CN107363811A - Exoskeleton lower limbs and wearable robot - Google Patents
Exoskeleton lower limbs and wearable robot Download PDFInfo
- Publication number
- CN107363811A CN107363811A CN201710584285.1A CN201710584285A CN107363811A CN 107363811 A CN107363811 A CN 107363811A CN 201710584285 A CN201710584285 A CN 201710584285A CN 107363811 A CN107363811 A CN 107363811A
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- lower limbs
- wearing portion
- connection end
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims abstract description 43
- 210000002414 leg Anatomy 0.000 claims description 36
- 210000002683 foot Anatomy 0.000 claims description 32
- 210000001624 hip Anatomy 0.000 claims description 16
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000003044 adaptive effect Effects 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 description 9
- 210000001699 lower leg Anatomy 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 210000000629 knee joint Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 210000000689 upper leg Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 description 3
- 210000004394 hip joint Anatomy 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 241001062009 Indigofera Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000009711 regulatory function Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
A kind of exoskeleton lower limbs, there are upper connection end, leg exercise device and foot attachment means：The upper connection end is used to receive the load that user's upper torso is born；The leg exercise device has the first noumenon and the second body, and the first noumenon is hinged with the upper connection end by the first articulated section, and the first noumenon has linear relative movement with second body；The foot attachment means are worn on the foot of the user, and are hinged with second body by the second articulated section, and the linear relative movement is along the connecting line direction between first articulated section and second articulated section.A kind of wearable robot, there is Backpack device and be divided into the exoskeleton lower limbs of user's both legs, the Backpack device is worn on the upper torso of user and is connected with the upper connection end.The invention provides the exoskeleton lower limbs that a kind of adaptive ability is strong, kinematic dexterity is good and wearable robot.
Description
Technical field
The invention belongs to field of mechanical technique, is a kind of exoskeleton lower limbs and wearable robot specifically.
Background technology
Lower limb exoskeleton robot is a kind of mechanical device for being used to provide power-assisted for human body lower limbs, is removed with assistant load
The functions such as fortune, enhancing function of human body, development prospect is good, has become the research emphasis of robot field.
Current lower limb exoskeleton robot uses the configuration of multi-joint, i.e., with complete hip joint, knee joint and ankle
Joint, to be bonded the structural form of human body lower limbs.Man-machine connecting portion has the thigh, shank and foot of user, its mechanism simultaneously
It is complicated, connection component is numerous, movement interference easily occurs with human body, and from great, have a strong impact on the motion spirit of wearer
Activity and comfortableness.
The problem of even more serious, is that the knee joint of human body is synovial joint, when shank rotates relative to thigh, shank
Pivot has change in location with knee joint.And the knee joint of lower limb exoskeleton robot is mechanical joint, during it is turned round
The heart is fixed.It is apparent that in user's walking process, moved between man-machine knee joint asynchronous.Meanwhile lower limb exoskeleton robot
Structural member and the size of human body deviation be present, cause man-machine movement interference, disturb the motion of wearer.
The content of the invention
For overcome the deficiencies in the prior art, the invention provides a kind of exoskeleton lower limbs and wearable robot, have
Good adaptive ability and kinematic dexterity.
The purpose of the present invention is achieved through the following technical solutions：
A kind of exoskeleton lower limbs, there are upper connection end, leg exercise device and foot attachment means：
The upper connection end is used to receive the load that user's upper torso is born；
The leg exercise device has the first noumenon and the second body, and the first noumenon passes through with the upper connection end
First articulated section is hinged, and the first noumenon has linear relative movement with second body；
The foot attachment means are worn on the foot of the user, and are cut with scissors with second body by the second articulated section
Connect, the linear relative movement is along the connecting line direction between first articulated section and second articulated section.
As the improvement of above-mentioned technical proposal, first articulated section is the motion at least having two rotational freedoms
It is secondary.
As the further improvement of above-mentioned technical proposal, second articulated section is at least to have two rotational freedoms
Kinematic pair.
As the further improvement of above-mentioned technical proposal, the first noumenon also has with the phase with second body
The direction of motion to linear motion is the rotational freedom of axle.
As the further improvement of above-mentioned technical proposal, first articulated section be located at the user femoribus internus, and/
Or second articulated section is on the inside of the foot of the user.
As the further improvement of above-mentioned technical proposal, the exoskeleton lower limbs, which also have, to be used to measure the leg exercise
The angular displacement sensor of angular displacement between device and the upper connection end.
