CN111745620B - Hip mechanism and portable power assisting device - Google Patents
Hip mechanism and portable power assisting device Download PDFInfo
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- CN111745620B CN111745620B CN201910237772.XA CN201910237772A CN111745620B CN 111745620 B CN111745620 B CN 111745620B CN 201910237772 A CN201910237772 A CN 201910237772A CN 111745620 B CN111745620 B CN 111745620B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 210000001624 hip Anatomy 0.000 claims description 256
- 210000000689 upper leg Anatomy 0.000 claims description 63
- 210000002414 leg Anatomy 0.000 claims description 35
- 239000000758 substrate Substances 0.000 claims description 10
- 210000000629 knee joint Anatomy 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 239000013013 elastic material Substances 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 6
- 238000005299 abrasion Methods 0.000 abstract description 2
- 210000003414 extremity Anatomy 0.000 description 8
- 239000000463 material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 210000004394 hip joint Anatomy 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
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Abstract
The invention discloses a hip mechanism and portable power assisting equipment, wherein the hip mechanism comprises an upper hip arm, a lower hip arm, a first pulley and a second pulley; the hip lower arm is rotationally connected with the hip upper arm; the first pulley is rotatably arranged on the upper hip arm; the second pulley is rotatably arranged on the hip upper arm; when the guy cable is arranged, the guy cable is guided in from the hip upper arm and wound by the first pulley, cut into the second pulley after cutting out the first pulley, wound by the second pulley, cut out the second pulley, and guided out from the hip lower arm, so that the guy cable is bent into an S shape, and when the guy cable performs tightening action, the guy cable applies acting force to the hip upper arm and the hip lower arm to enable the hip upper arm and the hip lower arm to rotate relatively. The hip mechanism can improve the transmission rate of the inhaul cable, reduce the abrasion of the inhaul cable and prolong the service life of the inhaul cable.
Description
Technical Field
The invention relates to the field of wearable exoskeletons, in particular to a hip mechanism and portable power assisting equipment.
Background
In daily life, situations are often encountered where it is desirable to enhance the strength of the legs of a human being, and wearable portable power-assisted devices are devices that meet this class of applications.
In the prior art, some portable power assisting devices are heavy, and after a user wears the portable power assisting devices, a driving device of the portable power assisting devices is generally positioned on the legs of the user, so that the lower limbs of the user have large resistance when the user moves; the portable power assisting device adapts to the relative position change of the hip and the waist of a human body through the inhaul cable and simultaneously transmits power through the inhaul cable, but in the prior art, the friction force borne by the inhaul cable is large when the inhaul cable is used for transmitting the power, so that the service life of the inhaul cable is greatly shortened, the transmission efficiency is low, and the reliability is not high.
Disclosure of Invention
Based on the problems of the prior art, the invention provides a hip mechanism and a portable power assisting device.
The invention provides a hip mechanism for driving a pull rope in a portable power assisting device, which comprises:
the upper hip arm;
a hip lower arm rotationally coupled with the hip upper arm;
a first pulley rotatably mounted on the hip upper arm; and the number of the first and second groups,
a second pulley rotatably mounted on the hip upper arm; when the cable is arranged, the cable is guided in from the hip upper arm, wound around the first pulley, cut into the second pulley, wound around the second pulley, cut into the second pulley and guided out from the hip lower arm, so that the cable is bent into an S shape, and when the cable is tightened, the cable applies force to the hip upper arm and the hip lower arm to enable the hip upper arm and the hip lower arm to rotate relatively.
Further, a pulley intersecting line formed by the intersection of the rotation plane of the first pulley and the rotation plane of the second pulley is tangent to the first pulley and the second pulley respectively; and the inhaul cable cuts out the first pulley along the pulley intersecting line and cuts in the second pulley along the pulley intersecting line.
Further, the hip upper arm comprises:
a first base plate, wherein the first pulley is rotatably arranged on the outer surface of the first base plate; and the number of the first and second groups,
a second base plate, the second pulley being rotatably mounted on an outer surface of the second base plate; wherein the first substrate is coupled to the second substrate, and an included angle between an inner surface of the first substrate and an inner surface of the first substrate is an obtuse angle.
The invention also provides portable power assisting equipment, which comprises:
the upper fixing component is used for fixing on the waist of a user;
the power system comprises a pull rope and a driving device adjustably mounted on the upper fixing component;
a lower fixing member for fixing to a leg portion of one side of the user; and the number of the first and second groups,
the hip mechanism of any one of the above; wherein the hip upper arm of the hip mechanism is rotationally coupled with the upper fixing assembly or the power system, and the hip lower arm of the hip mechanism is fixedly coupled with the lower fixing assembly;
the pull cable is led out from the driving device, led into the hip upper arm and led out of the hip lower arm, and then fixedly connected to the lower fixing component.
Further, the upper fixing assembly includes:
a fixing band for binding at the waist of the user;
the back bracket is fixed on the fixing belt; wherein the drive means is adjustably mounted on the back support; and the number of the first and second groups,
one end of the fixed connecting rod is rotatably connected with the back bracket, and the other end of the fixed connecting rod is connected with the fixed belt directly or through an upper hip arm; the hip upper arm is fixedly arranged on the fixed connecting rod, when the user wears the portable power assisting device, the back support is attached to the rear side of the waist of the user, and the fixed connecting rod and the lower fixing component are located on the same side and located on the hip of the side.
Furthermore, the upper fixing component also comprises a connecting belt, and the fixing connecting rod or the hip upper arm is connected with the fixing belt through the connecting belt; the connecting belt is provided with elasticity and is used for supporting the change of the distance between the fixing connecting rod and the hip upper arm and the fixing belt when the leg of the user is adducted, abducted or rotated.
