KR101573858B1 - Hip joint apparatus and wearable robot having the same - Google Patents

Hip joint apparatus and wearable robot having the same Download PDF

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Publication number
KR101573858B1
KR101573858B1 KR1020150067774A KR20150067774A KR101573858B1 KR 101573858 B1 KR101573858 B1 KR 101573858B1 KR 1020150067774 A KR1020150067774 A KR 1020150067774A KR 20150067774 A KR20150067774 A KR 20150067774A KR 101573858 B1 KR101573858 B1 KR 101573858B1
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KR
South Korea
Prior art keywords
link
pelvis
housing
pitch
damper
Prior art date
Application number
KR1020150067774A
Other languages
Korean (ko)
Inventor
김범수
유재관
Original Assignee
엘아이지넥스원 주식회사
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Application filed by 엘아이지넥스원 주식회사 filed Critical 엘아이지넥스원 주식회사
Priority to KR1020150067774A priority Critical patent/KR101573858B1/en
Application granted granted Critical
Publication of KR101573858B1 publication Critical patent/KR101573858B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers

Abstract

The present invention relates to a pelvic floor comprising a pelvis housing, a damper connected to the inside of the pelvis housing, a pelvis housing connected to the pelvis housing, Wherein the pitch link has a configuration of a curved surface, and a protrusion of a curved surface of the pitch link is connected to a coupling portion of the damper.

Description

[0001] The present invention relates to a hip joint apparatus and a wearable robot including the same,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a hip joint device and a wearable robot including the hip joint device, and more particularly, to a hip joint device and a wearable robot including the same.

A wearable robot refers to a wearable robot that uses a synchronization between a user and a robot to support a user's strength by wearing the wearable robot. Wearable robots are being developed for various purposes such as medical rehabilitation, industrial strength assistance, and soldier wearing.

Generally, wearable robots consist of active joints in all joints of hip, knee, and ankle joints for heavy object transfer and compensation. However, when all of the joints are configured as an active joint structure, the weight of the driving motor or the hydraulic system increases the weight of the robot as a whole, and energy consumption is increased.

In addition, it is necessary to use a multi-degree-of-freedom controller when walking, and it is difficult to control the load of the heavy object because the countermeasure against the load of the heavy object must be implemented through the motor or the hydraulic system. That is, a wearable robot having all the joints in an active joint structure is not preferable in terms of joint control and energy efficiency

In recent years, wearable robots have been developed that combine an active joint structure and a passive joint structure. For example, the ankle joint may be active, and the knee joint or hip joint may be passive.

Conventionally, the hip joint of the wearable robot, which is conventionally manufactured by passive type, has a limited range of motion of the joint, which is inconvenient for the human body when wearing the human body or the human motion can not be reproduced.

Korean Patent No. 10-1186540.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above problems, and it is an object of the present invention to improve reproducibility of a human body by applying multi-link joints.

It is also an object of the present invention to improve ease of movement and storage by applying a folding structure.

According to an aspect of the present invention, there is provided a pelvic floor including: a pelvis housing; A damper connected to the inside of the pelvis housing; A lower portion connected to the pelvis housing and moving according to a user's operation; And a pitch link, one side of which is connected to the pelvis housing and the other side of which is connected to the pelvis housing for guiding the forward and backward movement of the lower leg, the pitch link having a curved surface configuration, And is connected to the coupling portion.

The pitch link may further include a connection portion connecting one end of the pitch link to the base portion.

Preferably, the connecting portion has a plurality of connecting portions, one end of which is connected to the pitch link and the other end of which is connected to the base portion, and one end and the other end of the connecting portion are fixed by a snap ring when connected by a hinge pin .

Preferably, a restriction block for restricting the operation of the base portion may be provided between the plurality of connection portions.

Preferably, the base portion includes a pitch coupling portion having one side fixed to the pelvis housing and the other side connected to the pitch link to guide the front and rear movement of the base portion, and a pitch coupling portion extending from a lower portion of the pitch coupling portion, And a roll link connected to the rotation unit to rotate the base unit.

Preferably, the rotation unit is provided to operate in the left-right direction when the user wears the apparatus.

Preferably, the hinge for coupling the rotating part and the roll link is biased to one side, and the turning radius of the left and right is set differently.

