CN204147143U - Lower limb bone arthritic patients Wearable walking aid - Google Patents
Lower limb bone arthritic patients Wearable walking aid Download PDFInfo
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- CN204147143U CN204147143U CN201420462233.9U CN201420462233U CN204147143U CN 204147143 U CN204147143 U CN 204147143U CN 201420462233 U CN201420462233 U CN 201420462233U CN 204147143 U CN204147143 U CN 204147143U
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Abstract
Lower limb bone arthritic patients Wearable walking aid rotates force aid system by supporting mechanism and joint hinge and forms, and wherein supporting mechanism comprises the upper-body support, thigh supporting mechanism, shank supporting mechanism, supporting mechanism of foot and the joint hinge that connect successively and rotates torsion spring control system.Joint hinge rotates force aid system and comprises double layer support sole and leg pulley-steel rope system.Supporting mechanism can share joint mechanics, and joint hinge rotation force aid system assists self bands of muscle movable joint to rotate, and the power on foot-operated ground is converted into moment needed for knee joint, hip lengthwise movement.For osteoarthritis, patient features designs, and is worn on human body, and cost is low, simply light, and patient activity freely.The most people's body weight utilizing Lower limb bone arthritic patients Wearable walking aid to share originally to be born by joint of the lower extremity, lenitive while, muscle of can also exercising, the amyotrophy that preventing lacks exercise for a long time causes.
Description
Technical field
The present invention relates to Lower limb bone arthritic patients Wearable walking aid.
Background technology
Lower limb bone arthritic patients is due to articular cartilage pathological changes, and in walking, joint mechanics can cause pain and aggravation, and the long-term asymmetrical wear in joint of gonarthrosis patient also will cause x type lower limb and o type lower limb.Although a lot of country is all at development Wearable ectoskeleton, and pays close attention to Based Intelligent Control, all technology too complexity, high cost, is difficult to promote, and does not also have desirable Wearable ectoskeleton that is easy to use, human intelligence control in the world.At present, what domestic and international Lower limb bone arthritic patients used is still hand propelled walking aid or all kinds of crutch, and the load not only shared less being difficult to reaches desirable effect, and stressedly excessively may cause new pathological changes because upper limb is long-term.
Summary of the invention
Clinical observation shows, although most osteoarthritis patients articular cartilage pathological changes, the muscular tissue controlling joint motion is working properly.Lower limb bone arthritic patients Wearable walking aid designs for osteoarthritis patients feature, and be directly worn on human body, only joint mechanics shared by Bian machinery, and the rotation in joint still drives by self muscle.This mentality of designing is different from usual ectoskeletal mentality of designing, and topmost object is not laborsaving, but reduces joint burden.The composition such as Lower limb bone arthritic patients Wearable walking aid Bian bar, hinge, torsion spring and restraint zone supporting mechanism, is aided with joint hinge and rotates force aid system.Supporting mechanism can share joint mechanics, and the joint hinge rotation force aid system of the composition such as steel wire rope and pulley assists self bands of muscle movable joint to rotate, and the power on foot-operated ground is converted into moment needed for knee joint, hip lengthwise movement.Can share originally by more than 50% of joint of the lower extremity institute grantee body weight, thus reach to a certain extent eliminate or ease the pain, mitigate the disease and prevent the effect of X-type lower limb and O type lower limb.Patient lacks exercise for a long time and can cause amyotrophy, increases the weight of osteoarthritis.While the most people's body weight utilizing Lower limb bone arthritic patients Wearable walking aid to share originally to be born by joint of the lower extremity, reduction of patient pain, can also exercise one's muscles, prevent amyotrophy, be kill two birds with one stone.Old people, often with osteoporosis, make each position share load as far as possible, thus present design by oxter, under buttocks, the multiple location such as restraint zone supports, load diatibution is comparatively even, also comparatively comfortable.Patient, can bilateral or one-sided this walking aid of use according to self concrete condition; Can select to use oxter support member and hip resilient soft seat simultaneously, also only can select one; Can select whether joint hinge is installed and rotate force aid system.In a word, thinking of the present invention is unique, with strong points, has simply light, that cost is lower, degree of freedom is high feature.
