CN112545846B - Power type multi-degree-of-freedom walking-assisting lower limb exoskeleton robot based on intention recognition - Google Patents
Power type multi-degree-of-freedom walking-assisting lower limb exoskeleton robot based on intention recognition Download PDFInfo
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- CN112545846B CN112545846B CN202011587327.5A CN202011587327A CN112545846B CN 112545846 B CN112545846 B CN 112545846B CN 202011587327 A CN202011587327 A CN 202011587327A CN 112545846 B CN112545846 B CN 112545846B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 105
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- 210000004394 hip joint Anatomy 0.000 claims description 88
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- 210000003127 knee Anatomy 0.000 claims description 28
- 210000001624 hip Anatomy 0.000 claims description 26
- 238000003825 pressing Methods 0.000 claims description 24
- 210000002683 foot Anatomy 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 11
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- 238000000034 method Methods 0.000 abstract description 12
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- 230000005021 gait Effects 0.000 description 5
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- 230000001276 controlling effect Effects 0.000 description 4
- 210000000629 knee joint Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
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- 206010019468 Hemiplegia Diseases 0.000 description 2
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- 230000000284 resting effect Effects 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 206010061258 Joint lock Diseases 0.000 description 1
- 206010028289 Muscle atrophy Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
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- 229910000831 Steel Inorganic materials 0.000 description 1
- 241001227561 Valgus Species 0.000 description 1
- 241000469816 Varus Species 0.000 description 1
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Classifications
-
- 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
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- 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
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
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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
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
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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
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
Abstract
The invention discloses a power type multi-degree-of-freedom walking-assisting lower limb skeleton robot based on intention recognition, which consists of a lower limb exoskeleton and a power type movable frame, wherein the lower limb exoskeleton is connected with the power type movable frame; wherein, pressure sensor installs on the bandage support and is used for detecting the interactive force between human body and the ectoskeleton. Gyroscopes are respectively arranged in the middles of the big leg and the lower leg and are used for detecting the gesture and the movement information of the lower limbs. And the pressure sensor is arranged on the backboard and used for identifying the turning intention of a person and realizing automatic power assisting. The rear part of the exoskeleton width adjusting mechanism is provided with a corresponding quick mounting block which can be connected with a quick connecting mechanism on the power type movable frame. The height adjusting mechanism adjusts the height of the movable frame to adapt to patients with different heights, and the gravity center fine adjusting mechanism adjusts the gravity centers of the patient and the exoskeleton so that the feet of the patient can contact the ground. In the use process, the dynamic movable frame can keep the balance of the body of a patient, provide assistance in the horizontal direction and provide rest for the patient when the patient is tired.
Description
Technical Field
The invention relates to the technical field of rehabilitation medical treatment and health care, in particular to a dynamic multi-degree-of-freedom walking-assisting lower limb exoskeleton robot based on intention recognition.
Background
Many elderly people in China suffer from cardiovascular and cerebrovascular diseases, and the diseases are extremely easy to cause hemiplegia, hemiplegia and paraplegia. In addition, patients suffering from paralysis of the lower extremities due to accidental injury are increasing. Complications such as organ function decline, muscle atrophy and the like are easily caused by long-term lying. Clinical medicine shows that if people with disabled lower limbs or weak energy can timely stand and walk simply, the blood circulation can be promoted, the digestive system function of the patient can be improved, and the traditional Chinese medicine composition has a good treatment effect on muscular atrophy; and standing and walking can greatly improve the self-confidence of the patient to life, and greatly help to reduce depression, pessimistic mind and improve sleep quality. Therefore, how to help the patient to re-stand and walk is of great importance.
The invention patent 202010279121.X discloses a multifunctional wheelchair for walking with assistance of a storage battery and climbing stairs, which can climb stairs with a patient, but an electric wheelchair can only perform a walking function and cannot exercise lower limbs of the patient. Currently, the existing mainstream lower limb exoskeleton at home and abroad needs to be matched with a crutch for use, and the crutch cannot be used for maintaining self balance for patients with insufficient upper limb strength. The invention patent 201910537846.1 discloses a lower limb exoskeleton adjustable mounting frame, a method and lower limb rehabilitation equipment thereof, which mainly comprises a lower limb exoskeleton adjustable mounting frame, a lower limb exoskeleton, a movable frame, exoskeleton height and width adjusting devices, a backrest plate depth adjusting device, wherein the lower limb exoskeleton, the exoskeleton height and width adjusting devices and the backrest plate depth adjusting devices are jointly mounted on the movable frame, the movable frame cannot provide additional power for a patient by using directional wheels and universal wheels, and the lower limb exoskeleton has fewer active degrees of freedom. Patent 201810154134.7 proposes an "isomorphic wheel-foot variant wheelchair exoskeleton robot" comprising a waist, a foldable wheelchair frame, two thighs and two calves, which exoskeleton robot is interchangeable between an exoskeleton configuration and a wheelchair configuration. But still requires the use of a crutch to maintain balance in exoskeleton configuration. In the use process of the existing walking-assisting lower limb exoskeleton, a patient with insufficient strength with the upper limb cannot use a crutch to keep self balance; the existing lower limb exoskeleton has little active degree of freedom, stiff motion and high cost; the support frame functions more singly.
Disclosure of Invention
In order to avoid the defects in the prior art, the invention provides a power type multi-degree-of-freedom walking-assisting lower limb skeleton robot based on intention recognition.
