CN106726363A - A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device - Google Patents
A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device Download PDFInfo
- Publication number
- CN106726363A CN106726363A CN201710148908.0A CN201710148908A CN106726363A CN 106726363 A CN106726363 A CN 106726363A CN 201710148908 A CN201710148908 A CN 201710148908A CN 106726363 A CN106726363 A CN 106726363A
- Authority
- CN
- China
- Prior art keywords
- thigh
- connector
- hip joint
- hydraulic cylinder
- shank
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 12
- 210000000689 upper leg Anatomy 0.000 claims abstract description 53
- 210000004394 hip joint Anatomy 0.000 claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 210000002414 leg Anatomy 0.000 claims abstract description 27
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 14
- 210000000629 knee joint Anatomy 0.000 claims abstract description 9
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 8
- 239000010959 steel Substances 0.000 claims abstract description 8
- 244000309466 calf Species 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 3
- 210000001217 buttock Anatomy 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000037396 body weight Effects 0.000 claims 1
- 230000004973 motor coordination Effects 0.000 abstract description 2
- 229910000639 Spring steel Inorganic materials 0.000 abstract 1
- 210000003127 knee Anatomy 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000009355 double cropping Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 238000002266 amputation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
Classifications
-
- 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
-
- 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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device, solves the problems such as existing motor driving apparatus leg weight is larger, and the motor coordination degree with human body is poor, further improves the fluency and applicability of rehabilitation walk-aid equipment.Including backboard, back, three axle hip joints, double acting hydraulic cylinder, thigh main body, bionical connecting rod knee joint, shank main body, two axle ankle-joints, sole；The three axles hip joint includes receipts/abduction mechanism, hip joint flexion/extension mechanism and hip joint medial rotation/Xuan Wai mechanisms in hip joint；The knee joint bends and stretches mechanism includes thigh connector, preceding rocking bar, rear rocking bar, shank connector, double acting hydraulic cylinder, position-limit mechanism；Two axle ankle-joints include flexion/extension rotating shaft, abduction/adduction rotating shaft, a spring steel plate is laminated with outside flexion/extension rotating shaft, the opposite side of steel plate is provided with slotted eye and is connected with sole, and ankle-joint hydraulic cylinder is connected between shin support panel and abduction/adduction rotating shaft, and control sole swings.
Description
Technical field
The present invention relates to lower limb rehabilitation walk-aid equipment technical field, more particularly to a kind of wearable bionical hydraulic pressure lower limb health
Multiple walk help mechanical device.
Background technology
With the development of society, the concern for gradually obtaining society of patients with paralyzed lower limbs, they are to rehabilitation walk-aid equipment
Demand is urgent all the more.Lower limb rehabilitation training mechanical device is used as treating and solve the plant equipment of daily routines under these conditions
Develop rapidly.
Additionally, in the industrial production, the mechanical device of synkinesia can improve the endurance limits of human body to improve
The production efficiency of physical work person.
It is many in like product in the market to be driven using motor, it is motor-driven to have the disadvantage that leg weight is larger, with people
The motor coordination degree of body is poor, and the structure has larger modification and room for promotion.
In the market bionic leg is used for human body field of prosthetic limbs and many using passive type driving, only can be suitably used for patients with amputation and enters
The light and slow motion of row, the demand therefore, it is difficult to solve the complete disability rehabilitation of body and motion.
