CN113143698A - Lower limb exoskeleton with waist correction function - Google Patents
Lower limb exoskeleton with waist correction function Download PDFInfo
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- CN113143698A CN113143698A CN202110590290.XA CN202110590290A CN113143698A CN 113143698 A CN113143698 A CN 113143698A CN 202110590290 A CN202110590290 A CN 202110590290A CN 113143698 A CN113143698 A CN 113143698A
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Abstract
The invention discloses a lower limb exoskeleton with waist correction, which comprises: the waist orthopedic component, the hip joint component movably connected to the waist orthopedic component, the pair of chiral thigh components movably connected to the hip joint component, the pair of chiral shank components fixed on the pair of chiral thigh components and the pair of chiral ankle joint components fixed on the pair of chiral shank components; the chiral thigh assembly comprises a hip internal and external rotation assembly, a thigh flexion and extension structure fixedly connected with the hip internal and external rotation assembly, a driving module fixedly connected with the thigh flexion and extension structure, and a thigh exoskeleton shell structure used for wrapping the thigh flexion and extension structure and the driving module. According to the invention, the module with symmetrical structural design, easy-to-disassemble structure and easy-to-replace can better adapt to the statures of different users and the requirements of correction training. The individuation of the equipment can be effectively improved, and the requirements of users can be better met.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a lower limb exoskeleton with waist correction function.
Background
The elderly people suffer from daily activities due to aging of body functions and hypofunction of lower limbs, and the elderly people suffer from walking disorder caused by diseases such as hemiplegia and apoplexy, so governments and families face severe medical pressure. In addition to the elderly, other diseases such as spinal cord injury, cerebral palsy, etc. can also lead to lower limb dysfunction in patients. Therefore, the lower limb rehabilitation requirement is huge, the lower limb rehabilitation training of patients by rehabilitation robots such as lower limb exoskeleton and the like is realized, and the supply and demand gaps are still large. However, most of the existing lower limb exoskeletons are supported by crutches to keep balance, and part of the existing lower limb exoskeletons can make the body of a patient difficult to keep upright during walking, thus being not beneficial to rehabilitation training.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the lower limb exoskeleton with waist correction, which has a symmetrical structural design, a structure which is easy to disassemble and a module which is easy to replace, and can better adapt to the statures of different users and the requirements of correction training. The individuation of the equipment can be effectively improved, and the requirements of users can be better met. To achieve the above objects and other advantages in accordance with the present invention, there is provided a lower extremity exoskeleton with lumbar orthosis, comprising:
the waist orthopedic component, the hip joint component movably connected to the waist orthopedic component, the pair of chiral thigh components movably connected to the hip joint component, the pair of chiral shank components fixed on the pair of chiral thigh components and the pair of chiral ankle joint components fixed on the pair of chiral shank components;
the chiral thigh assembly comprises a hip internal and external rotation assembly, a thigh flexion and extension structure fixedly connected with the hip internal and external rotation assembly, a driving module fixedly connected with the thigh flexion and extension structure, and a thigh exoskeleton shell structure used for wrapping the thigh flexion and extension structure and the driving module.
Preferably, the hip internal-external rotation assembly comprises a hip joint internal-external rotation connecting piece fixed with the hip joint assembly through a hip joint internal contraction and external expansion fixing screw, a hip joint internal-external rotation fixing piece penetrating through the hip joint internal-external rotation connecting piece and a hip joint flexion-extension limiting block fixed with the hip joint internal-external rotation fixing piece through a hip joint internal-external rotation fixing screw.
Preferably, the thigh bending and stretching structure comprises a thigh-imitating rotating shaft matched with the hip joint bending and stretching limiting block, hip limiting block inner gaskets arranged on two opposite sides of the thigh-imitating rotating shaft, a thigh-imitating rotating shaft adjusting piece arranged at the lower end part of the thigh-imitating rotating shaft for height adjustment, and a bearing embedded in the thigh-imitating rotating shaft.
Preferably, thigh ectoskeleton shell structure includes the thigh cushion, wraps up the thigh bandage on the thigh cushion, the inboard protective housing of thigh structure on fixed connection thigh bandage, with the inboard protective housing interference fit's of thigh structure outside protective housing, the inboard protective housing of thigh structure fixed connection is in the inside gasket of hip stopper.