Lower limb bone arthritic patients Wearable walking aid comprises supporting mechanism and joint hinge rotates force aid system, and wherein supporting mechanism is made up of the upper-body support connected successively, thigh supporting mechanism, shank supporting mechanism, supporting mechanism of foot and joint hinge rotation torsion spring control system each several part.Upper-body support comprises oxter support and is sandwiched in the cushion of oxter, side lumbal branch frame, lap belt and hip resilient soft seat.The elastic fastening belt that thigh supporting mechanism comprises thigh support bar, both direction hip hinge and is connected with thigh support bar, the Main way that coxa joint hinge rotates respectively corresponding thigh outside health, front to rotation, by hinge side projection restriction counter-rotation angle.Thigh support bar is while be connected with hip support by hip hinge, and another side is connected with knee hinge.The elastic fastening belt that shank supporting mechanism comprises the shank support bar of strip length fine adjuster, the unidirectional hinge of knee and is connected with shank support bar.The bending direction of knee hinge is the same with human synovial only can one direction rotate, and limiting it by hinge side projection can only one direction rotate.Shank support bar is while be connected with thigh support bar by the unidirectional hinge of knee, and another side is by supporting mechanism of ankle chain connection foot.Foot's supporting structure comprises containing the ankle support bar of unidirectional ankle hinge, support sole and bandage, and ankle support bar side is connected with shank support bar by ankle hinge, and opposite side is firmly connected with support sole.The corresponding plantar flexion of the ankle joint of ankle hinge bending direction, by hinge side projection restriction counter-rotation angle, fixes sole and footwear with bandage.The principle of length fine adjuster is: contrary with the hand of spiral of two side levers that length fine adjuster nut connects, and bar total length can be made to increase so rotate length fine adjuster towards a direction, reversely rotates and then makes bar shorten.Be connected to the connection effect needing as far as possible to ensure support bar and leg when restraint zone on support bar and leg are bound, can high resiliency legging or bandage be used, also can use special panty girdle.
Joint hinge rotate torsion spring control system comprise to knee joint rotates control torsion spring, the torsion spring controlled, the torsion spring controlled ankle articulation are rotated to coxa joint horizontal stroke, longitudinal direction.Knee joint hinge is the same with human synovial only can one direction rotate, and adopts torsion spring to control rotation.Coxa joint hinge rotation direction respectively corresponding thigh, to bodyside to, sagittal rotation, adopts torsion spring to control to rotate respectively.In addition the torsion spring controlled is rotated to ankle joint hinge.Torsion spring, all with snap close, buckles then torsion spring in running order, unclamps joint freely activity.During patient erect, torsion spring is in distortion, stressed very little state, walks or when going upstairs, lifts lower limb torsion spring and store power, in the stressed straightening procedure of lower limb, torsion spring can provide couple, under the combined effect of restraint zone, walking aid is made to have suitable rigidity, to realize the effect sharing load.Torsion spring stiffness should according to body weight choose reasonable.In addition, during patient sits, need torsion spring to unclamp, so that joint hinge free bend.This simplicity of design is reliable, can play the effect exercised one's muscles, but does the larger action of leg curvature angle and can feel to compare effort.
It is adopt steel wire rope and pulley system that the power on foot-operated ground is converted into moment needed for knee joint, hip lengthwise movement that joint hinge rotates force aid system.In view of coxa joint hinge lateral rotation in daily routines and ankle rotational angle less; torsion spring is still adopted to control to rotate; joint hinge rotates force aid system and mainly helps coxa joint hinge longitudinally to rotate and the rotation of knee joint hinge; therefore can unclamp the torsion spring at this two place, or use the torsion spring that rigidity is less.Joint hinge rotates force aid system and comprises double layer support sole and leg pulley-steel rope system.
