WO2018165399A1 - Dispositifs pour le support et l'équilibrage d'exosquelettes humains - Google Patents

Dispositifs pour le support et l'équilibrage d'exosquelettes humains Download PDF

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Publication number
WO2018165399A1
WO2018165399A1 PCT/US2018/021498 US2018021498W WO2018165399A1 WO 2018165399 A1 WO2018165399 A1 WO 2018165399A1 US 2018021498 W US2018021498 W US 2018021498W WO 2018165399 A1 WO2018165399 A1 WO 2018165399A1
Authority
WO
WIPO (PCT)
Prior art keywords
exoskeleton
support
tool
person
leg
Prior art date
Application number
PCT/US2018/021498
Other languages
English (en)
Inventor
Kurt Amundson
Adam Preuss
Matt SWEENEY
Original Assignee
Ekso Bionics, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ekso Bionics, Inc. filed Critical Ekso Bionics, Inc.
Publication of WO2018165399A1 publication Critical patent/WO2018165399A1/fr

Links

Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45F—TRAVELLING OR CAMP EQUIPMENT: SACKS OR PACKS CARRIED ON THE BODY
    • A45F3/00—Travelling or camp articles; Sacks or packs carried on the body
    • A45F3/04—Sacks or packs carried on the body by means of two straps passing over the two shoulders
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45F—TRAVELLING OR CAMP EQUIPMENT: SACKS OR PACKS CARRIED ON THE BODY
    • A45F3/00—Travelling or camp articles; Sacks or packs carried on the body
    • A45F3/14—Carrying-straps; Pack-carrying harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/0021—Stands, supports or guiding devices for positioning portable tools or for securing them to the work
    • B25H1/0035—Extensible supports, e.g. telescopic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F16M11/40—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by means of coilable or bendable legs or spiral shaped legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A61H2201/1652—Harness
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/063—Parallelogram arms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/068—Arms being part of the undercarriage

Definitions

  • the present invention relates to a device and method that augment a wearer's carrying capacity and strength, increasing performance and aiding in the prevention of injury during the execution of certain load-bearing or strength-requiring tasks. More particularly, the present invention relates to a device suitable for use by a person engaging in heavy tool use or weight-bearing tasks, incorporating a set of artificial limbs, joints, and related control systems that potentiate improved function of the person's appendages for activities including, but not limited to, greater strength and endurance in the wearers legs, allowing for more weight to be carried by the wearer while walking.
  • Wearable exoskeletons have been designed for medical, commercial, and military applications. Medical exoskeletons are designed to help restore a user's mobility. Commercial and military exoskeletons help prevent injury and augment the user's strength. Commercial and military exoskeletons are used to alleviate loads supported by workers or soldiers during strenuous activities, thereby preventing injuries and increasing their stamina and strength.
  • Exoskeletons designed for use by able-bodied wearers often act to improve the wearer's stamina by transferring the weight of a tool or load through the exoskeleton structure and into the ground, thereby decreasing the weight borne by the wearer.
  • tool- holding exoskeletons are outfitted with a non-anthropomorphic tool-holding arm that supports the weight of the tool, reducing user fatigue by providing tool-holding assistance.
  • the tool- holding arm transfers the vertical force required to hold the tool through the exoskeleton- supported tool-holding arm rather than through the user's arms and body.
  • the exoskeleton structure is generally anthropomorphic and acts in tandem with the user's body to support some or all of the tool weight by supporting the positioning of the wearer's arms, and then transferring that tool weight around the body of the wearer and into the ground.
  • Weight- bearing exoskeletons transfer the weight of the exoskeleton load through the legs of the exoskeleton rather than through the user's legs.
  • weight-bearing exoskeletons are designed to carry a specific load, such as a heavy backpack.
  • military weight- bearing exoskeletons support the weight of armor.
  • exoskeletons may have actuated joints that augment the strength of the exoskeleton user, with these actuated joints being controlled by the exoskeleton control system, and with the exoskeleton user using any of a plurality of possible input means to command an exoskeleton control system.
  • exoskeleton control systems prescribe and control trajectories in the joints of an exoskeleton, resulting in the movement of the structure of the exoskeleton and, in some cases, the positioning of a tool supported by the exoskeleton.
  • These control trajectories can be prescribed as position-based, force-based, or a combination of both methodologies, such as those seen in impedance controllers.
  • Position-based control systems can be modified directly through modification of the prescribed positions.
  • Force-based control systems can also be modified directly through modification of the prescribed force profiles.
  • exoskeleton users and exoskeleton tools may vary in proportion, variously adjusted or customized powered exoskeletons will fit each user somewhat differently.
  • the exoskeleton control system should take into account these differences in exoskeleton user proportion, exoskeleton configuration/customization, exoskeleton user fit, and tool support, resulting in changes to prescribed exoskeleton trajectories.
  • the exoskeleton user may control changes in exoskeleton trajectories through communication with the exoskeleton control system through a variety of means, including but not limited to body pressure sensors, joysticks, touchpads, gestural sensors, voice sensors, or sensors that directly detect nervous system activity.
  • the exoskeleton wearer provides the force to move the exoskeleton structure and any affixed tools, with the exoskeleton aiding the wearer by supporting the weight of tools in certain positions, aiding in certain tool or exoskeleton movements, and transferring the weight of tools around the body of the wearer, through the leg structures of the exoskeleton, and into the support surface.
  • the design of the exoskeleton structure plays an important role in transferring the weight of the exoskeleton load, including both tool weight and the tool-supporting arm weight, around the body of the wearer and into the support surface.
  • the design of the lower structure of an exoskeleton determines how well this weight can be balanced - with the balance affecting the usefulness of the exoskeleton and/or tool to the user. For example, consider an exoskeleton with a hip-mounted tool holding arm.
  • the tool holding arm will act as a lever, and the weight of the tool will result in an increasing torque being exerted on the exoskeleton hip.
  • the exoskeleton and/or the wearer
  • the exoskeleton must expend energy, and as the weight of the tool is extended away from the exoskeleton this results in a less-balanced exoskeleton that is more likely to fall over. Issues of balance and undesired joint torque can be addressed by making exoskeleton frames and joints heavier and more rigid, or adding weighted counterbalance arms that extend behind the exoskeleton (opposite the tool-holding arm they balance).
  • exoskeleton support structures and in particular the lower structures including hip, leg, ankle, and foot structures, as well as the interconnecting joints, should take into account the tradeoff between load
  • exoskeleton mobility/maneuverability support/balance with exoskeleton mobility/maneuverability.
  • the relative importance of different exoskeleton characteristics may vary.
  • a non-anthropomorphic support structure is affixed between the exoskeleton wearer and the tool-supporting arm, allowing the support structure to bear the weight of the tool-supporting arm and tool while the exoskeleton and wearer are stationary.
  • an exoskeleton is attached to an overhead structure with elastic members such that, as the exoskeleton wearer and the exoskeleton squat or bend, the elastic members are stretched, resulting in decreased energy requirements on the part of the exoskeleton and wearer upon rising.
  • an exoskeleton including a body harness configured to attach the exoskeleton to a person.
  • the exoskeleton also includes a vertical support directly connected to the body harness.
  • the vertical support is configured to transfer a weight of at least a portion of the exoskeleton to a support surface.
  • the vertical support is non-anthropomorphic.
  • the exoskeleton further includes a tool-holding arm configured to support a tool, and the vertical support is a leg configured to transfer a weight of the tool and the tool-holding arm to the support surface.
  • the exoskeleton further includes an overhead gantry configured to slide along an overhead guide and support, and the vertical support is an elastic support connected to the overhead gantry. The elastic support is configured to partially suspend the person from the overhead gantry through the exoskeleton.
  • Figure 1 is a side view of a worker wearing an exoskeleton equipped with a hip- mounted non-anthropomorphic tool-holding arm and tool.
  • Figure 2 is a side view of a worker standing and holding a tool while affixed to a non-anthropomorphic exoskeleton equipped with a non-anthropomorphic leg support device, representing the first embodiment of this invention.
  • Figure 3 is a side view of a worker standing and holding a tool while affixed to a non-anthropomorphic exoskeleton equipped with a non-anthropomorphic leg support device, representing a mechanical variant of the first embodiment of this invention.