The technical scheme adopted by the invention for solving the technical problems is that the four-bar linkage type foot pedal comprises a lower limb exoskeleton and a power type movable frame, wherein the lower limb exoskeleton is connected with the power type movable frame, and is characterized in that the lower limb exoskeleton is of a bilateral symmetry structure, a small motor is fixed on a motor mounting frame of a foot pedal, and a crank, a connecting rod, a small connecting rod and the foot pedal form a four-bar linkage; the crank is arranged on a motor shaft, the small motor drives the foot plate to abduct and rotate in the adduction degree of freedom through a connecting rod mechanism, the foot plate is rotationally connected with the ankle joint swinging block through a pin shaft, the ankle joint swinging block is connected with the ankle joint pitching block, the ankle joint pitching block is fixed on a shank plate, the electric push rod mounting frame is fixed in the middle part of the shank plate, the bottom of the electric push rod is hinged with the electric push rod mounting frame, the top of the electric push rod is hinged with a mounting hole at the rear part of the ankle joint swinging block, the bandage bracket is fixed in the middle part of the shank plate, the two ends of the bandage bracket are provided with pressure sensors for detecting interaction force between a patient and the exoskeleton of the lower limb, and the middle part of the shank plate is provided with a gyroscope for measuring gesture and movement information of the shank;
the shank length adjusting pressing block, the pin shaft, the shank length adjusting rack, the shank length adjusting screw and the shank plate form a shank length adjusting mechanism; the shank length adjusting pressing block is fixed on the shank length adjusting frame through a pin shaft, a square hole is formed between the shank length adjusting pressing block and the shank length adjusting frame, a shank plate is inserted into the square hole, and the length of the shank is adjusted through adjusting the shank length adjusting screw; the knee left support plate and the knee support plate are positioned at two sides of the lower leg length adjusting frame, the knee left support plate and the knee support plate are arranged at two ends of a knee motor shaft, the knee limiting plate is arranged on a knee motor, and the knee motor is fixedly connected with the thigh plate;
the thigh length adjusting pressing block, the thigh length adjusting frame, the thigh length adjusting screw and the thigh plate form a thigh length adjusting mechanism, the thigh length adjusting pressing block is fixed on the thigh length adjusting frame, a square hole is formed between the thigh length adjusting pressing block and the thigh length adjusting frame, the thigh plate is inserted into the hole, and the length of the thigh can be adjusted through the thigh length adjusting screw; the bandage frame is fixed on the thigh length adjusting frame, pressure sensors are arranged at two ends of the bandage frame and used for detecting interaction force between a patient and the exoskeleton of the lower limb, and a gyroscope is arranged in the middle of the thigh length adjusting frame and used for measuring gesture and movement information of the thigh;
the steering engine mounting frame is fixed on the inner side of the thigh length adjusting frame, the steering engine is fixed on the steering engine mounting frame, the thigh length adjusting frame is fixedly connected with the hip joint flat plate, the hip joint flat plate is hinged with the hip joint bracket, the steering engine rotating shaft is connected with the steering wheel, the steering wheel is fixed on the hip joint bracket, the hip joint left support plate and the hip joint right support plate are arranged on two sides of the hip joint bracket, the hip joint left support plate and the hip joint right support plate are arranged on two ends of a hip joint motor shaft, and the hip joint motor is fixedly connected with the hip joint bandage frame through bolts;
the hip joint binding belt frame, the hip joint support and the adjusting screw form a hip joint depth adjusting mechanism, the hip joint binding belt frame is connected with the hip joint support, an adjusting hole is formed below the hip joint support, and the depth length of the hip joint can be adjusted by adjusting the depth adjusting screw; the hip joint support is connected with the waist long plate, the hip joint large rotating shaft is fixedly connected with the waist long plate, and the hip joint rotating shaft penetrates through the hip joint support and is installed with a reset spring to enable the hip joint to recover to the balance position after abduction and adduction; the hip joint support is provided with a limiting hole which is matched with a boss on the waist long plate, and the hip joint is provided with a pin which can lock or unlock the abduction degree of freedom of the hip joint;
the waist long plate, the exoskeleton width adjusting block and the width adjusting screw form a width adjusting mechanism; the exoskeleton width adjusting block is provided with a square through hole, the bottom of the exoskeleton width adjusting block is provided with an adjusting hole, the waist long plate is inserted into the square through hole to be connected with the exoskeleton width adjusting block, and the width of the lower limb exoskeleton is adjusted through a width adjusting screw; the sliding block is fixed at the rear part of the exoskeleton width adjusting block, and the backboard is connected with the exoskeleton width adjusting block; the back motor drives the back plate to do yaw rotation through the gear transmission mechanism, and pressure sensors are arranged on two sides of the back plate and used for detecting the back movement intention of a patient;
the power type movable frame comprises a height adjusting mechanism, a gravity center fine adjustment mechanism, a quick connecting device, an electric hub, a universal wheel, a pedal, a battery box, a control box, a handle, a guide rod, a gravity center fine adjustment plate, a rear push rod, a rear support plate and a gravity center fine adjustment plate, wherein the electric hub is fixedly connected to the rear end of the bottom cross frame; the armrest frame and the bottom transverse frame form a height adjusting mechanism of the power type movable frame, and the overall height of the power type movable frame is adjusted by adjusting an adjusting hole position on a middle supporting tube of the bottom transverse frame; the lower limb exoskeleton is fixedly connected with the gravity center fine tuning plate through a quick connecting device on the power type movable frame, and the guide rod, the rear supporting plate, the gravity center fine tuning plate and the rear electric push rod form a gravity center fine tuning mechanism; the gravity center fine adjustment plate is driven to slide up and down by controlling the extension and retraction of the rear electric push rod so as to fine adjust the gravity center of the patient and the exoskeleton of the lower limb;
the quick connecting device comprises a connecting frame, a bottom limiting plate, a bolt, a locking pin, a small spring, a nut, a pin and an upper pressing plate, wherein the rear end of the connecting frame is provided with a mounting hole and is fixedly connected with a gravity center fine adjusting plate through the bolt, a dovetail groove is formed in the front end of the connecting frame and matched with a sliding block arranged on an exoskeleton width adjusting block, the dovetail groove at the front end of the connecting frame is used for adapting to gravity center fluctuation of a patient in a walking process, the bottom limiting plate is arranged at the lower end of the dovetail groove of the connecting frame through the bolt to prevent the lower limb exoskeleton from slipping from the lower end, the upper pressing plate is connected with the connecting frame through the pin, and the locking pin and the small spring are fixed on a cylinder on the side surface of the connecting frame through the nut; the front end of the upper pressing plate is provided with a round hole corresponding to the round hole on the side surface of the connecting frame, the upper pressing plate and the connecting frame are locked by the locking pin under the action of the small spring, the upper pressing plate can be opened by pulling the locking pin outwards, and the quick connection or disassembly of the lower limb exoskeleton and the power type movable frame is realized.
