CN209548329U - Man-machine joint shaft offset compensation device and the man-machine interconnection equipment of lower limb exoskeleton - Google Patents
Man-machine joint shaft offset compensation device and the man-machine interconnection equipment of lower limb exoskeleton Download PDFInfo
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- CN209548329U CN209548329U CN201821940769.1U CN201821940769U CN209548329U CN 209548329 U CN209548329 U CN 209548329U CN 201821940769 U CN201821940769 U CN 201821940769U CN 209548329 U CN209548329 U CN 209548329U
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Abstract
The utility model discloses a kind of man-machine joint shaft offset compensation device and the man-machine interconnection equipments of lower limb exoskeleton, wherein man-machine joint shaft offset compensation device includes the first bar, supporting plate and bandage, and first bar is driven by driving assembly and moved；The supporting plate for bracketing human body arm or leg, the supporting plate be connected with first bar and the supporting plate can along first bar length direction it is free to slide；The bandage is fixed on institute's supporting plate, for tying up arm or leg in human body.The device can real-time adaptive compensation ectoskeleton joint shaft and human synovial shaft between offset deviation, effectively reduce the human synovial internal force generated due to man-machine joint shaft is not overlapped, promoted user wearing experience, reduce human synovial at abrasion.The device is mounted on lower limb exoskeleton the composition man-machine interconnection equipment of lower limb exoskeleton, person's hip capable of reducing using, kneed internal force improve comfort level when user dresses walking and reduce physiology energy consumption.
Description
Technical field
The utility model relates to rehabilitation field and ectoskeleton technical fields, and in particular to a kind of man-machine joint shaft deviation benefit
Repay device and the man-machine interconnection equipment of lower limb exoskeleton.
Background technique
In the engineerings such as human body recovery and bodily fuctions' enhancing, ectoskeleton is a kind of typical human-machine system, is made
After user dresses ectoskeleton, lower limb exoskeleton can constitute the polycyclic closing kinematic chain in space with human body lower limbs.During walk help,
Movement and the transmitting of power are realized by the interaction at connecting portion between man-machine.Therefore, the man-machine interconnection of reasonable design
Equipment is most important for the power transmission efficiency of between humans and machines and the safety in utilization of ectoskeleton.Between lower limb exoskeleton and human body lower limbs
Too strong constraint should not occur, and should not also occur excessive internal force load at joint of lower extremity and soft tissue, otherwise will affect
The comfort of wearing, or even secondary damage can be caused to patient.
In people's walking process, when the hip of human body, knee sprung/stretching, extension, the existing rolling of knuckle contact surface has sliding again,
And there are change in displacement for kneed instantaneous center of rotation, thus there are positions relative to large and small leg for hip, kneed rotation axis
Move variation；In addition, human body lower limbs structure is sufficiently complex, when design, can only roughly estimate position and the court of human synovial shaft
To user is practical as a result, when dressing ectoskeleton, and there is also certain initial positions for each corresponding joint axis of human body and ectoskeleton
Deviation.
Lower limb exoskeleton mostly uses single-axis hinge formula joint in structure, and man-machine connection is solid by compact wearing or bondage etc.
Form even realizes that traditional man-machine interconnection means are fixed relative to ectoskeleton bar, and human synovial shaft and ectoskeleton joint turn
Axis is not overlapped meeting so that man-machine interconnection point such as bandage generates the sliding along people's leg direction, there is sliding between bandage and people's leg and rubs
It wipes, and then influences the joint internal force in the joint of human body, soft tissue internal force and ectoskeleton, human body joint is made to generate extra load
Power and kinematic constraint, it is man-machine between there are movement interference and power to interfere.
Currently, most ectoskeletons are not overlapped band by the way that the man-machine joint shaft of flexible material improvement is added at leg support or bandage
The influence come.But flexible material is only capable of compensation that the ideally man-machine relatively heavy conjunction bring of joints axes is macroscopic
Deviation, and the internal force of human synovial and position cannot be distribution accurately controlled, it is man-machine between there are still undesirable reciprocal forces, influence man-machine
Power transmission efficiency, man-machine sports coordination, be finally reflected for user dress ectoskeleton walking when consume energy it is excessively high.
Utility model content
The utility model aims to solve at least one of the technical problems existing in the prior art.For this purpose, the utility model
One purpose is to propose a kind of man-machine joint shaft offset compensation device and the man-machine interconnection equipment of lower limb exoskeleton, can in real time from
Offset deviation between adaptive compensation ectoskeleton shaft and human synovial shaft is effectively reduced because of ectoskeleton shaft and human synovial
The internal force at human synovial generated there are deviation, optimization promote the wearing experience of user, reduce the mill at human synovial
Damage reduces energy consumption when user dresses ectoskeleton walking.
