CN209630112U - A kind of lower limb rehabilitation ectoskeleton constructional device of flexible wearable - Google Patents
A kind of lower limb rehabilitation ectoskeleton constructional device of flexible wearable Download PDFInfo
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- CN209630112U CN209630112U CN201821674456.6U CN201821674456U CN209630112U CN 209630112 U CN209630112 U CN 209630112U CN 201821674456 U CN201821674456 U CN 201821674456U CN 209630112 U CN209630112 U CN 209630112U
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Abstract
The utility model discloses a kind of lower limb rehabilitation ectoskeleton constructional devices of flexible wearable, component 1, hip joint driving assembly 2, hip joint component 3, knee joint driving assembly 4, knee components 5, the first stretching structure 6, the second stretching structure 7, the wearable structure 8 of adjustable flexible, 9 nine major part of foot adjustment structure is adjusted by waist to form, change of the utility model in structure is compared in terms of existing structure, mounting means with more flexible convenient adjustable type, it is more compact in structure.Sliding sleeve after wherein on the vertical slideway of waist panel and back side connects, when realizing human body walking, the movement of dipping and heaving；Side waist bar is connect with the sliding sleeve on the transverse slipway on front side of rear waist panel, can be according to the figure of people and walking is wiggly that the flexibility, it can be achieved that in structure is adjusted.
Description
Technical field
The utility model relates to a kind of lower limb rehabilitation ectoskeleton constructional devices of flexible wearable.
Background technique
Lower limb walking is one of critical function of human body, and many nervous system diseases such as cerebral apoplexy, spinal cord injury etc. all can
Lead to motor dysfunction of lower limb, in addition to this, fracture, muscle damage etc. are sick and wounded may also to be related to lower limb walking function.China
As populous nation, lower limb function hinder the number of patient can not despise.Therefore, the treatment and rehabilitation of lower limb disorder by
The great attention of people.
In medical science of recovery therapy field, ambulation training is one of the important means of in lower limb disorder rehabilitation.Therefore, lower limb health
The use of multiple auxiliary device seems very necessary in rehabilitation.Lower limb exoskeleton is the typical generation in lower limb rehabilitation robot
One of table, such healing robot are designed based on bionics principle, in conjunction with ergonomics, can be worn on suffering limb, be realized more certainly
Right effective rehabilitation training, has biggish practical value and research significance.
Traditional lower limb exoskeleton robot is a kind of a kind of mechanical device that may be worn on outside operator's body, it can
Support, protection, and enhancing locomitivity are provided to the people of wearing ectoskeleton.But traditional lower limb exoskeleton robot, which is equipped, to be existed
The disadvantages of quality is big, structure function is single, the working time is short, price is high and wearing is inconvenient is not suitable for that part is needed to walk
The elderly group of the weak walking ability of auxiliary and joint injury, gonitis are suffered from.
Utility model content
In view of the above shortcomings of the prior art, easy to operate the purpose of the utility model is to provide a kind of structure is simple, at
The lower limb rehabilitation ectoskeleton constructional device of this cheap flexible wearable, can be very good to be embedded into lower limb rehabilitation ectoskeleton
In constructional device, meets the needs of different height users.Lower limb rehabilitation exoskeleton robot is sat down/stands up process in wearer
Middle stability and adaptability is good, do not increase wearer itself weight bearing in the case where, improve efficiency and maintain center of gravity stability,
Wearer's safety is improved, meanwhile, also reduce the energy consumption of lower limb exoskeleton robot itself.
