CN201642750U - Lower limb rehabilitation training robot - Google Patents
Lower limb rehabilitation training robot Download PDFInfo
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- CN201642750U CN201642750U CN2010201729622U CN201020172962U CN201642750U CN 201642750 U CN201642750 U CN 201642750U CN 2010201729622 U CN2010201729622 U CN 2010201729622U CN 201020172962 U CN201020172962 U CN 201020172962U CN 201642750 U CN201642750 U CN 201642750U
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Abstract
The utility model discloses a lower limb training robot, comprising an outer skeleton type mechanical structure and a control system independent from the mechanical structure, wherein the outer skeleton type mechanical structure comprises thigh mechanisms and calf mechanisms which are bilaterally connected in sequence by a waist mechanism; the connecting positions of the waist mechanism and the thigh mechanisms is human-simulating hip joints, and the connecting positions of the thigh mechanisms and the calf mechanisms are human-simulating knee joints; the waist mechanism comprises a waist connecting plate and flexible connecting plates which are bilaterally connected; the waist mechanism, the left thigh mechanism, the right thigh mechanism, the left calf mechanism and the right calf mechanism are respectively provided with flexible connecting belts which connect the corresponding parts of a human body and the robot; the control system is independent from the mechanical structure of the robot, is connected together with a robot body by data lines, carries out rehabilitation training control and comprises hardware and software; and the software comprises a user module, a real-time control module and a rehabilitation effect evaluation module.
Description
Technical field
This utility model relates to the robotics of medical rehabilitation training, is specially the lower limbs rehabilitation training robot that a kind of apoplexy or vertebra central nervous system injury cause the handicapped patient of lower limb to use.
Background technology
Along with the sustained and rapid development of economy and the reduction of birth rate, China has entered aged tendency of population society.A large amount of cerebrovascular disease patients is arranged in aged crowd.In recent years, the old people of trouble cerebrovascular disease suffers from the number of apoplexy and is on the increase, and presents rejuvenation trend.According to statistics, the annual cerebral apoplexy patient that takes place of China reaches 2,000,000, and the cerebral apoplexy patient of now surviving is about 6,000,000 to 7,000,000, and wherein 4,500,000 patients can't take care of oneself, and especially the forfeiture of lower extremity movement ability brings very big inconvenience for their life.Must cross the patient of apoplexy, also easily recurrence, every recurrence once increases the weight of once.So, more need the prevention of recurrence of adopting an effective measure.According to the report of the Ministry of Public Health institute for economic research, the financial burden that apoplexy brings to China reaches 40,000,000,000 yuan.
Clinical medicine proves that patients with cerebral apoplexy is carried out rehabilitation training in early days and not only can be kept range of motion, prevents arthrogryposis, and can obviously improve the final recovery extent of patient moving function except early stage operative treatment and necessary medicine treatment.At present, the main method of patients with cerebral apoplexy lower limb rehabilitation training is that the Physical Therapist carries out the training of " by doing and illustrating " to the patient, and this rehabilitation training pattern exists many drawbacks.
Ectoskeleton be a kind of can attached to or be worn on the user health man-machine integration machinery that helps the user rehabilitation training.Adopt exoskeleton rehabilitation robot to carry out rehabilitation training, can control exoskeleton robot, use " muscle power " of robot to drive the rehabilitation of patients motion by people " intelligence ".This mode may thoroughly solve the variety of issue that exists in the present rehabilitation training.With regard to lower limb rehabilitation equipment, domestic product function on the market is single, and its range of application only limits to local joint, fails to realize the coordination rehabilitation training in each joint of whole lower limb.Ectoskeleton is as an important branch of healing robot, uses it to assess, rebuild and the research that improves disabled limb motion motility has become hot research problem to lower limb rehabilitation training.
