CN111452026A - Passive knee joint exoskeleton - Google Patents
Passive knee joint exoskeleton Download PDFInfo
- Publication number
- CN111452026A CN111452026A CN202010417556.6A CN202010417556A CN111452026A CN 111452026 A CN111452026 A CN 111452026A CN 202010417556 A CN202010417556 A CN 202010417556A CN 111452026 A CN111452026 A CN 111452026A
- Authority
- CN
- China
- Prior art keywords
- thigh
- knee joint
- cam
- exoskeleton
- shank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 42
- 210000000689 upper leg Anatomy 0.000 claims abstract description 55
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 13
- 210000003127 knee Anatomy 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 210000002683 foot Anatomy 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 206010061225 Limb injury Diseases 0.000 description 1
- 206010049565 Muscle fatigue Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 206010003246 arthritis Diseases 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1418—Cam
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a passive knee joint exoskeleton, which comprises a knee joint component, an ankle joint component and a waist belt worn between the waist, wherein the knee joint component is connected with the ankle joint component through a rotating shaft, the waist belt is provided with two hanging belts, the two hanging belts are respectively and fixedly connected with hanging belt grooves arranged at the upper ends of two symmetrical thigh rods, the knee joint component comprises a thigh cam, a thigh rod and a shank rod, through holes with the same size are arranged at the lower end of the thigh rod, the circle center of the thigh cam and the upper end of the shank rod, the through holes are movably connected through the knee joint rotating shaft to realize rotary motion within a certain radian, and the annular edge of the thigh cam is provided with a limit groove. The invention has the advantages that the assistance of the exoskeleton can be integrated and optimized through a mechanism, the biomechanical characteristics of the knee joint of a human body can be simulated, the optimal assistance effect is realized, active assistance is changed into passive support, and the comfort is better.
Description
Technical Field
The invention belongs to the field of exoskeleton robots, and particularly relates to a passive knee joint exoskeleton.
Background
The knee exoskeleton has the effects of enhancing the loading capacity of normal people during exercise, preventing muscle fatigue and the like, and can also assist the normal walking of people with lower limb injuries and prevent the deterioration of diseases such as gonarthritis and the like. Although many different knee exoskeletons have been developed, the above-described fundamental goals have not been well achieved, hindering the industrialization of knee exoskeletons. Existing knee exoskeleton can be classified into active and passive types according to energy sources.
The development of active exoskeletons involves energy, drive, sensing, mechanism design, control algorithms, etc. the advantage of such exoskeletons is that the exoskeletons can generate any form of assist torque by changing the control law, but they also have many drawbacks, including high cost, heavy weight, short usage time, and limited battery technology.
The human knee joint shows the characteristic of piecewise linear variable stiffness in the walking and squatting processes, and the characteristic can not be realized by a passive knee joint exoskeleton at present. In particular, the existing design can not provide the variable stiffness assistance in the gravity supporting state, and has no any obstruction to the leg swinging state. Therefore, a new technical solution is needed to solve the above problems.
Disclosure of Invention
The invention aims to provide an exoskeleton auxiliary device which is more fit with the habits of human body behaviors according to the artificial mechanics aiming at the defects in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a passive knee joint exoskeleton comprises a knee joint component, an ankle joint component and a waist belt worn between the waist, wherein the knee joint component is connected with the ankle joint component through a rotating shaft, the waist belt is provided with two hanging belts which are respectively fixedly connected with hanging belt grooves arranged at the upper ends of two symmetrical thigh rods,
the knee joint component comprises a thigh cam, a thigh rod and a shank rod, through holes with the same size are formed in the lower end of the thigh rod, the circle center of the thigh cam and the upper end of the shank rod, rotary motion in a certain radian is achieved through knee joint rotating shaft movable connection in sequence, and a limiting groove is formed in the annular edge of the thigh cam.
Preferably, the middle end of the thigh rod is also provided with a thigh supporting plate and a thigh strap.