The motors are all internally provided with encoders for feeding back the information of the rotating positions of the motors.
Advantageous effects
The dynamic multi-degree-of-freedom walking-assisting lower limb exoskeleton robot based on intention recognition has the advantages of multiple active degrees of freedom and high flexibility, and can well exercise lower limb muscle groups of patients and promote blood circulation; the stretching and bending degrees of freedom of the ankle joint can exercise the calf muscle group of the patient, so that the patient can take more natural steps; the ankle abduction and adduction degrees of freedom have good correction effect on the varus and valgus of the feet of the patient; the yaw degree of freedom of the waist can assist the patient in turning around.
The power type multi-degree-of-freedom walking-assisting lower limb exoskeleton robot has the functions of identifying and deciding the movement intention, detects the movement intention of a patient, provides assistance based on the intention identification and decision mode, and has the advantages of high movement control pertinence and high movement control flexibility. The power type movable frame can provide reliable support for patients, and the patients are prevented from falling down and are high in safety. Meanwhile, the battery box on the dynamic outer frame is larger in battery size and longer in endurance. Under the support of the outer frame, the lower limb exoskeleton adopts a common speed reduction motor, and compared with a main-stream disc-type motor, the manufacturing cost is greatly reduced. After the height of the power type movable frame is reduced through the height adjusting mechanism, the power type movable frame becomes a simple wheelchair, so that the moving speed of a patient can be accelerated, the flexibility of the lower limb exoskeleton is enhanced, and the wheelchair can be used for providing rest for the patient after long-time use.
Drawings
The power type multi-freedom-degree walking assisting lower limb exoskeleton robot based on intention recognition is further described in detail below with reference to the accompanying drawings and the embodiment.
Fig. 1 is a schematic diagram of the overall structure of a powered multi-degree-of-freedom walking-assisted lower limb exoskeleton robot.
Fig. 2 is a rear view of the structure of the powered multi-degree-of-freedom walking-assisted lower limb exoskeleton robot of the present invention.
Fig. 3 is a schematic diagram of a lower leg structure of the powered multi-degree-of-freedom walking-assisted lower limb exoskeleton robot of the present invention.
Fig. 4 is a left side view of the calf structure of the powered multi-degree of freedom walking-assisted lower limb exoskeleton robot of the present invention.
Fig. 5 is a right side view of the calf structure of the powered multi-degree of freedom walking-assisted lower limb exoskeleton robot of the present invention.
Fig. 6 is a schematic diagram of a knee joint structure of the powered multi-degree-of-freedom walking-assisted lower limb exoskeleton robot of the present invention.
Fig. 7 is a left side view of a knee joint structure of the powered multi-degree of freedom walking-assisted lower limb exoskeleton robot of the present invention.
Fig. 8 is a schematic diagram of a hip joint structure of the powered multi-degree-of-freedom walking-assisted lower limb exoskeleton robot of the present invention.
Fig. 9 is a left side view of the hip joint structure of the powered multi-degree of freedom walking-assisted lower limb exoskeleton robot of the present invention.
Fig. 10 is an exploded view of a hip joint portion of the present invention.
FIG. 11 is a schematic view of the connection between the quick connect device of the present invention and the lower extremity exoskeleton.
Fig. 12 is a schematic view of the back structure of the present invention.
Fig. 13 is an exploded view of the quick connect device of the present invention.
Fig. 14 is a schematic view of a quick connect device according to the present invention.
Fig. 15 is a schematic view of a powered multi-degree of freedom walking-assisted lower limb exoskeleton robot deformed as a wheelchair in accordance with the present invention.
Fig. 16 is a schematic diagram of a control flow of the powered multi-degree-of-freedom walking-assisted lower limb exoskeleton robot of the present invention.