Preferably, the roll link may be provided with a shock absorbing pad for preventing shock and noise when the rotating unit is operated.

Preferably, the roll link is divided into an upper roll link and a lower roll link, and the upper roll link and the lower roll link are rotatable by hinge coupling.

Preferably, the base portion may further include a yaw link connected to the lower portion of the roll link to adjust the length thereof, and a yaw restriction block connected to the lower portion of the yaw link to rotate.

Preferably, the yaw link has a cylindrical shape and a limiting groove is formed at a lower portion thereof. The yaw restriction block has a rotation restricting portion formed at a portion to be inserted into the limiting groove, thereby limiting the turning radius of the ankle.

According to another aspect of the present invention, there is provided a wearable robot including a waist joint device according to any one of claims 1 to 11.

According to the hip joint device and the wearable robot including the hip joint device of the present invention, it is possible to improve the range of motion (roll, pitch, yaw) of the joint by applying the multi-link joint.

In addition, there is an effect that the convenience of movement and storage of the wearable robot can be improved by applying the underfolding structure.

FIG. 1 is a view showing a wearable robot wearing a preferred embodiment of the present invention, and FIG.
Fig. 2 is a perspective view of a waist joint apparatus, which is a component of the present invention,
Fig. 3 is an exploded perspective view of Fig. 2,
FIG. 4 is a perspective view of a hip joint device, which is a component of the present invention,
Fig. 5 is a front view of Fig. 4,
Figure 6 is a side view of Figure 4,
Fig. 7 is an exploded perspective view of Fig. 4,
FIG. 8 is a view showing the operation of the connecting part, which is a component of FIG. 4,
Fig. 9 is a view showing the stationary state of Fig. 4
Fig. 10 is a diagram showing the operation in the forward direction of Fig. 4,
Fig. 11 is a view showing operation toward the rear of Fig. 4,
12 is a view showing a structure in which the undergarment is folded for storage according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In addition, the preferred embodiments of the present invention will be described below, but it is needless to say that the technical idea of the present invention is not limited thereto and can be variously modified by those skilled in the art.

1 is a view showing a wearable robot wearing a preferred embodiment of the present invention. Referring to FIG. 1, a wearable robot, which is a preferred embodiment of the present invention, includes a hip joint device 100 and a hip joint device 300.

Fig. 2 is a perspective view of a waist joint apparatus, which is a component of the present invention, and Fig. 3 is an exploded perspective view of a waist joint apparatus, which is a component of the present invention. 2 and 3, a hip joint apparatus 100 according to a preferred embodiment of the present invention includes a first pelvis 110a, a second pelvis 110b, a fixing portion 130, a front fixing portion 180 And a back surface fixing part 170. [

The first pelvis 110a may include a pelvis housing 114 and a first pelvis link portion 112a.

The pelvis housing 114 may be provided in an "a" shape so as to surround one side of the waist when a person wears it, and a hip joint is attached to the inside. The shape of the pelvis housing 114 is not limited, and can be modified into various shapes.

The first pelvis link portion 112a is provided in a plate shape having a predetermined thickness and is connected to one side of the first pelvis 110a and can be engaged with the fixing portion 130. [ In one embodiment, the first pelvis link portion 112a may engage with the first pelvis 110a on the connection portion 340 between the pelvis and the vertebra when the user wears the wearable robot. The first pelvis link portion 112a may have a first fixing hole 114a formed at a central portion thereof for fixing the fixing portion 130 thereto. The first fixing hole 114a has a circular shape for rotation of the pelvis. The first pelvis link portion 112a is provided with a first extension portion 116a extending from the outside of the first fixing hole 114a and an end portion of the first extension portion 116a is coupled with the first damper 150a do.

The second pelvis 110b may include a pelvis housing 114 and a second pelvis link portion 112b in a shape symmetrical to the first pelvis 110a. The second pelvis link portion 112b includes a second fixing hole 114b and a second extension portion 116b and the configuration of the second pelvis 110b is the same as that of the first pelvis 110a.

The fixing part 130 penetrates the first fixing hole 114a and the second fixing hole 114b to fix the first pelvis 110a and the second pelvis 110b. The fixing portion 130 is fixed by the front fixing portion 180 and the rear fixing portion 170 and the first pelvis 110a and the second pelvis 110b can be rotated individually have. The fixing part 130 serves not only to fix the first pelvis 110a and the second pelvis 110b but also to serve as a rotating shaft.