Further, the fixing belt comprises a back bandage and a first waist bandage, the back bandage is used for being bound on the upper side of the waist of the user, the first waist bandage is used for being bound on the lower side of the waist of the user, and the back support is respectively fixed with the back bandage and the first waist bandage;
the fixing band also comprises an elastic supporting band, one end of the elastic supporting band is fixed with the first waist bandage, and the other end of the elastic supporting band is fixed with the back bandage; the elastic support band is provided with a hard elastic material for supporting the back bandage to prevent it from falling down.
Further, the lower fixing assembly includes:
the upper end of the thigh rod is fixedly connected with the hip lower arm and is used for being fixed on the outer side of the thigh;
the upper end of the lower leg rod is rotatably connected with the upper leg rod; and the number of the first and second groups,
the driving wheel is rotationally connected to the lower end of the thigh rod; wherein, the guy cable is led out of the hip lower arm, then winds around the driving wheel and is fixedly connected with the driving wheel or the shank;
when the lower fixing component is worn on the leg on one side of the user, the thigh rod is attached to the outer side of the thigh of the leg, the transmission wheel is located on the outer side of the knee joint of the leg, the part of the shank rod close to the thigh rod is attached to the outer side of the shank of the leg, and the part of the shank rod far away from the thigh rod surrounds the shank and is attached to the rear side of the shank.
Further, the hip mechanism further comprises:
a first fixing head mounted on the upper side of the hip upper arm;
a second fixing head mounted on a rear side of the hip lower arm or a rear side of an upper end of the thigh lever;
the third fixing head is arranged on the front side of the lower end of the thigh rod;
one end of the first sleeve is fixedly connected with the driving device, and the other end of the first sleeve is fixedly connected with the first fixing head; and the number of the first and second groups,
one end of the second sleeve is fixedly connected with the second fixing head, and the other end of the second sleeve is fixedly connected with the third fixing head; wherein the inhaul cable is led out from the driving device, sequentially penetrates through the first sleeve and the first fixing head and then is cut into the first pulley, the inhaul cable is cut out from the second pulley,
and the second sleeve passes through the second fixing head, the second sleeve and the third fixing head in sequence and then is fixedly connected with the driving wheel or the shank.
Further, the driving device includes:
a power take-off disc having a fixed point at its periphery; and the number of the first and second groups,
the power output disc is rotatably arranged in the power base; one end of the inhaul cable is fixed on the fixed point, and the other end of the inhaul cable is led out of the power base after passing through the power output disc in a winding mode.
Further, the hip mechanism further comprises a stress induction sheet and a first rotating shaft, and the first pulley is rotatably mounted on the hip upper arm through the first rotating shaft; the first rotating shaft is provided with a stress hole, a strain beam is formed around the stress hole, and the stress induction sheet is attached to the outer side of the strain beam and used for sensing the stress condition of the first rotating shaft.
Further, the hip mechanism further comprises a third pulley rotatably mounted on the hip lower arm or the lower fixation assembly; wherein the content of the first and second substances,
the third pulley and the second pulley are coplanar, the guy cable is led out of the hip lower arm and then cut into the third pulley to be bent into an S shape, and the guy cable is wound around the third pulley, cut out of the third pulley and fixedly connected with the lower fixing component.
Furthermore, the hip mechanism also comprises an extension rod and an elastic boosting rope, the extension rod is fixedly connected with the upper fixing component or the hip upper arm, one end of the elastic boosting rope is connected with the extension rod, and the other end of the elastic boosting rope is fixedly connected with the lower fixing component; when the user wears the portable power assisting device and stands, the elastic power assisting rope is in a tensioning state and can provide pulling force for the legs of the user to help the user lift the legs.
The invention has the beneficial effects that: the hip mechanism is provided with a hip upper arm, a hip lower arm, a first pulley and a second pulley, the hip upper arm and the hip lower arm can rotate relatively, the hip mechanism is installed on the portable power assisting device, after a user wears the portable power assisting device, the guy cable can be turned in two dimensions on the hip of the user, the guy cable is driven by the first pulley and the second pulley, the wear of the guy cable is greatly reduced, and the service life of the guy cable is prolonged; under the limiting action of the wire grooves of the first pulley and the second pulley, the problems of side slipping or torsion of the inhaul cable and the like are avoided, so that the reliability of the hip mechanism is greatly improved; because the first pulley and the second pulley can rotate independently, the relative rotation of the hip upper arm and the hip lower arm is not influenced while the stay cable is used for transmission; in addition, the guy cable is led in from the upper hip arm and led out from the lower hip arm, so when the guy cable is tensioned, the guy cable can provide acting force for the upper hip arm and the lower hip arm to enable the upper hip arm and the lower hip arm to rotate relatively, and the portable power assisting equipment can provide power assistance better.
The user is after wearing light helping hand equipment, and drive arrangement on the light helping hand equipment is located user's waist, has avoided drive arrangement to be located user's low limbs position, makes user's low limbs more nimble, light, agility, comfortable, and light helping hand equipment when exerting the helping hand to the user, and user's waist and low limbs can be executed and exhibition various actions naturally, and it is better to dress experience, when the taut cable of light helping hand equipment, can provide the helping hand for user's waist and low limbs.
