CN111203917A - Exoskeleton load detection device and method based on auxiliary sensor - Google Patents
Exoskeleton load detection device and method based on auxiliary sensor Download PDFInfo
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- CN111203917A CN111203917A CN202010109496.1A CN202010109496A CN111203917A CN 111203917 A CN111203917 A CN 111203917A CN 202010109496 A CN202010109496 A CN 202010109496A CN 111203917 A CN111203917 A CN 111203917A
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- 238000001514 detection method Methods 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 24
- 229910000831 Steel Inorganic materials 0.000 claims description 20
- 239000010959 steel Substances 0.000 claims description 20
- 239000004677 Nylon Substances 0.000 claims description 17
- 229920001778 nylon Polymers 0.000 claims description 17
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 4
- 210000004394 hip joint Anatomy 0.000 abstract description 5
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G3/00—Weighing apparatus characterised by the use of elastically-deformable members, e.g. spring balances
- G01G3/12—Weighing apparatus characterised by the use of elastically-deformable members, e.g. spring balances wherein the weighing element is in the form of a solid body stressed by pressure or tension during weighing
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an exoskeleton load detection device and method based on auxiliary sensors, which comprises a human body and an exoskeleton body worn on the human body, wherein the exoskeleton body is fixedly connected with a first soft belt through a shoulder binding belt of the exoskeleton body, and the free end of the first soft belt is fixedly connected with an external load detection device. According to the exoskeleton load detection device and method based on the auxiliary sensor, whether an external load is loaded on an exoskeleton body or not can be detected by the external load detection device, when an object is loaded on the exoskeleton body by a worker wearing the exoskeleton body actually, a correct assistance size and direction are applied by combining the hip joint angle sensor, so that the exoskeleton can be assisted by the exoskeleton body, the external load in the working process of the exoskeleton body is detected, the correct assistance size and direction are provided, and an auxiliary human body wearing the exoskeleton body can be assisted to work.
Description
Technical Field
The invention relates to an exoskeleton load detection device, in particular to an exoskeleton load detection device and method based on an auxiliary sensor.
Background
At present, the commonly used lower limb exoskeleton works by bending the waist, or the inertia sensor judges the movement intention of a human body, so that the exoskeleton performs assistance movement according to a set angle, the physical strength of a person is saved, but the method cannot know the actual weight of an external load, and also cannot know whether the external load is directly loaded on the body of an operator, so that misjudgment can occur, when a worker wearing the exoskeleton bends, but does not actually carry the load, the exoskeleton can apply assistance according to the angle of a hip joint when the worker stands up, the excessive movement of the human body is caused, and potential safety hazards are generated.
At present, the commonly used lower limb exoskeleton works by bending the waist, or the inertia sensor judges the movement intention of a human body, so that the exoskeleton performs assistance movement according to a set angle, the physical strength of a person is saved, but the method cannot know the actual weight of an external load, and also cannot know whether the external load is directly loaded on the body of an operator, so that misjudgment can occur, when a worker wearing the exoskeleton bends, but does not actually carry the load, the exoskeleton can apply assistance according to the angle of a hip joint when the worker stands up, the excessive movement of the human body is caused, and potential safety hazards are generated. Or to cause the user using the exoskeleton to feel that the machine is giving extra wrong assistance when it is not needed.
Disclosure of Invention
The present invention is directed to an exoskeleton load detection device and method based on auxiliary sensors to solve the above problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
the exoskeleton load detection device comprises a human body and an exoskeleton body worn on the human body, wherein the exoskeleton body is fixedly connected with a first soft belt through a shoulder binding band of the exoskeleton body, the free end of the first soft belt is fixedly connected with an external load detection device, the external load detection device is fixedly connected with a rigid piece through a digital detection sensor and an analog detection sensor which are arranged in the external load detection device, the bottom of the rigid piece is fixedly connected with a second soft belt, and the free end of the second soft belt is fixedly connected with a rigid hook.
As a further scheme of the invention: the digital detection sensor comprises a first shell, a second rigid connecting piece is fixedly connected to one side of the first shell, a second shell is arranged on the other side of the first shell, a digital switch is arranged in the first shell, a first steel sleeve is integrally formed on one side of the second shell, a first rigid connecting piece is arranged in the first steel sleeve, a nylon buffer piece is fixedly connected to one side of the first rigid connecting piece, which is positioned in the second shell, a compression spring is sleeved on the outer wall of the second shell, which is positioned in the nylon buffer piece, a third shell is fixedly connected to one side of the third shell, a fourth shell is arranged on the other side of the third shell, and a second steel sleeve piece is integrally formed on one side of the fourth shell, the inside sliding connection of second steel pipe external member has the third rigid connection spare, one side of third rigid connection spare is provided with the mechanics sensor, be provided with the pressure strain gauge on the mechanics sensor.
