CN117205041A - Novel knee joint exoskeleton - Google Patents
Novel knee joint exoskeleton Download PDFInfo
- Publication number
- CN117205041A CN117205041A CN202310756874.9A CN202310756874A CN117205041A CN 117205041 A CN117205041 A CN 117205041A CN 202310756874 A CN202310756874 A CN 202310756874A CN 117205041 A CN117205041 A CN 117205041A
- Authority
- CN
- China
- Prior art keywords
- plate
- shank
- thigh
- guide
- board
- 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.)
- Pending
Links
- 210000000629 knee joint Anatomy 0.000 title abstract description 40
- 210000000689 upper leg Anatomy 0.000 claims abstract description 74
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 210000003127 knee Anatomy 0.000 claims description 6
- 238000010030 laminating Methods 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 2
- 239000000428 dust Substances 0.000 abstract 1
- 210000002414 leg Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000007774 longterm Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Rehabilitation Tools (AREA)
Abstract
The application relates to the technical field of environment-friendly dust fall equipment, in particular to a novel knee joint exoskeleton, which comprises a thigh plate, a shank plate movably hinged with the thigh plate, and a guide mechanism arranged between the thigh plate and the shank plate, wherein the guide mechanism comprises a movable groove and a guide assembly, and the guide assembly is used for enabling the shank plate to rotate around the movable hinge position of the shank plate and the thigh plate along the track direction of the movable groove. According to the novel knee joint exoskeleton, the guide component of the novel knee joint exoskeleton rotates around the movable hinge position of the lower leg plate and the thigh plate along the track direction of the movable groove, the circumference radius of the movable groove is gradually reduced, so that the rotation center of the knee joint exoskeleton is kept aligned with the rotation center of a human knee joint at any time, and damage to the human body is reduced.
Description
The application relates to a novel knee joint exoskeleton, which is a divisional application, the application number of the original application is 2022110768110, the application date is 2022, 09 and 05 days, and the name of the novel knee joint exoskeleton is 'novel'.
[ field of technology ]
The application belongs to the technical field of rehabilitation exoskeleton products, and particularly relates to a novel knee joint exoskeleton.
[ background Art ]
The knee joint exoskeleton in the current medical instrument industry is mostly composed of a simple rotation power joint, but the knee joint of a human body is not a simple rotation amplitude, the instantaneous rotation center of the knee joint is changed during movement, and the rotation center of the exoskeleton and the rotation center of the knee joint of the human body are not aligned during movement, so that additional tangential force can be generated on the human body, the user experience is reduced, the human body is damaged even after long-term use, and irreversible influence is generated.
[ application ]
In order to solve the problems that the rotation center of the exoskeleton and the rotation center of the knee joint of the human body are not aligned in the prior art, the user experience is reduced, and even the human body is damaged after long-term use. The application provides a novel knee joint exoskeleton.
The application is realized by the following technical scheme:
a novel knee exoskeleton, characterized in that: the leg plate comprises a thigh plate, a shank plate movably hinged with the thigh plate, and a guide mechanism arranged between the thigh plate and the shank plate, wherein the guide mechanism comprises a movable groove and a guide assembly, and the guide assembly is used for enabling the shank plate to rotate around the movable hinge position of the shank plate and the thigh plate along the track direction of the movable groove;
a driving mechanism for driving the lower leg plate to rotate relative to the thigh plate is arranged between the thigh plate and the lower leg plate;
the guide assembly comprises a shank board back accessory which is arranged on the shank board and is movably hinged with the thigh board, and an inner side roller which is hinged between the shank board back accessory and the shank board and is positioned in the movable groove and moves along the movable groove;
the guide assembly comprises a guide rail and an external guide assembly, wherein the external guide assembly and the inner roller are respectively positioned at two sides of the guide rail so as to limit the rotation of the shank board back accessory along the guide rail;
the external guide assembly comprises a fitting piece which is arranged on the accessory on the back of the lower leg plate and is propped against the guide rail, the movable groove is positioned at the inner side of the guide rail, and the inner side roller and the fitting piece are respectively positioned at the inner side and the outer side of the guide rail;
be equipped with guide surface and spacing face on the laminating piece, the guide rail lateral surface be equipped with respectively with the guide surface with guide section and the spacing section of spacing face laminating, the guide section with during the guide surface cooperation, the shank board can be followed the movable groove is relative the thigh board rotates, the spacing section with during the spacing face cooperation, the restriction the shank board is relative the thigh board continues to rotate.
