CN116000905A - Wearable passive upper limb exoskeleton assisting device - Google Patents
Wearable passive upper limb exoskeleton assisting device Download PDFInfo
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- CN116000905A CN116000905A CN202310063299.4A CN202310063299A CN116000905A CN 116000905 A CN116000905 A CN 116000905A CN 202310063299 A CN202310063299 A CN 202310063299A CN 116000905 A CN116000905 A CN 116000905A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention provides a wearable passive upper limb exoskeleton assisting device, which comprises: shoulder straps, left frame, right frame, arm straps, waist straps, back support, and lumbar support; after the user wears, press locking device's button position, the buckle rotates the unblock of third connecting rod for the gas spring rises, drives second connecting rod and third connecting rod upward movement simultaneously, promotes the arm support and lifts, plays the helping hand effect for user's upper limbs. The invention is based on the left and right support rods, the lower parts of the two support rods are hinged with the waist support, and the upper parts of the two support rods are connected with the back support through the elastic binding bands, so that the equipment can meet the working conditions of different distances with operators, and the operation is more flexible and convenient; in addition, the embodiment of the invention does not need power source equipment such as an external power supply, and the like, and has the advantages of light and simple structure and low cost.
Description
Technical Field
The invention relates to the field of power assisting device manufacturing, in particular to a wearable passive upper limb exoskeleton power assisting device.
Background
In various fields, such as automobile maintenance, operators need to maintain the lifting operation of the upper limbs for a long time, and the single operation time is long and the overall operation frequency is high, so that muscles and joints of the parts such as shoulders, backs and the upper limbs of the operators are gradually ache and stiff, the working time is prolonged to a certain extent, and the operation efficiency is reduced. The long-term frequent working of the type can also cause related joint and musculoskeletal injury to operators, causing a plurality of physical diseases.
The exoskeleton power assisting device is worn outside the body of an operator, and can realize the supporting and protecting effects on the body through the power assisting function of the operator in the working process; at present, a large number of exoskeleton power assisting devices are designed in an active power mode, so that the power assisting devices are complex in mechanism and overlarge in size, and operators in the operation process can be influenced to a certain extent while wearing is inconvenient.
In the prior art, the motor drive or intelligent sensor control adjustment is used for driving the upper limb exoskeleton to assist, and the air path control device is also used for driving in combination with the air supply system. These devices have the characteristics of heavy weight and complex devices, which are disadvantageous in wearing comfort, due to the inclusion of motors or other control devices. However, these devices are often used in emergency rescue and overweight transportation, and require a large supporting force. However, some scenes are characterized in that the lifting object is not too heavy, but the lifting object needs to be lifted for a long time, for example, the scenes of product maintenance, automobile maintenance and the like in a narrow space, and the upper limb assistant device with lighter weight, lighter weight and lighter and more comfortable weight is needed to be worn.
Disclosure of Invention
The invention aims to solve the technical problems of heavy weight, complex device and the like caused by the need of external intervention in the prior art; in view of this, the present invention provides a wearable passive upper limb exoskeleton assistance device.
The technical scheme adopted by the invention is that the wearable passive upper limb exoskeleton assisting device comprises:
shoulder straps, left frame, right frame, arm straps, waist straps, back support, and lumbar support; the upper end and the lower end of the shoulder strap are respectively connected with the back support and the waist support, the waist strap is connected with the waist support, the arm strap is respectively connected with the arm parts of the left framework and the right framework, and the left framework and the right framework are respectively connected with the waist support;
the left framework and the right framework respectively comprise a first connecting rod, an upper rotating rod, a lower rotating rod, a supporting rod, a locking device, an arm support, a second connecting rod, a third connecting rod and a gas spring; the two ends of the supporting rod are respectively connected with the upper rotating rod and the lower rotating rod through an upper rotating shaft and a lower rotating shaft, the upper rotating rod is connected with the arm support through the first connecting rod, the lower rotating shaft is connected with the lower end of the gas spring, one end of the second connecting rod, one end of the third railing and the upper end of the gas spring are connected, the other end of the second connecting rod is connected with the arm support, and the other end of the third connecting rod is connected with the upper rotating rod;
and when the user wears the device, the button part of the locking device is pressed, the buckle rotates to unlock the third connecting rod, so that the gas spring rises, and meanwhile, the second connecting rod and the third connecting rod are driven to move upwards to push the arm support to lift, and the upper limb of the user is boosted.