In the figure
1. Universal wheel 2, foot rest 3, battery box 4, bottom cross frame 6, rocker device 7, center of gravity trim plate 8, guide rod 9, rear armrest 10, rear electric push rod 11, rear bracket 12, control box 13, electric hub 14, foot plate 15, crank 16, connecting rod 17, small connecting rod 18, small electric motor 19, ankle joint pitching block 20, ankle joint rocking block 21, lower leg plate 22, electric push rod 23, strap bracket 24, electric push rod mounting bracket 25, lower leg length adjusting bracket 26, pin shaft 27, left knee support 28, knee support 29, knee limiting plate 30, knee motor 31, thigh plate 32, lower leg length adjusting press block 33, lower leg length adjusting screw 34, strap bracket 35, thigh length adjusting bracket. 36 steering engine 37 steering engine mount 38 steering wheel 39 hip joint bracket 40 hip joint left support plate 41 hip joint motor 42 hip joint right support plate 43 hip joint strap mount 44 hip joint bracket 45 hip joint lock pin 46 hip joint pivot 47 waist long plate 48 thigh length adjustment block 49 thigh length adjustment screw 50 hip joint flat plate 51 adjustment screw 52 nut 53 return spring 54 exoskeleton width adjustment block 55 semi gear 56 slider 57 connection 58 bolt 59 bottom limit plate 60 bottom spring 61 spring nut 62 stud 63 locking pin 64 upper pressure plate 65 gear 66 back motor 67 back plate 68 pressure sensor 69 gyroscope
Detailed Description
The embodiment is a dynamic multi-degree-of-freedom walking-assisting lower limb exoskeleton robot based on intention recognition.
Referring to fig. 1 to 16, the power type multi-degree-of-freedom walking-assisting lower limb exoskeleton robot of the embodiment is composed of a lower limb exoskeleton and a power type movable frame; the lower limb exoskeleton is connected with the power type movable frame into a whole through a quick connecting device on the power type movable frame. The dynamic movable frame bears the weight of the lower limb exoskeleton and most of the weight of the patient in the use process, and provides reliable support and horizontal assistance for the patient. The powered moving frame may also provide rest for the patient after prolonged use.
The lower limb exoskeleton is of a bilateral symmetry structure; the right leg is described as an example in which the foot plate 14 is provided with a motor mount, and the small motor 18 is fixed to the motor mount on the foot plate 14 by bolts. The crank 15, the connecting rod 16, the small connecting rod 17 and the foot plate 14 form a four-bar mechanism together. The crank 15 is mounted on the motor shaft, and the small motor 18 drives the foot plate 14 to rotate in an abduction and adduction degree of freedom through a link mechanism. The foot plate 14 and the ankle swing block 20 are rotatably coupled using a pin shaft through corresponding mounting holes. The ankle swinging block 20 and the ankle pitching block 19 are rotatably connected. The ankle pitch block 19 is fixed to the lower leg plate 21 by a bolt, and the electric putter mount 24 is fixed to the middle portion of the lower leg plate 21 by a bolt. The bottom of the electric push rod 22 is hinged with an electric push rod mounting frame 24, and the electric push rod 22 is hinged with a mounting hole at the rear part of the ankle joint swinging block 20. The strap support 23 is fixed to the middle of the lower leg plate 21 by a bolt. Pressure sensors 68 are mounted at both ends of the strap support 23 for detecting interaction forces between the patient and the lower extremity exoskeleton. A gyroscope 69 is mounted in the middle of the shank plate 21 for measuring the posture and movement information of the shank.
The shank length adjusting press block 32, the pin shaft 26, the shank length adjusting bracket 25, the shank length adjusting screw 33 and the shank plate 21 together form a shank length adjusting mechanism. The shank length adjusting press block 32 is fixed on the shank length adjusting rack 25 through corresponding hole positions by using the pin shaft 26, and a square hole is formed between the shank length adjusting press block 32 and the shank length adjusting rack 25, and the shank plate 21 is inserted through the hole. The length of the calf can be adjusted by adjusting the calf length adjustment screw 33.
The left knee brace 27 and the knee brace 28 are mounted on both sides of the leg length adjustment frame 25 using bolts. The left knee support plate 27 and the knee support plate 28 are arranged at the two ends of the motor shaft of the knee through corresponding hole positions at the top end. The knee limiting plate 29 is mounted on the knee motor 30 by bolts to perform a limiting function. The knee motor 30 is fixed to the thigh plate 31 by bolts.
The thigh length adjusting block 48, the thigh length adjusting bracket 35, the thigh length adjusting screw 49, and the thigh plate 31 together constitute a thigh length adjusting mechanism. The thigh length adjusting block 48 is fixed on the thigh length adjusting frame 35 by bolts, a square hole is formed in the middle of the thigh length adjusting block 48 and the thigh length adjusting frame 35, the thigh plate 31 is inserted through the hole, and the thigh length can be adjusted by adjusting the thigh length adjusting screw 49.
The strap frame 34 is bolted to the thigh length adjusting frame 35. Pressure sensors are mounted at both ends of the strap frame 34 for detecting interaction forces between the patient and the lower extremity exoskeleton. A gyroscope 69 is mounted in the middle of the thigh length adjusting frame 35 for measuring the posture and movement information of the thigh.