Preferably, the shank rod is further provided with a shank rod supporting plate and a movement limiting hole, one side of the shank rod is connected with a damper, the damper comprises a push rod and a hard spring, the upper end of the push rod is provided with a slide block, and the slide block is matched with a slide groove formed in the inner side of the shank rod to enable the push rod to realize vertical reciprocating motion; the top end of the hard spring is also provided with a spherical convex block.
Preferably, the lug is arranged in a limiting groove of the thigh cam and moves close to the edge track of the limiting groove.
Preferably, the lower end of the push rod is connected with the pedal plate through an ankle joint rotating shaft.
Preferably, the stiffness variation coefficient of the knee joint component is
Wherein k is the rigidity of the exoskeleton of the knee joint, theta is the knee joint corner, and mu is the assistance proportion, and is set according to requirements.
Preferably, the motion trajectory of the thigh cam satisfies a condition K ═ ke in which the spring rate K and the cam eccentricity e are dependent on the amount of spring compression.
Preferably, when the eccentricity is constant, the motion trajectory of the spring compression is as follows:
by setting the spring rate k and eccentricity e, the contour parameters of the thigh cam1、2And3。
preferably, the spring and the damper, the distance from the lug of the spring to the shank rod is equal to the eccentricity of the cam, and the relative movement direction of the damper is the same as the extension and contraction direction of the spring.
Has the advantages that: compared with the prior art, the invention has the following advantages:
(1) the whole knee joint exoskeleton is hung on the waist of a human body through the waist belt and the hanging belts on the two sides, so that the exoskeleton is prevented from sliding off under the action of gravity. The thigh binding bands pass through the thigh rods and are bound on the outer sides of thighs of the human body, the shank binding bands pass through the shank rods and are bound on the outer sides of shanks of the human body, and the two binding bands transmit the torque of the exoskeleton to the human body
(2) The human knee joint is similar to a piecewise linear spring in the processes of walking on the ground and squatting, and plays a role in supporting the human body.
(3) The passive knee exoskeleton is low in cost, light in weight, free of energy, driving, sensing and controlling, free of energy and electronic parts, free of use time limitation and free of energy.
(4) The assistance of the exoskeleton can be integrated and optimized through a mechanism, the biomechanical characteristics of the human knee joint can be simulated, and the optimal assistance effect is realized.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a block diagram of the thigh bar assembly of the present invention;
FIG. 3 is a view showing the assembly structure of the shank of the present invention
FIG. 4 is a cam profile graph of the present invention;
FIG. 5 is a diagram of the movement trace of the cam mechanism during the ground propping process of the present invention;
fig. 6 is a movement track diagram of the cam mechanism in the leg swinging process of the invention.
Wherein, 1, waistband; 2. a sling; 3. a thigh strap; 301. a sling groove is formed; 302. a thigh support plate; 4. a thigh bar; 5. a thigh cam; 6. a spring; 7. a shank binding band; 8. a damper; 9. an ankle joint shaft; 10. a foot pedal; 11. a knee joint rotating shaft; 12. a shank rod; 1201. a shank rod support plate; 1202. moving the limiting hole; 13. a push rod.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Examples
The embodiment provides a passive knee joint exoskeleton, including knee joint subassembly, ankle joint subassembly and dress waistband 1 between the waist, the knee joint subassembly is connected through the pivot with the ankle joint subassembly, be equipped with two suspender 2 on waistband 1, two suspender 2 is equipped with suspender groove 301 looks fixed connection with the upper end of thigh pole 4 of two symmetries respectively, the knee joint subassembly includes thigh cam 5, thigh pole 4 and shank pole 12, the lower extreme of thigh pole 4, the centre of a circle department of thigh cam 5 and the upper end of shank pole 12 all are equipped with the same through-hole of size, loop through the rotatory motion that 11 swing joint of knee joint pivot realized in certain radian, thigh cam 5's annular edge is equipped with the spacing groove. The middle end of the thigh rod 4 is also provided with a thigh supporting plate 301 and a thigh binding band 3. The shank 12 is further provided with a shank support plate 1201 and a movement limiting hole 1202, one side of the shank 12 is connected with a damper 8, the damper 8 comprises a push rod 13 and a hard spring 6, the upper end of the push rod 13 is provided with a slide block, and the slide block is matched with a slide groove formed in the inner side of the shank 12 to enable the push rod 13 to realize vertical reciprocating motion; the top end of the hard spring 6 is also provided with a spherical convex block. The lug is arranged in a limiting groove of the thigh cam and moves close to the edge track of the limiting groove. The lower end of the push rod 13 is connected with the foot pedal 10 through the ankle joint rotating shaft 9.
The stiffness variation coefficient of the knee joint component is
Wherein k is the rigidity of the exoskeleton of the knee joint, theta is the knee joint corner, and mu is the assistance proportion, and is set according to requirements.
The motion trail of the thigh cam (5) satisfies the following condition K & ke, wherein the spring stiffness K and the cam eccentricity e are determined according to the spring compression amount.
When the eccentricity is constant, the motion trail of the spring compression amount is as follows:
profile parameters of the thigh cam (5) given constant values of spring rate k and eccentricity e1、2And3。
the distance from a lug of the spring 6 to the shank is equal to the eccentricity of the cam, and the relative movement direction of the damper is the same as the extension direction of the spring.
The working principle is as follows:
1) variable stiffness of knee joint component:
the shank rod can rotate around the thigh rod around the rotating shaft, the lower end of the thigh rod is provided with a cam, a spring is connected on a push rod of the cam in series, and the push rod is connected with the shank rod through a damper.
When the shank rod swings around the shank rod, the spring on the push rod of the cam mechanism compresses and rebounds to generate moment changing along with the swing angle, and the knee joint has the characteristic of variable rigidity and the biomechanical characteristics of the knee joint of a human body.
2) Designing an ankle joint component:
under the ground supporting state, the pedal plate is supported by the supporting force of the ground, the push rod of the cam mechanism is supported, the contact between the push rod and the cam is kept, and the cam mechanism acts.
Under the leg swinging state, the pedal plate is separated from the sole of the person under the action of gravity, so that the cam push rod is separated from the cam, the cam mechanism does not act, and the person can naturally swing legs. The damper between the push rod and the shank rod enables the process of separating and contacting the push rod and the cam to be smooth and free from impact.
3) Designing and wearing:
the whole knee joint exoskeleton is hung on the waist of a human body through the waist belt and the hanging belts on the two sides, so that the exoskeleton is prevented from sliding off under the action of gravity. The thigh binding bands penetrate through the thigh rods and are bound on the outer sides of thighs of the human body, the shank binding bands penetrate through the shank rods and are bound on the outer sides of shanks of the human body, and the two binding bands transmit the torque of the exoskeleton to the human body.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (9)
1. A passive knee exoskeleton comprises a knee joint component, an ankle joint component and a waist belt (1) worn between the waist, and is characterized in that the knee joint component and the ankle joint component are connected through a rotating shaft, two hanging belts (2) are arranged on the waist belt (1), the two hanging belts (2) are respectively and fixedly connected with hanging belt grooves (301) arranged at the upper ends of two symmetrical thigh rods (4),
the knee joint component comprises a thigh cam (5), a thigh rod (4) and a shank rod (12), through holes with the same size are formed in the lower end of the thigh rod (4), the circle center of the thigh cam (5) and the upper end of the shank rod (12), rotary motion in a certain radian is achieved through a knee joint rotating shaft (11) in a movable connection mode, and a limiting groove is formed in the annular edge of the thigh cam (5).
2. A passive knee exoskeleton according to claim 1 where the mid-end of the thigh rod (4) is further provided with a thigh support plate (301) and a thigh strap (3).
3. The passive knee joint exoskeleton of claim 1, wherein the shank (12) is further provided with a shank support plate (1201) and a movement limiting hole (1202), one side of the shank (12) is connected with a damper (8), the damper (8) comprises a push rod (13) and a hard spring (6), the upper end of the push rod (13) is provided with a slide block, and the slide block is matched with a slide groove formed in the inner side of the shank (12) to enable the push rod (13) to reciprocate up and down; the top end of the hard spring (6) is also provided with a spherical convex block.
4. A passive knee exoskeleton according to claim 1 or claim 3 where the projection is located in a limit groove in the thigh cam (5) and moves in close proximity to the edge track of the limit groove.
5. A passive knee exoskeleton according to claim 3 where the lower end of the push rod (13) is connected to the foot pedal (10) via an ankle joint pivot (9).
6. The passive knee exoskeleton of claim 1 wherein said knee component has a coefficient of variation of stiffness of
Wherein k is the rigidity of the exoskeleton of the knee joint, theta is the knee joint corner, and mu is the assistance proportion, and is set according to requirements.
7. A passive knee exoskeleton according to claim 1 where the locus of motion of the thigh cam (5) satisfies the condition K-ke where the spring rate K and cam eccentricity e depend on the amount of spring compression.
8. The passive knee exoskeleton of claim 1 wherein the spring compression is set to follow the following motion trajectory for a given eccentricity:
profile parameters of the thigh cam (5) given constant values of spring rate k and eccentricity e1、2And3。
9. a passive knee exoskeleton according to claim 1 where the spring (6) and damper (8) are such that the distance from the projection of the spring (6) to the shank is the same as the cam eccentricity and the direction of relative movement of the damper is the same as the direction of extension and retraction of the spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010417556.6A CN111452026A (en) | 2020-05-18 | 2020-05-18 | Passive knee joint exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010417556.6A CN111452026A (en) | 2020-05-18 | 2020-05-18 | Passive knee joint exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111452026A true CN111452026A (en) | 2020-07-28 |
Family
ID=71674324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010417556.6A Pending CN111452026A (en) | 2020-05-18 | 2020-05-18 | Passive knee joint exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111452026A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318490A (en) * | 2020-11-30 | 2021-02-05 | 北京精密机电控制设备研究所 | Light and flexible knee joint power assisting exoskeleton robot |
| CN112388610A (en) * | 2020-10-14 | 2021-02-23 | 郑州第四极机电科技有限公司 | Unpowered exoskeleton loading device |
| CN114851163A (en) * | 2022-04-28 | 2022-08-05 | 电子科技大学 | Upper limb assistance exoskeleton robot for providing assistance keeping |
| WO2022254367A1 (en) * | 2021-06-02 | 2022-12-08 | Biolift Technologies Inc. | Exoskeleton to be worn by a subject |
| WO2023023838A1 (en) * | 2021-08-27 | 2023-03-02 | Mawashi Science & Technologie Inc. | An exoskeleton for handling objects and method of using the same |
| WO2024109774A1 (en) * | 2022-11-24 | 2024-05-30 | 中国科学院深圳先进技术研究院 | Powered knee joint prosthesis based on multi-cam parallel elastic driver |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013091151A (en) * | 2011-10-04 | 2013-05-16 | Nagoya Institute Of Technology | Device for generating joint torque |
| CN207722053U (en) * | 2017-03-28 | 2018-08-14 | 海南职业技术学院 | Ectoskeleton power assisting device with gait control circuit |
| WO2020079910A1 (en) * | 2018-10-15 | 2020-04-23 | 本田技研工業株式会社 | Tension generating device, and bending and streching movement assisting device with same |
| CN212352009U (en) * | 2020-05-18 | 2021-01-15 | 南京杨树穿戴智能科技有限公司 | Passive knee joint exoskeleton |
-
2020
- 2020-05-18 CN CN202010417556.6A patent/CN111452026A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013091151A (en) * | 2011-10-04 | 2013-05-16 | Nagoya Institute Of Technology | Device for generating joint torque |
| CN207722053U (en) * | 2017-03-28 | 2018-08-14 | 海南职业技术学院 | Ectoskeleton power assisting device with gait control circuit |
| WO2020079910A1 (en) * | 2018-10-15 | 2020-04-23 | 本田技研工業株式会社 | Tension generating device, and bending and streching movement assisting device with same |
| CN212352009U (en) * | 2020-05-18 | 2021-01-15 | 南京杨树穿戴智能科技有限公司 | Passive knee joint exoskeleton |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112388610A (en) * | 2020-10-14 | 2021-02-23 | 郑州第四极机电科技有限公司 | Unpowered exoskeleton loading device |
| CN112388610B (en) * | 2020-10-14 | 2023-12-01 | 郑州第四极机电科技有限公司 | Unpowered exoskeleton loading device |
| CN112318490A (en) * | 2020-11-30 | 2021-02-05 | 北京精密机电控制设备研究所 | Light and flexible knee joint power assisting exoskeleton robot |
| CN112318490B (en) * | 2020-11-30 | 2022-01-04 | 北京精密机电控制设备研究所 | Light and flexible knee joint power assisting exoskeleton robot |
| WO2022254367A1 (en) * | 2021-06-02 | 2022-12-08 | Biolift Technologies Inc. | Exoskeleton to be worn by a subject |
| WO2023023838A1 (en) * | 2021-08-27 | 2023-03-02 | Mawashi Science & Technologie Inc. | An exoskeleton for handling objects and method of using the same |
| CN114851163A (en) * | 2022-04-28 | 2022-08-05 | 电子科技大学 | Upper limb assistance exoskeleton robot for providing assistance keeping |
| WO2024109774A1 (en) * | 2022-11-24 | 2024-05-30 | 中国科学院深圳先进技术研究院 | Powered knee joint prosthesis based on multi-cam parallel elastic driver |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111452026A (en) | Passive knee joint exoskeleton | |
| CN106726363B (en) | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device | |
| CN107411939B (en) | A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities | |
| CN106491318B (en) | A kind of unpowered wearable auxiliary walking servomechanism | |
| CN205867054U (en) | Lower limbs of human body ectoskeleton with return power structure | |
| CN108095976B (en) | Bionic knee joint rehabilitation training device with passive rebound function | |
| CN106491319A (en) | A kind of wearable knee joint power-assisting robot | |
| CN101132753B (en) | Lower extremity exoskeleton | |
| CN209966958U (en) | Lower limb exoskeleton assistance rehabilitation device | |
| CN109848967B (en) | Bionic mechanical exoskeleton wearing device | |
| CN105943316A (en) | Human lower extremity exoskeleton having force-returning structures | |
| CN212352009U (en) | Passive knee joint exoskeleton | |
| CN211188112U (en) | Wearable rehabilitation type lower limb exoskeleton robot | |
| CN108743224A (en) | Leg rehabilitation training and body-building exoskeleton robot | |
| CN107042502B (en) | Closed chain link-type drive lacking lower limb exoskeleton mechanism | |
| KR102292983B1 (en) | Lower extremity exoskeleton robotic device | |
| CN215701667U (en) | Load supporting and assisting exoskeleton device | |
| CN108214457B (en) | Passive trunk labor-saving device for lower limb exoskeleton | |
| Hu et al. | Design of mechanism and control system for a lightweight lower limb exoskeleton | |
| CN112870019B (en) | Lower limb rehabilitation training device based on gravity balance | |
| CN109927016B (en) | Lower limb exoskeleton with variable axis knee joint | |
| CN113146591A (en) | Load-bearing assistance exoskeleton with damping function | |
| CN209850913U (en) | Lower limb exoskeleton with variable-axis knee joint | |
| CN205630613U (en) | Lower limbs of human body ectoskeleton with semicircular hip structure | |
| CN214490583U (en) | Foot arch imitating lower limb exoskeleton |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220510 Address after: No. 501-129, jinyuhuafu, No. 7, Xinlin Avenue, guxiong street, Yuhuatai District, Nanjing, Jiangsu 210000 Applicant after: Jiangsu HUAHAN Intelligent Technology Co.,Ltd. Address before: 210000 No.606, ningliu Road, Changlu street, Jiangbei new district, Nanjing City, Jiangsu Province Applicant before: Nanjing poplar wearable Intelligent Technology Co.,Ltd. |