CN112571401A - Power exoskeleton - Google Patents
Power exoskeleton Download PDFInfo
- Publication number
- CN112571401A CN112571401A CN201910928260.8A CN201910928260A CN112571401A CN 112571401 A CN112571401 A CN 112571401A CN 201910928260 A CN201910928260 A CN 201910928260A CN 112571401 A CN112571401 A CN 112571401A
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- Prior art keywords
- thigh
- shank
- oil
- cylinder body
- oil port
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- 230000007246 mechanism Effects 0.000 claims abstract description 146
- 210000000689 upper leg Anatomy 0.000 claims abstract description 102
- 239000003921 oil Substances 0.000 claims abstract description 91
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 17
- 210000003108 foot joint Anatomy 0.000 claims description 8
- 238000005086 pumping Methods 0.000 claims description 2
- 230000037237 body shape Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
The invention relates to a power exoskeleton, which comprises a back supporting mechanism, a thigh mechanism, a shank mechanism, a foot supporting mechanism and a hydraulic driving mechanism, wherein the back supporting mechanism is connected with the thigh mechanism; the hydraulic driving mechanism comprises a hydraulic cylinder, a reversing valve, an oil tank and a power assembly, the hydraulic cylinder comprises a cylinder body and a piston rod, the cylinder body is rotatably connected with the thigh mechanism, one end of the piston rod slidably extends into the cylinder body, and the other end of the piston rod is rotatably connected with the shank mechanism; the reversing valve comprises a first oil port, a second oil port and a third oil port, the first oil port is communicated with the oil tank through the power assembly, the second oil port is communicated with the cylinder body, and the third oil port is communicated with the oil tank; when the reversing valve is in a first valve opening state, the power assembly pumps hydraulic oil in the oil tank into the cylinder body so as to drive the piston rod to extend along the axial direction of the cylinder body; when the reversing valve is in a second valve opening state, the shank mechanism is driven by external force to rotate and contract relative to the thigh mechanism so as to drive the piston rod to contract along the axial direction of the cylinder body, and therefore hydraulic oil in the cylinder body flows back to the oil tank.
Description
Technical Field
The invention relates to the technical field of wearable equipment, in particular to a power exoskeleton.
Background
The traditional power exoskeleton usually adopts a hydraulic driving system as a power unit, the weight of the whole power exoskeleton is heavier due to the heavier weight of the hydraulic driving system, and when a human body wears the power exoskeleton to move and walk, the joint movement frequency of the human body is very fast, and the hydraulic driving system of the traditional power exoskeleton cannot reach the fast movement frequency, so that the free movement stroke resistance of the human body can be realized.
Disclosure of Invention
In view of this, there is a need for a lightweight, flexible motorized powered exoskeleton.
A powered exoskeleton comprising:
a back support mechanism;
the thigh mechanism is rotatably arranged on the back support mechanism;
the shank mechanism is rotatably arranged on the thigh mechanism;
the foot supporting mechanism is rotatably arranged on the shank mechanism; and
the hydraulic driving mechanism comprises a hydraulic cylinder, a reversing valve, an oil tank and a power assembly, the hydraulic cylinder comprises a cylinder body and a piston rod, the cylinder body is rotatably connected with the thigh mechanism, one end of the piston rod extends into the cylinder body in a sliding mode, and the other end of the piston rod is rotatably connected with the shank mechanism; the reversing valve comprises a first oil port, a second oil port and a third oil port, the first oil port is communicated with the oil tank through the power assembly, the second oil port is communicated with the cylinder body, and the third oil port is communicated with the oil tank; the reversing valve has a first open valve state and a second open valve state;
when the reversing valve is in the first valve opening state, the second oil port is communicated with the first oil port and disconnected with the third oil port; the power assembly is used for pumping hydraulic oil in the oil tank into the cylinder body, so that the piston rod is driven to extend along the axial direction of the cylinder body, and the shank mechanism is driven to rotate and extend relative to the thigh mechanism; when the reversing valve is in the second open valve state, the second oil port is disconnected from the first oil port and is communicated with the third oil port, so that the shank mechanism is driven by external force to rotate and contract relative to the thigh mechanism to drive the piston rod to contract along the axial direction of the cylinder body, and the hydraulic oil in the cylinder body flows back to the oil tank.
