CN211439974U - Motor-driven hip and knee exoskeleton linkage device - Google Patents
Motor-driven hip and knee exoskeleton linkage device Download PDFInfo
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- CN211439974U CN211439974U CN202020001118.7U CN202020001118U CN211439974U CN 211439974 U CN211439974 U CN 211439974U CN 202020001118 U CN202020001118 U CN 202020001118U CN 211439974 U CN211439974 U CN 211439974U
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Abstract
The utility model provides a motor drive's hip knee ectoskeleton aggregate unit for assist the human body to carry out the low limbs motion, include: a torso housing; a direct current motor; an electromagnetic clutch; a main shaft; a first timing pulley; the input end of the hip joint driving module is connected with the main shaft; the thigh rod corresponds to a thigh of a human body, is connected with the output end of the hip joint driving module, is hinged with the other end of the trunk shell through the exoskeleton hip joint, and rotates around the exoskeleton hip joint in a sagittal plane under the driving of the hip joint driving module so as to assist the thigh to move; the second synchronous belt wheel is connected with the first synchronous belt wheel; a rotating shaft; the input end of the knee joint driving module is connected with the rotating shaft; and the shank rod corresponds to the shank of the human body, is connected with the output end of the knee joint driving module, is hinged with the shank rod through the exoskeleton knee joint, and rotates around the exoskeleton knee joint in a sagittal plane under the driving of the knee joint driving module so as to assist the shank to move.
Description
Technical Field
The utility model belongs to the field of machinery, concretely relates to motor drive's hip knee ectoskeleton aggregate unit.
Background
The powered exoskeleton can be used as an intelligent assistive device for helping the aged and disabled urgently needed in rehabilitation medicine and the aging problem, and the powered exoskeleton has the main function of assisting a wearer to recover basic lower limb movement through timely and appropriate assistance; the device can also be used as individual combat and rescue equipment under severe load terrain environments such as earthquake relief work or war application, and is mainly responsible for enhancing the limb bearing capacity and endurance of a wearer.
There are bottleneck problems in the present drive system design of power lower limbs ectoskeleton, include: (1) the joint executor has the problem of complex structure and large self weight, and the bottleneck of light structure exists in the conventional design scheme of arranging a large-mass joint executor at each joint of the robot at present. On one hand, the large mass and high terminal inertia of the exoskeleton affect the mass distribution of a human-computer system, increase the burden of a wearer on the control of the degree of freedom under actuation and the overall balance control of the human-computer system, and seriously reduce the power-assisting effect of the exoskeleton. On the other hand, the quality of the robot far-end joint actuator improves the negative power requirement of the near-end driving joint and influences the flexible control performance of the near-end joint. (2) The problem of low energy efficiency of joint control under-compliance is solved, and the traditional mechanical arm generally adopts an impedance control algorithm based on force feedback to control the interaction behavior of a high-rigidity actuator and the environment. However, due to the characteristic of strong man-machine coupling between the exoskeleton and the wearer, the high-rigidity actuator has poor reaction under strong interference in combination with an accurate impedance control mode, has huge hidden dangers of stability and safety, and has larger control energy consumption.
In recent years, biomechanical and biological researches show that biological joints not only have passive compliance characteristics, but also have energy optimization interactive behaviors between adjacent joints. The above structure and mechanism are considered to be important reasons for obtaining flexible and efficient movement behaviors of biological limbs. However, in the existing exoskeleton design, the driving joints are independent of each other, and an effective and natural energy interaction and linkage mechanism is lacked, so that the natural energy optimization behavior between adjacent biological joints is difficult to reproduce.
CN 109528451A proposes a double-joint passive exoskeleton device based on clutch time-sharing regulation, wherein mutually independent wire disc torsion spring mechanisms controlled by a ratchet-pawl-ratchet-cable-based clutch are respectively arranged at the joints of the exoskeleton, and the specific motion angle of the joints is used as trigger to control the torsion springs to capture and release energy so as to improve the energy utilization efficiency and reduce the walking energy consumption. The disadvantages of this design are: (1) the design is a passive device, and cannot provide active auxiliary torque for lower limb movement overcoming gravity, such as ascending stairs and standing; (2) because the joint triggers the clutch to control at a specific movement angle, the device can apply expected energy control behaviors to the lower limb movement of the wearer only when the lower limb movement of the wearer meets a preset angle range and a trigger sequence, otherwise the normal movement of the wearer can be interfered, and the adaptability to gait change is poor; (3) the joints are independent from each other, and the energy optimization between the joints can not be carried out
The wearable exoskeleton auxiliary devices proposed by patents CN110179636A, CN104800043B, CN106389073, US000204627, US20190282428 and the like all have joint actuators, and have large end inertia; the joint control depends on the turning angle or torque control curve of each joint brake, and the gait is unnatural; the actuators are controlled independently, energy interaction and linkage do not exist, and walking energy consumption lacks an optimization strategy, so that natural lower limb joint motion and gait behaviors of a human body are difficult to reproduce.
