CN111700756A - Auxiliary system stands - Google Patents

Auxiliary system stands Download PDF

Info

Publication number
CN111700756A
CN111700756A CN202010468648.7A CN202010468648A CN111700756A CN 111700756 A CN111700756 A CN 111700756A CN 202010468648 A CN202010468648 A CN 202010468648A CN 111700756 A CN111700756 A CN 111700756A
Authority
CN
China
Prior art keywords
air
cylinder
cylinder body
handle
communicated
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
Application number
CN202010468648.7A
Other languages
Chinese (zh)
Inventor
宋超阳
吴霞
刘海原
刘子褀
陈铭栋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Southwest University of Science and Technology
Southern University of Science and Technology
Original Assignee
Southwest University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Southwest University of Science and Technology filed Critical Southwest University of Science and Technology
Priority to CN202010468648.7A priority Critical patent/CN111700756A/en
Publication of CN111700756A publication Critical patent/CN111700756A/en
Pending legal-status Critical Current

Links

Images

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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1019—Vertical extending columns or mechanisms
    • 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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/109—Lower body, e.g. pelvis, buttocks

Landscapes

  • Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention provides a standing auxiliary system, which comprises a supporting rod, an inflatable vest and a depth camera; the support rod comprises an air cylinder, the upper end of a cylinder body of the air cylinder is connected with a handle, a controller is arranged in the handle, the lower end of a piston rod of the air cylinder is connected with a base, an air port at the upper end of the cylinder body is communicated with a rodless cavity of the cylinder body, and an air port at the lower end of the cylinder body is communicated with a rod cavity of the cylinder body; two air ports on the air cylinder are communicated with a compressed air source; the inflatable vest is connected with the cylinder body of the air cylinder, and an air port of the inflatable vest is communicated with the electromagnetic valve; the controller controls the electromagnetic valve to be switched on and off according to the control instruction, so that the inflatable vest is pressurized or deflated. The cylinder can provide distributed support in the process of extending to avoid impact or harsh pushing and ensure that a user can stand stably.