According to the man-machine joint shaft offset compensation device of the utility model embodiment, comprising:
First bar, first bar are driven by driving assembly and are moved；
Supporting plate, arm or leg of the supporting plate for bracketing human body, the supporting plate are connected and described with first bar
Supporting plate can along first bar length direction it is free to slide；
Bandage, the bandage are fixed on institute's supporting plate, for tying up arm or leg in human body.
According to the man-machine joint shaft offset compensation device of the utility model embodiment, when wearing, by supporting plate bracketing in people
On the arm of body or leg, while being strapped on human body arm or leg with bandage, for example, by supporting plate bracketing on shank, together
When be strapped on shank with bandage, annular pressure can be provided in man-machine bearing, guarantee stability and safety.In man-machine association
During synkinematic, the first bar is in driving assembly when being rotated by, it is ensured that the efficient power transmission of between humans and machines.Meanwhile
Supporting plate will be rotated around human synovial shaft, even if there are deviations for ectoskeleton shaft and human synovial shaft, since supporting plate can be along
The length direction of one bar slides, and can be reduced man-machine with the offset deviation between adaptive equalization ectoskeleton shaft and human synovial
Movement interference and power are interfered, and are effectively reduced at the human synovial generated because ectoskeleton shaft and human synovial are there are deviation
Power, the wearing experience of optimization promotion user, reduces the abrasion at human synovial, reduces user and dresses when ectoskeleton is walked
Energy consumption；And reduce the susceptibility to the variations of user individual's body sizes, can adaptively improve human body stress, versatility compared with
By force.In addition, the device can be integrated into standalone module, simple and reliable for structure, size facilitates adjusting, can be used as human body arm, thigh,
Man-machine interconnection means at the positions such as shank, and be easy to be transplanted under different types of exoskeleton system environment, use model
It encloses relatively wide；Present apparatus structure is simple, easy to process, and cost is relatively low, easy to maintain.
One embodiment according to the present utility model further includes guide rail slide block component, and the guide rail slide block component includes leading
Rail and sliding block, the guide rail are fixed on first bar along the length direction of first bar, the sliding block and the supporting plate
It is connected, the sliding block and the guide rail cooperate and can slide along the guide rail.
It further include rotating assembly according to the utility model further embodiment, the rotating assembly includes supporting plate shaft
With shaft support plate, one end of the supporting plate shaft and the supporting plate are connected, and the shaft support plate is fixed on the slide block,
The shaft support plate be equipped with first rotating shaft hole, the supporting plate shaft be rotatably sleeved in the first rotating shaft hole and with institute
State the central axis of the first bar.
According to the utility model further embodiment, first axle bearing bore and second are additionally provided on the shaft support plate
Bearing hole, the first axle bearing bore and the second bearing hole are located at the both ends in the first rotating shaft hole and with described first
Shaft hole connection, the supporting plate shaft are equipped with first bearing and second bearing, and the supporting plate shaft is set in described first turn
When in axis hole, and the first bearing is located in the first axle bearing bore, and the second bearing is located in the second bearing hole.
Some embodiments according to the present utility model are respectively equipped on first bar at the both ends for closing on the guide rail
First limiting section and the second limiting section, to limit sliding scale of the sliding block on the guide rail.
The invention also discloses a kind of man-machine interconnection equipments of lower limb exoskeleton.
According to the man-machine interconnection equipment of the lower limb exoskeleton of the utility model embodiment, comprising:
Such as the man-machine joint shaft offset compensation device of above-mentioned any embodiment；
Second bar；
Driving assembly, the driving component are fixed on second bar, and the driving component is connected with first bar,
To drive first bar to rotate.