In one embodiment, the lumbar support and the back support are connected by an elastic strap to effect adjustment of the connection angle.
In one embodiment, the waist strap, the shoulder strap, and the arm strap are adjustable in size.
In one embodiment, the lower portion of the support bar is bolted to the lumbar support and the elastic strap is connected to the shoulder support by a metal loop on the support bar.
In one embodiment, the upper rotating rod and the lower rotating rod are connected with the supporting rod through a rotating shaft for relative rotation between the upper rotating rod or the lower rotating rod and the supporting rod.
In one embodiment, a pad is disposed within the arm support.
In one embodiment, the locking device further comprises a baffle, a spring sleeve, a rotating shaft;
when no external force is applied to the button, the locking device is in a locked state;
when an external force presses the button, the spring is compressed, and the buckle rotates by taking the connecting position of the rotating shaft and the baffle plate as a fulcrum, so that unlocking is completed.
In one embodiment, the spring housing is used to fix the position of the spring.
In one embodiment, the back support rear portion is provided with a first fastening means, a first elastic bandage, a second fastening means, a second elastic bandage, and the lumbar support rear portion is provided with a third fastening means.
In one embodiment, the support bar is hinged to the back support and the support bar is connected to the back support by the first elastic bandage.
Compared with the prior art, the invention has at least the following advantages:
1) The wearable passive upper limb exoskeleton assisting device provided by the invention is based on the left and right support rods, the lower parts of the two support rods are hinged with the lumbar support, and the upper parts of the two support rods are connected with the back support through the elastic binding bands, so that the device can meet the working conditions of different distances with operators, and the operation is more flexible and convenient.
2. ) The upper end and the lower end of the left support rod and the lower end of the right support rod are connected with the rotating rods through the rotating shafts, the upper rotating rod is hinged with the arm support through the first connecting rod, the lower rotating rod is hinged with the lower end of the air spring, one end of the second connecting rod, one end of the third connecting rod and the upper end of the air spring are hinged through bolts, the other end of the second connecting rod is hinged with the arm support, the other end of the third connecting rod is hinged with the upper rotating shaft, and therefore the upper rotating rod and the lower rotating rod can rotate relative to the support rods, and accordingly the first connecting rod, the second connecting rod, the third connecting rod, the arm support and the air spring are driven to rotate, and free movement of the upper limb in an operation state is guaranteed.
3) According to the wearable passive upper limb exoskeleton assisting device provided by the invention, the locking device is arranged in the middle of the supporting rod to control the switching between the use state and the unused state of the equipment, when the third connecting rod is locked by the buckle, the gas spring is completely compressed, and the left framework and the right framework are kept vertical, so that the equipment is in the unused state; when the button is pressed down, the spring is compressed, the buckle is not locking the third connecting rod, and the realization unblock, the gas spring slowly rises, drives second, three connecting rod motion, promotes the upper arm support and lifts, plays the helping hand effect for the upper limbs that the operating personnel lifted for a long time in the operation in-process to play the effect of supporting and protection to a certain extent, reduce muscle fatigue, reduce joint, musculoskeletal damage, improve work efficiency.
4) The invention does not need external power source equipment such as power supply, and the like, has light and handy structure, is simple and convenient, and has lower cost.
Drawings
Fig. 1 is a schematic front side view of a wearable passive upper limb exoskeleton assistance device in an unused state according to an embodiment of the present invention.
Fig. 2 is a schematic front side structural view of a wearable passive upper limb exoskeleton assistance device in a use state according to an embodiment of the present invention.