Preferably, the driving module comprises a reducer output outer shaft matched with the imitated thigh rotating shaft key, a driving module fixing flange connected with the hip joint bending and extending limiting block through a bolt, a motor sleeved with the reducer output outer shaft, a motor output shaft fixing part tightly matched with an output shaft of the motor in a radial direction, a reducer fixedly connected with the motor output shaft fixing part, and a reducer outer fixing flange fixedly connected with the motor.
Preferably, the chiral shank component comprises a shank flexion and extension structure fixedly connected with the thigh-like rotation shaft adjusting part, a first driving module fixedly connected with the shank flexion and extension structure, and a shank exoskeleton shell structure used for wrapping the shank flexion and extension structure and the first driving module, and the chiral shank component and the chiral thigh component (3) are identical in structure.
Preferably, the hip joint assembly comprises a lumbosacral rotating part telescopically connected with the lumbar orthopedic assembly, a hip adjusting track movably connected with the lumbosacral rotating part, a hip limiting block fixedly connected with the hip adjusting track, a hip width adjusting assembly slidably arranged in the hip adjusting track, a pair of chiral hip adduction and abduction connecting pieces fixedly connected on two sides of the hip width adjusting assembly, and a pair of hip joint assembly sealing covers in interference fit with the hip adjusting track and the hip limiting block, and the hip joint assembly sealing covers are matched with spools.
Preferably, the hip width adjusting assembly comprises a hip adjusting track, a hip limiting block forming a sliding track with the hip adjusting track, a hip adjusting slider slidably arranged on the hip adjusting track, an adduction and abduction limiting block for covering the hip adjusting track, a hip joint adduction and abduction connecting piece fixedly connected with the adduction and abduction limiting block through a fixing screw, a hip adjusting slider and a hip pad fixedly connected with the hip joint adduction and abduction connecting piece through a hip fastening nut in sequence along the horizontal direction, and a pair of elastic fixing assemblies clamped on two sides of the hip adjusting slider, wherein the elastic fixing assemblies are adjusted through the hip fastening screws to be tightly attached to the hip adjusting track, and the adduction and abduction limiting block is covered through an adjusting assembly cover.
Compared with the prior art, the invention has the beneficial effects that: the angle change of each joint of the lower limb can adapt to the normal gait of the human body, wherein the angle change comprises hip joint adduction and abduction, internal rotation and external rotation, flexion and extension angles, knee joint flexion and extension angles and passive assistance of ankle joints; when the hip joint adduction abduction or internal and external rotation movement angle requirement is greatly changed, adduction and abduction limiting blocks or hip internal and external rotation assemblies with other limiting angles can be replaced; when the lengths of thighs and shanks are changed greatly, the rotating shaft adjusting pieces of the imitated big (small) legs with other lengths can be replaced; and adjusting other sizes in the same way.
The size of the device is adjustable to adapt to people of different statures, so that the adaptability of the device to human bodies is improved; the modularized design can be detached and replaced at any time, different requirements of single-leg or double-leg training and the like can be met, the utilization rate of equipment can be effectively improved, and therefore cost is reduced.
Drawings
FIG. 1 is a schematic three-dimensional representation of a lower extremity exoskeleton having lumbar orthosis according to the present invention;
FIG. 2 is a schematic illustration of a lumbar orthotic assembly for a lower extremity exoskeleton having lumbar orthotic in accordance with the present invention;
FIG. 3 is a schematic illustration of a hip joint assembly for a lower extremity exoskeleton having lumbar orthosis according to the present invention;
FIG. 4 is an exploded view of the left assembly of the hip joint of the lower extremity exoskeleton with lumbar orthosis according to the present invention;
FIG. 5 is a schematic diagram of a left thigh assembly of a lower extremity exoskeleton having lumbar orthosis in accordance with the present invention;
FIG. 6 is a schematic diagram of an exploded configuration of a left thigh assembly of a lower extremity exoskeleton having lumbar orthosis in accordance with the present invention;
FIG. 7 is a schematic diagram of a drive module for a lower extremity exoskeleton having a lumbar orthotic lower extremity exoskeleton according to the present invention;
FIG. 8 is a schematic illustration of a left calf assembly of a lower extremity exoskeleton having a lumbar orthotic lower extremity exoskeleton according to the present invention; .