The healing robot technology has obtained the generally attention of researcher and medical institutions in countries such as America and Europes.Many research institutions have all carried out relevant research work, have obtained some valuable achievements in recent years.Develop the arm recovery exercising robot model machine of MIT-MAUS by name in 2000 as the scientist of masschusetts, u.s.a Polytechnics, and dropped into clinical trial, received good effect.Stanford Univ USA has also released THE ARM GUIDE and MIME type arm recovery exercising robot model machine in 2000.The RUTGERS university of the U.S. has carried out the research of foot's healing robot, and has developed RUTGER robot for rehabilitation of anklebone model machine.The rope drive-type healing robot of Germany's Fu Langhuo Fil Research Institute drives the parallel robot technical elements at gait analysis, rope and has obtained some achievements in research.The federal polytechnical university of Zurich, Switzerland (FTH) has put on display the lower limb rehabilitation robot of LOKOMAT by name on Hanover's calendar year 2001 world industry exhibition.
China starts to walk than later to the research of healing robot, and the achievement in research of auxiliary type healing robot is more relatively, and the achievement in research of recovery exercising robot aspect is then fewer.Tsing-Hua University takes the lead in having developed horizontal lower limbs rehabilitation training robot model machine at home, has adopted virtual reality technology in this achievement.The horizontal lower limbs rehabilitation training robot of Harbin Engineering University's development is to control the gait of robot simulation normal person's walking, the athletic posture of ankle joint by gait and attitude; Control the characteristics of motion of robot by the control center of gravity; Two system coordination campaigns drive lower limb and do walking movement, realize the training to each joint of lower limb.By patient's passive gait training being reached the purpose of rehabilitation.
In the prior art of these lower limb rehabilitation robots, exist common defective: bulky, too heavy, and also function singleness, cost an arm and a leg, can not satisfy the needs of practical application, be unfavorable for the popularization of rehabilitation training technology.
The utility model content
At the deficiencies in the prior art, the technical problems to be solved in the utility model is to design a kind of lower limbs rehabilitation training robot.This robot is based on the design that personalizes, adopt modularity, integrated design, the motion mode of simulation human body lower limbs can be adjusted according to people's lower limb length, and the people who is fit to different heights uses, volume is little simultaneously, low cost, function is complete, the training high efficiency, safety and comfort, easy to use, safeguard and promote.
The technical scheme that this utility model solve the technical problem is: design a kind of lower limbs rehabilitation training robot, this robot comprises exoskeleton-type frame for movement and is independent of control system two parts of this frame for movement;
Described exoskeleton-type frame for movement comprises big leg mechanism and the little leg mechanism that is connected successively by the waist mechanism left-right symmetric; Described waist mechanism is an apery hip joint structure with big leg mechanism junction, has three degree of freedom, wherein, the hip joint degree of freedom that thigh bends and stretches is for providing the active degree of freedom of the power of walking forward, adopt hip joint DC servo torque motor and harmonic wave gear reduction to drive, all the other two degree of freedom are passive freedom degree among a small circle, are respectively that side outreach adduction freedom of motion and medial rotation revolve outer motion degree of freedom, are provided with the plate that flexibly connects that big leg mechanism is connected by waist mechanism; Described big leg mechanism and shank mechanism junction are the apery knee joint, have a knee joint and bend and stretch degree of freedom, adopt knee joint DC servo torque motor and harmonic wave gear reduction to drive; Described waist mechanism comprises waist connecting plate and the plate that flexibly connects that is connected with its left-right symmetric; Described waist mechanism, left and right big leg mechanism and left and right little leg mechanism are separately installed with the flexible link belt that the corresponding site of human body and robot are linked together;
The machine-independent people's of described control system frame for movement links together by data wire and robot body, and carries out rehabilitation training control, comprises hardware and software; Described hardware components comprises computer and the display that is connected respectively with its data wire, multi-axis motion control card, driver, position sensor and force transducer; Described position sensor has four, is integrated in respectively in four DC servo torque motors, by data wire output knee joint and kneed movable information; Described force transducer has four, is installed in respectively in the flexible link belt of described left and right big leg mechanism and left and right little leg mechanism, is used for by the interfering edge between data wire output patient's lower limb and the robot; Described software comprises line module, real-time control module and rehabilitation efficacy evaluation module; Wherein, line module provides friendly man machine interface, realizes the collection and the storage of sensing data, and the input of training parameter and state show, the generation of virtual scene and networking and communication function; Control module mainly provides rehabilitation control strategy used in the rehabilitation training in real time, comprise multi-axis motion control card initialization and the auxiliary control of standing, passive gait walking control, assisted walk control, four kinds of motor control strategies of impedance Control, and can realize different leg speed control; The rehabilitation efficacy evaluation module comprises data base and rehabilitation efficacy Evaluation Strategy, is used to write down training data and analyzes the rehabilitation training effect.
