CN112571401B - Power exoskeleton - Google Patents
Power exoskeleton Download PDFInfo
- Publication number
- CN112571401B CN112571401B CN201910928260.8A CN201910928260A CN112571401B CN 112571401 B CN112571401 B CN 112571401B CN 201910928260 A CN201910928260 A CN 201910928260A CN 112571401 B CN112571401 B CN 112571401B
- Authority
- CN
- China
- Prior art keywords
- thigh
- oil
- connecting piece
- cylinder body
- shank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000007246 mechanism Effects 0.000 claims abstract description 141
- 210000000689 upper leg Anatomy 0.000 claims abstract description 102
- 239000003921 oil Substances 0.000 claims abstract description 94
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 17
- 239000000284 extract Substances 0.000 claims abstract description 5
- 244000309466 calf Species 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000008602 contraction Effects 0.000 abstract description 4
- 210000001503 joint Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000003108 foot joint Anatomy 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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
Abstract
The invention relates to a power exoskeleton, which comprises a back support mechanism, a thigh mechanism, a shank mechanism, a foot support mechanism and a hydraulic driving mechanism; the hydraulic driving mechanism comprises a hydraulic cylinder, a reversing valve, an oil tank and a power assembly, wherein the hydraulic cylinder comprises a cylinder body and a piston rod, the cylinder body is rotationally connected with the thigh mechanism, one end of the piston rod slides into the cylinder body, and the other end of the piston rod is rotationally connected with the shank mechanism; the reversing valve comprises a first oil port, a second oil port and a third oil port, wherein 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 extracts 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 the second valve opening state, the external force drives the rotation and contraction of the lower leg mechanism relative to the thigh mechanism to drive the piston rod to contract along the axial direction of the cylinder body, so that 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 hydraulic driving system is heavy, so that the whole weight of the power exoskeleton is heavy, and when a human body wears the power exoskeleton to walk, the joint movement frequency of the human body is very fast, 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
Based on this, there is a need for a lightweight, flexible motorized powered exoskeleton.
A powered exoskeleton, comprising:
a back support mechanism;
the thigh mechanism is rotationally arranged on the back supporting mechanism;
the lower leg mechanism is rotationally arranged on the thigh mechanism;
the foot supporting mechanism is rotationally arranged on the lower leg mechanism; and
The hydraulic driving mechanism comprises a hydraulic cylinder, a reversing valve, an oil tank and a power assembly, wherein the hydraulic cylinder comprises a cylinder body and a piston rod, the cylinder body is rotationally connected with the thigh mechanism, one end of the piston rod is slidingly extended into the cylinder body, and the other end of the piston rod is rotationally 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 valve opening state and a second valve opening 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; so that the power assembly extracts hydraulic oil in the oil tank into the cylinder body, and the piston rod is driven to extend along the axial direction of the cylinder body, so that the lower leg mechanism is driven to extend in a rotating way relative to the thigh mechanism; when the reversing valve is in the second valve opening state, the second oil port is disconnected from the first oil port and is communicated with the third oil port, so that the outer force drives the lower leg mechanism to rotate and shrink relative to the thigh mechanism to drive the piston rod to shrink along the axial direction of the cylinder body, and hydraulic oil in the cylinder body flows back to the oil tank.
In one embodiment, the thigh mechanism, the calf mechanism, the foot supporting mechanism and the hydraulic driving mechanism are arranged in pairs, the two thigh mechanisms are relatively distributed on two sides of the back supporting mechanism, and the two thigh mechanisms are respectively in one-to-one correspondence with the two calf mechanisms, the two foot supporting mechanisms and the two hydraulic driving mechanisms.
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 a 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 includes a restrictor communicating the first oil port and the second oil port.
In one embodiment, the hydraulic drive mechanism further includes a relief 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 rotationally arranged on the shank mechanism, and one end of the cylinder body is rotationally connected with the thigh connecting piece; and
Thigh adjusting part, the one end cover of thigh adjusting part is located in the thigh connecting piece, the other end of thigh adjusting part with back supporting mechanism rotates to be connected, the thigh adjusting part can be relative the thigh connecting piece is followed the axial displacement of thigh connecting piece, so that the thigh adjusting part is relative the exposed length of thigh connecting piece is followed the axial of thigh connecting piece is adjustable.
In one embodiment, the thigh mechanism further comprises a thigh strap provided on the thigh link.
In one embodiment, the calf mechanism comprises:
the lower leg connecting piece is of a hollow rod-shaped structure, the lower leg connecting piece is rotationally arranged on the thigh mechanism, and one end of the piston rod is rotationally connected with the lower leg connecting piece; and
The shank adjusting piece, the one end cover of shank adjusting piece is located in the shank connecting piece, the other end of shank adjusting piece with foot supporting mechanism rotates to be connected, shank adjusting piece can be relative shank connecting piece is followed shank connecting piece's axial displacement, so that shank adjusting piece is relative shank connecting piece's exposed length is followed shank connecting piece's axial is adjustable.
In one embodiment, the back support mechanism comprises a back support frame and a shoulder strap 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 calf mechanism and a foot plate disposed on the foot joint.
According to the power exoskeleton, the hydraulic driving mechanism consisting of the hydraulic cylinder, the reversing valve, the oil tank and the power assembly is adopted, when the reversing valve is in the first valve opening state, the power assembly can extract 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 lower leg mechanism is driven to extend in a rotating way relative to the thigh mechanism, so that the power exoskeleton can provide assistance for a human body along with the movement 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 the rotation contraction of the lower leg mechanism relative to the thigh mechanism through external force driving, 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 invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a powered exoskeleton according to an embodiment;
FIG. 2 is a schematic diagram of a hydraulic drive mechanism in a powered exoskeleton according to one embodiment;
fig. 3 is a schematic structural view of the powered exoskeleton of fig. 1 from another perspective.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. 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 "fixed 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 are used herein for illustrative purposes only and do not represent the only embodiment.
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 driving mechanism 500, where the thigh mechanism 200 is rotatably disposed on the back support mechanism 100; the lower leg 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, wherein the hydraulic cylinder 510 comprises a cylinder body 512 and a piston rod 514, the cylinder body 512 is rotationally connected with the thigh mechanism 200, one end of the piston rod 514 slides into the cylinder body 512, and the other end of the piston rod 514 is rotationally 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 reversing valve 520 has a first valve-open state and a second valve-open state;
when the reversing valve 520 is in the first valve-opening state, the second oil port 524 is communicated with the first oil port 522 and is disconnected from the third oil port 526; so that the power assembly 540 extracts the hydraulic oil in the oil tank 530 into the cylinder 512, so as to drive the piston rod 514 to extend along the axial direction of the cylinder 512, and further drive the lower leg mechanism 300 to extend rotationally relative to the thigh mechanism 200; when the reversing valve 520 is in the second valve-opening 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 external force drives the rotation and contraction of the lower leg mechanism 300 relative to the thigh mechanism 200 to drive the piston rod 514 to contract along the axial direction of the cylinder 512, thereby returning the hydraulic oil in the cylinder 512 to the oil tank 530.
Because the above power exoskeleton 10 adopts the hydraulic driving mechanism 500 comprising 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 valve-opening state, the power assembly 540 can draw hydraulic oil in the oil tank 530 into the cylinder 512, so as to drive the piston rod 514 to extend along the axial direction of the cylinder 512, and further drive the lower leg mechanism 300 to extend rotationally relative to the thigh mechanism 200, so that the power exoskeleton 10 follows the movement of the human body to provide assistance for the human body; when the reversing valve 520 is in the second valve opening state, the piston rod 514 can be driven to axially contract along the cylinder body 512 by the rotation contraction of the lower leg mechanism 300 relative to the thigh mechanism 200 through the external force, so that 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 mechanism 200, the calf mechanism 300, the foot support mechanism 400 and the hydraulic drive mechanism 500 are provided in pairs, the two thigh mechanisms 200 are relatively distributed on both sides of the back support mechanism 100, and the two thigh mechanisms 200 are respectively in one-to-one correspondence with the two calf mechanisms 300, the two foot support mechanisms 400 and the two hydraulic drive mechanisms 500.
Further, the back support mechanism 100 includes a back support frame 120 and a shoulder strap 140 for wearing by a human body, and the thigh mechanism 200 is rotatably provided on the back support frame 120; shoulder straps 140 are provided on back support frame 120, and in this embodiment, two shoulder straps 140 are provided on back support frame 120 at intervals.
