CN204581882U - Can be deformed into the leg mechanical exoskeleton equipment of electric wheelchair - Google Patents
Can be deformed into the leg mechanical exoskeleton equipment of electric wheelchair Download PDFInfo
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- CN204581882U CN204581882U CN201520116653.6U CN201520116653U CN204581882U CN 204581882 U CN204581882 U CN 204581882U CN 201520116653 U CN201520116653 U CN 201520116653U CN 204581882 U CN204581882 U CN 204581882U
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- skeleton
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- electric pushrod
- wheelchair
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Abstract
This utility model provides a kind of leg mechanical exoskeleton equipment that can be deformed into electric wheelchair, can not only allow the light across obstacle of user, in realization downstairs, the action such as walking, and remote high-speed motion can be realized in accessible section.This utility model comprises wheelchair system, leg mechanical exoskeleton system and control system; Leg mechanical exoskeleton system comprises two skeleton units, each skeleton unit comprises waist skeleton, thigh skeleton and shank skeleton, connected as one by the coupling assembling with two rotary freedoms between waist skeleton and thigh skeleton upper end, thigh skeleton and shank skeleton are hinged, shank frame hinge foot pedal; All electric pushrod is established between waist skeleton and thigh skeleton, between thigh skeleton and shank skeleton; Waist skeleton and wheelchair system are rigidly connected; Control system is electrically connected with the circuit part of the first electric pushrod, the second electric pushrod and wheelchair system.
Description
Technical field
This utility model relates to wheelchair manufacture technology field, is specifically related to a kind of leg mechanical exoskeleton equipment that can be deformed into electric wheelchair.
Background technology
For the old handicapped person or the leg the disabled that live walk-up building, electric wheelchair is used to there is the puzzlement of stair activity inconvenience.There is the extraordinary electric wheelchair (crawler type or abnormity wheeled etc.) of stair activity function on the market, exist because weight is comparatively large, chassis is wider, and cannot by narrow stair, the problem that public transport (as train, bus) etc. cannot be taken alone.
Utility model content
This utility model object is to provide a kind of leg mechanical exoskeleton equipment that can be deformed into electric wheelchair, can not only allow the light across obstacle of user, in realization downstairs, the action such as walking, and remote high-speed motion can be realized in accessible section.
To achieve these goals, this utility model adopts technical scheme as follows:
Can be deformed into a leg mechanical exoskeleton equipment for electric wheelchair, comprise wheelchair system, leg mechanical exoskeleton system and control system; Leg mechanical exoskeleton system comprises two skeleton units, two skeleton units are symmetrical arranged and have certain distance therebetween, each skeleton unit comprises waist skeleton, thigh skeleton and shank skeleton, coupling assembling by having horizontal and vertical two rotary freedoms between waist skeleton and thigh skeleton upper end connects as one, thigh skeleton lower end and shank skeleton upper end are hinged, shank skeleton end hinge foot pedal; Thigh skeleton is connected thigh support plate and shin support panel respectively with the inner side of shank skeleton, and thigh support plate and shin support panel are connected to thigh restraining belt and shank restraining belt, foot's pedal are provided with foot's restraining belt; Be provided with the first electric pushrod between waist skeleton and thigh skeleton, between thigh skeleton and shank skeleton, be provided with the second electric pushrod; Waist skeleton and wheelchair system are rigidly connected; Control system is electrically connected with the circuit part of the first electric pushrod, the second electric pushrod and wheelchair system, moves the action with the first electric pushrod and the second electric pushrod for control wheel chair system.
This utility model preferred version, wheelchair system comprises two frame bodies, two frame bodies are symmetrical arranged and have certain distance therebetween, between two frame bodies, lateral stiffness connects as one, and between two frame bodies, backrest being installed, this backrest is provided with waist restraining belt, each frame body is provided with front jocket wheel on the downside of the place of front end, each frame body is provided with battery and and drive motors, drive motors connect main wheel.
This utility model preferred version, control system comprises controller, controller housing panel is provided with rocking bar and control knob, controller inside is provided with single-chip microcomputer and amplifying circuit, controller is electrically connected with battery, drive motors, the first electric pushrod and the second electric pushrod, rocking bar and control knob are for receiving user instruction, single-chip microcomputer is used for instruction transformation being become pulse signal and sending to amplifying circuit, and amplifying circuit is used for sending to drive motors, the first electric pushrod and the second electric pushrod by after pulse signal amplification.