According to the man-machine interconnection equipment of the lower limb exoskeleton of the utility model embodiment, using man-machine in above-described embodiment
Joint shaft offset compensation device when wearing, by supporting plate bracketing on the arm of human body or leg, while being strapped in people with bandage
On body arm or leg, for example, by supporting plate bracketing on shank, while being strapped on shank with bandage, in man-machine fixation
Place provides annular pressure, guarantees stability and safety.When the first bar is in driving assembly when being rotated by, it is ensured that people
Efficient power transmission between machine, meanwhile, it can be reduced man-machine with the offset deviation between adaptive equalization ectoskeleton shaft and human synovial
Movement interference and power are interfered, and the human synovial internal force generated because ectoskeleton shaft and human synovial are there are deviation is effectively reduced,
To promote the wearing experience of user, wearing ectoskeleton is reduced to human body bring energy consumption；And it reduces to user individual
The susceptibility of the variation of body sizes, can adaptively improve human body stress, and versatility is stronger.In addition, the device can be integrated into solely
Formwork erection block, simple and reliable for structure, size facilitates adjusting, can be used as the man-machine interconnection dress at the positions such as human body arm, thigh, shank
It sets, and is easy to be transplanted under different types of exoskeleton system environment, use scope is wider；Present apparatus structure is simple, easily
In processing, cost is relatively low, easy to maintain.
One embodiment according to the present utility model, the driving component include motor and retarder, second bar
One end be equipped with the second shaft hole, one end of first bar be rotatably sleeved in second shaft hole and with the deceleration
Device is connected, and the retarder is fixed on second bar, and the motor is connected with the retarder.
According to the utility model further embodiment, the driving component further includes output flange, the output method
One end of blue disk is socketed in the output end of the retarder, and the other end of the output flange is socketed in the one of first bar
On end.
According to the utility model further embodiment, on second bar between the outside for being located at second shaft hole
It is separatedly equipped with preposition limited block and postposition limited block, first bar is located at the preposition limited block and the postposition limited block
Between, so that first bar is swung between the preposition limited block and the postposition limited block.
Some embodiments according to the present utility model, further include footrest, and the footrest is fixed on the another of first bar
End.
The additional aspect and advantage of the utility model will be set forth in part in the description, partially will be from following description
In become obvious, or recognized by the practice of the utility model.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the utility model from the description of the embodiment in conjunction with the following figures will
Become obvious and be readily appreciated that, in which:
Fig. 1 be the utility model one embodiment man-machine joint shaft offset compensation device and lower limb exoskeleton it is man-machine mutually
The stereoscopic schematic diagram of one angle of attached device.
Fig. 2 be the utility model one embodiment man-machine joint shaft offset compensation device and lower limb exoskeleton it is man-machine mutually
Attached device side view.
Fig. 3 be the utility model one embodiment man-machine joint shaft offset compensation device and lower limb exoskeleton it is man-machine mutually
Attached device front view.
Fig. 4 be the utility model one embodiment man-machine joint shaft offset compensation device and lower limb exoskeleton it is man-machine mutually
Attached device stereoscopic schematic diagram.
Fig. 5 be the utility model one embodiment man-machine joint shaft offset compensation device and lower limb exoskeleton it is man-machine
One cross-sectional view of interconnection equipment.
Appended drawing reference:
The man-machine interconnection equipment 1000 of lower limb exoskeleton
Man-machine joint shaft offset compensation device 100
The preposition 5 postposition limited block 6 of limited block of second 1 first bar of bar, 2 footrest, 3 first bearing 4
11 guide rail of motor 7 retarder, 8 output flange, 9 supporting plate, 10 bandage, 12 sliding block 13
First 14 second limiting section of limiting section, 15 shaft support plate, 16 supporting plate shaft 17
Second bearing 18
Specific embodiment
The embodiments of the present invention are described in detail below, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is to show routinely, is only used for explaining the utility model, and be should not be understood as to the utility model
Limitation.
Man-machine joint shaft offset compensation device according to the utility model embodiment is described below with reference to Fig. 1 to Fig. 5
100。
As shown in Figures 1 to 5, according to the man-machine joint shaft offset compensation device 100 of the utility model embodiment, including
First bar 2, supporting plate 10 and bandage 11, wherein the first bar 2 is driven by driving assembly and moved；Supporting plate 10 is used for the arm of bracketing human body
Portion or leg, supporting plate 10 be connected with the first bar 2 and supporting plate 10 can along the first bar 2 length direction it is free to slide；Bandage 11 is fixed
On institute's supporting plate 10, for tying up arm or leg in human body.