As a still further scheme of the invention: the first rigid connecting piece and the third rigid connecting piece are fixedly connected with the rigid hook through a second soft belt, and the second rigid connecting piece and the fourth rigid connecting piece are fixedly connected with the exoskeleton body through the first soft belt.
As a still further scheme of the invention: and the first steel part sleeve and the first rigid connecting piece perform sliding displacement, and the distance of the sliding displacement is 1-5 mm.
A use method of an exoskeleton load detection device based on an auxiliary sensor comprises the following specific steps:
the method comprises the following steps: after the exoskeleton body is worn on the body, the first soft belt, the external load detection device, the rigid piece, the second soft belt and the rigid hook are connected and installed in sequence;
step two: when an object needs to be loaded, an external load object is hung on the rigid hook, the loaded gravity is transmitted to the rigid piece through the second soft belt, the digital detection sensor in the external load detection device detects the external load object to generate a load signal, and the load signal is transmitted to the exoskeleton body, so that the exoskeleton body generates power-assisted movement according to the signal.
As a still further scheme of the invention: the digital detection sensor of the external load detection device in the second step has the detection principle that the first rigid connecting piece slides through the first steel sleeve to drive the nylon buffer piece to move, the nylon buffer piece can press down the digital switch under the elastic action of the compression spring, so that an output signal is turned on, after an external load object is hung on the first rigid connecting piece is pulled through the second soft belt, the compression spring and the nylon buffer piece leave the digital switch, and the output signal is turned off, so that the sensor can feed back whether the actual load is connected with the exoskeleton body or not, and further drive the subsequent program action of the exoskeleton body, the analog detection sensor of the external load detection device in the second step has the detection principle that when the external load object is hung on the exoskeleton body, the third rigid connecting piece is pulled through the second soft belt, the pressure strain gauge on the mechanical sensor generates micro deformation, and a micro deformation signal is converted into an electric signal through the pressure strain gauge, so that the external load detection device can feed back whether the actual load is connected with the exoskeleton or not, the subsequent program action of the exoskeleton body is driven, and the actual weight of an object can be detected according to the size of the electric signal.
Compared with the prior art, the invention has the beneficial effects that:
the external load detection device of the invention can detect whether the external load is loaded on the exoskeleton body, when an object is loaded on the exoskeleton body by a worker wearing the exoskeleton body, the correct power assistance size and direction are applied by combining the hip joint angle sensor, so that the exoskeleton can be assisted by the exoskeleton body, the external load in the working process of the exoskeleton body is detected, the correct power assistance size and direction are given, the auxiliary human body wearing the exoskeleton body can be assisted to work, when no external load exists, the working software of the exoskeleton body can not apply a power assistance command to the motor of the exoskeleton body according to the input of the external load detection device, the excessive power assistance is avoided, the potential safety hazard is removed, and meanwhile, whether the strived power assistance is loaded on the exoskeleton body or not can be determined according to the actual load, reducing discomfort to the wearer.
Drawings
Fig. 1 is a schematic view of a wearing combined front side structure of an exoskeleton load detection device and method based on auxiliary sensors.
Fig. 2 is a schematic diagram of a wearing combined rear side structure of an exoskeleton load detection device and method based on auxiliary sensors.
Fig. 3 is a schematic overall front side structure diagram of the device and the method for exoskeleton load detection based on auxiliary sensors.
Fig. 4 is a cross-sectional view of a digital detection sensor in an exoskeleton load detection device and method based on an auxiliary sensor.
Fig. 5 is a cross-sectional view of an analog detection sensor in an exoskeleton load detection apparatus and method based on an auxiliary sensor.