Compared with prior art, this utility model lower limbs rehabilitation training robot has following advantage: the one, and integrated design makes robot architecture's compactness, and volume is little, light weight; The 2nd, modularity, the design that personalizes, multiple functional, the training effectiveness height, safety and comfort, easy to use, safeguard easily; The 3rd, adopt and enrich software and virtual reality technology, allow the rehabilitation clients be happy to carry out rehabilitation training, can make the interesting of uninteresting rehabilitation training change, further improved efficiency of rehabilitation training.Simultaneously, the network technology of employing can realize teletherapy and concentrate treatment.
Description of drawings
Fig. 1 is the overall structure sketch map of a kind of embodiment of this utility model exoskeleton-type lower limbs rehabilitation training robot.Wherein, Fig. 1 (a) is the integrally-built front view of robot; Fig. 1 (b) is the integrally-built side view of robot;
Fig. 2 is the waist structure sketch map of a kind of embodiment of this utility model exoskeleton-type lower limbs rehabilitation training robot.
Fig. 3 is the waist structure connected mode sketch map of a kind of embodiment of this utility model exoskeleton-type lower limbs rehabilitation training robot.
Fig. 4 is the shank structural representation of a kind of embodiment of this utility model exoskeleton-type lower limbs rehabilitation training robot.Wherein, Fig. 4 (a) is the front view of robot shank structure; Fig. 4 (b) is the side view of robot shank structure;
Fig. 5 flexibly connects the operation principle sketch map of plate for the waist of a kind of embodiment of this utility model exoskeleton-type lower limbs rehabilitation training robot.Wherein, Fig. 5 (a) is the front view that flexibly connects plate of robot waist mechanism; Fig. 5 (b) is the side view that flexibly connects plate of robot waist mechanism;
Fig. 6 is the control system overall structure sketch map of a kind of embodiment of this utility model exoskeleton-type lower limbs rehabilitation training robot.
Fig. 7 is the software system structure sketch map of a kind of embodiment of this utility model exoskeleton-type lower limbs rehabilitation training robot.
The specific embodiment
Be described in detail this utility model below in conjunction with embodiment and accompanying drawing thereof.
This utility model lower limbs rehabilitation training robot (being called for short robot, referring to Fig. 1-7) comprises exoskeleton-type lower limb frame for movement and is independent of control system two parts of this frame for movement.
Described exoskeleton-type lower limb frame for movement (referring to Fig. 1) adopts the design that personalizes, the frame for movement of robot comprise waist structure and with the symmetrical thigh structure and the shank structure of its mechanical connection.