According to the man-machine joint shaft offset compensation device 100 of the utility model embodiment, when wearing, by 10 bracketing of supporting plate
It is strapped on human body arm or leg on the arm of human body or leg, while with bandage 11, for example, by 10 bracketing of supporting plate small
It on leg, while being strapped on shank with bandage 11, annular pressure can be provided in man-machine bearing, guarantee stability and safety
Property.During man-machine coordination campaign, the first bar 2 is in driving assembly when being rotated by, it is ensured that the height of between humans and machines
Imitate power transmission.Meanwhile supporting plate 10 will be rotated around human synovial shaft, even if ectoskeleton shaft and human synovial shaft there are deviation,
It, can be between adaptive equalization ectoskeleton shaft and human synovial since supporting plate 10 can be slided along the length direction of the first bar 2
Offset deviation reduces man-machine movement interference and power and interferes, and effectively reduces and produces because ectoskeleton shaft and human synovial are there are deviation
Internal force at raw human synovial, optimization promote the wearing experience of user, reduce the abrasion at human synovial, reduce user
Dress energy consumption when ectoskeleton walking；And the susceptibility for reducing the variation to user individual's body sizes, can adaptively change
Kind human body stress, versatility are stronger.In addition, the device can be integrated into standalone module, simple and reliable for structure, size facilitates adjusting,
It can be used as the man-machine interconnection means at the positions such as human body arm, thigh, shank, and be easy in different types of exoskeleton system ring
It is transplanted under border, use scope is wider；Present apparatus structure is simple, easy to process, and cost is relatively low, easy to maintain.
One embodiment according to the present utility model, further includes guide rail slide block component, and guide rail slide block component includes guide rail 12
With sliding block 13, guide rail 12 is fixed on the first bar 2 along the length direction of the first bar 2, and sliding block 13 is connected with supporting plate 10, sliding block 13 with
Guide rail 1212 cooperates and can slide along guide rail 12.Realize supporting plate 10 along the length side of the first bar 2 by guide rail slide block component as a result,
To slidably, with the offset deviation between adaptive equalization ectoskeleton shaft and human synovial, the geometrical constraint of movement is maintained to close
System effectively reduces the human synovial internal force generated because ectoskeleton shaft and human synovial are there are deviation, to promote user
Wearing experience, reduce wearing ectoskeleton to human body bring energy consumption；And reduce the variation to user individual's body sizes
Susceptibility, can adaptively improve human body stress, versatility is stronger.Optionally, guide rail 12 is arranged on the first bar 2, can be one
Body forms structure, can also be split type structure.
It further include rotating assembly according to the utility model further embodiment, rotating assembly includes 17 He of supporting plate shaft
Shaft support plate 16, one end of supporting plate shaft 17 and supporting plate 10 are connected, and shaft support plate 16 is fixed on sliding block 13, and shaft is supported
Plate 16 is equipped with first rotating shaft hole, and supporting plate shaft 17 is set in the central axis in first rotating shaft hole and with the first bar 2.As a result,
It, can be with the guide rail slide block component position between adaptive equalization ectoskeleton shaft and human synovial simultaneously by the way that rotating assembly is arranged
Deviation is moved, guarantee limbs come into full contact with supporting plate 10, advanced optimize the wearing experience of ectoskeleton.
According to the utility model further embodiment, first axle bearing bore and the second axis are additionally provided on shaft support plate 16
Bearing bore, first axle bearing bore and second bearing hole are located at the both ends in first rotating shaft hole and are connected to first rotating shaft hole, and supporting plate turns
Axis 17 is equipped with first bearing 4 and second bearing 18, when supporting plate shaft 17 is set in first rotating shaft hole, and first bearing 4
In first axle bearing bore, second bearing 18 is located in second bearing hole.By the way that first bearing 4 and the are arranged in supporting plate shaft 17
Two bearings 18 can effectively reduce the coefficient of friction of supporting plate shaft 17 during the motion, and guarantee 17 rotating accuracy of supporting plate shaft.
Some embodiments according to the present utility model are respectively equipped with first at the both ends for closing on guide rail 12 on first bar 2
Limiting section 14 and the second limiting section 15, to limit sliding scale of the sliding block 13 on guide rail 12.By the way that the first limiting section 14 is arranged
With the second limiting section 15, sliding stroke of the sliding block 13 on guide rail 12 can be limited, meanwhile, anti-limited slip block 13 is sliding from guide rail 12
It falls.Optionally, the first limiting section 14 and the second limiting section 15 can be the protrusion for protruding from guide rail 12, can be located at guide rail
12 both ends.
As shown in Figures 1 to 5, the invention also discloses a kind of man-machine interconnection equipments 1000 of lower limb exoskeleton.
The man-machine interconnection equipment of lower limb exoskeleton according to the utility model embodiment is described below with reference to Fig. 1 to Fig. 5
1000。
According to the man-machine interconnection equipment 1000 of the lower limb exoskeleton of the utility model embodiment, including above-mentioned any one embodiment
Man-machine joint shaft offset compensation device 100, the second bar 1 and driving assembly.Wherein, driving assembly is fixed on the second bar 1,
Driving assembly is connected with the first bar 2, to drive the rotation of the first bar 2.