A kind of wearable robot, there is Backpack device and be divided into the exoskeleton lower limbs of user's both legs, the back of the body
Negative device is worn on the upper torso of user and is connected with the upper connection end.
As the improvement of above-mentioned technical proposal, the Backpack device has wearing portion and the moving load part for loading weight,
Described moving load part one end is connected with the wearing portion, and the other end connects with the one end of the upper connection end away from first articulated section
Connect.
As the further improvement of above-mentioned technical proposal, the wearing portion has shoulder back of the body wearing portion and/or waist hip wearing portion,
The shoulder back of the body wearing portion is worn on the shoulder back of the user, and the waist hip wearing portion is worn on the hip of the user, described
The shoulder back of the body side of wearing portion and/or the waist hip wearing portion away from the user is connected with the moving load part.
As the further improvement of above-mentioned technical proposal, the Backpack device is provided with control unit and power unit, institute
The motion state that control unit is used to control the leg exercise device is stated, the power unit is used for the wearable machine
People provides power and energy.
The beneficial effects of the invention are as follows：
With telescopic leg exercise device, leg exercise device both ends are respectively articulated with connection end and dress are connected with foot
Put, remove the knee joint that has in traditional design, it is misaligned and movement interference occurs to avoid rotating center, while significantly
Deadweight and the space hold of exoskeleton lower limbs, and the adaptive ability with motion process are reduced, is avoided because the long deviation of leg occurs
Movement interference, adaptive ability is strong, kinematic dexterity is good.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the first schematic diagram of the exoskeleton lower limbs that the embodiment of the present invention 1 provides；
Fig. 2 is the second schematic diagram of the exoskeleton lower limbs that the embodiment of the present invention 1 provides；
Fig. 3 is the mechanical analysis figure for the exoskeleton lower limbs that the embodiment of the present invention 1 provides；
Fig. 4 is the first schematic diagram of the wearable robot that the embodiment of the present invention 1 provides；
Fig. 5 is the second schematic diagram of the wearable robot that the embodiment of the present invention 1 provides.
Main element symbol description：
The wearable robots of 1000-, 0100- exoskeleton lower limbs, the upper connection ends of 0110-, 0120- leg exercise devices,
0121- the first noumenons, the bodies of 0122- second, 0130- foot attachment means, the articulated sections of 0140- first, 0150- second are be hinged
Portion, 0200- Backpack devices, 0210- wearings portion, 0211- shoulders back of the body wearing portion, 0212- waist hip wearings portion, 0220- moving load parts.
Embodiment
For the ease of understanding the present invention, exoskeleton lower limbs and wearable robot are carried out more below with reference to relevant drawings
Comprehensive description.The preferred embodiment of exoskeleton lower limbs and wearable robot is given in accompanying drawing.But exoskeleton lower limbs with
Wearable robot can be realized by many different forms, however it is not limited to embodiment described herein.On the contrary, carry
Purpose for these embodiments is to make the disclosure more thorough and comprehensive to exoskeleton lower limbs and wearable robot.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element be referred to as " directly existing " another element " on " when,
In the absence of intermediary element.Term as used herein " vertically ", " horizontal ", "left", "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Herein in the used in the description of exoskeleton lower limbs and wearable robot
Term is intended merely to describe the purpose of specific embodiment, it is not intended that the limitation present invention.Term as used herein " and/or "
Include the arbitrary and all combination of one or more related Listed Items.
Embodiment 1
Fig. 1~3 are please referred to, exoskeleton lower limbs 0100 have upper connection end 0110, leg exercise device 0120 and foot
Connecting connection parts 0130, for improving the kinematic dexterity of exoskeleton robot, avoid that between humans and machines occurs in human walking procedure
Movement interference, there is provided preferable power-assisted simultaneously ensures human-body safety.The main construction of exoskeleton lower limbs 0100 lifts it and wants person to be described in detail such as
Under.
Upper connection end 0110 is used to receive the load that user's upper torso is born possessed by exoskeleton lower limbs 0100.Upper company
Connect end 0110 and belong to load bearing component, there should be enough stiffnesses.It can use a variety of makes, such as rod member, plate.
In one exemplary embodiment, upper connection end 0110 is made with rigid rod, and no bending deforms and transmits spirit with preferable power
Sensitivity.In another embodiment, upper connection end 0110 is still made with elastic component, can along the direction of transfer elastic deformation of power,
With preferable shock-absorbing capacity.