The first pelvis 110a and the second pelvis 110b can rotate separately so as to be close to the operation of the human pelvis. The thickness of the first fixing hole 114a is formed thinner than the thickness of the first pelvis link portion 112a. The first pelvis link portion 112a and the second pelvis link portion 112b are manufactured in the same manner, thereby reducing manufacturing costs.

The first damper 150a and the second damper 150b are configured to be symmetrical with respect to the fixed portion 130. One side of the first damper 150a is fixed to at least one of the front fixing part 180 and the rear fixing part 170 and the other side is connected to the first extending part 116a. The first pelvis link portion 112a is rotated by the operation of the first pelvis 110a and the damper 310 connected to the first extension portion 116a operates. When the first extension portion 116a is rotated, the connection portion 340 of the first damper 150a is extended, and when the first extension portion 116a is returned to its original state, the first damper 150a is returned to its original state. In one embodiment, the first damper 150a may be at least one of a spring damper, a hydraulic damper, and a pneumatic damper. When a spring damper is used as the first damper 150a, a compression spring is provided in the first damper 150a to help the first pelvis 110a rotate back to its original state. The second damper 150b has the same configuration as the first damper 150a and can perform the same operation.

The front fixing part 180 and the rear fixing part 170 are fixed to the fixing part 130 and the first damper 150a and the second damper 150b which pass through the first pelvis link part 112a and the second pelvis link part 112b, (150b). The shape of the front fixing part 180 and the rear fixing part 170 is not limited, and various modifications can be made.

The operation of the hip joint apparatus 100 having the above configuration will be described.

The first pelvis link portion 112a and the second pelvis link portion 112b rotate according to the movement of the first pelvis 110a and the second pelvis 110b. At this time, a cushioning pad may be provided to prevent the pelvises from colliding with each other or colliding with the components inside the fixing part 130.

The central cushioning pad 160 may include a first extension portion 116a and a second extension portion 116b to prevent collision, wear and noise of the internal components due to the operation of the first extension portion 116a and the second extension portion 116b. Portion 116b. In one embodiment, the central buffer pad 160 has a constant thickness and may be provided with an elastic body to absorb shock and noise.

In addition, the first cushioning pad 170a and the second cushioning pad 170b can prevent collision between internal components during rotation of the pelvis linkage, and can control the radius of rotation of the pelvis linkage. In one embodiment, the pelvis link portion has a constant inclined surface for controlling the turning radius, and the inclined surface can be adjusted according to the turning radius of the pelvis link portion.

As described above, according to the hip joint apparatus and the wearable robot including the hip joint apparatus of the present invention, the pelvis of the wearable robot can be separately operated by separating the pelvis from the left and right.

In addition, the damper-based elastic waist joint can be applied to improve human motion reproducibility.

FIG. 4 is a perspective view of a hip joint device which is a component of the present invention, FIG. 5 is a front view of a hip joint device which is a component of the present invention, FIG. 6 is a side view of a hip joint device, Which is a component of the hip joint device.

4 to 7, the hip joint device 300, which is a component of the present invention, may include a damper 310, a pitch link 330, a connecting portion 340, and a lower portion 390.

The damper 310 is connected to the pitch link 330 and operates according to the movement of the lower portion 390. The damper 310 may include a shaft 312 that reciprocates inwardly and a coupling portion 314 that is provided at an end of the shaft 312. The damper 310 is fixed to the inside of the pelvis housing 114 and may be a spring damper 310, a pneumatic damper 310, a hydraulic damper 310, or the like.

The pitch link 330 moves according to the operation of the lower portion 390 and is connected to the damper 310 to guide the operation of the lower portion 390. One end of the pitch link 330 is formed with a housing fixing part 332 fixed to the inside of the housing and the other end is connected to the lower part 390. The pitch ring has a curved surface, and the curved protrusion 334 is connected to the coupling portion 314 of the damper 310. The projecting portion 334 and the engaging portion 314 are coupled to each other to have a rotation axis so as to be able to move according to the rotation of the lower portion 390, for example, hinge coupling.

