CN111714338A - Lower limb exoskeleton adjusting and rehabilitation device - Google Patents
Lower limb exoskeleton adjusting and rehabilitation device Download PDFInfo
- Publication number
- CN111714338A CN111714338A CN202010626593.8A CN202010626593A CN111714338A CN 111714338 A CN111714338 A CN 111714338A CN 202010626593 A CN202010626593 A CN 202010626593A CN 111714338 A CN111714338 A CN 111714338A
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- adjusting
- disc
- leg support
- fixedly connected
- continuous
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
Abstract
The invention discloses a lower limb exoskeleton regulation and rehabilitation device, wherein a first continuous through hole is formed in a first regulation plate from top to bottom, the first regulation plate is fixedly connected with a regulation buckle, the regulation buckle penetrates through a plurality of regulation columns from top to bottom, one end of each regulation column is fixedly connected with one end of a first spring, and the other end of each regulation column sequentially penetrates through the first continuous through hole; the second adjusting plate is provided with second continuous through holes which are arranged in sequence from left to right, the surface of the second leg support is provided with adjusting through holes, the adjusting nail penetrates through the adjusting through holes and transversely penetrates through any one of the second continuous through holes, one end of the second spring is fixedly connected with the head of the adjusting nail, so that the contact positions of the adjusting device and the legs of a user can be adjusted according to different body types of the user, the width of the adjustable leg support of the adjusting device is adjusted according to the thickness of the legs of the user, and the wearing comfort and the rehabilitation effect of the device are improved.
Description
Technical Field
The invention relates to a lower limb exoskeleton regulation rehabilitation device, and belongs to the technical field of medical rehabilitation equipment.
Background
With the further deepening of the aging of China, the proportion of the population occupied by middle-aged and elderly people increases year by year, so that a plurality of elderly patients with inconvenient leg and foot actions exist, a large number of medical staff are needed for the conventional rehabilitation training of the legs and the feet, and each patient cannot obtain enough rehabilitation training under the condition of limited number of the medical staff, so that the rehabilitation progress is slow, and the lower limb exoskeleton rehabilitation equipment which can automatically complete the rehabilitation training of the patient and does not need the medical staff to monitor for a long time is urgently needed. The existing lower limb exoskeleton rehabilitation equipment is fixed in size, the contact position of the equipment and the legs of a patient cannot be adjusted according to the body type of the patient, the comfort of wearing the equipment is reduced, and the rehabilitation effect is influenced.
Disclosure of Invention
The invention aims to provide a lower limb exoskeleton adjusting and rehabilitation device, which can adjust the contact position of the device and the legs of a user according to different body types of the user and adjust the width of an adjustable leg support of the device according to the thickness of the legs of the user, thereby improving the wearing comfort and the rehabilitation effect of the device.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
the invention provides a lower limb exoskeleton regulation rehabilitation device which comprises a waist support, a binding band, a length regulator and an adjustable leg support, wherein two sides of the waist support are connected through the binding band, two sides of the waist support are respectively and outwardly connected with a rotation driving mechanism, the rotation driving mechanism comprises a downward disc-shaped shell, and the length regulator comprises a first regulating plate, a regulating buckle and a first spring; one end of a first adjusting plate is hinged with the downward disc-shaped shell, a first continuous through hole is formed in the first adjusting plate from top to bottom, the first adjusting plate is fixedly connected with an adjusting buckle, a plurality of adjusting columns penetrate through the adjusting buckle from top to bottom, one end of each adjusting column is fixedly connected with one end of a first spring, the other end of each adjusting column sequentially penetrates through the first continuous through hole, and if the number of the adjusting columns is odd, one adjusting column in the middle of the adjusting columns arranged from top to bottom is the longest adjusting column; if the number of the adjusting columns is even, any one of the two adjusting columns in the middle of each adjusting column arranged from top to bottom is the longest adjusting column;
the adjustable leg support comprises a first leg support, a second leg support, an adjusting nail and a second spring, wherein a base of the first leg support and a base of the second leg support are on the same plane, one end of the first leg support is connected with a second adjusting plate, the second adjusting plate is provided with second continuous through holes which are arranged in a left-right sequence, the surface of the second leg support is provided with the adjusting through holes, the height of the adjusting through holes from the base of the second leg support is the same as that of the second continuous through holes from the base of the first leg support, the side surface of one end of the second leg support is inwards provided with blind holes which can accommodate the whole second adjusting plate, the adjusting nail penetrates through the adjusting through holes and traverses any hole in the second continuous through holes, one end of the second spring is fixedly connected with an adjusting nail head, the other end of the second spring is fixedly connected with the other surface of the second leg support opposite to the surface, the cross section of each hole of the second continuous through hole is circular, the cross section of the middle part of the adjusting nail is rectangular, and the cross section of the head part of the adjusting nail is circular.
