CN114029928A - Follow-up bionic multi-rod virtual wearable hip joint - Google Patents
Follow-up bionic multi-rod virtual wearable hip joint Download PDFInfo
- Publication number
- CN114029928A CN114029928A CN202110927125.9A CN202110927125A CN114029928A CN 114029928 A CN114029928 A CN 114029928A CN 202110927125 A CN202110927125 A CN 202110927125A CN 114029928 A CN114029928 A CN 114029928A
- Authority
- CN
- China
- Prior art keywords
- ring
- follow
- crotch
- rod
- waist
- Prior art date
- 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.)
- Granted
Links
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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a follow-up bionic multi-rod virtual wearable hip joint which comprises a waist ring, a crotch ring and a plurality of follow-up connecting rod assemblies connected between the waist ring and the crotch ring, wherein each follow-up connecting rod assembly comprises a driven elastic telescopic rod, an upper hinge head and a lower hinge head, the upper end of each upper hinge head is in rotating fit with the waist ring by taking a Z-direction axis as a center, the lower end of each upper hinge head is in rotating fit with the upper end of the driven elastic telescopic rod by taking a horizontal axis as a center, the lower end of each lower hinge head is in rotating fit with the crotch ring by taking the Z-direction axis as a center, and the upper end of each lower hinge head is in rotating fit with the lower end of the driven elastic telescopic rod by taking the horizontal axis as a center. The virtual hip joint structure of the structure can be matched with a wearable exoskeleton system, can keep good load transfer capability and motion freedom between a mechanical leg structure and a trunk, realizes good man-machine matching characteristics on the basis of ensuring good human body fitting degree, comfort and transfer capability, and has good man-machine efficacy and accurate bionic action capability.
Description
Technical Field
The invention belongs to the technical field of wearable power-assisted exoskeletons, and particularly relates to a follow-up bionic multi-rod virtual wearable hip joint.
Background
The follow-up bionic multi-rod virtual wearable hip joint is a mechanical device which can be worn outside the body of an operator, and can provide support and protection for a person wearing an exoskeleton and enhance the motion and load bearing capacity. The wearable exoskeleton is widely applied to a plurality of fields such as medical rehabilitation and industrial production application.
The mechanical structure of the hip joint in the follow-up bionic multi-rod virtual wearable hip joint directly influences the movement freedom degree of the crotch position of a user, the hip joint device of the existing wearable exoskeleton is insufficient in joint freedom degree, poor in matching performance with the actual movement of the crotch joint, difficult to adapt to the complex leg action requirement of the user, large constraint counter-force exists, and man-machine matching obstacle is caused.
Therefore, in order to solve the above problems, a follow-up bionic multi-rod virtual wearable hip joint is needed, which is constructed by a multi-rod linkage structure and has an adjustable position, is used for matching hip joint movement, is beneficial to passively adapting to complex waist movements of a user, and is beneficial to improving man-machine matching performance.
Disclosure of Invention
In view of the above, the invention provides a follow-up bionic multi-rod virtual wearable hip joint, which is constructed by a multi-rod linkage structure, is used for matching hip joint movement, is beneficial to passively adapting to complex waist movement of a user and is beneficial to improving man-machine matching performance.
The follow-up bionic multi-rod virtual wearable hip joint comprises a waist ring matched with a waist, a crotch ring matched with a crotch and a plurality of follow-up connecting rod assemblies connected between the waist ring and the crotch ring, wherein each follow-up connecting rod assembly comprises a driven elastic telescopic rod, an upper hinge head and a lower hinge head, the upper end of each upper hinge head is rotationally matched with the waist ring by taking a Z-direction axis as a center, the lower end of each upper hinge head is rotationally matched with the upper end of the driven elastic telescopic rod by taking a horizontal axis as a center, the lower end of each lower hinge head is rotationally matched with the crotch ring by taking the Z-direction axis as a center, and the upper end of each lower hinge head is rotationally matched with the lower end of the driven elastic telescopic rod by taking the horizontal axis as a center.