This utility model preferred version, coupling assembling comprises the upper bracket be arranged on below waist skeleton and the undersetting being positioned at thigh skeleton upper end, upper bracket has shaft hole, undersetting two ends have upper spindle hole and lower rotary shaft hole respectively, upper spindle hole is mutually vertical with lower rotary shaft axially bored line, upper bracket and undersetting upper end are rotationally connected through shaft hole and upper spindle hole and are integrated by lateral shaft, and undersetting and thigh skeleton are rotationally connected through lower rotary shaft hole and thigh skeleton and are integrated by longitudinal axis.
This utility model preferred version, the axle center of main wheel and drive motors are arranged on below on rear side of backrest.
This utility model preferred version, the bottom of frame body is connected with anti-back gear, and this anti-back gear is positioned at frame body rear.
This utility model preferred version, frame body is also connected with armrest body, and battery to be positioned at outside frame body and to be positioned at below armrest body.
This utility model preferred version, controller housing panel is also provided with electric quantity display device and speed display device.
This utility model beneficial effect:
Waist skeleton, thigh skeleton and shank skeleton are coordinated by the first electric pushrod and the second electric pushrod can make waist, leg be out of shape, namely coordinated by leg mechanical exoskeleton system match wheel chair system and control system, user can realize switching between sitting posture driving mode and standing position walking mode, freely converts form; When this utility model is deformed into sitting posture driving mode, can as common electric wheelchair normal traveling; When being deformed into standing position walking mode, user can as normally walked time move freely, the obstacle (as threshold, step, narrow ditch, dirt road, hill path, sand ground etc.) that can be able to be passed through by any normal gait, and because of relatively other products that take up space less, thus easily via the import and export step of the such as public transport such as train, bus, person easy to use takes all kinds of public transport and routine use.
Accompanying drawing explanation
Fig. 1 is that leg mechanical exoskeleton system axle measures intention.
Fig. 2 is that schematic diagram is looked on the leg mechanical exoskeleton system right side.
Fig. 3 is leg mechanical exoskeleton system schematic front view.
Fig. 4 is leg mechanical exoskeleton system schematic top plan view.
Fig. 5 is that wheelchair system axle measures intention.
Fig. 6 is that schematic diagram is looked on the wheelchair system right side.
Fig. 7 is wheelchair system schematic front view.
Fig. 8 is wheelchair system schematic top plan view.
Fig. 9 is controller architecture schematic diagram.
Figure 10 is circuit connection diagram.
Figure 11 is axonometric drawing of the present utility model under sitting posture driving mode.
Figure 12 is that under sitting posture driving mode, schematic diagram is looked on the right side of the present utility model.
Figure 13 is schematic front view of the present utility model under sitting posture driving mode.
Figure 14 is schematic top plan view of the present utility model under sitting posture driving mode.
Figure 15 is axonometric drawing of the present utility model under stance walking mode.
Figure 16 is that under stance walking mode, schematic diagram is looked on the right side of the present utility model.
Figure 17 is schematic front view of the present utility model under stance walking mode.
Figure 18 is schematic top plan view of the present utility model under stance walking mode.
When Figure 19 is unsettled crouching appearance, schematic diagram is looked on the right side of the present utility model.
When Figure 20 is crouching appearance, schematic diagram is looked on the right side of the present utility model.
Figure 21 is the structural representation of coupling assembling.
Detailed description of the invention
Below in conjunction with specific embodiment, the utility model is described in further detail, and following explanation is only exemplary, does not limit this utility model protection domain.
