CN113715001A - Wearable exoskeleton with cooling function - Google Patents
Wearable exoskeleton with cooling function Download PDFInfo
- Publication number
- CN113715001A CN113715001A CN202111030953.9A CN202111030953A CN113715001A CN 113715001 A CN113715001 A CN 113715001A CN 202111030953 A CN202111030953 A CN 202111030953A CN 113715001 A CN113715001 A CN 113715001A
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- cooling
- water
- exoskeleton
- bag
- spring
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Thermotherapy And Cooling Therapy Devices (AREA)
Abstract
The invention relates to the technical field of exoskeletons, in particular to a wearable exoskeletons with cooling function. Including wearing the structure, it includes the braces to wear the structure, there is the cooling bag braces below, there is the waistband cooling bag below, it has the ectoskeleton structure to wear structure one side, the ectoskeleton structure includes the bionic bone of a plurality of, there is the slot on the bionic bone, there is the connector in the slot, there are two spring grooves on the bionic bone, there is the spring in the spring groove, there are two cylinder poles on the connector, first section bionic bone both sides all have connecting rod one, fourth section bionic bone both sides all have connecting rod two, connecting rod one end has the shoulder pad, there is the bustle below the bionic bone, the bionic bone both sides all have connecting rod three, the bustle both sides all have the connecting rod, connecting rod one end has the leg loop, there are two clamp rings on one side of the bustle, there is cooling arrangement in two clamp rings. The wearable exoskeleton with cooling function does not need external power driving, is convenient to wear, and is provided with the cooling system.
Description
Technical Field
The invention relates to the technical field of exoskeletons, in particular to a wearable exoskeletons with cooling function.
Background
The definition of exoskeleton comes from animals, i.e. the outer skeleton, which is used to support and protect animals, as opposed to human beings, which are "endoskeleton" organisms. Therefore, the exoskeleton robot generally refers to wearable electromechanical devices capable of enhancing human abilities, and certainly includes wearable devices capable of helping recovery of disabled people, the exoskeleton of the prior art generally needs additional power, is high in power consumption and high in price, is not suitable for civil popularization, is inconvenient to wear, is heavy in clothes, and is easy for a wearer to sweat, and is also an urgent problem to be solved in the field of exoskeleton.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a wearable exoskeleton with cooling function, which is driven by no external power, is convenient to wear and is provided with a cooling system.
The invention provides a wearable exoskeleton with cooling, which is characterized in that: the artificial bone comprises a wearing structure, the wearing structure comprises straps, cooling bags are arranged below the straps, waistbands are arranged below the cooling bags, an exoskeleton structure is arranged on one side of the wearing structure, the exoskeleton structure comprises a plurality of artificial bones, slots are formed in the artificial bones, connectors are arranged in the slots, two spring slots are formed in the artificial bones, springs are arranged in the spring slots, two cylindrical rods are arranged on the connectors, a first connecting rod I is arranged on each of two sides of a first section of the artificial bones, a second connecting rod II is arranged on each of two sides of a fourth section of the artificial bones, shoulders are arranged at one end of each connecting rod, a waist ring is arranged below the artificial bones, a third connecting rod is arranged on each of two sides of the artificial bones, connecting rods are arranged on each of two sides of the waist ring, a leg ring is arranged at one end of each connecting rod, two clamping rings are arranged on one side of the waist ring, and cooling equipment is arranged in the two clamping rings, the cooling equipment comprises a heat exchanger, a water pump is arranged above the heat exchanger, a water inlet pipe is arranged on one side of the water pump, a water pumping pipe is arranged above the water pump, a water outlet pipe is arranged on one side, located on the water pump, of the heat exchanger, a water bag is arranged at one end of the water outlet pipe, and a coolant bag is arranged on one side of the water bag.
The back cushion is arranged on the back strap, the waist cushion is arranged on the waist belt, and the back cushion and the waist cushion are made of air fibers.
The spring groove is provided with a first spring connecting hole, the cylindrical rod is provided with a second cylindrical connecting hole, one end of the spring is arranged in the first spring connecting hole, and the other end of the spring is arranged in the second spring connecting hole.
