CN203060231U - Wearable lower limb exoskeleton walking-assisting robot - Google Patents
Wearable lower limb exoskeleton walking-assisting robot Download PDFInfo
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- CN203060231U CN203060231U CN 201320049169 CN201320049169U CN203060231U CN 203060231 U CN203060231 U CN 203060231U CN 201320049169 CN201320049169 CN 201320049169 CN 201320049169 U CN201320049169 U CN 201320049169U CN 203060231 U CN203060231 U CN 203060231U
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Abstract
The utility model discloses a wearable lower limb exoskeleton walking-assisting robot which comprises an ankle joint movement module, a knee joint movement module, a hip joint movement module, a driving module, a waist and a support module, wherein the knee joint movement module is respectively connected with the ankle joint movement module and the hip joint movement module; the driving module is respectively connected with the knee joint movement module and the hip joint movement module; and the hip joint movement module is connected with the waist and the support module. The wearable lower limb exoskeleton walking-assisting robot disclosed by the utility model is good in consistency of the hip joint movement and the human body movement in walking, small in coaxality and position deviation of the man-machine knee joint, and is compact in structure of the ankle joint.
Description
Technical field
This utility model relates to a kind of secondary row walking apparatus, relates in particular to the wearable lower limb exoskeleton assistant robot that a kind of energy is used for the rehabilitation of the human body lower limbs dyskinesia.
Background technology
At present, the lower limb walk-aiding exoskeleton robot is mainly used in the rehabilitation training of human body lower limbs and the load capacity of raising human body.The wearable lower limb exoskeleton robot is wearable to be synchronized with the movement in human body and with the people, in dynamically walking is moved, follow the human body movable information and driving force initiatively is provided, to help the patient normally to walk and to carry out rehabilitation training, or help wearer to finish the walking of bigger heavy burden and long period, alleviate the fatigue of wearer.
Application number is that 201110292009.0 invention has designed the wearable lower limb rehabilitation of a kind of ectoskeleton robot, comprise waist, hip joint, thigh, knee joint, shank, ankle joint, foot's ectoskeleton, these ectoskeletal characteristics are to use harmonic speed reducer transmission and disc type electric machine as driving, can realize 0 turn error, with patient joint good fit, by being fixed in the battery-operated of patient behind, its each range of motion is not subjected to structural limitations, but the load that ectoskeleton can bear is little, and design cost is than higher.
Application number a kind of lower limb exoskeleton healing robot of technical field of medical instruments that has been 201110350834.1 disclosure of the Invention comprises ankle motion module, motion of knee joint module, hip joint motion module, waist and bracing frame module and crutch module.This utility model can help paralytic patient to realize standing and walking, and controls the flexion and extension in joint by the contact information of gathering crutch and ground, and ankle joint has drawing spring can help to reduce impact from ground.Its structural volume, quality are bigger, and structure is not compact, are used for helping the normal walking of patient or rehabilitation training meeting to increase the patient burden, and be poor with the applying degree of patient's human body.
Therefore, at above-mentioned technical problem, be necessary to provide a kind of structure improved wearable lower limb exoskeleton assistant robot that has, to overcome above-mentioned defective.
The utility model content
In view of this, the purpose of this utility model is to provide a kind of wearable lower limb exoskeleton assistant robot, this wearable lower limb exoskeleton assistant robot is coxa joint motion and human motion high conformity during walking, man-machine knee joint alignment and position deviation are little, ankle articulation structure compactness.
For achieving the above object, this utility model provides following technical scheme:
A kind of wearable lower limb exoskeleton assistant robot, it comprises the ankle motion module, the motion of knee joint module, the hip joint motion module, waist and bracing frame module, described motion of knee joint module respectively with the ankle motion module, the hip joint motion module links to each other, described hip joint motion module is connected with waist and bracing frame module, described wearable lower limb exoskeleton assistant robot also comprises driver module, described driver module respectively with the motion of knee joint module, the hip joint motion module links to each other, described driver module comprises that the driver lower end connects hinge, the driver upper end connects hinge, leading screw, shaft coupling, direct current generator, encoder, motor cabinet, described direct current generator is fixed in the motor cabinet, and described shaft coupling connects direct current generator and leading screw.
Preferably, in above-mentioned wearable lower limb exoskeleton assistant robot, described driver module also comprises the terminal holder of leading screw, feed screw nut, leading screw front end holder, the feed screw nut fixing head, guide post, push rod, one end of described guide post is fixed on the motor cabinet, pass leading screw front end holder, the other end of described guide post is fixed on the terminal holder of leading screw, described feed screw nut is fixed on the feed screw nut fixing head, one end of described push rod is fixed on the feed screw nut fixing head, pass the terminal holder of leading screw, the other end of described push rod is fixed on the driver lower end and connects on the hinge, and described driver upper end connects hinges fixing on motor cabinet.
Preferably, in above-mentioned wearable lower limb exoskeleton assistant robot, described ankle motion module comprises forefoot, be fixed in foot's bandage on the forefoot, hind paw, respectively be installed on before and after two pressure transducers, ankle joint angle sensor on the sole, described foot is that forefoot, hind paw form by bolted splice.
Preferably, in above-mentioned wearable lower limb exoskeleton assistant robot, described ankle motion module also comprises ankle joint bearing, ankle joint angle sensor stand, shaft coupling, the joint connecting axle that is fixed in hind paw, on the sole, described ankle joint angle sensor was fixed on the ankle joint by screw, ankle joint sensor stand, shaft coupling, joint connecting axle before and after described two pressure transducers were fixed in by hole slot, screw.
Preferably, in above-mentioned wearable lower limb exoskeleton assistant robot, described motion of knee joint module comprises ankle joint connecting plate, shank, is fixed in shank bandage, knee joint driver lower connecting plate, knee joint angle sensor on the shank, and described motion of knee joint module is connected with the ankle motion module by the ankle joint connecting plate.
Preferably, in above-mentioned wearable lower limb exoskeleton assistant robot, described motion of knee joint module also comprises driving joint connecting axle, knee joint Connection Block, knee joint angle sensor stand, described shank and ankle joint connecting plate, knee joint driver lower connecting plate, knee joint Connection Block are fixed into integral body, and described knee joint angle sensor links to each other with knee joint by the knee joint angle sensor stand.
Preferably, in above-mentioned wearable lower limb exoskeleton assistant robot, described hip joint motion module comprises hip support member, thigh, is fixed in thigh bandage, knee joint connecting plate, hip joint angular transducer support, hip joint angular transducer on the thigh, described thigh is connected with the motion of knee joint module by the knee joint connecting plate, and described thigh links to each other with the hip support member.
Preferably, in above-mentioned wearable lower limb exoskeleton assistant robot, described hip joint motion module also comprises hip joint Connection Block, knee joint driver upper junction plate, shaft coupling, described thigh and hip joint Connection Block, knee joint driver upper junction plate, knee joint connecting plate are fixed together, and described hip joint angular transducer is connected with knee joint by hip joint angular transducer support, shaft coupling.
Preferably, in above-mentioned wearable lower limb exoskeleton assistant robot, described waist and bracing frame module comprise lumbar support, waist bandage, support, are fixed in braces, hip width adjusting rod, hip width adjusting nut on the support, described waist bandage is individually fixed on lumbar support and the support, and described lumbar support connects by support, hip width adjusting rod, hip width adjusting nut.
Preferably, in above-mentioned wearable lower limb exoskeleton assistant robot, described waist and bracing frame module also comprise waist connecting axle, hold-down screw, and described lumbar support is connected with the hip support member by connecting axle.
From technique scheme as can be seen, wearable lower limb exoskeleton assistant robot of the present utility model is coxa joint motion and human motion high conformity during walking, and man-machine knee joint alignment and position deviation are little, ankle articulation structure compactness.
Compared with prior art, the beneficial effects of the utility model are:
(1) single lower limb have four degree of freedom, utilize less necessary degree of freedom to realize walking, have reduced the complexity of mechanism, have improved the efficient of device.
(2) flexion and extension by knee joint and hip joint realizes striding walking, and the sole of the foot of ankle joint stoops to move to make to dress in the walking process and do not interfered by ectoskeleton.
(3) each ectoskeleton machine allows each joint motions degree of freedom and human synovial freedom of motion keep coaxial substantially, and this Bionic Design has strengthened comfortableness and the reliability of machine, more is of value to the auxiliary wearer walking of exoskeleton robot.
Description of drawings
In order to be illustrated more clearly in this utility model embodiment or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing relevant of the present utility model in describing below only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the overall structure sketch map of this utility model wearable lower limb exoskeleton assistant robot;
Fig. 2 is the partial schematic diagram of ankle motion module in this utility model wearable lower limb exoskeleton assistant robot;
Fig. 3 is the partial schematic diagram of motion of knee joint module in this utility model wearable lower limb exoskeleton assistant robot;
Fig. 4 is the partial schematic diagram of hip joint motion module in this utility model wearable lower limb exoskeleton assistant robot;
Fig. 5 is the partial schematic diagram of driver module in this utility model wearable lower limb exoskeleton assistant robot;
Fig. 6 is the partial schematic diagram of waist and rack module in this utility model wearable lower limb exoskeleton assistant robot;
Fig. 7 is the sketch map of another angle of Fig. 6.
The specific embodiment
The utility model discloses a kind of wearable lower limb exoskeleton assistant robot, this wearable lower limb exoskeleton assistant robot is coxa joint motion and human motion high conformity during walking, man-machine knee joint alignment and position deviation are little, ankle articulation structure compactness.
These wearable lower limb exoskeleton assistant robot list lower limb have four degree of freedom, the motion that stoops of the flexion and extension of hip joint, interior receipts abduction exercise, the sole of the foot of kneed flexion and extension and ankle joint.Wherein, the flexion and extension of hip joint and kneed flexion and extension have driving.Utilize less necessary degree of freedom to realize walking, reduced the complexity of mechanism, improved the efficient of device.Flexion and extension by knee joint and hip joint realizes striding walking, the sole of the foot of ankle joint stoops to move to make to dress in the walking process and is not interfered by ectoskeleton, kneed range of movement is at 65 °, and the hip joint motion scope is at 45 °, and namely wearer can be realized normal walking by this ectoskeleton.
Each ectoskeleton joint motions degree of freedom and the human synovial freedom of motion of this wearable lower limb exoskeleton assistant robot keep coaxial substantially, this Bionic Design has strengthened comfortableness and the reliability of machine, more is of value to the auxiliary wearer walking of exoskeleton robot.
Below in conjunction with the accompanying drawing among this utility model embodiment, the technical scheme among this utility model embodiment is described in detail, obviously, described embodiment only is this utility model part embodiment, rather than whole embodiment.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skills obtain under the prerequisite of not making creative work belongs to the scope that this utility model is protected.
As shown in Figure 1, the disclosed wearable lower limb exoskeleton assistant robot of this utility model comprises: ankle motion module 1, motion of knee joint module 2, hip joint motion module 3, driver module 4, waist and bracing frame module 5.Wherein, motion of knee joint module 2 links to each other with ankle motion module 1, hip joint motion module 3 respectively, and driver module 4 links to each other with motion of knee joint module 2, hip joint motion module 3 respectively, and hip joint motion module 3 is connected with waist and bracing frame module 5.These wearable lower limb exoskeleton assistant robot list lower limb have four degree of freedom, are respectively two degree of freedom of hip, finish the hip joint motion of bending and stretching and take down the exhibits, two joints axes junction human hip centers; Knee joint one degree of freedom, with the human body knee joint coaxial line, the flexion and extension of corresponding human body knee joint; Ankle joint one degree of freedom.This wearable lower limb exoskeleton assistant robot is realized four motion modes, be respectively the flexion and extension of hip joint, interior receipts abduction exercise, the motion that stoops of the sole of the foot of kneed flexion and extension and ankle joint, wherein, the flexion and extension of hip joint and kneed flexion and extension have driving.
As shown in Figure 2, ankle motion module 1 comprises: foot's bandage 10, forefoot 11, pressure transducer 12 and 14, hind paw 13, ankle joint bearing 15, ankle joint angle sensor stand 16, ankle joint angle sensor 17, shaft coupling 18, joint connecting axle 19.Wherein, foot is that forefoot 11, hind paw 13 form by bolted splice, and front and back sole setting pressure sensor 12,14 respectively, before and after pressure transducer is fixed in by hole slot, screw on the sole.Foot's bandage 10 is fixed on the forefoot 11.Ankle joint bearing 15 is fixed in hind paw, and ankle joint angle sensor 17 is fixed on the ankle joint by screw, ankle joint sensor stand 16, shaft coupling 18, joint connecting axle 19.
As shown in Figure 3, motion of knee joint module 2 comprises: ankle joint connecting plate 20, shank 21, shank bandage 22, knee joint driver lower connecting plate 23, driving joint connecting axle 24, knee joint Connection Block 25, knee joint angle sensor 26, knee joint angle sensor stand 27.Wherein, shank 21 is fixed into integral body with ankle joint connecting plate 20, knee joint driver lower connecting plate 23, knee joint Connection Block 25.Shank bandage 22 is fixed on the shank 21.Motion of knee joint module 2 is connected with ankle motion module 1 by ankle joint connecting plate 20.Knee joint angle sensor 26 links to each other with knee joint by knee joint angle sensor stand 27, shaft coupling.
As shown in Figure 4, hip joint motion module 3 comprises: hip support member 30, hip joint Connection Block 31, knee joint driver upper junction plate 32, thigh bandage 33, thigh 34, knee joint connecting plate 35, hip joint angular transducer support 36, hip joint angular transducer 37, shaft coupling 38.Wherein, thigh 34 is fixed together with hip joint Connection Block 31, knee joint driver upper junction plate 32, knee joint connecting plate 35.Thigh bandage 33 is fixed on the thigh 34.Thigh 34 is connected with motion of knee joint module 2 by knee joint connecting plate 35.Thigh 34 links to each other with hip support member 30.Hip joint angular transducer 37 is connected with knee joint by hip joint angular transducer support 36, shaft coupling 38.
As shown in Figure 5, driver module 4 comprises: the driver lower end connects hinge 40, the terminal holder 41 of leading screw, feed screw nut 42, leading screw 43, shaft coupling 44, direct current generator 45, driver upper end connection hinge 46, encoder 47, motor cabinet 48, leading screw front end holder 49, feed screw nut fixing head 410, guide post 411, push rod 412.Wherein, direct current generator 45 is fixed in the motor cabinet 48, and shaft coupling 44 connects direct current generator 45 and leading screw 43.One end of guide post 411 is fixed on the motor cabinet 48, passes leading screw front end holder 49, and the other end is fixed on the terminal holder 41 of leading screw.Feed screw nut 42 is fixed on the feed screw nut fixing head 410.Push rod 412 1 ends are fixed on the feed screw nut fixing head 410, pass the terminal holder 41 of leading screw, and the other end is fixed on the driver lower end and connects on the hinge 40.The driver upper end connects hinge 46 and is fixed on the motor cabinet 48; Knee joint driver upper end connects hinge 46 and is connected 32 by bearing, connecting axle with knee joint driver upper junction plate, and the lower end connects hinge 40 and is connected with knee joint driver lower connecting plate 23 by bearing, connecting axle.Connection hinge 46 in hip joint driver upper end is connected with hip support member 30 by bearing, driving joint connecting axle, and the lower end connects hinge 40 and is connected with knee joint connecting plate 35 by bearing, driving joint connecting axle.
As Figure 6 and Figure 7, waist and bracing frame module 5 comprise: waist connecting axle 60, lumbar support 61, hold-down screw 62, waist bandage 63, braces 64, support 65, hip width adjusting rod 66, hip width adjusting nut 67.Wherein, lumbar support 61 is connected with hip support member 30 by bearing, connecting axle 60.Waist bandage 63 is individually fixed on lumbar support 61 and the support 65.Both sides lumbar support 61 connects the width of scalable waist by support 65, hip width adjusting rod 66, hip width adjusting nut 67.Braces 64 is fixed on the support 65.
When the wearable lower limb exoskeleton assistant robot of this utility model embodiment was worked: at first wearer was uprightly dressed ectoskeleton assistant robot body under doctor or staff's help, then, shank, thigh and hip size according to wearer, regulate the width of shank bandage, thigh bandage, waist bandage and ectoskeleton waist, make ectoskeleton assistant robot and people's physical ability good fit, make ankle joint, knee joint and the hip joint of human body to being positioned at the corresponding rotating shaft of robot, dress to adapt to wearer's body; Wearer keeps standing under medical personnel's help after having dressed the ectoskeleton body; Ectoskeletal control system makes each drive operation, realizes that wherein the lower limb of a side is realized lifting lower limb, striding, and the opposite side pursuit movement, control system makes ectoskeleton copy human body that two lower limbs are back and forth striden then, and the help wearer is normally walked, rehabilitation training.
The wearable lower limb exoskeleton assistant robot of this utility model embodiment is coxa joint motion and human motion high conformity during walking, and man-machine knee joint alignment and position deviation are little, ankle articulation structure compactness.
Compared with prior art, the beneficial effects of the utility model are:
(1) single lower limb have four degree of freedom, utilize less necessary degree of freedom to realize walking, have reduced the complexity of mechanism, have improved the efficient of device.
(2) flexion and extension by knee joint and hip joint realizes striding walking, and the sole of the foot of ankle joint stoops to move to make to dress in the walking process and do not interfered by ectoskeleton.
(3) each ectoskeleton machine allows each joint motions degree of freedom and human synovial freedom of motion keep coaxial substantially, and this Bionic Design has strengthened comfortableness and the reliability of machine, more is of value to the auxiliary wearer walking of exoskeleton robot.
To those skilled in the art, obviously this utility model is not limited to the details of above-mentioned one exemplary embodiment, and under the situation that does not deviate from spirit of the present utility model or basic feature, can realize this utility model with other concrete form.Therefore, no matter from which point, all should regard embodiment as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims rather than above-mentioned explanation, therefore is intended to include in this utility model dropping on the implication that is equal to important document of claim and all changes in the scope.Any Reference numeral in the claim should be considered as limit related claim.
In addition, be to be understood that, though this description is described according to embodiment, but be not that each embodiment only comprises an independently technical scheme, this narrating mode of description only is for clarity sake, those skilled in the art should make description as a whole, and the technical scheme among each embodiment also can form other embodiments that it will be appreciated by those skilled in the art that through appropriate combination.
Claims (10)
1. wearable lower limb exoskeleton assistant robot, it comprises the ankle motion module, the motion of knee joint module, the hip joint motion module, waist and bracing frame module, described motion of knee joint module respectively with the ankle motion module, the hip joint motion module links to each other, described hip joint motion module is connected with waist and bracing frame module, it is characterized in that: described wearable lower limb exoskeleton assistant robot also comprises driver module, described driver module respectively with the motion of knee joint module, the hip joint motion module links to each other, described driver module comprises that the driver lower end connects hinge, the driver upper end connects hinge, leading screw, shaft coupling, direct current generator, encoder, motor cabinet, described direct current generator is fixed in the motor cabinet, and described shaft coupling connects direct current generator and leading screw.
2. wearable lower limb exoskeleton assistant robot according to claim 1, it is characterized in that: described driver module also comprises the terminal holder of leading screw, feed screw nut, leading screw front end holder, the feed screw nut fixing head, guide post, push rod, one end of described guide post is fixed on the motor cabinet, pass leading screw front end holder, the other end of described guide post is fixed on the terminal holder of leading screw, described feed screw nut is fixed on the feed screw nut fixing head, one end of described push rod is fixed on the feed screw nut fixing head, pass the terminal holder of leading screw, the other end of described push rod is fixed on the driver lower end and connects on the hinge, and described driver upper end connects hinges fixing on motor cabinet.
3. wearable lower limb exoskeleton assistant robot according to claim 1, it is characterized in that: described ankle motion module comprises forefoot, be fixed in foot's bandage on the forefoot, hind paw, respectively be installed on before and after two pressure transducers, ankle joint angle sensor on the sole, described foot is that forefoot, hind paw form by bolted splice.
4. wearable lower limb exoskeleton assistant robot according to claim 3, it is characterized in that: described ankle motion module also comprises ankle joint bearing, ankle joint angle sensor stand, shaft coupling, the joint connecting axle that is fixed in hind paw, on the sole, described ankle joint angle sensor was fixed on the ankle joint by screw, ankle joint sensor stand, shaft coupling, joint connecting axle before and after described two pressure transducers were fixed in by hole slot, screw.
5. wearable lower limb exoskeleton assistant robot according to claim 1, it is characterized in that: described motion of knee joint module comprises ankle joint connecting plate, shank, is fixed in shank bandage, knee joint driver lower connecting plate, knee joint angle sensor on the shank, and described motion of knee joint module is connected with the ankle motion module by the ankle joint connecting plate.