Drawings
Figure 1 is a schematic front view of part of the structure of a hip mechanism provided by an embodiment of the present invention;
figure 2 is a schematic top view of a portion of a hip mechanism provided in accordance with an embodiment of the present invention;
FIG. 3 is a diagram illustrating a state of use of a portion of the portable power assist apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of the connecting head in FIG. 3;
FIG. 5 is another diagram illustrating another exemplary embodiment of a portable power assist apparatus;
FIG. 6 is a view showing still another state of use of a partial structure of a portable power assist apparatus according to an embodiment of the present invention;
FIG. 7 is a schematic view of a portion of the drive of FIG. 5, further showing a cable, a fourth stationary head and a first sleeve engaged with the drive;
FIG. 8 is a force diagram of a first pulley according to an embodiment of the present invention, further showing a cable, a first fixation head and a hip upper arm cooperating with the first pulley;
FIG. 9 is a schematic view of a stress-responsive piece installed in accordance with an embodiment of the present invention, further illustrating the upper hip arm, the first shaft, and the first pulley engaged with the stress-responsive piece;
figure 10 is a schematic elevational view of part of a hip mechanism provided in accordance with another embodiment of the invention;
fig. 11 is a use state diagram of a partial structure of a portable power assist apparatus according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1-2, fig. 1-2 illustrate a hip mechanism in an embodiment of the present invention, in this embodiment hip mechanism 23 includes a hip upper arm 2311, a hip lower arm 232, a first pulley 2312 and a second pulley 2313; the lower hip arm 232 is rotationally connected with the upper hip arm 2311; a first pulley 2312 is rotatably mounted on the hip upper arm 2311; a second pulley 2313 is rotatably mounted on the hip upper arm 2311; when the cable 12 is arranged, the cable 12 is led in from the hip upper arm 2311 and passes around the first pulley 2312, is cut into the second pulley 2313 after being cut out of the first pulley 2312, is cut out of the second pulley 2313 after passing around the second pulley 2313, and is led out from the hip lower arm 232, so that the cable 12 is bent into an 'S' shape, and when the cable 12 is tightened, the cable 12 exerts force on the hip upper arm 2311 and the hip lower arm 232, so that the hip upper arm 2311 and the hip lower arm 232 rotate relatively.
In this embodiment, the hip mechanism 23 has a hip upper arm 2311, a hip lower arm 232, a first pulley 2312 and a second pulley 2313, the hip upper arm 2311 and the hip lower arm 232 can rotate relatively, the hip mechanism 23 is mounted on the portable power assisting device, after the user wears the portable power assisting device, the guy cable 12 realizes two-dimensional turning on the hip of the user, and the guy cable is driven by the first pulley 2312 and the second pulley 2313, so that the wear of the guy cable 12 is greatly reduced, and the service life of the guy cable 12 is further prolonged; under the limiting action of the wire grooves of the first pulley 2312 and the second pulley 2313, the problems of side slipping or torsion and the like of the inhaul cable 12 are avoided, so that the reliability of the hip mechanism 23 is greatly improved; because the first pulley 2312 and the second pulley 2313 can rotate independently, the relative rotation of the hip upper arm 2311 and the hip lower arm 232 is not influenced while the inhaul cable 12 is used for transmission; in addition, since the cable 12 is led in from the hip upper arm 2311 and led out from the hip lower arm 232, when the cable 12 is tensioned, the cable 12 can provide acting force for the hip upper arm 2311 and the hip lower arm 232, so that the hip upper arm 2311 and the hip lower arm 232 rotate relatively, and the portable power assisting device can provide power assisting better.
In an alternative embodiment, for example, in this embodiment, a pulley intersection line 2315 formed by the intersection of the rotation plane 23122 of the first pulley 2312 and the rotation plane 23132 of the second pulley 2313 is tangent to the first pulley 2312 and the second pulley 2313, respectively; here, the cable 12 cuts out the first pulley 2312 along the pulley intersection line 2315 and cuts into the second pulley 2313 along the pulley intersection line 2315, so that the first pulley 2312, the second pulley 2313 and the cable 12 are more compactly matched, and the reliability of the hip mechanism 23 is further improved. It is understood that in some embodiments, first pulley 2312 and second pulley 2313 may be spaced slightly farther apart such that pulley intersection 2315 is not tangent to first pulley 2312 and second pulley 2313.
In the present embodiment, the rotation plane 23122 of the first pulley 2312 is a plane on which a center circle formed at the center of the wire groove of the first pulley 2312 is located, the rotation plane 23132 of the second pulley 2313 is a plane on which a center circle formed at the center of the wire groove of the second pulley 2313 is located, the pulley intersection line 2315 is tangent to the first pulley 2312 and is tangent to the center circle of the first pulley 2312, and the pulley intersection line 2315 is tangent to the second pulley 2313 and is tangent to the center circle of the second pulley 2313.
In this embodiment, when the cable 12 is tensioned, the wrap angle of the cable 12 on the first pulley 2312 is kept constant, and the wrap angle on the second pulley 2313 is changed as the hip upper arm 2311 and the hip lower arm 232 rotate relatively. As shown in fig. 1, when the hip lower arm 232 rotates from position a to position B, the wrap angle of the cable 12 on the second pulley 2313 increases, whereas the wrap angle of the cable 12 on the second pulley 2313 decreases, and when the hip upper arm 2311 is fixed, the hip lower arm 232 can rotate from position B to position a when the cable 12 is tensioned.
In an alternative embodiment, such as the present embodiment, hip upper arm 2311 includes a first base panel 231101 and a second base panel 231102; a first pulley 2312 is rotatably mounted on an outer surface of the first base panel 231101; a second pulley 2313 is rotatably mounted on the outer surface of the second base panel 231102; the first base plate 231101 is coupled to the second base plate 231102, and an included angle between an inner surface of the first base plate 231101 and an inner surface of the second base plate 231102 is an obtuse angle. In this embodiment, the obtuse angle formed by the first substrate 231101 and the second substrate 231102 can better match the hip position of the user, thereby improving the experience effect of the user.
In an alternative embodiment, such as this embodiment, hip mechanism 23 further comprises a first axle 23111 and a second axle 23112, wherein first pulley 2312 is rotatably mounted to an outer surface of first base panel 231101 via first axle 23111, and second pulley 2313 is rotatably mounted to an outer surface of second base panel 231102 via second axle 23112.