Can be deformed into a leg mechanical exoskeleton equipment for electric wheelchair, comprise wheelchair system, leg mechanical exoskeleton system and control system, wheelchair system comprises two frame bodies 21, two frame bodies 21 are symmetrical arranged and have certain distance therebetween, between two frame bodies 21, lateral stiffness connects as one, and between two frame bodies 21, backrest 14 is installed, this backrest 14 is provided with waist restraining belt 9, each frame body 21 is provided with a front jocket wheel 16 on the downside of the place of front end, and each frame body 21 is provided with battery 19 and drive motors 18, drive motors 18 connects main wheel 15, leg mechanical exoskeleton system comprises two skeleton units, and two skeleton units are symmetrical arranged and have certain distance therebetween, and each skeleton unit includes waist skeleton 1, thigh skeleton 2 and shank skeleton 3, coupling assembling 8 by having horizontal and vertical two rotary freedoms between waist skeleton 1 and thigh skeleton 2 upper end connects as one, and thigh skeleton 2 lower end and shank skeleton 3 upper end are hinged, shank skeleton 3 end hinge foot pedal 6, thigh skeleton 2 is connected thigh support plate 4 and shin support panel 5 respectively with the inner side of shank skeleton 3, thigh support plate 4 and shin support panel 5 are connected to thigh restraining belt 10 and shank restraining belt 11, shank skeleton 3 end hinged foot pedal 6, foot's pedal 6 is provided with foot's restraining belt 12, be provided with the first electric pushrod 7 between waist skeleton 1 and thigh skeleton 2, between thigh skeleton 2 and shank skeleton 3, be provided with the second electric pushrod 13, control system comprises controller 20, controller 20 case panel is provided with rocking bar 29, control knob, electric quantity display device 30 and speed display device 22, controller 20 inside is provided with single-chip microcomputer and amplifying circuit, controller 20 and battery 19, drive motors 18, first electric pushrod 7 and the second electric pushrod 13 are electrically connected, rocking bar 29 and control knob are for receiving user instruction, single-chip microcomputer is used for instruction transformation being become pulse signal and sending to amplifying circuit, amplifying circuit is used for sending to drive motors 18 by after pulse signal amplification, first electric pushrod 7 and the second electric pushrod 13, control knob comprises mode selector switch 28, speed increasing button 23, speed reduces button 24, walking button 25, downstairs button 26 and upstairs button 27.
In the present embodiment, coupling assembling comprises the upper bracket 31 be arranged on below waist skeleton 1 and the undersetting 37 being positioned at thigh skeleton 2 upper end, upper bracket 31 has shaft hole 32, undersetting two ends have upper spindle hole 33 and lower rotary shaft hole 35 respectively, upper spindle hole 33 is mutually vertical with lower rotary shaft hole 35 axis, upper bracket 31 and undersetting 37 upper end are rotationally connected through shaft hole 32 and upper spindle hole 33 and are integrated by lateral shaft 34, and undersetting 37 and thigh skeleton 2 to be rotationally connected through lower rotary shaft hole 35 and thigh skeleton 2 and to be integrated by longitudinal axis 36.
In the present embodiment, the axle center of main wheel 15 and drive motors 18 are arranged on below on rear side of backrest 14, do not affect the action of distortion and walking posture.
In the present embodiment, the bottom of frame body 21 is connected with anti-back gear 17, and this anti-back gear 17 is positioned at frame body 21, and frame body 21 is also connected with armrest body 38, and battery 19 to be positioned at outside frame body 21 and to be positioned at below armrest body 38.
Utilize utility model works process as follows:
One, dress:
Waist restraining belt 9, thigh restraining belt 10, shank restraining belt 11, foot's restraining belt 12 are fixed on the relevant position of health by user respectively, and moderate according to build adjusting elasticity.
Two, use:
(1) pattern switches:
1, sitting posture driving mode is deformed into standing position walking mode:
When the mode selector switch 28 of controller 20 transfers " walking mode " to by " wheelchair pattern ", this utility model will be deformed into standing position walking mode from sitting posture driving mode.During distortion, controller 20 controls the first electric pushrod 7 according to pre-set programs and the second electric pushrod 13 works simultaneously, thigh skeleton 2 and shank skeleton 3 elder generation is driven to be unsettled crouching appearance by sitting posture deformation, be deformed into both feet by unsettled crouching appearance again to land crouching appearance, finally be deformed into standing position walking mode original state by the both feet crouching appearance that lands, be now out of shape complete.
2, standing position walking mode is deformed into sitting posture driving mode:
When the mode selector switch 28 of controller 20 is transferred to " wheelchair pattern " by " walking mode ", this utility model will be deformed into sitting posture driving mode from standing position walking mode.Step when action during distortion and sitting posture driving mode are deformed into standing position walking mode is contrary.