The specific technical solution that the utility model is taken is:
A kind of lower limb rehabilitation ectoskeleton constructional device of flexible wearable adjusts component 1, hip joint driving assembly by waist
2, hip joint component 3, knee joint driving assembly 4, knee components 5, the first stretching structure 6, the second stretching structure 7, adjustable
The most of composition of flexible wearable structure 8, foot adjustment structure 9 nine, in which:
The waist adjusts component 1 by rear waist panel 1-1, side waist bar 1-2, translation sliding block 1-3, tetra- part adjusting slider 1-4
It constitutes, wherein the sliding sleeve on the vertical slideway of rear waist panel 1-1 and back side connects；Side waist bar 1-2 and the transverse direction on front side of rear waist panel are sliding
Sliding sleeve connection on road；Translation sliding block 1-3 be riveted on side waist bar 1-2 one end and with rear waist panel 1-1 can realize left and right sliding, on
Lower restriction movement, the other end the side Yao Gan1-2 are hinges holder structure, and bolted splice is leaned in the side of adjusting slider 1-4
It is translatable on sliding block 1-3；
The hip joint driving assembly 2 is by cabinet a2-1, servo motor a2-2, cylinder body a2-3, screw rod a2-4, hinges
Seat five part a2-5 is constituted, and wherein cabinet a2-1, servo motor a2-2, cylinder body a2-3, screw rod a2-4 constitute electric cylinder, cabinet
The side a2-1 is fixedly connected with the other side of adjusting slider 1-4；Servo motor a2-2, cylinder body a2-3 and cabinet a2-1 screw connect
It connects, and servo motor a2-2 can be placed up and down；The end screw thread of screw rod a2-4 is connect with the hinge hole of hinges seat a2-5；
The hip joint component 3 by side connector 3-1, turn osteomere 3-2 and constitute, wherein side connector 3-1 and hinges seat
A2-5 is bolted, and turns osteomere 3-2 and the hinges holder structure of the side end Yao Gan1-2 is bolted；
The knee joint driving assembly 4 is by fixed hinge seat 4-1, adjusting slider b4-2, cabinet b4-3, servo motor b4-
4, cylinder body b4-5, screw rod b4-6 are constituted, and wherein cabinet b4-3, servo motor b4-4, cylinder body b4-5, screw rod b 4-6 are constituted electronic
Cylinder, the side cabinet b4-3 and adjusting slider b4-2 are affixed；Servo motor b4-4, cylinder body b4-5 are connect with cabinet b4-3 screw, and
Servo motor b4-4 can be placed up and down；
The knee components 5 are made of hinges seat b5-1, kneecap part 5-2, the screw thread of hinges seat b5-1
Hole is threadedly coupled with the end of screw rod b 4-6 and the other side and the end connector of kneecap part 5-2 are bolted；
First stretching structure 6 is made of femur part 6-1, telescopic rod a6-2, and wherein the one end telescopic rod a6-2 is embedded in
Turn in osteomere 3-2, and be fixedly connected by screw, the other side is embedded in femur part 6-1, passes through one or more rotatable handles
Threaded rod fasten telescopic rod a6-2, it can be achieved that telescopic rod a6-2 telescopic adjustment；The upper end femur part 6-1 and fixed hinge
Seat 4-1 is fixedly connected, and the lower end femur part 6-1 is hinges holder structure；
Second stretching structure 7 is made of shin bone part 7-1, telescopic rod b7-2, anklebone part 7-3, wherein telescopic rod
The one end b7-2 is embedded in shin bone part 7-1, fastens telescopic rod b7-2 by rotatable handle threaded rod, it can be achieved that telescopic rod b7-2
Telescopic adjustment, the other end are fixedly connected with anklebone part 7-3；The hinges seat knot of the shin bone part 7-1 and the lower end femur part 6-1
Structure is bolted；The side kneecap part 5-2 is connect with shin bone part 7-1 rivet interlacement or hinge；
The wearable structure 8 of adjustable flexible is by flexible-belt 8-1, one 8-2 of adjusting rod, two 8-3 of adjusting rod, connected pull rod
8-4, supporting block 8-5, the convex block 8-6 that is connected are constituted, wherein flexible-belt 8-1 is the binding realized to leg, flexible-belt 8-1's
Back side middle and supporting block 8-5 bonding connection；Supporting block 8-5 is connected by screw to one 8-2 of adjusting rod, one 8-2 of adjusting rod
The sliding that left and right can be achieved is inserted in connected convex block 8-6, and one 8-2 of adjusting rod is fastened by rotatable handle threaded rod；And lead to
It crosses handle rotating threaded rod and fastens two 8-3 of adjusting rod；There is screw thread at the connected both ends pull rod 8-4, and one end is with connected convex block 8-6's
Threaded hole is threadedly coupled, and the other end is threadedly coupled with the threaded hole of two 8-3 of adjusting rod；The wearable structure 8 of adjustable flexible
Every side leg is three, before and after can be achieved in two lateral mass for inserting in femur part 6-1, shin bone part 7-1 by two 8-3 of adjusting rod respectively
Sliding, another is fixedly connected by two 8-3 of adjusting rod with anklebone part 7-3；
The foot adjustment structure 9 is made of beam rail 9-1, foot adjusting rod 9-2, spring-rope 9-3, middle cross beam
The end side bar 9-1 is bolted with shin bone part 7-1, and the other end is connected with foot adjusting rod 9-2 through row by side head, and can
Realize the upward rotation of foot adjusting rod 9-2；The one end the spring-rope 9-3 is connected with foot correction device, the other end and foot
Portion adjusting rod 9-2 buckles binding connection through row.
Preferably, the flexible-belt 8-1 is cotton material.
Preferably, there is scale on one 8-2 of adjusting rod and two 8-3 of adjusting rod, regulated quantity can be adjusted through row scale.
The beneficial effects of the utility model are:
1, change of the utility model in structure is compared in terms of existing structure, the peace with more flexible convenient adjustable type
Dress mode, it is more compact in structure.Sliding sleeve after wherein on the vertical slideway of waist panel and back side connects, when realizing human body walking,
The movement of dipping and heaving；Side waist bar is connect with the sliding sleeve on the transverse slipway on front side of rear waist panel, can be according to the figure and row of people
It walks wiggly the flexibility, it can be achieved that in structure to be adjusted.
2, in the structure of hip joint driving assembly, screw rod end is carried out the utility model using screw thread and hinges hole
Connection, structure are simple, convenient for disassembly and assembly.The servo motor of electric cylinder can dispose cylinder body top that can also dispose below, can be according to trouble
The sufferer situation of person carries out selection installation, and above setting can assist patient to realize big transmission, and more reasonable in conjunction with designing, practical function is more flat
It is suitable reliable, and space hold is small.
3, for the utility model in the design of kneed structure, the hinge hole of fixed hinge seat is settable multiple, is suitable for
Kneed amplitude of fluctuation, connection upper hinge hole can realize it is kneed significantly swing, the case where adaptive difference patient, knot
Structure is simple, easy to operate.Meanwhile the movement travel of the adjustable screw rod of adjusting slider, meet the needs of different patients.Knee joint
Double adjustment structure connection and reasonable arrangements, it is vdiverse in function.
4, the utility model designs multiple threaded holes in the structure design of the first and second telescoping mechanism on femur part, can
Telescopic rod is fastened by one or more rotatable handle threaded rods, is increased the stability of telescopic rod elongation, is improved its structure
Safety.
5, the utility model is in the wearable structure design of adjustable flexible, the back side middle of flexible-belt and supporting block
Bonding, can quickly bundle the leg of sufferer.The position that adjusting rod one, two can be achieved to bundle flexible-belt is adjusted,
Realize the adjustment to the leg situation of different sufferers.In addition to this, there is scale, it can be achieved that difference on adjusting rod one, two
The leg of patient is accurately positioned.Structure is simple, adjustment process is convenient and practical function, and it is more preferable with patient legs to reach ectoskeleton
Fitting, keep rehabilitation training more effective.
6, can be in the design of foot adjustment structure, one end be connected with foot adjusting rod through row the utility model by side head
It connects, and can realize the upward rotation of foot adjusting rod.When sufferer needs foot to adjust, pass through spring-rope one end and foot correction device
Connect, the other end and foot adjusting rod buckle binding through row and connect, and can complete the wearing adjusted to foot, mention for leg training
For supporting, protect, and enhancing locomitivity, to reach more natural effective rehabilitation training.
Detailed description of the invention
Fig. 1 is the utility model embodiment schematic perspective view；
Fig. 2 is the main view of the flexible wearable of Fig. 1；
Fig. 3 is the side view of the flexible wearable of Fig. 1；
The waist that Fig. 4 is Fig. 1 adjusts component side view and hip joint driving assembly front view；
Fig. 5 is the structural schematic diagram of knee components and driving assembly in Fig. 1；
Fig. 6 is the structural schematic diagram of the first and second telescoping mechanism in Fig. 1；
Fig. 7 is the structural schematic diagram of adjustable flexible wearable structure and foot adjustment structure in Fig. 1；
In figure:
1, waist adjusts component；1-1, rear waist panel；1-2, side waist bar；1-3, translation sliding block；1-4, adjusting slider；2, hip
Joint drive component；2-1, cabinet a；2-2, servo motor a；2-3, cylinder body a；2-4, screw rod a；2-5, hinges seat a；3,
Hip joint component；3-1, side connector；3-2, turn osteomere；4, knee joint driving assembly；4-1, fixed hinge seat；4-2, it adjusts and slides
Block；4-3, cabinet b；4-4, servo motor b；4-5, cylinder body b；4-6, screw rod b；5, knee components；5-1, hinges seat b；
5-2, kneecap part；6, the first stretching structure；6-1, femur part；6-2, telescopic rod a；7, the second stretching structure；7-1, shin bone part；
7-2, telescopic rod b；7-3, anklebone part；8, the wearable structure of adjustable flexible；8-1, flexible-belt；8-2, adjusting rod one；8-3, tune
Pole two；8-4, be connected pull rod；8-5, supporting block；8-6, be connected convex block；9, foot adjustment structure；9-1, beam rail；9-2,
Foot adjusting rod；9-3, spring-rope.
Specific embodiment
The utility model preferred version is described in further details with reference to the accompanying drawing.
Embodiment
A kind of lower limb rehabilitation ectoskeleton constructional device of flexible wearable, as shown in Figure 1, 2, 3, by waist adjust component 1,
Hip joint driving assembly 2, hip joint component 3, knee joint driving assembly 4, knee components 5, the first stretching structure 6, second stretch
The most of composition of the wearable structure 8 of shrinking structure 7, adjustable flexible, foot adjustment structure 9 nine, in which:
As shown in figure 4, the waist adjusts component 1 by rear waist panel 1-1, side waist bar 1-2, translation sliding block 1-3, adjusting slider
Tetra- part 1-4 is constituted, wherein the sliding sleeve on the vertical slideway of rear waist panel 1-1 and back side connects；Side waist bar 1-2 and rear waist panel front side
Transverse slipway on sliding sleeve connection；Translation sliding block 1-3 is riveted on side waist bar 1-2 one end and can realize a left side with rear waist panel 1-1
Right sliding limits movement up and down, and the other end the side Yao Gan1-2 is hinges holder structure, and the side of adjusting slider 1-4 is leaned on
Bolted splice is translatable on sliding block 1-3；The hip joint driving assembly 2 is by cabinet a2-1, servo motor a2-2, cylinder body a2-3, silk
Bar a2-4, five part hinges seat a2-5 are constituted, wherein cabinet a2-1, servo motor a2-2, cylinder body a2-3, screw rod a2-4
Electric cylinder is constituted, the side cabinet a2-1 is fixedly connected with the other side of adjusting slider 1-4；Servo motor a2-2, cylinder body a2-3 with
The connection of cabinet a2-1 screw, and servo motor a2-2 can be placed up and down；The end screw thread of screw rod a2-4 is with hinges seat a2-5's
Hinge hole connection；The hip joint component 3 by side connector 3-1, turn osteomere 3-2 and constitute, wherein side connector 3-1 and hinges seat
A2-5 is bolted, and turns osteomere 3-2 and the hinges holder structure of the side end Yao Gan1-2 is bolted；
As shown in figure 5, the knee joint driving assembly 4 by fixed hinge seat 4-1, adjusting slider b4-2, cabinet b4-3, watch
It takes motor b4-4, cylinder body b4-5, screw rod b 4-6 to constitute, wherein cabinet b4-3, servo motor b4-4, cylinder body b4-5, screw rod b 4-
6 constitute electric cylinder, and the side cabinet b4-3 and adjusting slider b4-2 are affixed；Servo motor b4-4, cylinder body b4-5 and cabinet b4-3 spiral shell
Nail connection, and servo motor b4-4 can be placed up and down；The knee components 5 are by hinges seat b5-1, kneecap part 5-2 structure
At the threaded hole of hinges seat b5-1 is threadedly coupled with the end of screw rod b 4-6 and the end connector spiral shell of the other side and kneecap part 5-2
It tethers and connects；The side kneecap part 5-2 is connect with shin bone part 7-1 rivet interlacement or hinge；
As shown in fig. 6, first stretching structure 6 is made of femur part 6-1, telescopic rod a6-2, wherein telescopic rod a6-2
One end, which is embedded in, to be turned in osteomere 3-2, and is fixedly connected by screw, and the other side is embedded in femur part 6-1, passes through multiple handles
Rotating threaded rod fasten telescopic rod a6-2, it can be achieved that telescopic rod a6-2 telescopic adjustment；The upper end femur part 6-1 and fixed hinge
Chain seat 4-1 is fixedly connected, and the lower end femur part 6-1 is hinges holder structure；Second stretching structure 7 is by shin bone part
7-1, telescopic rod b7-2, anklebone part 7-3 are constituted, and wherein the one end telescopic rod b7-2 is embedded in shin bone part 7-1, passes through multiple handles
Rotating threaded rod fasten telescopic rod b7-2, it can be achieved that telescopic rod b7-2 telescopic adjustment, the other end and anklebone part 7-3 are fixed to be connected
It connects；The shin bone part 7-1 and the hinges holder structure of the lower end femur part 6-1 are bolted；
As shown in fig. 7, the wearable structure 8 of adjustable flexible is by flexible-belt 8-1, one 8-2 of adjusting rod, two 8- of adjusting rod
3, be connected pull rod 8-4, supporting block 8-5, connected convex block 8-6 composition, wherein flexible-belt 8-1 is that cotton material is easy to accomplish right