In one embodiment, the thigh mechanisms, the shank mechanisms, the foot supporting mechanisms and the hydraulic driving mechanisms are arranged in pairs, the two thigh mechanisms are oppositely distributed on two sides of the back supporting mechanism, and the two thigh mechanisms respectively correspond to the two shank mechanisms, the two foot supporting mechanisms and the two hydraulic driving mechanisms one to one.
In one embodiment, the power assembly comprises a servo motor and a gear pump, the servo motor is connected with the gear pump, an oil inlet of the gear pump is communicated with the oil tank, an oil outlet of the gear pump is communicated with the first oil port of the reversing valve, and the servo motor can drive the gear pump to rotate so as to extract hydraulic oil in the oil tank.
In one embodiment, the hydraulic drive mechanism further comprises a restrictor communicating the first and second ports.
In one embodiment, the hydraulic drive mechanism further includes an overflow valve that communicates the first port and the third port.
In one embodiment, the thigh mechanism comprises:
the thigh connecting piece is of a hollow rod-shaped structure, the thigh connecting piece is rotatably arranged on the shank mechanism, and one end of the cylinder body is rotatably connected with the thigh connecting piece; and
the thigh adjusting part is sleeved in the thigh connecting part, the other end of the thigh adjusting part is rotatably connected with the back supporting mechanism, and the thigh adjusting part can move relative to the thigh connecting part along the axial direction of the thigh connecting part, so that the exposed length of the thigh adjusting part relative to the thigh connecting part is adjustable along the axial direction of the thigh connecting part.
In one embodiment, the thigh mechanism further comprises a thigh strap, the thigh strap being provided on the thigh link.
In one embodiment, the lower leg mechanism comprises:
the shank connecting piece is of a hollow rod-shaped structure, is rotatably arranged on the thigh mechanism, and one end of the piston rod is rotatably connected with the shank connecting piece; and
the foot support mechanism comprises a shank adjusting piece, one end of the shank adjusting piece is sleeved in the shank connecting piece, the other end of the shank adjusting piece is rotatably connected with the foot support mechanism, and the shank adjusting piece can move relative to the shank connecting piece along the axial direction of the shank connecting piece, so that the exposed length of the shank adjusting piece relative to the shank connecting piece is adjustable along the axial direction of the shank connecting piece.
In one embodiment, the back support mechanism comprises a back support frame and a shoulder belt for being worn by a human body, and the thigh mechanism is rotatably arranged on the back support frame; the shoulder straps are arranged on the back support frame.
In one embodiment, the foot support mechanism includes a foot joint rotatably disposed on the lower leg mechanism and a foot plate disposed on the foot joint.
According to the power exoskeleton, due to the adoption of the hydraulic driving mechanism consisting of the hydraulic cylinder, the reversing valve, the oil tank and the power assembly, when the reversing valve is in the first open valve state, the power assembly can pump hydraulic oil in the oil tank into the cylinder body so as to drive the piston rod to extend along the axial direction of the cylinder body, further drive the shank mechanism to rotate and extend relative to the thigh mechanism, and enable the power exoskeleton to provide assistance for a human body along with the motion of the human body; when the reversing valve is in a second valve opening state, the piston rod can be driven to axially contract along the cylinder body by driving the shank mechanism to rotate and contract relative to the thigh mechanism through external force, so that hydraulic oil in the cylinder body flows back to the oil tank.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a powered exoskeleton according to one embodiment;
FIG. 2 is a schematic diagram of the hydraulic drive mechanism of the powered exoskeleton according to one embodiment;
fig. 3 is a schematic structural view from another perspective of the powered exoskeleton of fig. 1.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "inner", "outer", "left", "right" and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
As shown in fig. 1 and 2, the powered exoskeleton 10 in one embodiment includes a back support mechanism 100, a thigh mechanism 200, a shank mechanism 300, a foot support mechanism 400 and a hydraulic drive mechanism 500, wherein the thigh mechanism 200 is rotatably disposed on the back support mechanism 100; the shank mechanism 300 is rotatably arranged on the thigh mechanism 200; the foot supporting mechanism 400 is rotatably arranged on the lower leg mechanism 300; the hydraulic driving mechanism 500 comprises a hydraulic cylinder 510, a reversing valve 520, an oil tank 530 and a power assembly 540, the hydraulic cylinder 510 comprises a cylinder body 512 and a piston rod 514, the cylinder body 512 is rotatably connected with the thigh mechanism 200, one end of the piston rod 514 slidably extends into the cylinder body 512, and the other end of the piston rod 514 is rotatably connected with the shank mechanism 300; the reversing valve 520 comprises a first oil port 522, a second oil port 524 and a third oil port 526, wherein the first oil port 522 is communicated with the oil tank 530 through the power assembly 540, the second oil port 524 is communicated with the cylinder 512, and the third oil port 526 is communicated with the oil tank 530; the selector valve 520 has a first open valve state and a second open valve state;
when the directional valve 520 is in the first open valve state, the second port 524 is communicated with the first port 522 and is disconnected from the third port 526; so that the power assembly 540 draws hydraulic oil in the oil tank 530 into the cylinder 512, thereby driving the piston rod 514 to extend along the axial direction of the cylinder 512, and further driving the shank mechanism 300 to rotate and extend relative to the thigh mechanism 200; when the directional valve 520 is in the second open valve state, the second oil port 524 is disconnected from the first oil port 522 and is communicated with the third oil port 526, so that the piston rod 514 is driven to contract along the axial direction of the cylinder 512 by the rotational contraction of the lower leg mechanism 300 relative to the upper leg mechanism 200 driven by external force, and the hydraulic oil in the cylinder 512 flows back to the oil tank 530.
Due to the adoption of the hydraulic driving mechanism 500 consisting of the hydraulic cylinder 510, the reversing valve 520, the oil tank 530 and the power assembly 540, when the reversing valve 520 is in the first open valve state, the power assembly 540 can pump hydraulic oil in the oil tank 530 into the cylinder body 512, so as to drive the piston rod 514 to extend along the axial direction of the cylinder body 512, further drive the shank mechanism 300 to rotate and extend relative to the thigh mechanism 200, and enable the power exoskeleton 10 to provide assistance for the human body along with the motion of the human body; when the reversing valve 520 is in the second open valve state, the piston rod 514 can be driven to axially contract along the cylinder body 512 by driving the rotation contraction of the shank mechanism 300 relative to the thigh mechanism 200 through external force, so that the hydraulic oil in the cylinder body 512 flows back to the oil tank 530.
As shown in fig. 1, in the present embodiment, the thigh mechanisms 200, the lower leg mechanisms 300, the foot supporting mechanisms 400 and the hydraulic driving mechanisms 500 are arranged in pairs, two thigh mechanisms 200 are oppositely distributed on two sides of the back supporting mechanism 100, and two thigh mechanisms 200 are respectively in one-to-one correspondence with the two lower leg mechanisms 300, the two foot supporting mechanisms 400 and the two hydraulic driving mechanisms 500.
Further, the back support mechanism 100 includes a back support frame 120 and shoulder straps 140 for wearing by human body, and the thigh mechanism 200 is rotatably provided on the back support frame 120; the shoulder straps 140 are disposed on the back support frame 120, and in this embodiment, there are two shoulder straps 140, and the two shoulder straps 140 are disposed on the back support frame 120 at intervals.
In one embodiment, the thigh mechanism 200 comprises a thigh link 210 and a thigh adjusting part 220, the thigh link 210 is a hollow rod-shaped structure, the thigh link 210 is rotatably disposed on the shank mechanism 300, and one end of the cylinder 512 is rotatably connected with the thigh link 210; one end of the thigh adjusting part 220 is sleeved in the thigh connecting part 210, the other end of the thigh adjusting part 220 is rotatably connected with the back supporting mechanism 100, specifically, the other end of the thigh adjusting part 220 is rotatably connected with the back supporting frame 120, the thigh adjusting part 220 can move along the axial direction of the thigh connecting part 210 relative to the thigh connecting part 210, so that the exposed length of the thigh adjusting part 220 relative to the thigh connecting part 210 is adjustable along the axial direction of the thigh connecting part 210, and further the powered exoskeleton 10 meets the actual wearing requirements of human bodies with different body heights and body shapes.
Further, the thigh mechanism 200 further includes a thigh strap 230, the thigh strap 230 being provided on the thigh link 210, the thigh strap 230 being used for fixing the leg of the human body to the thigh link 210. In one embodiment, the thigh mechanism 200 further includes a thigh joint 240, the thigh joint 240 is sleeved on the thigh link 210, and the thigh link 210 is rotatably connected to one end of the cylinder 512 through the thigh joint 240.
