CN113070866A - Hip exoskeleton walking-aid robot driven by flexible joints - Google Patents
Hip exoskeleton walking-aid robot driven by flexible joints Download PDFInfo
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- CN113070866A CN113070866A CN202110322017.9A CN202110322017A CN113070866A CN 113070866 A CN113070866 A CN 113070866A CN 202110322017 A CN202110322017 A CN 202110322017A CN 113070866 A CN113070866 A CN 113070866A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention relates to a hip exoskeleton walking aid robot driven by flexible joints, which comprises a wearing piece: the wearing piece comprises a first driving joint, a second driving joint, a third driving joint and a fourth driving joint; each driving joint comprises a supporting piece, an input shaft, an output shaft and a transmission module arranged between the input shaft and the output shaft, the input shaft comprises a motor module and a speed reducer module which are coaxially arranged on the supporting piece, and the output shaft comprises a series elastic driver, a clutch module and an encoder assembly which are coaxially arranged on the supporting piece. The invention arranges four driving joints at the left side, the right side, the left rear side and the right rear side of the hip joint of the human body, can realize the step length adjustment in the sagittal plane and the step width adjustment in the coronal plane, so that a wearer can control the gait of the wearer in any direction in the walking trajectory plane, and the structure of the series elastic driver and the clutch is adopted, thereby reducing the impact of sudden change load on the human body joint and greatly improving the comfort of the wearer.
Description
Technical Field
The invention relates to the technical field of wearing equipment, in particular to a hip exoskeleton walking-aid robot driven by flexible joints.
Background
The exoskeleton robot has the function of enhancing the motion capability of a human body as a wearable device, and compared with the traditional robot, the exoskeleton robot is a man-machine cooperative device. Exoskeletons have been widely used in medical rehabilitation, industrial transportation, and military applications. In the field of medical rehabilitation, diseases such as muscular atrophy and cerebral apoplexy seriously affect the mobility of human beings along with the increase of the aging of the population, and when a wearer can not realize normal movement only by self-ability, the appearance of the exoskeleton provides help for the reappearance of the movement function. The main principle of the operation is that the wearable sensor is used for detecting the movement intention of a human body, the control quantity is calculated by a control method, and then each power element is controlled to perform corresponding movement.
The patent application publication No. CN106514627A in the prior art discloses a pneumatic exoskeleton power assisting device. Structurally, the patent adopts a pneumatic mode to realize the assistance of the exoskeleton, and has the defects of low power and poor control precision, so that the system cannot accurately execute each action. In the control method, a control mode combining a manual control valve and a pneumatic valve is adopted, although the assistance can be provided for a wearer to a certain extent, the movement intention of the wearer cannot be monitored in real time, so that the design requirement of man-machine interaction cannot be met, and the safety of the system and the comfort of the wearer are greatly adversely affected.
The patent application publication No. CN111805511A in the prior art discloses a lower limb exoskeleton system with actively adjustable leg rod length and a control method. Structurally, four-degree-of-freedom driving joints are arranged on two sides of a hip joint and two sides of a knee joint respectively to assist flexion and extension of hip joints of two legs of a wearer and rotation of the knee joint, and because the hip joint driving units are arranged on two sides, the design can only adjust the step length of the wearer on a sagittal plane and cannot meet the requirement of step width adjustment on a coronal plane, and meanwhile, the two driving units arranged on the knee joint increase inertia of a system to a mass center, so that negative influence is generated on normal gait of the wearer during walking.
The patent application publication number CN112060060A in the prior art discloses an active and passive hybrid driven lower limb assistance exoskeleton robot and a control method. The drive joint of this patent includes components such as motor, harmonic speed reducer ware and angle sensor, and its great rigidity can increase the uncomfortable sense of wearer. In the control method, the interaction force of the human body is acquired through the film pressure sensors arranged on the large and small legs to judge the movement intention, so that the wearing difficulty of the exoskeleton equipment is increased.
Therefore, the prior art has the defects that the wearer cannot control the gait of the wearer in any direction in the walking trajectory plane, the impact of sudden load on the joints of the human body and the wearing discomfort.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects that the gait of the wearer in any direction cannot be controlled in the walking trajectory plane, the impact of sudden load on the joints of the human body is not controlled, and the wearing is uncomfortable in the prior art.
