CN111096859A - Standing type rehabilitation walking robot - Google Patents
Standing type rehabilitation walking robot Download PDFInfo
- Publication number
- CN111096859A CN111096859A CN202010053203.2A CN202010053203A CN111096859A CN 111096859 A CN111096859 A CN 111096859A CN 202010053203 A CN202010053203 A CN 202010053203A CN 111096859 A CN111096859 A CN 111096859A
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- support
- backrest
- pedal
- push rod
- chassis
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- 238000004146 energy storage Methods 0.000 claims abstract description 10
- 230000035939 shock Effects 0.000 claims description 14
- 239000006096 absorbing agent Substances 0.000 claims description 9
- 210000003127 knee Anatomy 0.000 claims description 8
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 210000003141 lower extremity Anatomy 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000003814 drug Substances 0.000 abstract 1
- 230000003862 health status Effects 0.000 abstract 1
- 206010033799 Paralysis Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明涉及一种可站立式康复行走机器人，属于康复医疗技术领域。技术方案是：包括底盘装置、靠背装置、坐垫装置和脚踏装置，通过带轮底盘装置中的储能电池驱动，完成机器人有坐姿到站姿的变化，并能够驱动底盘装置的驱动轮完成机器人的行走。本发明的有益效果是：本发明可以帮助下肢残疾或行走障碍的患者进行自主站立和室内外代步，提升下肢行走障碍患者的自理能力和生活品质，通过站立改善下肢身体循环从而提高健康状况，蹲下站起帮助康复训练，减轻患者家属的负担。
The invention relates to a standing rehabilitation walking robot, which belongs to the technical field of rehabilitation medicine. The technical solution is: including a chassis device, a backrest device, a seat cushion device and a foot pedal device, driven by an energy storage battery in the wheeled chassis device, the robot can change from a sitting posture to a standing posture, and can drive the driving wheel of the chassis device to complete the robot. of walking. The beneficial effects of the present invention are as follows: the present invention can help patients with lower extremity disabilities or walking disorders to stand autonomously and walk indoors and outdoors, improve the self-care ability and quality of life of patients with lower extremity walking disorders, improve the body circulation of the lower limbs by standing, thereby improving the health status, and squatting Stand up to help rehabilitation training and reduce the burden on the patient's family.
Description
Technical Field
The invention relates to a standing type rehabilitation walking robot, and belongs to the technical field of rehabilitation medical treatment.
Background
In recent years, the number of the paralysis and the disability caused by the factors such as traffic accidents, industrial accidents, cerebral apoplexy and the like is not reduced, so that the patients can not stand independently and sit on a wheelchair for most of time, and the physical health condition and the life quality of the patients are greatly reduced.
At present, the paralyzed lower limbs and the disabled are eagerly to stand up like the healthy people, and the self-confidence and self-esteem are recovered. In the current electronic intelligent wheelchair, the above-mentioned demand of personage that the low limbs are inconvenient can not be satisfied in most, has the not many, the product intelligent level of this type of product low, is difficult to satisfy the problem of patient's demand.
A standing type rehabilitation walking robot is one of the robot fields, and is a rehabilitation wheeled robot which can realize standing walking and is manufactured according to the shape of a human body and the shape of a person with lower limb disability.
Disclosure of Invention
The invention aims to provide a standing type rehabilitation walking robot which adopts wheeled walking to help patients with disabled or walking obstacles to stand autonomously and walk indoors and outdoors, improve the self-care capability and life quality of the patients with walking obstacles to lower limbs, improve the body circulation of the lower limbs by standing so as to improve the health condition, and squat and stand to help rehabilitation training, reduce the burden of families of the patients and solve the problems in the background technology.