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, a lower extremity exoskeleton with lumbar orthosis comprising: the waist orthopedic component comprises a waist orthopedic component 1, a hip joint component 2 movably connected to the waist orthopedic component 1, a pair of chiral thigh components 3 movably connected to the hip joint component 2, a pair of chiral shank components 4 fixed on the pair of chiral thigh components 3, and a pair of chiral ankle joint components 5 fixed on the pair of chiral shank components 4; the chiral thigh component 3 comprises a hip internal and external rotation component 30, a thigh flexion and extension structure 31 fixedly connected with the hip internal and external rotation component 30, a drive module 33 fixedly connected with the thigh flexion and extension structure 31, and a thigh exoskeleton casing structure 32 for wrapping the thigh flexion and extension structure 31 and the drive module 33, and the waist orthopedic component 1 comprises a pair of waist adjusting rails 11 fixed on a waist and back fixing rod 10 through a waist and back fixing piece 12 and fastened by using a waist fastening nut 13; four lumbar supports 15 are fixed at the heads of the four adjusting sliders 14 to form two pairs of annular support bars for supporting the waist of a user; the tail part of the adjusting slide block 14 is embedded in an inner track of the waist adjusting rail 11, is adjusted to a proper position and is fixed through a waist fixing screw 19; two sides of two pairs of annular supporting strips formed by the four lumbar supports 15 are respectively provided with a pair of height adjusting pieces 17 and a height fixing piece 18, the distance between the two pairs of annular supporting strips can be adjusted, and then the two pairs of annular supporting strips are fastened by screws; the two lumbar mounts 16 may be inserted into the through holes at the front ends of the loop support bars, respectively, as required, for stable support, or may not be used.
Further, the hip internal-external rotation assembly 30 includes a hip joint internal-external rotation connector 301 fixed with the hip joint assembly 2 by a hip joint internal-contraction external-expansion fixing screw 303, a hip joint internal-external rotation fixing piece 302 penetrating through the hip joint internal-external rotation connector 301, and a hip joint flexion and extension limiting block 311 fixed with the hip joint internal-external rotation fixing piece 302 by a hip joint internal-external rotation fixing screw 304, and the hip joint internal-external rotation fixing screw 304 and the hip joint flexion and extension limiting block 311 are used for realizing fixed matching, so that the internal-external rotation angle of the hip joint can be adjusted and fixed, and the orthopedic function is realized.
Further, the thigh flexion-extension structure 31 includes a simulated thigh rotating shaft 313 matched with the hip flexion-extension limiting block 311, hip limiting block inner pads 312 disposed on two opposite sides of the simulated thigh rotating shaft 313, a simulated thigh rotating shaft adjusting piece 315 disposed at a lower end of the simulated thigh rotating shaft 313 for height adjustment, and a bearing 314 embedded in the simulated thigh rotating shaft 313.
Further, the thigh exoskeleton shell structure 32 includes a thigh cushion 322, a thigh strap 321 wrapped on the thigh cushion 322, a thigh structure inner side protective shell 323 fixedly connected to the thigh strap 321, and a thigh structure outer side protective shell 324 in interference fit with the thigh structure inner side protective shell 323, wherein the thigh structure inner side protective shell 323 is fixedly connected to the hip stopper inner pad 312.
Further, the driving module 33 includes a speed reducer output outer shaft 331 key-fitted with the thigh-like rotation shaft 313, a driving module fixing flange 332 connected with the hip joint flexion-extension limiting block 311 through a bolt, a motor 336 sleeved with the speed reducer output outer shaft 331, a motor output shaft fixing member 335 radially and tightly fitted with an output shaft of the motor 336, a speed reducer 333 fixedly connected with the motor output shaft fixing member 335, and a speed reducer outer fixing flange 334 fixedly connected with the motor 336.