Description

Auxiliary system stands
Technical Field
The invention relates to the field of nursing equipment, in particular to a standing auxiliary system.
Background
With the continuous improvement of the living standard of China and the rapid development of medical public health service, China has already stepped into an aging society, and the proportion of the aged population in the general population is gradually increased. The elderly have poor self-care capability, and are mainly nursed by families, which causes high nursing cost, high labor intensity and urgent need for improvement of nursing conditions. Meanwhile, a large number of people with various disabilities and the elderly who lie in bed for a long time exist. This makes the problem of helping the old and the disabled increasingly become a great social problem.
In some people, such as the elderly and the disabled, the elderly and the disabled cannot easily stand or sit as normal in daily life, and due to age or accidental injury, joints of the lower limbs of the elderly and the disabled are not enough to support the dead weight of the body, which seriously affects the life quality of the elderly and the disabled.
Disclosure of Invention
An object of the present invention is to provide a standing assistance system capable of providing assistance when a user changes posture.
In order to realize the purpose, the technical scheme is as follows: a standing assistance system comprising a support bar, an inflatable vest and a depth camera;
the support rod comprises an air cylinder, the upper end of a cylinder body of the air cylinder is connected with a handle, a controller is arranged in the handle, the lower end of a piston rod of the air cylinder is connected with a base, an air port at the upper end of the cylinder body is communicated with a rodless cavity of the cylinder body, and an air port at the lower end of the cylinder body is communicated with a rod cavity of the cylinder body; two air ports on the air cylinder are communicated with a compressed air source;
the inflatable vest is connected with the cylinder body of the air cylinder, and an air port of the inflatable vest is communicated with the electromagnetic valve;
the depth camera acquires joint information, the depth camera sends the joint information to the controller, the controller generates a control instruction of the electromagnetic valve according to the joint information, and the controller controls the electromagnetic valve to be switched on and off according to the control instruction, so that the inflatable vest is pressurized or deflated.
Compared with the prior art, the invention has the technical effects that: adding the inflatable vest into the system, wherein on one hand, a piston rod of the air cylinder is extended, and a handle can support the palm of a user; on the other hand, the cylinder body is connected with the inflatable vest, and the cylinder body of the air cylinder moves upwards to drive the inflatable vest to pull the user upwards. The force generated by the cylinder movement acts on the user's palm and the inflated vest. The thrust provided by the cylinder will thus be distributed through the inflatable vest and act on the wearer and also on the user's palm, providing a progressive, compliant and powerful thrust, the cylinder being able to provide distributed support during extension to avoid impacts or stiff thrusts, ensuring that the user can stand smoothly.
Drawings
FIG. 1 is a front view of a support pole of the present invention;
FIG. 2 is a side view of a support pole of the present invention;
FIG. 3 is a schematic diagram of an application scenario of the present invention;
FIG. 4 is a schematic diagram of a biomechanical model of human pose changes;
FIG. 5 is a control block diagram of the present invention as a whole;
fig. 6 is a diagram illustrating the relationship between the force applied to each component during the standing movement of the user.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.
In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, the premise that each other exists, and the like.
In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc.
Unless otherwise indicated, numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges subsumed therein.
The present invention provides a standing assistance system, as shown in fig. 1, 2 and 5, comprising a support bar, an inflatable vest 20 and a depth camera 30;
the support rod comprises an air cylinder 10, the upper end of a cylinder body 11 of the air cylinder 10 is connected with a handle 13, a controller is arranged in the handle 13, the lower end of a piston rod 12 of the air cylinder 10 is connected with a base 14, an air port 15 at the upper end of the cylinder body 11 is communicated with a rodless cavity of the cylinder body 11, and an air port 15 at the lower end of the cylinder body 11 is communicated with a rod cavity of the cylinder body 11; two air ports 15 on the air cylinder 11 are communicated with a compressed air source;
the inflatable vest 20 is connected with the cylinder body 11 of the air cylinder 10, and the air port of the inflatable vest 20 is communicated with the electromagnetic valve 40;
the depth camera 30 collects joint information, the depth camera 30 sends the joint information to the controller, the controller generates a control instruction of the electromagnetic valve 40 according to the joint information, and the controller controls the electromagnetic valve 40 to be switched on and off according to the control instruction, so that the inflatable vest 20 is pressurized or deflated.
The invention obtains the depth image of the user through the depth camera 30, calls a human body tracking software development kit (Kinect SDK) issued by Microsoft Kinect for Azure, analyzes the depth image by calling a skeleton API interface in the Kinect SDK, and further can obtain the three-dimensional coordinates of 32 skeleton joints of the user. And acquiring joint information of the human body, wherein the joint information is the three-dimensional coordinate position of each bone joint of the user.