The technical scheme of the invention is as follows: the utility model provides a but stand vertical recovered walking robot, includes chassis device, back device, cushion device and pedal device, the chassis device includes drive wheel, left driving motor, bumper shock absorber, shock absorber support, follows the driving wheel, stands push rod one, follows driving wheel support, chassis support, energy storage battery, right driving motor and cushion support frame, and the drive wheel links firmly with left driving motor output shaft and right driving motor output shaft respectively, energy storage battery installs on chassis support, left side driving motor and right driving motor fix respectively in chassis support's both ends about, the bumper shock absorber is connected with chassis support through shock absorber support, stands one end of push rod and is connected with chassis support, and the other end is connected with the cushion support frame, install on following driving wheel support from the driving wheel support, install on chassis support from driving wheel support, back device contains back support, cushion device, The backrest comprises a backrest driving push rod, a backrest linkage support, a backrest back plate, a backrest safety belt and a backrest hinge, wherein the backrest is fixed on the backrest back plate, the backrest support is connected with the backrest back plate through the backrest hinge, the bottom of the backrest support is connected with a cushion support, one end of the backrest driving push rod is installed on the cushion support, the other end of the backrest driving push rod is installed on the backrest linkage support, the cushion device comprises a cushion support, a cushion, armrests, an armrest support and a standing push rod II, one end of the standing push rod II is installed on the chassis support, the other end of the standing push rod II is installed on the cushion, the armrests (installed on the armrest support and installed on two sides of the cushion support, the pedal device comprises a pedal plate, a knee protection rod, a pedal linkage support and a pedal driving push rod, one end of the pedal push rod II is installed on the, one end of a pedal driving push rod is installed on the cushion support, the other end of the pedal driving push rod is installed on the pedal linkage support, one end of the pedal linkage support is fixed on the cushion support, the other end of the pedal linkage support is hinged with the pedal support through a pedal hinge, the pedal supports are connected to two sides of the pedal, and the two pedal linkage supports are respectively connected to two sides of the cushion support.
The energy storage battery is a recyclable rechargeable battery.
The driven wheel bracket is mounted to rotate 360 degrees around the mounting axis of the chassis bracket.
The standing push rod I, the pedal driving push rod II, the backrest driving push rod and the standing push rod are all slide rail electric push rods.
The invention has the beneficial effects that: the invention can help patients with disabled lower limbs or walking disorder to independently stand and walk indoors and outdoors, improve the self-care ability and life quality of the patients with walking disorder of lower limbs, improve the body circulation of the lower limbs by standing, help rehabilitation training by squatting and standing, and reduce the burden of family members of the patients.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic view of the construction of the chassis of the present invention;
FIG. 2 is a rear elevational view of the present invention in a standing position;
FIG. 3 is a front elevational view of the invention in a standing position;
FIG. 4 is a front elevational view of the invention in a sitting position;
FIG. 5 is a rear elevational view of the invention in a seated position;
in the figure: 1. The device comprises a driving wheel, 2, a left driving motor, 3, a shock absorber, 4, a shock absorbing support, 5, a driven wheel, 6, a standing push rod I, 7, a driven wheel support, 8, a chassis support, 9, an energy storage battery, 10, a right driving motor, 11, a seat cushion support, 12, a handrail support, 13, a handrail, 14, a backrest, 15, a backrest support, 16, a pedal plate, 17, a user knee device, 18, a seat cushion, 19, a control rod, 20, a safety buckle I, 21, a buffer spring, 22, a backrest linkage support, 23, a pedal linkage support, 24, a pedal driving push rod, 25, a backrest driving push rod, 26, a backrest back plate, 27, a seat cushion support, 28, a standing push rod II, 29, a seat cushion, 30, a backrest safety belt, 31, a backrest hinge, 32, a pedal support, 33, a pedal hinge, 34 and a safety buckle II.
Detailed Description
The invention is further illustrated by way of example in the following with reference to the accompanying drawings.