The novel knee joint exoskeleton is characterized in that: the driving mechanism comprises a driving motor arranged on the thigh plate and a connecting rod hinged with the output ends of the shank plate and the driving motor respectively.
The novel knee joint exoskeleton is characterized in that: the outer guide assembly further comprises an outer roller, a displacement groove and a first tension spring, wherein the outer roller is arranged between the accessory on the back of the lower leg plate and is in contact with the outer side face of the guide rail, the displacement groove is used for enabling the outer roller to move up and down, the two ends of the first tension spring are respectively connected with the inner roller and the outer roller, and the outer roller moves along the displacement groove under the action of the first tension spring and is always kept in fit with the guide rail.
The novel knee joint exoskeleton is characterized in that: the leg plate is characterized by further comprising a connecting mechanism used for enabling the thigh plate and the leg plate to be kept in a bending state, wherein the connecting mechanism comprises a first hinge piece arranged on the thigh plate, a second hinge piece arranged on the leg plate, a second tension spring hinged with the first hinge piece and the second hinge piece and a limiting groove arranged at the tail end of the movable groove, the guiding mechanism slides into the limiting groove when the leg plate rotates to the limiting position relative to the thigh plate, and the limiting groove is used for keeping the limiting position of the leg plate rotating relative to the thigh plate under the action of the second tension spring.
The novel knee joint exoskeleton is characterized in that: the thigh height adjusting mechanism comprises a thigh telescopic connecting rod connected with the thigh plate, a positioning hole arranged on the thigh telescopic connecting rod, and a positioning pin arranged on the thigh plate and spliced with the positioning hole.
Compared with the prior art, the application has the following advantages:
according to the novel knee joint exoskeleton, the guiding component rotates around the movable hinge position of the lower leg plate and the thigh plate along the track direction of the movable groove, the track design of the instantaneous rotation center of the knee joint in the human body movement process is referred to by the movable groove track, so that the rotation center of the knee joint exoskeleton is kept aligned with the rotation center of the knee joint of the human body at any time, and damage to the human body is reduced.
The novel knee joint exoskeleton provided by the application is characterized in that the whole knee joint exoskeleton is driven to simulate the movement of a human knee joint.
According to the novel knee joint exoskeleton disclosed by the application, the thigh plate and the shank plate are respectively provided with the hinges, so that the thigh plate and the shank plate can transversely rotate and further fit a human body.
According to the novel knee joint exoskeleton, the telescopic height of the thigh telescopic connecting rod in the thigh height adjusting mechanism is adjusted, so that the height of a user can be better adapted.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a right side view of the present application;
FIG. 2 is a left side view of the present application;
FIG. 3 is a partially disassembled view of the present application;
FIG. 4 is an enlarged partial view of area A of FIG. 3;
FIG. 5 is a schematic view of the thigh panel of FIG. 1;
fig. 6 is a schematic view of the configuration of the lower leg plate back attachment of fig. 1.
[ detailed description ] of the application
In order to make the technical scheme and beneficial effects of the technical problem solved by the application more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Referring to fig. 1 to 6, a novel knee joint exoskeleton comprises a thigh plate 1, a shank plate 2 movably hinged with the thigh plate 1, and a guide mechanism 5 arranged between the thigh plate 1 and the shank plate 2, wherein the guide mechanism 5 comprises a movable groove 3 and a guide assembly 51, and the guide assembly 51 is used for enabling the shank plate 2 to rotate around the movable hinge position of the shank plate 2 and the thigh plate 1 along the track direction of the movable groove 3.
According to the novel knee joint exoskeleton, the guiding component rotates around the movable hinge position of the lower leg plate and the thigh plate along the track direction of the movable groove, the track design of the instantaneous rotation center of the knee joint in the human body movement process is referred to by the movable groove track, so that the rotation center of the knee joint exoskeleton is kept aligned with the rotation center of the knee joint of the human body at any time, and damage to the human body is reduced.