Furthermore, the bandage includes first nylon belt, second nylon belt and buckle, and waist support both sides link firmly with first nylon belt one end, second nylon belt one end respectively, and the first nylon belt other end links firmly through buckle and the second nylon belt other end.
Furthermore, the other end of the first adjusting plate is fixedly connected with the second leg support, and the other end of the first spring is fixedly connected with the second leg support.
Furthermore, adjustable shank support still includes the shank bandage, and the first shank support other end links firmly through the shank bandage with the second shank support other end.
Furthermore, the rotary driving mechanism also comprises a speed reducer, a disc type brushless direct current motor, an outward disc-shaped shell and an inward disc-shaped shell, two sides of the waist support are respectively connected with the corresponding inward disc-shaped shells, the disc type brushless direct current motor is arranged on the inner side of the inward disc-shaped shell, a motor shaft of the disc type brushless direct current motor is connected with an input end of the speed reducer, an output end of the speed reducer is fixedly connected with the downward disc-shaped shell, and the outward disc-shaped shell, the inward disc-shaped shell and the downward disc-shaped shell form sealed connection.
Furthermore, the device further comprises an electric control box, wherein the electric control box is fixedly installed at the middle position of the waist support, a control circuit board and a power supply are arranged in the electric control box, the circuit board is electrically connected with the speed reducer and the disc type brushless direct current motor, and the power supply supplies power for the circuit board, the speed reducer and the disc type brushless direct current motor.
Further, the reduction gear includes the bent axle, and the input and the bent axle of reduction gear are connected, and the bent axle is connected with the output of reduction gear.
Furthermore, the output end of the speed reducer is a cycloid gear.
Compared with the prior art, the invention at least has the following beneficial effects:
the first spring is extruded by pressing the longest adjusting column in the middle of the adjusting columns arranged from top to bottom, so that other adjusting columns connected with the first spring are completely separated from the first continuous through hole, and the first adjusting plate can freely move up and down without being hindered by other adjusting columns; by stopping pressing the longest adjusting column in the middle of the adjusting columns arranged from top to bottom, under the action of the first spring, other adjusting columns connected with the first spring cross the first continuous through hole again to fix the first adjusting plate again, so that the contact position of the adjusting device and the leg of the user can be realized according to different body types of the user;
the tail part of the adjusting nail is pressed, so that the head part of the adjusting nail is completely separated from a certain hole in a second continuous through hole which is transversely crossed with the tail part of the adjusting nail and extrudes a second spring, the middle part of the adjusting nail is positioned in a certain hole in the second continuous through hole, and the section of each hole of the second continuous through hole is circular, while the section of the middle part of the adjusting nail is rectangular, so that the second adjusting plate can freely move in the blind hole without being hindered by the adjusting nail; the tail part of the adjusting nail is stopped being pressed, the head part of the adjusting nail returns to a certain hole in the second continuous through hole again under the action of the second spring, and the second adjusting plate is fixed again because the cross section of each hole of the second continuous through hole is circular and the cross section of the head part of the adjusting nail is circular, so that the width of the adjustable leg support of the device can be adjusted according to the thickness of the leg of the user;
in conclusion, the invention can improve the wearing comfort and the rehabilitation effect of the device.