The three-dimensional coordinate position of each bone joint of the user is collected in real time by the depth camera 30 when the three-dimensional coordinate position of each bone joint of the user is changed in the standing process preset in the controller, the depth camera 30 sends joint information to the controller, and the controller compares the change of the three-dimensional coordinate position of each bone joint of the user with the three-dimensional coordinate position of each bone joint of the user in the standing process preset.
Referring to fig. 3, in the specific scene of the user sitting on the bed, the toilet, the chair and the standing character posture, in addition, when the posture of the user is changed from a to d, and the comparison result shows that the acquired three-dimensional coordinates of the bone joints are consistent with the three-dimensional coordinate position of the bone joints in the preset standing process, the intention of the user is judged to be the conversion from the sitting posture to the standing posture, the controller generates a control command to control the electromagnetic valve 40 to be communicated with the air port of the inflatable vest 20 so as to pressurize the inflatable vest 20, the air inlet 15 at the upper end of the air cylinder 10 is used for air inlet, the piston rod is extended to support the palm of the user, the cylinder body 11 is connected with the inflatable vest 20, and the upward movement of the cylinder body can drive the inflatable vest 20 to. When the position information of the joints of the user collected by the depth camera 30 is not changed after the user finishes standing, the controller controls the air cylinders 10 to stop extending, so that the user can stand to be assisted, and controls the solenoid valves 40 to deflate the inflatable vest 20, so that the user can use the air cylinders as walking sticks.
In the invention, the inflatable vest 20 is added into the system, on one hand, the piston rod of the cylinder 10 is extended, and the handle 13 can support the palm of the user; on the other hand, the cylinder body 11 is connected with the inflatable vest 20, and the upward movement of the cylinder body of the air cylinder can drive the inflatable vest 20 to pull the user upwards.
The force generated by the movement of the cylinder 10 acts on the palm of the user's hand and the inflatable vest 20. The thrust thus provided by the pneumatic cylinder 10 will be distributed through the inflatable vest 20 and act on the wearer and also on the user's palm, providing a progressive, compliant and powerful thrust, the pneumatic cylinder 10 being able to provide distributed support during extension to avoid bumps or harsh thrusts, ensuring that the user is able to stand smoothly.
The cylinder 10 may be of the type MAL32 × 500-S, with a cross-section of 32mm in diameter and a stroke of 500 mm. The handle 13 is fixed on the top of the cylinder body of the cylinder 10 through screws.
The handle 13 is provided with a button 16, the button 16 is electrically connected with the electromagnetic valve 40, and the button controls the on-off of the electromagnetic valve 40.
When a user directly controls the on-off of the electromagnetic valve 40 through the button 16, the user can directly control the extension or the shortening of the air cylinder 10 in an emergency, and the safety of the user is ensured.
The handle 13 is provided with a channel 17, and the channel 17 extends from the bottom of the handle 13 to one end of the handle;
two air ports 15 of the air cylinder 10 are respectively connected with an air pipe, and the air pipe passes through a channel of the handle 13 and is communicated with a compressed air source.
The air pipe penetrates through the channel of the handle 13 and is communicated with the two air outlets 15 of the electromagnetic valve 40, so that the arrangement of the air pipe is convenient, the arrangement of pipelines is more regular, and the influence on normal walking of a user is avoided.
The base 14 is in threaded connection with the piston rod 12 of the air cylinder 10, and the base 14 is screwed to adjust the supporting length of the supporting rod.
Because the height requirements of users on the air cylinder 10 are different, the base 14 is in threaded connection with the piston rod 12 of the air cylinder 10, the connecting length of the base 14 and the piston rod of the air cylinder 10 is adjusted by screwing the base 14, and the supporting length of the supporting rod is further adjusted, so that the applicability of the invention is wider.
A pipe clamp is fixed on the cylinder body of the cylinder 10 below the handle 13, a spring buckle is connected on the pipe clamp, and the spring buckle is connected with the inflatable vest 20.
The inflatable vest 20 of the invention only needs to embed a single air bag array into the waistcoat, so that on one hand, the piston rod of the air cylinder 10 is extended, and the handle 13 can support the palm or the armpit of a user; on the other hand, the spring fastener on the cylinder body is connected with the inflatable vest 20, and the cylinder body of the air cylinder moves upwards to drive the inflatable vest 20 to pull the user upwards.
The inflatable vest 20 serves as a soft interface between the cylinder 10 and the user, wherein the snap-in is a flexible joint, i.e. a flexible joint is used to connect the inflatable vest 20 with the cylinder 10. I.e. the force generated by the movement of the cylinder 10 acts on the palm of the user's hand and on the inflatable vest 20. The thrust thus provided by the cylinder 10 will be distributed through the inflatable vest 20 and act on the wearer and also on the user's palm, and ultimately the cylinder 10 will provide distributed support during extension to avoid bumping or hard pushing.