Leg pulley-steel rope system comprises leg steel wire rope, the coxa joint longitudinal pulley of prominence, hinge position, joint, the pulley of prominence, knee joint hinge position and rope capacity actuator.The ankle support bar of leg steel wire penetrating hollow, shank support bar and thigh support bar, walk around coxa joint hinge place to give prominence to pulley on position and knee joint hinge place and give prominence to pulley on position, be connected with side lumbal branch frame finally by rope capacity actuator.Rope capacity actuator one end and side lumbal branch support member are threaded connection, and the other end is connected with leg steel wire rope, reach the object of fine setting rope capacity by rotarily driving steel wire rope lifting.When the tension of leg steel wire rope, the extruding force that bending steel wire rope causes can produce the power that lower limb is stretched.
Double layer support sole is made up of steel wire rope, wheel, wheel shaft, pulley, spring and stop in the sole of foot first half, latter half gripper shoe, two power rod members, hinge, footwear.Upper hinge is fixing on the supporting plate, and lower wheels can be moved along sole, and in footwear, steel wire rope is around on wheel shaft.The limited device of range of activity of wheel shaft limited.When underfooting is stressed, height heels diminishes, and wheel distance between axles strengthens, steel wire rope tension in footwear, and when underfooting does not stress, due to the effect of spring, height heels recovers.In footwear, steel wire rope is less around the pulling force of the steel wire rope at most of the number of turns on wheel shaft, and power-assisted effect is little, and the pulling force of number of turns steel wire rope is at least large, and power-assisted effect is large, but sole height to bend and stretch change with leg slightly large, can select according to patient's practical situation.Latter half gripper shoe internal layer adopts sheet metal to reinforce, not yielding, is convenient to power transmission, and sole latter half gripper shoe is outer and sole first half all adopts elastomeric material, meeting suitably distortion time stressed, wears also comparatively comfortable simultaneously.Ankle support bar one end is firmly connected with gripper shoe, and the other end adds torsion spring with shank support bar by the unidirectional hinge of ankle and is connected.In footwear, steel wire rope is around on wheel shaft, and the ankle support bar through hollow after being changed direction by pulley is connected with leg steel wire rope.
When sole is stressed, height heels diminishes, and wheel distance between axles strengthens, and the extruding force that steel wire rope tension produces drives knee and coxa joint hinge to rotate, and lower limb is stretched, and when sole does not stress, due to the effect of spring, height heels recovers.The advantage of this design is exactly laborsaving, when underfooting is stressed, the couple that lower limb can be provided to stretch strained by steel wire rope, walking aid is made to have suitable rigidity, as long as and make heel not stress after sitting down, the corresponding steel wire rope Len req of degree of crook of lower limb has slight variations, height heels is only made to have slight variations, little on joint motion impact.
Lower limb bone arthritic patients Wearable walking aid adopts modular designs theory, visual state of an illness independent assortment.Both can use by bilateral, also can one-sidedly use.Can select whether fill joint hinge and rotate force aid system, such as, be difficult to adapt to wear pantshoes, the good patient of muscle strength just can not fill.Can select whether buttocks soft seat or oxter support member etc. are installed.
Accompanying drawing explanation
Fig. 1 is Lower limb bone arthritic patients Wearable walking aid supporting mechanism schematic diagram.Fig. 2 is that Lower limb bone arthritic patients Wearable walking aid joint hinge rotates force aid system schematic diagram.Fig. 3 is double layer support sole schematic diagram.