The shank mechanism 300 comprises a shank connecting piece 310 and a shank adjusting piece 320, the shank connecting piece 310 is of a hollow rod-shaped structure, the shank connecting piece 310 is rotatably arranged on the thigh mechanism 200, specifically, the shank connecting piece 310 is rotatably arranged on the thigh connecting piece 210, and one end of a piston rod 514 is rotatably connected with the shank connecting piece 310; one end of the shank adjusting piece 320 is sleeved in the shank connecting piece 310, the other end of the shank adjusting piece 320 is rotatably connected with the foot supporting mechanism 400, and the shank adjusting piece 320 can move along the axial direction of the shank connecting piece 310 relative to the shank connecting piece 310, so that the exposed length of the shank adjusting piece 320 relative to the shank connecting piece 310 can be adjusted along the axial direction of the shank connecting piece 310, and further the powered exoskeleton 10 can meet the actual wearing requirements of human bodies with different heights and body shapes.
In one embodiment, the lower leg mechanism 300 further includes a lower leg connector 330, the lower leg connector 330 is disposed on the lower leg connector 310, and the lower leg connector 310 is rotatably connected to one end of the piston rod 514 via the lower leg connector 330.
Further, the foot supporting mechanism 400 comprises a foot joint 420 and a foot plate 440, the foot joint 420 is rotatably disposed on the lower leg mechanism 300, specifically, the foot joint 420 is rotatably disposed on the lower leg adjusting member 320, the foot plate 440 is disposed on the foot joint 420, and the foot plate 440 is used for supporting the foot of the human body.
As shown in fig. 2, in an embodiment, the power assembly 540 includes a servo motor 542 and a gear pump 544, the servo motor 542 is connected to the gear pump 544, an oil inlet of the gear pump 544 is communicated with the oil tank 530, an oil outlet of the gear pump 544 is communicated with the first oil port 522 of the directional valve 520, and the servo motor 542 can drive the gear pump 544 to rotate so as to pump hydraulic oil from the oil tank 530. In the embodiment, the servo motor 542 and the gear pump 544 are selected as the power assembly 540 to extract the hydraulic oil in the oil tank 530, so that the hydraulic drive mechanism has the characteristics of small volume and light weight, and conforms to the characteristics of the light hydraulic drive mechanism 500.
Specifically, referring to fig. 3, the oil tank 530 and the servo motor 542 are disposed on the back support mechanism 100, and more specifically, the oil tank 530 and the servo motor 542 are disposed on a side of the back support frame 120 away from the shoulder straps 140. As shown in fig. 2, in an embodiment, the hydraulic driving mechanism 500 further includes a restrictor 550, and the restrictor 550 communicates the first oil port 522 and the second oil port 524 to prevent the directional valve 520 from short-term oil suction and oil discharge of the cylinder 512 of the hydraulic cylinder 510 due to an excessively long switching time between the first open valve state and the second open valve state. Further, the hydraulic drive mechanism 500 further includes a relief valve 560, and the relief valve 560 communicates the first oil port 522 and the third oil port 526, so that the excess hydraulic oil pumped by the power assembly 540 can be returned to the oil tank 530 via the relief valve 560, and the pressure inside the cylinder body 512 of the hydraulic cylinder 510 is ensured to be constant.
As shown in fig. 3, the powered exoskeleton 10 further comprises a control system 600, wherein the control system 600 is electrically connected to the switching valve 520, and the control system 600 is used for controlling the switching valve 520 to switch between a first open-valve state and a second open-valve state. Specifically, the control system 600 is disposed on the back support mechanism 100, and more specifically, the control system 600 is disposed on a side of the back support frame 120 facing away from the shoulder straps 140.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A powered exoskeleton, comprising:
a back support mechanism;
the thigh mechanism is rotatably arranged on the back support mechanism;
the shank mechanism is rotatably arranged on the thigh mechanism;
the foot supporting mechanism is rotatably arranged on the shank mechanism; and
the hydraulic driving mechanism comprises a hydraulic cylinder, a reversing valve, an oil tank and a power assembly, the hydraulic cylinder comprises a cylinder body and a piston rod, the cylinder body is rotatably connected with the thigh mechanism, one end of the piston rod extends into the cylinder body in a sliding mode, and the other end of the piston rod is rotatably connected with the shank mechanism; the reversing valve comprises a first oil port, a second oil port and a third oil port, the first oil port is communicated with the oil tank through the power assembly, the second oil port is communicated with the cylinder body, and the third oil port is communicated with the oil tank; the reversing valve has a first open valve state and a second open valve state;
when the reversing valve is in the first valve opening state, the second oil port is communicated with the first oil port and disconnected with the third oil port; the power assembly is used for pumping hydraulic oil in the oil tank into the cylinder body, so that the piston rod is driven to extend along the axial direction of the cylinder body, and the shank mechanism is driven to rotate and extend relative to the thigh mechanism; when the reversing valve is in the second open valve state, the second oil port is disconnected from the first oil port and is communicated with the third oil port, so that the shank mechanism is driven by external force to rotate and contract relative to the thigh mechanism to drive the piston rod to contract along the axial direction of the cylinder body, and the hydraulic oil in the cylinder body flows back to the oil tank.