Drawings
Fig. 1 is a schematic overall structure diagram of a lower limb exoskeleton regulation rehabilitation device provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of a waist support of the lower limb exoskeleton regulation rehabilitation device provided by the embodiment of the invention;
fig. 3 is a schematic view of the internal installation of the rotation driving mechanism of the lower extremity exoskeleton adjustment and rehabilitation device provided by the embodiment of the invention;
fig. 4 is a schematic structural diagram of a length adjuster of a lower limb exoskeleton regulation rehabilitation device provided by the embodiment of the invention;
fig. 5 is a schematic view of the overall structure of an adjustable leg support of the lower extremity exoskeleton adjustment rehabilitation device provided by the embodiment of the invention;
fig. 6 is a schematic diagram of a separation structure of an adjustable leg support of the lower extremity exoskeleton adjustment rehabilitation device according to the embodiment of the present invention.
In the figure: 1. an electronic control box; 2. a lumbar support; 3. binding bands; 4. a length adjuster; 5. an adjustable leg support; 6. a rotation driving mechanism; 7. the middle position of the waist support; 8. two sides of the waist support; 9. an outwardly disc-shaped housing; 10. a cycloid gear; 11. a downward disk-shaped housing; 12. a crankshaft; 13. an inwardly dished housing; 14. a disc type brushless DC motor; 15. a speed reducer; 16. a first adjusting plate; 17. adjusting the buckle; 18. a first spring; 19. a leg strap; 20. a first leg support; 21. a second spring; 22. adjusting the nail; 23. a second leg support.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
It should be noted that in the description of the present invention, the terms "upper" and "lower" indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and the terms "inner" and "outer" respectively refer to directions toward and away from the geometric center of a specific component, and are only for convenience of description of the present invention and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1 to 6, the lower extremity exoskeleton adjusting and rehabilitation device provided by the embodiment of the present invention comprises a waist support 2, a binding band 3, a length adjuster 4 and an adjustable leg support 5, wherein the waist support is U-shaped, two sides of the waist support 2 are connected by the binding band 3, two sides 8 of the waist support are respectively connected with a rotation driving mechanism 6, specifically, two sides 8 of the waist support are respectively provided with a reserved hole, and are respectively connected with the rotation driving mechanism 6 by a bolt passing through the respective reserved hole. The rotary drive mechanism 6 comprises a downward disk-shaped housing 11, and the length adjuster 4 comprises a first adjusting plate 16, an adjusting catch 17 and a first spring 18; one end of a first adjusting plate 16 is hinged with the downward disc-shaped shell 11, a first continuous through hole is formed in the first adjusting plate 16 from top to bottom, the first adjusting plate 16 is fixedly connected with an adjusting buckle 17, a plurality of adjusting columns penetrate through the adjusting buckle from top to bottom, one end of each adjusting column is fixedly connected with one end of a first spring 18, the other end of each adjusting column sequentially penetrates through the first continuous through hole, and if the number of the adjusting columns is odd, one adjusting column in the middle of the adjusting columns arranged from top to bottom is the longest adjusting column; if the number of the adjusting columns is even, any one of the two adjusting columns in the middle of each adjusting column arranged from top to bottom is the longest adjusting column; in this embodiment, the binding band 3 comprises a first nylon belt, a second nylon belt and a buckle, two sides 8 of the waist support are fixedly connected with one end of the first nylon belt and one end of the second nylon belt respectively, and the other end of the first nylon belt is fixedly connected with the other end of the second nylon belt through the buckle.