Further, as a preferred embodiment of the present application, but not limited thereto, a driving mechanism 52 for driving the rotation of the lower leg plate 2 with respect to the upper leg plate 1 is provided between the upper leg plate 1 and the lower leg plate 2.
Further, as a preferred embodiment of the present application, but not limited thereto, the driving mechanism 52 includes a driving motor 521 provided on the thigh board 1, and a link 522 hinged to the output ends of the shank board 2 and the driving motor 521, respectively, so as to drive the shank board to move in a direction of the thigh board to simulate the movement of the knee joint of the human body.
Further, as a preferred embodiment of the present application, but not limited thereto, the guide assembly 51 includes a lower leg plate back attachment 511 provided on the lower leg plate 2 and movably hinged to the thigh plate 1, and an inner roller 513 hinged between the lower leg plate back attachment 511 and the lower leg plate 2 and positioned in the movable groove 3 to move along the movable groove 3.
Further, as a preferred embodiment of the present application and not by way of limitation, the guide assembly 51 includes a rail 512, and an outer guide assembly 515, the outer guide assembly 515 and the inner roller 513 being positioned on opposite sides of the rail 512, respectively, to limit rotation of the shank dorsal attachment 511 along the rail 512.
Further, as a preferred embodiment of the present application, but not limited thereto, the external guide assembly 515 includes a fitting member 5151 disposed on the rear accessory 511 of the lower leg plate and pressing against the guide rail 512, the movable slot 3 is disposed on the inner side of the guide rail 512, and the inner roller 513 and the fitting member 5151 are disposed on the inner and outer sides of the guide rail 512, respectively, so that the exoskeleton, when in an extended state, acts as a support to reduce the stress of the knee joint of the human body.
Further, as a preferred embodiment of the present application, but not limited thereto, the external guide assembly 515 further includes an outer roller 5152 disposed between the rear side of the lower leg plate 511 and the lower leg plate 2 and contacting the outer side of the guide rail 512, a displacement groove 5153 for the outer roller 5152 to move up and down, and a first tension spring 5154 having both ends connected to the inner roller 513 and the outer roller 5152, respectively, wherein the outer roller 5152 moves along the displacement groove 5153 under the action of the first tension spring 5154 and is always kept in contact with the guide rail 512.
Further, as a preferred embodiment of the present application, but not limited to, the attaching member 5151 is provided with a guide surface 51511 and a limiting surface 51512, the outer side surface of the guide rail 512 is provided with a guide section 5121 and a limiting section 5122 attached to the guide surface 51511 and the limiting surface 51512, when the guide section 5121 is matched with the guide surface 51511, the lower leg plate 2 can rotate along the movable groove 3 relative to the upper leg plate 1, and when the limiting section 5122 is matched with the limiting surface 51512, the lower leg plate 2 is limited to continue to rotate relative to the upper leg plate 1.
Further, as a preferred embodiment of the present application, but not limited thereto, the device further comprises a connecting mechanism 6 for maintaining the thigh plate 1 and the shank plate 2 in a bent state, wherein the connecting mechanism 6 comprises a first hinge member 61 provided on the thigh plate 1, a second hinge member 62 provided on the shank plate 2, a second tension spring 63 hinged to the first hinge member 61 and the second hinge member 62, and a limiting groove 31 provided at an end of the movable groove 3, and the guiding mechanism 5 slides into the limiting groove 31 when the shank plate 2 rotates to a limiting position with respect to the thigh plate, and maintains the limiting position of the shank plate 2 rotating with respect to the thigh plate under the action of the second tension spring 63.
Further, as a preferred embodiment of the present application, but not limited thereto, the thigh height adjusting mechanism 7 for adjusting the height is further included, the thigh height adjusting mechanism 7 includes a thigh extension link 71 connected with the thigh plate 1, a positioning hole 711 provided on the thigh extension link 71, and a positioning pin 712 provided on the thigh plate 1 and inserted into the positioning hole 711, and is inserted into the positioning hole through the positioning pin to fix the extension height of the thigh extension link.