The steering engine mounting frame 37 is fixed on the inner side of the thigh length adjusting frame 35 through bolts, and the steering engine 36 is fixed on the steering engine mounting frame 37 through bolts. The thigh length adjusting frame 35 is fixed with the hip joint flat plate 50 through bolts, the hip joint flat plate 50 is hinged with the hip joint bracket 39, a through hole is reserved in the center of the hip joint flat plate, and the steering engine rotating shaft is connected with the steering wheel 38 through the middle through hole. The rudder disk 38 is fastened to the hip bracket 39 by means of bolts. Steering engine 36 thereby drives the thigh for supination/supination. The left and right hip plates 40 and 42 are mounted on both sides of the hip bracket 39 by bolts. The left support plate 40 and the right support plate 42 are arranged at two ends of the shaft of the hip joint motor through corresponding hole positions at the top end, and the hip joint motor 41 and the hip joint bandage frame 43 are fixed through bolts.
The hip joint band frame 43, the hip joint bracket 44 and the adjusting screw 51 together constitute a hip joint depth adjusting mechanism. Wherein the hip strap mount 43 is slidably coupled to the hip bracket 44 by a recess within the hip bracket 44. An adjusting hole is arranged below the hip joint bracket 44, and the depth length of the hip joint can be adjusted by adjusting the depth adjusting screw 51. The hip bracket 44 is rotatably connected to the lumbar elongate plate 47. The hip joint shaft 46 is fixed to the waist long plate 47 by bolts. The hip joint shaft 46 is threaded on one side, and after passing through the hip joint bracket 44, the hip joint shaft 46 is fitted with a return spring 53, and the return spring 53 is fixed by a nut 52. The return spring 53 allows the hip joint to return to the rest position after abduction and adduction. The hip joint support 44 is provided with a limiting hole which is matched with a boss on the waist long plate 47 to form a mechanical limit, so that the injury of a patient can be prevented. The hip joint is further provided with a locking pin 45. Insertion of the locking pin 45 locks the hip abduction/adduction degrees of freedom. When the abduction/adduction is required, the lock pin 45 is pulled out to release the lock.
The waist long plate 47, the exoskeleton width adjustment block 54, and the width adjustment screws together constitute a width adjustment mechanism. The exoskeleton width adjusting block 54 is provided with a square through hole, the bottom of the exoskeleton width adjusting block is provided with an adjusting hole, the waist long plate 47 is inserted into the square through hole and is slidably connected with the exoskeleton width adjusting block 54, and the width of the lower limb exoskeleton can be adjusted by adjusting a width adjusting screw.
The slider 56 is fixed to the rear end of the exoskeleton width adjustment block 54 by bolts. Back plate 67 is rotatably coupled to exoskeleton width adjustment block 54. The back plate 67 is provided with a back motor 66, and the gear 65 is arranged at the top end of a back motor shaft. The half gear 55 is fixed on the upper end of the exoskeleton width adjusting block 54 and forms a gear transmission mechanism with the gear 65, and the back motor 66 drives the backboard 67 to yaw through the gear transmission mechanism. Pressure sensors are mounted on both sides of the back plate 67 for detecting the movement intention of the back of the patient.
The device can be suitable for people with different heights and fatness under the common adjustment of the lower leg length adjusting mechanism, the thigh length adjusting mechanism, the hip joint depth adjusting mechanism and the width adjusting mechanism of the lower limb exoskeleton.
In this embodiment, the power-type moving frame includes a height adjusting mechanism, a center-of-gravity fine adjusting mechanism, and a quick connection device. Wherein, electric wheel hub 13 links firmly in bottom crossbearer 4 rear end, and electric wheel hub 13 is used for providing horizontal direction helping hand, keeps or adjusts the direction of walking for the patient when patient walks by oneself to have the brake function. The universal wheel 1 is fixedly connected to the front end of the bottom transverse frame 4, and the universal wheel 1 is used for adjusting the walking direction when walking. The foot rest 2 is arranged at the front end of the bottom transverse frame 4 and is used for resting the feet of a patient in a wheelchair mode. The battery box 3 is fixedly connected with the bottom transverse frame 4, and the control box 12 is arranged at the upper end of the battery box 3. The armrest frame 5 is sleeved with the bottom cross frame 4 through three corresponding hole sites, the rear supporting plate 11 is fixedly connected with the armrest frame 5, the guide rod 8 is fixedly connected with the armrest frame 5, and the gravity center fine tuning plate 7 is in sliding connection with the guide rod 8. The rear electric push rod 10 is fixedly connected with the rear supporting plate 11 through bolts, and is fixedly connected with the gravity center fine tuning plate 7 through corresponding mounting holes through bolts. The rocker device 6 is fixed to the front end of the armrest frame 5. The rear armrest 9 is arranged at the rear end of the armrest frame and is used for being carried by a fellow passenger.
In this embodiment, the armrest frame 5 and the bottom cross frame 4 together form a height adjusting mechanism of the power type moving frame. The whole height of the power type movable frame can be adjusted by adjusting the adjusting hole position on the middle supporting tube of the bottom transverse frame 4. The lower limb exoskeleton is fixedly connected with the gravity center fine tuning plate 7 through a quick connecting device on the power type movable frame. The guide rod 8, the rear supporting plate 11, the gravity center fine tuning plate 7 and the rear electric push rod 10 form a gravity center fine tuning mechanism together. The gravity center fine adjustment plate 7 is driven to slide up and down by controlling the extension and retraction of the rear electric push rod 10 so as to fine adjust the gravity center of the patient and the lower limb exoskeleton.
