CN112891156A - Bionic energy-storage walking aid - Google Patents
Bionic energy-storage walking aid Download PDFInfo
- Publication number
- CN112891156A CN112891156A CN202110317612.3A CN202110317612A CN112891156A CN 112891156 A CN112891156 A CN 112891156A CN 202110317612 A CN202110317612 A CN 202110317612A CN 112891156 A CN112891156 A CN 112891156A
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- thigh
- block
- shank
- side block
- crus
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention particularly relates to a bionic energy storage walking aid, which comprises a waist protecting belt, wherein one side of the waist protecting belt is connected with a lower limb walking aid mechanism, the lower limb walking aid mechanism comprises a connecting block, an energy storage spring, a thigh bionic exoskeleton, a shank bionic exoskeleton and a foot rest, one end of the connecting block is connected with the waist protecting belt, the other end of the connecting block is rotatably connected with the upper end of the thigh bionic exoskeleton, the lower end of the thigh bionic exoskeleton is rotatably connected with the upper end of the shank bionic exoskeleton, the lower end of the shank bionic exoskeleton is fixedly connected with the foot rest, the upper end of the energy storage spring is fixed on the connecting block, the lower end of the energy storage spring is fixed on the thigh bionic exoskeleton, a thigh binding band is further connected on. The invention follows the bionic design of the lower limb structure of a human body, and the energy storage spring is connected between the connecting block and the thigh bionic exoskeleton, thereby providing power for lifting legs and stepping forwards for a user and assisting the walking of the user.
Description
Technical Field
The invention relates to the technical field of walking aid equipment, in particular to a bionic energy storage walking aid.
Background
The walking aid is a device for assisting a person with walking dysfunction to realize normal walking activities. At present, the walking aid has various types and is widely applied to patients after lower limb operation, people with insufficient muscle strength of lower limbs and legs, old people with walking disorder and other groups with weak walking functions.
The existing walking aids mainly comprise two main types, namely active walking aids and passive walking aids. The active walking aid generally adopts a complex mechanical structure, and can assist people with incomplete walking function to realize normal walking activity through electronic equipment such as a motor and the like, and the active walking aid is usually expensive and not easy to wear and needs to be used under the help of professional medical care personnel. The passive walking aid generally adopts a bracket type structure, provides additional body support for a human body through a bracket mode to assist a person with walking incompetence to realize normal walking activity, but the walking aid can only provide auxiliary body support generally, cannot provide forward and leg lifting power for a user, and cannot enable a group with walking function which is not sound to realize easy walking.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the bionic energy storage walking aid is convenient to wear, can provide powerful forward and leg lifting power for a user, and helps a group with an unsound walking function to realize easy and normal walking.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a bionical energy storage helps capable ware, including the protecting band, one side of protecting band is connected with the low limbs and helps capable mechanism, the low limbs helps capable mechanism to include the connecting block, the energy storage spring, the bionical ectoskeleton of thigh, the bionical ectoskeleton of shank and foot rest, the one end and the protecting band of connecting block are connected, the other end of connecting block rotates with the upper end of the bionical ectoskeleton of thigh to be connected, the lower extreme of the bionical ectoskeleton of thigh rotates with the upper end of the bionical ectoskeleton of shank to be connected, the lower extreme fixedly connected with foot rest of the bionical ectoskeleton of shank, the upper end fixed connection of energy storage spring is on the connecting block, the lower extreme fixed connection of energy storage spring is.
Furthermore, a waist protecting belt clamping seat is arranged on the connecting block, and the waist protecting belt is fixed on the waist protecting belt clamping seat through a waist protecting belt buckle.
Furthermore, the thigh bionic exoskeleton comprises a thigh upper block, a thigh middle connecting plate and a thigh lower block, the thigh upper block comprises a thigh upper inner block and a thigh upper outer block, and the thigh lower block comprises a thigh lower inner block and a thigh lower outer block; the upper end of the thigh middle connecting plate is clamped between the thigh upper inner side block and the thigh upper outer side block and is fixed between the thigh upper inner side block and the thigh upper outer side block through screws; the lower end of the thigh middle connecting plate is clamped between the thigh lower part inner side block and the thigh lower part outer side block and is fixed between the thigh lower part inner side block and the thigh lower part outer side block through screws.
Furthermore, a plurality of first adjusting holes are uniformly formed in the thigh middle connecting plate.