Leg exercise device 0120 possessed by exoskeleton lower limbs 0100 is main power-assisted portion, for bearing from upper connection
The load of the input of end 0110, and there is freedom of motion corresponding with user's lower extremity movement, mitigate user's lower limb in walking
Motion hinders.
Leg exercise device 0120 has the body 0122 of the first noumenon 0121 and second, the first noumenon 0121 and upper connection end
0110 is be hinged by the first articulated section 0140, and the second body 0122 is connected with foot attachment means 0130.The first noumenon 0121 with
Second body 0122 has linear relative movement, leg exercise device 0120 is had flexible ability, can with walking process
User's lower limb synchronization telescope, avoids generating mechanism from hindering.
Wherein, the linear relative movement of the first noumenon 0121 and the second body 0122 can be implemented in a variety of forms, including stretch
The structure of the achievable linear motion such as contracting cylinder, electric pushrod, electric cylinders, lead-screw drive mechanism.It is apparent that the first noumenon 0121 and
On the one hand two bodies 0122 provide transmission capacity, on the other hand provide telescopic adjustment ability.
In practical application, from the load of upper connection end 0110 input, passed through the body 0122 of the first noumenon 0121 and second
Enter foot attachment means 0130, provided with foot attachment means 0130 in the support force that ground obtains to user's upper torso
Structural support, mitigate the load of user's body.
Because the first noumenon 0121 and upper connection end 0110 have hinged relationship, the first noumenon 0121 and upper connection end 0110
With the free degree is relatively rotated, make leg exercise device 0120 and with regulating power is rotated, such as with user's lower limb forward swing, side-sway
Deng.Here, the first noumenon 0121 and the rotational freedom of upper connection end 0110 depend on the kinematic pair structure of the first articulated section 0140
Make.
Preferably, the first articulated section 0140 is the kinematic pair at least having two rotational freedoms.Specifically, first is be hinged
Portion 0140 at least has the two in the forward swing free degree, the side-sway free degree and the spin free degree, makes the first noumenon 0121 and upper company
The rotation for connecing end 0110 is flexible.
In an exemplary embodiment, the first articulated section 0140 at least has the forward swing free degree, to realize under user
The basic function of limb walking.Wherein, the forward swing free degree, the side-sway free degree and the spin free degree are rotational freedom, and respectively
Preceding pendular motion, side-sway motion and spin motion corresponding to user's thigh.In practical application, the first articulated section 0140 can use ball
The forms such as hinge, universal joint are realized.
Preferably, the body 0122 of the first noumenon 0121 and second also has using the direction of motion of linear relative movement as axle
Rotational freedom.Specifically, the first noumenon 0121 can rotate against with the second body 0122, to adapt to the kneed spin of user
Motion, the movement interference of exoskeleton lower limbs 0100 is caused when avoiding thigh from being spinned respectively with shank.
Foot attachment means 0130 possessed by exoskeleton lower limbs 0100 are used for will be negative from leg exercise device 0120
Load is transmitted to ground.Foot attachment means 0130 are worn on the foot of user, and pass through the second articulated section with the second body 0122
0150 is be hinged.Further it is specifically defined herein, the linear relative movement between the body 0122 of the first noumenon 0121 and second is along
Connecting line direction between one articulated section 0140 and the second articulated section 0150.
Specifically, foot attachment means 0130 can use multiple structural forms, such as shoe body, VELCRO, bandage form, tightly
Thickly it is worn on user's foot.In an exemplary embodiment, foot attachment means 0130 have one to be arranged under sole
The supporting surface of side, load is transmitted for protecting sole and directly being contacted with ground.
The body 0122 of foot attachment means 0130 and second has hinged relationship, makes rotational freedom therebetween and can turn
Dynamic regulation, to adapt to the motion of user's ankle-joint.For example, when user's foot and user's shank rotate, foot connection dress
Set to 0 130 can adaptively to rotate with the second body 0122, avoid that movement interference occurs and user's walking is caused to hinder.
Here, the rotational freedom of the body 0122 of foot attachment means 0130 and second depends on the second articulated section 0150
Kinematic pair constructs.Preferably, the second articulated section 0150 is the kinematic pair at least having two rotational freedoms.Specifically, second
Articulated section 0150 at least have it is upper pendulum the free degree, the side-sway free degree with spin the free degree in the two, with adapt to user's foot with
The generable relative motion form of institute between user's shank, avoid generating mechanism interference stuck.