Further, as a preferred embodiment of the present application, but not limited thereto, the device further comprises a shank height adjusting mechanism 8 for adjusting the height, wherein the shank height adjusting mechanism 8 comprises a shank expansion link 81 connected with the shank plate 2, a positioning hole 811 provided on the shank expansion link 81, and a positioning pin 812 provided on the shank plate 2 and inserted into the positioning hole 811, and is inserted into the positioning hole through the positioning pin to fix the expansion height of the shank expansion link.
Further, as a preferred embodiment of the present application, but not limited thereto, the foot height adjusting mechanism 9 for adjusting the height is further included, the foot height adjusting mechanism 9 includes a foot expansion link 91 hinged to the lower leg expansion link 81, a positioning hole 911 provided on the foot expansion link 91, a foot pad 92 connected to the foot expansion link through the positioning hole, and a positioning pin 912 provided on the foot pad 92 and inserted into the positioning hole 911, and inserted into the positioning hole through the positioning pin to fix the expansion height of the foot expansion link.
Further, as a preferred embodiment of the present solution, but not limited to, the thigh expansion link 71 is provided with a hinge 72, so that the thigh board can rotate transversely, further fits the human body, and improves the comfort level of use.
Further, as a preferred embodiment of the present solution, but not limited to, the lower leg extension link 81 is provided with a hinge 82, so that the lower leg plate can rotate transversely, further fit the human body, and improve the comfort level of use.
The working principle of this embodiment is as follows:
according to the novel knee joint exoskeleton, the guiding component rotates around the movable hinge position of the lower leg plate and the thigh plate along the track direction of the movable groove, the track design of the instantaneous rotation center of the knee joint in the human body movement process is referred to by the movable groove track, so that the rotation center of the knee joint exoskeleton is kept aligned with the rotation center of the knee joint of the human body at any time, and damage to the human body is reduced.
The embodiments provided above in connection with the specific disclosure are not intended to limit the practice of the application to those descriptions. The present application should be considered as the protection scope of the present application, if the structure of the method is similar to that of the present application, or if several technical deductions or substitutions are made on the premise of the present application.
Claims (5)
1. A novel knee exoskeleton, characterized in that: the device comprises a thigh plate (1), a shank plate (2) movably hinged with the thigh plate (1) and a guide mechanism (5) arranged between the thigh plate (1) and the shank plate (2), wherein the guide mechanism (5) comprises a movable groove (3) and a guide assembly (51), and the guide assembly (51) is used for enabling the shank plate (2) to rotate around the movable hinge position of the shank plate (2) and the thigh plate (1) along the track direction of the movable groove (3);
a driving mechanism (52) for driving the lower leg plate (2) to rotate relative to the upper leg plate (1) is arranged between the upper leg plate (1) and the lower leg plate (2);
the guide assembly (51) comprises a shank board back accessory (511) which is arranged on the shank board (2) and is movably hinged with the thigh board (1), and an inner roller (513) which is hinged between the shank board back accessory (511) and the shank board (2) and is positioned in the movable groove (3) and moves along the movable groove (3);
the guide assembly (51) comprises a guide rail (512), and an external guide assembly (515), wherein the external guide assembly (515) and the inner roller (513) are respectively positioned at two sides of the guide rail (512) so as to limit the rotation of the shank board back accessory (511) along the guide rail (512);
the external guide assembly (515) comprises an attaching piece (5151) which is arranged on the shank board back accessory (511) and is abutted against the guide rail (512), the movable groove (3) is positioned on the inner side of the guide rail (512), and the inner side roller (513) and the attaching piece (5151) are respectively positioned on the inner side and the outer side of the guide rail (512);
be equipped with guide surface (51511) and spacing face (51512) on laminating piece (5151), guide rail (512) lateral surface be equipped with respectively with guide surface (51511) with guide section (5121) and spacing section (5122) of spacing face (51512) laminating, guide section (5121) with during guide surface (51511) cooperation, shank board (2) can be followed movable groove (3) are relative shank board (1) rotates, spacing section (5122) with when spacing face (51512) cooperation, restriction shank board (2) are relative shank board (1) continue to rotate.
2. The novel knee exoskeleton of claim 1, wherein: the driving mechanism (52) comprises a driving motor (521) arranged on the thigh plate (1) and a connecting rod (522) hinged with the output ends of the shank plate (2) and the driving motor (521) respectively.