According to the man-machine interconnection equipment 1000 of the lower limb exoskeleton of the utility model embodiment, using in above-described embodiment
Man-machine joint shaft offset compensation device 100, when wearing, by 10 bracketing of supporting plate on the arm of human body or leg, while with tying up
Band 11 is strapped on human body arm or leg, for example, by 10 bracketing of supporting plate on shank, while shank is strapped in bandage 11
On, for providing annular pressure in man-machine bearing, guarantee stability and safety.When the first bar 2 is in the driving of driving assembly
When lower rotation, it is ensured that the efficient power transmission of between humans and machines, meanwhile, it can be between adaptive equalization ectoskeleton shaft and human synovial
Offset deviation, reduce man-machine movement interference and power and interfere, effectively reduce due to ectoskeleton shaft and human synovial are there are deviation
The human synovial internal force of generation reduces wearing ectoskeleton to human body bring energy consumption to promote the wearing experience of user；And
And the susceptibility of the variation to user individual's body sizes is reduced, it can adaptively improve human body stress, versatility is stronger.This
Outside, which can be integrated into standalone module, simple and reliable for structure, and size facilitates adjusting, can be used as human body arm, thigh, shank
Man-machine interconnection means at equal positions, and be easy to be transplanted under different types of exoskeleton system environment, use scope compared with
Extensively；Present apparatus structure is simple, easy to process, and cost is relatively low, easy to maintain.
One embodiment according to the present utility model, driving assembly include motor 7 and retarder 8, and one end of the second bar 1 is set
There is the second shaft hole, one end of the first bar is rotatably sleeved in the second shaft hole and is connected with retarder 8, and retarder 8 is solid
It is scheduled on the second bar 1, motor 7 is connected with retarder 8.When work, motor 7 drives retarder 8, and retarder 8 drives 2 turns of the first bar
Dynamic, the first bar 2 drives shank to move synchronously by supporting plate 10 and bandage 11, can not only guarantee that the effectively power of between humans and machines passes
It passs, and can be effectively reduced with the offset deviation between adaptive equalization ectoskeleton shaft and human synovial because of ectoskeleton shaft
And the human synovial internal force that human synovial is generated there are deviation reduces wearing dermoskeleton to promote the wearing experience of user
Bone is to human body bring energy consumption.
According to the utility model further embodiment, driving assembly further includes output flange 9, output flange 9
One end is socketed in the output end of retarder 8, and the other end of output flange 9 is socketed on one end of the first bar 2.That is,
One end of first bar 2 is connected on the output end of retarder 8 by output flange 9, simple installation.
Further embodiment according to the present utility model is opened in the outside spacers for being located at the second shaft hole on second bar 1
Ground is equipped with preposition limited block 5 and postposition limited block 6, and the first bar 2 is between preposition limited block 5 and postposition limited block 6, so that the
One bar 2 is swung between preposition limited block 5 and postposition limited block 6.By the way that preposition limited block 5 and postposition limited block 6, limitation is arranged
First bar 2 is swung between preposition limited block 5 and postposition limited block 6, guarantees that limbs swing angle is in normal reasonable range,
Avoid limbs swing angle excessive and damaged extremity.
Some embodiments according to the present utility model, further include footrest 3, and footrest 3 is fixed on the other end of the first bar 2.By
This, the man-machine interconnection equipment 1000 of the lower limb exoskeleton can be worn on lower limb shank, while footrest 3 can hold foot.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are contained at least one embodiment or example of the utility model.In the present specification, to above-mentioned art
The schematic representation of language may not refer to the same embodiment or example.Moreover, description specific features, structure, material or
Person's feature can be combined in any suitable manner in any one or more of the embodiments or examples.
While there has been shown and described that the embodiments of the present invention, it will be understood by those skilled in the art that:
These embodiments can be carried out with a variety of variations, modification, replacement in the case where not departing from the principles of the present invention and objective
And modification, the scope of the utility model are defined by the claims and their equivalents.
Claims (10)
1. a kind of man-machine joint shaft offset compensation device characterized by comprising
First bar, first bar are driven by driving assembly and are moved；
Supporting plate, arm or leg of the supporting plate for bracketing human body, the supporting plate is connected with first bar and the supporting plate
Can along first bar length direction it is free to slide；
Bandage, the bandage are fixed on institute's supporting plate, for tying up arm or leg in human body.
