper half of human body of embodiment of the present invention ectoskeleton state two (shoulder sliding block after shoulder is mobile on sliding rail,
Rotating bar is before the rotation of the second shaft, and shoulder swing arm is before first rotating shaft rotation) schematic view of the front view；
Fig. 3 be upper half of human body of embodiment of the present invention ectoskeleton state three (shoulder sliding block after shoulder is mobile on sliding rail,
Rotating bar is before the rotation of the second shaft, and shoulder swing arm is after first rotating shaft rotation) schematic perspective view；
Fig. 4 is three schematic view of the front view of state of upper half of human body of embodiment of the present invention ectoskeleton；
Fig. 5 is three backsight structural representation of state of upper half of human body of embodiment of the present invention ectoskeleton；
Fig. 6 is enlarged structure schematic diagram at X in Fig. 5；
Fig. 7 is another schematic perspective view (default hand swing arm) of the arm movable support of the embodiment of the present invention；
Fig. 8 be upper half of human body of embodiment of the present invention ectoskeleton state four (shoulder sliding block after shoulder is mobile on sliding rail,
Rotating bar around the second shaft rotation after, shoulder swing arm around first rotating shaft rotation before) schematic view of the front view；
Fig. 9 is the usage state diagram of upper half of human body of embodiment of the present invention ectoskeleton.
[specific embodiment]
The technical solution of the embodiment of the present invention is explained and illustrated below with reference to the attached drawing of the embodiment of the present invention, but under
It states embodiment to be merely a preferred embodiment of the present invention, and not all.Based on the implementation example in the implementation mode, those skilled in the art
Obtained other embodiments without making creative work, belong to protection scope of the present invention.
In the following description, occur term "inner", "outside", "upper", "lower", the indicating positions such as "left", "right" or
Positional relationship description embodiment merely for convenience and simplified description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
Embodiment:
Referring to Fig. 1-9, a kind of upper half of human body ectoskeleton that the present embodiment is shown, including chassis overhang A and arm activity
Bracket.Arm movable support is mounted on chassis overhang A, and the backbone or waist of chassis overhang A and human body are fixed, by human body
Backbone or waist are supported arm movable support, and arm movable support is then attached with arm, when arm activity
The activity of arm movable support is driven, arm is supported in arm active procedure by arm movable support.
Specifically, chassis overhang A is consistent with Regular Human's upper part of the body ectoskeleton in the present embodiment, it also include a back branch
Frame.In other embodiments, the back bracket can the backbone position directly with wearer back be fixed, carried on the back by wearer
The backbone position in portion is supported back bracket.
But in the present embodiment, chassis overhang A can also include a waist bracket, and waist bracket and wearer's waist are solid
Fixed, back bracket is then connect with waist bracket, is supported by wearer's waist to waist bracket, waist bracket carries out back bracket
Support, back bracket are then located at the rear of human body back, and the not direct back with human body of back bracket is fixed.Waist compares backbone
With better load-bearing capacity, to human body more safety and comfort by the way of lumbar support, while it being also more conducive to human body upper half
The long periods of wear of body ectoskeleton.
Arm movable support includes shoulder swing arm B1, first rotating shaft B2, hand swing arm B3, the second shaft in the present embodiment
B4, third shaft B5, rotating bar B6 and shoulder slide block B 8.
For the arm being equipped on hand swing arm B3 to sliding rail B12, arm is slipped on sliding rail B12 has arm to slide block B 7, and arm is to cunning
Arm fixation part B10 is installed on block B7.Arm movable support in use, arm fixation part B10 and arm binding or fixed,
Hand swing arm B3 is mounted on arm by arm fixation part B10, while arm is axial parallel or substantially to sliding rail B12 and arm
In parallel, so that arm be made to drive arm to generate position in arm itself axial direction in sliding process on sliding rail B12 in arm to slide block B 7
It moves.Arm is not more than 45 ° to angle between sliding rail B12 and arm axial direction under normal circumstances.
Shoulder along the setting of two shoulder relative directions is installed to sliding rail B9, shoulder sliding block in the present embodiment, in back bracket
B8 is slipped in shoulder on sliding rail B9.Back bracket is fixed with waist when in use, therefore shoulder is to the position of sliding rail B9 opposed waist
It can't change.Shoulder slide block B 8 is for linear motion on sliding rail B9 in shoulder, and movement direction is the relative direction of two shoulders,
I.e. shoulder slide block B 8 is to move while shoulder is slided on sliding rail B9 between two shoulders.Shoulder slide block B 8, shoulder swing arm B1,
Rotating bar B6, hand swing arm B3 and arm fixation part B10 are successively driven, therefore arm is opening active procedure to shoulder two sides
In can drive to shoulder slide block B 8 by arm fixation part B10, drive shoulder slide block B 8 to move along the relative direction of two shoulders.