Specifically, the inflatable vest 20 comprises an inflatable air bag, the inner side and the outer side of the inflatable air bag are respectively connected with an inner waistcoat and an outer waistcoat, and the outer waistcoat is connected with a spring buckle.
In the invention, after the supporting rod is added in the user standing process, a mechanical model is established for the lower limbs of the user, as shown in fig. 4.
1) The standing process is symmetrical in a sagittal plane and a coronal plane; 2) during the movement, the feet do not move relative to the ground; 3) the head, the neck and the trunk are regarded as a rigid body, and the influence of the hands on the movement is ignored in the standing process; 4) because the old person stands more slowly, the lower limbs are quasi-static balance at every moment in the movement process. The external force brought by the crutch is concentrated at the point S of the human body, the specific position of the point S depends on the specific situation, and the force provided by the crutch is Fs. The ground reaction force is concentrated on the P point of the sole and has the size of Fg。τ1，τ2，τ3Respectively representing the joint moments of the hip, knee and ankle. G1，G2，G3，G4Respectively the upper body (fig. 4(b)), the thigh (fig. 4(c)), the calf (fig. 4(d)), and the center of mass of the foot (fig. 4 (e)). For upper body fig. 4 (b):
Figure BDA0002513506150000061
wherein, tau1Is the moment of the unknown hip joint,
Figure BDA0002513506150000062
is the vector of the gravity of the upper half of the body,
Figure BDA0002513506150000063
is the vector pointing from the hip joint to the position of the upper body centroid.
Figure BDA0002513506150000064
Is due to inertia caused by acceleration of the upper body, JG1Is the corresponding moment of inertia of the coronal plane, both data being obtained from the data of the sensor.
Figure BDA0002513506150000065
Is the vector of the point where the hip joint points to the external force,
Figure BDA0002513506150000066
is the external force acting at point S. Using Newton's second lawCan calculate the force of thigh acting on upper body
Figure BDA0002513506150000067
For the thigh (fig. 4 (c)):
Figure BDA0002513506150000068
where τ 2 is the unknown knee joint moment,
Figure BDA0002513506150000069
is the vector of the gravity of the thigh,
Figure BDA00025135061500000610
is the vector from the knee joint to the position of the thigh centroid.
Figure BDA0002513506150000071
Is the vector directed from the knee to the hip. The force of the shank acting on the thigh can be calculated by Newton's second law
Figure BDA0002513506150000072
For the lower leg (fig. 4 (d)):
Figure BDA0002513506150000073
where τ 3 is the unknown ankle joint moment,
Figure BDA0002513506150000074
is the vector of the weight of the lower leg,
Figure BDA0002513506150000075
is a vector pointing from the ankle joint to the position of the center of mass of the lower leg.
Figure BDA0002513506150000076
Is the vector pointing from the ankle to the knee. The foot effect can be calculated by Newton's second lawForce of shank
Figure BDA0002513506150000077
For foot (fig. 4 (e)):
Figure BDA0002513506150000078
wherein the content of the first and second substances,
Figure BDA0002513506150000079
is the vector of foot gravity.
Figure BDA00025135061500000710
Is the vector pointing from the ankle joint to the location of the centroid of the foot. P is the pressure center of gravity and M is the resultant moment acting on the force plate.
Figure BDA00025135061500000711
Is the vector from the ankle joint to the location of the center of pressure of the foot.
The effectiveness of the standing assistance system can be verified experimentally as follows:
for the utility of the standing assistance system crutches, with the standing assistance system as the only variable, the subjects were standing without the standing assistance system (as a control group) and with the standing assistance system (as an experimental group), respectively, at the same time.
The two force measuring plates independently collect the ground reaction force of the vola and the cylinder of the testee. After normalization of the body weight by the ground reaction force in the vertical direction, a curve as shown in fig. 6 can be obtained. Standing in the state of not wearing the robot crutch, and collecting data of the sole force measuring plate of the tested person as a solid line in the figure; with the standing assistance system, the data of the sole of the subject corresponds to a dotted line in the figure, and the stress of the air cylinder corresponds to a dotted line in the figure.
The stance process is mainly divided into three phases, namely trunk flexion (trunk flexion), hip-off and hip-knee extension (knee-hip extension). For the analysis of the ground reaction force data, ten indices are introduced here, which are: the time (T1) corresponding to the first stage of standing, the ground reaction force (F1) at the moment, and the impulse (P1) of the reaction force in the first stage; a peak value of the ground reaction force (F2), a rate of change from F1 to F2 (V1); standing for a time corresponding to the second period (T2), an impulse of the reaction force during the second period (P2), a rate of change of the reaction force from a peak value to this moment value (V2); the time corresponding to the third stage of standing (T3) and the impulse of the counter force during this time (P3).
From the experimental results it can be seen that: although the experimental group took longer to reach the first two phases (T1+ T2), hip and knee extension (the T3 phase took less time and this phase was completed faster to help reduce the risk of falling due to unstable center of gravity.
The preferred embodiments and examples of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the embodiments and examples described above, and various changes can be made within the knowledge of those skilled in the art without departing from the concept of the present invention.

