CN113520786A - Wearable lower limb exoskeleton auxiliary walking robot - Google Patents
Wearable lower limb exoskeleton auxiliary walking robot Download PDFInfo
- Publication number
- CN113520786A CN113520786A CN202110647629.5A CN202110647629A CN113520786A CN 113520786 A CN113520786 A CN 113520786A CN 202110647629 A CN202110647629 A CN 202110647629A CN 113520786 A CN113520786 A CN 113520786A
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- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 30
- 238000012549 training Methods 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 238000004146 energy storage Methods 0.000 claims abstract description 18
- 230000007704 transition Effects 0.000 claims abstract description 13
- 210000002683 foot Anatomy 0.000 claims abstract description 7
- 210000004394 hip joint Anatomy 0.000 claims description 24
- 210000000629 knee joint Anatomy 0.000 claims description 23
- 210000002414 leg Anatomy 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims description 2
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Images
Classifications
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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
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- A—HUMAN NECESSITIES
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- 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
- A61H1/024—Knee
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- 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
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- 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 together 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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- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A63B2220/00—Measuring of physical parameters relating to sporting activity
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/70—Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions
- A63B2220/72—Temperature
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Pain & Pain Management (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Biophysics (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN202110647629.5A CN113520786B (en) | 2021-06-10 | 2021-06-10 | Wearable lower limb exoskeleton auxiliary walking robot |
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CN202110647629.5A CN113520786B (en) | 2021-06-10 | 2021-06-10 | Wearable lower limb exoskeleton auxiliary walking robot |
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Publication Number | Publication Date |
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CN113520786A true CN113520786A (en) | 2021-10-22 |
CN113520786B CN113520786B (en) | 2022-09-13 |
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CN202110647629.5A Active CN113520786B (en) | 2021-06-10 | 2021-06-10 | Wearable lower limb exoskeleton auxiliary walking robot |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI812486B (en) * | 2022-09-23 | 2023-08-11 | 國家中山科學研究院 | Variable resistance force adjustment device |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
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CN105599822A (en) * | 2016-02-06 | 2016-05-25 | 武汉大学 | Under-actuated biped walking robot based on flexible drivers |
CN105662780A (en) * | 2016-01-12 | 2016-06-15 | 武汉理工大学 | Lower limb powered shape righting device |
CN105666476A (en) * | 2016-04-14 | 2016-06-15 | 哈尔滨工业大学 | Flexible drive structure for external skeleton robot |
CN106914920A (en) * | 2017-03-30 | 2017-07-04 | 南京工程学院 | Towards the variation rigidity flexible actuator of lower limb ankle-joint exoskeleton robot |
US20170252254A1 (en) * | 2014-09-10 | 2017-09-07 | UPROBOTS S. de R.I. de C.V. | Adjustable mechanical exoskeleton, for a biped animal with impaired bone and muscle |
CN107773384A (en) * | 2017-11-02 | 2018-03-09 | 武汉大学 | A kind of variation rigidity lower limb exoskeleton robot |
CN109172289A (en) * | 2018-10-16 | 2019-01-11 | 合肥工业大学 | Hip joint healing ectoskeleton and its motion control method based on multifunction drive |
US20200281745A1 (en) * | 2019-01-14 | 2020-09-10 | Northeastern University | Lower limb exoskeleton system having jump-down cushioning function and use method thereof |
CN111991767A (en) * | 2020-09-07 | 2020-11-27 | 李银玲 | Multifunctional lower limb rehabilitation training device |
CN112168609A (en) * | 2020-09-29 | 2021-01-05 | 重庆智领医创科技成果转化服务有限责任公司 | Exoskeleton driven by motor |
-
2021
- 2021-06-10 CN CN202110647629.5A patent/CN113520786B/en active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20170252254A1 (en) * | 2014-09-10 | 2017-09-07 | UPROBOTS S. de R.I. de C.V. | Adjustable mechanical exoskeleton, for a biped animal with impaired bone and muscle |
CN105662780A (en) * | 2016-01-12 | 2016-06-15 | 武汉理工大学 | Lower limb powered shape righting device |
CN105599822A (en) * | 2016-02-06 | 2016-05-25 | 武汉大学 | Under-actuated biped walking robot based on flexible drivers |
CN105666476A (en) * | 2016-04-14 | 2016-06-15 | 哈尔滨工业大学 | Flexible drive structure for external skeleton robot |
CN106914920A (en) * | 2017-03-30 | 2017-07-04 | 南京工程学院 | Towards the variation rigidity flexible actuator of lower limb ankle-joint exoskeleton robot |
CN107773384A (en) * | 2017-11-02 | 2018-03-09 | 武汉大学 | A kind of variation rigidity lower limb exoskeleton robot |
CN109172289A (en) * | 2018-10-16 | 2019-01-11 | 合肥工业大学 | Hip joint healing ectoskeleton and its motion control method based on multifunction drive |
US20200281745A1 (en) * | 2019-01-14 | 2020-09-10 | Northeastern University | Lower limb exoskeleton system having jump-down cushioning function and use method thereof |
CN111991767A (en) * | 2020-09-07 | 2020-11-27 | 李银玲 | Multifunctional lower limb rehabilitation training device |
CN112168609A (en) * | 2020-09-29 | 2021-01-05 | 重庆智领医创科技成果转化服务有限责任公司 | Exoskeleton driven by motor |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI812486B (en) * | 2022-09-23 | 2023-08-11 | 國家中山科學研究院 | Variable resistance force adjustment device |
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Inventor after: Wang Hongbo Inventor after: Liu Wenjie Inventor after: Liu Changxi Inventor after: Ning Yuansheng Inventor after: Tian Junjie Inventor after: Yao Michenyang Inventor after: Wei Jian Inventor after: Zhu Pan Inventor before: Wang Hongbo Inventor before: Liu Wenjie Inventor before: Liu Changxi Inventor before: Ning Yuansheng Inventor before: Tian Junjie Inventor before: Yao Michenyang Inventor before: Wei Jian Inventor before: Zhu Pan |
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