One end of the coupling portion 340 is connected to the pitch link 330 and the other end is connected to the lower portion 390. The pitch link 330 may be directly connected to the lower portion 390 but the connection portion 340 may be provided for the natural operation of the pitch link 330 when the lower portion 390 operates. In one embodiment, the connection portion 340 is provided in plural and can be coupled at both sides of the pitch link 330 and the lower portion 390. Both sides of the connection portion 340 can be coupled with the hinge 344 and the both side hinge 344 penetrating the connection portion 340 can be simply fixed through the snap ring 342. [ The snap ring 342 has an insertion portion into which the hinge 344 can be inserted. A through hole may be formed in the center of the connection portion 340 so that the snap ring 342 can be moved inward after being coupled with the hinge 344 and the snap ring 342 can be pushed inward to prevent the hinge 344 from coming off .

In addition, a restriction block 350 may be inserted between the plurality of connection portions 340. The restriction block 350 is firmly fixed between the connection portions 340 so that the restriction block 350 is not released during the operation of the lower portion 390 and the movement of the lower portion 390 can be controlled. The restriction block 350 may include a plurality of fixing portions 130 for fixing to the connection portion 340 and may be in contact with the fixing portion 130 of the lower portion 390 to control the movement .

When the pitch link 330 and the connecting portion 340 are connected to each other, the pitch link 330 may be curved inward and wound on the connecting portion 340 between the lower portion 390 and the pelvis housing 114. This is for restricting the movement of the rest portion 390 on the connection portion 340 within a certain range in operation.

The indwelling portion 390 may include a pitch link hub 360, a roll link 370, and a yaw link 380 as a portion that operates in accordance with the wearer's leg motion.

The pitch link hub 360 is fixed to the pelvis housing 114 at one side and is connected to the pitch link 330 at a pitch coupling portion 362 for guiding the forward and backward movement of the lower portion 390, And a rotation part 364 extending from the lower part of the lower part 362 and connected to the lower part 390.

The coupling ring large protrusion 130 fixed to the pelvis housing 114 of the pitch coupling portion 362 is provided in a circular shape so that the pitch link 330 can be wound. The other side of the pitch coupling portion 362 fixed to the coupling portion 340 may be coupled with the coupling portion 340 and the hinge 344 to transmit the movement of the lower portion 390.

The rotating portion 364 is connected to the roll link 370 to allow the lower portion 390 to rotate. The rotation part 364 may be provided in a cylindrical shape and may be provided to rotate in one direction and may be provided as a ball joint to rotate in all directions. In one embodiment, the rotary portion 364 is connected to the pitch coupling portion 362, and the lower portion 390 of the rotary portion 364 may be connected to be driven in the horizontal direction when the user wears it. The rotation part 364 may be formed in an elliptical shape and the hinge 344 that connects the rotation part 364 and the roll link 370 may be offset to one side to set different turning radii. It can be rotated inward, restricting the outer rotation of the hip joint as well as the human joint. In addition, for ease of manufacture, a spherical hinge coupling part can be formed repeatedly so that it can be used for both left and right pelvis parts, thereby reducing manufacturing cost.

The roll link 370 is formed with an inner space in which the rotation portion 364 can be seated, and can be rotated by the hinge 344 in accordance with the motion of the wearer. The roll link 370 may be provided with a combination of an upper roll link 370a and a lower roll link 370b.

The upper roll link 370a has an inner space in which the rotation portion 364 can be seated and can be coupled with the rotation portion 364 and the hinge 344. [

The lower roll link 370b may be coupled with the upper roll link 370a and the hinge 344 and a cylindrical column may be provided below the lower roll link 370b. The lower portion of the lower roll link 370b can be engaged with the yaw link 380 to adjust the length thereof in accordance with the wearer's lower extremity.

The yaw link 380 may be connected to the roll link 370 to adjust the leg to match the wearer's leg length. In one embodiment, the yaw link 380 is adjustable in length by receiving a column formed in the roll link 370 in the shape of a cylinder. The lower portion of the yaw link 380 may be formed with a yaw restriction block 382 connected to the yaw link 380 to be rotatable.

The yaw control block 382 is inserted into the interior of the yaw link 380 and can rotate. In one embodiment, a limiting groove may be formed along the outer circumferential surface of the lower portion of the yaw link 380, and a rotation restricting portion 384 is formed in the yaw restricting block 382 which is inserted into the yaw link 380 and rotates The radius of rotation of the ankle can be limited.