The adjustable leg support 5 comprises a first leg support 20, a second leg support 23, an adjusting nail 22 and a second spring 21, wherein a first leg support base and a second leg support base are on the same plane, one end of the first leg support 20 is connected with a second adjusting plate, the second adjusting plate is provided with second continuous through holes which are arranged in a left-right sequence, the surface of the second leg support 20 is provided with an adjusting through hole, the height of the adjusting through hole from the second leg support base is the same as that of the second continuous through hole from the first leg support base, the side surface of one end of the second leg support 20 is inwards provided with a blind hole which can accommodate the whole second adjusting plate, the adjusting nail 22 passes through the adjusting through hole and traverses any hole in the second continuous through holes, one end of the second spring 21 is fixedly connected with the head of the adjusting nail 22, the other end of the second spring 21 is fixedly connected with the other surface of the second leg support 23 opposite to the surface of the second leg support 23, the cross section of each hole of the second continuous through hole is circular, the cross section of the middle part of the adjusting nail 22 is rectangular, and the cross section of the head part of the adjusting nail 22 is circular. In this embodiment, the section of the tail of the adjusting nail 22 is circular, and the adjusting through hole is a circular hole. The adjustable leg support 5 further comprises a leg strap, and the other end of the first leg support 20 is fixedly connected with the other end of the second leg support 23 through the leg strap. The other end of the first adjusting plate 16 is fixedly connected with the second leg support 23, and the other end of the first spring 18 is also fixedly connected with the second leg support 23.
The rotary driving mechanism 6 further comprises a speed reducer 15, a disc type brushless direct current motor 14, an outward disc-shaped shell 9 and an inward disc-shaped shell 13, two sides 8 of the waist support are respectively connected with the corresponding inward disc-shaped shells 13, the disc type brushless direct current motor 14 is arranged on the inner sides of the inward disc-shaped shells 13, a motor shaft of the disc type brushless direct current motor 14 is connected with an input end of the speed reducer 15, an output end of the speed reducer 15 is fixedly connected with the downward disc-shaped shell 11, and the outward disc-shaped shell 9, the inward disc-shaped shell 13 and the downward disc-shaped shell 11 are in sealed connection.
The device further comprises an electric control box 1, wherein the electric control box 1 is fixedly installed at the middle position 7 of the waist support, a control circuit board and a power supply are arranged in the electric control box, the circuit board is electrically connected with the speed reducer 15 and the disc type brushless direct current motor 14, and the power supply supplies power for the circuit board, the speed reducer 15 and the disc type brushless direct current motor 14.
In the embodiment, the output end of the speed reducer 15 is the cycloid gear 10, the speed reducer 15 comprises a crankshaft 12, the input end of the speed reducer 15 is connected with the crankshaft 12, and the crankshaft 12 is connected with the output end of the speed reducer 15. The disk brushless dc motor 14 drives the reducer 15 to transmit kinetic energy to the cycloid gear 10 through the crankshaft 12, the cycloid gear 10 is fixedly connected to the downward disk-shaped housing 11, thereby moving the downward disk-shaped housing 11, and one end of the first adjusting plate 16 is hinged to the downward disk-shaped housing 11, thereby the rotation driving mechanism 6 can drive the thighs to be raised or lowered by rotation energy.
The specific adjusting process of the embodiment of the invention is as follows:
the first spring 18 is extruded by pressing the longest adjusting column in the middle of the adjusting columns arranged from top to bottom, so that other adjusting columns connected with the first spring 18 are completely separated from the first continuous through hole, and the first adjusting plate 16 can freely move up and down without being blocked by other adjusting columns; by stopping pressing the longest adjusting column in the middle of the adjusting columns arranged from top to bottom, under the action of the first spring 18, other adjusting columns connected with the first spring 18 traverse the first continuous through hole again to fix the first adjusting plate 16 again, so that the contact position of the adjusting device and the leg of the user can be realized according to different body types of the user;
the head of the adjusting nail 22 is completely separated from a certain hole in the second continuous through hole which is traversed by the adjusting nail 22 by pressing the tail of the adjusting nail 22 and presses a second spring, the middle of the adjusting nail 22 is positioned in the certain hole in the second continuous through hole, and the second adjusting plate can freely move in the blind hole without being hindered by the adjusting nail 22 because the cross section of each hole of the second continuous through hole is circular and the cross section of the middle of the adjusting nail 22 is rectangular; the tail of the adjusting nail 22 stops being pressed, the head of the adjusting nail 22 returns to a hole in the second continuous through hole again under the action of the second spring 21, and the second adjusting plate is fixed again because the cross section of each hole of the second continuous through hole is circular and the cross section of the head of the adjusting nail 22 is circular, so that the width of the adjustable leg support 5 of the device can be adjusted according to the thickness of the leg of a user; in conclusion, the embodiment of the invention can improve the wearing comfort and the rehabilitation effect of the device.