Furthermore, the passive elastic telescopic rod comprises an outer barrel, an inner rod which is slidably sleeved in the outer barrel and an elastic part which is connected between the inner rod and the bottom of the inner cavity of the outer barrel, the end parts of the outer barrel and the inner rod are respectively provided with a connecting end, and the two connecting ends are respectively used as the upper end and the lower end of the passive elastic telescopic rod.
Further, the crotch ring comprises a left half crotch ring and a right half crotch ring, and the left half crotch ring and the right half crotch ring are in C-shaped structures and used for being conformally encircled on the left side and the right side of the crotch.
Furthermore, the waist ring comprises a waist belt and a plurality of mounting sections fixed on the waist belt, and the upper hinge head is rotatably mounted on the mounting sections.
Further, the servo connecting rod assemblies are provided with two groups, and the two groups of servo connecting rod assemblies are respectively connected between the waist ring and the left half crotch ring and between the waist ring and the right half crotch ring.
Further, the waist ring further comprises a lock catch, and the lock catch is arranged on the waist belt and used for adjusting the tightness of the waist belt.
Furthermore, each group of follow-up connecting rod assemblies at least comprises six follow-up connecting rod assemblies, the two groups of follow-up connecting rod assemblies are annularly arranged around the waist ring, and every two adjacent follow-up connecting rod assemblies are arranged in a V shape.
Further, each follower link assembly is of a length such that the waist and crotch loops are parallel in a free state.
Further, side plates are connected to the positions, on the left side and the right side, below the crotch ring.
The invention has the beneficial effects that:
the multi-rod type multi-degree-of-freedom virtual hip joint mechanism is constructed by the waist ring, the left half crotch ring and the right half crotch ring in combination with the plurality of follow-up connecting rod assemblies, the follow-up connecting rod assemblies are used as actuating mechanisms, the multi-rod type multi-degree-of-freedom virtual hip joint mechanism can be passively adapted to all action postures of the waist of a human body, and good load transfer capacity and enough flexibility between waist and legs can be realized on the premise of keeping good man-machine matching of a mechanical structure;
the virtual hip joint structure of the structure can be matched with a wearable exoskeleton system, so that good load transfer capability and motion freedom between a mechanical leg structure and a trunk can be kept, good man-machine matching characteristics are realized on the basis of ensuring good human body fitting degree, comfortableness and transfer capability, good man-machine efficacy and accurate bionic action capability are achieved, and a good waist and leg transition mechanism is provided for the wearable exoskeleton assistance system;
the openable waist ring, the left half-crotch ring and the right half-crotch ring which are in left-right surrounding shapes are used for being attached to the waist and the crotch of a user to construct a ring-shaped surrounding waist ring structure and a C-shaped half-surrounding crotch ring structure, and the multi-rod cooperation mechanism forms an internal C-shaped hollow structure to accommodate the crotch of a human body and facilitate wearing; the waistband is convenient to wear and maintain the structural stability under the wearing condition due to the integrity and the openability of the waistband, the lock catch is a locking structure of the waistband, and the waistband is attached to the waist of a human body in a locking state so as to maintain the relative rigidity of the waistband structure; the good fit characteristic of the mechanical structure and the human body is kept, the joint position blurring and adjustability are realized based on the plurality of follow-up connecting rod assemblies, and the bionic robot has good man-machine efficacy and accurate bionic action capability;
the hip joint can be used for conducting stress on the waist and the back of a human body, is beneficial to protecting the waist of the human body, and if the crotch ring is connected with the bionic mechanical leg, the stress is directly transmitted to the mechanical leg through the crotch ring, so that the body feeling load of the human body is reduced, the hip joint is better applied to high-strength load scenes, the load bearing capacity of a user is improved, and the physical strength is saved.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic top view;
FIG. 3 is a schematic bottom view;
FIG. 4 is a schematic structural view of embodiment 1 of the follower link assembly;
FIG. 5 is a schematic cross-sectional view of FIG. 4;
FIG. 6 is a schematic structural view of embodiment 2 of the follower link assembly;
Detailed Description
As shown in the figure: the follow-up bionic multi-rod virtual wearable hip joint comprises a waist ring 1 used for being matched with a waist, a crotch ring 2 used for being matched with the crotch and a plurality of follow-up connecting rod assemblies 3 connected between the waist ring and the crotch ring, wherein each follow-up connecting rod assembly comprises a driven elastic telescopic rod, an upper hinge head 3a and a lower hinge head 3b, the upper end of each upper hinge head 3a is in rotating fit with the waist ring 1 by taking a Z-direction axis as a center, the lower end of each upper hinge head is in rotating fit with the upper end of the driven elastic telescopic rod by taking a horizontal axis as a center, the lower end of each lower hinge head 3b is in rotating fit with the crotch ring 2 by taking the Z-direction axis as a center, and the upper end of each lower hinge head 3b is in rotating fit with the lower end of the driven elastic telescopic rod by taking the horizontal axis as a center.