In this embodiment, the quick connect device includes a connector bracket 57, a bottom stop plate 59, a bolt 58, a locking pin 63, a small spring 60, a nut 61, a pin 62, and an upper pressure plate 64. Wherein, the rear end of the connecting frame 57 is provided with a mounting hole, and is fixedly connected with the gravity center fine tuning plate 7 through a bolt, and the front end is provided with a dovetail groove which is matched with a sliding block 56 arranged on the exoskeleton width adjusting block 54. The dovetail groove at the front end of the connecting frame is used for adapting to gravity center fluctuation of a patient in the walking process. The bottom limiting plate 59 is mounted at the lower end of the dovetail groove of the connecting frame 57 through bolts 58 to prevent the lower limb exoskeleton from slipping off the lower end. The upper pressure plate 64 is rotatably connected to the connecting frame 57 by a pin 62. The nut 61 fixes the locking pin 63 and the small spring 60 to the cylinder on the side of the link 57. The front end of the upper pressing plate 64 is provided with a round hole corresponding to the round hole on the side surface of the connecting frame 57, the upper pressing plate 64 and the connecting frame 57 are firmly locked by the locking pin 63 under the action of the small spring 60, and the upper pressing plate 64 can be opened by pulling the locking pin 63 outwards. Thus, the quick connection or disassembly of the lower limb exoskeleton and the power type movable frame can be realized.
The motors used in this embodiment are all built with encoders for feeding back information of the rotational position of the motor.
In the embodiment, the lower limb exoskeleton adopts an ergonomic and bionic design, wherein a single leg is provided with 6 degrees of freedom, and a waist is provided with 1 degree of freedom. The leg degrees of freedom distribution is: the hip joint has 3 degrees of freedom, which correspond to abduction/adduction, adduction/adduction and extension/bending respectively, wherein the extension/bending and the adduction/adduction are respectively provided with an assisting motor, and the 2 degrees of freedom are active degrees of freedom and the abduction/adduction is passive degrees of freedom; knee joint is provided with 1 extension/bending degree of freedom equipped with a booster motor; the ankle joint has 2 degrees of freedom, namely extension/bending, abduction/adduction, and is provided with a power-assisted motor.
The lower limb exoskeleton has three power assisting modes: passive mode, active mode, and active-passive combined mode. The passive mode mainly aims at the situation that the lower limb of a patient is completely unconscious, and the exoskeleton of the lower limb drives the patient to move in a set gait action; the active and passive combination mode can detect the movement intention of the patient when the patient recovers weak movement capability, the lower limb exoskeleton is assisted mainly by the patient intention when the patient tries to move, and the lower limb exoskeleton is automatically switched to the passive mode in the unconscious state of the patient. The active mode controls the movement of the lower limb exoskeleton completely depending on the movement intention of the patient when the patient returns to a certain movement capacity.
Application method
The patient binds the lower limb exoskeleton through the binding band, adjusts the height adjusting hole on the middle supporting tube of the bottom transverse frame, and adjusts the power type movable frame to a proper height. The rocker device 6 is provided with a button and a rocker, and the button is used for switching the exoskeleton of the lower limb and the power-assisted mode or the control part; the rocker is used for actual manipulation. The patient can select to control the gravity center fine adjustment mechanism through the rocker device 6 to adjust the gravity center height of the patient and the exoskeleton of the lower limb, so that the sole of the foot is contacted with the ground or emptied.
The passive mode is that the patient controls the lower limb exoskeleton and the power type movable frame through the rocker device.
Under the condition that the sole of a patient contacts with the ground, a rocker on the rocker device 6 is pushed forwards, the lower limb exoskeleton drives the lower limb of the patient to walk through the action set by each joint motor in a program, meanwhile, the electric wheel hub is electrified to rotate forward at the walking speed of the ordinary person, and at the moment, the patient and the power type outer frame of the lower limb exoskeleton keep straight; pushing the rocker to the left, enabling the left electric hub and the right electric hub to rotate in a differential mode, and enabling the exoskeleton of the lower limb to perform turning action so as to realize left turning; the reverse and right turn processes are opposite to the straight-going and left turn processes. Under the condition that the feet of the patient are emptied, the lower limb exoskeleton drives the lower limb of the patient to do a large-amplitude motion like high leg lifting; the patient carries out strengthening training on a certain joint of the lower limb by independently controlling 5 degrees of freedom of the power-assisted motor through the rocker device 6.
Active-passive combination mode when the patient resumes or has weak motor ability to begin attempting movement, passive mode may occur where the lower extremity exoskeleton motion is inconsistent with the patient's motor intent. In the mode, the lower limb exoskeleton operates according to the action set by the program, and when a patient wants to exercise the leg with the intention of the patient, the control program recognizes the intention of the patient through the sensor and adjusts the lower limb exoskeleton in real time, so that the lower limb exoskeleton is controlled to match with the action intention of the patient. When the patient does not want to move according to the intention, the lower limb exoskeleton is automatically switched to the gait action with the set program, so as to drive the lower limb of the patient to move.
Active mode the patient can use the active mode after having certain motion ability, and the lower limb exoskeleton completely depends on the self intention of the patient to do motion at the moment.