The content of the invention
For the problem that prior art is present, according to human figure and bionics techniques, the present invention provides a kind of wearable
Bionical hydraulic pressure walking aid device, it is poor to solve man-machine sports coordination, move it is discontinuous the problems such as, further improve rehabilitation walk help set
Standby fluency and applicability.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device, including it is backboard 1, back 2, three axle hip joints 3, double
Acting cylinder 4, thigh main body 5, bionical connecting rod knee joint 6, shank main body 7, two axle ankle-joints 8, sole 9；
The three axles hip joint includes receipts/abduction mechanism, hip joint flexion/extension mechanism and hip joint medial rotation/rotation in hip joint
Outer mechanism；
Receipts/abduction mechanism includes back 2, the connector 3.4 of left and right leg, L-type connecting plate 3.6, joint in the hip joint
Bearing；The connector 3.4 of wherein left and right leg is fixed on the pivot of the both sides of back 2, and the side of back sets slope 3.7 and stretches
As position limiting structure in the groove 3.8 of the connector 3.4 for entering left and right leg, L-type connecting plate is fixed on connection by bolt and slotted eye
In the slideway of part；
In hip joint medial rotation/Xuan Wai mechanisms, the L-type connecting plate other end is hinged 3.5 in a pair of hinges using bolt presses,
In 3.2 groove, the profile that the hinge of forward side is hinged 3.2 is one side plane 3.2.1, the shape of one side inclined-plane 3.2.2, as
The scope that position limiting structure control launches；
In hip joint flexion/extension mechanism, the hinge of forward side is hinged 3.2 by horseshoe-shaped connecting plate 3.3 and thigh main body
3.1 are connected, and partly extended out on horseshoe-shaped connecting plate 3.3 is hinged 3.2 and is connected with the hinge of hip joint；
The knee joint bends and stretches mechanism includes thigh connector 6.1, preceding rocking bar 6.3, rear rocking bar 6.4, shank connector
6.2nd, double acting hydraulic cylinder 6.5, position-limit mechanism 6.8；Thigh connector, shank connector are connected with thigh and calf main body respectively, preceding
Rocking bar 6.3, rear rocking bar 6.4 are respectively hinged between thigh connector and shank connector, and large and small leg is linked together；Double cropping
It is fixed at the rear side rotating shaft of shank connector with one end of hydraulic cylinder, the other end is fixed on the hinged place of thigh, as power unit
Part controls the folding of thigh and calf；Position-limit mechanism 6.8 is located at the front end of thigh connector, and the position of rocking bar, small to ensure before limitation
Leg will not opposite direction bend and stretch；
Big leg mechanism includes thigh main body 3.1, thigh support plate 6.6, hydraulic cylinder articulated elements 6.7；Thigh support plate 6.6 falls into
In in the T-slot of thigh main body 5；Thigh support plate 6.6 is above provided with row's bolt hole, and middle screw keyhole connects with thigh main body
Connect, by bolt presses, bolt hole above is connected with articulated elements 6.7.1；The articulated elements 6.7.1 other ends and hip joint hydraulic cylinder
6.7 are connected；Two row's bolts hole coordinate adjustment when adjustment length, by the Stroke Control of hydraulic cylinder in suitable scope；
Small leg mechanism includes shank connector 6.2 and shin support panel 6.10；There is row's bolt hole in the middle of supporting plate, be trapped in
In T-slot, compression is bolted, for adjusting the use effective length of shank；
Two axle ankle-joints include flexion/extension rotating shaft 8.1, abduction/adduction rotating shaft 8.2, and an elasticity is laminated with outside flexion/extension rotating shaft
Steel plate 8.3, the opposite side of steel plate is provided with slotted eye and is connected with sole, and the elastic force for moving light plate gradually balances body gravity,
By free degree limitation within the specific limits, the slotted eye being provided with adapts to the deformation that bending is produced；Ankle-joint hydraulic cylinder 8.5 is connected to small
Between leg supporting plate and abduction/adduction rotating shaft 8.2, control sole swings.
The front end of thigh connector 6.1 sinks at the depression 6.9 of shank connector 6.2, is similar to skeleton structure and recessed
The angle put after severity control shank is fallen into, its ectoskeleton knee kinematics scope is within human normal angle.
Interior receipts/abduction the rotary shaft of hip joint be located at human buttock rear side, realize it is consistent with human synovial central shaft, no
Sitting can be influenceed.
Advantages of the present invention：Solve man-machine sports coordination poor, move it is discontinuous the problems such as, further improve rehabilitation walk help
The fluency and applicability of equipment.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the schematic diagram of middle hip joint three degree of freedom；
Fig. 3 is four bar knee extensions and thigh view；
Fig. 4 is that four bar knee joints bend contracting and shank schematic diagram；
Fig. 5 is two schematic diagrames of the free degree of ankle-joint.