In the figure: the exoskeleton comprises a human body 1, an exoskeleton body 2, a first soft belt 3, an external load detection device 4, a rigid part 5, a second soft belt 6, a rigid hook 7, a first shell 8, a second shell 9, a compression spring 10, a first steel sleeve 11, a first rigid connecting piece 12, a nylon buffer piece 13, a digital switch 14, a second rigid connecting piece 15, a third shell 16, a fourth shell 17, a second steel pipe external member 18, a third rigid connecting piece 19, a mechanical sensor 20, a pressure strain gauge 21 and a fourth rigid connecting piece 22.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 5, in an embodiment of the present invention, an exoskeleton load detection device based on an auxiliary sensor includes a human body 1 and an exoskeleton body 2 worn on the human body 1, and the exoskeleton body 2 is an existing device, so that no further description is given to the existing device, the exoskeleton body 2 is fixedly connected with a first soft belt 3 through a shoulder strap of the exoskeleton body 2, a free end of the first soft belt 3 is fixedly connected with an external load detection device 4, and simultaneously provides a pull-up reference force for the exoskeleton body 2, the external load detection device 4 is fixedly connected with a rigid member 5 through a digital detection sensor and an analog detection sensor arranged inside the exoskeleton body, the external load detection device 4 and the rigid member 5 generate a small displacement at an interval to trigger a digital switch 14, the digital switch 14 is TTP223, and is manufactured and sold by yozhen famous great industries limited, the exoskeleton self-body device is characterized in that the exoskeleton self-body device is reset and moved through the elasticity of a compression spring 10, a second soft belt 6 is fixedly connected to the bottom of a rigid part 5, a rigid hook 7 is fixedly connected to the free end of the second soft belt 6, an external load object is loaded through the rigid hook 7, and the loaded gravity is transmitted to the rigid part 5 through the second soft belt 6, so that a digital detection sensor in an external load detection device 4 generates a load signal and transmits the load signal to the exoskeleton self-body 2, the exoskeleton self-body 2 generates assisted movement according to the signal, and when the external load is not hung on the rigid hook 7, the digital detection sensor in the external load detection device 4 cannot detect the external hanging force signal, the signal can be transmitted to a movement controller in the exoskeleton self-body 2 device, and the external assistance of the exoskeleton self-body 2 is stopped.
The digital detection sensor comprises a first shell 8, one side of the first shell 8 is fixedly connected with a second rigid connecting piece 15, the other side of the first shell 8 is provided with a second shell 9, a digital switch 14 is arranged inside the first shell 8, one side of the second shell 9 is integrally provided with a first steel sleeve 11, a first rigid connecting piece 12 is arranged inside the first steel sleeve 11, one side of the first rigid connecting piece 12, which is positioned inside the second shell 9, is fixedly connected with a nylon buffer piece 13, the outer wall, which is positioned inside the second shell 9 and is positioned inside the nylon buffer piece 13, is sleeved with a compression spring 10, the analog detection sensor comprises a third shell 16, one side of the third shell 16 is fixedly connected with a fourth rigid connecting piece 22, the other side of the third shell 16 is provided with a fourth shell 17, one side of the fourth shell 17 is integrally provided with a second steel sleeve piece 18, a third rigid connecting piece 19 is connected inside the second steel tube suite 18 in a sliding manner, a mechanical sensor 20 is arranged on one side of the third rigid connecting piece 19, the mechanical sensor 20 is positioned inside the fourth shell 17 and the third shell 16, the model of the mechanical sensor 20 is JLBS-M1, a pressure strain gauge 21 is arranged on the mechanical sensor 20, the first rigid connecting piece 12 makes sliding displacement through the first steel sleeve 11 to drive the nylon buffer piece 13 to move, the nylon buffer piece 13 can press down the digital switch 14 under the elastic action of the compression spring 10, so that an output signal is turned on, after an external load object is hung, the first rigid connecting piece 12 is pulled through the second soft belt 6, the compression spring 10 and the nylon buffer piece 13 leave the digital switch 14, and the output signal is turned off, so that the sensor can feed back whether the actual load is connected with the exoskeleton body 2 or not, driving the subsequent programmed action of the exoskeleton body 2.
The first rigid connecting piece 12 and the third rigid connecting piece 19 are fixedly connected with the rigid hook 7 through the second soft belt 6, the second rigid connecting piece 15 and the fourth rigid connecting piece 22 are fixedly connected with the exoskeleton body 2 through the first soft belt 3, the first steel piece sleeve 11 and the first rigid connecting piece 12 perform sliding displacement, and the distance of the sliding displacement is 1-5 mm.
A use method of an exoskeleton load detection device based on an auxiliary sensor comprises the following specific steps:
the method comprises the following steps: after the exoskeleton body 2 is worn on the body, the first soft belt 3, the external load detection device 4, the rigid part 5, the second soft belt 6 and the rigid hook 7 are connected and installed in sequence;
step two: when an object needs to be loaded, an external load object is hung on the rigid hook 7, the loaded gravity is transmitted to the rigid part 5 through the second soft belt 6, the digital detection sensor in the external load detection device 4 detects the load signal and transmits the load signal to the exoskeleton body 2, so that the exoskeleton body 2 generates power-assisted movement according to the signal, and when the external load is not hung on the rigid hook 7 and the digital detection sensor in the external load detection device 4 cannot detect the external hanging force signal, the signal can be transmitted to the movement controller in the exoskeleton body 2 device to stop the external power assistance of the exoskeleton body 2.