2. The powered exoskeleton of claim 1 wherein said thigh mechanisms, said shank mechanisms, said foot support mechanisms and said hydraulic drive mechanisms are arranged in pairs, two of said thigh mechanisms being distributed opposite to each other on either side of said back support mechanism, and two of said thigh mechanisms corresponding to one of said shank mechanisms, two of said foot support mechanisms and two of said hydraulic drive mechanisms.
3. The powered exoskeleton of claim 1, wherein the power assembly comprises a servo motor and a gear pump, the servo motor is connected with the gear pump, an oil inlet of the gear pump is communicated with the oil tank, an oil outlet of the gear pump is communicated with the first oil port of the reversing valve, and the servo motor can drive the gear pump to rotate so as to extract hydraulic oil in the oil tank.
4. The powered exoskeleton of claim 1, wherein the hydraulic drive mechanism further comprises a restrictor communicating the first and second oil ports.
5. The powered exoskeleton of claim 1, wherein the hydraulic drive mechanism further comprises an overflow valve that communicates the first port and the third port.
6. The powered exoskeleton of claim 1, wherein the thigh mechanism comprises:
the thigh connecting piece is of a hollow rod-shaped structure, the thigh connecting piece is rotatably arranged on the shank mechanism, and one end of the cylinder body is rotatably connected with the thigh connecting piece; and
the thigh adjusting part is sleeved in the thigh connecting part, the other end of the thigh adjusting part is rotatably connected with the back supporting mechanism, and the thigh adjusting part can move relative to the thigh connecting part along the axial direction of the thigh connecting part, so that the exposed length of the thigh adjusting part relative to the thigh connecting part is adjustable along the axial direction of the thigh connecting part.
7. The powered exoskeleton of claim 6 wherein said thigh mechanism further comprises a thigh strap, said thigh strap being disposed on said thigh link.
8. The powered exoskeleton of claim 1, wherein the lower leg mechanism comprises:
the shank connecting piece is of a hollow rod-shaped structure, is rotatably arranged on the thigh mechanism, and one end of the piston rod is rotatably connected with the shank connecting piece; and
the foot support mechanism comprises a shank adjusting piece, one end of the shank adjusting piece is sleeved in the shank connecting piece, the other end of the shank adjusting piece is rotatably connected with the foot support mechanism, and the shank adjusting piece can move relative to the shank connecting piece along the axial direction of the shank connecting piece, so that the exposed length of the shank adjusting piece relative to the shank connecting piece is adjustable along the axial direction of the shank connecting piece.
9. The powered exoskeleton of claim 1 wherein the back support mechanism includes a back support frame and shoulder straps for wearing by a person, the thigh mechanism being pivotally mounted to the back support frame; the shoulder straps are arranged on the back support frame.
10. The powered exoskeleton of claim 1 wherein the foot support mechanism includes a foot joint rotatably disposed on the lower leg mechanism and a foot plate disposed on the foot joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910928260.8A CN112571401B (en) | 2019-09-28 | 2019-09-28 | Power exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910928260.8A CN112571401B (en) | 2019-09-28 | 2019-09-28 | Power exoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112571401A true CN112571401A (en) | 2021-03-30 |
| CN112571401B CN112571401B (en) | 2024-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910928260.8A Active CN112571401B (en) | 2019-09-28 | 2019-09-28 | Power exoskeleton |
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| Country | Link |
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| CN (1) | CN112571401B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113814958A (en) * | 2021-08-27 | 2021-12-21 | 浙江大学 | Unpowered hydraulic exoskeleton and control method thereof |
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| CN101234044A (en) * | 2008-02-28 | 2008-08-06 | 上海交通大学 | Artificial limb exoskeleton knee joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113814958A (en) * | 2021-08-27 | 2021-12-21 | 浙江大学 | Unpowered hydraulic exoskeleton and control method thereof |
| CN113814958B (en) * | 2021-08-27 | 2023-11-28 | 浙江大学 | Unpowered hydraulic exoskeleton and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN112571401B (en) | 2024-02-23 |
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