A standing type rehabilitation walking robot comprises a chassis device, a backrest device, a cushion device and a pedal device, wherein the chassis device comprises a driving wheel 1, a left driving motor 2, a shock absorber 3, a shock absorption support 4, a driven wheel 5, a standing push rod I6, a driven wheel support 7, a chassis support 8, an energy storage battery 9, a right driving motor 10 and a cushion support frame 11; the driving wheel 1 is respectively fixedly connected with an output shaft of a left driving motor 2 and an output shaft of a right driving motor 10 and used for driving the whole wheelchair to move forward, backward and turn, and the energy storage battery 9 is a power unit and is arranged on a chassis bracket 8 to provide a power source for the robot to move and can be charged and used circularly; the left driving motor 2 and the right driving motor 9 are respectively fixed at the left end and the right end of a chassis bracket 8, the motors have braking functions, the operation of the motors is controlled by operating a control lever 19, the shock absorber 3 is connected with the chassis bracket 8 through a shock absorption bracket 4, one end of a standing push rod 6 is connected with the chassis bracket 8, the other end of the standing push rod is connected with a cushion support frame 11, the driven wheel 5 is installed on a driven wheel bracket 7, the driven wheel bracket 7 is installed on the chassis bracket 8, the driven wheel bracket 7 can rotate around an installation shaft 360 of the chassis bracket 8, the backrest device comprises a safety buckle II 34, a backrest bracket 15, a backrest driving push rod 25, a backrest 14, a backrest linkage bracket 22, a backrest back plate 26 and a backrest safety belt 30, the backrest 14 is fixed on the backrest back plate 26, the backrest bracket 15 is connected with the backrest back plate 26 through a backrest hinge 31, and the backrest back plate 26 can slide up, the bottom of the backrest support 15 is connected with a cushion support 27, one end of a backrest driving push rod 25 is installed on the cushion support 27, the other end of the backrest driving push rod 25 is installed on a backrest linkage support 22, and the backrest device swings through the extension and retraction of the backrest driving push rod 25 and comprises a cushion support 27, a cushion 18, armrests 13, an armrest support 12, a first safety buckle 20, an operating rod 19, a buffer spring 21, a second standing push rod 28 and a cushion safety belt 29, one end of the second standing push rod 28 is installed on the chassis support 8, the other end of the standing push rod is installed on the cushion 27, the armrests 13 are installed on the armrest support 12, and the armrest support 12 is installed on two sides of the cushion support 27 and used for dragging the two hands of a; the patient stands through the control lever 19, the first standing push rod 6 and the second standing push rod 28 stretch and contract under the control of the control lever, and the cushion device is pushed to move to stand; the pedal device comprises a pedal plate 16, a knee protection rod 17, a pedal linkage support 23 and a pedal driving push rod 24, one end of the pedal push rod II 28 is installed on the chassis support 8, the other end of the pedal push rod II is installed on the seat cushion 27, and the knee protection rod 17 is clamped on two sides of the pedal device and can be flexibly disassembled; one end of a pedal driving push rod 24 is installed on the cushion support 27, the other end of the pedal driving push rod is installed on the pedal linkage support 23, the pedal device swings through the extension and retraction of the pedal driving push rod 24, the pedal device and the cushion device are connected through a pedal linkage support 23 and a pedal support 32, one end of the pedal linkage support 23 is fixed on the cushion support 27, the other end of the pedal linkage support 23 is connected with the pedal support 32 through a pedal hinge 33, the pedal support 32 is connected to two sides of the pedal 16, and the two pedal linkage supports 23 are respectively connected to two sides of the cushion support 27.
Before a user uses the robot, the robot needs to be adjusted to a sitting posture state, the knee protection device 17 is opened firstly, the user sits on the seat cushion 18, the knee protection device 17 is closed, the lower half body of the user is fixed through the seat cushion safety belt 29, and the upper half body of the user is fixed through the backrest safety belt 30; when a user adjusts the station posture state into the sitting posture state through the controller, the standing push rod I6 and the standing push rod II 28 contract, the cushion support 27 is connected with the cushion support frame 11 to rotate downwards along the axial direction, the included angle between the cushion support 27 and the cushion support frame 11 is reduced until the included angle is close to parallel, the backrest driving push rod 25 pushes the backrest support 15, the backrest support 15 and the cushion support frame 27 rotate around the connection part, and the angle relation between the backrest support 15 and the cushion support frame 27 is changed from close to parallel to vertical; when a user adjusts the station posture state into the sitting posture state or adjusts the sitting posture state into the standing posture state through the controller, only corresponding keys on the controller need to be operated, four electric push rods, namely a standing push rod I3, a standing push rod II 28, a pedal driving push rod 24 and a backrest driving push rod 25, in the wheelchair have a linkage relation in motion, two, three or four electric push rods in the wheelchair can run simultaneously in a certain posture, and the program is set in the controller; when a user adjusts the state of the station posture into the state of the sitting posture through the controller, the buffer spring 21 is slowly compressed, and when the state of the sitting posture is adjusted into the state of the standing posture, the buffer spring 21 is slowly extended; when a user needs to turn on site, the control rod 19 of the controller is used, when the user turns to the right, the control rod 19 is only needed to be broken off to the right, the whole wheelchair can turn to the right, when the user turns to the left, the control rod 19 is only needed to be broken off to the left, the whole wheelchair can turn to the left, and the turning direction action can be carried out; when a user needs to turn when walking, the user only needs to pull the operating rod 19 in the required driving direction, and the larger the angle pulled in the driving direction is, the smaller the turning radius is; the wheelchair can run in standing and sitting positions, the operating rod 19 only needs to be pulled right ahead when the wheelchair moves forwards, the operating rod 19 only needs to be pulled right behind when the wheelchair moves backwards, and the running speed is adjustable in 4 gears; when the user needs to lie backwards or lie aslant, the back support 15 releases the back lying key when the user needs to lie backwards to a position required by the user through the key of the controller, the back support 15 can realize a maximum back lying angle of 170 degrees, and the user can return to the initial state of the back support 15 through the controller returning key when the user does not need to lie backwards.