Fig. 3 is a schematic rear side view of a wearable passive upper limb exoskeleton assistance device in an unused state.
Fig. 4 is a schematic side view of a wearable passive upper limb exoskeleton assistance device in an unused state.
Fig. 5 is a schematic side view of a wearable passive upper limb exoskeleton assistance device in a use state according to an embodiment of the present invention.
Fig. 6 is a structural development view of the locking device according to the embodiment of the present invention.
Reference numerals
1-shoulder strap, 2-armature (left, right armature), 21-first link, 22-upper swivel rod, 23-lower swivel rod, 24-support rod, 241-eyelet, 25-locking device, 251-bezel, 252-spring, 253-button, 254-spring case, 255-buckle, 256-swivel axis, 26-arm support, 261-pad, 27-second link, 28-third link, 29-gas spring, 210-upper swivel axis, 211-lower swivel axis, 3-arm strap, 4-waist strap, 5-back support, 51-first fixation device, 52-first elastic strap, 53-second fixation device, 54-second elastic strap, 6-waist support, 61-third fixation device.
Detailed Description
In order to further describe the technical means and effects adopted by the present invention for achieving the intended purpose, the following detailed description of the present invention is given with reference to the accompanying drawings and preferred embodiments.
In the drawings, the thickness, size and shape of the object have been slightly exaggerated for convenience of explanation. The figures are merely examples and are not drawn to scale.
It will be further understood that the terms "comprises," "comprising," "includes," "including," "having," "containing," and/or "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Furthermore, when a statement such as "at least one of the following" appears after a list of features that are listed, the entire listed feature is modified instead of modifying a separate element in the list. Furthermore, when describing embodiments of the present application, the use of "may" means "one or more embodiments of the present application. Also, the term "exemplary" is intended to refer to an example or illustration.
As used herein, the terms "substantially," "about," and the like are used as terms of a table approximation, not as terms of a table level, and are intended to illustrate inherent deviations in measured or calculated values that would be recognized by one of ordinary skill in the art.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
A first embodiment of the present invention, referring to fig. 1 to 6, a wearable passive upper limb exoskeleton assistance device, comprising:
the left framework and the right framework comprise a first connecting rod 21, an upper rotating rod 22, a lower rotating rod 23, a supporting rod 24, a locking device 25, an arm support 26, a second connecting rod 27, a third connecting rod 28 and a gas spring 29; the two ends of the supporting rod 24 are respectively connected with an upper rotating rod 22 and a lower rotating rod 23, the upper rotating rod 22 is respectively connected with the upper rotating rod 22 and the lower rotating rod 23 through an upper rotating shaft 210 and a lower rotating shaft 211, the first connecting rod 21 is connected with the arm support 26, the lower rotating shaft 211 is connected with the lower end of the gas spring 29, one end of the second connecting rod 27 and one end of the third connecting rod 28 are connected with the upper end of the gas spring 29, the other end of the second connecting rod 27 is connected with the arm support 26, and the other end of the third connecting rod 28 is connected with the upper rotating rod 22;
when the user wears the device, the button 253 of the locking device 25 is pressed, the buckle 255 rotates to unlock the third connecting rod 28, so that the air spring 29 ascends, and meanwhile, the second connecting rod 27 and the third connecting rod 28 are driven to move upwards, the arm support 26 is pushed to lift, and a power assisting effect is achieved for the upper limb of the user.
In one embodiment, the lumbar support 6 and the back support 5 are connected by elastic straps to achieve adjustment of the connection angle.
In one embodiment, the sizes of the waist strap 4, shoulder strap 1 and arm strap 3 are adjustable.
In one embodiment, the lower portion of the support bar 24 is bolted to the lumbar support 6 and the elastic straps are connected to the shoulder support by metal loops 241 on the support bar 24.
In one embodiment, the upper and lower rotating rods 22 and 23 are connected to the support bar 24 by a rotating shaft 256 for relative rotation between the upper or lower rotating rods 22 and 23 and the support bar 24.