Specific embodiment
The present invention is illustrated below in conjunction with the accompanying drawings, as illustrated, the present invention includes backboard 1, back 2, three axle hip joints
3rd, double acting hydraulic cylinder 4, thigh main body 5, bionical connecting rod knee joint 6, shank main body 7, two axle ankle-joints 8, sole 9；
The three axles hip joint includes receipts/abduction mechanism, hip joint flexion/extension mechanism and hip joint medial rotation/rotation in hip joint
Outer mechanism；
Receipts/abduction mechanism includes back 2, the connector 3.4 of left and right leg, L-type connecting plate 3.6, joint in the hip joint
Bearing；The connector 3.4 of wherein left and right leg is fixed on the pivot of the both sides of back 2, and the side of back sets slope 3.7 and stretches
As position limiting structure in the groove 3.8 of the connector 3.4 for entering left and right leg, L-type connecting plate is fixed on connection by bolt and slotted eye
In the slideway of part；
In hip joint medial rotation/Xuan Wai mechanisms, the L-type connecting plate other end is hinged 3.5 in a pair of hinges using bolt presses,
In 3.2 groove, the profile that the hinge of forward side is hinged 3.2 is one side plane 3.2.1, the shape of one side inclined-plane 3.2.2, as
The scope that position limiting structure control launches；
In hip joint flexion/extension mechanism, the hinge of forward side is hinged 3.2 by horseshoe-shaped connecting plate 3.3 and thigh main body
3.1 are connected, and partly extended out on horseshoe-shaped connecting plate 3.3 is hinged 3.2 and is connected with the hinge of hip joint；
The knee joint bends and stretches mechanism includes thigh connector 6.1, preceding rocking bar 6.3, rear rocking bar 6.4, shank connector
6.2nd, double acting hydraulic cylinder 6.5, position-limit mechanism 6.8；Thigh connector, shank connector are connected with thigh and calf main body respectively, preceding
Rocking bar 6.3, rear rocking bar 6.4 are respectively hinged between thigh connector and shank connector, and large and small leg is linked together；Double cropping
It is fixed at the rear side rotating shaft of shank connector with one end of hydraulic cylinder, the other end is fixed on the hinged place of thigh, as power unit
Part controls the folding of thigh and calf；Position-limit mechanism 6.8 is located at the front end of thigh connector, and the position of rocking bar, small to ensure before limitation
Leg will not opposite direction bend and stretch；
Big leg mechanism includes thigh main body 3.1, thigh support plate 6.6, hydraulic cylinder articulated elements 6.7；Thigh support plate 6.6 falls into
In in the T-slot of thigh main body 5；Thigh support plate 6.6 is above provided with row's bolt hole, and middle screw keyhole connects with thigh main body
Connect, by bolt presses, bolt hole above is connected with articulated elements 6.7.1；The articulated elements 6.7.1 other ends and hip joint hydraulic cylinder
6.7 are connected；Two row's bolts hole coordinate adjustment when adjustment length, by the Stroke Control of hydraulic cylinder in suitable scope；
Small leg mechanism includes shank connector 6.2 and shin support panel 6.10；There is row's bolt hole in the middle of supporting plate, be trapped in
In T-slot, compression is bolted, for adjusting the use effective length of shank；
Two axle ankle-joints include flexion/extension rotating shaft 8.1, abduction/adduction rotating shaft 8.2, and an elasticity is laminated with outside flexion/extension rotating shaft
Steel plate 8.3, the opposite side of steel plate is provided with slotted eye and is connected with sole, and the elastic force for moving light plate gradually balances body gravity,
By free degree limitation within the specific limits, the slotted eye being provided with adapts to the deformation that bending is produced；Ankle-joint hydraulic cylinder 8.5 is connected to small
Between leg supporting plate and abduction/adduction rotating shaft 8.2, control sole swings.
The front end of thigh connector 6.1 sinks at the depression 6.9 of shank connector 6.2, is similar to skeleton structure and recessed
The angle put after severity control shank is fallen into, its ectoskeleton knee kinematics scope is within human normal angle.