Because in above-mentioned deformation process, gravity center of human body is in poised state all the time, therefore user can in without human-aided situation complete independently aforesaid operations.
(2) sitting posture driving mode:
When the mode selector switch 28 of controller 20 is positioned at " wheelchair pattern ", this utility model is sitting posture driving mode form.Now this utility model is substantially identical with the occupation mode of common electric wheelchair.User manipulation rocking bar 29 controls drive motors 18 and rotates, and can realize the actions such as advance, retrogressing, left-hand rotation, right-hand rotation.User can increase travel speed by speed increasing button 23, and user speed of pressing reduces button 24 and can reduce travel speed.Travel speed is shown by speed display device 22, has 5 grades.
(3) standing position walking mode:
Standing position walking mode has 3 kinds of duties: walking mode, upstairs pattern, downstairs pattern.
1. walking mode:
Walking mode refers to the mode of operation that both legs leapfrog on clog-free smooth-riding surface.When pressing walking button 25, walking button 25 Chang Liang, downstairs button 26 and upstairs button 27 do not work, now this utility model is switched to walking mode.When rocking bar 29 pushes away forward by user, controller 20 controls the first electric pushrod 7 according to pre-set programs and the second electric pushrod 13 works simultaneously, drives two lower limbs to complete the action leapfroged.When rocking bar 29 pushes away left by user, controller 20 controls the first electric pushrod 7 according to pre-set programs and the second electric pushrod 13 works simultaneously, drives the action that two lower limbs are turned left.When rocking bar 29 pushes away to the right by user, controller 20 controls the first electric pushrod 7 according to pre-set programs and the second electric pushrod 13 works simultaneously, drives the action that two lower limbs bend to right.When user by rocking bar 29 to pusher time, controller 20 controls the first electric pushrod 7 according to pre-set programs and the second electric pushrod 13 works simultaneously, drives two lower limbs to complete the action of back alternately.When rocking bar 29 unclamps by user, rocking bar 29 self-aligning is to center, and controller 20 controls the first electric pushrod 7 according to pre-set programs and the second electric pushrod 13 works simultaneously, drives two lower limbs to recover standing position walking mode original state.
2. pattern upstairs:
Upstairs pattern be when running into overhead obstacle (as stair, the step etc.) that walking mode cannot pass through the mode of operation that uses.When press upstairs button 27 time, button 27 Chang Liang upstairs, downstairs button 26 and walking button 25 do not work, and now this utility model is switched to pattern upstairs.When rocking bar 29 pushes away forward by user, controller 20 controls the first electric pushrod 7 according to pre-set programs and the second electric pushrod 13 works simultaneously, drives two lower limbs alternately to complete action upstairs.When rocking bar 29 unclamps by user, rocking bar 29 self-aligning is to center, and controller 20 controls the first electric pushrod 7 according to pre-set programs and the second electric pushrod 13 works simultaneously, drives two lower limbs to recover standing position walking mode original state.When user by rocking bar 29 left, to the right or to attonity during pusher.
3. to go downstairs pattern:
Downstairs pattern be when running into the obstacle lower than ground (as stair, the step etc.) that walking mode cannot pass through the mode of operation that uses.When press downstairs button 26 time, button 26 Chang Liang downstairs, button 27 and walking button 25 do not work upstairs, and now this utility model is switched to pattern downstairs.When rocking bar 29 pushes away forward by user, controller 20 controls the first electric pushrod 7 according to pre-set programs and the second electric pushrod 13 works simultaneously, drives two lower limbs alternately to complete action downstairs.When rocking bar 29 unclamps by user, rocking bar 29 self-aligning is to center, and controller 20 controls the first electric pushrod 7 according to pre-set programs and the second electric pushrod 13 works simultaneously, drives two lower limbs to recover standing position walking mode original state.When user by rocking bar 29 left, to the right or to attonity during pusher.
The advantage of wheelchair and human leg's mechanical exoskeleton mainly be combined with each other by this utility model, shortcoming makes up mutually, thus realize both can having allowed the light across obstacle of user, realize as walking, stair activity, across actions such as thresholds, remote high-speed motion can be realized in accessible section again, meet the daily need of user.
Above only describes ultimate principle of the present utility model and preferred implementation, those skilled in the art can make many changes and improvements according to foregoing description, and these changes and improvements should belong to protection domain of the present utility model.