Further, the chiral lower leg assembly 4 includes a lower leg flexion and extension structure 41 fixedly connected to the imitated thigh rotation axis adjusting part 315, a first driving module 43 fixedly connected to the lower leg flexion and extension structure 41, and a lower leg exoskeleton casing structure 42 for wrapping the lower leg flexion and extension structure 41 and the first driving module 43, the chiral lower leg assembly 4 and the chiral thigh assembly 3 have the same structure, and the chiral lower leg assembly 4 is designed in front of the knee joint flexion and extension limiting block 411.
Further, the hip joint component 2 comprises a lumbosacral rotation component 21 telescopically connected with the lumbar orthopedic component 1, a hip adjusting track 22 movably connected with the lumbosacral rotation component 21, a hip stopper 23 fixedly connected with the hip adjusting track 22, a hip width adjusting component 24 slidably arranged in the hip adjusting track 22, a pair of chiral hip adduction and abduction connecting components 25 fixedly connected on two sides of the hip width adjusting component 24 and a pair of hip joint component covers 26 in interference fit with the hip adjusting track 22 and the hip stopper 23, the lumbodorsal fixed rod 10 uses the lumbosacral rotation component 21 matched with bolts to adjust the distance between the waist, the hip adjusting track 22 is matched with the lumbosacral rotation component 21 through bolts, the hip adjusting track 22 can rotate left and right for a certain angle compared with the lumbosacral rotation component 21 according to the angle of the groove, the pair of hip width adjusting components (24) realize inward and outward sliding on the hip adjusting track 22, the hip joint component cover 26 is matched with a bobbin 27 for line arrangement, the hip width adjusting component 24 includes a hip adjusting rail 22, a hip stopper 23 forming a sliding rail with the hip adjusting rail 22, a hip adjusting slider 242 slidably disposed on the hip adjusting rail 22, an adduction and abduction stopper 240 for covering the hip adjusting rail 22, a hip joint adduction and abduction connecting component 25 fixedly connected with the adduction and abduction stopper 240 through a fixing screw 241, a hip adjusting slider 242 and a hip pad 243 fixedly connected with the hip joint adduction and abduction connecting component 25 in sequence along the horizontal direction through a hip fastening nut 244, and a pair of elastic fixing components 245 clamped at two sides of the hip adjusting slider 242, the elastic fixing components 245 are adjusted through hip fastening screws 247 and two pairs of hip fastening screws 247 to realize tight fit with the inner side of the rail and the hip adjusting rail 22, the adduction-abduction stop 240 is covered by an adjustment assembly cover 246.
The number of devices and the scale of the processes described herein are intended to simplify the description of the invention, and applications, modifications and variations of the invention will be apparent to those skilled in the art.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (8)
1. A lower extremity exoskeleton having lumbar orthosis comprising:
the waist orthopedic component (1), the hip joint component (2) movably connected to the waist orthopedic component (1), the pair of chiral thigh components (3) movably connected to the hip joint component (2), the pair of chiral shank components (4) fixed on the pair of chiral thigh components (3) and the pair of chiral ankle joint components (5) fixed on the pair of chiral shank components (4);
the chiral thigh component (3) comprises a hip internal and external rotation component (30), a thigh flexion and extension structure (31) fixedly connected with the hip internal and external rotation component (30), a driving module (33) fixedly connected with the thigh flexion and extension structure (31), and a thigh exoskeleton shell structure (32) used for wrapping the thigh flexion and extension structure (31) and the driving module (33).
2. The lower extremity exoskeleton of claim 1 where said hip internal and external rotation assembly (30) comprises a hip internal and external rotation connection (301) fixed to said hip joint assembly (2) by hip internal and external rotation screws (303), a hip internal and external rotation fixing piece (302) passing through said hip internal and external rotation connection (301), and a hip flexion and extension limiting block (311) fixed to said hip internal and external rotation fixing piece (302) by hip internal and external rotation fixing screws (304).
3. The lower extremity exoskeleton of claim 1, wherein said thigh flexion and extension structure (31) comprises a simulated thigh rotation axis (313) matching with the hip flexion and extension limiting block (311), hip limiting block internal pads (312) disposed on two opposite sides of said simulated thigh rotation axis (313), a height-adjustable simulated thigh rotation axis adjusting piece (315) disposed at the lower end of said simulated thigh rotation axis (313), and a bearing (314) embedded in the simulated thigh rotation axis (313).