SUMMERY OF THE UTILITY MODEL
The present invention has been made to solve the above problems, and an object of the present invention is to provide a hip and knee exoskeleton linkage device driven by a motor.
The utility model provides a motor drive's hip knee ectoskeleton aggregate unit for assist the human body to carry out the low limbs motion, have such characteristic, include: the trunk shell corresponds to the position of the waist of the human body; the direct current motor is fixedly arranged at one end of the trunk shell; the electromagnetic clutch is connected with a rotor of the direct current motor; the main shaft is connected with the electromagnetic clutch; the center of the first synchronous belt wheel penetrates through the main shaft and rotates along with the main shaft; the hip joint driving module comprises a first input end connected with the main shaft, a first clutch mechanism and a first elastic mechanism which are arranged behind the first input end in series, a first output end connected with the first elastic mechanism and a first module shell used for installing the first clutch mechanism and the first elastic mechanism; the thigh rod corresponds to a thigh of a human body, is connected with the first output end, is hinged with the other end of the trunk shell through the exoskeleton hip joint, and rotates around the exoskeleton hip joint in a sagittal plane under the driving of the hip joint driving module so as to assist the thigh to move; the second synchronous belt wheel is connected with the first synchronous belt wheel through a synchronous belt and is used for rotating along with the first synchronous belt wheel; the rotating shaft is arranged at the center of the second synchronous belt wheel; the knee joint driving module comprises a second input end connected with the rotating shaft, a second clutch mechanism and a second elastic mechanism which are arranged behind the second input end in series, a second output end connected with the second elastic mechanism and a second module shell used for installing the second clutch mechanism and the second elastic mechanism; and the shank rod corresponds to the shank of the human body, is connected with the second output end, is hinged with the thigh rod through the exoskeleton knee joint, and rotates around the exoskeleton knee joint in a sagittal plane under the driving of the knee joint driving module to assist the shank to move, wherein the electromagnetic clutch is also provided with an electromagnetic control end for controlling the on-off state, the hip joint driving module is also provided with a first rigidity control end, the first rigidity control end is connected with the first elastic mechanism and used for controlling the rigidity of the first elastic mechanism, the knee joint driving module is also provided with a second rigidity control end, and the second rigidity control end is connected with the second elastic mechanism and used for controlling the rigidity of the second elastic mechanism.
The utility model provides an among the motor drive's ectoskeleton aggregate unit, can also have such characteristic: wherein the first module housing is fixed on the trunk housing and the second module housing is fixed on the thigh rod.
The utility model provides an among the motor drive's ectoskeleton aggregate unit, can also have such characteristic: the first clutch mechanism comprises a first fixing piece and a first clutch piece, the first fixing piece is fixedly connected with the first input end, one end of the first clutch piece is connected with the first elastic mechanism, and the other end of the first clutch piece is connected with the first fixing piece or the first module shell.
The utility model provides an among the motor drive's ectoskeleton aggregate unit, can also have such characteristic: the first clutch piece is connected with a first control end, the connection state of the first clutch piece is controlled by the first control end, the first clutch piece is connected with the first module shell in the default state, and the first control end controls the first clutch piece to be connected with the first fixing piece in the enabling state.
The utility model provides an among the motor drive's ectoskeleton aggregate unit, can also have such characteristic: the second clutch mechanism comprises a second fixing piece and a second clutch piece, the second fixing piece is fixedly connected with the second input end, one end of the second clutch piece is connected with the second elastic mechanism, and the other end of the second clutch piece is connected with the second fixing piece or the second module shell.
The utility model provides an among the motor drive's ectoskeleton aggregate unit, can also have such characteristic: the second clutch is connected with a second control end, the connection state of the second clutch is controlled by the second control end, the second clutch is connected with the second module shell in the default state, and the second control end controls the second clutch to be connected with the second fixing piece in the enabling state.