Claims (8)
1. can be deformed into a leg mechanical exoskeleton equipment for electric wheelchair, it is characterized in that: comprise wheelchair system, leg mechanical exoskeleton system and control system; Leg mechanical exoskeleton system comprises two skeleton units, two skeleton units are symmetrical arranged and have certain distance therebetween, each skeleton unit comprises waist skeleton, thigh skeleton and shank skeleton, coupling assembling by having horizontal and vertical two rotary freedoms between waist skeleton and thigh skeleton upper end connects as one, thigh skeleton lower end and shank skeleton upper end are hinged, shank skeleton end hinge foot pedal; Thigh skeleton is connected thigh support plate and shin support panel respectively with the inner side of shank skeleton, and thigh support plate and shin support panel are connected to thigh restraining belt and shank restraining belt, foot's pedal are provided with foot's restraining belt; Be provided with the first electric pushrod between waist skeleton and thigh skeleton, between thigh skeleton and shank skeleton, be provided with the second electric pushrod; Waist skeleton and wheelchair system are rigidly connected; Control system is electrically connected with the circuit part of the first electric pushrod, the second electric pushrod and wheelchair system, moves the action with the first electric pushrod and the second electric pushrod for control wheel chair system.
2. can be deformed into the leg mechanical exoskeleton equipment of electric wheelchair according to claim 1, it is characterized in that: wheelchair system comprises two frame bodies, two frame bodies are symmetrical arranged and have certain distance therebetween, between two frame bodies, lateral stiffness connects as one, and between two frame bodies, backrest being installed, this backrest is provided with waist restraining belt, each frame body is provided with front jocket wheel on the downside of the place of front end, each frame body is provided with battery and drive motors, drive motors connects main wheel.
3. can be deformed into the leg mechanical exoskeleton equipment of electric wheelchair according to claim 2, it is characterized in that: control system comprises controller, controller housing panel is provided with rocking bar and control knob, controller inside is provided with single-chip microcomputer and amplifying circuit, controller and battery, drive motors, first electric pushrod and the electrical connection of the second electric pushrod, rocking bar and control knob are for receiving user instruction, single-chip microcomputer is used for instruction transformation being become pulse signal and sending to amplifying circuit, amplifying circuit is used for sending to drive motors by after pulse signal amplification, first electric pushrod and the second electric pushrod.
4. according to Claims 2 or 3, can be deformed into the leg mechanical exoskeleton equipment of electric wheelchair, it is characterized in that: coupling assembling comprises the upper bracket be arranged on below waist skeleton and the undersetting being positioned at thigh skeleton upper end, upper bracket has shaft hole, undersetting two ends have upper spindle hole and lower rotary shaft hole respectively, upper spindle hole is mutually vertical with lower rotary shaft axially bored line, upper bracket and undersetting upper end are rotationally connected through shaft hole and upper spindle hole and are integrated by lateral shaft, undersetting and thigh skeleton are rotationally connected through lower rotary shaft hole and thigh skeleton and are integrated by longitudinal axis.
5. according to Claims 2 or 3, can be deformed into the leg mechanical exoskeleton equipment of electric wheelchair, it is characterized in that: the axle center of main wheel and drive motors are arranged on below on rear side of backrest.
6. according to Claims 2 or 3, can be deformed into the leg mechanical exoskeleton equipment of electric wheelchair, it is characterized in that: the bottom of frame body is connected with anti-back gear, this anti-back gear is positioned at frame body rear.
7. according to Claims 2 or 3, can be deformed into the leg mechanical exoskeleton equipment of electric wheelchair, it is characterized in that: frame body is also connected with armrest body, battery to be positioned at outside frame body and to be positioned at below armrest body.