The waist structure of the embodiment of this utility model robot and symmetrical thigh structure and shank structure all can be adjusted accordingly according to people's build and height, can satisfy height 145cm to 190cm, and the people of waistline 50cm to 120cm dresses.Waist connecting plate (abbreviation back) 5 adopts light material, liner flexible link belt (comprising the soft belt of self-adhesive tape and standard), and link together by the waist of flexible link belt and human body, the waist of human body contacts with the soft belt of standard, and it is comfortable that exoskeleton robot is dressed.For easy to adjust, applied widely, described back 5 is designed to split-type structural, the promptly corresponding right side half back 52 and left half back 51 that is equipped with adjustment hole, regulate bolt 53 by belt between left and right half back and be connected, and can carry out length adjustment (referring to Fig. 2,3) according to the mobile position of regulating bolt 53 corresponding adjustment holes of waistline size of user with adjustment hole.Back 5 is connected with an end that flexibly connects plate 6 (comprising the left and right plate that flexibly connects) by bolt.Flexibly connecting on the plate 6 design has four symmetric crab bolt jacks 64 that flexibly connect, and is used separately as to flexibly connect plate 6 and back 5 and left and right hip joint 41 and be connected jack with 42 bolt.The described plate 6 that flexibly connects is flexible on thickness or short transverse, cannot be crooked on width, can reverse (referring to Fig. 5) in the longitudinal direction, these two degree of freedom constitute two passive freedom degrees among a small circle of robot hip joint, the wearing comfort during with the increase lower limb rehabilitation training.The other end that flexibly connects plate 6 also adopts the mode of bolting to be connected with left and right hip joint respectively.Be packaged with driver part (comprising left hip joint driver part and right hip joint driver part) in the left and right hip joint.Left side hip joint driver part is identical with right hip joint driver part internal structure, and integrated DC servo torque motor and harmonic wave reducing gear have light weight, and driving moment is big, and is simple and compact for structure, controls advantages such as flexible.Design can make one of left and right hip joint formation can drive like this, and controllable thigh bends and stretches the hip joint degree of freedom and revolves the three degree of freedom that outer two passive freedom degrees have constituted the apery hip joint jointly with the outreach adduction, the medial rotation that flexibly connect plate 6 formation.The left and right shank (comprising left leg 11 and right leg 12) of thigh of robot (comprising left thigh 31 and right thigh 32) and the robot left and right knee joint by robot respectively links together.Be packaged with knee joint driver part (comprising left knee joint driver part 21 and right knee joint driver part 22) in the knee joint.Left side knee joint driver part 21 is identical with right knee joint driver part 22 internal structures, all has one degree of freedom, the knee curl degree of freedom when promptly walking forward.This knee curl degree of freedom adopts than the DC servo torque motor of ting model and harmonic wave gear reduction and drives, to reduce quality, the inertia when reducing the robot motion.Left and right knee joint driver part forms kneed one of apery respectively and initiatively bends and stretches degree of freedom, can apish knee joint flexion and extension.In addition, described each torque motor of robot all adopts 24V direct current supply, and is safe and reliable.
The thigh structure of this utility model embodiment is all identical with shank structure and length regulative mode thereof.Be that example describes (referring to Fig. 4) with left leg 11 (or right leg 12) below.The shank structure comprises shank the latter half 15 and shank the first half 17, and these two parts are regulated fastener 62 by two shanks and are fixed together by fastener hold-down screw 63; Shank the latter half 15 is adjustable with the lap length of shank the first half 17, and the length of shank just can be regulated arbitrarily in the certain-length scope like this.
The described waist mechanism of this utility model robot, left and right big leg mechanism and left and right little leg mechanism are separately installed with the flexible link belt (not drawing among the figure) that the corresponding site of human body and robot are linked together.Described flexible link belt can adopt the flexible link belt of self-adhesive tape, the soft belt of standard or other kinds.The thigh of embodiment and the flexible link belt of shank have adopted softish cortical material, and the back that is connected with human body is dressed comfortable.
The machine-independent people's of this utility model robot control system frame for movement is connected with robot body by data wire.Control system comprises hardware and software two parts.The hardware components of control system comprises computer and the display that is connected with its circuit, multi-axis motion control card, driver and position sensor and force transducer (referring to Fig. 6).Described position sensor has four, is integrated in respectively in four knee joint DC servo torque motors, by data wire output knee joint and kneed movable information; Described force transducer has four, is installed in respectively in the flexible link belt of described left and right big leg mechanism and left and right little leg mechanism, is used for by the interfering edge between data wire output patient's lower limb and the robot.The data of computer can show by display; Be inserted with multi-axis motion control card on the computer-internal mainboard, with the communication of computer realization serial data; Multi-axis motion control card is connected with the driver of motor in four passages by serial port data line; The driver of four passages receives the data message of multi-axis motion control card, and drive motors does corresponding motion, and described motor drives healing robot and moves through the harmonic gear back of slowing down.In control loop, the data that level sensor is put with force transducer feed back to computer, and such feedback system constitutes closed-loop path control, have realized the Accurate Position Control and the Torque Control of robot.