In an exemplary embodiment, the second articulated section 0150 at least has the side-sway free degree, to adapt to user's foot
Portion turns to relative to the sideshake of user's shank.Wherein, the upper pendulum free degree, the side-sway free degree and the spin free degree are to rotate
The free degree, and correspond respectively to the upper pendular motion of user's foot, side-sway motion and the spin motion of user's shank.Practical application
In, the second articulated section 0150 can use the forms such as spherical hinge, universal joint to realize.
Preferably, the first articulated section 0140 is located at the femoribus internus of user.Specifically, the first articulated section 0140 is located at user
Two legs between, both legs dress when two legs on the first articulated section 0140 it is positioned opposite, the stroke phase of leg exercise device 0120
It should match.
Further preferably, the second articulated section 0150 is on the inside of the foot of user.Specifically, the second articulated section 0150 is located at
Foot attachment means 0130 are also located at user's thigh close to one end on the inside of user's foot with reference to the first foregoing articulated section 0140
Inner side, leg exercise device 0120 is integrally located at the preaxial of user, effectively reduce gravity and ground supports power phase
For the arm of force of hip joint, reduce side-sway torque, avoid user in walking process occur it is violent swing, so as to ensure to use
The physical safety at family.
Preferably, exoskeleton lower limbs 0100, which also have, is used to measure between leg exercise device 0120 and upper connection end 0110
The angular displacement sensor of angular displacement.Specifically, angular displacement sensor can be located at the first articulated section 0140, relative for direct measurement
Angular displacement, the relative rotation state between accurate judgement the first noumenon 0121 and upper connection end 0110.
Preferably, exoskeleton lower limbs 0100 also have the pressure sensing for the power output for being used to measure leg exercise device 0120
Device.Specifically, pressure sensor can be located on the body 0122 of the first noumenon 0121 or second, filled for direct measurement leg exercise
120 power output is set to 0, is adjusted with the loaded state of accurate judgement exoskeleton lower limbs 0100 and in time.
Fig. 4~5 are please referred to, introduce a kind of wearable robot 1000 in this together, it has Backpack device 0200
And be divided into the exoskeleton lower limbs 0100 of user's both legs, Backpack device 0200 be worn on the upper torso of user and with upper connection end
0110 connection, for providing a kind of kinematic dexterity good wearable power assistive device, ensures that user's is safe to use.
Specifically, Backpack device 0200 has the wearable structure of fitting human body, there is provided comfortable wearing experience.Meanwhile
Backpack device 0200 has load function, for loading weight, provide the user and bear carrying function.Wherein, weight may include
The control unit of wearable robot 1000, power unit, article to be handled etc..
As previously described, because leg exercise device 0120 is located between two legs of user, have respectively on the leg of user two
The both legs spacing for being smaller than user between first articulated section 0140, the second articulated section 0150 having respectively on the foot of user two
Between the biped spacing for being smaller than user, so as to ensure inner side wearing form, obtain less side-sway torque.
Preferably, Backpack device 0200 has wearing portion 0210 and the moving load part 0220 for loading weight, moving load part
0220 one end is connected with wearing portion 0210, and the other end is connected with the one end of upper connection end 0110 away from the first articulated section 0140.
Specifically, wearing portion 0210 is used to provide wearing function, is snugly worn on human body.Wearing portion 0210 can use
Multiple structural forms, it is connected with the upper torso of human body.Further preferably, wearing portion 0210 have shoulder back of the body wearing portion 0211 and/
Or waist hip wearing portion 0212, shoulder back of the body wearing portion 0211 are worn on the shoulder back of user, waist hip wearing portion 0212 is worn on user's
Hip, shoulder back of the body wearing portion 0211 and/or 0212 side away from user of waist hip wearing portion are connected with moving load part 0220.
Wherein, shoulder back of the body wearing portion 0211 can use a variety of constructions with waist hip wearing portion 0212, such as rigid support, elasticity branch
Frame, flexible link belt etc..In an exemplary embodiment, shoulder back of the body wearing portion 0211 can be brace, waist hip wearing portion
0212 can be waistband, there is provided more comfortable wearing experience, and the physique structure of different user can be bonded properly.Further
It is preferred that shoulder back of the body wearing portion 0211 has regulatory function respectively with waist hip wearing portion 0212, to adjust to the body for adapting to active user
The connection status of state feature.
Moving load part 0220 can use a variety of structural forms, including luggage carrier, loading indigo plant, tote box, make weight can be securely
It is held on moving load part 0220, avoids dropping.