In an alternative embodiment, for example in this embodiment, hip upper arm 2311 and hip lower arm 232 rotate relative to each other about second rotation axis 23112, i.e. the rotation axis of hip upper arm 2311 and hip lower arm 232 relative to each other is the same as the rotation axis of second pulley 2313.
Referring to fig. 1 to 9 together, fig. 1 to 9 illustrate a portable power assisting apparatus in an embodiment of the present invention, in this embodiment, the portable power assisting apparatus includes an upper fixing assembly 20, a power system 10, a lower fixing assembly 30 and the hip mechanism 23 according to any one of the above embodiments, the upper fixing assembly 20 is configured to be fixed on the waist of a user; the power system 10 comprises a pull cable 12 and a driving device 11 adjustably mounted on an upper fixing component 20; the lower fixing member 30 is for fixing to a leg portion on one side of a user; wherein, the hip upper arm 2311 of the hip mechanism 23 is fixedly connected with the upper fixing component 20, and the hip lower arm 232 of the hip mechanism 23 is fixedly connected with the lower fixing component 30; the cable 12 is led out from the driving device 11, led into the hip upper arm 2311 and led out of the hip lower arm 232 to be fixedly connected to the lower fixing assembly 30.
In this embodiment, the user is after wearing light helping hand equipment, and drive arrangement 11 on the light helping hand equipment is located user's waist, has avoided drive arrangement 11 to be located user's low limbs position, makes user's low limbs more nimble, light, agile, comfortable, and light helping hand equipment is when exerting the helping hand to the user, and user's waist and low limbs can freely extend, and it is better to dress experience, and when light helping hand equipment tensioning cable 12, can provide the helping hand for user's waist and low limbs.
In an alternative embodiment, for example the present embodiment, the upper fixing assembly 20 comprises a fixing strap 3, a back bracket 21 and a fixing link 22; the fixing belt 3 is used for being bound at the waist of a user; the back support 21 is fixed on the fixing belt 3; wherein the drive means 11 is adjustably mounted on the back support 21; one end of the fixed connecting rod 22 is rotatably connected with the back support 21, and the other end is connected with the fixed belt 3; the hip upper arm 2311 is fixedly installed on the fixed connecting rod 22, when a user wears the portable power assisting device, the back support 21 is attached to the back side of the waist of the user, and the fixed connecting rod 22 and the lower fixing component 30 are located on the same side and located on the hip of the side.
In this embodiment, the back support 21 is attached to the back waist of the user, so that the driving device 11 is located at the back waist of the user after the user wears the portable power assisting apparatus, thereby effectively preventing the weight of the driving device 11 from influencing the free extension of the lower limbs and the waist of the user. The drive means 11 is adjustably mounted on the back support 21 to accommodate users of different girths. One end of the fixed connecting rod 22 is rotatably connected with the back support 21, and the other end is connected with the fixed belt 3, so that the fixed connecting rod 22 can be prevented from influencing the actions of abduction, adduction, rotation and the like of the legs of the user or influencing the actions of rotation, bending and the like of the waist of the user.
In an alternative embodiment, as shown in fig. 5, for example, in this embodiment, the upper fixing assembly 20 further comprises a connecting band 33, the fixing link 22 or the hip upper arm 2311 is connected with the fixing band 3 through the connecting band 33, and further, the connecting band 33 has elasticity for supporting the distance variation between the fixing link 22 and the hip upper arm 2311 and the fixing band 3 when the user's leg is adducted, abducted or rotated.
In an alternative embodiment, for example, in the present embodiment, the fixing strap 3 comprises a back bandage 31 and a first waist bandage 32, the back bandage 31 is used for binding on the upper side of the waist of the user, the first waist bandage 32 is used for binding on the lower side of the waist of the user, wherein the back support 21 is fixed with the back bandage 31 and the first waist bandage 32 respectively, so as to stabilize the back support 21.
In an alternative embodiment, for example, in the present embodiment, the back bracket 21 is provided with a waist hole 301, and the waist hole 301 is arranged in a horizontal direction. Further, the driving device 11 is mounted on the back support 21 through two waist holes 301 so that the position can be freely adjusted when worn by users of different waistlines, wherein the upper side of the driving device 11 is fixed through one waist hole 301 and the lower side of the driving device 11 is fixed through the other waist hole 301.
In an alternative embodiment, as shown in fig. 3 to 4, for example, in this embodiment, the portable assistive device further includes a connector 221, and the fixed link 22 is rotatably coupled to the back bracket 21 through the connector 221. Further, the connector 221 is provided with a first through hole and a second through hole, when the user wears the portable assistive device, the connector 221 is located near the hip joint of the user, the axis 222 of the first through hole is vertical or approximately vertical, and the axis 223 of the second through hole is horizontal or approximately horizontal, wherein the fixed link 22 is matched with the first through hole through a rotating member to form a rotating connection with the connector 221, and the lower side of the driving device 11 is matched with the second through hole through a rotating shaft to form a rotating connection with the connector 221.
In the present embodiment, when the user's leg rotates, the fixed link 22 rotates along the axis 222 of the first through hole with respect to the back bracket 21 and the driving device 11. When the user's legs abduct and adduct, the fixed link 22 rotates along the axis 223 of the second through hole with respect to the back bracket 21 and the driving device 11.
In this embodiment, the back support 21, the fixed link 22, the hip upper arm 2311 and the hip lower arm 232 are rigid, and when the waist of the user is bent, the hip upper arm 2311 and the hip lower arm 232 adapt through relative rotation; when cable 12 is pulled taut, cable 12 provides force to hip upper arm 2311 and hip lower arm 232, and the force provided by cable 12 is transmitted through hip upper arm 2311 to upper fixation assembly 20 and through hip lower arm 232 to lower fixation assembly 30 to provide assistance to the user.