3. The novel knee exoskeleton of claim 1, wherein: the outer guide assembly (515) further comprises an outer roller (5152) which is arranged between the shank plate back accessory (511) and the shank plate (2) and is in contact with the outer side face of the guide rail (512), a displacement groove (5153) for the outer roller (5152) to move up and down, and a first tension spring (5154) with two ends respectively connected with the inner roller (513) and the outer roller (5152), wherein the outer roller (5152) moves along the displacement groove (5153) under the action of the first tension spring (5154) and is always kept in fit with the guide rail (512).
4. The novel knee exoskeleton of claim 1, wherein: the thigh board (1) and the shank board (2) are kept in a bending state, the connecting mechanism (6) comprises a first hinge piece (61) arranged on the thigh board (1), a second hinge piece (62) arranged on the shank board (2), a second tension spring (63) hinged with the first hinge piece (61) and the second hinge piece (62) and a limit groove (31) arranged at the tail end of the movable groove (3), when the shank board (2) rotates to a limit position relative to the thigh board (1), the guide mechanism (5) slides into the limit groove (31), and the limit position of the shank board (2) relative to the thigh board is kept under the action of the second tension spring (63).
5. The novel knee exoskeleton of claim 1, wherein: the thigh height adjusting mechanism (7) is used for adjusting the height, the thigh height adjusting mechanism (7) comprises a thigh telescopic connecting rod (71) connected with the thigh plate (1), a positioning hole (711) arranged on the thigh telescopic connecting rod (71), and a positioning pin (712) arranged on the thigh plate (1) and spliced with the positioning hole (711).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310756874.9A CN117205041A (en) | 2022-09-05 | 2022-09-05 | Novel knee joint exoskeleton |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211076811.0A CN115531137B (en) | 2022-09-05 | 2022-09-05 | Novel knee joint exoskeleton |
| CN202310756874.9A CN117205041A (en) | 2022-09-05 | 2022-09-05 | Novel knee joint exoskeleton |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211076811.0A Division CN115531137B (en) | 2022-09-05 | 2022-09-05 | Novel knee joint exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117205041A true CN117205041A (en) | 2023-12-12 |
Family
ID=84725762
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310756874.9A Pending CN117205041A (en) | 2022-09-05 | 2022-09-05 | Novel knee joint exoskeleton |
| CN202211076811.0A Active CN115531137B (en) | 2022-09-05 | 2022-09-05 | Novel knee joint exoskeleton |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211076811.0A Active CN115531137B (en) | 2022-09-05 | 2022-09-05 | Novel knee joint exoskeleton |
Country Status (1)
| Country | Link |
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| CN (2) | CN117205041A (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201806802U (en) * | 2010-10-20 | 2011-04-27 | 刘勤 | Human exoskeleton loaded walking aiding device driven by linear motor |
| CN103932870B (en) * | 2014-05-04 | 2016-04-13 | 浙江大学 | Bionic Design lower limb rehabilitation training ectoskeleton |
| CN110267626B (en) * | 2016-11-14 | 2021-12-10 | 加利福尼亚大学董事会 | Exoskeleton legs for fatigue reduction during repetitive and prolonged squat |
| CN207722053U (en) * | 2017-03-28 | 2018-08-14 | 海南职业技术学院 | Ectoskeleton power assisting device with gait control circuit |
| KR102132113B1 (en) * | 2019-01-24 | 2020-07-09 | 서강대학교산학협력단 | Rehabilitation robot for gait assistant driven by a motor |
| CN111494155A (en) * | 2020-03-31 | 2020-08-07 | 雅安职业技术学院 | Leg wearing equipment |
| CN111956450A (en) * | 2020-08-25 | 2020-11-20 | 苏州哲思达智能设备科技有限公司 | Leg supporting device on medical traction equipment |
| CN214018392U (en) * | 2020-10-14 | 2021-08-24 | 郑州第四极机电科技有限公司 | Wearable unpowered exoskeleton loading device |
-
2022
- 2022-09-05 CN CN202310756874.9A patent/CN117205041A/en active Pending
- 2022-09-05 CN CN202211076811.0A patent/CN115531137B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN115531137B (en) | 2023-09-05 |
| CN115531137A (en) | 2022-12-30 |
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