In one embodiment, a pad 261 is provided inside the arm support 26.
In one embodiment, the locking device 25 further comprises a shutter 251, a spring 252, a spring housing 254, a rotation shaft 256;
when no external force is applied to the button 253, the locking device 25 is in a locked state;
when the button 253 is pressed by an external force, the spring 252 is compressed, and the buckle 255 rotates about the connection position of the rotation shaft 256 and the shutter 251 as a fulcrum, thereby completing unlocking.
In one embodiment, a spring housing 254 is used to fix the position of the spring 252.
In one embodiment, the back support 5 is provided with a first fastening means 51, a first elastic bandage 52, a second fastening means 53, a second elastic bandage 54 at the rear and a third fastening means 61 at the rear of the lumbar support 6.
In one embodiment, the support bar 24 is hinged to the back support 5 and the support bar 24 is connected to the back support 5 by means of a first elastic bandage 52.
Compared with the prior art, the embodiment has at least the following advantages:
1) The wearable passive upper limb exoskeleton assisting device provided by the invention is based on the left and right support rods, the lower parts of the two support rods are hinged with the lumbar support, and the upper parts of the two support rods are connected with the back support through the elastic binding bands, so that the device can meet the working conditions of different distances with operators, and the operation is more flexible and convenient.
2. ) The upper end and the lower end of the left support rod and the lower end of the right support rod are connected with the rotating rods through the rotating shafts, the upper rotating rod is hinged with the arm support through the first connecting rod, the lower rotating rod is hinged with the lower end of the air spring, one end of the second connecting rod, one end of the third connecting rod and the upper end of the air spring are hinged through bolts, the other end of the second connecting rod is hinged with the arm support, the other end of the third connecting rod is hinged with the upper rotating shaft, and therefore the upper rotating rod and the lower rotating rod can rotate relative to the support rods, and accordingly the first connecting rod, the second connecting rod, the third connecting rod, the arm support and the air spring are driven to rotate, and free movement of the upper limb in an operation state is guaranteed.
3) According to the wearable passive upper limb exoskeleton assisting device provided by the invention, the locking device is arranged in the middle of the supporting rod to control the switching between the use state and the unused state of the equipment, when the third connecting rod is locked by the buckle, the gas spring is completely compressed, and the left framework and the right framework are kept vertical, so that the equipment is in the unused state; when the button is pressed down, the spring is compressed, the buckle is not locking the third connecting rod, and the realization unblock, the gas spring slowly rises, drives second, three connecting rod motion, promotes the upper arm support and lifts, plays the helping hand effect for the upper limbs that the operating personnel lifted for a long time in the operation in-process to play the effect of supporting and protection to a certain extent, reduce muscle fatigue, reduce joint, musculoskeletal damage, improve work efficiency.
4) The invention does not need external power source equipment such as power supply, and the like, has light and handy structure, is simple and convenient, and has lower cost.
In a second embodiment of the present invention, an application example of the present invention is described with reference to fig. 3 based on the above embodiment.
Referring again to fig. 1 to 6, a wearable passive upper limb exoskeleton assistance device comprises a shoulder strap 1, left and right skeletons 2, an arm strap 3, a waist strap 4, a back support 5 and a waist support 6, wherein the upper and lower ends of the shoulder strap 1 are respectively connected with the back support 5 and the waist support 6, the waist strap 4 is connected with the waist support 6, the arm strap 3 is connected with arm parts of the left and right skeletons 2, and the left and right skeletons 2 are hinged with the waist support 6;
in this embodiment, the left and right frameworks 2 each include a first connecting rod 21, an upper rotating rod 22, a lower rotating rod 23, a supporting rod 24, a locking device 25, an arm support 26, a second connecting rod 27, a third connecting rod 28, a gas spring 29, an upper rotating shaft 210, and a lower rotating shaft 211, wherein two ends of the supporting rod 24 are respectively connected with the upper rotating rod 22 and the lower rotating rod 23 through the upper rotating shaft 210 and the lower rotating shaft 211, the upper rotating rod 22 is connected with the arm support 26 through the first connecting rod 21, the lower rotating shaft 23 is hinged with the lower end of the gas spring 29, one end of the second connecting rod 27, one end of the third railing 28 and the upper end of the gas spring 29 are connected through bolts, the other end of the second connecting rod 27 is hinged with the arm support 26, the other end of the third railing 28 is hinged with the upper rotating rod 22, and a protection pad 261 is arranged inside the arm support 26 to play a protection role.