In an alternative embodiment, such as the present embodiment, lower fixation assembly 30 includes a thigh bar 25, a drive wheel 241, and a shank bar 26; the upper end of the thigh rod 25 is fixedly connected with a hip lower arm 232 and is used for being fixed on the outer side of the thigh; the driving wheel 241 is rotatably coupled to the lower end of the thigh bar 25; wherein, the guy cable 12 is led out of the hip lower arm 232, then winds through the driving wheel 241 and is fixedly connected with the driving wheel 241 or the shank rod 26; the upper end of the shank rod 26 is fixedly connected with the driving wheel 241 and is rotatably connected with the thigh rod 25; when the lower fixing component 30 is worn on the leg on one side of the user, the thigh rod 25 is attached to the outer side of the thigh of the leg, the transmission wheel 241 is located on the outer side of the knee joint of the leg, the part of the shank rod 26 close to the thigh rod 25 is attached to the outer side of the shank of the leg, and the part of the shank rod 26 far away from the thigh rod 25 surrounds the shank and is attached to the rear side of the shank. In this embodiment, the thigh rod 25 is rotatably coupled to the driving wheel 241 and the shank rod 26, respectively, so that the lower leg and the thigh can move relative to each other when the user wears the portable assistive device. And when the guy cable 12 is tensioned, assistance can be provided for the knee joint of the user.
It will be appreciated that in some embodiments, the second pulley 2313 cut out of the cable 12 may be fixedly coupled directly to the shank bar 26.
In an alternative embodiment, such as the present embodiment, the thigh bar 25 and the shank bar 26 are made of a rigid material.
In an alternative embodiment, such as the present embodiment, the lower fixation assembly 30 further includes an upper thigh bandage, a lower thigh bandage, an upper lower leg bandage 36, and a lower leg bandage 37; the upper thigh bandage is bound on the upper side of the thigh, the lower thigh bandage is bound on the lower side of the thigh, the upper shank bandage 36 is bound on the upper side of the shank, and the lower shank bandage 37 is bound on the lower side of the shank, wherein the thigh rod 25 is fixed with the upper thigh bandage and the lower thigh bandage respectively, and the shank rod 26 is fixed with the upper shank bandage 36 and the lower shank bandage 37 respectively, so that the thigh rod 25 and the shank rod 26 are more stable.
In an alternative embodiment, as shown in fig. 5, for example, in this embodiment, the upper thigh bandage comprises an upper front section 341 and an upper rear section 342, the upper front section 341 is located on the front side of the thigh and the upper rear section 342 is located on the rear side of the thigh when the upper thigh bandage is fastened to the thigh, wherein the upper front section 341 is made of a flexible material to facilitate movement of the thigh of the user and the upper rear section 342 is made of a rigid material to facilitate the portable power assist device to provide forward power assist to the leg.
In an alternative embodiment, such as the present embodiment, the lower thigh brace comprises a lower front section 351 and a lower rear section 352, the lower front section 351 being located at the front side of the thigh and the lower rear section 352 being located at the rear side of the thigh after the lower thigh brace is fastened to the thigh, wherein the lower front section 351 is made of a rigid material so that the lightweight power assisting device provides a rearward power assisting force to the leg. The lower posterior segment 352 is made of a flexible material to facilitate thigh movement by the user.
In an alternative embodiment, such as this embodiment, hip mechanism 23 further comprises a first fixation head 2314, a second fixation head 251, a third fixation head 252, a first sleeve 121, and a second sleeve 122; a first fixing head 2314 is mounted on the upper side of the hip upper arm 2311; second fixing head 251 is mounted on the rear side of hip lower arm 232 or on the upper end of thigh lever 25; the third fixing head 252 is installed at the front side of the lower end of the thigh bar 25; one end of the first sleeve 121 is fixedly connected with the driving device 11, and the other end is fixedly connected with the first fixing head 2314; one end of the second sleeve 122 is fixedly connected with the second fixing head 251, and the other end is fixedly connected with the third fixing head 252; the cable 12 is led out from the driving device 11, penetrates through the first sleeve 121 and the first fixing head 2314 in sequence, cuts into the first pulley 2312, cuts out from the second pulley 2313, penetrates through the second fixing head 251, the second sleeve 122 and the third fixing head 252 in sequence, and is fixedly connected with the transmission wheel 241 or the lower leg rod 26.
It should be understood that in the present invention, directional descriptions of up, down, left, right, front, rear, etc. are made with reference to various orientations of the user's body after the user wears the portable assistive device.
In this embodiment, cable 12 is guided into hip upper arm 2311 via first fixing head 2314 and out of hip lower arm 232 via second fixing head 251, and when cable 12 is tensioned, force is applied to hip upper arm 2311 via first fixing head 2314 and force is applied to hip lower arm 232 via second fixing head 251.
In this embodiment, the second fixing head 251 is disposed adjacent to the upper rear section 342 of the upper thigh brace, and the third fixing head 252 is disposed adjacent to the driving wheel 241 and between the lower thigh brace and the driving wheel 241.
In this embodiment, the portable power assisting device provides power to the lower limbs of the user when the pulling cable 12 is in the tightening action, so that the legs of the user are straightened to support the weight of the upper body of the user. The direction shown by arrows F1-F4 in FIG. 8 is the direction in which the cable 12 provides assistance to the lower limb during tightening.
In this embodiment, the sleeve is divided into the first sleeve 121 and the second sleeve 122, so that the situation that the sleeve needs to be bent is reduced, and the hip mechanism 23 is arranged between the first sleeve 121 and the second sleeve 122, so that the situation that the transmission speed of the cable 12 is reduced due to the fact that the transmission distance of the cable 12 in the sleeve is long is avoided, the abrasion of the cable 12 can be reduced, and the service life of the cable 12 is prolonged.
In an alternative embodiment, for example, in the present embodiment, the first sleeve 121 and the second sleeve 122 are made of flexible materials, so that when the legs of the user perform abduction, adduction, rotation, or the like, or when the waist performs rotation, bending, or the like, the first sleeve 121 and the second sleeve 122 can be deformed, such as extended or bent, to match the motion of the user.