Interior receipts/abduction the rotary shaft of hip joint be located at human buttock rear side, realize it is consistent with human synovial central shaft, no
Sitting can be influenceed.
The course of work of the invention is as follows：
User dresses ectoskeleton, according to the body sizes of wearer, adjusts the width of hip joint, the length of thigh and calf,
Ensure the joints axes section of human body just to the joints axes of ectoskeleton.Back as human body rear waist, backboard by bandage carry on the back in
Back, sole is connected with human foot.
When user carries out lower limb rehabilitation to move, hip joint hydraulic cylinder control hip joint flexion/extension mechanism, before completing thigh
After swing, knee hydraulic cylinder control knee flexion/extension mechanism completes the swing of knee.Leg needs lateral lift when user walks
During leg, with human motion, when needing to turn, hip joint medial rotation/Xuan Wai mechanisms transport with human body for the interior receipts/abduction mechanism of hip joint
It is dynamic.When the inclined ground of out-of-flatness is run into, the outer abduction/adduction mechanism of ankle-joint slightly rotation adapting to the angle on ground, bullet
Property steel plate play Auxiliary support effect.The sole bent in hinge laminating motion at sole.
Claims (3)
1. a kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device, it is characterised in that：Including backboard (1), back (2),
Three axle hip joints (3), double acting hydraulic cylinder (4), thigh main body (5), bionical connecting rod knee joint (6), shank main body (7), two axles
Ankle-joint (8), sole (9)；
The three axles hip joint includes receipts/abduction mechanism, hip joint flexion/extension mechanism and hip joint medial rotation/outer machine of rotation in hip joint
Structure；
Receipts/abduction mechanism includes back (2), the connector (3.4) of left and right leg in the hip joint, and L-type connecting plate (3.6) is closed
Bearings；The connector (3.4) of wherein left and right leg is fixed on the pivot of back (2) both sides, and the side of back sets oblique
Slope (3.7) passes through bolt and groove in stretching into the groove (3.8) of the connector (3.4) of left and right leg as position limiting structure, L-type connecting plate
Hole is fixed in the slideway of connector；
In hip joint medial rotation/Xuan Wai mechanisms, the L-type connecting plate other end is hinged (3.5,3.2) using bolt presses in a pair of hinges
Groove in, the profile that the hinge of forward side is hinged (3.2) is one side plane (3.2.1), the shape of one side inclined-plane (3.2.2),
As the scope that position limiting structure control launches；
In hip joint flexion/extension mechanism, the hinge of forward side is hinged (3.2) by horseshoe-shaped connecting plate (3.3) and thigh main body
(3.1) it is connected, partly being extended out on horseshoe-shaped connecting plate (3.3) is hinged (3.2) with the hinge of hip joint and is connected；
The knee joint bends and stretches mechanism includes thigh connector (6.1), preceding rocking bar (6.3), rear rocking bar (6.4), shank connector
(6.2), double acting hydraulic cylinder (6.5), position-limit mechanism (6.8)；Thigh connector, shank connector respectively with thigh and calf main body phase
Even, preceding rocking bar (6.3), rear rocking bar (6.4) are respectively hinged between thigh connector and shank connector, large and small leg are connected to
Together；One end of double acting hydraulic cylinder is fixed at the rear side rotating shaft of shank connector, and the other end is fixed on the hinged place of thigh, makees
The folding of thigh and calf is controlled for dynamical element；The position of position-limit mechanism (6.8) rocking bar before the front end of thigh connector, limitation
Put, with ensure shank will not opposite direction bend and stretch；
Big leg mechanism includes thigh main body (3.1), thigh support plate (6.6), hydraulic cylinder articulated elements (6.7)；Thigh support plate
(6.6) sink into the T-slot of thigh main body (5)；Thigh support plate (6.6) is above provided with row's bolt hole, middle screw keyhole with
Thigh main body is connected, and by bolt presses, bolt hole above is connected with articulated elements (6.7.1)；Articulated elements (6.7.1) other end
It is connected with hip joint hydraulic cylinder (6.7)；Two row's bolts hole coordinate adjustment when adjustment length, and the Stroke Control of hydraulic cylinder is existed
In suitable scope；
Small leg mechanism includes shank connector (6.2) and shin support panel (6.10)；There is row's bolt hole in the middle of supporting plate, be trapped in
In T-slot, compression is bolted, for adjusting the use effective length of shank；
Two axle ankle-joints include flexion/extension rotating shaft (8.1), abduction/adduction rotating shaft (8.2), and an elasticity is laminated with outside flexion/extension rotating shaft
Steel plate (8.3), the opposite side of steel plate is provided with slotted eye and is connected with sole, and the elastic force for moving light plate gradually balances body weight
Power, by free degree limitation within the specific limits, the slotted eye being provided with adapts to the deformation that bending is produced；Ankle-joint hydraulic cylinder 8.5 is connected
Between shin support panel and abduction/adduction rotating shaft 8.2, control sole swings.
2. wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device according to claim 1, it is characterised in that：Thigh connects
The front end of fitting (6.1) sinks into depression (6.9) place of shank connector (6.2).
3. wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device according to claim 1, it is characterised in that：Hip joint
Interior receipts/abduction rotary shaft be located at human buttock rear side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710148908.0A CN106726363B (en) | 2017-03-13 | 2017-03-13 | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710148908.0A CN106726363B (en) | 2017-03-13 | 2017-03-13 | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106726363A true CN106726363A (en) | 2017-05-31 |
| CN106726363B CN106726363B (en) | 2023-11-17 |
Family
ID=58962704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710148908.0A Active CN106726363B (en) | 2017-03-13 | 2017-03-13 | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106726363B (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107243889A (en) * | 2017-07-21 | 2017-10-13 | 安徽新华学院 | Heavy burden exoskeleton robot |
| CN107411940A (en) * | 2017-08-14 | 2017-12-01 | 华南理工大学 | A kind of wearable medical rehabilitation walking aid device |
| CN108095983A (en) * | 2018-02-05 | 2018-06-01 | 河北工程大学 | A kind of two sufficient walking mechanisms for high amputation patient |
| CN108477904A (en) * | 2018-05-29 | 2018-09-04 | 深圳市丞辉威世智能科技有限公司 | Ectoskeleton seat |
| CN108670735A (en) * | 2018-06-06 | 2018-10-19 | 淮安市中医院（淮安市糖尿病医院、淮安市中医药研究所） | A kind of training device for knee joint rehabilitation |
| CN109199799A (en) * | 2018-09-18 | 2019-01-15 | 内蒙古工业大学 | A kind of knee joint exoskeleton mechanism based on connecting rod driving |
| CN109454632A (en) * | 2019-01-14 | 2019-03-12 | 东北大学 | A kind of lower limb exoskeleton system with lower jump pooling feature |
| CN110169890A (en) * | 2018-02-20 | 2019-08-27 | 三星电子株式会社 | Exercise aid device |
| CN110465924A (en) * | 2019-08-12 | 2019-11-19 | 山东省科学院自动化研究所 | A kind of lower limb exoskeleton robot of four bar linkage knee joint |
| CN110613586A (en) * | 2019-09-17 | 2019-12-27 | 中北大学 | Lower limb rehabilitation robot |
| CN111938996A (en) * | 2020-08-24 | 2020-11-17 | 四川大学华西医院 | Auxiliary rehabilitation equipment for lower limb paralysis patient |
| CN112022620A (en) * | 2020-09-11 | 2020-12-04 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Novel ankle joint and sole support structure for rehabilitation exoskeleton robot |
| CN112497187A (en) * | 2020-10-21 | 2021-03-16 | 西安交通大学 | Hydraulic assistance exoskeleton mechanism with recoverable back load energy in walking process |
| CN112873177A (en) * | 2021-01-12 | 2021-06-01 | 成都大学 | Lower limb exoskeleton robot |
| CN113181009A (en) * | 2021-04-23 | 2021-07-30 | 中国科学院深圳先进技术研究院 | Novel self-balancing ectoskeleton robot |
| CN113183176A (en) * | 2021-04-23 | 2021-07-30 | 中国科学院深圳先进技术研究院 | Motion decoupling parallel driving type exoskeleton robot ankle joint |
| CN114886727A (en) * | 2022-04-02 | 2022-08-12 | 长春工业大学 | Wearable three-degree-of-freedom hip joint rehabilitation device |
| WO2022222504A1 (en) * | 2021-04-23 | 2022-10-27 | 中国科学院深圳先进技术研究院 | Bionic exoskeleton robot hip joint of three-axis intersection type |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050203639A1 (en) * | 2004-03-12 | 2005-09-15 | Wild Grant E. | Prosthetic knee and rotary hydraulic chamber |
| CN2730338Y (en) * | 2004-08-10 | 2005-10-05 | 浙江大学 | Wearable lower limb dermoskeleton for walking use |
| US20070056592A1 (en) * | 2005-04-13 | 2007-03-15 | The Regents Of University Of California | Semi-powered lower extremity exoskeleton |
| CN101234044A (en) * | 2008-02-28 | 2008-08-06 | 上海交通大学 | Artificial limb exoskeleton knee joint |
| CN103099691A (en) * | 2012-12-24 | 2013-05-15 | 东南大学 | Two-degree-of-freedom exoskeleton ankle joint mechanism |
| JP2013138784A (en) * | 2012-01-04 | 2013-07-18 | Toyota Motor Corp | Walking support device |
| CN203436523U (en) * | 2013-07-02 | 2014-02-19 | 天津科技大学 | Ten-freedom-degree lower limb walking-assisting device |
| CN103707951A (en) * | 2013-12-23 | 2014-04-09 | 东北大学 | Two-leg robot leg mechanism based on driving of artificial muscles |
| CN103932870A (en) * | 2014-05-04 | 2014-07-23 | 浙江大学 | Lower limb rehabilitation training exoskeleton with bionics design |
| CN104490568A (en) * | 2014-12-25 | 2015-04-08 | 北京航空航天大学 | Human lower extremity exoskeleton walking aid rehabilitation robot |
| US20150122559A1 (en) * | 2012-05-31 | 2015-05-07 | Thk Co., Ltd. | Lower limb structure for legged robot, and legged robot |
| CN105105973A (en) * | 2015-08-14 | 2015-12-02 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
| CN105686927A (en) * | 2016-01-08 | 2016-06-22 | 中国人民解放军理工大学 | A foldable portable lower extremity exoskeleton |
| CN106272337A (en) * | 2016-08-25 | 2017-01-04 | 西南交通大学 | A kind of wearable lower limb exoskeleton power-assisting robot |
| CN207341906U (en) * | 2017-03-13 | 2018-05-11 | 东北大学 | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device |
-
2017
- 2017-03-13 CN CN201710148908.0A patent/CN106726363B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050203639A1 (en) * | 2004-03-12 | 2005-09-15 | Wild Grant E. | Prosthetic knee and rotary hydraulic chamber |
| CN2730338Y (en) * | 2004-08-10 | 2005-10-05 | 浙江大学 | Wearable lower limb dermoskeleton for walking use |
| US20070056592A1 (en) * | 2005-04-13 | 2007-03-15 | The Regents Of University Of California | Semi-powered lower extremity exoskeleton |
| CN101234044A (en) * | 2008-02-28 | 2008-08-06 | 上海交通大学 | Artificial limb exoskeleton knee joint |
| JP2013138784A (en) * | 2012-01-04 | 2013-07-18 | Toyota Motor Corp | Walking support device |
| US20150122559A1 (en) * | 2012-05-31 | 2015-05-07 | Thk Co., Ltd. | Lower limb structure for legged robot, and legged robot |
| CN103099691A (en) * | 2012-12-24 | 2013-05-15 | 东南大学 | Two-degree-of-freedom exoskeleton ankle joint mechanism |
| CN203436523U (en) * | 2013-07-02 | 2014-02-19 | 天津科技大学 | Ten-freedom-degree lower limb walking-assisting device |
| CN103707951A (en) * | 2013-12-23 | 2014-04-09 | 东北大学 | Two-leg robot leg mechanism based on driving of artificial muscles |
| CN103932870A (en) * | 2014-05-04 | 2014-07-23 | 浙江大学 | Lower limb rehabilitation training exoskeleton with bionics design |
| CN104490568A (en) * | 2014-12-25 | 2015-04-08 | 北京航空航天大学 | Human lower extremity exoskeleton walking aid rehabilitation robot |
| CN105105973A (en) * | 2015-08-14 | 2015-12-02 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
| CN105686927A (en) * | 2016-01-08 | 2016-06-22 | 中国人民解放军理工大学 | A foldable portable lower extremity exoskeleton |
| CN106272337A (en) * | 2016-08-25 | 2017-01-04 | 西南交通大学 | A kind of wearable lower limb exoskeleton power-assisting robot |
| CN207341906U (en) * | 2017-03-13 | 2018-05-11 | 东北大学 | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device |
Non-Patent Citations (1)
| Title |
|---|
| 孙广彬;王宏;陆志国;王福旺;史添玮;王琳;: "仿人足底肌电特征的机器人行走规划", 自动化学报, no. 05 * |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107243889A (en) * | 2017-07-21 | 2017-10-13 | 安徽新华学院 | Heavy burden exoskeleton robot |
| CN107411940A (en) * | 2017-08-14 | 2017-12-01 | 华南理工大学 | A kind of wearable medical rehabilitation walking aid device |
| CN107411940B (en) * | 2017-08-14 | 2023-04-21 | 华南理工大学 | Wearable medical rehabilitation walking aid device |
| CN108095983A (en) * | 2018-02-05 | 2018-06-01 | 河北工程大学 | A kind of two sufficient walking mechanisms for high amputation patient |
| CN110169890A (en) * | 2018-02-20 | 2019-08-27 | 三星电子株式会社 | Exercise aid device |
| CN110169890B (en) * | 2018-02-20 | 2023-05-02 | 三星电子株式会社 | Exercise assisting device |
| CN108477904A (en) * | 2018-05-29 | 2018-09-04 | 深圳市丞辉威世智能科技有限公司 | Ectoskeleton seat |
| CN108477904B (en) * | 2018-05-29 | 2024-06-07 | 深圳市丞辉威世智能科技有限公司 | Exoskeleton chair |
| CN108670735B (en) * | 2018-06-06 | 2020-11-24 | 淮安市中医院（淮安市糖尿病医院、淮安市中医药研究所） | Knee joint rehabilitation training device |
| CN108670735A (en) * | 2018-06-06 | 2018-10-19 | 淮安市中医院（淮安市糖尿病医院、淮安市中医药研究所） | A kind of training device for knee joint rehabilitation |
| CN109199799A (en) * | 2018-09-18 | 2019-01-15 | 内蒙古工业大学 | A kind of knee joint exoskeleton mechanism based on connecting rod driving |
| CN109454632A (en) * | 2019-01-14 | 2019-03-12 | 东北大学 | A kind of lower limb exoskeleton system with lower jump pooling feature |
| WO2020147138A1 (en) * | 2019-01-14 | 2020-07-23 | 东北大学 | Lower limb exoskeleton system with jump-down buffering function |
| US11071675B2 (en) | 2019-01-14 | 2021-07-27 | Northeastern University | Lower limb exoskeleton system having jump-down cushioning function and method of using the same |
| CN110465924A (en) * | 2019-08-12 | 2019-11-19 | 山东省科学院自动化研究所 | A kind of lower limb exoskeleton robot of four bar linkage knee joint |
| CN110613586A (en) * | 2019-09-17 | 2019-12-27 | 中北大学 | Lower limb rehabilitation robot |
| CN111938996A (en) * | 2020-08-24 | 2020-11-17 | 四川大学华西医院 | Auxiliary rehabilitation equipment for lower limb paralysis patient |
| CN112022620A (en) * | 2020-09-11 | 2020-12-04 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Novel ankle joint and sole support structure for rehabilitation exoskeleton robot |
| CN112497187A (en) * | 2020-10-21 | 2021-03-16 | 西安交通大学 | Hydraulic assistance exoskeleton mechanism with recoverable back load energy in walking process |
| CN112873177A (en) * | 2021-01-12 | 2021-06-01 | 成都大学 | Lower limb exoskeleton robot |
| CN113183176A (en) * | 2021-04-23 | 2021-07-30 | 中国科学院深圳先进技术研究院 | Motion decoupling parallel driving type exoskeleton robot ankle joint |
| WO2022222501A1 (en) * | 2021-04-23 | 2022-10-27 | 中国科学院深圳先进技术研究院 | Novel self-balancing exoskeleton robot |
| WO2022222504A1 (en) * | 2021-04-23 | 2022-10-27 | 中国科学院深圳先进技术研究院 | Bionic exoskeleton robot hip joint of three-axis intersection type |
| CN113181009B (en) * | 2021-04-23 | 2022-02-01 | 中国科学院深圳先进技术研究院 | Novel self-balancing ectoskeleton robot |
| CN113181009A (en) * | 2021-04-23 | 2021-07-30 | 中国科学院深圳先进技术研究院 | Novel self-balancing ectoskeleton robot |
| CN114886727A (en) * | 2022-04-02 | 2022-08-12 | 长春工业大学 | Wearable three-degree-of-freedom hip joint rehabilitation device |
| CN114886727B (en) * | 2022-04-02 | 2024-05-14 | 长春工业大学 | Wearable three-degree-of-freedom hip joint rehabilitation device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106726363B (en) | 2023-11-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106726363A (en) | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device | |
| CN104552276B (en) | The ectoskeleton servomechanism that pneumatic muscles drives | |
| CN107411939B (en) | A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities | |
| CN204450526U (en) | The ectoskeleton servomechanism that a kind of pneumatic muscles drives | |
| CN209059884U (en) | A kind of wearable lower limb rehabilitation robot | |
| CN107811805B (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| CN109009866B (en) | Sitting type lower limb exoskeleton rehabilitation robot | |
| CN101589983B (en) | Wearable lower limb exoskeleton device | |
| CN104490568B (en) | Human lower extremity exoskeleton walking aid rehabilitation robot | |
| CN105722490B (en) | Man-machine interface for the communication from lower limb orthosis | |
| CN101810533B (en) | Walking aid exoskeleton rehabilitation robot | |
| US20200281745A1 (en) | Lower limb exoskeleton system having jump-down cushioning function and use method thereof | |
| CN110465924A (en) | A kind of lower limb exoskeleton robot of four bar linkage knee joint | |
| CN107811819A (en) | A kind of wearable lower limb rehabilitation robot | |
| CN201510472U (en) | Wearable lower limb exoskeleton device | |
| CN107260496A (en) | A kind of wearable exoskeleton lower limb rehabilitation robot | |
| CN102247260B (en) | Line angle driving lower limb walking aid | |
| CN207341906U (en) | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device | |
| CN1586434A (en) | Lower limb walking external skeleton capable of being worn | |
| CN203436523U (en) | Ten-freedom-degree lower limb walking-assisting device | |
| CN109044742A (en) | A kind of rehabilitation type lower limb exoskeleton | |
| CN104758099A (en) | Lower limb assisting outer bone based on gravity balance | |
| CN111281631A (en) | Medical auxiliary instrument for adjusting force line of lower limbs of human body | |
| CN104055650B (en) | Interactive paraplegia walking aid external skeleton with horizontal swinging function | |
| Bai et al. | A portable ankle-foot rehabilitation orthosis powered by electric motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lu Zhiguo Inventor after: Wang Yuce Inventor after: Huo Jun Inventor after: Xin Tongle Inventor after: Xie Zhengbo Inventor before: Lu Zhiguo Inventor before: Huang Zhangbo Inventor before: Wang Yuce Inventor before: Huo Jun Inventor before: Liao Peng Inventor before: Xin Tongle Inventor before: Xie Zhengbo |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |