CN201920941U - Human body exoskeleton walking-aid device with four exoskeleton lower limbs - Google Patents
Human body exoskeleton walking-aid device with four exoskeleton lower limbs Download PDFInfo
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- CN201920941U CN201920941U CN2011200109449U CN201120010944U CN201920941U CN 201920941 U CN201920941 U CN 201920941U CN 2011200109449 U CN2011200109449 U CN 2011200109449U CN 201120010944 U CN201120010944 U CN 201120010944U CN 201920941 U CN201920941 U CN 201920941U
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Abstract
The utility model relates to a human body exoskeleton walking-aid device with four exoskeleton lower limbs, which comprises exoskeleton lower limbs, a waistband, a back band, a frame carrier, a hip joint component, a first sole component, a second sole component, a power supply, a control device, a sensor and an actuating device. The human body exoskeleton walking-aid device is characterized in that the exoskeleton lower limbs comprise a first left exoskeleton lower limb unit, a second left exoskeleton lower limb unit, a first right exoskeleton lower limb unit and a second right exoskeleton lower limb unit, wherein one ends of the first left exoskeleton lower limb unit and the first right left exoskeleton lower limb unit are both movably connected with the hip joint component; the other end of the first left exoskeleton lower limb unit is movably connected with the first sole component; the other end of the first right left exoskeleton lower limb unit is movable connected with the second sole component; and one ends of the second left exoskeleton lower limb unit and the second right exoskeleton lower limb unit are movably connected with the frame carrier. By adopting the human body exoskeleton walking-aid device, almost all loads borne by the human body are transferred to the ground, and the device is easy to control and has low manufacture cost.
Description
Technical field
This utility model relates to a kind of human body walk-aiding exoskeleton, especially a kind of human body ectoskeleton walking aid device that four ectoskeleton lower limb are arranged.
Background technology
Existing ESD is more and more paid attention to by each field as the device of human walk help, particularly military affairs, outdoor activity and medical rehabilitation field.Existing ESD all has only two ectoskeleton lower limb of wearing, bondage or non-wearing or bondage, generally is divided into type hydraulic actuator and electric rotating machine is driving.As: disclose a kind of wearable lower limb walking ectoskeleton Chinese invention patent ZL200410053695.6 number, this wearable lower limb walking ectoskeleton is to support successively by lumbar support, hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism and vola that polyphone constitutes.At amputation patient or amyotrophy patient, this invention can utilize the walking program of finishing in advance as auxiliary walking instrument.For general traveller or weakling, can wear this invention walking earlier, motion pose signal during by the walking of displacement transducer timing acquiring wearer, and the gait by the computer recording wearer, the gait that progressively reappears wearer then, the walking step state of imitation wearer is realized effect auxiliary or enhancing wearer walking movement ability.Use this invention can alleviate pedestrian's fatigue to a certain extent, improve the human motion limit, and strengthen the ability that human body carries the weight motion.This invention both can be used as lower extremity amputation patient or amyotrophy patient's walking aid, also can be used as the walking-replacing tool or the open-air scientific investigation equipment of hiking.No. 200680006514.1 disclosed a kind of lower extremity exoskeletons of Chinese invention patent application and for example, this comprises that two can be configured to be coupled to described human body lower limbs and be configured to rest on ground leg support during it stands the stage.Each leg support comprises a thigh linkage section, a shank linkage section and two knee endoprosthesis.Each knee endoprosthesis is configured so that shank linkage section and separately can be crooked between the thigh linkage section and stretch separately.Described lower extremity exoskeleton also comprises the ectoskeleton trunk that can be configured to be coupled to upper half of human body.Described ectoskeleton trunk can rotatable mode be connected to the thigh linkage section of described leg support, can crooked and stretching, extension between leg support and the ectoskeleton trunk thereby make.In this exemplary embodiments, during the periodicity knee kinematics, the shank linkage section of leg support and separately the required energy of the bending between the thigh linkage section and stretching be to provide by human body.Also has the driving exoskeleton system of some electric rotating machines that are used to study.
But, there is following defective in existing ectoskeleton: 1, when human body is loaded onto the walking of existing ectoskeleton, it is supporting leg that one leg is always arranged, the supporting leg kiss the earth, the part that health is born a heavy burden passes to ground, and one leg is a free leg in addition, it in walking vacant state, do bent lower limb, swaying legs action, can not pass to ground to the heavy burden of body wt and health, these gravity are delivered to supporting leg by buttocks, the waist of human body.Therefore, equip existing ectoskeletal human body heavy burden walking and also will pay suitable muscle power; Though 2, existing ESD bears a heavy burden a part of human body and has been delivered to ground by ectoskeleton, but ESD itself also has no small weight, these weight add the heavy burden of human body, human muscle to free leg one side has aggravated fatigue, and the purpose that the human body ectoskeleton alleviates human body heavy burden walking fatigue strength can not realize fully.Therefore, there is defective in existing ESD, requires further improvement.
The utility model content
The purpose of this utility model is to improve on the structure of existing ESD, provides to be easy to control and a kind of human body ectoskeleton walking aid device that four ectoskeleton lower limb are arranged that manufacturing cost is few.
Described in the utility model a kind ofly have the human body ectoskeleton walking aid device of four ectoskeleton lower limb to comprise the ectoskeleton lower limb, belt, braces, back of the body frame, the hip joint parts, the first sole parts, the crus secunda base plate part, power supply, control device, pick off and driving device, it is characterized in that described ectoskeleton lower limb are by the first left ectoskeleton lower limb unit, the second left ectoskeleton lower limb unit, the first right ectoskeleton lower limb unit and the second right ectoskeleton lower limb unit constitute, the described first left ectoskeleton lower limb unit and the first right ectoskeleton lower limb unit all have thigh parts and shank parts and Movable joint, the described first left ectoskeleton lower limb unit and the second left ectoskeleton lower limb unit all are positioned at hip joint parts one side, the described first right ectoskeleton lower limb unit and the second right ectoskeleton lower limb unit all are positioned at hip joint parts opposite side, unitary end of the described first left ectoskeleton lower limb and the unitary end of the first right ectoskeleton lower limb all flexibly connect with the hip joint parts, the described first unitary other end of left ectoskeleton lower limb and the first sole parts flexibly connect, the described first unitary other end of right ectoskeleton lower limb and crus secunda base plate part flexibly connect, and unitary end of the described second left ectoskeleton lower limb and the unitary end of the second right ectoskeleton lower limb all flexibly connect with back of the body frame.
Basic design of the present utility model is: allow in the ectoskeleton lower limb two dress with the left and right lower limb of human body respectively or bondage is connected, comprise thigh parts and shank parts and Movable joint with the ectoskeleton lower limb parts that left and right lower limb are dressed or bondage is connected of human body, one end of parts and ectoskeleton hip joint flexibly connect, and the other end of parts is connected with the ectoskeleton sole; In the ectoskeleton lower limb in addition two be magnetic axis formula linear electric motors, its magnetic axis is straight-line movable rod member, the mover part of magnetic axis formula linear electric motors, be installed on the and arranged on left and right sides of ectoskeleton back of the body frame or ectoskeleton waist respectively, the magnetic axis of magnetic axis formula linear electric motors partly is positioned at the centre of mover component, make upper and lower rectilinear motion under driven by power, kiss the earth when descending arrives ground to the weight transfer on the back of the body frame; Power supply and control device are electrically connected, and pick off and control device are electrically connected, and control device and driving device are electrically connected.ESD has four ectoskeleton lower limb, and two ectoskeleton lower limb wherein are the ectoskeleton stressed member, also is dynamical element simultaneously.Be stressed member be again that the ectoskeleton lower limb driving device of dynamical element is the magnetic axis linear electric motors; With the ectoskeleton lower limb that left and right lower limb are dressed or bondage is connected of human body can be that linear electric motors drive, and also can be that hydraulic cylinder or pneumatic cylinder drive.
When using a kind of human body ectoskeleton walking aid device that four ectoskeleton lower limb are arranged of the present utility model, in the left and right sides of human body, each has arranged two ectoskeleton lower limb respectively.Wherein ectoskeleton lower limb are connected with human body lower limbs wearing or bondage, and the human body lower limbs of during human body walking and the same side is done the action of basic synchronization; Wherein another ectoskeleton lower limb device is on ectoskeleton back of the body frame or ectoskeleton hip joint position, during human body walking and the human body lower limbs of opposite side do the action of basic synchronization.When human body walking, human body left side be supporting leg with the synchronous ectoskeleton lower limb of human body lower limbs the time, left side ectoskeleton lower limb are under the driving of controller, the ectoskeleton lower limb are by ectoskeleton sole kiss the earth, bear and transmit the heavy burden in human body left side, the human body right side not with the synchronous ectoskeleton lower limb of human body lower limbs under the driving of controller, ectoskeleton lower limb lower end kiss the earth bears and transmits the heavy burden on human body right side; Equally, the human body right side be supporting leg with the synchronous ectoskeleton lower limb of human body lower limbs the time, right side ectoskeleton lower limb are under the driving of controller, the ectoskeleton lower limb are by ectoskeleton sole kiss the earth, bear and transmit the heavy burden in human body left side, human body left side not with the synchronous ectoskeleton lower limb of human body lower limbs under the driving of controller, ectoskeleton lower limb lower end kiss the earth bears and transmits the heavy burden in human body left side.In the process in each step of human body walking, under the control of the control device of ectoskeleton walking aid device, the left and right sides of human body all respectively has 1 ectoskeleton bearing and transmitting heavy burden.The action of ectoskeleton lower limb is to be controlled by the control system of ectoskeleton walking aid device.On sole, ankle joint, knee joint, hip joint, back of the body frame and the driver part of ectoskeleton walking aid device, can install signal detection and transfer elements such as pressure transducer, angular transducer, position sensor, current sensor, voltage sensor on demand, these signals are sent to the control system of device, control system is according to the program that presets, send action command to driving element, executive component moves, and finishes the task of ectoskeleton walk help.
Ectoskeleton described in this utility model is made by metal or plastics or macromolecular material, described hip joint parts are made by metal or plastics or macromolecular material, described thigh parts are made by metal or plastics or macromolecular material, described shank parts are made by metal or plastics or macromolecular material, described anklebone parts are made by metal or plastics or macromolecular material, and described base plate is made by metal or plastics or macromolecular material.
Driving device described in the utility model is power-actuated straight-line linear electric motors.Linear electric motors can be installed in hip joint, knee joint, the ankle joint position of exoskeleton system.Under the control of control device, promote ectoskeletal thigh parts, shank parts, base plate part by straight-line linear electric motors or electronic cylinder and do essentially identical front and back with the action of human body corresponding site or swing up and down or flexible, power-assisted is provided for the human body of walking.