In an alternative embodiment, such as the present embodiment, as shown in fig. 7, the drive unit 11 includes a power take-off tray 112 and a power base 111; the power take-off disc 112 has a fixed point 113 at its periphery; the power output disc 112 is rotatably arranged in the power base 111; one end of the cable 12 is fixed on the fixing point 113, and the other end of the cable is led out of the power base 111 after passing through the power output disc 112.
In the present embodiment, when the power take-off disc 112 rotates clockwise, the power take-off disc 112 sends out the cable 12, so that the cable 12 performs a loosening action; when the power output disc 112 rotates anticlockwise, the power output disc 112 retracts the inhaul cable 12, so that the inhaul cable 12 is tensioned, and the portable power assisting device can be controlled to apply assistance to a user by controlling the power output disc 112 to rotate.
In an alternative embodiment, for example, in this embodiment, the hip mechanism 23 further includes a fourth fixing head 114, the fourth fixing head 114 is mounted on the power base 111, and the cable 12 passes around the power output disc 112, passes through the fourth fixing head 114, passes out of the power base 111, passes through the first sleeve 121 and the first fixing head 2314 in sequence, and cuts into the first pulley 2312. In the embodiment, the first fixing head 2314, the second fixing head 251, the third fixing head 252 and the fourth fixing head 114 can limit the transmission direction of the cable 12, so that the transmission of the cable 12 is more stable.
As shown in fig. 9, in an alternative embodiment, for example, in the present embodiment, the hip mechanism 23 further includes a stress sensing piece 413, the first rotating shaft 23111 is provided with a stress hole 412, a strain beam 411 is formed around the stress hole 412, and the stress sensing piece 413 is attached to an outer side of the strain beam 411 for sensing a stress condition of the first rotating shaft 23111.
As shown in fig. 8 to 9, an arrow F5 indicates a direction in which the cable 12 applies an acting force to the first pulley 2312, and since the wrap angle of the cable 12 on the first pulley 2312 is fixed, the acting force of the cable 12 on the first pulley 2312 is proportional to the tension of the cable 12, after the stress hole 412 is formed in the first rotating shaft 23111, the strain beam 411 is formed around the stress hole 412, the strain beam 411 may be slightly deformed under the acting force of the cable 12, and the stress sensing piece 413 may sense the magnitude of the acting force of the cable 12 through the slight deformation, so as to sense the magnitude of the tension of the cable 12, so as to facilitate the portable assistive device to provide assistance to a user.
As shown in FIG. 6, in an alternative embodiment, such as this embodiment, the portable power assist apparatus further includes an extension pole 224 and an elastic power assist cord 38; the extension rod 224 is fixedly connected with the upper fixing component 20 or the hip upper arm 2311, one end of the elastic boosting rope 38 is connected with the extension rod 224, and the other end is fixedly connected with the lower fixing component 30. In this embodiment, extension rod 224 is fixedly coupled to either fixed link 22 of upper fixation assembly 20 or hip upper arm 2311; the elastic assist cord 38 is fixedly coupled to the lower forward section 351 of the lower stationary assembly 30.
In this embodiment, after the user wears the portable power assisting device, the extension rod 224 and the elastic power assisting rope 38 are located on the front side of the body of the user, and when the user stands, the elastic power assisting rope 38 is in a tensioning state and can provide tension for the legs of the user, so that the user is helped to lift the legs, and the burden of the user on lifting the legs for a long time is reduced.
In an alternative embodiment, such as this, the lightweight assistive device further comprises an elastic support strap 39, one end of which is secured to the first lumbar strap 32 and the other end of which is secured to the back strap 31; the elastic support band 39 is provided with a hard elastic material for supporting the back bandage 31 to prevent it from falling down.
In an alternative embodiment, such as the present embodiment, the portable power assist apparatus has two fixed links 22, two lower fixed assemblies 30, two hip mechanisms 23, two driving devices 11, two extension rods 224, two elastic power assist cords 38, and two elastic support bands 39, which are symmetrically installed on the left and right sides, so as to provide power assistance to the left and right legs of the user at the same time.
Referring to fig. 10-11, in an alternative embodiment, hip mechanism 23 further comprises a third pulley 253, and third pulley 253 is rotatably mounted on hip lower arm 232 or lower fixing assembly 30; the third pulley 253 and the second pulley 2313 are coplanar, the cable 12 is guided out of the hip lower arm 232 and then cut into the third pulley 253 to be bent into an "S" shape, and the cable 12 is wound around the third pulley 253, cut out of the third pulley 253 and fixedly connected with the lower fixing component 30. Preferably, the third pulley 253 is rotatably installed at the upper end of the thigh lever 25, and the second fixing head 251 is installed at the front side of the upper end of the thigh lever 25.
In an alternative embodiment, hip mechanism 23 further comprises a third shaft 23113 and a fourth shaft 2531, hip lower arm 232 is rotatably coupled to hip upper arm 2311 via third shaft 23113, and third pulley 253 is rotatably mounted to thigh bar 25 via fourth shaft 2531. As shown in fig. 10, when hip lower arm 232 and thigh lever 25 are at position a, cable 12 is closer to third pivot 23113, and the force applied to hip upper arm 2311 and hip lower arm 232 is relatively small under the same tension; when hip lower arm 232 and thigh lever 25 are in position B, cable 12 is further from third pivot 23113, and the force applied to hip upper arm 2311 and hip lower arm 232 is relatively greater for the same tension.