The binding of leg, the back side middle of flexible-belt 8-1 and supporting block 8-5 bonding connection；Supporting block 8-5 and one 8-2 of adjusting rod is logical
Screw connection is crossed, one 8-2 of adjusting rod inserts in connected convex block 8-6 the sliding that left and right can be achieved, and passes through rotatable handle screw thread
Bar fastens one 8-1 of adjusting rod；And two 8-3 of adjusting rod is fastened by rotatable handle threaded rod；There is spiral shell at the connected both ends pull rod 8-4
Line, one end are threadedly coupled with the threaded hole of connected convex block 8-6, and the other end is threadedly coupled with the threaded hole of two 8-3 of adjusting rod；Institute
Stating the adjustable flexible every side leg of wearable structure 8 is three, and two insert in femur part 6-1, shin bone by two 8-3 of adjusting rod respectively
The sliding of front and back can be achieved in the lateral mass of part 7-1, another is fixedly connected by two 8-3 of adjusting rod with anklebone part 7-3；It is described
There is scale on two 8-3 of one 8-2 of adjusting rod and adjusting rod, regulated quantity can be adjusted through row scale；The foot adjustment structure 9 by
Beam rail 9-1, foot adjusting rod 9-2, spring-rope 9-3 are constituted, and wherein the end side beam rail 9-1 and shin bone part 7-1 pass through bolt
Connection, the other end is connected with foot adjusting rod 9-2 through row by side head, and can realize the upward rotation of foot adjusting rod 9-2；
The one end the spring-rope 9-3 is connected with foot correction device, and the other end and foot adjusting rod 9-2 buckle binding through row and connect.
Claims (3)
1. a kind of lower limb rehabilitation ectoskeleton constructional device of flexible wearable, it is characterised in that adjust component (1) by waist, hip closes
Save driving assembly (2), hip joint component (3), knee joint driving assembly (4), knee components (5), the first stretching structure (6),
The most of composition of second stretching structure (7), the wearable structure of adjustable flexible (8), foot adjustment structure (9) nine, in which:
The waist adjusts component (1) by rear waist panel (1-1), side waist bar (1-2), translation sliding block (1-3), adjusting slider (1-4)
Four parts are constituted, wherein rear waist panel (1-1) is connect with the sliding sleeve on the vertical slideway of back side；Before side waist bar (1-2) and rear waist panel
Sliding sleeve connection on the transverse slipway of side；Translation sliding block (1-3) be riveted on side waist bar (1-2) one end and with rear waist panel (1-1)
Left and right sliding can be achieved, limit movement up and down, side waist bar the other end (1-2) is hinges holder structure, adjusting slider
The side of (1-4) is in bolted splice translation sliding block (1-3)；
The hip joint driving assembly (2) is by cabinet a (2-1), servo motor a (2-2), cylinder body a (2-3), screw rod a (2-4), work
Dynamic five part hinge seat a (2-5) is constituted, wherein cabinet a (2-1), servo motor a (2-2), cylinder body a (2-3), screw rod a (2-4)
Electric cylinder is constituted, the side (2-1) cabinet a is fixedly connected with the other side of adjusting slider (1-4)；Servo motor a (2-2), cylinder body a
(2-3) is connect with cabinet a (2-1) screw, and servo motor a (2-2) can be placed up and down；The end screw thread of screw rod a (2-4) and activity
The hinge hole of hinge seat a (2-5) connects；
The hip joint component (3) by side connector (3-1), turn osteomere (3-2) and constitute, wherein side connector (3-1) and hinges
Seat a (2-5) is bolted, and turns osteomere (3-2) and the hinges holder structure of the end side waist bar (1-2) is bolted；
The knee joint driving assembly (4) is by fixed hinge seat (4-1), adjusting slider b (4-2), cabinet b (4-3), servo motor
B (4-4), cylinder body b (4-5), screw rod b (4-6) are constituted, wherein cabinet b (4-3), servo motor b (4-4), cylinder body b (4-5), silk
Bar b (4-6) constitutes electric cylinder, and the side (4-3) cabinet b and adjusting slider b (4-2) are affixed；Servo motor b (4-4), cylinder body b (4-
5) it is connect with cabinet b (4-3) screw, and servo motor b (4-4) can be placed up and down；
The knee components (5) are made of hinges seat b (5-1), kneecap part (5-2), hinges seat b's (5-1)
