CN111107820A - 一种用于矫正步态的下肢外骨骼机器人及其感测方法 - Google Patents
一种用于矫正步态的下肢外骨骼机器人及其感测方法 Download PDFInfo
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- CN111107820A CN111107820A CN201880001996.4A CN201880001996A CN111107820A CN 111107820 A CN111107820 A CN 111107820A CN 201880001996 A CN201880001996 A CN 201880001996A CN 111107820 A CN111107820 A CN 111107820A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- 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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
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Abstract
本发明涉及一种用于矫正步态的下肢外骨骼机器人，其包括：髋关节机构(1)、左腿机构(4)、右腿机构(5)、第一连接机构(2)和第二连接机构(3)；所述髋关节机构(1)位于左腿机构(4)和右腿机构(5)之间，髋关节机构(1)的两端分别对应的连接第一连接机构(2)和第二连接机构(3)，且通过第一连接机构(2)将髋关节机构(1)的一端与左腿机构(4)可拆卸地连接，通过第二连接机构(3)将髋关节机构(1)的另一端与右腿机构(5)可拆卸地连接。
Description
PCT国内申请，说明书已公开。
Claims (10)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/102637 WO2020041963A1 (zh) | 2018-08-28 | 2018-08-28 | 一种用于矫正步态的下肢外骨骼机器人及其感测方法 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111107820A true CN111107820A (zh) | 2020-05-05 |
| CN111107820B CN111107820B (zh) | 2022-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880001996.4A Active CN111107820B (zh) | 2018-08-28 | 2018-08-28 | 一种用于矫正步态的下肢外骨骼机器人及其感测方法 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111107820B (zh) |
| WO (1) | WO2020041963A1 (zh) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113876474A (zh) * | 2021-09-22 | 2022-01-04 | 复旦大学 | 一种模块化动力假肢 |
| CN116118894A (zh) * | 2021-11-15 | 2023-05-16 | 腾讯科技（深圳）有限公司 | 髋关节组件和机器人 |
| CN116118894B (zh) * | 2021-11-15 | 2024-06-07 | 腾讯科技（深圳）有限公司 | 髋关节组件和机器人 |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101810532A (zh) * | 2010-04-28 | 2010-08-25 | 河北工业大学 | 一种下肢康复训练机器人 |
| US20110264016A1 (en) * | 2009-01-12 | 2011-10-27 | Chang-Soo Han | Wearable robot for assisting muscular strength of lower extremity |
| KR20130038448A (ko) * | 2011-10-10 | 2013-04-18 | 주식회사 사이보그-랩 | 힙 조인트 보상용 메커니즘을 갖는 하지 재활 훈련 시스템 |
| CN103622792A (zh) * | 2013-11-25 | 2014-03-12 | 北京林业大学 | 外骨骼助力机器人的信息采集与控制系统 |
| US20150134078A1 (en) * | 2008-05-20 | 2015-05-14 | Ekso Bionics, Inc. | Device and Method for Decreasing Energy Consumption of a Person by Use of a Lower Extremity Exoskeleton |
| CN105686927A (zh) * | 2016-01-08 | 2016-06-22 | 中国人民解放军理工大学 | 可折叠便携式下肢外骨骼 |
| CN107648017A (zh) * | 2017-11-09 | 2018-02-02 | 上海司羿智能科技有限公司 | 外骨骼驱动装置、助力外骨骼系统及其驱动与助力方法 |
-
2018
- 2018-08-28 WO PCT/CN2018/102637 patent/WO2020041963A1/zh active Application Filing
- 2018-08-28 CN CN201880001996.4A patent/CN111107820B/zh active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150134078A1 (en) * | 2008-05-20 | 2015-05-14 | Ekso Bionics, Inc. | Device and Method for Decreasing Energy Consumption of a Person by Use of a Lower Extremity Exoskeleton |
| US20110264016A1 (en) * | 2009-01-12 | 2011-10-27 | Chang-Soo Han | Wearable robot for assisting muscular strength of lower extremity |
| CN101810532A (zh) * | 2010-04-28 | 2010-08-25 | 河北工业大学 | 一种下肢康复训练机器人 |
| KR20130038448A (ko) * | 2011-10-10 | 2013-04-18 | 주식회사 사이보그-랩 | 힙 조인트 보상용 메커니즘을 갖는 하지 재활 훈련 시스템 |
| CN103622792A (zh) * | 2013-11-25 | 2014-03-12 | 北京林业大学 | 外骨骼助力机器人的信息采集与控制系统 |
| CN105686927A (zh) * | 2016-01-08 | 2016-06-22 | 中国人民解放军理工大学 | 可折叠便携式下肢外骨骼 |
| CN107648017A (zh) * | 2017-11-09 | 2018-02-02 | 上海司羿智能科技有限公司 | 外骨骼驱动装置、助力外骨骼系统及其驱动与助力方法 |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113876474A (zh) * | 2021-09-22 | 2022-01-04 | 复旦大学 | 一种模块化动力假肢 |
| CN113876474B (zh) * | 2021-09-22 | 2024-01-30 | 复旦大学 | 一种模块化动力假肢 |
| CN116118894A (zh) * | 2021-11-15 | 2023-05-16 | 腾讯科技（深圳）有限公司 | 髋关节组件和机器人 |
| CN116118894B (zh) * | 2021-11-15 | 2024-06-07 | 腾讯科技（深圳）有限公司 | 髋关节组件和机器人 |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020041963A1 (zh) | 2020-03-05 |
| CN111107820B (zh) | 2022-03-15 |
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