Described software section (referring to Fig. 7) mainly comprises line module, real-time control module and rehabilitation efficacy evaluation module three parts.Line module comprises collection and storage, virtual reality scenario generation, human-computer interaction function and the communication function of data.The collection of data realizes the real-time collection of computer to each sensing people information with storage, and data storage in the data base.Virtual reality scenario generates the generation that can realize scene of game in the rehabilitation training and dynamically shows, to improve the training enthusiasm of patient in the rehabilitation training.The mutual boundary of machine function provides the input that is provided with of kinematic parameters such as comprising rehabilitation modality, motor pattern, range of movement, movement velocity, moment size, set.Communication function is mainly used in the realization of collecting and distributing control of networking and telecommunication.Control module comprises the multi-axis motion control card initialization and assists the control of standing, passive gait walking control, assisted walk control, four kinds of motor control strategies of impedance Control in real time.Four kinds of motor control strategies can be selected by the Physical Therapist according to different patients or patient in the different rehabilitation stages, and can realize different leg speed control.The recovery function evaluation module comprises data base and rehabilitation efficacy Evaluation Strategy.The data base is used to store a large amount of training datas.The rehabilitation efficacy Evaluation Strategy can be according to the training data of record, patient's rehabilitation degree behind the analyzing and training.Described software is the technology that prior art or those skilled in the art can obtain without creative work substantially.
This utility model robot operation principle and process are as follows: before the rehabilitation training, the Physical Therapist has dressed the exoskeleton-type lower limbs rehabilitation training robot to the patient, according to patient's state of an illness characteristics, adopts suitable rehabilitation strategies.Generally in the initial stage of rehabilitation training, healing robot is according to fixed gait curve drive patient's lower extremity movement, and patient's physical training condition is fully passive.The control procedure of this moment is the data that computer is sent here in conjunction with pick off, each joint motions curve when human body is normally walked, send the multiaxis control card to, coordinate four torque motors by the multiaxis control card and carry out position and speed controlling closed loop control, stride, gait and leg speed when the driven by motor ectoskeleton is realized people's normal walking.Along with going deep into of rehabilitation training, patient's locomotor activity begins to recover, and adopts initiatively rehabilitation control mode this moment.When taking the initiative control mode, the motion of sensor senses patient's lower limb intention is sent to computer through capture card, and through the computing of control algolithm, repeated transmission is delivered to the multiaxis control card, the control motor movement.Control algolithm can guarantee that robot and patient remain harmonious movement rhythm, so that interfering edge minimum between the two, and power-assisted is provided.In the later stage of rehabilitation training, in order to strengthen rehabilitation efficacy, healing robot can adopt the impedance Control pattern, this moment, healing robot was intended to by sensor senses patient's motion, and control algolithm is through after the computing, by the multiaxis control card, apply a constant resistance in the opposite direction for motor, resistance adjustable size joint reaches intensive training, tempers the purpose of lower limb muscles.For the caused hemiplegic patient of apoplexy, the ill characteristics of patient are that a side of lower limb has the proper motion ability, but opposite side can not normally be walked, at this moment, healing robot can adopt power-assisted training control mode to patient's strong side, and patient's Ipsilateral is adopted the passive exercise control mode, to improve the rehabilitation training effect.The auxiliary control of standing can be applied in the beginning of rehabilitation training, with the joint of the lower extremity and the muscle of active patient, trains preceding warm-up to the patient.Any training process can carry out in conjunction with the recreation of adopting virtual reality, improves patient's initiative.In training, described pick off can be gathered patient's training kinematic parameter in real time, among capture card is stored into computer, so that training back Physical Therapist's analyzing and training effect is used when formulating training program.
This utility model is not addressed part and is applicable to prior art.
