CN113146583B - 一种基于气动肌肉的仿生机器人 - Google Patents
一种基于气动肌肉的仿生机器人 Download PDFInfo
- Publication number
- CN113146583B CN113146583B CN202110459534.0A CN202110459534A CN113146583B CN 113146583 B CN113146583 B CN 113146583B CN 202110459534 A CN202110459534 A CN 202110459534A CN 113146583 B CN113146583 B CN 113146583B
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- Prior art keywords
- muscle
- pneumatic
- joint
- pneumatic muscle
- connecting plate
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 857
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 27
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 131
- 210000000689 upper leg Anatomy 0.000 claims abstract description 106
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 96
- 210000000629 knee joint Anatomy 0.000 claims abstract description 76
- 210000004197 pelvis Anatomy 0.000 claims abstract description 50
- 210000001562 sternum Anatomy 0.000 claims abstract description 50
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 50
- 210000002082 fibula Anatomy 0.000 claims abstract description 30
- 210000001364 upper extremity Anatomy 0.000 claims description 89
- 210000003127 knee Anatomy 0.000 claims description 50
- 210000003141 lower extremity Anatomy 0.000 claims description 36
- 244000309466 calf Species 0.000 claims description 33
- 210000001624 hip Anatomy 0.000 claims description 28
- 210000002683 foot Anatomy 0.000 claims description 18
- 230000003592 biomimetic effect Effects 0.000 claims description 8
- 210000001699 lower leg Anatomy 0.000 claims description 8
- 210000000078 claw Anatomy 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 240000004282 Grewia occidentalis Species 0.000 claims 6
- 230000008878 coupling Effects 0.000 claims 6
- 238000010168 coupling process Methods 0.000 claims 6
- 238000005859 coupling reaction Methods 0.000 claims 6
- 210000000614 rib Anatomy 0.000 abstract description 80
- 230000033001 locomotion Effects 0.000 abstract description 12
- 230000003042 antagnostic effect Effects 0.000 abstract description 7
- 210000001503 joint Anatomy 0.000 abstract description 7
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract description 3
- 210000004394 hip joint Anatomy 0.000 abstract description 3
- 238000003745 diagnosis Methods 0.000 abstract description 2
- 238000012549 training Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 102000016776 Midkine Human genes 0.000 description 8
- 108010092801 Midkine Proteins 0.000 description 8
- 210000000707 wrist Anatomy 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 229930184765 longusone Natural products 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000025712 muscle attachment Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN202110459534.0A CN113146583B (zh) | 2021-04-27 | 2021-04-27 | 一种基于气动肌肉的仿生机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110459534.0A CN113146583B (zh) | 2021-04-27 | 2021-04-27 | 一种基于气动肌肉的仿生机器人 |
Publications (2)
Publication Number | Publication Date |
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CN113146583A CN113146583A (zh) | 2021-07-23 |
CN113146583B true CN113146583B (zh) | 2023-05-02 |
Family
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Family Applications (1)
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CN202110459534.0A Active CN113146583B (zh) | 2021-04-27 | 2021-04-27 | 一种基于气动肌肉的仿生机器人 |
Country Status (1)
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CN (1) | CN113146583B (zh) |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5906506B1 (ja) * | 2014-09-12 | 2016-04-20 | 株式会社国際電気通信基礎技術研究所 | アクチュエータ装置、パワーアシストロボットおよびヒューマノイドロボット |
CN104589310B (zh) * | 2014-12-29 | 2016-08-24 | 浙江理工大学 | 一种基于气动人工肌肉的自适应多自由度仿人机械手 |
CN107309901B (zh) * | 2017-06-23 | 2019-11-15 | 嘉兴学院 | 基于气动肌肉仿人脖子 |
CN110682305B (zh) * | 2019-10-18 | 2020-06-09 | 嘉兴学院 | 一种仿人型机器人系统 |
CN111546326B (zh) * | 2020-05-22 | 2021-03-09 | 嘉兴学院 | 一种基于气缸与气动肌肉仿人机器人系统 |
CN111618881B (zh) * | 2020-06-12 | 2021-03-16 | 嘉兴学院 | 一种基于气动的仿人机器人系统 |
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2021
- 2021-04-27 CN CN202110459534.0A patent/CN113146583B/zh active Active
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CN113146583A (zh) | 2021-07-23 |
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CB02 | Change of applicant information |
Address after: 314000 2 building, Photovoltaic Science Park, 1288 Kang He road, Xiuzhou District, Jiaxing, Zhejiang. Applicant after: JIAXING University Address before: 314000 No. 56 South Yuexiu Road, Nanhu District, Zhejiang, Jiaxing Applicant before: JIAXING University |
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GR01 | Patent grant | ||
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TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240513 Address after: 230000 Room 203, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Hefei Jiuzhou Longteng scientific and technological achievement transformation Co.,Ltd. Country or region after: China Address before: 314000 2 building, Photovoltaic Science Park, 1288 Kang He road, Xiuzhou District, Jiaxing, Zhejiang. Patentee before: JIAXING University Country or region before: China |
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TR01 | Transfer of patent right |
Effective date of registration: 20240523 Address after: Room 218, No. 14 Longlin West Street, Tianhe District, Guangzhou City, Guangdong Province, 510000 Patentee after: Guangzhou Haoruitai Information Technology Co.,Ltd. Country or region after: China Address before: 230000 Room 203, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Hefei Jiuzhou Longteng scientific and technological achievement transformation Co.,Ltd. Country or region before: China |
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PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A Biomimetic Robot Based on Pneumatic Muscles Granted publication date: 20230502 Pledgee: China Co. truction Bank Corp Guangzhou Tianhe subbranch Pledgor: Guangzhou Haoruitai Information Technology Co.,Ltd. Registration number: Y2024980024535 |