The present embodiments are merely illustrative of the present invention and do not limit the scope of the invention, and those skilled in the art may make modifications to the parts thereof without departing from the spirit of the present invention.
Claims (4)
1. The utility model provides a can stand vertical recovered walking robot which characterized in that: the multifunctional chair comprises a chassis device, a backrest device, a cushion device and a pedal device, wherein the chassis device comprises a driving wheel (1), a left driving motor (2), a shock absorber (3), a shock absorption support (4), a driven wheel (5), a standing push rod I (6), a driven wheel support (7), a chassis support (8), an energy storage battery (9), a right driving motor (10) and a cushion support frame (11), the driving wheel (1) is fixedly connected with an output shaft of the left driving motor (2) and an output shaft of the right driving motor (10) respectively, the energy storage battery (9) is arranged on the chassis support (8), the left driving motor (2) and the right driving motor (9) are fixed at the left end and the right end of the chassis support (8) respectively, the shock absorber (3) is connected with the chassis support (8) through the shock absorption support (4), one end of the standing push rod I (6) is connected with the chassis support, the other end of the backrest device is connected with a cushion support frame (11), the driven wheel (5) is installed on a driven wheel support (7), the driven wheel support (7) is installed on a chassis support (8), the backrest device comprises a backrest support (15), a backrest driving push rod (25), a backrest (14), a backrest linkage support (22), a backrest back plate (26), a backrest safety belt (30) and a backrest hinge (31), the backrest (14) is fixed on the backrest back plate (26), the backrest support (15) is connected with the backrest back plate (26) through the backrest hinge (31), the bottom of the backrest support (15) is connected with the cushion support (27), one end of the backrest driving push rod (25) is installed on the cushion support (27), and the other end of the backrest driving push rod is installed on the backrest linkage support (22); the seat cushion device comprises a seat cushion support (27), a seat cushion (18), armrests (13), an armrest support (12) and a standing push rod II (28), wherein one end of the standing push rod II (28) is installed on the chassis support (8), the other end of the standing push rod II is installed on the seat cushion (27), the armrests (13) are installed on the armrest support (12), the armrest support (12) is installed on two sides of the seat cushion support (27), and the pedal device comprises a pedal plate (16), a knee protection rod (17), a pedal linkage support (23) and a pedal driving push rod (24); one end of a pedal push rod II (28) is installed on the chassis support (8), the other end of the pedal push rod II is installed on the cushion (27), the knee protection rods (17) are clamped on two sides of the pedal device, one end of a pedal drive push rod (24) is installed on the cushion support (27), the other end of the pedal drive push rod is installed on the pedal linkage support (23), one end of the pedal linkage support (23) is fixed on the cushion support (27), the other end of the pedal linkage support is hinged with the pedal support (32) through a pedal hinge (33), two sides of the pedal (16) are connected with the pedal supports (32), and the two pedal linkage supports (23) are respectively connected with two sides of the cushion support (27.
2. The standable rehabilitation walking robot of claim 1, characterized in that: the energy storage battery (9) is a recyclable rechargeable battery.
3. The standable rehabilitation walking robot of claim 1, characterized in that: the driven wheel bracket (7) can rotate around a mounting shaft of the chassis bracket (8).
4. The standable rehabilitation walking robot of claim 1, characterized in that: the standing push rod I (6), the pedal driving push rod (22), the backrest driving push rod (25) and the standing push rod II (28) are all slide rail electric push rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010053203.2A CN111096859A (en) | 2020-01-17 | 2020-01-17 | Standing type rehabilitation walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010053203.2A CN111096859A (en) | 2020-01-17 | 2020-01-17 | Standing type rehabilitation walking robot |
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| Publication Number | Publication Date |
|---|---|
| CN111096859A true CN111096859A (en) | 2020-05-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202010053203.2A Withdrawn CN111096859A (en) | 2020-01-17 | 2020-01-17 | Standing type rehabilitation walking robot |
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| Country | Link |
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| CN (1) | CN111096859A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821113A (en) * | 2020-08-20 | 2020-10-27 | 河北工业大学 | A posture transformation rehabilitation robot |
| CN113041045A (en) * | 2021-03-10 | 2021-06-29 | 佛山市锐世迈医疗科技有限公司 | Wheel chair capable of standing |
| CN114601696A (en) * | 2020-12-08 | 2022-06-10 | 山东新松工业软件研究院股份有限公司 | Control system and method for rehabilitation walking-aid robot |
| CN114795695A (en) * | 2022-05-24 | 2022-07-29 | 深圳作为科技有限公司 | Power-assisted robot |
| CN114795708A (en) * | 2022-04-28 | 2022-07-29 | 北京邮电大学 | Auxiliary standing equipment |
| CN115120425A (en) * | 2022-08-02 | 2022-09-30 | 皖江工学院 | Intelligent auxiliary wheelchair |
| CN116077284A (en) * | 2023-02-03 | 2023-05-09 | 深圳作为科技有限公司 | Safety belt lifting device and walking-assisting robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105832474A (en) * | 2016-03-10 | 2016-08-10 | 国家康复辅具研究中心 | Auxiliary standing device |
| CN107349059A (en) * | 2016-05-09 | 2017-11-17 | 贝珍医疗器械(上海)有限公司 | A kind of multi-functional recovering aid electric wheelchair |
| CN211658550U (en) * | 2020-01-17 | 2020-10-13 | 赣州英博机器人科技有限公司 | Standing type rehabilitation walking robot |
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2020
- 2020-01-17 CN CN202010053203.2A patent/CN111096859A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105832474A (en) * | 2016-03-10 | 2016-08-10 | 国家康复辅具研究中心 | Auxiliary standing device |
| CN107349059A (en) * | 2016-05-09 | 2017-11-17 | 贝珍医疗器械(上海)有限公司 | A kind of multi-functional recovering aid electric wheelchair |
| CN211658550U (en) * | 2020-01-17 | 2020-10-13 | 赣州英博机器人科技有限公司 | Standing type rehabilitation walking robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821113A (en) * | 2020-08-20 | 2020-10-27 | 河北工业大学 | A posture transformation rehabilitation robot |
| CN114601696A (en) * | 2020-12-08 | 2022-06-10 | 山东新松工业软件研究院股份有限公司 | Control system and method for rehabilitation walking-aid robot |
| CN113041045A (en) * | 2021-03-10 | 2021-06-29 | 佛山市锐世迈医疗科技有限公司 | Wheel chair capable of standing |
| CN113041045B (en) * | 2021-03-10 | 2021-09-14 | 佛山市锐世迈医疗科技有限公司 | Wheel chair capable of standing |
| CN114795708A (en) * | 2022-04-28 | 2022-07-29 | 北京邮电大学 | Auxiliary standing equipment |
| CN114795695A (en) * | 2022-05-24 | 2022-07-29 | 深圳作为科技有限公司 | Power-assisted robot |
| CN115120425A (en) * | 2022-08-02 | 2022-09-30 | 皖江工学院 | Intelligent auxiliary wheelchair |
| CN115120425B (en) * | 2022-08-02 | 2026-01-30 | 皖江工学院 | Intelligent Assistive Wheelchair |
| CN116077284A (en) * | 2023-02-03 | 2023-05-09 | 深圳作为科技有限公司 | Safety belt lifting device and walking-assisting robot |
| CN116077284B (en) * | 2023-02-03 | 2024-04-26 | 深圳作为科技有限公司 | Safety belt lifting device and walking-assisting robot |
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