In one embodiment, the thigh mechanism 200 includes a thigh link 210 and a thigh adjusting member 220, the thigh link 210 has 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 member 220 is sleeved in the thigh connecting member 210, the other end of the thigh adjusting member 220 is rotatably connected with the back supporting mechanism 100, specifically, the other end of the thigh adjusting member 220 is rotatably connected with the back supporting frame 120, the thigh adjusting member 220 can move along the axial direction of the thigh connecting member 210 relative to the thigh connecting member 210, so that the exposed length of the thigh adjusting member 220 relative to the thigh connecting member 210 can be adjusted along the axial direction of the thigh connecting member 210, and further, the power exoskeleton 10 can meet the actual wearing requirements of human bodies with different body heights.
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 connecting part 210, and the thigh connecting part 210 is rotatably connected with 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, wherein 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 the piston rod 514 is rotatably connected with the shank connecting piece 310; one end of the shank adjusting member 320 is sleeved in the shank connecting member 310, the other end of the shank adjusting member 320 is rotatably connected with the foot supporting mechanism 400, the shank adjusting member 320 can move along the axial direction of the shank connecting member 310 relative to the shank connecting member 310, so that the exposed length of the shank adjusting member 320 relative to the shank connecting member 310 can be adjusted along the axial direction of the shank connecting member 310, and further, the power exoskeleton 10 can meet the actual wearing requirements of human bodies with different body heights.
In one embodiment, lower leg mechanism 300 further includes a lower leg joint 330, lower leg joint 330 is sleeved on lower leg link 310, and lower leg link 310 is rotatably connected to one end of piston rod 514 via lower leg joint 330.
Further, the foot supporting mechanism 400 includes a foot connector 420 and a foot plate 440, wherein the foot connector 420 is rotatably disposed on the calf mechanism 300, and in particular, the foot connector 420 is rotatably disposed on the calf adjusting member 320, the foot plate 440 is disposed on the foot connector 420, and the foot plate 440 is used for supporting the foot of a human body.
As shown in fig. 2, in one 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 in communication with the oil tank 530, an oil outlet of the gear pump 544 is in communication with the first oil port 522 of the reversing valve 520, and the servo motor 542 is capable of driving the gear pump 544 to rotate to draw hydraulic oil from the oil tank 530. In this embodiment, the servo motor 542 and the gear pump 544 are selected as the power assembly 540 to pump hydraulic oil in the oil tank 530, which has the characteristics of small volume and light weight, and conforms to the characteristics of the light hydraulic driving 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 facing away from the shoulder straps 140. As shown in fig. 2, in an embodiment, the hydraulic driving mechanism 500 further includes a restrictor 550, where the restrictor 550 communicates with the first oil port 522 and the second oil port 524, so as to prevent the reversing valve 520 from being blocked from short-term oil suction and oil discharge due to excessively long switching time between the first valve opening state and the second valve opening state of the cylinder body 512 of the hydraulic cylinder 510. Further, the hydraulic driving mechanism 500 further includes a relief valve 560, where the relief valve 560 communicates with the first oil port 522 and the third oil port 526, so that the excessive hydraulic oil pumped by the power assembly 540 can be overflowed back to the oil tank 530 via the relief valve 560, so as to ensure that the pressure inside the cylinder body 512 of the hydraulic cylinder 510 is constant.
Further, as shown in fig. 3, the power exoskeleton 10 further includes a control system 600, where the control system 600 is electrically connected to the reversing valve 520, and the control system 600 is configured to control the reversing valve 520 to switch between the first valve opening state and the second valve opening 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 may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. A powered exoskeleton, comprising:
a back support mechanism;
the thigh mechanism is rotationally arranged on the back supporting mechanism;
the lower leg mechanism is rotationally arranged on the thigh mechanism;
the foot supporting mechanism is rotationally arranged on the lower leg mechanism; and
The hydraulic driving mechanism comprises a hydraulic cylinder, a reversing valve, an oil tank and a power assembly, wherein the hydraulic cylinder comprises a cylinder body and a piston rod, the cylinder body is rotationally connected with the thigh mechanism, one end of the piston rod is slidingly extended into the cylinder body, and the other end of the piston rod is rotationally 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 valve opening state and a second valve opening 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; so that the power assembly extracts hydraulic oil in the oil tank into the cylinder body, and the piston rod is driven to extend along the axial direction of the cylinder body, so that the lower leg mechanism is driven to extend in a rotating way relative to the thigh mechanism; when the reversing valve is in the second valve opening state, the second oil port is disconnected from the first oil port and is communicated with the third oil port, so that the outer force drives the lower leg mechanism to rotate and shrink relative to the thigh mechanism to drive the piston rod to shrink along the axial direction of the cylinder body, and hydraulic oil in the cylinder body flows back to the oil tank.