The motion intention recognition process comprises the steps that a gyroscope measures the 3-axis angular velocity and the 3-axis gravity acceleration of the big leg and the lower leg of a patient, and a program judges whether the motion of the patient is discrete motion or continuous motion according to the data; the gyroscope data are calculated through the postures to obtain the postures of the current patient's thighs and the current patient's thighs, and then the angles of the hip joint and the knee joint are calculated; predicting the joint angle at the next moment through a Kalman filtering method after judging that the patient makes continuous actions and then calculating the joint angle obtained by the gesture, taking the predicted joint angle as a gait track planning parameter, planning the gait track of the lower limb exoskeleton, and finally outputting and controlling a lower limb exoskeleton motor to make corresponding actions; meanwhile, an encoder arranged in the joint motor returns the action condition of the motor to gait track planning as feedback, so that a semi-closed loop control is formed. When the motion of the patient is detected as discrete motion, the lower extremity exoskeleton will maintain the posture of the patient when the patient stops moving.
In addition, no matter what working mode the lower limb exoskeleton is in, the pressure sensor can monitor the interaction force between the lower limb exoskeleton and the patient in real time, and the control program can control the interaction force to be in a proper range, so that the use comfort of the patient is enhanced. Once the interaction force exceeds the set safety value, the exoskeleton will enter a power-off protection state to prevent the patient from being injured by accidental faults.
In addition, the patient can control the back motor 66 arranged at the back side of the backboard 67 of the lower limb exoskeleton to drive the upper body to do swivel motion through the rocker device 6. When the patient has the motion capability of the upper body, the control box can monitor the data of the two side pressure sensors of the back plate 67 in real time, and when the patient has the left turning motion, the pressure value of the left side pressure sensor of the back plate 67 is increased, the pressure value of the right side pressure sensor is reduced, and at the moment, the control box controls the back motor 66 to drive the upper body of the patient to turn left. The right turn process and left turn through Cheng Xiangfan.
After long-time use, the patient can pass through the adjusting hole on the middle steel pipe of the bottom cross rod, the height of the power type outer frame is reduced, the left pedal and the right pedal are rotated to be vertical to the bottom cross rod, and the pedals are stepped on by two feet. At the moment, the power type movable frame is deformed into a simple wheelchair for resting of a patient, and in the state, the power type movable frame can provide a faster moving speed for the patient, so that the lower limb exoskeleton has more flexibility.
When the upper limb strength of the patient is enough to keep the body balance by using the crutch, the lower limb exoskeleton can be detached from the power type movable frame and used together with the crutch, so that the volume of the exoskeleton is reduced.
Claims (1)
1. The power type multi-degree-of-freedom walking-assisting lower limb exoskeleton robot based on intention recognition comprises a lower limb exoskeleton and a power type movable frame, wherein the lower limb exoskeleton is connected with the power type movable frame, and is characterized in that the lower limb exoskeleton is of a bilateral symmetry structure, a small motor is fixed on a motor mounting frame of a foot plate, and a crank, a connecting rod, a small connecting rod and the foot plate form a four-connecting-rod mechanism; the crank is arranged on a motor shaft, the small motor drives through a four-bar mechanism, the foot plate is driven to abduct and adduction, the foot plate and the ankle swinging block are rotationally connected through a pin shaft, the ankle swinging block is connected with the ankle pitching block, the ankle pitching block is fixed on a shank plate, the electric push rod mounting frame is fixed in the middle of the shank plate, the bottom of the electric push rod is hinged with the electric push rod mounting frame, and the top of the electric push rod is hinged with a mounting hole at the rear part of the ankle swinging block;
the shank length adjusting pressing block, the pin shaft, the shank length adjusting rack, the shank length adjusting screw and the shank plate form a shank length adjusting mechanism; the shank length adjusting pressing block is fixed on the shank length adjusting frame through a pin shaft, a square hole is formed between the shank length adjusting pressing block and the shank length adjusting frame, a shank plate is inserted into the square hole, and the length of the shank exoskeleton part is adjusted through adjusting the shank length adjusting screw; the knee left support plate and the knee support plate are positioned at two sides of the lower leg length adjusting frame, the knee left support plate and the knee support plate are arranged at two ends of a knee motor shaft, the knee limiting plate is arranged on a knee motor, and the knee motor is fixedly connected with the thigh plate; the bandage bracket is fixed in the middle of the lower leg plate, pressure sensors are arranged at the two ends of the bandage bracket and used for detecting interaction force between a patient and the exoskeleton of the lower limb, and a gyroscope is arranged in the middle of the lower leg plate and used for measuring posture and movement information of the lower leg;
the thigh length adjusting pressing block, the thigh length adjusting frame, the thigh length adjusting screw and the thigh plate form a thigh length adjusting mechanism, the thigh length adjusting pressing block is fixed on the thigh length adjusting frame, a square hole is formed between the thigh length adjusting pressing block and the thigh length adjusting frame, the thigh plate is inserted into the square hole, and the length of the thigh exoskeleton part can be adjusted through the thigh length adjusting screw; the bandage frame is fixed on the thigh length adjusting frame, pressure sensors are arranged at two ends of the bandage frame and used for detecting interaction force between a patient and the exoskeleton of the lower limb, and a gyroscope is arranged in the middle of the thigh length adjusting frame and used for measuring gesture and movement information of the thigh;