Claims (3)
1. lower limbs rehabilitation training robot, this robot comprise exoskeleton-type frame for movement and are independent of control system two parts of this frame for movement;
Described exoskeleton-type frame for movement comprises big leg mechanism and the little leg mechanism that is connected successively by the waist mechanism left-right symmetric; Described waist mechanism is an apery hip joint structure with big leg mechanism junction, has three degree of freedom, wherein, the hip joint degree of freedom that thigh bends and stretches is for providing the active degree of freedom of the power of walking forward, adopt hip joint DC servo torque motor and harmonic wave gear reduction to drive, all the other two degree of freedom are passive freedom degree among a small circle, are respectively that side outreach adduction freedom of motion and medial rotation revolve outer motion degree of freedom, are provided with the plate that flexibly connects that big leg mechanism is connected by waist mechanism; Described big leg mechanism and shank mechanism junction are the apery knee joint, have a knee joint and bend and stretch degree of freedom, adopt knee joint DC servo torque motor and harmonic wave gear reduction to drive; Described waist mechanism comprises waist connecting plate and the plate that flexibly connects that is connected with its left-right symmetric; Described waist mechanism, left and right big leg mechanism and left and right little leg mechanism are separately installed with the flexible link belt that the corresponding site of human body and robot are linked together;
The machine-independent people's of described control system frame for movement links together by data wire and robot body, and carries out rehabilitation training control, comprises hardware and software; Described hardware components comprises computer and the display that is connected respectively with its data wire, multi-axis motion control card, driver, position sensor and force transducer; Described position sensor has four, is integrated in respectively in four DC servo torque motors, by data wire output knee joint and kneed movable information; Described force transducer has four, is installed in respectively in the flexible link belt of described left and right big leg mechanism and left and right little leg mechanism, is used for by the interfering edge between data wire output patient's lower limb and the robot; Described software comprises line module, real-time control module and rehabilitation efficacy evaluation module; Wherein, line module provides friendly man machine interface, realizes the collection and the storage of sensing data, and the input of training parameter and state show, the generation of virtual scene and networking and communication function; Control module mainly provides rehabilitation control strategy used in the rehabilitation training in real time, comprise multi-axis motion control card initialization and the auxiliary control of standing, passive gait walking control, assisted walk control, four kinds of motor control strategies of impedance Control, and can realize different leg speed control; The rehabilitation efficacy evaluation module comprises data base and rehabilitation efficacy Evaluation Strategy, is used to write down training data and analyzes the rehabilitation training effect.
2. lower limbs rehabilitation training robot according to claim 1 is characterized in that described flexible link belt adopts self-adhesive tape or the soft belt of standard.
3. lower limbs rehabilitation training robot according to claim 1, it is characterized in that described waist connecting plate is designed to split-type structural, the promptly corresponding right side half back and left half back that is equipped with adjustment hole regulated bolt by belt between two backs and connected and adjusting.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101810532A (en) * | 2010-04-28 | 2010-08-25 | 河北工业大学 | Lower limbs rehabilitation training robot |
| CN102327173A (en) * | 2011-09-29 | 2012-01-25 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
| CN103349603A (en) * | 2013-07-02 | 2013-10-16 | 天津科技大学 | Ten-degree-of-freedom lower limb walking aid |
| CN103932870A (en) * | 2014-05-04 | 2014-07-23 | 浙江大学 | Lower limb rehabilitation training exoskeleton with bionics design |
| CN104010613A (en) * | 2011-12-21 | 2014-08-27 | 国立大学法人信州大学 | Movement assistance device, and synchrony based control method for movement assistance device |