FIG. 8 is a view showing the operation of a connecting part which is a component of the hip joint apparatus of the present invention. Referring to FIG. 8, a plurality of connection portions 340 are provided, and a restriction block 350 is provided between the plurality of connection portions 340. 8 (a) shows a state before the snap ring 342 is inserted into the connection portion 340. FIG. The connection portion 340 is connected by a hinge 344 and a snap ring 342 penetrating the connection portion 340 is coupled. 8B is a view showing a state in which the snap ring 342 is engaged with the hinge 344. FIG. When the snap ring 342 is engaged with the both-side hinge 344, the central portion protrudes convexly. 8C, a load is applied to the snap ring 342 so that the snap ring 342 is positioned inside the through hole formed in the connection portion 340. [ 8D can be released from the fixed state by applying a force to the snap ring 342 on the opposite side to which the snap ring 342 is coupled in order to release the fixation while the snap ring 342 is fixed to the connection portion 340 .

By fixing the connecting portion 340 with the snap ring 342 as described above, assembly and disassembly can be facilitated.

Fig. 9 is a view showing the motion of the hip joint device 300 in a stopped state, Fig. 10 is a view showing the operation of the hip joint device 300 forward, and Fig.

9-11, the shaft 312 moves to the inside of the damper 310 when the lower portion 390 rotates forward and the coupling portion 3140 connected to the shaft 312 moves the pitch link 330 A part of the lower portion 390 is caught by the pelvis housing 114 to restrict the forward turning radius.

The connecting portion 340 and the pitch link 330 come into close contact with the coupler link fixing portion 362a when the lower portion 390 is rotated backward. At this time, the restriction block 350 may prevent further rotation of the pitch link hub 360 and adjust the turning radius of the lower portion 390. The protrusion 334 of the pitch link 330 moves forward and the shaft 312 located inside the damper 310 moves forward.

12 is a view showing a structure in which the lower portion 390 is folded for storage according to the present invention.

Referring to FIG. 12, the upper roll link 370a rotates with respect to the hinge connection, and the lower roll link 370b is rotated from the upper roll link 370a to fold the lower portion 390. This can solve the problem that the conventional worn robot is bulky and difficult to store and move when it is not used. The combination of the lower roll link 370b and the upper roll link 370a may be combined by a hook or a spring button to facilitate release.

As described above, according to the hip joint device and the wearable robot including the hip joint device of the present invention, it is possible to improve the motion range (roll, pitch, yaw) of the joint by applying the multi-link joint.

In addition, there is an effect that the convenience of movement and storage of the wearable robot can be improved by applying the underfolding structure.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: hip joint device
110a: first pelvis 110b: second pelvis
112a: first pelvis link portion 112b: second pelvis link portion
114: Pelvic housing
114a: first fixing hole 114b: second fixing hole
116a: first extension part 116b: second extension part
130:
150a: first damper 150b: second damper
160: center buffer pad 170: rear fixing portion
170a: first buffer pad 170b: second buffer pad
180: Front fixing part
300: hip joint device
310: damper 312: shaft
314:
330: pitch link 332: housing fixing portion
334:
340: connecting portion 342: snap ring
344: Hinge
350: restriction block
360: Pitch link hub 362: Pitch coupling part
362a: Coupler link fixing section 364:
370: Roll link 370a: Upper roll link
370b: lower roll link 372: cushion pad
380: Yaw link 382: Yaw restriction block
384:
390:

Claims (12)

Pelvic housing;
A damper connected to the inside of the pelvis housing;
A lower portion connected to the pelvis housing and moving according to a user's operation;
A pitch link, one side of which is connected to the lower leg portion and the other side is connected to the pelvis lower housing to guide the forward and backward movement of the lower leg portion; And
A connecting portion connecting one end of the pitch link and the base portion,
/ RTI >
Wherein the pitch link has a curved configuration, the protrusion of the curved surface of the pitch link is connected to the coupling portion of the damper,
Wherein the connection portion has a plurality of connection portions, one end of which is connected to the pitch link and the other end of which is connected to the base portion, and one end and the other end of which are fixed by a snap ring when connected by a hinge pin. delete delete The method according to claim 1,
And a restricting block is provided between the plurality of connection portions so as to restrict the operation of the base portion. Pelvic housing;
A damper connected to the inside of the pelvis housing;
A lower portion connected to the pelvis housing and moving according to a user's operation; And
A pitch link, one side of which is provided with a lower portion and the other side of which is connected to the pelvis housing to guide the forward and backward movement of the lower portion;
/ RTI >
Wherein the pitch link has a curved configuration, the protrusion of the curved surface of the pitch link is connected to the coupling portion of the damper,
In the above-
A pitch link hub having one side fixed to the pelvis housing and the other side connected to the pitch link and guiding the forward and backward movement of the base part and a rotation part extending from the lower part of the pitch coupling part and connected to the base part, And
And a roll link
. 6. The method of claim 5,
Wherein the rotation unit is provided so as to be movable in a lateral direction when the user wears the hip joint. The method according to claim 6,
Wherein the hinge coupling the rotating part and the roll link is biased to one side so that the turning radius of the left and right sides is set differently. 8. The method of claim 7,
Wherein the roll link is provided with a cushioning pad for preventing shock and noise when the rotating unit is operated. 6. The method of claim 5,
The roll link is divided into an upper roll link and a lower roll link,
Wherein the upper roll link and the lower roll link are rotatable by hinge engagement. 6. The method of claim 5,
In the above-
A yaw link connected to the lower portion of the roll link to adjust the length thereof, and
And a yaw restriction block
Further comprising: 11. The method of claim 10,
Wherein the yaw link has a cylindrical shape and a limiting groove is formed in a lower portion thereof,
Wherein the restriction block is formed with a rotation restricting portion at a portion where the restriction groove is inserted to limit the rotation radius of the ankle. A wearable robot comprising the hip joint device of claim 1 or 5.
KR1020150067774A 2015-05-15 2015-05-15 Hip joint apparatus and wearable robot having the same KR101573858B1 (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101678608B1 (en) * 2016-03-28 2016-11-22 엘아이지넥스원 주식회사 Wearable robotic apparatus for increasing muscle strength of upper limb
KR101735214B1 (en) * 2015-12-29 2017-05-12 서강대학교산학협력단 Lower-Body Assistance Robot
WO2019014980A1 (en) * 2017-07-19 2019-01-24 深圳龙海特机器人科技有限公司 Hip joint and wearable boosting device
CN110587664A (en) * 2019-10-23 2019-12-20 西南交通大学 Vibration damper for upper limb exoskeleton
CN111113381A (en) * 2019-12-17 2020-05-08 清华大学 Walking auxiliary robot with outer limb bearing load
CN114848331A (en) * 2022-05-14 2022-08-05 栗磊 Brace for resisting adduction of lower limbs
CN116118894A (en) * 2021-11-15 2023-05-16 腾讯科技（深圳）有限公司 Hip joint assembly and robot

Citations (1)

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Publication number Priority date Publication date Assignee Title
KR101186540B1 (en) * 2011-03-14 2012-10-08 현대로템 주식회사 Coxa structure for wearable exoskeleton robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101186540B1 (en) * 2011-03-14 2012-10-08 현대로템 주식회사 Coxa structure for wearable exoskeleton robot

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101735214B1 (en) * 2015-12-29 2017-05-12 서강대학교산학협력단 Lower-Body Assistance Robot
KR101678608B1 (en) * 2016-03-28 2016-11-22 엘아이지넥스원 주식회사 Wearable robotic apparatus for increasing muscle strength of upper limb
WO2019014980A1 (en) * 2017-07-19 2019-01-24 深圳龙海特机器人科技有限公司 Hip joint and wearable boosting device
CN110587664A (en) * 2019-10-23 2019-12-20 西南交通大学 Vibration damper for upper limb exoskeleton
CN111113381A (en) * 2019-12-17 2020-05-08 清华大学 Walking auxiliary robot with outer limb bearing load
CN111113381B (en) * 2019-12-17 2021-05-04 清华大学 Walking auxiliary robot with outer limb bearing load
CN116118894A (en) * 2021-11-15 2023-05-16 腾讯科技（深圳）有限公司 Hip joint assembly and robot
CN114848331A (en) * 2022-05-14 2022-08-05 栗磊 Brace for resisting adduction of lower limbs
CN114848331B (en) * 2022-05-14 2024-01-26 栗磊 Anti-lower limb inner-retraction brace

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