The Z direction is consistent with the vertical direction, the horizontal plane is a plane vertical to the Z direction, as shown in the combined figure 1, the waist ring is used for being sleeved on the waist of a user, the crotch ring is used for being attached to the crotch of the user, wherein the upper end of the upper hinge head 3a is a columnar hinge rod head, the rod head vertically penetrates through an upper assembling hole of the waist ring and is in rotating fit with the upper assembling hole, the lower end of the lower hinge head 3b is a columnar hinge rod head similar to the upper hinge head 3a, and the rod head vertically penetrates through a lower assembling hole of the crotch ring and is in rotating fit with the lower assembling hole; the follow-up connecting rod assembly is an elastic telescopic structure, and the structure can elastically stretch passively after being subjected to external force; the upper end and the lower end of the follow-up connecting rod assembly can horizontally rotate relative to the waist ring and the crotch ring through the upper hinge head and the lower hinge head so as to adjust the orientation of the follow-up connecting rod assembly, and meanwhile, the follow-up connecting rod assembly can also swing to change the inclination direction of the follow-up connecting rod assembly; the structure can be used for matching all actions of the waist such as bending and twisting of a user, for example, when the user bends forwards, the upper end and the lower end of each follow-up connecting rod assembly rotate through the corresponding hinge head to adapt to the posture of a human body, then the follow-up connecting rod assembly positioned on the front side is compressed, and the follow-up connecting rod assembly positioned on the rear side is elongated to enable the postures of the waist ring and the crotch ring to be matched with the posture shape of the human body for bending, and similarly, when the user bends backwards or bends sideways, the follow-up connecting rod assemblies at different positions are respectively compressed and elongated to adapt to different bending postures; when a user twists waist, the servo connecting rod assembly is elongated, and the servo connecting rod assembly adjacent to the servo connecting rod assembly is compressed, so that the waist ring rotates relative to the hip ring to be matched with the waist twisting posture; when the waist and the back of a human body bear load, the stress can be transmitted to the crotch ring through the waist ring and the follow-up connecting rod assembly, so that the waist of the human body is protected, and if the crotch ring is connected with the bionic mechanical legs, the stress is directly transmitted to the mechanical legs through the crotch ring, so that the body feeling load is reduced, the bionic mechanical leg is better applied to high-strength load scenes, the load bearing capacity of a user is improved, and the physical strength is saved; the virtual hip joint structure of the structure can be matched with a wearable exoskeleton system, good load transfer capacity and motion freedom degree between a mechanical leg structure and a trunk can be kept, good man-machine matching characteristics are realized on the basis of ensuring good human body fitting degree, comfortableness and transfer capacity, good man-machine efficacy and accurate bionic action capacity are achieved, a good waist-leg transition mechanism is provided for the wearable exoskeleton assisting system, the device is a passive wearable exoskeleton device and moves along with the human body, the transfer capacity is good, and good exoskeleton bearing capacity is achieved.