the steering engine mounting frame is fixed on the inner side of the thigh length adjusting frame, the steering engine is fixed on the steering engine mounting frame, the thigh length adjusting frame is fixedly connected with the hip joint flat plate, the hip joint flat plate is hinged with the hip joint bracket, the steering engine rotating shaft is connected with the steering wheel, the steering wheel is fixed on the hip joint bracket, the hip joint left support plate and the hip joint right support plate are arranged on two sides of the hip joint bracket, the hip joint left support plate and the hip joint right support plate are arranged on two ends of a hip joint motor shaft, and the hip joint motor is fixedly connected with the hip joint bandage frame through bolts;
the hip joint binding belt frame, the hip joint support and the adjusting screw form a hip joint depth adjusting mechanism, the hip joint binding belt frame is connected with the hip joint support, an adjusting hole is formed below the hip joint support, and the depth length of the hip joint can be adjusted by adjusting the depth adjusting screw; the hip joint support is connected with the waist long plate, the hip joint large rotating shaft is fixedly connected with the waist long plate, and the hip joint rotating shaft penetrates through the hip joint support and is installed with a reset spring to enable the hip joint to recover to the balance position after abduction and adduction; the hip joint support is provided with a limiting hole matched with a boss on the waist long plate, and the hip joint is provided with a pin which can lock or unlock the abduction degree of freedom of the hip joint;
the waist long plate, the exoskeleton width adjusting block and the width adjusting screw form a width adjusting mechanism; the exoskeleton width adjusting block is provided with a square through hole, the bottom of the exoskeleton width adjusting block is provided with an adjusting hole, and the waist long plate is inserted by the square through hole and connected with the exoskeleton width adjusting block, and the width of the lower limb exoskeleton is adjusted through a width adjusting screw; the sliding block is fixed at the rear part of the exoskeleton width adjusting block, and the backboard is connected with the exoskeleton width adjusting block; the back motor drives the back plate to do yaw rotation through the gear transmission mechanism, and pressure sensors are arranged on two sides of the back plate and used for detecting the back movement intention of a patient;
the power type movable frame comprises a height adjusting mechanism, a gravity center fine adjustment mechanism, a quick connecting device, an electric hub, a rocker device, a rear electric push rod, a rear support plate and a gravity center fine adjustment plate, wherein the electric hub is fixedly connected to the rear end of a bottom transverse frame; the armrest frame and the bottom transverse frame form a height adjusting mechanism of the power type movable frame, and the overall height of the power type movable frame is adjusted by adjusting an adjusting hole position on a middle supporting tube of the bottom transverse frame;
the lower limb exoskeleton is fixedly connected with the gravity center fine tuning plate through a quick connecting device on the power type movable frame, and the guide rod, the rear supporting plate, the gravity center fine tuning plate and the rear electric push rod form a gravity center fine tuning mechanism; the gravity center fine adjustment plate is driven to slide up and down by controlling the extension and retraction of the rear electric push rod so as to fine adjust the gravity center of the patient and the exoskeleton of the lower limb;
the quick connecting device comprises a connecting frame, a bottom limiting plate, a bolt, a locking pin, a small spring, a nut, a pin and an upper pressing plate, wherein the rear end of the connecting frame is provided with a mounting hole and is fixedly connected with a gravity center fine adjusting plate through the bolt; the round hole formed in the front end of the upper pressing plate corresponds to the round hole in the side face of the connecting frame, the locking pin locks the upper pressing plate and the connecting frame under the action of the small spring, the locking pin is pulled outwards to open the upper pressing plate, and the quick connection or disassembly of the lower limb exoskeleton and the power type movable frame is realized;
all motors are internally provided with encoders for feeding back information of the rotating positions of the motors.
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| CN112999018B (en) * | 2021-03-29 | 2023-02-28 | 迈宝智能科技(苏州)有限公司 | Active-passive switching wearable lower limb load exoskeleton |
| CN113317937A (en) * | 2021-05-28 | 2021-08-31 | 金陵科技学院 | Internet of things-based home-based auxiliary intelligent wheelchair for old people and control method |
| CN113509303B (en) * | 2021-05-28 | 2022-11-29 | 上海理工大学 | Walking aid lower limb power orthosis supported by trunk |
| CN114712175A (en) * | 2022-02-28 | 2022-07-08 | 郑州大学 | A walking auxiliary device for cerebral apoplexy patient |
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| CN109893398A (en) * | 2019-04-04 | 2019-06-18 | 广东铭凯医疗机器人有限公司 | A kind of bionical healing robot |
| CN211300953U (en) * | 2019-05-13 | 2020-08-21 | 广西科技大学 | Movable lower limb exoskeleton rehabilitation robot and control system thereof |
| CN110251371A (en) * | 2019-06-20 | 2019-09-20 | 哈工大机器人（合肥）国际创新研究院 | Mounting rack, method and its lower limb rehabilitation device is adjusted in a kind of lower limb exoskeleton |
| CN110465924A (en) * | 2019-08-12 | 2019-11-19 | 山东省科学院自动化研究所 | A kind of lower limb exoskeleton robot of four bar linkage knee joint |
| CN211382530U (en) * | 2019-12-26 | 2020-09-01 | 上海金矢机器人科技有限公司 | Intelligent walking aid rehabilitation training robot |
| CN211761525U (en) * | 2020-01-10 | 2020-10-27 | 深圳市金大智能创新科技有限公司 | Robot and waist structure thereof |
| CN111671622A (en) * | 2020-05-20 | 2020-09-18 | 南京航空航天大学 | Wearable lasso drive joint assists low limbs ectoskeleton robot that walks |
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