When the leg-adjustable thigh exerciser is used, a user binds the waist of the user by the binding bands 3, the adjustable leg support 5 is bound on the thigh by the leg binding bands 19, the contact position of the exerciser and the leg of the user is adjusted, the width of the adjustable leg support 5 is adjusted, and then the thigh is driven to be lifted or put down by the rotation of the rotary driving mechanism 6.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. The lower limb exoskeleton adjusting and rehabilitation device is characterized by comprising a waist support, a binding band, a length adjuster and an adjustable leg support, wherein two sides of the waist support are connected through the binding band, two sides of the waist support are respectively and outwardly connected with a rotary driving mechanism, the rotary driving mechanism comprises a downward disc-shaped shell, and the length adjuster comprises a first adjusting plate, an adjusting buckle and a first spring; one end of a first adjusting plate is hinged with the downward disc-shaped shell, a first continuous through hole is formed in the first adjusting plate from top to bottom, the first adjusting plate is fixedly connected with an adjusting buckle, a plurality of adjusting columns penetrate through the adjusting buckle from top to bottom, one end of each adjusting column is fixedly connected with one end of a first spring, the other end of each adjusting column sequentially penetrates through the first continuous through hole, and if the number of the adjusting columns is odd, one adjusting column in the middle of the adjusting columns arranged from top to bottom is the longest adjusting column; if the number of the adjusting columns is even, any one of the two adjusting columns in the middle of each adjusting column arranged from top to bottom is the longest adjusting column;
the adjustable leg support comprises a first leg support, a second leg support, an adjusting nail and a second spring, wherein a base of the first leg support and a base of the second leg support are on the same plane, one end of the first leg support is connected with a second adjusting plate, the second adjusting plate is provided with second continuous through holes which are arranged in a left-right sequence, the surface of the second leg support is provided with the adjusting through holes, the height of the adjusting through holes from the base of the second leg support is the same as that of the second continuous through holes from the base of the first leg support, the side surface of one end of the second leg support is inwards provided with blind holes which can accommodate the whole second adjusting plate, the adjusting nail penetrates through the adjusting through holes and traverses any hole in the second continuous through holes, one end of the second spring is fixedly connected with an adjusting nail head, the other end of the second spring is fixedly connected with the other surface of the second leg support opposite to the surface, the cross section of each hole of the second continuous through hole is circular, the cross section of the middle part of the adjusting nail is rectangular, and the cross section of the head part of the adjusting nail is circular.
2. The lower extremity exoskeleton adjustment and rehabilitation device according to claim 1, wherein the strap comprises a first nylon strap, a second nylon strap and a buckle, two sides of the waist support are fixedly connected with one end of the first nylon strap and one end of the second nylon strap respectively, and the other end of the first nylon strap is fixedly connected with the other end of the second nylon strap through the buckle.
3. The lower extremity exoskeleton modulation rehabilitation device of claim 1 wherein the other end of the first modulation plate is fixedly connected to the second leg support, and the other end of the first spring is also fixedly connected to the second leg support.
4. The lower extremity exoskeleton adjustment rehabilitation device of claim 1 wherein said adjustable leg brace further comprises a leg strap, the other end of said first leg brace being fixedly connected to the other end of said second leg brace by said leg strap.