In this embodiment, the passive elastic telescopic rod includes an outer cylinder 3c, an inner rod 3d slidably sleeved in the outer cylinder, and an elastic member 3e connected between the inner rod and the bottom of the inner cavity of the outer cylinder, wherein the ends of the outer cylinder and the inner rod are respectively provided with a connecting end, and the two connecting ends are respectively used as the upper end and the lower end of the passive elastic telescopic rod. The two connecting ends are respectively matched with the upper hinge head 3a and the lower hinge head 3b in a rotating way; as shown in fig. 4 and 5, the elastic member is a cylindrical coil spring, the elastic member plays a role in stretching and returning, the compression stroke of the passive elastic telescopic rod is short, the stretching stroke is long, the inner rod enters a compression dead point under a compression load and presents an incompressible rigid structure, the elastic member has a large stretching stroke under the stretching load, the outer cylinder can be provided with a locking structure for limiting the maximum stretching stroke of the inner rod and preventing the inner rod from falling off, the locking structure can adopt a structure that a locking pin is matched with a limiting groove, wherein the locking pin is fixed on the outer cylinder and protrudes out of the inner circle of the outer cylinder, the limiting groove is axially arranged on the inner rod, the locking pin extends into the limiting groove, when the inner rod extends outwards, the end of the limiting groove collides with the locking pin, and reaches the maximum stretching stroke of the inner rod, of course, the locking structure can also adopt other known structures, and is not repeated;
referring to fig. 6, another embodiment of the elastic passive telescopic rod is shown, wherein the upper end of the outer cylinder 3c is open, the open end is connected with the upper joint 3e by screw thread, the upper hinge head 3a is installed on the upper joint in a rotating fit manner, the inner rod 3d penetrates out from the lower end of the outer cylinder and is connected with the lower joint 3f by screw thread, wherein the lower hinge head 3b is installed on the lower joint 3f in a rotating fit manner, the upper end of the inner rod 3d is connected with a piston pressure plate 3g, the diameter of the inner rod is smaller than the inner diameter of the outer cylinder, the outer diameter of the piston pressure plate is matched with the inner diameter of the outer cylinder, the piston pressure plate is axially matched with the inner cylinder in a sliding manner, the piston pressure plate is connected with the bottom of the inner cylinder by an elastic member 3e, the elastic member also adopts a cylindrical helical spring, when the elastic passive telescopic rod of the structure is shortened, the elastic member is in a stretching state, when the elastic passive telescopic rod is stretched, the elastic member is in a compressing state, the corresponding elastic passive telescopic rod in fig. 8 is in a compressing extreme position, at the moment, the piston pressure plate 3g is abutted against the upper joint 3e and enters a compression dead point to present an incompressible rigid structure, so that the load transfer capacity from the waist ring to the crotch ring is realized through the follow-up connecting rod assembly;
the passive elastic telescopic rod with the structure can be adaptive to the action of the waist of a human body, the passive elastic telescopic rod is limited by the rigid structures of the outer barrel and the inner rod in the compression direction and has good bearing capacity, the multiple rods work cooperatively to ensure that good load transfer performance is realized between the exoskeleton legs and hip joints, and the passive elastic telescopic rod has the characteristics of stretching and returning in the extension direction, so that the motion joint formed by the multiple rods work cooperatively can passively adjust the angle and the position of the joint according to the motion input of an external wearer, and the man-machine matching is realized passively.
In this embodiment, the crotch ring 2 comprises a left half crotch ring 2a and a right half crotch ring 2b, which are in a C-shaped configuration for conformal enclosure around the left and right sides of the crotch. As shown in fig. 1 and 3, the left half crotch ring and the right half crotch ring are in left-right surrounding shapes and are used for being attached to the crotch position of a user to construct a C-shaped half surrounding structure, so that the joint structure has good human body attaching degree and excellent man-machine matching performance, joint position blurring and adjustability are achieved based on a plurality of follow-up connecting rod assemblies, and the joint structure has good man-machine efficacy and accurate bionic action capability.