2. man-machine joint shaft offset compensation device according to claim 1, which is characterized in that further include guide rail slide block group
Part, the guide rail slide block component include guide rail and sliding block, and the guide rail is fixed on described along the length direction of first bar
On one bar, the sliding block is connected with the supporting plate, and the sliding block and the guide rail cooperate and can slide along the guide rail.
3. man-machine joint shaft offset compensation device according to claim 2, which is characterized in that it further include rotating assembly,
The rotating assembly includes supporting plate shaft and shaft support plate, and one end of the supporting plate shaft and the supporting plate are connected, and described turn
Axis support plate is fixed on the slide block, and the shaft support plate is equipped with first rotating shaft hole, and the supporting plate shaft rotationally covers
It is located at the central axis in the first rotating shaft hole and with first bar.
4. man-machine joint shaft offset compensation device according to claim 3, which is characterized in that on the shaft support plate
It is additionally provided with first axle bearing bore and second bearing hole, the first axle bearing bore and the second bearing hole are located at described first turn
The both ends of axis hole are simultaneously connected to the first rotating shaft hole, and the supporting plate shaft is equipped with first bearing and second bearing, the support
When plate shaft is set in the first rotating shaft hole, and the first bearing is located in the first axle bearing bore, second axis
It holds and is located in the second bearing hole.
5. the man-machine joint shaft offset compensation device according to any one of claim 2-4, which is characterized in that described
The first limiting section and the second limiting section are respectively equipped on first bar at the both ends for closing on the guide rail, is existed with limiting the sliding block
Sliding scale on the guide rail.
6. a kind of man-machine interconnection equipment of lower limb exoskeleton characterized by comprising
Man-machine joint shaft offset compensation device as described in any one of claim 1-5；
Second bar；
Driving assembly, the driving component are fixed on second bar, and the driving component is connected with first bar, to drive
Move the first bar rotation.
7. the man-machine interconnection equipment of lower limb exoskeleton according to claim 6, which is characterized in that the driving component includes electricity
Machine and retarder, one end of second bar are equipped with the second shaft hole, and one end of first bar is rotatably sleeved on described
It is connected in second shaft hole and with the retarder, the retarder is fixed on second bar, and the motor subtracts with described
Fast device is connected.
8. the man-machine interconnection equipment of lower limb exoskeleton according to claim 7, which is characterized in that the driving component further includes
Output flange, one end of the output flange are socketed in the output end of the retarder, the output flange it is another
End is socketed on one end of first bar.
9. the man-machine interconnection equipment of lower limb exoskeleton according to claim 7, which is characterized in that be located on second bar
The outside spacers of second shaft hole are equipped with preposition limited block and postposition limited block with opening, and first bar is located at described preposition
Between limited block and the postposition limited block, so that first bar is between the preposition limited block and the postposition limited block
It swings.
10. the man-machine interconnection equipment of lower limb exoskeleton according to any one of claim 7-9, which is characterized in that also wrap
Footrest is included, the footrest is fixed on the other end of first bar.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821940769.1U CN209548329U (en) | 2018-11-23 | 2018-11-23 | Man-machine joint shaft offset compensation device and the man-machine interconnection equipment of lower limb exoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821940769.1U CN209548329U (en) | 2018-11-23 | 2018-11-23 | Man-machine joint shaft offset compensation device and the man-machine interconnection equipment of lower limb exoskeleton |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109363891A (en) * | 2018-11-23 | 2019-02-22 | 清华大学 | Man-machine joint shaft offset compensation device and the man-machine interconnection equipment of lower limb exoskeleton |
| CN111070187A (en) * | 2019-12-31 | 2020-04-28 | 武汉大学 | Active-passive combined transient center flexible rope driven lower limb exoskeleton robot and control method |
-
2018
- 2018-11-23 CN CN201821940769.1U patent/CN209548329U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109363891A (en) * | 2018-11-23 | 2019-02-22 | 清华大学 | Man-machine joint shaft offset compensation device and the man-machine interconnection equipment of lower limb exoskeleton |
| CN111070187A (en) * | 2019-12-31 | 2020-04-28 | 武汉大学 | Active-passive combined transient center flexible rope driven lower limb exoskeleton robot and control method |
| CN111070187B (en) * | 2019-12-31 | 2021-07-20 | 武汉大学 | Active-passive combined transient center flexible rope driven lower limb exoskeleton robot and control method |
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