When the portable power assisting device uses the hip mechanism 23 in the embodiment, when a user wears the portable power assisting device to walk on flat ground, the waist and the back of the user are in a substantially vertical state, at this time, the relative state of the hip upper arm 2311 and the hip lower arm 232 is approximately the state of the hip lower arm 232 in the position a in fig. 10, at this time, the hip joint generates relatively small hip force, and the small hip force does not pull the back support 21 to sideslip and dislocate; when a user bends down to go upstairs or walks with bending down, the back side of the waist is in an inclined state, the back support 21 can bear large force and can not slide or be dislocated, at the moment, the relative state of the hip upper arm 2311 and the hip lower arm 232 is approximately the state of the hip lower arm 232 in the position B in fig. 10, the hip joint generates relatively large hip force, and the hip force can be applied to the back side of the waist of the user through the back support 21 connected with the hip mechanism 23, so that the assisting force for lifting the upper body of the user is generated, and the burden of the waist bones and muscles of the user is relieved.
In an alternative embodiment, as shown in fig. 11, the fixing band 3 comprises a second waist bandage 321 and a third waist bandage 322, the second waist bandage 321 and the third waist bandage 322 are both tied to the lower side of the waist of the user, so as to transmit the hip force of the user without affecting the movement of the upper body of the user, and the back support 21 can be made relatively short, further preventing the hip force generated by the user from pulling the back support 21 to slide and shift.
In this embodiment, the back support 21 has an upper cross bar 211 and a lower cross bar 212, the upper cross bar 211 and the lower cross bar 212 are both horizontally arranged, and the driving device 11 is slidably disposed on the upper cross bar 211 and the lower cross bar 212, so that the installation position of the driving device 11 can be driven to adapt to users with different waistlines.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (12)
1. A hip mechanism for use in transmitting a cable in a portable power assist device, the hip mechanism comprising:
the upper hip arm;
a hip lower arm rotationally coupled with the hip upper arm;
a first pulley rotatably mounted on the hip upper arm; and the number of the first and second groups,
a second pulley rotatably mounted on the hip upper arm; when the cable is arranged, the cable is guided in from the hip upper arm, wound around the first pulley, cut into the second pulley after cutting out the first pulley, wound around the second pulley, cut out from the second pulley and guided out from the hip lower arm, so that the cable is bent into an S shape, and when the cable is tightened, the cable applies acting force to the hip upper arm and the hip lower arm to enable the hip upper arm and the hip lower arm to rotate relatively;
the hip upper arm includes:
a first base plate, wherein the first pulley is rotatably arranged on the outer surface of the first base plate; and the number of the first and second groups,
a second base plate, the second pulley being rotatably mounted on an outer surface of the second base plate; wherein the first substrate is coupled to the second substrate, and an included angle between an inner surface of the first substrate and an inner surface of the second substrate is an obtuse angle.
2. The hip mechanism of claim 1, wherein a pulley intersection line formed by the intersection of the plane of rotation of the first pulley and the plane of rotation of the second pulley is tangent to the first pulley and the second pulley, respectively; and the inhaul cable cuts out the first pulley along the pulley intersecting line and cuts in the second pulley along the pulley intersecting line.
3. A portable power assist device, comprising:
the upper fixing component is used for fixing on the waist of a user;
the power system comprises a pull rope and a driving device adjustably mounted on the upper fixing component;
a lower fixing member for fixing to a leg portion of one side of the user; and the number of the first and second groups,
the hip mechanism of any one of the preceding claims 1 to 2; wherein the hip upper arm of the hip mechanism is rotationally coupled with the upper fixing assembly or the power system, and the hip lower arm of the hip mechanism is fixedly coupled with the lower fixing assembly;
the pull cable is led out from the driving device, led into the hip upper arm and led out of the hip lower arm, and then fixedly connected to the lower fixing component.
4. The portable power assist device of claim 3, wherein the upper stationary assembly comprises:
a fixing band for binding at the waist of the user;
the back bracket is fixed on the fixing belt; wherein the drive means is adjustably mounted on the back support; and the number of the first and second groups,
one end of the fixed connecting rod is rotatably connected with the back bracket, and the other end of the fixed connecting rod is connected with the fixed belt directly or through an upper hip arm; the hip upper arm is fixedly arranged on the fixed connecting rod, when the user wears the portable power assisting device, the back support is attached to the rear side of the waist of the user, and the fixed connecting rod and the lower fixing component are located on the same side and located on the hip of the side.
5. The portable power assistance device of claim 4, wherein the upper fixation assembly further comprises a connecting strap, the fixation link or the hip upper arm being coupled to the fixation strap via the connecting strap; the connecting belt is provided with elasticity and is used for supporting the change of the distance between the fixing connecting rod and the hip upper arm and the fixing belt when the leg of the user is adducted, abducted or rotated.
6. The portable power assistance device of claim 4 wherein said securing strap comprises a back strap for being secured to an upper side of the user's waist and a first waist strap for being secured to a lower side of the user's waist, said back bracket being secured to said back strap and said first waist strap, respectively;
the fixing band also comprises an elastic supporting band, one end of the elastic supporting band is fixed with the first waist bandage, and the other end of the elastic supporting band is fixed with the back bandage; the elastic support band is provided with a hard elastic material for supporting the back bandage to prevent it from falling down.
7. The portable power assist device of claim 3, wherein the lower stationary assembly comprises:
the upper end of the thigh rod is fixedly connected with the hip lower arm and is used for being fixed on the outer side of the thigh;
the upper end of the lower leg rod is rotatably connected with the upper leg rod; and the number of the first and second groups,
the driving wheel is rotationally connected to the lower end of the thigh rod; wherein, the guy cable is led out of the hip lower arm, then winds around the driving wheel and is fixedly connected with the driving wheel or the shank;
when the lower fixing component is worn on the leg on one side of the user, the thigh rod is attached to the outer side of the thigh of the leg, the transmission wheel is located on the outer side of the knee joint of the leg, the part of the shank rod close to the thigh rod is attached to the outer side of the shank of the leg, and the part of the shank rod far away from the thigh rod surrounds the shank and is attached to the rear side of the shank.