2. The powered exoskeleton of claim 1 wherein said thigh mechanism, said calf mechanism, said foot support mechanism and said hydraulic drive mechanism are arranged in pairs, two of said thigh mechanisms are oppositely disposed on opposite sides of said back support mechanism, and two of said thigh mechanisms are in one-to-one correspondence with two of said calf mechanisms, two of said foot support mechanisms and two of said hydraulic drive mechanisms, respectively.
3. The powered exoskeleton of claim 1 wherein the power assembly includes a servo motor and a gear pump, the servo motor is connected to the gear pump, an oil inlet of the gear pump is in communication with the oil tank, an oil outlet of the gear pump is in communication with the first port of the reversing valve, and the servo motor is capable of driving the gear pump to rotate to draw hydraulic oil from the oil tank.
4. The powered exoskeleton of claim 1 wherein said hydraulic drive mechanism further comprises a restrictor communicating said first and second ports.
5. The powered exoskeleton of claim 1 wherein said hydraulic drive mechanism further comprises a relief valve, said relief valve communicating said first port and said third port.
6. The powered exoskeleton of claim 1 wherein said thigh mechanism comprises:
the thigh connecting piece is of a hollow rod-shaped structure, the thigh connecting piece is rotationally arranged on the shank mechanism, and one end of the cylinder body is rotationally connected with the thigh connecting piece; and
Thigh adjusting part, the one end cover of thigh adjusting part is located in the thigh connecting piece, the other end of thigh adjusting part with back supporting mechanism rotates to be connected, the thigh adjusting part can be relative the thigh connecting piece is followed the axial displacement of thigh connecting piece, so that the thigh adjusting part is relative the exposed length of thigh connecting piece is followed the axial of thigh connecting piece is adjustable.
7. The powered exoskeleton of claim 6 wherein said thigh mechanism further comprises thigh straps, said thigh straps being provided on said thigh link.
8. The powered exoskeleton of claim 1 wherein said lower leg mechanism comprises:
the lower leg connecting piece is of a hollow rod-shaped structure, the lower leg connecting piece is rotationally arranged on the thigh mechanism, and one end of the piston rod is rotationally connected with the lower leg connecting piece; and
The shank adjusting piece, the one end cover of shank adjusting piece is located in the shank connecting piece, the other end of shank adjusting piece with foot supporting mechanism rotates to be connected, shank adjusting piece can be relative shank connecting piece is followed shank connecting piece's axial displacement, so that shank adjusting piece is relative shank connecting piece's exposed length is followed shank connecting piece's axial is adjustable.
9. The powered exoskeleton of claim 1 wherein said back support mechanism includes a back support frame and shoulder straps for wearing by a person, said thigh mechanism being rotatably disposed on said back support frame; the shoulder straps are arranged on the back support frame.
10. The powered exoskeleton of claim 1 wherein said foot support mechanism includes a foot tab rotatably disposed on said calf mechanism and a foot plate disposed on said foot tab.
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 CN112571401A (en) | 2021-03-30 |
| CN112571401B true 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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| CN (1) | CN112571401B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113814958B (en) * | 2021-08-27 | 2023-11-28 | 浙江大学 | Unpowered hydraulic exoskeleton and control method thereof |
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| WO2018077256A1 (en) * | 2016-10-28 | 2018-05-03 | 刘美君 | Lower limb movement-assisting machine skeleton having center-of-gravity self-adjustment and balancing function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR102131277B1 (en) * | 2013-12-30 | 2020-07-07 | 삼성전자주식회사 | A walk-assistive apparatus and a method for controlling the walk-assistive apparatus |
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| CN101234044A (en) * | 2008-02-28 | 2008-08-06 | 上海交通大学 | Artificial limb exoskeleton knee joint |
| CN101810533A (en) * | 2010-03-08 | 2010-08-25 | 上海交通大学 | Walking aid exoskeleton rehabilitation robot |
| EP2724825A2 (en) * | 2012-10-25 | 2014-04-30 | Helmut-Schmidt-Universität | Device for carrying out a sequence of movements |
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| CN112571401A (en) | 2021-03-30 |
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