The exoskeleton structure is integrally made of carbon fiber composite materials.
The cold accumulation agent bag is internally provided with a cold accumulation agent, the cold accumulation agent is a body structure formed by mixing and crosslinking reaction of polyvinyl alcohol and borax after a large amount of water absorption and expansion, and then a large amount of water absorption and expansion are semitransparent flowable gel.
The bionic bone is characterized in that a coating bag is coated on the outer side of the bionic bone, the coating bag is connected with a wearing structure through sewing, and the coating bag is made of spandex fiber materials and can extend to 4-6 times of the original length.
One side of each leg ring is provided with a first buckling belt, the other side of each leg ring is provided with a second buckling belt, one side of each leg ring is provided with a first buckling belt groove, the other side of each leg ring is provided with a second buckling belt groove, one end of each buckling belt penetrates through the first buckling belt groove and is connected with the other end of the corresponding buckling belt in a sewing mode, and one end of each buckling belt penetrates through the second buckling belt groove and is connected with the other end of the corresponding buckling belt in a sewing mode.
The wearing method of the wearable structure comprises the following steps:
the method comprises the following steps: the user puts the two arms through the braces and carries the exoskeleton on the body;
step two: the user tightly pastes the magic tape on the waistband and fixes the upper half part of the exoskeleton on the body;
step two: the user fastens the buckle on the first buckle belt at one side of the leg ring and the clamping groove (clamped) on the first buckle belt at the other side of the leg ring to complete the fixation of the leg, and the exoskeleton is worn.
The cooling method of the cooling equipment comprises the following steps:
the method comprises the following steps: the user donning the exoskeleton on the body;
step two: turning on a switch of the water pump;
step three: the water pump pumps water out of the water bag through the water pumping pipe;
step four: the water pump pumps water into the heat exchanger through the water inlet pipe;
step five: the water cooled by the heat exchanger flows out of the water outlet pipe;
step six: the water flowing out enters the water bag again to exchange heat with the coolant in the coolant bag.
The motion of human body can be followed all the time to the bionic bone, shifts another place from a place of health with power, lengthens the bionic bone when bowing, and elastic potential energy is collected to the spring, and the spring shrink when rising, release elastic potential energy realizes the helping hand to the lumbar vertebrae extensor, has reduced the muscular force of lumbar vertebrae extensor on the whole, reduces the moment of fourth lumbar vertebrae and fifth lumbar vertebrae intervertebral disc, plays the work that supplementary human body carried out the heavy object and lifts.
The invention has the beneficial effects that:
the invention provides a wearable exoskeleton with cooling, which can store gravitational potential energy when a human body bends down in an exoskeleton without external power driving, can release the gravitational potential energy by the exoskeleton when an upper half body is lifted, reduces the burden of the spine of the human body, transfers the compression force on the spine to a hip joint, is connected with a shoulder protector and the exoskeleton, can directly transfer the pressure of a heavy object on the shoulder to the hip joint, is free from stress on the spine, is convenient to wear, is provided with a cooling system, pumps water in a water bag out through a water pump, cools through a heat exchanger, pumps the water back to the water bag, and thereby takes away heat of a coolant in the coolant bag.
Drawings
FIG. 1 is a schematic view of the overall structure of a wearable exoskeleton with cooling according to the present invention
FIG. 2 is a schematic view of a wearing configuration of a wearable exoskeleton with cooling according to the present invention
FIG. 3 is a schematic view of a biomimetic bone structure of a wearable exoskeleton with cooling according to the present invention
FIG. 4 is a schematic view of a water bag with a cooling wearable exoskeleton of the present invention
(1, wearing structure; 1.1, braces; 1.2, cooling bag; 1.3, waistband; 1.4, back cushion; 1.5, connecting band; 1.6, buckle I; 1.7, buckle II; 1.8, buckle; 1.9, clamping groove; 1.10, waist cushion; 2, exoskeleton structure; 2.1, bionic bone; 2.2, slot; 2.3, connector; 2.4, spring groove; 2.5, spring; 2.6, cylindrical rod; 2.7, connecting rod I; 2.8, connecting rod II; 2.9, shoulder pad; 2.10, waist ring; 2.11, connecting rod III; 2.12, connecting rod; 2.13, leg ring; 3, clamp ring; 4, cooling device; 4.1, heat exchanger; 4.2, water pump; 4.3, water inlet pipe; 4.4.4, water pumping pipe; 4.5, water outlet pipe; 4.6, water bag; 4.7, coolant bag; 4.8, connecting rod 5, cold storage bag)
Detailed Description
The invention is further described below with reference to the accompanying drawings:
in order to solve the problems, the invention provides a wearable exoskeleton with cooling, which is characterized in that: comprises a wearing structure 1, the wearing structure 1 comprises a shoulder strap 1.1, a cooling bag 1.2 is arranged below the shoulder strap 1.1, a belt 1.3 is arranged below the cooling bag 1.2, an exoskeleton structure 2 is arranged on one side of the wearing structure 1, the exoskeleton structure 2 comprises a plurality of bionic bones 2.1, a slot 2.2 is arranged on each bionic bone 2.1, a connector 2.3 is arranged in each slot 2.2, two spring slots 2.4 are arranged on each bionic bone 2.1, a spring 2.5 is arranged in each spring slot 2.4, two cylindrical rods 2.6 are arranged on each connector 2.3, a first connecting rod 2.7 is arranged on each side of the bionic bone 2.1 in a first section, a second connecting rod 2.8 is arranged on each side of the bionic bone 2.1 in a fourth section, a shoulder protector 2.9 is arranged at one end of each connecting rod 2.7, a waist ring 2.10 is arranged below each bionic bone 2.1, three connecting rods 2.11 are arranged on each side of the bionic bone 2.1 in a tenth section, two connecting rods 2.12 are arranged on each side of the connecting rod 2.12, and two legs are arranged on each leg rings, waist ring 2.10 one side is equipped with two clamp rings 3, two be equipped with cooling apparatus 4 in the clamp ring 3, cooling apparatus 4 includes heat exchanger 4.1, heat exchanger 4.1 top is equipped with water pump 4.2, water pump 4.2 one side is equipped with inlet tube 4.3, water pump 4.2 top is equipped with drinking-water pipe 4.4, it is equipped with outlet pipe 4.5 to lie in water pump 4.2 one side above heat exchanger 4.1, outlet pipe 4.5 one end is equipped with water bag 4.6, water bag 4.6 one side is equipped with coolant bag 4.7.
According to the invention, the back cushion 1.4 is arranged on the shoulder strap 1.1, the waist cushion 1.10 is arranged on the waist belt 1.3, and the back cushion 1.4 and the waist cushion 1.10 are made of air fibers.
According to the invention, the spring groove 2.4 is provided with a first spring connecting hole, the cylindrical rod 2.6 is provided with a second cylindrical connecting hole, one end of the spring 2.5 is arranged in the first spring connecting hole, and the other end of the spring 2.5 is arranged in the second spring connecting hole.
The exoskeleton structure 2 is integrally made of carbon fiber composite materials.
The coolant bag 4.7 is internally provided with coolant, the coolant is a body structure formed by mixing and crosslinking reaction of polyvinyl alcohol and borax after a large amount of water absorption and expansion, and then a large amount of water absorption and expansion are semitransparent flowable gel.
The outer side of the bionic bone 2.1 is coated with the coating bag 5, the coating bag 5 is connected with the wearing structure 1 through sewing, and the coating bag 5 is made of spandex fiber materials and can extend to 4-6 times of the original length.
According to the invention, a first buckling belt 1.6 is arranged on one side of a leg ring 2.13, a second buckling belt 1.7 is arranged on the other side of the leg ring 2.13, a first buckling belt groove is arranged on one side of the leg ring 2.13, a second buckling belt groove is arranged on the other side of the leg ring 2.13, one end of the first buckling belt 1.6 penetrates through the first buckling belt groove to be sewn and connected with the other end of the first buckling belt 1.6, and one end of the second buckling belt 1.7 penetrates through the second buckling belt groove to be sewn and connected with the other end of the second buckling belt 1.7.
The wearing method of the wearing structure 1 in the invention comprises the following steps:
the method comprises the following steps: the user puts the two arms through the braces 1.1 and carries the exoskeleton on the body;
step two: the user tightly pastes the magic tape on the waistband 1.3 and fixes the upper half part of the exoskeleton on the body;
step two: the user fastens the buckle 1.8 on the buckle belt I1.6 at one side of the leg ring 2.13 with the clamping groove (1.9) on the buckle belt I1.6 at the other side of the leg ring 2.13 to complete the fixation of the leg, and the exoskeleton is worn.
The cooling method of the cooling device 4 in the invention comprises the following steps:
the method comprises the following steps: the user donning the exoskeleton on the body;
step two: the switch of the water pump 4.2 is turned on;
step three: the water pump 4.2 pumps water out of the water bag 4.6 through the water pumping pipe 4.4;
step four: the water pump 4.2 pumps water into the heat exchanger 4.1 through the water inlet pipe 4.3;
step five: the water cooled by the heat exchanger 4.1 flows out from the water outlet pipe 4.5;
step six: the water flowing out enters the water bag 4.6 again to exchange heat with the coolant in the coolant bag 4.7.
The bionic bone 2.1 can always follow the motion of a human body to transfer force from one place of the body to another place, the bionic bone 2.1 is stretched when the human body bends down, the spring 2.5 collects elastic potential energy, the spring 2.5 contracts when the human body rises, the elastic potential energy is released to realize the assistance to the extensor muscles of the lumbar vertebrae, the muscle force of the extensor muscles of the lumbar vertebrae is reduced on the whole, the moment of the intervertebral discs of the fourth lumbar vertebrae and the fifth lumbar vertebrae is reduced, and the work of assisting the human body to lift heavy objects is achieved.
The working principle of the invention is as follows:
the wearable exoskeleton with cooling function of the embodiment comprises a wearing connection structure 1, a user can put the exoskeleton on the body by passing two arms through straps 1.1, then can pull a connecting band 1.5 to adjust the wearing position, the user can tightly attach a magic tape on a waistband 1.3 to complete the fixation of the exoskeleton on the waist, one side of a leg ring 2.13 is provided with a buckling band I1.6, the other side is provided with a buckling band II 1.7, a buckle 1.8 on the buckling band I1.6 is clamped with a clamping groove 1.9 on the buckling band II 1.6 to complete the whole wearing, the exoskeleton comprises an exoskeleton structure 2, when the user bends down, a spring 2.5 in the bionic bone 2.1 pulls each bionic bone 2.1, the gravitational potential energy during the bending down is stored in the spring 2.5, when the user starts up, a shoulder protector 2.9 on the shoulder is connected with the bionic bone 2.1, when the user puts a heavy object on the shoulder, the pressure of the heavy object on the spine can be transmitted to hip joint through the bionic bone 2.1, therefore, the possibility of spinal injury is reduced, the spinal injury treatment device comprises a cooling device 4, a water bag 4.6 and a coolant bag 4.7 arranged on the water bag 4.6 are arranged in a cooling bag 1.2, water in the water bag 4.6 is pumped out by a water pump 4.2, enters a heat exchanger 4.1, flows out from the other side of the heat exchanger 4.1, returns to the water bag 4.6 through a water outlet pipe 4.5, and continuously circulates to take away the heat of the coolant in the coolant bag 4.7.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a wearable ectoskeleton of area refrigerated which characterized in that: comprises a wearing structure (1), the wearing structure (1) comprises a strap (1.1), a cooling bag (1.2) is arranged below the strap (1.1), a waistband (1.3) is arranged below the cooling bag (1.2), an exoskeleton structure (2) is arranged on one side of the wearing structure (1), the exoskeleton structure (2) comprises a plurality of bionic bones (2.1), slots (2.2) are arranged on the bionic bones (2.1), connectors (2.3) are arranged in the slots (2.2), two spring slots (2.4) are arranged on the bionic bones (2.1), springs (2.5) are arranged in the spring slots (2.4), two cylindrical rods (2.6) are arranged on the connectors (2.3), a first section and a first connecting rod (2.7) are arranged on two sides of the bionic bones (2.1), a second connecting rod (2.8) are arranged on two sides of the bionic bones (2.1), and a first connecting rod (2.7) is provided with a shoulder protector (2.9), the artificial bone (2.1) below is equipped with waist ring (2.10), the tenth artificial bone (2.1) both sides all are equipped with connecting rod three (2.11), waist ring (2.10) both sides all are equipped with connecting rod (2.12), connecting rod (2.12) one end is equipped with leg ring (2.13), waist ring (2.10) one side is equipped with two clamp ring (3), two be equipped with cooling apparatus (4) in clamp ring (3), cooling apparatus (4) include heat exchanger (4.1), heat exchanger (4.1) top is equipped with water pump (4.2), water pump (4.2) one side is equipped with inlet tube (4.3), water pump (4.2) top is equipped with drinking-water pipe (4.4), heat exchanger (4.1) top is located water pump (4.2) one side and is equipped with outlet pipe (4.5), outlet pipe (4.5) one end is equipped with water bag (4.6), water bag (4.6) one side is equipped with cold-storage agent bag (4.7).
2. The wearable exoskeleton of claim 1 with cooling, wherein: the back cushion (1.4) is arranged on the shoulder strap (1.1), the waist cushion (1.10) is arranged on the waist belt (1.3), and the back cushion (1.4) and the waist cushion (1.10) are made of air fibers.
3. The wearable exoskeleton of claim 1 with cooling, wherein: the spring groove (2.4) is provided with a first spring connecting hole, the cylindrical rod (2.6) is provided with a second cylindrical connecting hole, one end of the spring (2.5) is arranged in the first spring connecting hole, and the other end of the spring (2.5) is arranged in the second spring connecting hole.
4. The wearable exoskeleton of claim 1 with cooling, wherein: the exoskeleton structure (2) is integrally made of carbon fiber composite materials.
5. The wearable exoskeleton of claim 1 with cooling, wherein: the cold accumulation agent bag (4.7) is internally provided with a cold accumulation agent, the cold accumulation agent is a body structure formed by mixing and crosslinking reaction of polyvinyl alcohol and borax after a large amount of water absorption and expansion, and then a large amount of water absorption and expansion are semitransparent flowable gel.
6. The wearable exoskeleton of claim 1 with cooling, wherein: the bionic bone (2.1) is coated with a coating bag (5), the coating bag (5) is connected with the wearing structure (1) through sewing, and the coating bag (5) is made of spandex fiber materials and can extend to 4-6 times of the original length.
7. The wearable exoskeleton of claim 1 with cooling, wherein: leg ring (2.13) one side is equipped with detains area one (1.6), leg ring (2.13) opposite side is equipped with detains area two (1.7), leg ring (2.13) one side is equipped with detains the trough of belt one, leg ring (2.13) opposite side is equipped with detains trough of belt two, detain that belt one (1.6) one end is passed and detains trough of belt one and detain the sewing connection of the other end of area one (1.6), detain that belt two (1.7) one end is passed and detain trough of belt two and detain the sewing connection of the other end of area two (1.7).
8. The wearable exoskeleton of claim 1 with cooling, wherein: the wearing method of the wearing structure (1) comprises the following steps:
the method comprises the following steps: the user puts the two arms through the braces (1.1) and carries the exoskeleton on the body;
step two: the user tightly pastes the magic tape on the waistband (1.3) and fixes the upper half part of the exoskeleton on the body;
step two: a user clamps a buckle (1.8) on the buckle belt I (1.6) on one side of the leg ring (2.13) with a clamp groove (1.9) on the buckle belt I (1.6) on the other side of the leg ring (2.13) to complete the fixation of the leg, and the exoskeleton is worn.
9. The wearable exoskeleton of claim 1 with cooling, wherein: the cooling method of the cooling equipment (4) comprises the following steps:
the method comprises the following steps: the user donning the exoskeleton on the body;
step two: the switch of the water pump (4.2) is turned on;
step three: the water pump (4.2) pumps water out of the water bag (4.6) through the water pumping pipe (4.4);
step four: the water pump (4.2) pumps water into the heat exchanger (4.1) through the water inlet pipe (4.3);
step five: the water cooled by the heat exchanger (4.1) flows out of the water outlet pipe (4.5);
step six: the water flowing out enters the water bag (4.6) again to exchange heat with the coolant in the coolant bag (4.7).
10. The wearable exoskeleton of claim 1 with cooling, wherein: bionic bone (2.1) can follow human motion all the time, will do all the time and shift another place from a place of health with power, lengthen bionic bone (2.1) when bowing, elastic potential energy is collected in spring (2.5), spring (2.5) shrink when getting up, release elastic potential energy realizes the helping hand to the lumbar vertebrae extensor, has reduced the muscular force of lumbar extensor on the whole, reduces the moment of fourth lumbar vertebrae and fifth lumbar vertebrae intervertebral disc, plays the work that supplementary human body carried out the heavy object and lifts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111030953.9A CN113715001B (en) | 2021-09-03 | 2021-09-03 | Wearable exoskeleton with cooling function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111030953.9A CN113715001B (en) | 2021-09-03 | 2021-09-03 | Wearable exoskeleton with cooling function |
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| Publication Number | Publication Date |
|---|---|
| CN113715001A true CN113715001A (en) | 2021-11-30 |
| CN113715001B CN113715001B (en) | 2022-06-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111030953.9A Active CN113715001B (en) | 2021-09-03 | 2021-09-03 | Wearable exoskeleton with cooling function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114587739A (en) * | 2022-03-14 | 2022-06-07 | 杜传超 | Hydraulic power support human ectoskeleton lumbar vertebrae brace |
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| CN107041123A (en) * | 2014-06-18 | 2017-08-11 | 玛瓦时防护服股份有限公司 | Ectoskeleton and its application method |
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| CN110340867A (en) * | 2018-04-04 | 2019-10-18 | 赤源动力（大连）科技有限责任公司 | A kind of waist assistance exoskeleton |
| KR20210072365A (en) * | 2019-12-09 | 2021-06-17 | 한국로봇융합연구원 | Detachable wearable type muscular strenght enhancing apparatus |
| CN113305805A (en) * | 2021-04-14 | 2021-08-27 | 华中科技大学 | Passive double-frame bionic exoskeleton back device |
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2021
- 2021-09-03 CN CN202111030953.9A patent/CN113715001B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107041123A (en) * | 2014-06-18 | 2017-08-11 | 玛瓦时防护服股份有限公司 | Ectoskeleton and its application method |
| CN106313012A (en) * | 2016-11-01 | 2017-01-11 | 张帅 | Human strength strengthening assisting device |
| CN110340867A (en) * | 2018-04-04 | 2019-10-18 | 赤源动力（大连）科技有限责任公司 | A kind of waist assistance exoskeleton |
| CN109318214A (en) * | 2018-12-06 | 2019-02-12 | 西安交通大学 | A kind of ectoskeleton back device of imitative human spine |
| CN109909983A (en) * | 2019-04-24 | 2019-06-21 | 广州海同工业技术有限公司 | A kind of adjustable accumulation of energy waist hip ectoskeleton |
| KR20210072365A (en) * | 2019-12-09 | 2021-06-17 | 한국로봇융합연구원 | Detachable wearable type muscular strenght enhancing apparatus |
| CN113305805A (en) * | 2021-04-14 | 2021-08-27 | 华中科技大学 | Passive double-frame bionic exoskeleton back device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114587739A (en) * | 2022-03-14 | 2022-06-07 | 杜传超 | Hydraulic power support human ectoskeleton lumbar vertebrae brace |
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| Publication number | Publication date |
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| CN113715001B (en) | 2022-06-03 |
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