6. wearable lower limb exoskeleton assistant robot according to claim 5, it is characterized in that: described motion of knee joint module also comprises driving joint connecting axle, knee joint Connection Block, knee joint angle sensor stand, described shank and ankle joint connecting plate, knee joint driver lower connecting plate, knee joint Connection Block are fixed into integral body, and described knee joint angle sensor links to each other with knee joint by the knee joint angle sensor stand.
7. wearable lower limb exoskeleton assistant robot according to claim 1, it is characterized in that: described hip joint motion module comprises hip support member, thigh, is fixed in thigh bandage, knee joint connecting plate, hip joint angular transducer support, hip joint angular transducer on the thigh, described thigh is connected with the motion of knee joint module by the knee joint connecting plate, and described thigh links to each other with the hip support member.
8. wearable lower limb exoskeleton assistant robot according to claim 7, it is characterized in that: described hip joint motion module also comprises hip joint Connection Block, knee joint driver upper junction plate, shaft coupling, described thigh and hip joint Connection Block, knee joint driver upper junction plate, knee joint connecting plate are fixed together, and described hip joint angular transducer is connected with knee joint by hip joint angular transducer support, shaft coupling.
9. wearable lower limb exoskeleton assistant robot according to claim 1, it is characterized in that: described waist and bracing frame module comprise lumbar support, waist bandage, support, are fixed in braces, hip width adjusting rod, hip width adjusting nut on the support, described waist bandage is individually fixed on lumbar support and the support, and described lumbar support connects by support, hip width adjusting rod, hip width adjusting nut.
10. wearable lower limb exoskeleton assistant robot according to claim 9, it is characterized in that: described waist and bracing frame module also comprise waist connecting axle, hold-down screw, described lumbar support is connected with the hip support member by connecting axle.
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| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN103637864A (en) * | 2013-12-25 | 2014-03-19 | 国家康复辅具研究中心 | Auxiliary training tool for comprehensive rehabilitation of cerebral palsy |
| CN103860358A (en) * | 2014-02-25 | 2014-06-18 | 北京航空航天大学 | Thigh and shank device with knee joint parameter measurement suitable for exoskeleton auxiliary supporting robot |
| CN103908392A (en) * | 2014-02-25 | 2014-07-09 | 北京航空航天大学 | Waist device with hip joint parameter measurement applicable to exoskeleton auxiliary support robot |
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| KR20160074890A (en) * | 2014-12-19 | 2016-06-29 | 현대중공업 주식회사 | Foothold of robot for rehabilitation of walking |
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| CN106730629A (en) * | 2016-12-15 | 2017-05-31 | 中国科学院自动化研究所 | Lower limb robot and the control method of active movement is carried out using the robot |
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| CN107648014A (en) * | 2017-11-21 | 2018-02-02 | 肖玉美 | A kind of meniscus of knee joint recovery device after operation |
| CN107874763A (en) * | 2017-12-11 | 2018-04-06 | 无锡智开医疗机器人有限公司 | A kind of lower limb data collecting system |
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| CN108338896A (en) * | 2018-04-10 | 2018-07-31 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation running gear of five degree of freedom and its application method |
| CN108392777A (en) * | 2018-05-05 | 2018-08-14 | 安庆和敏智能科技有限公司 | A kind of novel gait rehabilitation robot |
| CN108852756A (en) * | 2018-05-14 | 2018-11-23 | 上海理工大学 | The lower limb exoskeleton robot of gravity center shift driving |
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- 2013-01-29 CN CN 201320049169 patent/CN203060231U/en not_active Withdrawn - After Issue
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| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN103637864A (en) * | 2013-12-25 | 2014-03-19 | 国家康复辅具研究中心 | Auxiliary training tool for comprehensive rehabilitation of cerebral palsy |
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| CN103860358A (en) * | 2014-02-25 | 2014-06-18 | 北京航空航天大学 | Thigh and shank device with knee joint parameter measurement suitable for exoskeleton auxiliary supporting robot |
| CN103908392A (en) * | 2014-02-25 | 2014-07-09 | 北京航空航天大学 | Waist device with hip joint parameter measurement applicable to exoskeleton auxiliary support robot |
| KR101566338B1 (en) | 2014-11-11 | 2015-11-05 | 국민대학교산학협력단 | Connecting structure of rehabilitation equipment for wearable robot using mechanical mechanism |
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| KR20160074890A (en) * | 2014-12-19 | 2016-06-29 | 현대중공업 주식회사 | Foothold of robot for rehabilitation of walking |
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