Therefore shoulder slide block B 8 provides the movable one of linear degrees of freedom of arm in free sliding degree of the shoulder on sliding rail B9.Together
Reason arm band swing arm provides arm in arm movable support when sliding along arm to sliding rail B12 on hand swing arm B3 to slide block B 7
On another linear degrees of freedom.
It is two from shoulder in this present embodiment to the quantity of sliding rail B9 and shoulder slide block B 8, and two shoulders are to the edge sliding rail B9
Backbone is symmetrical arranged, therefore the scope of activities of single shoulder slide block B 8 is limited between backbone and one of shoulder.Such as
In the present embodiment in the case of person upright, shoulder is parallel to ground to sliding rail B9, while being parallel to the human body back of backbone side.
First rotating shaft B2 is mounted in shoulder slide block B 8, and first rotating shaft B2 is mounted on back bracket by shoulder slide block B 8
On.Shoulder slide block B 8 drives the first rotating shaft B2 axial movement along shoulder to sliding rail B9 together in sliding process.Shoulder swing arm B1
Wherein one end be rotatably installed on first rotating shaft B2, first rotating shaft B2 is vertical or substantially vertical with the back of human body, therefore
The rotational plane of shoulder swing arm B1 is substantially parallel or is parallel to the rear tool back plane of human body.Therefore human arm is on trunk is lateral
It will drive shoulder swing arm B1 when rotation to rotate around first rotating shaft B2.Human arm will do it when trunk side is rotated up and lift
Or decline, such is generally the higher operation movement of difficulty, therefore wearer can under hand swing arm B3 supporting role
The big operation of operation difficulty, application value with higher are carried out for a long time.It is movable that first rotating shaft B2 accordingly provides arm
One rotational freedom.
In view of human body back is bent, it is however generally that first rotating shaft B2 and human body back angle are 70 ° -90 °.First rotating shaft
Closer to vertical relation, the resistance that when arm lateral rotation is subject to from first rotating shaft B2 is smaller for B2 and human body back.
The other end of shoulder swing arm B1 is arranged in second shaft B4, and one end of rotating bar B6 is rotatablely connected around the second shaft B4
On shoulder swing arm B1.Since the second shaft B4 and first rotating shaft B2 are mounted on shoulder swing arm B1, shoulder swing arm
Anyway B1 rotates around first rotating shaft B2, and the relative position of the second shaft B4 and first rotating shaft B2 are constant always.Wherein second
Shaft B4 is obliquely installed with respect to first rotating shaft B2, thus rotating bar B6 around the second shaft B4 rotational plane and shoulder swing arm B1 around
The rotational plane of first rotating shaft B2 will not be overlapped always, therefore the second shaft B4 is capable of providing second rotational freedom of arm.
In order to reduce the second shaft B4 and first rotating shaft B2 in the repeatability contributed arm rotational freedom, therefore adopt
It perpendicular to the design of first rotating shaft B2 is the scheme more optimized with the second shaft B4.
The other end of rotating bar B6 is arranged in third shaft B5, and hand swing arm B3 is rotatably connected on rotation around third shaft B5
On bar B6.Hand swing arm B3 then provides arm third rotational freedom around third shaft B5.With the second shaft B4 and first
The relative position of shaft B2 is similar, and third shaft B5 is also perpendicular to the second shaft B4.But since rotating bar B6 can be around second
Shaft B4 rotation, therefore the position of first rotating shaft B2 and third shaft B5 can be with rotating bar B6 around the rotation process of the second shaft B4
Generate variation.But remain that third shaft B5 is obliquely installed with respect to plane where the second shaft B4 and first rotating shaft B2, the
One shaft B2, the second shaft B4 and third shaft B5 provide three rotational freedoms.Second shaft B4 and first rotating shaft B2 herein
Place plane is while being parallel to the plane of the second shaft B4 and first rotating shaft B2.
Certainly in other embodiments, between the second shaft B4 and first rotating shaft B2 and third shaft B5 and the second shaft
Exact vertical is not needed between B4, it is only necessary to guarantee that the second shaft B4 and first rotating shaft B2 are mutually inclined, third shaft B5 and
Second shaft B4 is mutually inclined, and third shaft B5 and first rotating shaft B2 are mutually inclined, first rotating shaft B2, the second shaft B4 and third
Shaft B5 is not parallel to same plane simultaneously, that is, can guarantee above three rotational freedom.