Claims (6)

1. A standing assistance system comprising a support bar, an inflatable vest (20) and a depth camera (30);
the support rod comprises an air cylinder (10), the upper end of a cylinder body (11) of the air cylinder (10) is connected with a handle (13), a controller is arranged in the handle (13), the lower end of a piston rod (12) of the air cylinder (10) is connected with a base (14), an air port (15) at the upper end of the cylinder body (11) is communicated with a rodless cavity of the cylinder body (11), and an air port (15) at the lower end of the cylinder body (11) is communicated with a rod cavity of the cylinder body (11); two air ports (15) on the air cylinder (11) are communicated with a compressed air source;
the inflatable vest (20) is connected with the cylinder body (11) of the cylinder (10), and an air port of the inflatable vest (20) is communicated with the electromagnetic valve (40);
the depth camera (30) collects joint information, the depth camera (30) sends the joint information to the controller, the controller generates a control instruction of the electromagnetic valve (40) according to the joint information, and the controller controls the electromagnetic valve (40) to be switched on and off according to the control instruction, so that the inflatable vest (20) is pressurized or deflated.
2. The standing assistance system according to claim 1, wherein the handle (13) is provided with a button (16), the button (16) is electrically connected with the solenoid valve (40), and the button (16) controls the solenoid valve (40) to be turned on or off.
3. The standing assistance system according to claim 1, wherein the handle (13) is provided with a channel (17), the channel (17) extending from the bottom of the handle (13) to one end of the handle (13);
two air ports (15) of the air cylinder (10) are respectively connected with an air pipe, and the air pipe penetrates through a channel (17) of the handle (13) and is communicated with a compressed air source.
4. The standing assistance system according to claim 1, wherein the base (14) is threadedly connected with a piston rod (12) of the cylinder (10), the base (14) being screwed to adjust a support length of the support rod.
5. The standing assistance system according to claim 1, wherein a pipe clamp is fixed on the cylinder body of the cylinder (10) below the handle (13), and a spring buckle is connected on the pipe clamp and connected with the inflatable vest (20).
6. The standing assistance system according to claim 5, wherein the inflatable vest (20) comprises inflatable air bags connected at their inner and outer sides to an inner vest and an outer vest, respectively, the outer vest being connected to a snap fastener.
CN202010468648.7A 2020-05-28 2020-05-28 Auxiliary system stands Pending CN111700756A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010468648.7A CN111700756A (en) 2020-05-28 2020-05-28 Auxiliary system stands

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010468648.7A CN111700756A (en) 2020-05-28 2020-05-28 Auxiliary system stands

Publications (1)

Publication Number Publication Date
CN111700756A true CN111700756A (en) 2020-09-25

Family

ID=72538214

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010468648.7A Pending CN111700756A (en) 2020-05-28 2020-05-28 Auxiliary system stands

Country Status (1)