5. The lower extremity exoskeleton regulation and rehabilitation device according to claim 1, wherein the rotation driving mechanism further comprises a speed reducer, a disc-type brushless DC motor, an outward disc-shaped housing and an inward disc-shaped housing, wherein two sides of the waist support are respectively connected with the corresponding inward disc-shaped housing, the disc-type brushless DC motor is arranged inside the inward disc-shaped housing, a motor shaft of the disc-type brushless DC motor is connected with an input end of the speed reducer, an output end of the speed reducer is fixedly connected with the downward disc-shaped housing, and the outward disc-shaped housing, the inward disc-shaped housing and the downward disc-shaped housing are hermetically connected.
6. The lower extremity exoskeleton adjustment and rehabilitation device according to claim 1, further comprising an electronic control box fixedly mounted at a middle position of the waist support, wherein a control circuit board and a power supply are disposed in the electronic control box, the circuit board is electrically connected with the speed reducer and the disc type brushless DC motor, and the power supply supplies power to the circuit board, the speed reducer and the disc type brushless DC motor.
7. The lower extremity exoskeleton adjustment rehabilitation device according to claim 5, wherein the reducer comprises a crankshaft, an input end of the reducer is connected with the crankshaft, and the crankshaft is connected with an output end of the reducer.
8. The lower extremity exoskeleton modulation rehabilitation device of claim 7 wherein the output of the speed reducer is a cycloid gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010626593.8A CN111714338A (en) | 2020-07-02 | 2020-07-02 | Lower limb exoskeleton adjusting and rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010626593.8A CN111714338A (en) | 2020-07-02 | 2020-07-02 | Lower limb exoskeleton adjusting and rehabilitation device |
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| Publication Number | Publication Date |
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| CN111714338A true CN111714338A (en) | 2020-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010626593.8A Pending CN111714338A (en) | 2020-07-02 | 2020-07-02 | Lower limb exoskeleton adjusting and rehabilitation device |
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| CN110123589A (en) * | 2019-05-20 | 2019-08-16 | 南京理工大学 | A kind of wearable lower limb rehabilitation walk-aiding exoskeleton of lightweight for hemiplegic patient |
| CN110179635A (en) * | 2018-02-22 | 2019-08-30 | Lg电子株式会社 | Effectively the leg band of supporting leg and the wearable auxiliary device with the leg band |
| CN111168648A (en) * | 2020-01-08 | 2020-05-19 | 合肥工业大学 | Four-degree-of-freedom hip joint exoskeleton walking-aid robot based on flexible driving |
| CN210785266U (en) * | 2019-07-23 | 2020-06-19 | 广东博智林机器人有限公司 | Structure is adjusted to ectoskeleton robot shank |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203861526U (en) * | 2014-04-03 | 2014-10-08 | 西华大学 | Wearable adjustable lower limb rehabilitation training robot device |
| CN105997441A (en) * | 2016-05-07 | 2016-10-12 | 南京理工大学 | An exoskeleton-based wearable lower limb rehabilitation robot |
| CN206761902U (en) * | 2016-12-05 | 2017-12-19 | 北京大艾机器人科技有限公司 | Adjustable bandage fixing device and exoskeleton robot lower limb |
| US20180161188A1 (en) * | 2016-12-08 | 2018-06-14 | University Of Washington | Energy storage device for an exoskeleton |
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| CN110179635A (en) * | 2018-02-22 | 2019-08-30 | Lg电子株式会社 | Effectively the leg band of supporting leg and the wearable auxiliary device with the leg band |
| CN110123589A (en) * | 2019-05-20 | 2019-08-16 | 南京理工大学 | A kind of wearable lower limb rehabilitation walk-aiding exoskeleton of lightweight for hemiplegic patient |
| CN210785266U (en) * | 2019-07-23 | 2020-06-19 | 广东博智林机器人有限公司 | Structure is adjusted to ectoskeleton robot shank |
| CN111168648A (en) * | 2020-01-08 | 2020-05-19 | 合肥工业大学 | Four-degree-of-freedom hip joint exoskeleton walking-aid robot based on flexible driving |
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