Shoulder swing arm B1 is rotated around first rotating shaft B2 and shoulder slide block B 8 is slided on sliding rail B9 in shoulder and provides second
Mono- translation freedoms of shaft B4 and a rotational freedom drive the rotation with the arm of arm fixation part B10 binding indirectly
And translation freedoms.Rotating bar B6 rotates around the second shaft B4, hand swing arm B3 around third shaft B5 rotation and arm to sliding block
B7 slips three degree of freedom on sliding rail B12 in arm and then enables arm three-dimensional empty in one centered on the second shaft B4
Between moved in range.Two freedom degrees of second shaft B4 itself opposed waist are superimposed three of arm with respect to the second shaft B4
A freedom degree, so that arm has altogether, there are five freedom degrees, therefore the very coherent smoothness of arm activity, while can satisfy arm
Almost all of movement can be suitable for many occasions for needing extreme motion action for a long time, and application range and scene are more
It is abundant.Default any freedom degree will cause arm scope of activities by biggish limitation in five freedom degrees, and is further added by and appoints
Single-degree-of-freedom will cause to repeat with several freedom degrees in above-mentioned five freedom degrees, cause the unnecessary wave of cost instead
Take.
Gear mechanism is installed, gear mechanism can be using conventional use of existing tooth in ectoskeleton in hand swing arm B3
Take turns mechanism.Third shaft B5 is connect with gear mechanism, when hand swing arm B3 is rotated around third shaft B5, will drive gear mechanism
Inner spring deformation, so that gear mechanism be driven to provide support force to hand swing arm B3.As long as therefore hand swing arm B3 is around rotating bar
In the constant situation of the rotational angle of B6, hand swing arm B3 inner gear mechanism is exactly invariable to the holding power of hand.
In addition, the rotational angle of shoulder swing arm B1 reflects arm raising on human body is lateral or falling head, therefore
Meeting in the case that arm drives shoulder swing arm B1 to rotate wide-angle is arranged in shoulder slide block B 8 thus so that arm generation strain
There is the locating part limited to shoulder swing arm B1.It is limited by rotational angle of the locating part to shoulder swing arm B1.
In the present embodiment, locating part is the adjusting nut B11 being threadedly coupled with shoulder slide block B 8.Adjusting nut B11's
Centre offers threaded hole, is internal screw thread at the inner wall of threaded hole, is then external screw thread at the outer wall of adjusting nut B11.By right
Internal screw thread rotation controls to adjust nut B11 and passes in and out shoulder slide block B 8, and shoulder swing arm B1 is epitaxially formed a crash panel, crash panel position
In in shoulder slide block B 8.Referring to Fig. 7, when adjusting nut B11 is protruded into shoulder slide block B 8, shoulder swing arm B1 turns to certain angle
Hit crash panel and adjusting nut B11, to limit the rotational angle of shoulder swing arm B1.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, is familiar with
The those skilled in the art should be understood that the present invention includes but is not limited to attached drawing and interior described in specific embodiment above
Hold.Any modification without departing from function and structure principle of the invention is intended to be included in the range of claims.
Claims (10)
1. a kind of arm movable support of upper half of human body ectoskeleton, it is characterised in that: including shoulder swing arm, first rotating shaft and hand
Portion's swing arm, first rotating shaft are mounted in the back bracket at back rear, and shoulder swing arm is rotatably installed in first rotating shaft, shoulder
Portion's swing arm is connect with hand swing arm, and hand swing arm is mounted on arm, and hand swing arm is lifted up in trunk side or declines with band
Dynamic shoulder swing arm is rotated around first rotating shaft.
2. the arm movable support of upper half of human body ectoskeleton according to claim 1, it is characterised in that: described first turn
Axis and human body back angle are 70 ° -90 °.
3. the arm movable support of upper half of human body ectoskeleton according to claim 1, it is characterised in that: further include second
Shaft, third shaft and rotating bar, the second shaft are arranged in shoulder swing arm, and one end of rotating bar is rotated around the second shaft to be connected
It connects in shoulder swing arm, the other end of rotating bar is arranged in third shaft, and hand swing arm is rotatably connected on rotation around third shaft
On bar, the second shaft and third shaft are obliquely installed with respect to first rotating shaft, and third shaft is with respect to the second shaft and first turn
Plane where axis is obliquely installed, and shoulder swing arm is connect with hand swing arm by rotating bar.