Country Link
CN (1) CN111700756A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5839461A (en) * 1997-12-24 1998-11-24 Lambeth, Jr.; Harvey F. Protective apparatus for walkers and others
CN201692254U (en) * 2010-06-10 2011-01-05 孙兆云 Pneumatic height-adjustable crutch
CN103200909A (en) * 2010-09-27 2013-07-10 范德比尔特大学 Movement assistance device
CN204032541U (en) * 2014-02-21 2014-12-24 王建刚 A kind of Novel crutch
US20160296404A1 (en) * 2010-07-30 2016-10-13 Toyota Motor Engineeirng & Manufacturing North America, Inc. Physical assistive robotic systems
CN106095087A (en) * 2016-06-02 2016-11-09 深圳奥比中光科技有限公司 Body feeling interaction system and method
CN207041119U (en) * 2017-06-08 2018-02-27 杨程 A kind of interchangeable base walking stick

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5839461A (en) * 1997-12-24 1998-11-24 Lambeth, Jr.; Harvey F. Protective apparatus for walkers and others
CN201692254U (en) * 2010-06-10 2011-01-05 孙兆云 Pneumatic height-adjustable crutch
US20160296404A1 (en) * 2010-07-30 2016-10-13 Toyota Motor Engineeirng & Manufacturing North America, Inc. Physical assistive robotic systems
CN103200909A (en) * 2010-09-27 2013-07-10 范德比尔特大学 Movement assistance device
CN204032541U (en) * 2014-02-21 2014-12-24 王建刚 A kind of Novel crutch
CN106095087A (en) * 2016-06-02 2016-11-09 深圳奥比中光科技有限公司 Body feeling interaction system and method
CN207041119U (en) * 2017-06-08 2018-02-27 杨程 A kind of interchangeable base walking stick

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
2019 IROS WORKSHOP ON SUPERNUMERARY ROBOTIC LIMBS: "《http://darbelofflab.mit.edu/2019-iros-workshop/》", 4 November 2019 *
THE BIONICDL LAB: "《https://ancorasir.com/?p=2420》", 10 March 2020 *
万明: "《医用物理学》", 30 June 2014 *

Similar Documents

Publication Publication Date Title
Bahrami et al. Biomechanical analysis of sit-to-stand transfer in healthy and paraplegic subjects
CN106420279B (en) A kind of wearable flexible knee joint robotic exoskeleton equipment based on gait
Riley et al. Biomechanical analysis of failed sit-to-stand
Kuan et al. Hemiplegic gait of stroke patients: the effect of using a cane
Gazzani et al. WARD: a pneumatic system for body weight relief in gait rehabilitation
KR100651639B1 (en) Foot pressure sensor of robot for assistant exoskeletal power
KR20150010714A (en) Motorized exoskeleton unit
Koceska et al. Robot devices for gait rehabilitation
TWM526379U (en) Air pressure and muscle driven outer skeleton apparatus with upper limb power and rehabilitation training functions
KR20140001419A (en) Force assistive wearable robot for wearing lower body
Nakamura et al. Control of wearable walking support system based on human-model and GRF
Wu et al. Robotic cane as a soft superlimb for elderly sit-to-stand assistance
Hasegawa et al. Wearable lower-limb assistive device for physical load reduction of caregiver on transferring support
Smith et al. Estimating upper extremity joint loads of persons with spinal cord injury walking with a lower extremity powered exoskeleton and forearm crutches
Ishii et al. Development of a new type of lightweight power assist suit for transfer work
Yang et al. A soft inflatable wearable robot for hip abductor assistance: Design and preliminary assessment
CN104759060A (en) Double-airbag body weight support treadmill training device
Nakamura et al. Realizing model-based wearable antigravity muscles support with dynamics terms
CN111700756A (en) Auxiliary system stands
KR102021349B1 (en) Standing table for rehabilitation
US20230293381A1 (en) Exoskeleton for rehabilitation
CN203710323U (en) Upper air bag body weight support mechanism for air bag body weight support training
Mahdi et al. Maintaining mobility in older age-design and initial evaluation of the robot SkyWalker for walking & sit-to-stand assistance
KR20190049119A (en) Apparatus for assistance of standing up
Wu et al. Self-adaptive control strategy for exoskeleton to help paraplegic patients stand up and sit down

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
RJ01 Rejection of invention patent application after publication

Application publication date: 20200925

RJ01 Rejection of invention patent application after publication