Preferably, Backpack device 0200 is provided with control unit and power unit, and control unit is used to control leg exercise
The motion state of device 0120, power unit are used to provide power and energy to wearable robot 1000.
Further preferably, control unit is electrically connected with angular displacement sensor, pressure sensor respectively, is derived from for receiving
The measurement data of the latter two, and the motion morphology of leg exercise device 0120 is accordingly adjusted according to measurement data, especially export
Power.
It should be noted that because exoskeleton lower limbs 0100 eliminate knee possessed by the exoskeleton robot of traditional form
Joint, hip joint and ankle-joint, deadweight and the energy consumption of exoskeleton lower limbs 0100 can be effectively reduced, improve exoskeleton lower limbs 0100
Exercise performance.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, without
It is that therefore, other examples of exemplary embodiment can have different values as limitation.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore limitation of the scope of the invention can not be interpreted as.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of exoskeleton lower limbs, it is characterised in that there are upper connection end, leg exercise device and foot attachment means：
The upper connection end is used to receive the load that user's upper torso is born；
The leg exercise device has the first noumenon and the second body, and the first noumenon passes through first with the upper connection end
Articulated section is hinged, and the first noumenon has linear relative movement with second body；
The foot attachment means are worn on the foot of the user, and are hinged with second body by the second articulated section,
The linear relative movement is along the connecting line direction between first articulated section and second articulated section.
2. exoskeleton lower limbs according to claim 1, it is characterised in that first articulated section is that at least there are two to turn
The kinematic pair of the dynamic free degree.
3. exoskeleton lower limbs according to claim 1, it is characterised in that second articulated section is that at least there are two to turn
The kinematic pair of the dynamic free degree.
4. exoskeleton lower limbs according to claim 1, it is characterised in that the first noumenon also has with second body
There is the rotational freedom using the direction of motion of the linear relative movement as axle.
5. exoskeleton lower limbs according to claim 1, it is characterised in that first articulated section is big located at the user's
Inboard leg, and/or second articulated section is on the inside of the foot of the user.
6. exoskeleton lower limbs according to claim 1, it is characterised in that the exoskeleton lower limbs, which also have, to be used to measure institute
State the angular displacement sensor of angular displacement between leg exercise device and the upper connection end.
7. a kind of wearable robot, it is characterised in that there is Backpack device and be divided into the claim 1-6 institutes of user's both legs
The exoskeleton lower limbs stated, the Backpack device are worn on the upper torso of the user and are connected with the upper connection end.
8. wearable robot according to claim 7, it is characterised in that the Backpack device has wearing portion with being used for
The moving load part of weight is loaded, described moving load part one end is connected with the wearing portion, and the other end is with the upper connection end away from described
One end connection of first articulated section.
9. wearable robot according to claim 8, it is characterised in that the wearing portion have shoulder the back of the body wearing portion and/
Or waist hip wearing portion, the shoulder back of the body wearing portion are worn on the shoulder back of the user, the waist hip wearing portion is worn on the use
The hip at family, the shoulder back of the body side of wearing portion and/or the waist hip wearing portion away from the user are connected with the moving load part.
10. wearable robot according to claim 7, it is characterised in that the Backpack device is provided with control unit
With power unit, described control unit is used to controlling the motion state of the leg exercise device, and the power unit is used for pair
The wearable robot provides power and energy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710584285.1A CN107363811B (en) | 2017-07-18 | 2017-07-18 | Exoskeleton lower limb and wearable robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710584285.1A CN107363811B (en) | 2017-07-18 | 2017-07-18 | Exoskeleton lower limb and wearable robot |
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| Publication Number | Publication Date |
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| CN107363811A true CN107363811A (en) | 2017-11-21 |
| CN107363811B CN107363811B (en) | 2020-11-20 |
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| CN108500957A (en) * | 2018-04-09 | 2018-09-07 | 哈尔滨工业大学 | A kind of wearable flexible upper limb ectoskeleton force aid system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108500957A (en) * | 2018-04-09 | 2018-09-07 | 哈尔滨工业大学 | A kind of wearable flexible upper limb ectoskeleton force aid system |
| CN108500957B (en) * | 2018-04-09 | 2021-03-02 | 哈尔滨工业大学 | Wearable flexible upper limb exoskeleton assistance system |
| CN112223257A (en) * | 2020-09-02 | 2021-01-15 | 阜新市三合智能制造技术有限公司 | Action control system of lower limb auxiliary instrument |
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| CN107363811B (en) | 2020-11-20 |
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