| CN104042428A (en) * | 2014-06-27 | 2014-09-17 | 电子科技大学 | Adjusting device used for fixing lower limb exoskeleton robot and human body waist |
| CN104825306A (en) * | 2015-04-29 | 2015-08-12 | 东南大学 | Hip joint assisting rehabilitation device based on sleeve rope transmission |
| CN105456004A (en) * | 2015-12-28 | 2016-04-06 | 中国科学院自动化研究所 | Exoskeleton type moving and walking rehabilitation training device and method |
| TWI581829B (en) * | 2015-04-16 | 2017-05-11 | Sportsart Industrial Co Ltd | Rehabilitation exercise facility |
| CN106726359A (en) * | 2016-12-25 | 2017-05-31 | 河北工业大学 | A kind of flexible wearable lower limb assistance exoskeleton clothes |
| CN107693305A (en) * | 2017-11-01 | 2018-02-16 | 河南理工大学 | A kind of leg training rehabilitation multi-function robot |
| CN108619655A (en) * | 2018-05-25 | 2018-10-09 | 京东方科技集团股份有限公司 | A kind of wearable device, control VR systems and its control method |
| CN109846677A (en) * | 2017-11-24 | 2019-06-07 | 丰田自动车株式会社 | Rehabilitation supports device, rehabilitation to support system, control method and control program |
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| CN110974631A (en) * | 2019-10-23 | 2020-04-10 | 布法罗机器人科技（成都）有限公司 | Asymmetric lower limb exoskeleton robot and control method |
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| CN101810532A (en) * | 2010-04-28 | 2010-08-25 | 河北工业大学 | Lower limbs rehabilitation training robot |
| CN101810532B (en) * | 2010-04-28 | 2011-11-09 | 河北工业大学 | Lower limbs rehabilitation training robot |
| CN102327173A (en) * | 2011-09-29 | 2012-01-25 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
| CN102327173B (en) * | 2011-09-29 | 2013-05-22 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
| US9572520B2 (en) | 2011-12-21 | 2017-02-21 | Shinshu University | Movement assistance device, and synchrony based control method for movement assistance device |
| CN104010613A (en) * | 2011-12-21 | 2014-08-27 | 国立大学法人信州大学 | Movement assistance device, and synchrony based control method for movement assistance device |
| CN104010613B (en) * | 2011-12-21 | 2016-08-31 | 国立大学法人信州大学 | Action assisting device and the synchronisation control means of action assisting device |
| CN103349603A (en) * | 2013-07-02 | 2013-10-16 | 天津科技大学 | Ten-degree-of-freedom lower limb walking aid |
| CN103932870A (en) * | 2014-05-04 | 2014-07-23 | 浙江大学 | Lower limb rehabilitation training exoskeleton with bionics design |
| CN103932870B (en) * | 2014-05-04 | 2016-04-13 | 浙江大学 | Bionic Design lower limb rehabilitation training ectoskeleton |
| CN104042428A (en) * | 2014-06-27 | 2014-09-17 | 电子科技大学 | Adjusting device used for fixing lower limb exoskeleton robot and human body waist |
| TWI581829B (en) * | 2015-04-16 | 2017-05-11 | Sportsart Industrial Co Ltd | Rehabilitation exercise facility |
| CN104825306A (en) * | 2015-04-29 | 2015-08-12 | 东南大学 | Hip joint assisting rehabilitation device based on sleeve rope transmission |
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| CN105456004A (en) * | 2015-12-28 | 2016-04-06 | 中国科学院自动化研究所 | Exoskeleton type moving and walking rehabilitation training device and method |
| CN105456004B (en) * | 2015-12-28 | 2019-02-01 | 中国科学院自动化研究所 | Exoskeleton-type moves walking rehabilitation training device and method |
| CN106726359A (en) * | 2016-12-25 | 2017-05-31 | 河北工业大学 | A kind of flexible wearable lower limb assistance exoskeleton clothes |
| CN106726359B (en) * | 2016-12-25 | 2022-12-13 | 河北工业大学 | Flexible wearable lower limb assistance exoskeleton suit |
| CN107693305A (en) * | 2017-11-01 | 2018-02-16 | 河南理工大学 | A kind of leg training rehabilitation multi-function robot |
| CN109846677A (en) * | 2017-11-24 | 2019-06-07 | 丰田自动车株式会社 | Rehabilitation supports device, rehabilitation to support system, control method and control program |
| CN108619655A (en) * | 2018-05-25 | 2018-10-09 | 京东方科技集团股份有限公司 | A kind of wearable device, control VR systems and its control method |
| US10795444B2 (en) | 2018-05-25 | 2020-10-06 | Boe Technology Group Co., Ltd. | Wearable device, control method for wearable device and control system |
| CN110974631A (en) * | 2019-10-23 | 2020-04-10 | 布法罗机器人科技（成都）有限公司 | Asymmetric lower limb exoskeleton robot and control method |
| CN110974631B (en) * | 2019-10-23 | 2022-05-17 | 布法罗机器人科技（成都）有限公司 | Asymmetric lower limb exoskeleton robot and control method |
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