The utility model provides an among the motor drive's ectoskeleton aggregate unit, can also have such characteristic: when the electromagnetic clutch is communicated and only the first clutch mechanism and the second clutch mechanism are in the enabling state, the thigh rod and the shank rod rotate around the exoskeleton hip joint and the exoskeleton knee joint respectively.
Action and effect of the utility model
According to the hip and knee exoskeleton linkage device driven by the motor, because only one direct current motor is arranged at the position of the trunk shell corresponding to the waist part to serve as a power source, and the power is simultaneously provided for the hip joint driving module and the knee joint driving module through the main shaft and the transmission shaft, a heavy power source additionally arranged at the position of a far-end joint such as a knee joint is avoided, so that the total weight of the exoskeleton is reduced, and the terminal inertia of the exoskeleton is reduced; because the hip joint driving module and the knee joint driving module are communicated by the first synchronous belt wheel, the synchronous belt and the second synchronous belt wheel, the hip joint driving module and the knee joint driving module are respectively provided with the clutch mechanism and the elastic mechanism, the elastic mechanism provides passive flexibility and energy storage capacity for the thigh rod and the shank rod, and the clutch mechanism controls the circulation path and the direction of mechanical energy of the in-out module, the time-sharing direct drive and multi-joint linkage control of a single direct current motor on a plurality of joint driving modules can be realized by on-off control of the first clutch mechanism and the second clutch mechanism, natural energy interaction and optimization behaviors among the driving modules are realized, and the overall energy efficiency of the driving system is improved.
Drawings
Fig. 1 is a schematic diagram of the overall configuration of a motor driven exoskeleton linkage in an embodiment of the present invention;
FIG. 2 is a block diagram of a motor driven exoskeleton linkage according to an embodiment of the present invention;
fig. 3 is a schematic view of a sagittal plane in an embodiment of the invention;
fig. 4 is a block diagram of a joint driving module according to an embodiment of the present invention.
Detailed Description
In order to make the technical means and functions of the present invention easy to understand, the present invention will be described in detail with reference to the following embodiments and accompanying drawings.
Fig. 1 is a schematic diagram of the overall configuration of a motor driven exoskeleton linkage in an embodiment of the present invention; fig. 2 is a block diagram of a motor driven exoskeleton linkage according to an embodiment of the present invention.
As shown in fig. 1 and 2, the exoskeleton linkage 100 driven by a motor according to the present embodiment is used for assisting a human body to perform lower limb movement, and includes a trunk housing 1, a dc motor 2, an electromagnetic clutch 3, a main shaft 4, a first synchronous pulley 5, a hip joint driving module 6, a thigh lever 7, a second synchronous pulley 8, a rotation shaft 9, a knee joint driving module 10, and a shank lever 11.
The trunk housing 1 corresponds to a waist position of a human body.
The direct current motor 2 is fixedly arranged at one end of the trunk shell 1.
The electromagnetic clutch 3 is connected to a rotor 21 of the dc motor 2.
The electromagnetic clutch 3 is also provided with an electromagnetic control terminal 31 for controlling the on-off state.
The main shaft 4 is connected to the electromagnetic clutch 3.
The first synchronous pulley 5 passes through the main shaft 4 at the center and rotates along with the main shaft 4.
The hip joint driving module 6 comprises a first input end 61 connected with the main shaft 4, a first clutch mechanism 62 and a first elastic mechanism 63 which are arranged behind the first input end 61 in series, a first output end 64 connected with the first elastic mechanism 63, and a first module housing 65 for mounting the first clutch mechanism 62 and the first elastic mechanism 63.
The first clutch mechanism 62 includes a first fixing element 621 and a first clutch element 622, the first fixing element 621 is fixedly connected to the first input end 61, one end of the first clutch element 622 is connected to the first elastic mechanism 63, and the other end is connected to the first fixing element 621 or the first module housing 65.
The first clutch 622 is further connected with a first control end 623, the connection state of the first clutch 622 is controlled by the first control end 623, in the default state, the first clutch 622 is connected with the first module housing 65, and in the enabled state, the first control end 623 controls the first clutch 622 to be connected with the first fixing piece 621.
The thigh rod 7 corresponds to the position of the thigh of the human body, is connected with the first output end 61, is hinged with the other end of the trunk shell 1 through an exoskeleton hip joint 71, and rotates around the exoskeleton hip joint 71 in the sagittal plane under the driving of the hip joint driving module 6 so as to assist the movement of the thigh.
The first module housing 65 is fixed to the trunk housing 1.
The second timing pulley 8 is connected to the first timing pulley 5 through a timing belt 81, and is configured to rotate along with the first timing pulley 5.
The rotating shaft 9 is provided at the center of the second timing pulley 8.
In the present embodiment, the first timing pulley 5 and the second timing pulley 8 are connected in the same direction or in the opposite direction.
The knee joint driving module 10 includes a second input end 101 connected to the rotating shaft 9, a second clutch mechanism 102 and a second elastic mechanism 103 serially arranged behind the second input end 101, a second output end 104 connected to the second elastic mechanism 103, and a second module housing 105 for mounting the second clutch mechanism 102 and the second elastic mechanism 103.
In the present embodiment, the first clutch mechanism 62 and the second clutch mechanism 102 include, but are not limited to, an overrunning clutch, a one-way clutch, an electromagnetic clutch/brake, a torque limiter, a one-way valve, an overflow valve, or an on-off valve.
In this embodiment, the first elastic mechanism 63 and the second elastic mechanism 103 are used for increasing the elastic potential energy thereof by structural deformation under the action of external load, and releasing the potential energy to return to the original state after the external load is eliminated, and the elastic potential energy includes, but is not limited to, a cylindrical spring, a torsion spring, a leaf spring, a gas spring, a pneumatic muscle or an energy accumulator.
The second clutch mechanism 102 includes a second fixing member 1021 and a second clutch member 1022, wherein the second fixing member 1021 is fixedly connected to the second input end 101, one end of the second clutch member 1022 is connected to the second elastic mechanism 103, and the other end is connected to the second fixing member 1021 or the second module housing 105.
The second clutch 1022 is further connected to a second control end 1023, a connection state of the second clutch 1022 is controlled by the second control end 1023, in a default state, the second clutch 1022 is connected to the second module housing 105, and in an enabled state, the second control end 1023 controls the second clutch 1022 to be connected to the second fixing member 1021.
The shank rod 11 corresponds to the shank of the human body, is connected with the second output end 104, is hinged with the shank rod 7 through the exoskeleton knee joint 111, and rotates around the exoskeleton knee joint 12 in the sagittal plane under the driving of the knee joint driving module 10 so as to assist the shank to move.
The second module housing 105 is fixed to the thigh bar 7.
Fig. 3 is a schematic view of a sagittal plane in an embodiment of the invention.
As shown in FIG. 3, the sagittal plane is a plane dividing the human body into left and right parts, and the thigh rod 7 and the shank rod 11 rotate in the sagittal plane to bend and extend the thigh and the shank.
Fig. 4 is a block diagram of the hip joint driving module and the knee joint driving module according to the embodiment of the present invention.
As shown in fig. 4, the hip joint driving module 6 and the knee joint driving module 10 are joint driving modules having the same structure, and each of the hip joint driving module and the knee joint driving module has an input end, a clutch mechanism and an elastic mechanism which are serially arranged behind the input end, an output end connected with the elastic mechanism, a module housing for mounting the clutch mechanism and the elastic mechanism, and a stiffness control end.
The hip joint driving module 6 is further provided with a first stiffness control end 66, the first stiffness control end 66 is connected with the first elastic mechanism 63 and is used for controlling the stiffness of the first elastic mechanism 63,
the knee joint driving module 10 is further provided with a second stiffness control end 106, and the second stiffness control end 106 is connected with the second elastic mechanism 103 and is used for controlling the stiffness of the second elastic mechanism 103.
In this embodiment, springs are selected as the first elastic mechanism 63 and the second elastic mechanism 103, and at this time, the first stiffness control end 66 controls the stiffness of the spring by being connected to the external first handle 67, and the second stiffness control end 106 controls the stiffness of the spring by being connected to the external first handle 107.
In the present embodiment, when the electromagnetic clutch 3 is off and the first clutch mechanism 62 is in the default state, the first elastic mechanism 63 can generate a restoring force/torque in the opposite direction to the rotation around the exoskeleton hip joint 71 applied to the thigh lever 7.
When the electromagnetic clutch 3 is off and the second clutch mechanism 102 is in the default state, the second resilient structure 103 can generate a restoring force/moment in the opposite direction to the rotation about the exoskeleton knee joint 111 exerted on the lower leg lever 11.
In this embodiment, a motor-driven hip and knee exoskeleton linkage 100 has three working modes, which are an active linkage mode, a degree of freedom direct drive mode and a passive linkage mode.
When the direct current motor 2 is in the active linkage mode, the electromagnetic clutch 3 is communicated, the first clutch mechanism 62 and the second clutch mechanism 102 are both in an enabling state, and the direct current motor 2 enables the thigh rod 7 and the shank rod 11 to rotate around the exoskeleton hip joint 71 and the exoskeleton knee joint 111 respectively through the main shaft 4, the first synchronous pulley 5, the synchronous belt 81, the second synchronous pulley 8, the hip joint driving module 6 and the knee joint driving module 10, so that the thigh and the shank are driven to move.
When the direct-drive mode is in the degree of freedom, the electromagnetic clutch 3 is communicated, the first clutch mechanism 62 is in an enabled state, and the second clutch mechanism 102 is in a default state, the direct current motor 2 enables the thigh rod 7 to rotate around the exoskeleton hip joint 71 through the main shaft 4 and the hip joint driving module 6, so that the thigh is driven to move,
or the electromagnetic clutch 3 is communicated, the first clutch mechanism 62 is in a default state, the second clutch mechanism 102 is in an enabled state, the direct current motor 2 enables the shank rod 11 to rotate around the exoskeleton knee joint 111 through the main shaft 4, the first synchronous pulley 5, the synchronous belt 81, the second synchronous pulley 8 and the knee joint driving module 10, so as to drive the shank to move,
when the hip joint drive module is in the passive linkage mode, the electromagnetic clutch 3 is disconnected, the first clutch mechanism 62 and the second clutch mechanism 102 are both in an enabling state, at the moment, the first input end 61 of the hip joint drive module 6 and the second input end 101 of the knee joint drive module 10 are communicated with each other through the main shaft 4, the first synchronous pulley 5, the synchronous belt 81 and the second synchronous pulley 8,
at the moment, when the thigh of the human body performs the autonomous movement, the thigh rod 7 is driven to rotate, and the shank rod 11 is driven to rotate, so that the shank is driven to perform the movement,
or when the human shank performs autonomous movement, the shank rod 11 is driven to rotate, and the thigh rod 7 is driven to rotate, so that the thigh is driven to move.
Effects and effects of the embodiments
According to the hip and knee exoskeleton linkage device driven by the motor, only one direct current motor is arranged at the position of the trunk shell corresponding to the waist part to serve as a power source, and the hip joint driving module and the knee joint driving module are simultaneously powered through the main shaft and the transmission shaft, so that a heavy power source additionally arranged at the position of a far-end joint such as a knee joint is avoided, the total weight of the exoskeleton is reduced, and the tail end inertia of the exoskeleton is reduced; because the hip joint driving module and the knee joint driving module are communicated by the first synchronous belt wheel, the synchronous belt and the second synchronous belt wheel, the hip joint driving module and the knee joint driving module are respectively provided with the clutch mechanism and the elastic mechanism, the elastic mechanism provides passive flexibility and energy storage capacity for the thigh rod and the shank rod, and the clutch mechanism controls the circulation path and the direction of mechanical energy of the in-out module, the time-sharing direct drive and multi-joint linkage control of a single direct current motor on a plurality of joint driving modules can be realized by on-off control of the first clutch mechanism and the second clutch mechanism, natural energy interaction and optimization behaviors among the driving modules are realized, and the overall energy efficiency of the driving system is improved.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
Claims (7)
1. A motor-driven hip and knee exoskeleton linkage for assisting a person in performing lower extremity exercises, comprising:
the trunk shell corresponds to the position of the waist of the human body;
the direct current motor is fixedly arranged at one end of the trunk shell;
the electromagnetic clutch is connected with the rotor of the direct current motor;
the main shaft is connected with the electromagnetic clutch;
the center of the first synchronous belt wheel penetrates through the main shaft and rotates along with the main shaft;
the hip joint driving module comprises a first input end connected with the main shaft, a first clutch mechanism and a first elastic mechanism which are arranged behind the first input end in series, a first output end connected with the first elastic mechanism and a first module shell used for installing the first clutch mechanism and the first elastic mechanism;
the thigh rod corresponds to a thigh of the human body, is connected with the first output end, is hinged with the other end of the trunk shell through an exoskeleton hip joint, and rotates around the exoskeleton hip joint in a sagittal plane under the driving of the hip joint driving module so as to assist the movement of the thigh;
the second synchronous belt wheel is connected with the first synchronous belt wheel through a synchronous belt and is used for rotating along with the first synchronous belt wheel;
a rotating shaft provided at the center of the second timing pulley;
the knee joint driving module comprises a second input end connected with the rotating shaft, a second clutch mechanism and a second elastic mechanism which are arranged behind the second input end in series, a second output end connected with the second elastic mechanism and a second module shell used for installing the second clutch mechanism and the second elastic mechanism; and
the lower leg rod corresponds to the lower leg of the human body, is connected with the second output end and is hinged with the upper leg rod through the exoskeleton knee joint, and rotates around the exoskeleton knee joint in a sagittal plane under the driving of the knee joint driving module so as to assist the lower leg to move,
wherein the electromagnetic clutch is also provided with an electromagnetic control end for controlling the on-off state,
the hip joint driving module is also provided with a first rigidity control end which is connected with the first elastic mechanism and used for controlling the rigidity of the first elastic mechanism,
the knee joint driving module is also provided with a second rigidity control end, and the second rigidity control end is connected with the second elastic mechanism and used for controlling the rigidity of the second elastic mechanism.
2. The motor-driven hip and knee exoskeleton linkage of claim 1, wherein:
wherein the first module housing is secured to the torso housing,
the second module housing is secured to the thigh bar.
3. The motor-driven hip and knee exoskeleton linkage of claim 1, wherein:
wherein the first clutch mechanism comprises a first fixing piece and a first clutch piece,
the first fixed part is fixedly connected with the first input end,
one end of the first clutch piece is connected with the first elastic mechanism, and the other end of the first clutch piece is connected with the first fixing piece or the first module shell.
4. The motor-driven hip and knee exoskeleton linkage of claim 3, wherein:
wherein the first clutch piece is also connected with a first control end, the connection state of the first clutch piece is controlled by the first control end,
in a default state, the first clutch member is connected to the first module housing,
and in the enabling state, the first control end controls the first clutch piece to be connected with the first fixing piece.
5. The motor-driven hip and knee exoskeleton linkage of claim 1, wherein:
wherein the second clutch mechanism comprises a second fixing piece and a second clutch piece,
the second fixed part is fixedly connected with the second input end,
one end of the second clutch piece is connected with the second elastic mechanism, and the other end of the second clutch piece is connected with the second fixing piece or the second module shell.
6. The motor-driven hip and knee exoskeleton linkage of claim 5, wherein:
wherein the second clutch is also connected with a second control end, the connection state of the second clutch is controlled by the second control end,
in a default state, the second clutch is connected with the second module housing,
and in an enabling state, the second control end controls the second clutch piece to be connected with the second fixing piece.
7. The motor-driven hip and knee exoskeleton linkage of claim 1, wherein:
wherein when the electromagnetic clutch is in communication and the first clutch mechanism and the second clutch mechanism are both in an enabled state, the thigh rod and the shank rod rotate around the exoskeleton hip joint and the exoskeleton knee joint respectively,
when the electromagnetic clutch is communicated and only the first clutch mechanism is in an enabling state, the thigh rod rotates around the exoskeleton hip joint,
when the electromagnetic clutch is communicated and only the second clutch mechanism is in an enabling state, the shank rod rotates around the exoskeleton knee joint,
when the electromagnetic clutch is disconnected and the first clutch mechanism and the second clutch mechanism are both in default states, the thigh rod rotates to drive the shank rod to rotate, or the shank rod rotates to drive the thigh rod to rotate.
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| CN202020001118.7U CN211439974U (en) | 2020-01-02 | 2020-01-02 | Motor-driven hip and knee exoskeleton linkage device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112405606A (en) * | 2020-11-05 | 2021-02-26 | 浙江大学 | Five-degree-of-freedom time-sharing driving power-assisted mechanical arm with mechanical locking function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112405606A (en) * | 2020-11-05 | 2021-02-26 | 浙江大学 | Five-degree-of-freedom time-sharing driving power-assisted mechanical arm with mechanical locking function |
| CN112405606B (en) * | 2020-11-05 | 2021-09-28 | 浙江大学 | Five-degree-of-freedom time-sharing driving power-assisted mechanical arm with mechanical locking function |
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