4. the arm movable support of upper half of human body ectoskeleton according to claim 3, it is characterised in that: described second turn
Axis is perpendicular to first rotating shaft.
5. the arm movable support of upper half of human body ectoskeleton according to claim 1, it is characterised in that: the hand pendulum
Arm is installed to sliding rail on arm, arm is slipped on sliding rail has arm to sliding block, and arm is slided on sliding rail in arm to sliding block in arm
Axis moves up, and arm is equipped with arm fixation part on sliding block, and hand swing arm is mounted on arm by arm fixation part.
6. the arm movable support of upper half of human body ectoskeleton according to claim 1, it is characterised in that: the back branch
Shoulder is installed to sliding rail on frame, arm movable support further includes shoulder sliding block, and shoulder sliding block is slipped in shoulder on sliding rail, and shoulder is sliding
Block is slided on sliding rail in shoulder to move between two shoulders, and first rotating shaft is mounted on shoulder sliding block, and first rotating shaft passes through shoulder
Portion's sliding block is mounted in back bracket.
7. the arm movable support of upper half of human body ectoskeleton according to claim 6, it is characterised in that: the shoulder is sliding
The locating part limited to shoulder swing arm is provided on block.
8. the arm movable support of upper half of human body ectoskeleton according to claim 7, it is characterised in that: the locating part
For the adjusting nut being threadedly coupled with shoulder sliding block.
9. the arm movable support of upper half of human body ectoskeleton according to claim 3, it is characterised in that: the hand pendulum
Gear mechanism is installed, third shaft is connect with gear mechanism, and third shaft rotational driving gear mechanism is to hand swing arm in arm
Support force is provided.
10. a kind of upper half of human body ectoskeleton, it is characterised in that: including hand as claim in any one of claims 1 to 9
Arm movable support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910554071.9A CN110181486B (en) | 2019-06-25 | 2019-06-25 | Arm movable support of human upper body exoskeleton and human upper body exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910554071.9A CN110181486B (en) | 2019-06-25 | 2019-06-25 | Arm movable support of human upper body exoskeleton and human upper body exoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110181486A true CN110181486A (en) | 2019-08-30 |
| CN110181486B CN110181486B (en) | 2023-06-02 |
Family
ID=67723235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910554071.9A Active CN110181486B (en) | 2019-06-25 | 2019-06-25 | Arm movable support of human upper body exoskeleton and human upper body exoskeleton |
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| Country | Link |
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| CN (1) | CN110181486B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022043862A1 (en) * | 2020-08-25 | 2022-03-03 | Iuvo S.R.L | Exoskeleton device for outdoor activities and components for use therewith |
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| CN105415353A (en) * | 2016-01-26 | 2016-03-23 | 哈尔滨工业大学 | Upper limb structure for pneumatic power assisting device |
| JP2017024086A (en) * | 2015-07-15 | 2017-02-02 | 株式会社キトー | Work assist device |
| CN107854813A (en) * | 2017-11-30 | 2018-03-30 | 湖南妙手机器人有限公司 | A kind of upper limb rehabilitation robot |
| CN208626133U (en) * | 2017-12-22 | 2019-03-22 | 中国科学院沈阳自动化研究所 | Light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot |
| CN210148086U (en) * | 2019-06-25 | 2020-03-17 | 知因(台州)机器人科技有限公司 | Arm movable support of human upper body exoskeleton and human upper body exoskeleton |
-
2019
- 2019-06-25 CN CN201910554071.9A patent/CN110181486B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017024086A (en) * | 2015-07-15 | 2017-02-02 | 株式会社キトー | Work assist device |
| CN105415353A (en) * | 2016-01-26 | 2016-03-23 | 哈尔滨工业大学 | Upper limb structure for pneumatic power assisting device |
| CN107854813A (en) * | 2017-11-30 | 2018-03-30 | 湖南妙手机器人有限公司 | A kind of upper limb rehabilitation robot |
| CN208626133U (en) * | 2017-12-22 | 2019-03-22 | 中国科学院沈阳自动化研究所 | Light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot |
| CN210148086U (en) * | 2019-06-25 | 2020-03-17 | 知因(台州)机器人科技有限公司 | Arm movable support of human upper body exoskeleton and human upper body exoskeleton |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022043862A1 (en) * | 2020-08-25 | 2022-03-03 | Iuvo S.R.L | Exoskeleton device for outdoor activities and components for use therewith |
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| Publication number | Publication date |
|---|---|
| CN110181486B (en) | 2023-06-02 |
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