Threaded hole is threadedly coupled with the end of screw rod b (4-6) and the other side and the end connector of kneecap part (5-2) are bolted；
First stretching structure (6) is made of femur part (6-1), telescopic rod a (6-2), wherein in the one end telescopic rod a (6-2)
It is interior embedded in osteomere (3-2) is turned, and be fixedly connected by screw, the other side is embedded in femur part (6-1), passes through one or more
Rotatable handle threaded rod fasten telescopic rod a (6-2), it can be achieved that telescopic rod a (6-2) telescopic adjustment；On the femur part (6-1)
End is fixedly connected with fixed hinge seat (4-1), and the femur part lower end (6-1) is hinges holder structure；
Second stretching structure (7) is made of shin bone part (7-1), telescopic rod b (7-2), anklebone part (7-3), wherein stretching
The one end bar b (7-2) is embedded in shin bone part (7-1), fastens telescopic rod b (7-2) by one or more rotatable handle threaded rods,
The telescopic adjustment of telescopic rod b (7-2) can be achieved, the other end is fixedly connected with anklebone part (7-3)；The shin bone part (7-1) and stock
The hinges holder structure of the lower end osteomere (6-1) is bolted；The kneecap part side (5-2) and shin bone part (7-1) rivet connect
It connects or hinge connects；
The wearable structure of adjustable flexible (8) by flexible-belt (8-1), adjusting rod one (8-2), adjusting rod two (8-3), be connected
Pull rod (8-4), supporting block (8-5), be connected convex block (8-6) composition, wherein and flexible-belt (8-1) is the binding realized to leg,
The back side middle of flexible-belt (8-1) and supporting block (8-5) bonding connection；Supporting block (8-5) and adjusting rod one (8-2) pass through spiral shell
Nail connection, adjusting rod one (8-2) inserts in connected convex block (8-6) sliding that left and right can be achieved, and passes through rotatable handle screw thread
Bar fastens adjusting rod one (8-2)；And adjusting rod two (8-3) is fastened by rotatable handle threaded rod；The both ends pull rod (8-4) be connected all
There is screw thread, one end is threadedly coupled with the threaded hole of connected convex block (8-6), the threaded hole spiral shell of the other end and adjusting rod two (8-3)
Line connection；The every side leg of the wearable structure of adjustable flexible (8) is three, and two are inserted in by adjusting rod two (8-3) respectively
Femur part (6-1), shin bone part (7-1) lateral mass in can be achieved front and back sliding, another pass through adjusting rod two (8-3) and ankle
Osteomere (7-3) is fixedly connected；
The foot adjustment structure (9) is made of beam rail (9-1), foot adjusting rod (9-2), spring-rope (9-3), wherein horizontal
The beam column end side (9-1) is bolted with shin bone part (7-1), and the other end is by side head with foot adjusting rod (9-2) through row
Connection, and can realize the upward rotation of foot adjusting rod (9-2)；Described spring-rope one end (9-3) is connected with foot correction device
It connects, the other end and foot adjusting rod (9-2) buckle binding through row and connect.
2. constructional device according to claim 1, it is characterised in that the flexible-belt (8-1) is cotton material.
3. constructional device according to claim 1, it is characterised in that the adjusting rod one (8-2) and adjusting rod two (8-3)
On have scale, regulated quantity can be adjusted through row scale.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821674456.6U CN209630112U (en) | 2018-10-16 | 2018-10-16 | A kind of lower limb rehabilitation ectoskeleton constructional device of flexible wearable |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821674456.6U CN209630112U (en) | 2018-10-16 | 2018-10-16 | A kind of lower limb rehabilitation ectoskeleton constructional device of flexible wearable |
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| CN209630112U true CN209630112U (en) | 2019-11-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109316316A (en) * | 2018-10-16 | 2019-02-12 | 广西科技大学 | A kind of lower limb rehabilitation ectoskeleton constructional device of flexible wearable |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109316316A (en) * | 2018-10-16 | 2019-02-12 | 广西科技大学 | A kind of lower limb rehabilitation ectoskeleton constructional device of flexible wearable |
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