In this embodiment, the waist ring 1 includes a waist belt 1a and a plurality of mounting sections 1b fixed on the waist belt, and the upper hinge head 3a is rotatably mounted on the mounting sections. Combine shown in fig. 1 and fig. 2, the waistband adopts semi-flexible waistband, it can adopt plastics or leather material, each installation festival radial outside protrusion in waistband, wherein the installation festival adopts metal or rigid plastic material, the vertical pilot hole that has seted up on the installation festival, wherein go up the hinge head and install on the waistband through this pilot hole normal running fit, can dismantle through four screws between installation festival and the waistband and be connected, structure through waistband cooperation installation festival, both satisfied the flexible requirement of dresseing of waist ring, also satisfy the rigid mounting demand of last hinge head simultaneously.
In this embodiment, the two sets of the follow-up connecting rod assemblies 3 are respectively connected between the waist ring and the left half crotch ring and between the waist ring and the right half crotch ring. As shown in the combined figure 1, the two groups of follow-up connecting rod assemblies are respectively positioned at the left side and the right side of the waist of a user, and the structure is matched with a C-shaped semi-encircling crotch ring structure, so that the man-machine matching performance is improved.
In this embodiment, the waist ring 1 further includes a latch 1c, and the latch 1c is disposed on the waist belt 1a for adjusting the tightness of the waist belt. The waistband is of a non-closed ring structure, the front part of the waistband is of an opening structure, the lock catch is arranged at the opening structure and enables the opening to be closed or opened, so that the waistband can be integrally formed into a closed structure to be worn on the waist, the lock catch can be fastened by threads or other existing belt lock catch structures, and the tightness of the waist ring is adjusted by the lock catch, so that a human body can conveniently wear the waistband; the semi-flexible waistband has the advantages of integrity and openability, convenience in wearing and maintenance of structural stability under wearing conditions. The waistband buckle is a locking structure of a semi-flexible waistband, and the waistband is attached to the waist of a human body in a locking state, so that the relative rigidity of the waistband structure is maintained.
In this embodiment, each set of the follow-up connecting rod assemblies 3 at least includes six follow-up connecting rod assemblies, and the two sets of the follow-up connecting rod assemblies are annularly arranged around the waist ring and the adjacent follow-up connecting rod assemblies are arranged in a V-shape in pairs. As shown in fig. 1, in this embodiment, each group of the follower link assemblies is provided with six follower link assemblies, each two of the follower link assemblies are arranged in a V-shaped configuration, one of the follower link assemblies and the left adjacent follower link assembly are in a V-shaped configuration, and the follower link assembly and the right adjacent follower link assembly are necessarily in an inverted V-shaped configuration, where the layout of the adjacent follower link assemblies is substantially in a V shape, the V-shaped layout does not limit the proximal ends of the two adjacent follower link assemblies to contact each other, and the distance between the proximal ends of the two adjacent follower link assemblies is smaller than the distance between the distal ends of the two adjacent follower link assemblies, which is the V-shaped layout; referring to FIG. 3, six lower assembling holes matched with the lower hinge heads 3b are respectively formed on the left half crotch ring and the right half crotch ring, each lower assembling hole is in a 2-2-2 layout, two groups are formed in one group, and three groups are formed in total, referring to FIG. 2, twelve upper assembling holes matched with the upper hinge heads 3a are formed on the waist ring, six upper assembling holes are respectively formed on the waist ring in bilateral symmetry, the six upper assembling holes are in a 1-2-2-1 layout, and a 2-2-2-2-2-2 layout is formed on the whole ring, two groups are formed in six groups, wherein a group of upper assembling holes are respectively formed on the rear side and the left side and the right side of the rear fixing section 1a, a group of upper assembling holes are respectively formed on the left side of the left opening section 1b and the right side of the right opening section 1c, an upper assembling hole is respectively formed on the front side of the left opening section 1b and the front side of the right opening section 1c, and the two form a group of upper assembling holes; each group of lower assembling holes and each group of upper assembling holes are arranged in a staggered manner in the circumferential direction, so that the servo connecting rod assemblies are arranged in a V-shaped manner two by two; the multi-degree-of-freedom hip joint device is constructed by the multi-connecting-rod structures which are arranged in a V shape in pairs, can be adapted to all action postures of the waist of a human body, and can realize good load transfer capacity and enough flexibility between the waist and the legs on the premise of keeping good man-machine matching of a mechanical structure.