Detailed description of the invention
Lower limb bone arthritic patients Wearable walking aid comprises supporting mechanism and joint hinge rotates force aid system, and wherein supporting mechanism is made up of (Fig. 1) the upper-body support connected successively, thigh supporting mechanism, shank supporting mechanism, supporting mechanism of foot and joint hinge rotation torsion spring control system each several part.Upper-body support comprises the support 3 of strip length fine adjuster 2 and is sandwiched in the cushion 1 of oxter, side lumbal branch frame 4, lap belt 5 and hip resilient soft seat 6.The elastic fastening belt that thigh supporting mechanism comprises the thigh support bar 12 of strip length fine adjuster 11, the hip hinge 7,9 of both direction and is connected with thigh support bar, coxa joint hinge 7 and Main way that 9 rotate respectively corresponding thigh outside health, front to rotation, by hinge side projection restriction counter-rotation angle.Thigh support bar 12 is while be connected with hip support 4 by two-way hip hinge 7,9, and another side is connected with knee hinge 13.The elastic fastening belt that shank supporting mechanism comprises the shank support bar 15 of strip length fine adjuster 16, the unidirectional hinge 13 of knee and is connected with shank support bar.The bending direction of knee hinge 13 is the same with human synovial only can one direction rotate, and limiting it by hinge side projection can only one direction rotate.Shank support bar 15 is while be connected with thigh support bar 12 by the unidirectional hinge 13 of knee, and another side connects supporting mechanism of foot by ankle hinge 18.Foot's supporting structure comprises containing the ankle support bar 20 of unidirectional ankle hinge 18, support sole 17 and bandage, and ankle support bar 20 side is connected with shank support bar by ankle hinge 18, and opposite side is firmly connected with support sole 17.Sole 17 and footwear, by hinge side projection restriction counter-rotation angle, are fixed with bandage by the corresponding plantar flexion of the ankle joint of ankle hinge 18 bending direction.The principle of length fine adjuster 2,11,16 is: contrary with the hand of spiral of two side levers that length fine adjuster nut connects, and bar total length can be made to increase so rotate length fine adjuster towards a direction, reversely rotates and then makes bar shorten.Be connected to the connection effect needing as far as possible to ensure support bar and leg when restraint zone on support bar and leg are bound, can high resiliency legging or bandage be used, also can use special panty girdle.
Joint hinge rotate torsion spring control system comprise to knee joint rotates control torsion spring 14, the torsion spring 8 and 10 controlled, the torsion spring 19 controlled ankle articulation are rotated to coxa joint horizontal stroke, longitudinal direction.Knee joint hinge is the same with human synovial only can one direction rotate, and adopts torsion spring 14 to control rotation.Coxa joint hinge 7 and 9 rotation directions respectively corresponding thigh, to bodyside to, sagittal rotation, adopt torsion spring 8 and 10 to control to rotate respectively.In addition the torsion spring 19 controlled is rotated to ankle joint hinge 18.Torsion spring, all with snap close, buckles then torsion spring in running order, unclamps joint freely activity.During patient erect, torsion spring is in distortion, stressed very little state, walks or when going upstairs, lifts lower limb torsion spring 10,14 and store power, in the stressed straightening procedure of lower limb, torsion spring can provide couple, under the combined effect of restraint zone, walking aid is made to have suitable rigidity, to realize the effect sharing load.When patient does squatting motion (such as go downstairs or go to toilet), underfooting is stressed, and knee and crotch's meeting natural torsion, torsion spring 10,14 helps muscle to control degree of crook.When thigh rotates to health side, torsion spring 8 stores power, and when hinge 18 transhipment in ankle joint is dynamic, ankle torsion spring 19 also can store power, but in general activity, the distortion of these torsion springs is less.Torsion spring stiffness should according to body weight choose reasonable.In addition, during patient sits, need torsion spring to unclamp, so that joint hinge free bend.This simplicity of design is reliable, can play the effect exercised one's muscles, but does the larger action of leg curvature angle and can feel to compare effort.
It is adopt steel wire rope and pulley system that the power on foot-operated ground is converted into moment (Fig. 2) needed for knee joint, hip lengthwise movement that joint hinge rotates force aid system.In view of coxa joint hinge lateral rotation in daily routines and ankle rotational angle less; torsion spring 8,19 is still adopted to control to rotate; joint hinge rotates force aid system and mainly helps coxa joint hinge longitudinally to rotate and the rotation of knee joint hinge; therefore can unclamp torsion spring 10,14, or use the torsion spring 10,14 that rigidity is less.Joint hinge rotates force aid system and comprises double layer support sole 23 and leg pulley-steel rope system.
Leg pulley-steel rope system (Fig. 2) comprises leg steel wire rope 25, the pulley 21 of the longitudinal prominence, hinge position, joint of coxa joint, pulley 22 and the rope capacity actuator 24 of prominence, knee joint hinge position.Leg steel wire rope 25 is through the ankle support bar 20 of hollow, shank support bar 15 and thigh support bar 12, walk around coxa joint hinge place to give prominence to pulley on position 21 and give prominence to pulley 22 on position with knee joint hinge place, be connected with side lumbal branch frame finally by rope capacity actuator 24.Rope capacity actuator 24 one end and side lumbal branch support member are threaded connection, and the other end is connected with leg steel wire rope, reach the object of fine setting rope capacity by rotarily driving steel wire rope lifting.When the tension of leg steel wire rope, the extruding force that bending steel wire rope causes can produce the power that lower limb is stretched.
Double layer support sole (Fig. 3) is made up of steel wire rope 29, wheel 26 and 27, wheel shaft 28 and 34, pulley 36 and 37, spring 33 and stop 31 in the sole 40 of foot first half, latter half gripper shoe 30 and 32, two power rod member 38 and 39, hinge 35, footwear.Upper hinge 35 is fixed in gripper shoe 30, and lower wheels 26,27 can be moved along sole, and in footwear, steel wire rope 29 is around on wheel shaft 28,34.The limited device 31 of range of activity of wheel shaft limited.When underfooting is stressed, height heels diminishes, and wheel distance between axles strengthens, steel wire rope tension in footwear, and when underfooting does not stress, due to the effect of spring 33, height heels recovers.In footwear, steel wire rope 29 is less around the pulling force of the steel wire rope at most of the number of turns on wheel shaft 28,34, and power-assisted effect is little, and the pulling force of number of turns steel wire rope is at least large, and power-assisted effect is large, but sole height to bend and stretch change with leg slightly large, can select according to patient's practical situation.Latter half gripper shoe 30,32 internal layer adopts sheet metal to reinforce, not yielding, is convenient to power transmission, and sole latter half gripper shoe 30,32 is outer and sole first half 40 all adopts elastomeric material, meeting suitably distortion time stressed, wears also comparatively comfortable simultaneously.Ankle support bar 20 one end is firmly connected with gripper shoe 30, and the other end adds torsion spring with shank support bar by the unidirectional hinge of ankle and is connected.In footwear, steel wire rope 29 is around on wheel shaft 28,34, and the ankle support bar 20 through hollow after being changed direction by pulley 36,37 is connected with leg steel wire rope 25.
When sole is stressed, height heels diminishes, and wheel distance between axles strengthens, and the extruding force that steel wire rope tension produces drives knee and coxa joint hinge to rotate, and lower limb is stretched, and when sole does not stress, due to the effect of spring 33, height heels recovers.The advantage of this design is exactly laborsaving, when underfooting is stressed, the couple that lower limb can be provided to stretch strained by steel wire rope, walking aid is made to have suitable rigidity, as long as and make heel not stress after sitting down, the corresponding steel wire rope Len req of degree of crook of lower limb has slight variations, height heels is only made to have slight variations, little on joint motion impact.
Lower limb bone arthritic patients Wearable walking aid adopts modular designs theory, visual state of an illness independent assortment.Both can use by bilateral, also can one-sidedly use.Can select whether fill joint hinge and rotate force aid system, such as, be difficult to adapt to wear pantshoes, the good patient of muscle strength just can not fill.Can select whether buttocks soft seat or oxter support member etc. are installed.
During use, Wearable walking aid side lumbal branch frame 4 is close to side waist by old osteoarthritis patient, waist restraint zone 5 is fixed, by buttocks soft seat 6 by passing under hip and being fixed on support 4, adjusting restraint zone and buttocks soft seat to being of convenient length, rotating oxter support length fine adjuster 2 to being of convenient length.If only use one-sided walking aid, buttocks soft seat can not be connected.With bandage, sole 17 and footwear are fixed, thigh support bar 12, shank support bar 15 are fixed together with thigh, shank restraint zone respectively, when noticing that lower limb stretches, on knee hinge, lower support bar will point-blank, and restraint zone does not want tension in addition, in order to avoid affect blood circulation.Rotate the length that length fine adjuster 11,16 regulates thigh support bar, shank support bar respectively, longer, the body wt percentage ratio that walking aid is born is larger, is transferred to the length felt comfortably cool.Adopt joint hinge to rotate torsion spring control system, only need orthostatism to connect corner torsion spring 8,10,14,19.To throw off by torsion spring everywhere, joint hinge is freely movable, can sit down.Force aid system is rotated for joint hinge, under heel does not stress situation, leg can be stretched one by one as far as possible, regulate rope capacity actuator 24 to the degree of tightness of steel wire rope and side lumbal branch frame connecting place suitable.
Claims (9)
1. Lower limb bone arthritic patients Wearable walking aid, it is characterized in that comprising supporting mechanism and joint hinge rotation force aid system, wherein supporting mechanism is made up of the upper-body support connected successively, thigh supporting mechanism, shank supporting mechanism, supporting mechanism of foot and joint hinge rotation torsion spring control system each several part; Upper-body support comprises oxter support (3), is sandwiched in the cushion (1) of oxter, side lumbal branch frame (4), lap belt (5) and hip resilient soft seat (6); The unidirectional hinge of hip (7) that thigh supporting mechanism comprises both direction and (9), thigh support bar (12) and the elastic fastening belt be connected with thigh support bar, be connected with side lumbal branch frame (4) with (9) by the unidirectional hinge of hip (7); The elastic fastening belt that shank supporting mechanism comprises the unidirectional hinge of knee (13), shank support bar (15) and is connected with shank support bar, is connected with thigh supporting mechanism by the unidirectional hinge of knee (13); Foot's supporting structure comprises containing the ankle support bar (20) of unidirectional ankle hinge (18), support sole (17) and bandage, ankle support bar (20) side is connected with shank support bar by ankle hinge (18), and opposite side is firmly connected with support sole (17); Joint hinge rotate torsion spring control system comprise the torsion spring (14) controlled is rotated to knee joint, longitudinal direction horizontal to coxa joint rotates the torsion spring (8) that controls and (10), the torsion spring (19) that controls ankle articulation; Joint hinge rotates force aid system and comprises the double layer support mechanism (23) of sole and the pulley-steel rope system of leg; Leg pulley-steel rope system comprises leg steel wire rope (25), pulley (21) on position is given prominence at the longitudinal hinge place of coxa joint, pulley (22) on position is given prominence at knee joint hinge place and rope capacity actuator (24), thigh support bar and the shank support bar of hollow are passed in leg steel wire rope (25) side, walk around knee to be connected with side lumbal branch support member with the pulley that coxa joint hinge place gives prominence on position, opposite side is connected with steel wire rope in footwear (29); The gripper shoe (30) that the double layer support mechanism (23) of sole adopts sheet metal to reinforce by internal layer in the sole (40) of foot first half, foot latter half and (32), two power rod members (38) and (39), the hinge (35) be fixed in gripper shoe (30), wheel shaft (28) and steel wire rope (29) in (34), footwear, wheel (26) and (27) that can move along sole, pulley (36) forms with (37), spring (33) and stop (31).
2. Lower limb bone arthritic patients Wearable walking aid according to claim 1, is characterized in that upper-body support oxter supporting band length fine adjuster (2), lap belt (5) and hip resilient soft seat (6) length also adjustable.
3. Lower limb bone arthritic patients Wearable walking aid according to claim 1, it is characterized in that thigh supporting mechanism coxa joint hinge (7) and (9) rotate Main way respectively corresponding thigh outside health, front to rotation, by hinge side projection restriction counter-rotation angle, thigh support bar (12) strip length fine adjuster (11).
4. Lower limb bone arthritic patients Wearable walking aid according to claim 1, it is characterized in that the one direction of shank supporting mechanism knee hinge (14) bends corresponding knee to antecurvature, limit it by hinge side projection can only one direction rotate, shank support bar (15) strip length fine adjuster (16).
5., according to the Lower limb bone arthritic patients Wearable walking aid described in claim 2 to 4, it is characterized in that length fine adjuster comprises nut with both sides with the contrary externally threaded bar in direction, by swivel nut accurate adjustment length.
6. Lower limb bone arthritic patients Wearable walking aid according to claim 1, it is characterized in that the corresponding shank of the main bending direction of the unidirectional ankle hinge (18) of supporting mechanism of foot and plantar flexion of the ankle joint, by hinge side projection restriction counter-rotation angle, sole and footwear can be fixed by bandage.
7. Lower limb bone arthritic patients Wearable walking aid according to claim 1, it is characterized in that joint hinge rotates torsion spring in torsion spring control system with snap close, buckle then torsion spring in running order, unclamp joint freely activity, time upright, torsion spring is in the state of not stressing.
8. Lower limb bone arthritic patients Wearable walking aid according to claim 1, it is characterized in that coxa joint pulley (21) in leg pulley-steel rope system, prominence that knee joint pulley (22) is arranged on hinge position, joint, the extruding force that bending steel wire rope causes can produce the power that lower limb is stretched, and plays power-assisted effect; Rope capacity actuator (24) one end and side lumbal branch support member are threaded connection, and the other end is connected with leg steel wire rope, reach the object of fine setting rope capacity by rotarily driving steel wire rope lifting.
9. Lower limb bone arthritic patients Wearable walking aid according to claim 1, it is characterized in that steel wire rope in footwear (29) is around on wheel shaft (28,34), and the ankle support bar (20) through hollow after being changed direction by pulley (36,37) is connected with leg steel wire rope (25), and gripper shoe (30) is firmly connected with ankle support bar (20) lower end, the power on foot-operated ground is converted into the pulling force of steel wire rope.
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| CN201420462233.9U CN204147143U (en) | 2014-08-17 | 2014-08-17 | Lower limb bone arthritic patients Wearable walking aid |
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| CN201420462233.9U CN204147143U (en) | 2014-08-17 | 2014-08-17 | Lower limb bone arthritic patients Wearable walking aid |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828656A (en) * | 2017-03-13 | 2017-06-13 | 刘育飞 | A kind of exoskeleton-type machine instead of walk |
| CN106994089A (en) * | 2016-01-26 | 2017-08-01 | 郑牧之 | Knee joint power-assisted protection device |
| CN109009897A (en) * | 2018-09-10 | 2018-12-18 | 郑牧之 | High paraplegia patient's walk helper |
| CN109172288A (en) * | 2018-10-08 | 2019-01-11 | 巴中职业技术学院 | A kind of wearable running gear for lower limb rehabilitation training |
| CN109996523A (en) * | 2016-09-23 | 2019-07-09 | 能源前沿公司 | Shifting multiplies assistance, stand up the auxiliary tools such as assistance |
| EP3673884A1 (en) * | 2018-12-31 | 2020-07-01 | Chin-Sung Yang | Assistant apparatus for degenerative joint |
| US11141344B2 (en) | 2018-12-27 | 2021-10-12 | Chin-Sung Yang | Assistant apparatus for degenerative joint |
| CN114470720A (en) * | 2022-02-22 | 2022-05-13 | 卢辉 | Wearable walking aid |
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2014
- 2014-08-17 CN CN201420462233.9U patent/CN204147143U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994089A (en) * | 2016-01-26 | 2017-08-01 | 郑牧之 | Knee joint power-assisted protection device |
| CN109996523A (en) * | 2016-09-23 | 2019-07-09 | 能源前沿公司 | Shifting multiplies assistance, stand up the auxiliary tools such as assistance |
| CN109996523B (en) * | 2016-09-23 | 2021-08-31 | 能源前沿公司 | Auxiliary tools for transfer assistance and standing assistance |
| CN106828656A (en) * | 2017-03-13 | 2017-06-13 | 刘育飞 | A kind of exoskeleton-type machine instead of walk |
| CN109009897A (en) * | 2018-09-10 | 2018-12-18 | 郑牧之 | High paraplegia patient's walk helper |
| CN109009897B (en) * | 2018-09-10 | 2021-07-20 | 郑牧之 | Walking aid for high paraplegia patient |
| CN109172288A (en) * | 2018-10-08 | 2019-01-11 | 巴中职业技术学院 | A kind of wearable running gear for lower limb rehabilitation training |
| US11141344B2 (en) | 2018-12-27 | 2021-10-12 | Chin-Sung Yang | Assistant apparatus for degenerative joint |
| EP3673884A1 (en) * | 2018-12-31 | 2020-07-01 | Chin-Sung Yang | Assistant apparatus for degenerative joint |
| CN114470720A (en) * | 2022-02-22 | 2022-05-13 | 卢辉 | Wearable walking aid |
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