4. The lower extremity exoskeleton of claim 1 with lumbar orthosis, wherein the thigh exoskeleton shell structure (32) comprises a thigh cushion (322), a thigh strap (321) wrapped around the thigh cushion (322), a thigh structure inner protective shell (323) fixedly connected to the thigh strap (321), and a thigh structure outer protective shell (324) in interference fit with the thigh structure inner protective shell (323), wherein the thigh structure inner protective shell (323) is fixedly connected to the hip stopper inner pad (312).
5. The lower limb exoskeleton of claim 1, wherein the drive module (33) comprises a reducer output outer shaft (331) in key fit with the imitated thigh rotating shaft (313), a drive module fixing flange (332) in bolt connection with the hip joint flexion and extension limiting block (311), a motor (336) sleeved with the reducer output outer shaft (331), a motor output shaft fixing member (335) in radial tight fit with an output shaft of the motor (336), a reducer (333) fixedly connected with the motor output shaft fixing member (335), and a reducer outer fixing flange (334) fixedly connected with the motor (336).
6. The lower extremity exoskeleton of claim 1, wherein said chiral lower leg assembly (4) comprises a lower leg flexion and extension structure (41) fixed to the imitated thigh rotation axis adjusting member (315), a first driving module (43) fixed to the lower leg flexion and extension structure (41), and a lower leg exoskeleton shell structure (42) for wrapping the lower leg flexion and extension structure (41) and the first driving module (43), and the chiral lower leg assembly (4) and the chiral thigh assembly (3) have the same structure.
7. The lower extremity exoskeleton of claim 1 where said hip joint assembly (2) comprises a lumbosacral rotation member (21) telescopically coupled to the lumbar orthosis assembly (1), a hip adjustment track (22) movably coupled to said lumbosacral rotation member (21), a hip stop block (23) fixedly coupled to said hip adjustment track (22), a hip width adjustment assembly (24) slidably disposed within the hip adjustment track (22), a pair of chiral hip adduction and abduction connectors (25) fixedly coupled to either side of the hip width adjustment assembly (24), and a pair of hip joint assembly covers (26) interferingly coupled to said hip adjustment track (22) and hip stop block (23), said hip joint assembly covers (26) having respective axes (27).
8. The lower extremity exoskeleton of claim 7 with lumbar orthosis, wherein the hip width adjustment assembly (24) includes a hip adjustment rail (22), a hip stopper (23) forming a sliding rail with the hip adjustment rail (22), a hip adjustment slider (242) slidably disposed on the hip adjustment rail (22), an adduction and abduction stopper (240) covering the hip adjustment rail (22), a hip adduction and abduction connector (25) fixedly connected to the adduction and abduction stopper (240) by a set screw (241), a hip adjustment slider (242) and a hip pad (243) fixedly connected to the hip adduction and abduction connector (25) in turn in a horizontal direction by a hip tightening nut (244), and a pair of elastic fixing assemblies (245) fastened to both sides of the hip adjustment slider (242), wherein the elastic fixing assemblies (245) are adjusted by a hip tightening screw (247) and adjusted to the hip adjustment rail (247) 22) Tightly attached, and the inward-closing outward-extending limiting block (240) is covered by an adjusting component sealing cover (246).
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| CN202110590290.XA CN113143698B (en) | 2021-05-28 | 2021-05-28 | Lower limb exoskeleton with waist correction function |
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| CN114028176A (en) * | 2021-12-16 | 2022-02-11 | 青岛科技大学 | Multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism |
| CN114392139A (en) * | 2022-01-19 | 2022-04-26 | 上海理工大学 | Lower limb exoskeleton rehabilitation robot for children with cerebral palsy |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114028176A (en) * | 2021-12-16 | 2022-02-11 | 青岛科技大学 | Multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism |
| CN114392139A (en) * | 2022-01-19 | 2022-04-26 | 上海理工大学 | Lower limb exoskeleton rehabilitation robot for children with cerebral palsy |
| CN114392139B (en) * | 2022-01-19 | 2023-05-09 | 上海理工大学 | Lower limb exoskeleton rehabilitation robot for cerebral palsy children |
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| CN113143698B (en) | 2023-03-07 |
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