Furthermore, the thigh bionic exoskeleton further comprises a spring lower end clamping seat, a clamping groove is formed in the outer side block on the upper part of the thigh, the spring lower end clamping seat is located in the clamping groove, and the lower end of the energy storage spring is fixedly connected to the spring lower end clamping seat; the connecting block is provided with a spring upper end clamping seat, and the upper end of the energy storage spring is fixedly connected to the spring upper end clamping seat.
Furthermore, one end of the inner side block of the lower part of the thigh is provided with a thigh bandage perforation, the other end of the inner side block of the lower part of the thigh is provided with a thigh bandage clamping seat, one end of the thigh bandage penetrates through the thigh bandage perforation and is fixed on the inner side block of the lower part of the thigh, and the other end of the thigh bandage is fixed on the thigh bandage clamping seat through a thigh bandage buckle.
Further, the bionic exoskeleton of the crus comprises a crus upper block, a crus middle connecting plate and a crus lower block, wherein the crus upper block comprises a crus upper inner block and a crus upper outer block, and the crus lower block comprises a crus lower inner block and a crus lower outer block; the upper end of the shank middle connecting plate is clamped between the shank upper inner side block and the shank upper outer side block and is fixed between the shank upper inner side block and the shank upper outer side block through screws; the lower end of the shank middle connecting plate is clamped between the shank lower part inner side block and the shank lower part outer side block and is fixed between the shank lower part inner side block and the shank lower part outer side block through screws.
Furthermore, a plurality of second adjusting holes are uniformly formed in the connecting plate in the middle of the shank.
Furthermore, one end of the inner side block at the lower part of the calf is provided with a calf bandage through hole, the other end of the inner side block at the lower part of the calf is provided with a calf bandage clamping seat, one end of the calf bandage penetrates through the calf bandage through hole and is fixed on the inner side block at the lower part of the calf, and the other end of the calf bandage is fixed on the calf bandage clamping seat through a calf bandage buckle.
Furthermore, a foot support connecting port is arranged in the middle of the inner side block at the lower part of the shank, a foot support connecting piece is arranged on the foot support, and the foot support connecting piece is clamped in the foot support connecting port.
In summary, the present invention has the following advantages:
firstly, the invention follows the bionic design of the lower limb structure of a human body, and the energy storage spring is connected between the connecting block and the thigh bionic exoskeleton, so that the power for lifting legs and stepping forwards is provided for a user, the walking assistance of the user is provided, and the walking assisting device helps the healthy and unsound population with insufficient walking functions such as leg muscle strength to realize easy and normal walking.
The novel clothes hanger is simple in structure, convenient to wear and high in practicability.
Drawings
Fig. 1 is a schematic view of the outer structure of the present invention.
Fig. 2 is a schematic view of the inside structure of the present invention.
Fig. 3 is a schematic diagram of the outer side structure of the thigh bionic exoskeleton and the shank bionic exoskeleton.
Fig. 4 is a schematic diagram of the inner side structure of the thigh bionic exoskeleton and the shank bionic exoskeleton.
Fig. 5 is a schematic view of the structure of the connector block of the present invention.
Figure 6 is a schematic view of the structure of the waist support belt of the present invention.
Fig. 7 is a schematic view of the structure of the inner lower thigh pad of the present invention.
Fig. 8 is a schematic view of the connection of the thigh strap of the present invention to the inner thigh panel.
FIG. 9 is a schematic view of the structure of the lower medial block of the lower leg of the present invention.
Fig. 10 is a schematic view of the connection of the calf strap of the invention to the medial lower calf block.
Fig. 11 is a schematic structural view of the foot rest of the present invention.
Fig. 12 is a schematic view of the structure of the lateral upper thigh pad of the present invention.