8. The portable power assist device of claim 7, wherein the hip mechanism further comprises:
a first fixing head mounted on the upper side of the hip upper arm;
a second fixing head mounted on a rear side of the hip lower arm or a rear side of an upper end of the thigh lever;
the third fixing head is arranged on the front side of the lower end of the thigh rod;
one end of the first sleeve is fixedly connected with the driving device, and the other end of the first sleeve is fixedly connected with the first fixing head; and the number of the first and second groups,
one end of the second sleeve is fixedly connected with the second fixing head, and the other end of the second sleeve is fixedly connected with the third fixing head; the pull cable is led out from the driving device, sequentially penetrates through the first sleeve and the first fixing head and then is cut into the first pulley, is cut out from the second pulley, sequentially penetrates through the second fixing head, the second sleeve and the third fixing head and then is fixedly connected with the driving wheel or the shank.
9. A portable power assist device according to claim 3 wherein the drive means comprises:
a power take-off disc having a fixed point at its periphery; and the number of the first and second groups,
the power output disc is rotatably arranged in the power base; one end of the inhaul cable is fixed on the fixed point, and the other end of the inhaul cable is led out of the power base after passing through the power output disc in a winding mode.
10. The portable power assist device of claim 3, wherein the hip mechanism further comprises a stress-sensing blade and a first shaft, the first pulley being rotatably mounted on the hip upper arm via the first shaft; the first rotating shaft is provided with a stress hole, a strain beam is formed around the stress hole, and the stress induction sheet is attached to the outer side of the strain beam and used for sensing the stress condition of the first rotating shaft.
11. The portable power assist device of claim 3, wherein the hip mechanism further comprises a third pulley rotatably mounted on the hip lower arm or the lower stationary assembly; wherein the content of the first and second substances,
the third pulley and the second pulley are coplanar, the guy cable is led out of the hip lower arm and then cut into the third pulley to be bent into an S shape, and the guy cable is wound around the third pulley, cut out of the third pulley and fixedly connected with the lower fixing component.
12. The portable power assist device of claim 3, wherein the hip mechanism further comprises an extension rod and an elastic power assist cord, the extension rod is fixedly coupled to the upper fixing component or the hip upper arm, one end of the elastic power assist cord is connected to the extension rod, and the other end of the elastic power assist cord is fixedly coupled to the lower fixing component; when the user wears the portable power assisting device and stands, the elastic power assisting rope is in a tensioning state and can provide pulling force for the legs of the user to help the user lift the legs.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910237772.XA CN111745620B (en) | 2019-03-27 | 2019-03-27 | Hip mechanism and portable power assisting device |
| PCT/CN2019/081372 WO2020191802A1 (en) | 2019-03-27 | 2019-04-04 | Hip mechanism and portable power-assist device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910237772.XA CN111745620B (en) | 2019-03-27 | 2019-03-27 | Hip mechanism and portable power assisting device |
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| Publication Number | Publication Date |
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| CN111745620A CN111745620A (en) | 2020-10-09 |
| CN111745620B true CN111745620B (en) | 2021-08-27 |
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| CN201910237772.XA Active CN111745620B (en) | 2019-03-27 | 2019-03-27 | Hip mechanism and portable power assisting device |
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| CN (1) | CN111745620B (en) |
| WO (1) | WO2020191802A1 (en) |
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| CN116833976B (en) * | 2022-03-24 | 2024-05-31 | 广州视鹏科技有限公司 | Leg assembly and externally attached skeleton |
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| CN102874339A (en) * | 2012-09-27 | 2013-01-16 | 浙江大学 | Hopping robot mechanism |
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| US7918808B2 (en) * | 2000-09-20 | 2011-04-05 | Simmons John C | Assistive clothing |
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| JP5607629B2 (en) * | 2008-08-28 | 2014-10-15 | レイセオン カンパニー | Biomimetic mechanical fitting |
| JP5244029B2 (en) * | 2009-05-25 | 2013-07-24 | 本田技研工業株式会社 | Walking assist device |
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| KR102152640B1 (en) * | 2014-01-24 | 2020-09-09 | 삼성전자주식회사 | Holder and walking aid robot having the same |
| KR102241853B1 (en) * | 2014-03-28 | 2021-04-19 | 삼성전자주식회사 | Joint assembly and walking aid robot having the same |
| KR102167184B1 (en) * | 2014-08-07 | 2020-10-16 | 삼성전자주식회사 | A driving module, a motion assist apparatus comprising the driving module and a control method of the motion assist apparatus |
| CN106309082B (en) * | 2015-07-03 | 2019-04-09 | 深圳市肯綮科技有限公司 | A kind of light movement power assisting device executing agency |
| US20170348176A1 (en) * | 2016-06-02 | 2017-12-07 | Massachusetts Institute Of Technology | High Performance Free Rolling Cable Transmission |
| CN106373172A (en) * | 2016-08-31 | 2017-02-01 | 南京意斯伽生态科技有限公司 | Psychotherapy simulation system based on virtual reality technology |
| KR20180060853A (en) * | 2016-11-29 | 2018-06-07 | 삼성전자주식회사 | Motion assist apparatus |
| KR20180076694A (en) * | 2016-12-28 | 2018-07-06 | 삼성전자주식회사 | Motion assist apparatus |
| CN107137207B (en) * | 2017-07-03 | 2019-05-17 | 哈尔滨工业大学 | Based on rope-pulley mechanism drive lacking lower limb assistance exoskeleton robot |
| CN207359053U (en) * | 2017-08-14 | 2018-05-15 | 华南理工大学 | A kind of lower limb power assisting device based on energy feedback |
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| CN102874339A (en) * | 2012-09-27 | 2013-01-16 | 浙江大学 | Hopping robot mechanism |
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