In this embodiment, each follower link assembly is of a length such that the waist and crotch loops are parallel in a free state. The free state refers to the state that the follow-up connecting rod assemblies are not subjected to external force, and the lengths of the follow-up connecting rod assemblies are different as shown in the figure 1, so that when no external acting force is applied to the follow-up connecting rod assemblies in the free state, the waist ring is parallel to the crotch ring, and the waist ring is highly matched with the standing posture of a human body.
In this embodiment, side plates 2c are attached to the crotch ring 2 at left and right positions. As shown in the figure 1, the left crotch ring 2a and the right crotch ring 2b are respectively connected with a side plate, the side plates are laterally blocked on the crotch of the human body, so that the good man-machine matching characteristic is realized, and meanwhile, the side plates are also used as reserved positions for installing mechanical legs.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (9)
1. The utility model provides a virtual wearing formula hip joint of bionical bull stick of trailing type which characterized in that: the waist ring is used for being matched with a waist, the crotch ring is used for being matched with the crotch, and the plurality of follow-up connecting rod assemblies are connected between the waist ring and the crotch ring, each follow-up connecting rod assembly comprises a driven elastic telescopic rod, an upper hinge head and a lower hinge head, the upper end of each upper hinge head is rotationally matched with the waist ring by taking a Z-direction axis as a center, the lower end of each upper hinge head is rotationally matched with the upper end of the driven elastic telescopic rod by taking a horizontal axis as a center, the lower end of each lower hinge head is rotationally matched with the crotch ring by taking the Z-direction axis as a center, and the upper end of each lower hinge head is rotationally matched with the lower end of the driven elastic telescopic rod by taking the horizontal axis as a center.
2. The follow-up bionic multi-rod virtual wearable hip joint as claimed in claim 1, wherein: the passive elastic telescopic rod comprises an outer barrel, an inner rod and an elastic part, wherein the inner rod is sleeved in the outer barrel in a sliding mode, the elastic part is connected between the inner rod and the bottom of an inner cavity of the outer barrel, the end parts of the outer barrel and the inner rod are respectively provided with a connecting end, and the two connecting ends are respectively used as the upper end and the lower end of the passive elastic telescopic rod.
3. The follow-up bionic multi-rod virtual wearable hip joint as claimed in claim 1, wherein: the crotch ring comprises a left half crotch ring and a right half crotch ring, wherein the left half crotch ring and the right half crotch ring are in C-shaped structures and used for conformal surrounding on the left side and the right side of the crotch.
4. The follow-up bionic multi-rod virtual wearable hip joint as claimed in claim 1, wherein: the waist ring comprises a waistband and a plurality of mounting sections fixed on the waistband, and the upper hinge head is rotatably mounted on the mounting sections.
5. The follow-up bionic multi-rod virtual wearable hip joint as claimed in claim 3, wherein: the servo connecting rod assemblies are arranged in two groups, and the two groups of servo connecting rod assemblies are respectively connected between the waist ring and the left half crotch ring and between the waist ring and the right half crotch ring.
6. The follow-up bionic multi-rod virtual wearable hip joint according to claim 4, characterized in that: the waist ring further comprises a lock catch, and the lock catch is arranged on the waistband and used for adjusting the tightness of the waistband.