8. can be deformed into the leg mechanical exoskeleton equipment of electric wheelchair according to claim 3, it is characterized in that: controller housing panel is also provided with electric quantity display device and speed display device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520116653.6U CN204581882U (en) | 2015-02-26 | 2015-02-26 | Can be deformed into the leg mechanical exoskeleton equipment of electric wheelchair |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520116653.6U CN204581882U (en) | 2015-02-26 | 2015-02-26 | Can be deformed into the leg mechanical exoskeleton equipment of electric wheelchair |
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| Publication Number | Publication Date |
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| CN204581882U true CN204581882U (en) | 2015-08-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520116653.6U Expired - Fee Related CN204581882U (en) | 2015-02-26 | 2015-02-26 | Can be deformed into the leg mechanical exoskeleton equipment of electric wheelchair |
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| Country | Link |
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| CN (1) | CN204581882U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106346452A (en) * | 2016-11-02 | 2017-01-25 | 广州初曲科技有限公司 | Pneumatic-electric linkage type exoskeleton power equipment for providing waist and back strength assistance |
| CN106420203A (en) * | 2016-11-29 | 2017-02-22 | 天津大学 | Foldable exoskeleton wheelchair integrated motion assisted robot |
| CN107049711A (en) * | 2017-06-20 | 2017-08-18 | 戴志杰 | Wearable multi-functional ectoskeleton mobile holder device and its control method |
| CN108078699A (en) * | 2017-12-19 | 2018-05-29 | 江阴市新盛医疗器材设备有限公司 | A kind of Wheel chair pedal plate |
| CN108309593A (en) * | 2018-02-22 | 2018-07-24 | 哈尔滨工业大学 | A kind of sufficient isomorphism deformation type wheelchair exoskeleton robot of wheel |
| CN109512644A (en) * | 2018-11-12 | 2019-03-26 | 哈尔滨工业大学 | It can be deformed into the multi-functional exoskeleton robot of wheelchair |
| CN111358672A (en) * | 2020-03-25 | 2020-07-03 | 中南大学湘雅三医院 | Old person uses walking auxiliary device |
| CN113712744A (en) * | 2021-09-16 | 2021-11-30 | 重庆理工大学 | Wheelchair and walking assisting exoskeleton integrated structure and control method thereof |
-
2015
- 2015-02-26 CN CN201520116653.6U patent/CN204581882U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106346452A (en) * | 2016-11-02 | 2017-01-25 | 广州初曲科技有限公司 | Pneumatic-electric linkage type exoskeleton power equipment for providing waist and back strength assistance |
| CN106346452B (en) * | 2016-11-02 | 2017-06-23 | 广州初曲科技有限公司 | A kind of air-electricity linkage formula ectoskeleton chain drive that the small of the back strength auxiliary is provided |
| CN106420203A (en) * | 2016-11-29 | 2017-02-22 | 天津大学 | Foldable exoskeleton wheelchair integrated motion assisted robot |
| CN106420203B (en) * | 2016-11-29 | 2018-04-20 | 天津大学 | The ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic |
| CN107049711A (en) * | 2017-06-20 | 2017-08-18 | 戴志杰 | Wearable multi-functional ectoskeleton mobile holder device and its control method |
| CN107049711B (en) * | 2017-06-20 | 2019-06-21 | 戴志杰 | Wearable multi-functional ectoskeleton mobile holder device and its control method |
| CN108078699A (en) * | 2017-12-19 | 2018-05-29 | 江阴市新盛医疗器材设备有限公司 | A kind of Wheel chair pedal plate |
| CN108309593B (en) * | 2018-02-22 | 2019-12-03 | 哈尔滨工业大学 | A kind of sufficient isomorphism deformation type wheelchair exoskeleton robot of wheel |
| CN108309593A (en) * | 2018-02-22 | 2018-07-24 | 哈尔滨工业大学 | A kind of sufficient isomorphism deformation type wheelchair exoskeleton robot of wheel |
| CN109512644A (en) * | 2018-11-12 | 2019-03-26 | 哈尔滨工业大学 | It can be deformed into the multi-functional exoskeleton robot of wheelchair |
| CN111358672A (en) * | 2020-03-25 | 2020-07-03 | 中南大学湘雅三医院 | Old person uses walking auxiliary device |
| CN111358672B (en) * | 2020-03-25 | 2022-04-22 | 中南大学湘雅三医院 | Old person uses walking auxiliary device |
| CN113712744A (en) * | 2021-09-16 | 2021-11-30 | 重庆理工大学 | Wheelchair and walking assisting exoskeleton integrated structure and control method thereof |
| CN113712744B (en) * | 2021-09-16 | 2024-03-12 | 重庆理工大学 | Wheelchair and walking assisting exoskeleton integrated structure and control method thereof |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150826 Termination date: 20210226 |