  • Figure 4 is a side view of a worker walking while wearing an exoskeleton, with the exoskeleton and worker being partially suspended from a ceiling-mounted, movable gantry system, representing the second embodiment of this invention.
  • Figure 1 shows a person 100 wearing a tool-holding exoskeleton 101, with exoskeleton 101 being attached to person 100 by a body harness or strapping 102.
  • a hip structure 108 of exoskeleton 101 is connected to a tool-holding arm 105 at a hip coupling 107, with tool-holding arm 105 connecting to and supporting the weight of a tool 103 at a tool coupling 106.
  • Tool-holding arm 105 is comprised of an upper tool arm link 109 and lower tool arm link 1 10, with tool arm links 109 and 1 10 being flexibly connected such that they are movable relative to one another to allow person 100 to use his arms 104 to change the position of tool 103 relative to exoskeleton 101 and person 100.
  • the weight of tool 103 is transferred through tool coupling 106 to upper tool arm link 109, then to lower tool arm link 1 10, then to hip coupling 107 and into hip structure 108 of exoskeleton 101.
  • Hip structure 108 is rotatably connected to a thigh link 1 13 at a hip joint 1 12, with thigh link 113 being rotatably connected to a shank link 1 15 at a knee joint 114.
  • Shank link 115 is rotatably connected to a foot structure 117 at an ankle joint 1 16. This connectivity allows the weight of exoskeleton 101, tool 103, and tool-holding arm 105 to be transferred around legs 1 1 1 of person 100, through hip structure 108, through thigh link 113 and shank link 1 15, into foot structure 1 17 and ultimately to a support surface 1 18. Person 100 can also walk while wearing exoskeleton 101, with exoskeleton 101 continuing to support the weight of tool 103 and tool-holding arm 105.
  • a first embodiment of the present invention is shown in Figure 2.
  • a person 500 is wearing an exoskeleton 501, with exoskeleton 501 having a brace structure 503.
  • Brace structure 503 is attached to person 501 by a body harness or strapping 505.
  • a tool-holding arm 502 supports a tool 519, with tool-holding arm 502 being connected to an exoskeleton hip 508.
  • Exoskeleton hip 508 is supported by a vertical support or exoskeleton leg 509, with exoskeleton leg 509 being in contact with a support surface 518 through a surface-interacting tip 517.
  • Exoskeleton leg 509 is directly connected to strapping 505.
  • directly connected it is meant that exoskeleton leg 509 is not connected to strapping 505 through person 500.
  • Person 500 has legs 515 and feet 516 that are also in contact with support surface 518.
  • the weight of tool 519 and tool-supporting arm 502 is transferred through exoskeleton leg 509 and surface-interacting tip 517 to support surface 518, with the resulting torque from the distance of tool 519 from exoskeleton leg 509 being counteracted by the mass and position of person 500 opposite exoskeleton leg 509 from tool 519.
  • leg 509 is telescoping or collapsible, allowing easier movement of person 500 and exoskeleton 501.
  • rigid exoskeleton leg 509 is replaced with a jammed leg 529, with jammed leg 529 being a flexible tube structure jammed with granular material such as sand or rice.
  • jammed leg 529 is a flexible tube structure jammed with granular material such as sand or rice.
  • This jamming of granular material is sufficiently tight to allow jammed leg 529 to support compressive loads in stance but not so tight as to prevent jammed leg 529 from being flexible while exoskeleton 501 and wearer 500 are moving.
  • This jammed structure acts as an undefined joint (or rather acts as many/infinite joints).
  • Strapping 703, 704 includes a back structure 707, with back structure 707 being connected to vertical elastic supports 708.
  • Elastic supports 708 are directly connected to strapping 703, 704. Again, by “directly connected”, it is meant that elastic supports 708 are not connected to strapping 703, 704 through person 700.
  • Elastic supports 708 are connected to an overhead gantry 712, with overhead gantry 712 sliding along an overhead guide and support 713.
  • One portion of the weight of person 700 and exoskeleton 701 is transferred through a leg 714 to a foot 710 and to support surface 718.
  • a second portion of the weight of person 700 and exoskeleton 701 is transferred to overhead guide and support 713 through elastic supports 708 and then to the support surface to which overhead guide and support 713 is attached (not shown).
  • the relative portion of weight transferred to elastic supports 708 and to overhead guide and support 713 depends on both the extent of stretch that elastic supports 708 are subject to, with this depending on the extent to which person 700 is standing or squatting, and the spring force of elastic supports 708.
  • person 700 is only partially suspended by overhead gantry 712, person 700 is able to walk, with overhead gantry 712 sliding along overhead guide and support 713.
  • Equation 1 If person 700 squats, using the force of gravity to stretch elastic supports 708, it will be easier for person 700 to stand as the stretch of elastic support 708 is reduced, resulting in less energy usage for person 700 in repeated standing and squatting motions. If a person lifting objects from a surface stands, the force to stand up is shown in Equation 1. If this person were wearing the device of the second embodiment of this invention, the force required to stand is shown in Equation 2.
  • elastic supports 708 are attached differently to exoskeleton
  • elastic supports 708 are quickly detachable from exoskeleton 701 by means of a mechanical device such a carabiner, hook, or quick link.
  • exoskeleton 701 can include tool-holding arm 502, exoskeleton leg 509 and the other related structure from the first embodiment.
  • the exoskeleton can provide power to a power tool - even if the exoskeleton itself is passive and has no power requirements.
  • the power systems of the tool and exoskeleton can be shared, eliminating the need for disparate energy storage devices.
  • various sensors can be in communication with the exoskeleton control system, allowing the exoskeleton to respond to the user.
  • the exoskeleton control system can be in communication with any tool electronics or tool control systems, such as power and time settings on a spot welding gun or the remaining consumables for a tool, such as nails for a nail gun.
  • the present invention provides devices for supporting, improving the balance of, and improving the mobility and maneuverability of tool-holding human exoskeletons. While certain preferred embodiments of the present invention have been set forth, it should be understood that various changes or modifications could be made without departing from the spirit of the present invention. In general, the invention is only intended to be limited by the scope of the following claims.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un exosquelette (501, 701) qui comprend un harnais corporel (505, 703 704) pour fixer l'exosquelette (501, 701) sur une personne (500, 700). Dans un mode de réalisation, l'exosquelette (501, 701) comprend également un bras porte-outil (502) pour supporter un outil (519) et un pied (509) pour transférer le poids de l'outil (519) et du bras porte-outil (502) à une surface de support (518). Le pied (509) est non anthropomorphique. Dans un autre mode de réalisation, l'exosquelette (501, 701) comprend en outre un portique surélevé (712), qui coulisse le long d'un guide surélevé et d'un support (713), et un support élastique (708) relié au portique surélevé (712). Le support élastique (708) suspend partiellement la personne (500, 700) depuis le portique surélevé (712) par l'intermédiaire de l'exosquelette (501, 701).
PCT/US2018/021498 2017-03-08 2018-03-08 Dispositifs pour le support et l'équilibrage d'exosquelettes humains WO2018165399A1 (fr)

