CN114536379B - 外骨骼 - Google Patents
外骨骼 Download PDFInfo
- Publication number
- CN114536379B CN114536379B CN202210436992.7A CN202210436992A CN114536379B CN 114536379 B CN114536379 B CN 114536379B CN 202210436992 A CN202210436992 A CN 202210436992A CN 114536379 B CN114536379 B CN 114536379B
- Authority
- CN
- China
- Prior art keywords
- finger
- connecting rod
- straight
- straight connecting
- pivotally connected
- 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.)
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Links
- 238000004146 energy storage Methods 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 238000005452 bending Methods 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 238000003825 pressing Methods 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims description 17
- 239000004519 grease Substances 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 239000012530 fluid Substances 0.000 claims description 4
- 210000003811 finger Anatomy 0.000 description 194
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000000758 substrate Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 210000003813 thumb Anatomy 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210436992.7A CN114536379B (zh) | 2022-04-25 | 2022-04-25 | 外骨骼 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210436992.7A CN114536379B (zh) | 2022-04-25 | 2022-04-25 | 外骨骼 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN114536379A CN114536379A (zh) | 2022-05-27 |
CN114536379B true CN114536379B (zh) | 2022-09-09 |
Family
ID=81667086
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210436992.7A Active CN114536379B (zh) | 2022-04-25 | 2022-04-25 | 外骨骼 |
Country Status (1)
Country | Link |
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CN (1) | CN114536379B (zh) |
Citations (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5226779A (en) * | 1992-01-13 | 1993-07-13 | Storage Technology Corporation | Finger gripper mechanism for robotic magnetic tape cartridge handling system |
US5447403A (en) * | 1990-01-05 | 1995-09-05 | Engler, Jr.; Charles D. | Dexterous programmable robot and control system |
CN2842078Y (zh) * | 2005-10-15 | 2006-11-29 | 中国科学技术大学 | 磁流变弹性体移频式吸振器 |
CN102811690A (zh) * | 2010-03-23 | 2012-12-05 | 伊德洛有限公司 | 手部康复装置 |
CN105943308A (zh) * | 2016-05-27 | 2016-09-21 | 中国科学技术大学 | 一种用于康复训练的手部外骨骼装置 |
CN106112963A (zh) * | 2016-06-21 | 2016-11-16 | 北京工业大学 | 一种穿戴式手部外骨骼装置 |
CN107214686A (zh) * | 2017-06-22 | 2017-09-29 | 上海交通大学 | 基于电磁驱动的手部外骨骼系统 |
CN107472389A (zh) * | 2017-08-24 | 2017-12-15 | 中国科学技术大学 | 一种可主动调节落地前姿态的弹跳机器人 |
CN109806114A (zh) * | 2019-03-21 | 2019-05-28 | 京东方科技集团股份有限公司 | 一种手部康复装置 |
CN110695971A (zh) * | 2019-10-24 | 2020-01-17 | 广东技术师范大学 | 一种外骨骼机械辅助手 |
CN210998696U (zh) * | 2019-10-24 | 2020-07-14 | 广东技术师范大学 | 外骨骼机械辅助手 |
CN112356014A (zh) * | 2021-01-11 | 2021-02-12 | 中国科学院自动化研究所 | 欠驱动耦合自适应手部外骨骼机器人 |
WO2021197256A1 (zh) * | 2020-03-31 | 2021-10-07 | 袁博 | 一种助力外骨骼的并联弹性驱动器及其控制方法 |
CN113681545A (zh) * | 2021-09-16 | 2021-11-23 | 重庆理工大学 | 膝关节负功捕捉外骨骼装置 |
CN114469643A (zh) * | 2022-01-21 | 2022-05-13 | 南京理工大学 | 一种穿戴式可调节手部助力外骨骼 |
-
2022
- 2022-04-25 CN CN202210436992.7A patent/CN114536379B/zh active Active
Patent Citations (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5447403A (en) * | 1990-01-05 | 1995-09-05 | Engler, Jr.; Charles D. | Dexterous programmable robot and control system |
US5226779A (en) * | 1992-01-13 | 1993-07-13 | Storage Technology Corporation | Finger gripper mechanism for robotic magnetic tape cartridge handling system |
CN2842078Y (zh) * | 2005-10-15 | 2006-11-29 | 中国科学技术大学 | 磁流变弹性体移频式吸振器 |
CN102811690A (zh) * | 2010-03-23 | 2012-12-05 | 伊德洛有限公司 | 手部康复装置 |
CN105943308A (zh) * | 2016-05-27 | 2016-09-21 | 中国科学技术大学 | 一种用于康复训练的手部外骨骼装置 |
CN106112963A (zh) * | 2016-06-21 | 2016-11-16 | 北京工业大学 | 一种穿戴式手部外骨骼装置 |
CN107214686A (zh) * | 2017-06-22 | 2017-09-29 | 上海交通大学 | 基于电磁驱动的手部外骨骼系统 |
CN107472389A (zh) * | 2017-08-24 | 2017-12-15 | 中国科学技术大学 | 一种可主动调节落地前姿态的弹跳机器人 |
CN109806114A (zh) * | 2019-03-21 | 2019-05-28 | 京东方科技集团股份有限公司 | 一种手部康复装置 |
CN110695971A (zh) * | 2019-10-24 | 2020-01-17 | 广东技术师范大学 | 一种外骨骼机械辅助手 |
CN210998696U (zh) * | 2019-10-24 | 2020-07-14 | 广东技术师范大学 | 外骨骼机械辅助手 |
WO2021197256A1 (zh) * | 2020-03-31 | 2021-10-07 | 袁博 | 一种助力外骨骼的并联弹性驱动器及其控制方法 |
CN112356014A (zh) * | 2021-01-11 | 2021-02-12 | 中国科学院自动化研究所 | 欠驱动耦合自适应手部外骨骼机器人 |
CN113681545A (zh) * | 2021-09-16 | 2021-11-23 | 重庆理工大学 | 膝关节负功捕捉外骨骼装置 |
CN114469643A (zh) * | 2022-01-21 | 2022-05-13 | 南京理工大学 | 一种穿戴式可调节手部助力外骨骼 |
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CN114536379A (zh) | 2022-05-27 |
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Effective date of registration: 20230510 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 |
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TR01 | Transfer of patent right |
Effective date of registration: 20231211 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 |
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Effective date of registration: 20240108 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 |