In order to solve the technical problem, the invention provides a hip exoskeleton walking aid robot driven by flexible joints, which comprises a wearing piece:
the wearable part comprises a first driving joint arranged on the left side of the human hip joint, a second driving joint arranged on the right side of the human hip joint, a third driving joint arranged on the left rear side of the human hip joint and a fourth driving joint arranged on the right rear side of the human hip joint, the step length in the sagittal plane is adjusted through the first driving joint and the second driving joint, and the step width in the coronal plane is adjusted through the third driving joint and the fourth driving joint;
each driving joint comprises a support piece, an input shaft, an output shaft and a transmission module arranged between the input shaft and the output shaft and used for transmitting power, the input shaft comprises a motor module and a speed reducer module which are coaxially arranged on the support piece, the output shaft comprises a series elastic driver, a clutch module and an encoder assembly which are coaxially arranged on the support piece, and the impact of sudden change load on a human body joint is reduced through the series elastic driver and the clutch module.
In an embodiment of the invention, the wearing piece comprises a back fixing piece, and the input end of the third driving joint and the input end of the fourth driving joint are both connected with the back fixing piece and are used for realizing the adjustment of the step width of the left leg and the step width of the right leg of the wearer;
the wearing piece comprises a connecting piece, the connecting piece comprises a first connecting plate and a second connecting plate, the output end of a third driving joint is connected with the input end of a first driving joint through the first connecting plate, and the output end of a fourth driving joint is connected with the input end of a second driving joint through the second connecting plate.
In one embodiment of the invention, the donning member comprises a leg strap mechanism, the leg strap mechanism comprising:
the first leg strap assembly comprises a first connecting rod, a first sliding part, a first fixing ring and a first strap, the first connecting rod is connected with the output end of the first driving joint, the first connecting rod is provided with a first sliding part which can move along the length direction of the connecting rod to adjust the fixing position, the first sliding part is connected with the first fixing ring, and the first fixing ring is provided with the first strap;
the second leg strap assembly comprises a second connecting rod, a second sliding part, a second fixing ring and a second strap, the second connecting rod is connected with the output end of the second driving joint, the second sliding part capable of moving along the length direction of the connecting rod to adjust the fixing position is arranged on the second connecting rod, the second sliding part is connected with the second fixing ring, and the second strap is arranged on the second fixing ring.
In one embodiment of the invention, the transmission module comprises a first reel, a steel wire rope and a second reel, the steel wire rope is respectively matched and connected with the first reel and the second reel, the first reel is connected with the speed reducer module, and the speed reducer module is connected with the motor module; the second reel is connected to the series elastic actuator, which is connected to the clutch module.
In one embodiment of the present invention, the encoder assembly includes a first encoder and a second encoder, the first encoder being disposed at a position of the series elastic driver, a rotation angle of the series elastic driver being detected by the first encoder; the second encoder is arranged at the position of the clutch module, and the rotation angle of the clutch module is detected through the second encoder.
In one embodiment of the invention, the back plate fixing piece further comprises a control system and a power supply system, wherein the control system and the power supply system are arranged on the back plate fixing piece.
In one embodiment of the invention, the motor module comprises a motor and a motor driver, wherein an encoder of the motor is connected with the control system, the motor is connected with the motor driver, and the motor driver is connected with the control system and the clutch module.
In one embodiment of the invention, the series elastic driver is connected with a first encoder, the first encoder is connected with the control system, and the first encoder is used for detecting a rotation angle when the series elastic driver rotates and transmitting the rotation angle to the control system through the first encoder.
In one embodiment of the invention, the clutch module is connected with a second encoder, the second encoder is connected with the control system, and the second encoder is used for detecting the rotation angle of the clutch module and transmitting the rotation angle to the control system through the second encoder.
In one embodiment of the invention, the system further comprises an inertial measurement system, wherein the inertial measurement system is arranged at each joint of the lower limb of the wearer.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the invention arranges four driving joints at the left side, the right side, the left rear side and the right rear side of the hip joint of the human body, can realize the step length adjustment in the sagittal plane and the step width adjustment in the coronal plane, so that a wearer can control the gait of the wearer in any direction in the walking trajectory plane, and the structure of the series elastic driver and the clutch is adopted, thereby reducing the impact of sudden change load on the human body joint and greatly improving the comfort of the wearer.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference will now be made in detail to the present disclosure, examples of which are illustrated in the accompanying drawings.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is an exploded view of the construction of the first leg strap assembly of the present invention.
Fig. 3 is a schematic structural view of a first drive joint in the present invention.
Fig. 4 is an exploded view of the structure of the first driving joint in the present invention.
Fig. 5 is a control system architecture diagram of the present invention.
The specification reference numbers indicate: 1. a first drive joint; 2. a second drive joint; 3. a third drive joint; 4. a fourth drive joint; 5. a back mount; 6. a first connecting plate; 7. a second connecting plate; 8. a first link; 9. a first slider; 10. a first retaining ring; 11. a first binding block; 12. a second link; 13. a second slider; 14. a second retaining ring; 15. a second binding block; 16. a support member; 17. a motor; 18. a clutch shaft; 19. a clutch; 20. a speed reducer; 21. a first reel; 22. a second reel; 23. an output rod; 24. a coupling; 25. an input lever; 26. a wire rope; 27. a first encoder; 28. a series elastic driver; 29. a second encoder.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
The embodiment of the invention provides a hip exoskeleton walking robot driven by flexible joints, which comprises a wearing part and a control system.
Referring to fig. 1, the wearing part includes a back fixing part 5, a first driving joint 1, a second driving joint 2, a third driving joint 3, a fourth driving joint 4 and a connecting part, the first driving joint 1 and the second driving joint 2 are respectively disposed at the left side and the right side of the hip joint of the human body, and the third driving joint 3 and the fourth driving joint 4 are disposed at the left rear side and the right rear side of the hip joint of the human body.
Referring to fig. 1 and 3, the adjustment of the width of the coronal plane of the exoskeleton is realized by the back fixing piece 5, the third driving joint 3 and the fourth driving joint 4, so as to prevent the human body from falling down to the left and right sides during the walking process. Specifically, the input rod 25 of the third driving joint 3 is connected with the back fixing piece 5 through a bolt, so that the step width of the left leg of the wearer can be adjusted; the input rod 25 of the fourth driving joint 4 is connected with the back fixing piece 5 through a bolt, so that the step width of the right leg of the wearer can be adjusted,
the sagittal plane step length adjustment of the exoskeleton is realized through the first connecting plate 6, the second connecting plate 7, the first driving joint 1 and the second driving joint 2, and the falling of a wearer in the front-back direction during walking is prevented. Specifically, the connecting piece comprises a first connecting plate 6 and a second connecting plate 7, one end of the first connecting plate 6 is connected with an output rod 23 of the third driving joint 3, and the other end of the first connecting plate 6 is connected with an input rod 25 of the first driving joint 1, so that the step length of the left leg of the wearer can be adjusted; one end of the second connecting plate 7 is connected with the output rod 23 of the fourth driving joint 4, and the other end of the second connecting plate 7 is connected with the input rod 25 of the second driving joint 2, so that the step length of the right leg of the wearer can be adjusted.
The whole structure adopts a four-degree-of-freedom design, wherein two driving joints on the left side and the right side of the hip joint assist the flexion/the backward extension of the hip joint of a wearer, and the step length in a sagittal plane is adjusted during walking; the two driving joints at the rear side of the hip joint assist the abduction/adduction of the hip joint of the wearer, and realize the adjustment of the step width in the coronal plane during walking, so that the wearer can control the gait of any direction in the walking trajectory plane.
Compared with the traditional exoskeleton driving joint module, the driving joint is structurally characterized in that the input rod 25 and the output rod 23 are not coaxial, and the flattening of the structure is realized by reducing the axial dimension, so that the interference of a wearer with surrounding objects in the walking process is avoided.
Referring to fig. 2, the donning member includes a leg strap mechanism including a first leg strap assembly and a second leg strap assembly. Wherein first leg bandage subassembly includes first connecting rod 8, first slider 9, first solid fixed ring 10 and first binding block 11, first slider 9 includes first slider an and first slider b, bolted connection is adopted with first connecting rod 8's one end to the output rod 23 of first drive joint 1, first slider an and first slider b cooperate with first connecting rod 8 respectively, and first slider an and first slider b can move along connecting rod length direction and adjust fixed position, the outer disc of the solid fixed ring of first leg is fixed with first slider a, first slider b. For example, the locking of the mechanism is realized by sequentially passing a bolt through a first sliding block a, a first connecting rod 8 and a first fixing ring 10; first solid fixed ring 10 is used for fixing the circumference of wearing person's shank, and first tying up 11 that sets up on first solid fixed ring 10 includes first tying up 11a and first tying up 11b, and bolted connection is adopted with the one end of first solid fixed ring 10 to first tying up 11a, and bolted connection is adopted with the other end of first solid fixed ring 10 to first tying up 11b, passes with flexible bandage between the 11 hole sites of corresponding first tying up, realizes tying up the wearing person's thigh. Similarly, the second leg strap assembly includes a second connecting rod 12, a second sliding member 13, a second fixing ring 14 and a second strap 15, and the specific structure thereof can refer to the description of the first leg strap assembly, and the detailed description of the present invention is omitted here.
Referring to fig. 3 and 4, each driving joint includes a support 16, an input shaft, an output shaft, and a transmission module disposed between the input shaft and the output shaft for transmitting power, the input shaft includes a motor module and a reducer module coaxially disposed on the support 16, the output shaft includes a serial elastic driver 28, a clutch module, and an encoder assembly coaxially disposed on the support 16, an input rod 25 is disposed on one side of the input shaft, an output rod 23 is disposed on one side of the output shaft, and the impact of sudden load on a human joint is reduced by the serial elastic driver 28 and the clutch module.
The design of the driving joints adopts a modularized mode, so that the exoskeleton equipment can be applied to different scenes, and the requirements of different wearers are met, and the exoskeleton equipment assists the wearers to realize normal walking through the arrangement of the positions of the joints.
Referring to fig. 4, the motor module includes a motor 17, the reducer module includes a reducer 20, the clutch module includes a clutch 19, the encoder assembly includes a first encoder 27 and a second encoder 29, and the transmission module includes a first reel 21, a wire rope 26, and a second reel 22. Specifically, the motor 17 is fixed on the support member 16 through bolts, the inner cylindrical surface of the coupling 24 of the motor 17 is connected with the output shaft of the motor 17, the outer end surface of the coupling 24 of the motor 17 is connected with the wave generator of the speed reducer 20, the steel wheel of the speed reducer 20 is fixed on the support member 16 through bolts, the flexible wheel of the speed reducer 20 is connected with the first reel 21, and the inner cylindrical surface of the end cover of the first reel 21 adopts a first bearing to support the speed reducer 20; the steel wire 26 is respectively matched with the outer cylindrical surfaces of the first reel 21 and the second reel 22, so that the torque is transmitted from the motor 17 side to the clutch 19 side; one end of the series elastic driver 28 is connected with the second reel 22 as an input, the other end of the series elastic driver 28 is connected with the shaft 18 of the clutch 19 as an output, a first encoder 27 is placed at the second reel 22 because the input and output ends of the series elastic driver 28 rotate relatively during operation, and the rotation angle of the series elastic driver 28 is measured by the first encoder 27; one end face of the clutch 19 is connected with the shaft 18 of the clutch 19, the other end face is connected with the output rod 23, the clutch 19 is supported on the shaft 18 of the clutch 19 through a third bearing, a second encoder 29 is fixed at the output rod 23, an exciter is installed on the end face of the shaft 18 of the clutch 19, the rotating angle of the clutch 19 in a disconnecting state is detected through the second encoder 29, and the rotating angle of the clutch 19 is measured.
The design method adopting the flexible driving joint can improve the comfort of a wearer in the working process of the exoskeleton driving joint. Specifically, by adding the series elastic driver 28 between the second reel 22 and the clutch 19, structurally, when the motor 17 outputs torque, the series elastic driver 28 generates larger rotation, so that the impact of sudden load on the joints of the human body is reduced, and the discomfort of a wearer is reduced; in the control method, since the output torque of the joint module and the rotation angle of the series elastic driver 28 are in a linear relationship, the control of the output force of the driving joint can be realized by controlling the position of the series elastic driver 28.
The joint module with the clutch 19 is adopted, when a wearer loses balance or is about to be unbalanced, the clutch 19 is electrified and closed, and the torque output by the motor 17 is transmitted to the output rod 23 of the joint to assist the wearer to walk in balance; when the wearer walks normally, the clutch 19 is in a disconnected state, and the joint module is controlled by zero force at the moment, so that the interference of the whole structure to the normal gait is avoided in the walking process of the wearer.
Referring to fig. 5, fig. 5 is a schematic diagram of a control system according to the present invention, which includes a main control chip, a motor driver, a motor 17, a clutch 19, a first encoder 27, a second encoder 29, and a serial elastic driver 28. The main control chip and the power supply system are fixed on the back fixing piece 5, and the first driving joint 1, the second driving joint 2, the third driving joint 3 and the fourth driving joint 4 all comprise a motor driver, a motor 17, a clutch 19, a first encoder 27, a second encoder 29 and a series elastic driver 28. Preferably, the motor 17 is a brushless dc motor 17, the encoder is a magnetic encoder, the main control chip transmits a PWM command to the motor driver, the motor driver controls the rotation of the brushless dc motor 17 through a three-phase line of the motor 17, and the encoder of the brushless dc motor 17 feeds back the position information of the motor 17 to the main control chip through a hall line of the motor 17; meanwhile, on-off signals of the clutch 19 are controlled by an IO port of the motor driver, when the clutch 19 is disconnected, the rotation angle is measured by the first magnetic encoder, and the generated linear voltage is fed back to the main control chip through the ADC; when the driving joint outputs torque, the serial elastic driver 28 generates relative rotation, the rotation angle is measured by the second magnetic encoder, and the linear voltages corresponding to different rotation angles are transmitted to the main control chip through the ADC.
The device is characterized by further comprising an inertia measurement system, wherein the inertia measurement system is fixed at each joint of the lower limbs of the wearer and used for measuring the movement posture of the wearer, and real-time data are transmitted to the main control chip through the IIC interface.
The above design uses a multi-sensor fusion approach to improve the system's state perception and aiding effect on the wearer, including an inertial measurement system, a first encoder 27 for measuring the rotation angle of the tandem elastic actuator 28, and a second encoder 29 for measuring the rotation angle of the clutch 19. The inertial measurement system is used for measuring and predicting the position, speed and acceleration information of the center of mass of the wearer, transmitting the information to the main control unit, and determining the output of the motor 17 through calculation; for the first encoder 27 to detect the wearer's interaction with the exoskeleton driving joints and transmit a voltage signal to the master control unit; for the second encoder 29, when the control system is in a zero-force state, the clutch 19 is in an off state, and at the moment, the second encoder 29 transmits the detected voltage signal to the main control unit, so that the position of the joint output rod 23 is monitored in real time.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the spirit or scope of the invention.
Claims (10)
1. A flexible joint driven hip exoskeleton walker robot comprising a wearing member:
the wearable part comprises a first driving joint arranged on the left side of the human hip joint, a second driving joint arranged on the right side of the human hip joint, a third driving joint arranged on the left rear side of the human hip joint and a fourth driving joint arranged on the right rear side of the human hip joint, the step length in the sagittal plane is adjusted through the first driving joint and the second driving joint, and the step width in the coronal plane is adjusted through the third driving joint and the fourth driving joint;
each driving joint comprises a support piece, an input shaft, an output shaft and a transmission module arranged between the input shaft and the output shaft and used for transmitting power, the input shaft comprises a motor module and a speed reducer module which are coaxially arranged on the support piece, the output shaft comprises a series elastic driver, a clutch module and an encoder assembly which are coaxially arranged on the support piece, and the impact of sudden change load on a human body joint is reduced through the series elastic driver and the clutch module.
2. The flexible joint driven hip exoskeleton walker robot as claimed in claim 1, wherein said wearing member comprises a back mount to which an input of said third driving joint and an input of said fourth driving joint are connected for enabling adjustment of a wearer's left leg step width and right leg step width;
the wearing piece comprises a connecting piece, the connecting piece comprises a first connecting plate and a second connecting plate, the output end of a third driving joint is connected with the input end of a first driving joint through the first connecting plate, and the output end of a fourth driving joint is connected with the input end of a second driving joint through the second connecting plate.