A kind of described in this utility model have the power-assisted principle of the human body ectoskeleton walking aid device of four ectoskeleton lower limb to be: the ectoskeleton force aid system by checkout gear at the pressure of human muscle or skeleton or the actuating signal or the pressure signal of action sensor, perhaps big, the angle of shank and ESD or position signalling, the signal that is detected is delivered to the apparatus control system analyzing and processing, control system is according to the program that presets, send instruction to execution unit in good time, the rectilinear motion that the control driving element is done propelling or shunk, thereby change the angle or the position of human body ectoskeleton joint and parts, provide power-assisted to human body walking.In the left and right sides of human body, each has arranged two ectoskeleton lower limb respectively.Wherein ectoskeleton lower limb are connected with human body lower limbs wearing or bondage, and the human body lower limbs of during human body walking and the same side is done the action of basic synchronization; Wherein another ectoskeleton lower limb device is on ectoskeleton back of the body frame or ectoskeleton hip joint position, during human body walking and the human body lower limbs of opposite side do the action of basic synchronization.When human body walking, human body left side be supporting leg with the synchronous ectoskeleton lower limb of human body lower limbs the time, left side ectoskeleton lower limb are under the driving of controller, the ectoskeleton lower limb are by ectoskeleton sole kiss the earth, bear and transmit the heavy burden in human body left side, the human body right side not with the synchronous ectoskeleton lower limb of human body lower limbs under the driving of controller, ectoskeleton lower limb lower end kiss the earth bears and transmits the heavy burden on human body right side; Equally, the human body right side be supporting leg with the synchronous ectoskeleton lower limb of human body lower limbs the time, right side ectoskeleton lower limb are under the driving of controller, the ectoskeleton lower limb are by ectoskeleton sole kiss the earth, bear and transmit the heavy burden in human body left side, human body left side not with the synchronous ectoskeleton lower limb of human body lower limbs under the driving of controller, ectoskeleton lower limb lower end kiss the earth bears and transmits the heavy burden in human body left side.In the process in each step of human body walking, under the control of the control device of ectoskeleton walking aid device, the left and right sides of human body all at least respectively has an ectoskeleton bearing and transmitting heavy burden.
Driving device described in this utility model can be a kind of of magnetic axis linear electric motors or electronic cylinder or hydraulic cylinder, or adopts the driving element of two or more types simultaneously.The driving device of dressing or be strapped in the ectoskeleton lower limb of human body lower limbs is arranged on the ectoskeleton rear side, and when operating state was " stretching ", it was stressed to drive the ectoskeleton lower limb, earthward transfer charge; When operating state is " contracting ", drive the ectoskeleton lower limb and shrink, do not bear and transfer charge.Being arranged on magnetic axis linear electric motors on the ectoskeleton back of the body frame and being the ectoskeleton lower limb also is ectoskeleton lower limb driving elements, and when operating state was " stretching ", the magnetic axis lower end moved to ground, earthward transfer charge; When operating state was " contracting ", magnetic axis upwards shrank, and did not bear and transfer charge the position that it upwards shrinks and speed controlled in the control system of device.
Control device described in this utility model is to adopt computer control.Sensor acquisition to pressure signal or the position signalling of limb action signal or device feature pass to computer, computer carries out analyzing and processing to signal, according to the program that presets, send switching signal, rotating signal to driving element in good time, perhaps control flows to voltage or the electric current or the frequency of motor, and the control motor moves, stops, just changeing, reverse, quickens, slows down.Predetermined action such as linear electric motors or electronic cylinder, hydraulic cylinder make corresponding propelling, contraction, acceleration under system's control, slow down, stop.Control element such as pressure transducer, relay etc. described in this utility model all are to adopt the conventional universal product.The parameter that electric energy is directly changed into straight-line motor that is adopted in this utility model is following but be not limited to following parameter:
Adopt mobile dc source;
Thrust: 1N-300N;
Speed: 0.1m-1000m/s;
Stroke: 10mm-300mm;
Power: 50W-1000W;
Title, model and manufacturer (but being not limited to following kind and factory):
Linear magnetic axis motor model: S040D, S040T, S040Q, S080D, S080T, S080Q, S120D, S120T, S120Q; TSL2504, TSL2505, TSL2507 etc.
Step-by-step linear electric motor: LBM57400
Cylindrical linear motor (linear synchronous generator) model: LSMC200201, LSMC400401
Tubular linear electric motors
Manufacturing enterprise: exhibition Science and Technology Ltd., day arteries and veins trade (Shanghai) Co., Ltd., Zheng Zhou micro-nano science and technology Co., Ltd, motor Science and Technology Ltd. of Shenzhen big nation etc. are thought in Shenzhen Tai Ke Electric Machine Co., Ltd, Nanjing.
Compared with the aforementioned existing similar products, a kind of human body ectoskeleton walking aid device that four ectoskeleton lower limb are arranged of the present utility model can bear a heavy burden the overwhelming majority of human body carrying pass to ground, and it is few to be easy to control and manufacturing cost.
Content of the present utility model further illustrates with the following Examples, but content of the present utility model is not limited only to content related among the embodiment.
Description of drawings
Fig. 1 is the first left ectoskeleton lower limb unit and the second right ectoskeleton lower limb unit supports Weight structure sketch map among the embodiment.
Fig. 2 is the right view of Fig. 1.
Fig. 3 is the second left ectoskeleton lower limb unit and the first right ectoskeleton lower limb unit supports Weight structure sketch map among the embodiment.
The specific embodiment
Shown in Fig. 1～2, a kind of described in the present embodiment have the human body ectoskeleton walking aid device of four ectoskeleton lower limb to comprise the ectoskeleton lower limb, belt 1, braces 2, back of the body frame 3, hip joint parts 4, the first sole parts 5, crus secunda base plate part 6, power supply 7, control device 8, pick off 9 and driving device 10,11, it is characterized in that described ectoskeleton lower limb are by the first left ectoskeleton lower limb unit 12, the second left ectoskeleton lower limb unit 13,14 and the second right ectoskeleton lower limb unit 15, the first right ectoskeleton lower limb unit constitutes, 12 and the first right ectoskeleton lower limb unit 14, the described first left ectoskeleton lower limb unit all has thigh parts and shank parts and Movable joint, 12 and the second left ectoskeleton lower limb unit 13, the described first left ectoskeleton lower limb unit all is positioned at hip joint parts 4 one sides, 14 and the second right ectoskeleton lower limb unit 15, the described first right ectoskeleton lower limb unit all is positioned at hip joint parts 4 opposite sides, one end of one end of the described first left ectoskeleton lower limb unit 12 and the first right ectoskeleton lower limb unit 14 all flexibly connects with the hip joint parts, the other end of the described first left ectoskeleton lower limb unit 12 and the first sole parts 5 flexibly connect, the other end of the described first right ectoskeleton lower limb unit 14 and crus secunda base plate part 6 flexibly connect, and an end of an end of the described second left ectoskeleton lower limb unit 13 and the second right ectoskeleton lower limb unit 15 all flexibly connects with back of the body frame 3.
13 and the second right ectoskeleton lower limb unit 15, the second left ectoskeleton lower limb unit described in the present embodiment is magnetic axis formula linear electric motors.The driving device of the 12 and first right ectoskeleton lower limb unit 14, the first left ectoskeleton lower limb unit described in the present embodiment is linear motor driver.
In the present embodiment, lower limb is a supporting leg when a human body left side, right lower limb is when leading leg, the pick off 9 of ectoskeleton sole receives pressure signal, the pick off 9 of ectoskeleton knee joint receives angle signal, above-mentioned signal is sent to the control device 8 of ESD, control device 8 is according to the program of system intialization, the driving device 10 and the second right ectoskeleton lower limb unit 15 to the first left ectoskeleton lower limb unit 12 send the action command of " stretching ", driving device 11 to the 13 and first right ectoskeleton lower limb unit 14, the second left ectoskeleton lower limb unit sends the action command of " contracting ", the driving device 10 of the first left ectoskeleton lower limb unit 12 " is stretched ", thereby the sole that drives the first left ectoskeleton lower limb unit 12 contacts with ground and the application of force, and the heavy burden of human body is passed to ground by the first left ectoskeleton lower limb unit 12; The magnetic axis lower end of the second right ectoskeleton lower limb unit 15 is contacted and the application of force with ground, the heavy burden of human body is passed to ground by the second right ectoskeleton lower limb unit 15; The driving device 11 of the first right ectoskeleton lower limb unit 14 " is contracted ", upwards shrink thereby drive the first right ectoskeleton lower limb unit 14; The magnetic axis of the second left ectoskeleton lower limb unit 13 is upwards shunk.
As shown in Figure 3, working as the right lower limb of human body in the present embodiment is supporting leg, left side lower limb is when leading leg, the pick off 9 of ectoskeleton sole parts receives pressure signal, the pick off 9 of ectoskeleton knee joint receives angle signal, above-mentioned signal is sent to the control device 8 of ESD, control device 8 is according to the program of system intialization, the driving device 11 and the second left ectoskeleton lower limb unit 13 to the first right ectoskeleton lower limb unit 14 send the action command of " stretching ", the driving device 10 and the second right ectoskeleton lower limb unit 15 to the first left ectoskeleton lower limb unit 12 send the action command of " contracting ", the driving device 11 of the first right ectoskeleton lower limb unit 14 " is stretched ", thereby the sole that drives the first right ectoskeleton lower limb unit 14 contacts with ground and the application of force, and the heavy burden of human body is passed to ground by the first right ectoskeleton lower limb unit 14; The magnetic axis lower end of the second left ectoskeleton lower limb unit 13 is contacted and the application of force with ground, the heavy burden of human body is passed to ground by the second left ectoskeleton lower limb unit 13; The driving device 10 of the first left ectoskeleton lower limb unit 12 " is contracted ", upwards shrink thereby drive the first left ectoskeleton lower limb unit 12; The magnetic axis of the second right ectoskeleton lower limb unit 15 is upwards shunk.
Claims (5)
1. human body ectoskeleton walking aid device that four ectoskeleton lower limb are arranged, comprise the ectoskeleton lower limb, belt, braces, back of the body frame, the hip joint parts, the first sole parts, the crus secunda base plate part, power supply, control device, pick off and driving device, it is characterized in that described ectoskeleton lower limb are by the first left ectoskeleton lower limb unit, the second left ectoskeleton lower limb unit, the first right ectoskeleton lower limb unit and the second right ectoskeleton lower limb unit constitute, the described first left ectoskeleton lower limb unit and the first right ectoskeleton lower limb unit all have thigh parts and shank parts and Movable joint, the described first left ectoskeleton lower limb unit and the second left ectoskeleton lower limb unit all are positioned at hip joint parts one side, the described first right ectoskeleton lower limb unit and the second right ectoskeleton lower limb unit all are positioned at hip joint parts opposite side, unitary end of the described first left ectoskeleton lower limb and the unitary end of the first right ectoskeleton lower limb all flexibly connect with the hip joint parts, the described first unitary other end of left ectoskeleton lower limb and the first sole parts flexibly connect, the described first unitary other end of right ectoskeleton lower limb and crus secunda base plate part flexibly connect, and unitary end of the described second left ectoskeleton lower limb and the unitary end of the second right ectoskeleton lower limb all flexibly connect with back of the body frame.
2. a kind of human body ectoskeleton walking aid device that four ectoskeleton lower limb are arranged as claimed in claim 1 is characterized in that the described second left ectoskeleton lower limb unit and the second right ectoskeleton lower limb unit are magnetic axis formula linear electric motors.
3. a kind of human body ectoskeleton walking aid device that four ectoskeleton lower limb are arranged as claimed in claim 1 or 2 is characterized in that the described first left ectoskeleton lower limb unit and the unitary driving device of the first right ectoskeleton lower limb are linear motor driver.
4. a kind of human body ectoskeleton walking aid device that four ectoskeleton lower limb are arranged as claimed in claim 1 or 2 is characterized in that the described first left ectoskeleton lower limb unit and the unitary driving device of the first right ectoskeleton lower limb are the Driven by Hydraulic Cylinder device.