In the second step, the digital detection sensor of the external load detection device 4 has the detection principle that when the external load object is hung on the exoskeleton body 2, the analog detection sensor of the external load detection device 4 has the following steps that after the external load object is hung on the exoskeleton body 2, the third rigid connecting piece 19 is pulled by the second soft belt 6, so that the pressure strain gauge 21 on the mechanical sensor 20 generates micro deformation, and a micro deformation signal is converted into an electric signal by the pressure strain gauge 21, so that the external load detection device 4 can feed back whether the actual load is connected with the exoskeleton or not, and further drive the subsequent program action of the exoskeleton body 2, and can detect the actual weight of an object according to the magnitude of the electric signal.
The working principle of the invention is as follows:
when the device is used, the external load detection device 4 in the invention can detect whether the external load is loaded on the exoskeleton body 2, when an object is actually loaded on the exoskeleton body 2 by a worker wearing the exoskeleton body 2, the correct power assistance size and direction are applied by combining the hip joint angle sensor, so that the exoskeleton can correctly assist, the exoskeleton body 2 is used for assisting, the external load in the working process of the exoskeleton body 2 is detected, so that the correct power assistance size and direction are given, an auxiliary human body wearing the exoskeleton body 2 can be assisted to work, when no external load exists, the working software of the exoskeleton body 2 can not apply a power assistance command to a motor of the exoskeleton body 2 according to the input of the external load detection device 4, the excessive power assistance is avoided, the potential safety hazard is eliminated, and whether the strived power assistance is loaded to the exoskeleton body 2 or not can be determined according to the actual load, reducing discomfort to the wearer.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides an ectoskeleton load detection device based on auxiliary sensor, includes that wearing the ectoskeleton body (2) that set up on human body (1) and human body (1), its characterized in that: the exoskeleton body (2) is fixedly connected with a first soft belt (3) through a shoulder binding belt of the exoskeleton body, the free end of the first soft belt (3) is fixedly connected with an external load detection device (4), the external load detection device (4) is fixedly connected with a rigid piece (5) through a digital detection sensor and an analog detection sensor which are arranged in the external load detection device, the bottom of the rigid piece (5) is fixedly connected with a second soft belt (6), and the free end of the second soft belt (6) is fixedly connected with a rigid hook (7).
2. An auxiliary sensor based exoskeleton load sensing apparatus as claimed in claim 1 wherein: the digital detection sensor comprises a first shell (8), a second rigid connecting piece (15) is fixedly connected to one side of the first shell (8), a second shell (9) is arranged on the other side of the first shell (8), a digital switch (14) is arranged inside the first shell (8), a first steel sleeve (11) is formed on one side of the second shell (9) in an integrated mode, a first rigid connecting piece (12) is arranged inside the first steel sleeve (11), a nylon buffer piece (13) is fixedly connected to one side, located inside the second shell (9), of the first rigid connecting piece (12), a compression spring (10) is sleeved on the outer wall, located inside the nylon buffer piece (13), of the second shell (9), a third shell (16) is arranged inside the analog detection sensor, and a fourth rigid connecting piece (22) is fixedly connected to one side of the third shell (16), the opposite side of third casing (16) is provided with fourth casing (17), one side integrated into one piece of fourth casing (17) is provided with second steel pipe external member (18), the inside sliding connection of second steel pipe external member (18) has third rigid connection spare (19), one side of third rigid connection spare (19) is provided with mechanical sensor (20), be provided with pressure strainers (21) on mechanical sensor (20).
3. An auxiliary sensor based exoskeleton load sensing apparatus as claimed in claim 2 wherein: the first rigid connecting piece (12) and the third rigid connecting piece (19) are fixedly connected with the rigid hook (7) through the second soft belt (6), and the second rigid connecting piece (15) and the fourth rigid connecting piece (22) are fixedly connected with the exoskeleton body (2) through the first soft belt (3).
4. An auxiliary sensor based exoskeleton load sensing apparatus as claimed in claim 2 wherein: and the first steel part sleeve (11) and the first rigid connecting piece (12) perform sliding displacement, and the distance of the sliding displacement is 1-5 mm.
5. A use method of an exoskeleton load detection device based on an auxiliary sensor is characterized in that: the method comprises the following specific steps:
the method comprises the following steps: after the exoskeleton body (2) is worn on the body, the first soft belt (3), the external load detection device (4), the rigid piece (5), the second soft belt (6) and the rigid hook (7) are connected and installed in sequence;
step two: when an object needs to be loaded, an external load object is hung on the rigid hook (7), the loaded gravity is transmitted to the rigid part (5) through the second soft belt (6), the digital detection sensor in the external load detection device (4) detects the load signal and transmits the load signal to the exoskeleton body (2), so that the exoskeleton body (2) generates power-assisted movement according to the signal, and when the external load is not hung on the rigid hook (7), the digital detection sensor in the external load detection device (4) cannot detect an external hanging force signal, the signal can be transmitted to the motion controller in the exoskeleton body (2) equipment, and the external power assistance of the exoskeleton body (2) is stopped.
6. The method of using an auxiliary sensor based exoskeleton load detection device as claimed in claim 5, wherein: the digital detection sensor of the external load detection device (4) in the second step carries out detection on the principle that the first rigid connecting piece (12) slides through the first steel sleeve (11) to drive the nylon buffer piece (13) to move, the nylon buffer piece (13) can press down the digital switch (14) under the elastic action of the compression spring (10), so that an output signal is turned on, after an external load object is hung on the nylon buffer piece, the first rigid connecting piece (12) is pulled through the second soft belt (6), the compression spring (10) and the nylon buffer piece (13) leave the digital switch (14), and the output signal is turned off, so that the sensor can feed back whether the actual load is connected with the exoskeleton body (2) or not to drive the subsequent program action of the exoskeleton body (2), and the analog detection sensor of the external load detection device (4) in the second step carries out detection on the principle that, after an external load object is hung on the exoskeleton body (2), the third rigid connecting piece (19) is pulled through the second soft belt (6), so that the pressure strain gauge (21) on the mechanical sensor (20) generates micro deformation, and a micro deformation signal is converted into an electric signal through the pressure strain gauge (21), so that the external load detection device (4) can feed back whether the actual load is connected with the exoskeleton or not, further the subsequent program action of the exoskeleton body (2) is driven, and the actual weight of the object can be detected according to the size of the electric signal.
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| CN202010109496.1A CN111203917B (en) | 2020-02-22 | 2020-02-22 | Exoskeleton load detection device and method based on auxiliary sensor |
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| CN202010109496.1A CN111203917B (en) | 2020-02-22 | 2020-02-22 | Exoskeleton load detection device and method based on auxiliary sensor |
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|---|---|---|---|---|
| JPH079371A (en) * | 1993-06-29 | 1995-01-13 | Motoda Electron Co Ltd | Load handling method by inertial control and its device |
| DE202016004674U1 (en) * | 2016-07-29 | 2016-11-17 | WiMa Industrie-Automation GmbH | Control unit with integrated load measurement and TFT display operator guidance for a manipulator, such as a Rope or chain hoist |
| CN106695760A (en) * | 2016-12-16 | 2017-05-24 | 江苏大学 | Whole body exoskeleton power-assisted robot for auxiliary carrying |
| CN110012663A (en) * | 2017-09-07 | 2019-07-12 | 袁博 | A kind of ectoskeleton |
| CN110385698A (en) * | 2019-07-30 | 2019-10-29 | 北京机械设备研究所 | A kind of motor-driven four-degree-of-freedom upper limb exoskeleton device |
| CN211761672U (en) * | 2020-02-22 | 2020-10-27 | 上海傲鲨智能科技有限公司 | Exoskeleton load detection device based on auxiliary sensor |
-
2020
- 2020-02-22 CN CN202010109496.1A patent/CN111203917B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH079371A (en) * | 1993-06-29 | 1995-01-13 | Motoda Electron Co Ltd | Load handling method by inertial control and its device |
| DE202016004674U1 (en) * | 2016-07-29 | 2016-11-17 | WiMa Industrie-Automation GmbH | Control unit with integrated load measurement and TFT display operator guidance for a manipulator, such as a Rope or chain hoist |
| CN106695760A (en) * | 2016-12-16 | 2017-05-24 | 江苏大学 | Whole body exoskeleton power-assisted robot for auxiliary carrying |
| CN110012663A (en) * | 2017-09-07 | 2019-07-12 | 袁博 | A kind of ectoskeleton |
| CN110385698A (en) * | 2019-07-30 | 2019-10-29 | 北京机械设备研究所 | A kind of motor-driven four-degree-of-freedom upper limb exoskeleton device |
| CN211761672U (en) * | 2020-02-22 | 2020-10-27 | 上海傲鲨智能科技有限公司 | Exoskeleton load detection device based on auxiliary sensor |
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