Wherein: 1 is a waist protecting belt, 2 is a connecting block, 2-1 is a waist protecting belt clamping seat, 2-2 is a spring upper end clamping seat, 3 is an energy storage spring, 4 is a thigh bionic exoskeleton, 4-1 is a thigh upper part block, 4-1-1 thigh upper part inner side block, 4-1-2 is a thigh upper part outer side block, 4-1-2-1 clamping groove, 4-2 is a thigh middle connecting plate, 4-2-1 is a first adjusting hole, 4-3 is a thigh lower part block, 4-3-1 is a thigh lower part inner side block, 4-3-1-1 is a thigh binding belt through hole, 4-3-1-2 is a thigh binding belt clamping seat, 4-3-2 is a thigh lower part outer side block, 4-4 is a spring lower end clamping seat, and 5 is a shank bionic exoskeleton, 5-1 is a shank upper block, 5-1-1 is a shank upper inner block, 5-1-2 is a shank upper outer block, 5-2 is a shank middle connecting plate, 5-2-1 is a second adjusting hole, 5-3 is a shank lower block, 5-3-1 is a shank lower inner block, 5-3-1-1 is a shank strap through hole, 5-3-1-2 is a shank strap clamping seat, 5-3-1-3 is a foot support connecting port, 5-3-2 is a shank lower outer block, 6 is a foot support, 6-1 is a foot support connecting piece, 7 is a thigh strap, 8 is a shank strap, 9 is a waist protecting belt buckle, 10 is a thigh strap buckle, and 11 is a shank strap buckle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
As shown in fig. 1 and 2, a bionic energy storage walking aid device comprises a waist protecting belt, one side of the waist protecting belt is connected with a lower limb walking aid mechanism, the lower limb walking aid mechanism comprises a connecting block, an energy storage spring, a thigh bionic exoskeleton, a shank bionic exoskeleton and a foot support, one end of the connecting block is connected with the waist protecting belt, the other end of the connecting block is rotatably connected with the upper end of the thigh bionic exoskeleton, the lower end of the thigh bionic exoskeleton is rotatably connected with the upper end of the shank bionic exoskeleton, the lower end of the shank bionic exoskeleton is fixedly connected with the foot support, the upper end of the energy storage spring is fixedly connected onto the connecting block, the lower end of the energy storage spring is fixedly connected onto the thigh bionic exoskeleton, a thigh binding belt is further connected onto the thigh bionic exoskeleton, a shank binding belt is.
The connecting block is movably connected with the upper end of the thigh bionic exoskeleton in two degrees of freedom, the lower end of the thigh bionic exoskeleton is movably connected with the upper end of the shank bionic exoskeleton in two degrees of freedom, and the lower end of the shank bionic exoskeleton is fixedly connected with the foot support, so that a bionic human body lower limb structure is formed.
The left side or the right side of the waist protecting belt can be connected with a lower limb walking aid mechanism to assist the left leg or the right leg in walking. In the present embodiment, the lower limb walking aid mechanism, i.e., the left leg walking aid mechanism, is connected to the left side of the waist support belt to form the bionic energy storage left leg walking aid.
As shown in fig. 1, 5 and 6, a waist protecting band clamping seat is arranged on the connecting block, and the waist protecting band is fixed on the waist protecting band clamping seat through a waist protecting band buckle. Namely, the waist protecting belt is connected on the waist protecting belt fastener which is clamped on the waist protecting belt clamping seat to fix the waist protecting belt on the connecting block.
As shown in fig. 1 to 4, the thigh bionic exoskeleton comprises a thigh upper block, a thigh middle connecting plate and a thigh lower block, wherein the thigh upper block comprises a thigh upper inner block and a thigh upper outer block, and the thigh lower block comprises a thigh lower inner block and a thigh lower outer block; the upper end of the thigh middle connecting plate is clamped between the thigh upper inner side block and the thigh upper outer side block and is fixed between the thigh upper inner side block and the thigh upper outer side block through screws; the lower end of the thigh middle connecting plate is clamped between the thigh lower part inner side block and the thigh lower part outer side block and is fixed between the thigh lower part inner side block and the thigh lower part outer side block through screws. A plurality of first adjusting holes are uniformly formed in the thigh middle connecting plate, and the length of the bionic exoskeleton of the thigh can be adjusted by adjusting the fixed position of the thigh middle connecting plate so as to adapt to heights of different wearers.
As shown in fig. 1, 3, 5 and 12, the bionic exoskeleton further comprises a spring lower end clamping seat, a clamping groove is arranged on the outer side block at the upper part of the thigh, the spring lower end clamping seat is positioned in the clamping groove, and the lower end of the energy storage spring is fixedly connected to the spring lower end clamping seat; the connecting block is provided with a spring upper end clamping seat, and the upper end of the energy storage spring is fixedly connected to the spring upper end clamping seat.
As shown in fig. 7 and 8, one end of the inner side block of the lower thigh portion is provided with a thigh strap through hole, the other end of the inner side block of the lower thigh portion is provided with a thigh strap clamping seat, one end of the thigh strap passes through the thigh strap through hole and is fixed on the inner side block of the lower thigh portion, and the other end of the thigh strap is fixed on the thigh strap clamping seat through a thigh strap buckle. The head end of the thigh bandage passes through the thigh bandage perforation and is fixed on the thigh lower part inside block, the end connection of the thigh bandage has a thigh bandage buckle, the thigh bandage buckle is connected on the thigh bandage clamping base in a clamping manner, and the thigh bandage is fixed on the thigh lower part inside block. The thigh strap is elastic and detachable.
As shown in fig. 1 to 4, the bionic exoskeleton comprises an upper shank block, a middle shank connecting plate and a lower shank block, wherein the upper shank block comprises an upper shank inner block and an upper shank outer block, and the lower shank block comprises a lower shank inner block and a lower shank outer block; the upper end of the shank middle connecting plate is clamped between the shank upper inner side block and the shank upper outer side block and is fixed between the shank upper inner side block and the shank upper outer side block through screws; the lower end of the shank middle connecting plate is clamped between the shank lower part inner side block and the shank lower part outer side block and is fixed between the shank lower part inner side block and the shank lower part outer side block through screws. A plurality of second adjusting holes are uniformly formed in the connecting plate in the middle of the shank, and the length of the bionic exoskeleton of the shank can be adjusted by adjusting the fixed position of the connecting plate in the middle of the shank so as to adapt to the heights of different wearers.
As shown in fig. 9 and 10, a calf bandage through hole is formed at one end of the inner block at the lower part of the calf, a calf bandage clamping seat is formed at the other end of the inner block at the lower part of the calf, one end of the calf bandage penetrates through the calf bandage through hole and is fixed on the inner block at the lower part of the calf, and the other end of the calf bandage is fixed on the calf bandage clamping seat through a calf bandage buckle. Namely, the head end of the calf bandage penetrates through the calf bandage through hole and is fixed on the inner side block at the lower part of the calf, the tail end of the calf bandage is connected with a calf bandage buckle, the calf bandage buckle is clamped on the calf bandage clamping seat, and the calf bandage is fixed on the inner side block at the lower part of the calf. The lower leg strap has elasticity and can be detached.
As shown in fig. 9 and 11, a foot support connecting opening is arranged in the middle of the inner block at the lower part of the shank, a foot support connecting piece is arranged on the foot support, and the foot support connecting piece is clamped in the foot support connecting opening to fix the foot support on the inner block at the lower part of the shank. The shape of the foot support is designed to imitate the human foot.
When the walking aid is used, a left foot is firstly put into the foot support, then the shank bandage is fixed around the left shank, the thigh bandage is fixed around the left thigh, the waist protecting belt is fixed around the waist, after the walking aid is worn, a user keeps a standing state and starts to walk, when the user walks forwards on the right leg, the upper half body and the right leg move forwards, the left leg keeps a state relative to the back, a certain distance is pulled between the upper half body and the left thigh, the energy storage spring is stretched, the energy storage spring has resilience, and when the user walks on the left leg, the resilience of the energy storage spring provides power for the left leg to help the left leg lift and walk forwards and assist the left leg. The same principle of walking aid is also true for the right leg.
In general, the invention follows the bionic design of the lower limb structure of the human body, the energy storage spring is connected between the connecting block and the thigh bionic exoskeleton, so that the power for lifting legs and stepping forwards is provided for users, the walking assistance of the users is provided, and the walking assisting device helps the healthy and unsound population with the walking functions of insufficient leg muscle strength and the like to realize easy and normal walking. The invention has simple structure, convenient wearing and strong practicability.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a bionical energy storage helps capable ware which characterized in that: including the waist support belt, one side of waist support belt is connected with the low limbs and helps capable mechanism, the low limbs helps capable mechanism to include the connecting block, energy storage spring, the bionical ectoskeleton of thigh, the bionical ectoskeleton of shank and foot rest, the one end and the waist support belt of connecting block are connected, the other end of connecting block is rotated with the upper end of the bionical ectoskeleton of thigh and is connected, the lower extreme of the bionical ectoskeleton of thigh rotates with the upper end of the bionical ectoskeleton of shank and is connected, the lower extreme fixedly connected with foot rest of the bionical ectoskeleton of shank, energy storage spring's upper end fixed connection is on the connecting block, energy storage spring's lower extreme fixed connection is on the bionical.
2. The bionic energy-storage walking aid of claim 1, wherein: the connecting block is provided with a waist protecting belt clamping seat, and the waist protecting belt is fixed on the waist protecting belt clamping seat through a waist protecting belt buckle.
3. The bionic energy-storage walking aid of claim 1, wherein: the bionic exoskeleton comprises a thigh upper block, a thigh middle connecting plate and a thigh lower block, wherein the thigh upper block comprises a thigh upper inner side block and a thigh upper outer side block, and the thigh lower block comprises a thigh lower inner side block and a thigh lower outer side block; the upper end of the thigh middle connecting plate is clamped between the thigh upper inner side block and the thigh upper outer side block and is fixed between the thigh upper inner side block and the thigh upper outer side block through screws; the lower end of the thigh middle connecting plate is clamped between the thigh lower part inner side block and the thigh lower part outer side block and is fixed between the thigh lower part inner side block and the thigh lower part outer side block through screws.
4. A biomimetic energy-storing walker according to claim 3, wherein: a plurality of first adjusting holes are uniformly formed in the thigh middle connecting plate.
5. A biomimetic energy-storing walker according to claim 3, wherein: the bionic exoskeleton further comprises a spring lower end clamping seat, a clamping groove is formed in the outer side block at the upper part of the thigh, the spring lower end clamping seat is positioned in the clamping groove, and the lower end of the energy storage spring is fixedly connected to the spring lower end clamping seat; the connecting block is provided with a spring upper end clamping seat, and the upper end of the energy storage spring is fixedly connected to the spring upper end clamping seat.
6. A biomimetic energy-storing walker according to claim 3, wherein: the one end of thigh lower part inside piece is equipped with the thigh bandage and perforates, and the other end of thigh lower part inside piece is equipped with thigh bandage cassette, and the one end of thigh bandage is passed the thigh bandage and is perforated and fix on thigh lower part inside piece, and the other end of thigh bandage passes through thigh bandage buckle to be fixed on thigh bandage cassette.
7. The bionic energy-storage walking aid of claim 1, wherein: the bionic exoskeleton of the crus comprises a crus upper block, a crus middle connecting plate and a crus lower block, wherein the crus upper block comprises a crus upper inner block and a crus upper outer block, and the crus lower block comprises a crus lower inner block and a crus lower outer block; the upper end of the shank middle connecting plate is clamped between the shank upper inner side block and the shank upper outer side block and is fixed between the shank upper inner side block and the shank upper outer side block through screws; the lower end of the shank middle connecting plate is clamped between the shank lower part inner side block and the shank lower part outer side block and is fixed between the shank lower part inner side block and the shank lower part outer side block through screws.
8. The biomimetic energy-storing walker as recited in claim 7, wherein: a plurality of second adjusting holes are uniformly formed in the connecting plate in the middle of the shank.
9. The biomimetic energy-storing walker as recited in claim 7, wherein: one end of the inner side block at the lower part of the crus is provided with a crus bandage through hole, the other end of the inner side block at the lower part of the crus is provided with a crus bandage clamping seat, one end of the crus bandage penetrates through the crus bandage through hole and is fixed on the inner side block at the lower part of the crus, and the other end of the crus bandage is fixed on the crus bandage clamping seat through a crus bandage.
10. The biomimetic energy-storing walker as recited in claim 7, wherein: the middle part of the inner side block at the lower part of the shank is provided with a foot support connecting port, the foot support is provided with a foot support connecting piece, and the foot support connecting piece is clamped in the foot support connecting port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110317612.3A CN112891156A (en) | 2021-03-25 | 2021-03-25 | Bionic energy-storage walking aid |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110317612.3A CN112891156A (en) | 2021-03-25 | 2021-03-25 | Bionic energy-storage walking aid |
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| CN112891156A true CN112891156A (en) | 2021-06-04 |
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| CN202110317612.3A Pending CN112891156A (en) | 2021-03-25 | 2021-03-25 | Bionic energy-storage walking aid |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618714A (en) * | 2021-08-12 | 2021-11-09 | 华南理工大学 | Lower limb passive exoskeleton device for assisting walking and running |
| CN114305990A (en) * | 2021-12-29 | 2022-04-12 | 杭州程天科技发展有限公司 | Active and passive parallel driving wearable walking assistance device |
-
2021
- 2021-03-25 CN CN202110317612.3A patent/CN112891156A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618714A (en) * | 2021-08-12 | 2021-11-09 | 华南理工大学 | Lower limb passive exoskeleton device for assisting walking and running |
| CN113618714B (en) * | 2021-08-12 | 2023-06-16 | 华南理工大学 | Lower limb passive exoskeleton device assisting walking and running |
| CN114305990A (en) * | 2021-12-29 | 2022-04-12 | 杭州程天科技发展有限公司 | Active and passive parallel driving wearable walking assistance device |
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