5. a kind of human body ectoskeleton walking aid device that four ectoskeleton lower limb are arranged as claimed in claim 1 or 2 is characterized in that the described first left ectoskeleton lower limb unit and the unitary driving device of the first right ectoskeleton lower limb are the pneumatic cylinder driving device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011200109449U CN201920941U (en) | 2011-01-14 | 2011-01-14 | Human body exoskeleton walking-aid device with four exoskeleton lower limbs |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011200109449U CN201920941U (en) | 2011-01-14 | 2011-01-14 | Human body exoskeleton walking-aid device with four exoskeleton lower limbs |
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| CN2011200109449U Expired - Fee Related CN201920941U (en) | 2011-01-14 | 2011-01-14 | Human body exoskeleton walking-aid device with four exoskeleton lower limbs |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102894642A (en) * | 2012-10-12 | 2013-01-30 | 广西工学院 | Human body load shedding device |
| CN103720081A (en) * | 2014-01-16 | 2014-04-16 | 岳彤 | Nursing clothes for protecting patient |
| KR101500200B1 (en) * | 2013-11-25 | 2015-03-06 | 현대자동차주식회사 | Load supporting apparatus of robot |
| CN104825311A (en) * | 2015-05-04 | 2015-08-12 | 台州学院 | Special lower limb exoskeleton for hemiplegic patient, using method thereof and stability validation method |
| CN105411816A (en) * | 2015-12-16 | 2016-03-23 | 哈尔滨工业大学深圳研究生院 | Control system and control method of walking assisting device |
| CN105496734A (en) * | 2016-01-15 | 2016-04-20 | 中国矿业大学 | Servo system based on mechanical exoskeleton action state |
| CN108721061A (en) * | 2018-03-26 | 2018-11-02 | 大连交通大学 | A kind of novel auxiliary mechanical limb device |
| CN109176463A (en) * | 2018-08-07 | 2019-01-11 | 长沙紫宸科技开发有限公司 | A kind of multi-functional sub-arm self-balancing mechanical exoskeleton |
| CN109223448A (en) * | 2017-07-10 | 2019-01-18 | 郑州大学 | A kind of assisted walk device of band auxiliary lower limb |
| CN109223449A (en) * | 2017-07-10 | 2019-01-18 | 郑州大学 | A kind of lower limb assisted walk device of band support |
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2011
- 2011-01-14 CN CN2011200109449U patent/CN201920941U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102894642A (en) * | 2012-10-12 | 2013-01-30 | 广西工学院 | Human body load shedding device |
| CN102894642B (en) * | 2012-10-12 | 2015-11-18 | 广西工学院 | Human body heavy burden load reducer |
| KR101500200B1 (en) * | 2013-11-25 | 2015-03-06 | 현대자동차주식회사 | Load supporting apparatus of robot |
| CN103720081A (en) * | 2014-01-16 | 2014-04-16 | 岳彤 | Nursing clothes for protecting patient |
| CN103720081B (en) * | 2014-01-16 | 2015-05-13 | 岳彤 | Nursing clothes for protecting patient |
| CN104825311A (en) * | 2015-05-04 | 2015-08-12 | 台州学院 | Special lower limb exoskeleton for hemiplegic patient, using method thereof and stability validation method |
| CN105411816A (en) * | 2015-12-16 | 2016-03-23 | 哈尔滨工业大学深圳研究生院 | Control system and control method of walking assisting device |
| CN105411816B (en) * | 2015-12-16 | 2019-09-20 | 哈尔滨工业大学深圳研究生院 | A kind of control system and control method of power assisting device of walking |
| CN105496734A (en) * | 2016-01-15 | 2016-04-20 | 中国矿业大学 | Servo system based on mechanical exoskeleton action state |
| CN109223448A (en) * | 2017-07-10 | 2019-01-18 | 郑州大学 | A kind of assisted walk device of band auxiliary lower limb |
| CN109223449A (en) * | 2017-07-10 | 2019-01-18 | 郑州大学 | A kind of lower limb assisted walk device of band support |
| CN108721061A (en) * | 2018-03-26 | 2018-11-02 | 大连交通大学 | A kind of novel auxiliary mechanical limb device |
| CN109176463A (en) * | 2018-08-07 | 2019-01-11 | 长沙紫宸科技开发有限公司 | A kind of multi-functional sub-arm self-balancing mechanical exoskeleton |
| CN109176463B (en) * | 2018-08-07 | 2023-06-02 | 长沙紫宸科技开发有限公司 | Multifunctional auxiliary arm self-balancing mechanical exoskeleton |
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