CN114505884A - 外骨骼膝关节模组及外骨骼机器人 - Google Patents
外骨骼膝关节模组及外骨骼机器人 Download PDFInfo
- Publication number
- CN114505884A CN114505884A CN202210417573.9A CN202210417573A CN114505884A CN 114505884 A CN114505884 A CN 114505884A CN 202210417573 A CN202210417573 A CN 202210417573A CN 114505884 A CN114505884 A CN 114505884A
- Authority
- CN
- China
- Prior art keywords
- magnetorheological fluid
- knee joint
- sleeved
- exoskeleton
- bearings
- 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
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 56
- 239000012530 fluid Substances 0.000 claims abstract description 74
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 50
- 230000005284 excitation Effects 0.000 claims abstract description 3
- 230000004044 response Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 238000004146 energy storage Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 7
- 210000003141 lower extremity Anatomy 0.000 description 6
- 210000000689 upper leg Anatomy 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 230000009191 jumping Effects 0.000 description 5
- 239000007788 liquid Substances 0.000 description 5
- 238000013016 damping Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000006249 magnetic particle Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 238000003466 welding 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
- 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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210417573.9A CN114505884B (zh) | 2022-04-21 | 2022-04-21 | 外骨骼膝关节模组及外骨骼机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210417573.9A CN114505884B (zh) | 2022-04-21 | 2022-04-21 | 外骨骼膝关节模组及外骨骼机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN114505884A true CN114505884A (zh) | 2022-05-17 |
CN114505884B CN114505884B (zh) | 2022-07-15 |
Family
ID=81554597
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210417573.9A Active CN114505884B (zh) | 2022-04-21 | 2022-04-21 | 外骨骼膝关节模组及外骨骼机器人 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN114505884B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115501090A (zh) * | 2022-11-22 | 2022-12-23 | 潍坊医学院附属医院 | 一种骨折患者行走康复辅助设备 |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013136149A1 (ru) * | 2012-03-14 | 2013-09-19 | Borysikhin Sergiy Anatol Evich | Способ осуществления функций транспортного средства, как минимум, с одной переставляемой опорой и устройство для реализации этого способа |
CN104723354A (zh) * | 2013-12-20 | 2015-06-24 | 中国科学院沈阳自动化研究所 | 一种机械阻抗参数可调的机器人柔性驱动旋转关节 |
CN105835041A (zh) * | 2016-05-23 | 2016-08-10 | 深圳先进技术研究院 | 一种外骨骼机器人髋关节、外骨骼机器人及其控制方法 |
CN109846672A (zh) * | 2019-03-07 | 2019-06-07 | 合肥工业大学 | 可变刚度的踝足康复矫形器及其运动控制方法 |
CN110454526A (zh) * | 2019-08-21 | 2019-11-15 | 东北大学 | 磁流变制动装置及基于穿戴式外骨骼的磁流变制动系统 |
CN110868964A (zh) * | 2017-05-12 | 2020-03-06 | 埃索欧耐迪克超动力 | 外骨骼、矫形器、可穿戴设备或使用磁流变流体离合器装置的移动机器人 |
CN111481402A (zh) * | 2020-04-24 | 2020-08-04 | 合肥工业大学 | 基于绳索变刚度多功能驱动器的膝关节外骨骼及控制方法 |
CN111773026A (zh) * | 2020-06-16 | 2020-10-16 | 中国科学院深圳先进技术研究院 | 一种多关节刚柔结合助力下肢外骨骼 |
CN113858180A (zh) * | 2021-11-05 | 2021-12-31 | 中国科学技术大学 | 一种用于下肢外骨骼的磁流变关节 |
CN114012776A (zh) * | 2021-11-19 | 2022-02-08 | 中国科学技术大学 | 具有高负重比与灵活功率输出的多功能一体化关节模组 |
CN114211523A (zh) * | 2021-11-15 | 2022-03-22 | 西安交通大学 | 一种变阻尼柔顺驱动的外骨骼关节 |
-
2022
- 2022-04-21 CN CN202210417573.9A patent/CN114505884B/zh active Active
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013136149A1 (ru) * | 2012-03-14 | 2013-09-19 | Borysikhin Sergiy Anatol Evich | Способ осуществления функций транспортного средства, как минимум, с одной переставляемой опорой и устройство для реализации этого способа |
CN104723354A (zh) * | 2013-12-20 | 2015-06-24 | 中国科学院沈阳自动化研究所 | 一种机械阻抗参数可调的机器人柔性驱动旋转关节 |
CN105835041A (zh) * | 2016-05-23 | 2016-08-10 | 深圳先进技术研究院 | 一种外骨骼机器人髋关节、外骨骼机器人及其控制方法 |
CN110868964A (zh) * | 2017-05-12 | 2020-03-06 | 埃索欧耐迪克超动力 | 外骨骼、矫形器、可穿戴设备或使用磁流变流体离合器装置的移动机器人 |
CN109846672A (zh) * | 2019-03-07 | 2019-06-07 | 合肥工业大学 | 可变刚度的踝足康复矫形器及其运动控制方法 |
CN110454526A (zh) * | 2019-08-21 | 2019-11-15 | 东北大学 | 磁流变制动装置及基于穿戴式外骨骼的磁流变制动系统 |
CN111481402A (zh) * | 2020-04-24 | 2020-08-04 | 合肥工业大学 | 基于绳索变刚度多功能驱动器的膝关节外骨骼及控制方法 |
CN111773026A (zh) * | 2020-06-16 | 2020-10-16 | 中国科学院深圳先进技术研究院 | 一种多关节刚柔结合助力下肢外骨骼 |
CN113858180A (zh) * | 2021-11-05 | 2021-12-31 | 中国科学技术大学 | 一种用于下肢外骨骼的磁流变关节 |
CN114211523A (zh) * | 2021-11-15 | 2022-03-22 | 西安交通大学 | 一种变阻尼柔顺驱动的外骨骼关节 |
CN114012776A (zh) * | 2021-11-19 | 2022-02-08 | 中国科学技术大学 | 具有高负重比与灵活功率输出的多功能一体化关节模组 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115501090A (zh) * | 2022-11-22 | 2022-12-23 | 潍坊医学院附属医院 | 一种骨折患者行走康复辅助设备 |
CN115501090B (zh) * | 2022-11-22 | 2023-02-28 | 潍坊医学院附属医院 | 一种骨折患者行走康复辅助设备 |
Also Published As
Publication number | Publication date |
---|---|
CN114505884B (zh) | 2022-07-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11071675B2 (en) | Lower limb exoskeleton system having jump-down cushioning function and method of using the same | |
CN106109181B (zh) | 一种复位外骨骼关节及其外骨骼助力装置 | |
CN114505884B (zh) | 外骨骼膝关节模组及外骨骼机器人 | |
CN110868964B (zh) | 外骨骼、矫形器、可穿戴设备或使用磁流变流体离合器装置的移动机器人 | |
CN108095976B (zh) | 一种具有被动回弹功能的仿生膝关节康复训练装置 | |
KR102250260B1 (ko) | 연결 모듈 및 이를 포함하는 운동 보조 장치 | |
US20080097269A1 (en) | Electro-Rheological Fluid Brake and Actuator Devices and Orthotic Devices Using the Same | |
Chen et al. | Design and characterization of a magneto-rheological series elastic actuator for a lower extremity exoskeleton | |
Geeroms et al. | Design and energetic evaluation of a prosthetic knee joint actuator with a lockable parallel spring | |
CN104644381A (zh) | 一种外骨骼用三自由度柔性踝关节装置 | |
US10549138B2 (en) | Methods and systems for an exoskeleton to reduce a runners metabolic rate | |
CN113858180B (zh) | 一种用于下肢外骨骼的磁流变关节 | |
KR20120076101A (ko) | 허리 지지구조 및 이를 이용한 하지 근력지원 로봇슈트. | |
CN111409060A (zh) | 能够站立态快速自锁的下肢负重助力外骨骼 | |
KR101222915B1 (ko) | 하지 근력지원 로봇슈트. | |
CN209790310U (zh) | 一种可穿戴式无动力下肢外骨骼膝关节机构 | |
CN110406608B (zh) | 面向行走机器人的多模式弹性驱动器 | |
CN209919882U (zh) | 一种外骨骼系统 | |
CN112873174A (zh) | 基于电磁离合的外骨骼机器人膝关节 | |
Zheng et al. | Design and Simulation of a Rotating Magnetorheological Fluid Damper for the Ankle Rehabilitation Robot | |
CN220261001U (zh) | 一种无源单动力单元实现双边阻力外骨骼装置 | |
CN113878612B (zh) | 一种用于康复机器人的双模驱动关节 | |
CN111823218B (zh) | 一种基于形状记忆合金的变刚度膝关节外骨骼机器人 | |
CN113771007B (zh) | 一种用于外骨骼机器人的力矩可调节的被动关节装置 | |
Olivier et al. | A Double-differential Actuation for an Assistive Hip Orthosis-Specificities and Implementation |
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 | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230524 Address after: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee after: University of Science and Technology of China Patentee after: Gong Xinglong Patentee after: Sun Shuaishuai Patentee after: Zhang Shiwu Address before: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee before: University of Science and Technology of China |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20231128 Address after: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee after: Gong Xinglong Patentee after: Sun Shuaishuai Patentee after: Zhang Shiwu Address before: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee before: University of Science and Technology of China Patentee before: Gong Xinglong Patentee before: Sun Shuaishuai Patentee before: Zhang Shiwu |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240111 Address after: 230031, 23rd Floor, Research Building, Phase I of China International Intelligent Voice Industry Park, High tech Development Zone, Hefei City, Anhui Province Patentee after: Zhongke Qingbang Technology (Anhui) Co.,Ltd. Address before: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee before: Gong Xinglong Patentee before: Sun Shuaishuai Patentee before: Zhang Shiwu |