Applications Claiming Priority (2)

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US201762468492P 2017-03-08 2017-03-08
US62/468,492 2017-03-08

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10328539B1 (en) 2018-11-20 2019-06-25 King Saud University Assistive device for heavy tool operation
WO2020182955A1 (fr) * 2019-03-14 2020-09-17 Total Sa Exosquelette pour le portage et la manutention de panneaux photovoltaïques
IT201900007848A1 (it) 2019-06-03 2020-12-03 Milano Politecnico Dispositivo di compensazione di carichi, in particolare di carichi gravitazionali, applicabile ad esoscheletri
CN112545845A (zh) * 2020-12-25 2021-03-26 顾晓豪 一种医疗康复用外骨骼及使用方法
CN112828861A (zh) * 2020-12-30 2021-05-25 中核四0四有限公司 一种三级弹性连接悬挂装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4327986A (en) * 1980-10-10 1982-05-04 Rhonda Carter Mobile camera support
US6006970A (en) * 1998-08-26 1999-12-28 Piatt; John Allen Computer harness to support a computer about the body of a user operator
US20010027149A1 (en) * 1999-10-06 2001-10-04 Anne Bingham Method and apparatus to exercise developmentally delayed, physically and/or neurologically impaired persons
WO2008013503A1 (fr) * 2006-07-25 2008-01-31 Chan Foo Lai Support à corps bi-fonction pour trépied
US20080115344A1 (en) * 2004-06-30 2008-05-22 Carnevali Jeffrey D Configurable mounting apparatus
US20150001269A1 (en) * 2011-05-06 2015-01-01 Anthony D. Sacksteder Exoskeleton arm interface

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4327986A (en) * 1980-10-10 1982-05-04 Rhonda Carter Mobile camera support
US6006970A (en) * 1998-08-26 1999-12-28 Piatt; John Allen Computer harness to support a computer about the body of a user operator
US20010027149A1 (en) * 1999-10-06 2001-10-04 Anne Bingham Method and apparatus to exercise developmentally delayed, physically and/or neurologically impaired persons
US20080115344A1 (en) * 2004-06-30 2008-05-22 Carnevali Jeffrey D Configurable mounting apparatus
WO2008013503A1 (fr) * 2006-07-25 2008-01-31 Chan Foo Lai Support à corps bi-fonction pour trépied
US20150001269A1 (en) * 2011-05-06 2015-01-01 Anthony D. Sacksteder Exoskeleton arm interface

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10328539B1 (en) 2018-11-20 2019-06-25 King Saud University Assistive device for heavy tool operation
WO2020182955A1 (fr) * 2019-03-14 2020-09-17 Total Sa Exosquelette pour le portage et la manutention de panneaux photovoltaïques
FR3093663A1 (fr) * 2019-03-14 2020-09-18 Total Sa Exosquelette pour le portage et la manutention de panneaux photovoltaïques
IT201900007848A1 (it) 2019-06-03 2020-12-03 Milano Politecnico Dispositivo di compensazione di carichi, in particolare di carichi gravitazionali, applicabile ad esoscheletri
WO2020245038A1 (fr) 2019-06-03 2020-12-10 Politecnico Di Milano Dispositif de compensation de charge, en particulier de charges gravitationnelles, applicable à des exosquelettes
CN112545845A (zh) * 2020-12-25 2021-03-26 顾晓豪 一种医疗康复用外骨骼及使用方法
CN112828861A (zh) * 2020-12-30 2021-05-25 中核四0四有限公司 一种三级弹性连接悬挂装置

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