The locking device 25 comprises a shutter 251, a spring 252, a button 253, a spring housing 254, a catch 255, a rotation shaft 256; when no external force is applied, the locking device belongs to a locking state; when an external force presses the button 253 to move inwards, the spring 252 is compressed, the buckle 255 rotates by taking the connecting position of the rotating shaft 256 and the baffle 251 as a fulcrum, and unlocking is completed; the spring housing 254 is used to fix the position of the spring 252; as shown in fig. 6.
Working principle of upper limb power assisting equipment: after the user wears, need press the button 253 position of locking device 25 with the hand, buckle 255 rotates and accomplishes the unblock to third connecting rod 28, and air spring 29 slowly rises, drives second connecting rod 27 and third connecting rod 28 upward movement simultaneously, promotes arm support 26 and lifts, plays the helping hand effect for the upper limbs that the operating personnel lifted for a long time in the operation in-process to play the effect of support and protection to a certain extent, reduce muscle fatigue, reduce joint, musculoskeletal damage, improve work efficiency.
The back support 5 is provided with a first fixing device 51, a first elastic bandage 52, a second fixing device 53 and a second elastic bandage 54 at the rear part, the lumbar support 6 is provided with a third fixing device 61 at the rear part, and the support bar 24 is provided with a metal ring 241 at the rear part; during operation of the wearer, the support bar 24 is hinged to the back support 6 and the support bar 24 is connected to the back support 5 by means of the elastic bandage 52, so that the arm of the wearer can freely perform tasks at various distances from the body.
The power assisting mechanism of the upper limb power assisting equipment consists of a second connecting rod 27, a third connecting rod 28 and a gas spring 29, one ends of the second connecting rod 27 and the third connecting rod 28 are hinged together through bolts, the other ends of the second connecting rod 27 and the third connecting rod 28 are respectively hinged with an arm support 26, an upper rotating rod 22 and a lower rotating rod 23, so that the third connecting rod 27 and the third connecting rod 28 can be freely rotated, and when the gas spring 29 is in a working state, the second connecting rod, the third connecting rod 28 and the gas spring are driven to rotate, so that power assisting is completed.
The upper limb assistance device has two states: (1) unused state: the third connecting rod 28 is locked by the buckle 255, the gas spring 29 is in a compressed state, and the device does not play a role in assisting force at this time, as shown in fig. 4; (2) the use state is as follows: the buckle 255 unlocks the third link 28, lifting the arm support 26 under the combined action of the gas spring 29, the second link 27 and the third link 28, at which point the apparatus is boosted, as shown in fig. 5.
The two ends of the supporting rod 24 are respectively connected with the upper rotating rod 22 and the lower rotating rod 23 through the upper rotating shaft 210 and the lower rotating shaft 211, and the upper rotating rod 22 and the lower rotating rod 23 can drive the left framework 2 and the right framework 2 except the supporting rod 24 to realize free rotation relative to the supporting rod 24, so that the upper limbs of a wearer can be more flexible in an operation state.
The shoulder straps 1, arm straps 3 and waist straps 4 may all be sized according to different wearer sizes.
While the invention has been described in connection with specific embodiments thereof, it is to be understood that these drawings are included in the spirit and scope of the invention, it is not to be limited thereto.
Claims (10)
1. A wearable passive upper limb exoskeleton assistance device, comprising:
shoulder straps, left frame, right frame, arm straps, waist straps, back support, and lumbar support; the upper end and the lower end of the shoulder strap are respectively connected with the back support and the waist support, the waist strap is connected with the waist support, the arm strap is respectively connected with the arm parts of the left framework and the right framework, and the left framework and the right framework are respectively connected with the waist support;
the left framework and the right framework respectively comprise a first connecting rod, an upper rotating rod, a lower rotating rod, a supporting rod, a locking device, an arm support, a second connecting rod, a third connecting rod and a gas spring; the two ends of the supporting rod are respectively connected with the upper rotating rod and the lower rotating rod through an upper rotating shaft and a lower rotating shaft, the upper rotating rod is connected with the arm support through the first connecting rod, the lower rotating shaft is connected with the lower end of the gas spring, one end of the second connecting rod, one end of the third connecting rod and the upper end of the gas spring are connected, the other end of the second connecting rod is connected with the arm support, and the other end of the third connecting rod is connected with the upper rotating rod;
and when the user wears the device, the button part of the locking device is pressed, the buckle rotates to unlock the third connecting rod, so that the gas spring rises, and meanwhile, the second connecting rod and the third connecting rod are driven to move upwards to push the arm support to lift, and the upper limb of the user is boosted.
2. The wearable passive upper limb exoskeleton assistance device of claim 1 wherein the lumbar support and the back support are connected by an elastic strap to effect adjustment of the connection angle.
3. The wearable passive upper limb exoskeleton assistance device of claim 1 wherein the waist strap, the shoulder strap and the arm strap are adjustable in size.
4. The wearable passive upper limb exoskeleton assistance device of claim 2, wherein the lower portion of the support bar is bolted to the lumbar support and the elastic strap is connected to the shoulder support by a metal loop on the support bar.
5. The wearable passive upper limb exoskeleton assistance device of claim 1, wherein the upper and lower swivel rods are connected to the support bar by a swivel shaft for relative rotation between the upper or lower swivel rod and the support bar.
6. The wearable passive upper limb exoskeleton assistance device of claim 1, wherein a pad is provided inside the arm support.
7. The wearable passive upper limb exoskeleton assistance device of claim 1, wherein said locking device further comprises a baffle, a spring housing, a rotation shaft;
when no external force is applied to the button, the locking device is in a locked state;
when an external force presses the button, the spring is compressed, and the buckle rotates by taking the connecting position of the rotating shaft and the baffle plate as a fulcrum, so that unlocking is completed.
8. The wearable passive upper limb exoskeleton assistance device of claim 1, wherein the spring housing is configured to fix the position of the spring.
9. The wearable passive upper limb exoskeleton assistance device of claim 1, wherein the back support rear is provided with a first securement device, a first elastic bandage, a second securement device, a second elastic bandage, and the lumbar support rear is provided with a third securement device.
10. The wearable passive upper limb exoskeleton assistance device of claim 9, wherein said support bar is hinged to said back support and said support bar is connected to said back support by said first elastic bandage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310063299.4A CN116000905A (en) | 2023-01-18 | 2023-01-18 | Wearable passive upper limb exoskeleton assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310063299.4A CN116000905A (en) | 2023-01-18 | 2023-01-18 | Wearable passive upper limb exoskeleton assisting device |
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| Publication Number | Publication Date |
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| CN116000905A true CN116000905A (en) | 2023-04-25 |
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| CN202310063299.4A Pending CN116000905A (en) | 2023-01-18 | 2023-01-18 | Wearable passive upper limb exoskeleton assisting device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116616922A (en) * | 2023-07-25 | 2023-08-22 | 北京大学人民医院 | Power-assisted exoskeleton |
-
2023
- 2023-01-18 CN CN202310063299.4A patent/CN116000905A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116616922A (en) * | 2023-07-25 | 2023-08-22 | 北京大学人民医院 | Power-assisted exoskeleton |
| CN116616922B (en) * | 2023-07-25 | 2023-10-20 | 北京大学人民医院 | Power-assisted exoskeleton |
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