3. The flexible joint driven hip exoskeleton walker robot of claim 1, wherein: the wearing part comprises a leg banding mechanism, the leg banding mechanism comprises:
the first leg strap assembly comprises a first connecting rod, a first sliding part, a first fixing ring and a first strap, the first connecting rod is connected with the output end of the first driving joint, the first connecting rod is provided with a first sliding part which can move along the length direction of the connecting rod to adjust the fixing position, the first sliding part is connected with the first fixing ring, and the first fixing ring is provided with the first strap;
the second leg strap assembly comprises a second connecting rod, a second sliding part, a second fixing ring and a second strap, the second connecting rod is connected with the output end of the second driving joint, the second sliding part capable of moving along the length direction of the connecting rod to adjust the fixing position is arranged on the second connecting rod, the second sliding part is connected with the second fixing ring, and the second strap is arranged on the second fixing ring.
4. The flexible joint driven hip exoskeleton walker robot of claim 1, wherein: the transmission module comprises a first reel, a steel wire rope and a second reel, the steel wire rope is respectively matched and connected with the first reel and the second reel, the first reel is connected with the speed reducer module, and the speed reducer module is connected with the motor module; the second reel is connected to the series elastic actuator, which is connected to the clutch module.
5. The flexible joint driven hip exoskeleton walker robot of claim 1, wherein: the encoder assembly comprises a first encoder and a second encoder, the first encoder is arranged at the position of the serial elastic driver, and the rotation angle of the serial elastic driver is detected through the first encoder; the second encoder is arranged at the position of the clutch module, and the rotation angle of the clutch module is detected through the second encoder.
6. The flexible joint driven hip exoskeleton walker robot of claim 1, wherein: the back plate fixing piece is characterized by further comprising a control system and a power supply system, wherein the control system and the power supply system are arranged on the back plate fixing piece.
7. The flexible joint driven hip exoskeleton walker robot of claim 1, wherein: the motor module comprises a motor and a motor driver, an encoder of the motor is connected with the control system, the motor is connected with the motor driver, and the motor driver is connected with the control system and the clutch module.
8. The flexible joint driven hip exoskeleton walker robot of claim 1, wherein: the series elastic driver is connected with a first encoder, the first encoder is connected with the control system, and the first encoder is used for detecting a rotation angle of the series elastic driver during rotation and transmitting the rotation angle to the control system through the first encoder.
9. The flexible joint driven hip exoskeleton walker robot of claim 1, wherein: the clutch module is connected with a second encoder, the second encoder is connected with the control system, and the second encoder is used for detecting the rotation angle of the clutch module and transmitting the rotation angle to the control system through the second encoder.
10. The flexible joint driven hip exoskeleton walker robot of claim 1, wherein: the device also comprises an inertia measurement system, wherein the inertia measurement system is arranged at each joint of the lower limb of the wearer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110322017.9A CN113070866A (en) | 2021-03-25 | 2021-03-25 | Hip exoskeleton walking-aid robot driven by flexible joints |
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| CN202110322017.9A CN113070866A (en) | 2021-03-25 | 2021-03-25 | Hip exoskeleton walking-aid robot driven by flexible joints |
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| CN113070866A true CN113070866A (en) | 2021-07-06 |
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| WO2024011836A1 (en) * | 2022-07-14 | 2024-01-18 | 深圳先进技术研究院 | Lower limb exoskeleton for lateral walking rehabilitation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114224689A (en) * | 2021-12-20 | 2022-03-25 | 广州中医药大学(广州中医药研究院) | Lower limb rehabilitation exoskeleton device and control method thereof |
| WO2024011836A1 (en) * | 2022-07-14 | 2024-01-18 | 深圳先进技术研究院 | Lower limb exoskeleton for lateral walking rehabilitation |
| WO2024029999A1 (en) * | 2022-08-05 | 2024-02-08 | 한국교통대학교산학협력단 | Power transmission device |
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Application publication date: 20210706 |