7. The follow-up bionic multi-rod virtual wearable hip joint as claimed in claim 5, wherein: each group of follow-up connecting rod assemblies at least comprises six follow-up connecting rod assemblies, the two groups of follow-up connecting rod assemblies are annularly arranged around the waist ring, and every two adjacent follow-up connecting rod assemblies are arranged in a V shape.
8. The follow-up bionic multi-rod virtual wearable hip joint as claimed in claim 7, wherein: each follower link assembly is of a length such that the waist and crotch rings are parallel in a free state.
9. The follow-up bionic multi-rod virtual wearable hip joint as claimed in claim 1, wherein: side plates are connected to the positions, on the left side and the right side, below the crotch ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110927125.9A CN114029928B (en) | 2021-08-12 | 2021-08-12 | Follow-up bionic multi-rod virtual wearable hip joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110927125.9A CN114029928B (en) | 2021-08-12 | 2021-08-12 | Follow-up bionic multi-rod virtual wearable hip joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114029928A true CN114029928A (en) | 2022-02-11 |
| CN114029928B CN114029928B (en) | 2023-05-05 |
Family
ID=80134319
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110927125.9A Active CN114029928B (en) | 2021-08-12 | 2021-08-12 | Follow-up bionic multi-rod virtual wearable hip joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114029928B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011115323A (en) * | 2009-12-02 | 2011-06-16 | Nakamura Sangyo Gakuen | Walking assist robot |
| JP2013052192A (en) * | 2011-09-06 | 2013-03-21 | Wakayama Univ | Power assist robotic device and control method of the same |
| CN103330635A (en) * | 2013-06-26 | 2013-10-02 | 中国科学院合肥物质科学研究院 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
| US20160016309A1 (en) * | 2014-07-15 | 2016-01-21 | Soc Robotics Inc. | Motion system with plurality of stewart platform based actuators |
| CN205073244U (en) * | 2015-10-12 | 2016-03-09 | 哈尔滨工程大学 | Parallel low limbs ectoskeleton rehabilitation training device |
| CN106112971A (en) * | 2016-07-14 | 2016-11-16 | 南京林业大学 | A kind of pedestal position of articulating point self-adjustable six degree of freedom incidence flexible exoskeleton system |
| CN107320292A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of wearable ectoskeleton power assisting device of tubular modulesization and its control method |
| DE102016007741A1 (en) * | 2016-06-27 | 2017-12-28 | Marcel Reese | The invention relates to the field of exoskeletons, humanoid robots and also their use in teleoperative applications in virtual worlds or the real world |
| CN109848967A (en) * | 2019-02-22 | 2019-06-07 | 重庆交通大学 | Bionic mechanical ectoskeleton object wearing device |
| CN109968329A (en) * | 2019-04-17 | 2019-07-05 | 景浩 | Elasticity weight bearing ectoskeleton |
| US20190262211A1 (en) * | 2018-02-23 | 2019-08-29 | Lg Electronics Inc. | Wearable assistive device that efficiently delivers assistive force |
| CN112008701A (en) * | 2020-09-21 | 2020-12-01 | 河北工业大学 | Hip joint assistance exoskeleton system capable of assisting in supporting load |
-
2021
- 2021-08-12 CN CN202110927125.9A patent/CN114029928B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011115323A (en) * | 2009-12-02 | 2011-06-16 | Nakamura Sangyo Gakuen | Walking assist robot |
| JP2013052192A (en) * | 2011-09-06 | 2013-03-21 | Wakayama Univ | Power assist robotic device and control method of the same |
| CN103330635A (en) * | 2013-06-26 | 2013-10-02 | 中国科学院合肥物质科学研究院 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
| US20160016309A1 (en) * | 2014-07-15 | 2016-01-21 | Soc Robotics Inc. | Motion system with plurality of stewart platform based actuators |
| CN205073244U (en) * | 2015-10-12 | 2016-03-09 | 哈尔滨工程大学 | Parallel low limbs ectoskeleton rehabilitation training device |
| WO2018001555A2 (en) * | 2016-06-27 | 2018-01-04 | Marcel Reese | Exoskeleton and master |
| DE102016007741A1 (en) * | 2016-06-27 | 2017-12-28 | Marcel Reese | The invention relates to the field of exoskeletons, humanoid robots and also their use in teleoperative applications in virtual worlds or the real world |
| CN106112971A (en) * | 2016-07-14 | 2016-11-16 | 南京林业大学 | A kind of pedestal position of articulating point self-adjustable six degree of freedom incidence flexible exoskeleton system |
| CN107320292A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of wearable ectoskeleton power assisting device of tubular modulesization and its control method |
| US20190262211A1 (en) * | 2018-02-23 | 2019-08-29 | Lg Electronics Inc. | Wearable assistive device that efficiently delivers assistive force |
| CN109848967A (en) * | 2019-02-22 | 2019-06-07 | 重庆交通大学 | Bionic mechanical ectoskeleton object wearing device |
| CN109968329A (en) * | 2019-04-17 | 2019-07-05 | 景浩 | Elasticity weight bearing ectoskeleton |
| CN112008701A (en) * | 2020-09-21 | 2020-12-01 | 河北工业大学 | Hip joint assistance exoskeleton system capable of assisting in supporting load |
Non-Patent Citations (1)
| Title |
|---|
| 蔡玉强、李赐恩: "基于ADAMS下肢外骨骼刚柔耦合分析及仿真" * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114029928B (en) | 2023-05-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106924013B (en) | Exoskeleton type upper limb rehabilitation training robot | |
| CN201005821Y (en) | Multifunctional elbow orthosis | |
| CN211188112U (en) | Wearable rehabilitation type lower limb exoskeleton robot | |
| CN106806090B (en) | Man-machine flexible connecting mechanism for exoskeleton robot | |
| CN110638605B (en) | Rigid and soft integrated lower limb exoskeleton | |
| CN113771005B (en) | Wearable follow-up control electric drive power-assisted exoskeleton device | |
| CN114145964B (en) | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot | |
| CN113771003B (en) | Wearable electric intelligent disabled-assisting exoskeleton body posture control device | |
| CN114029928A (en) | Follow-up bionic multi-rod virtual wearable hip joint | |
| US11389947B2 (en) | Semi-active rigid-flexible coupling exoskeleton based on single-loop bidirectional damping regulator | |
| CN112545834B (en) | Shoulder joint assembly for upper limb rehabilitation | |
| CN113771004B (en) | Wearable follow-up power-assisted exoskeleton body posture control device | |
| CN215132743U (en) | Multi-movement-axis knee joint exoskeleton structure | |
| CN117562776A (en) | Upper limb bending and stretching mechanism based on flexible rope traction and exoskeleton rehabilitation device | |
| CN113771002B (en) | Active bionic multi-rod virtual wearable hip joint | |
| CN211356566U (en) | Six-freedom-degree series-parallel upper limb rehabilitation robot | |
| CN113768756A (en) | Wearable electric intelligent exoskeleton device for helping disabled | |
| CN215132622U (en) | Shoulder joint assembly for upper limb rehabilitation | |
| KR102530849B1 (en) | Module-based upper-limb rehabilitation robot that is able to be disassembled or combined | |
| CN210061120U (en) | Elastic exoskeleton back frame | |
| CN111000699B (en) | Rigid-flexible hybrid upper limb auxiliary motion device | |
| CN114571439A (en) | Compact type joint braking lower limb assistance exoskeleton device | |
| CN115446802B (en) | Novel wearable lower limb exoskeleton mechanism | |
| CN213821904U (en) | Gear-like muscle strength simulation straight arm equipment | |
| CN114750135B (en) | Robot joint structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |