CN108858148A - A kind of upper limb exoskeleton robot of pneumatic muscles driving - Google Patents
A kind of upper limb exoskeleton robot of pneumatic muscles driving Download PDFInfo
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- CN108858148A CN108858148A CN201810785041.4A CN201810785041A CN108858148A CN 108858148 A CN108858148 A CN 108858148A CN 201810785041 A CN201810785041 A CN 201810785041A CN 108858148 A CN108858148 A CN 108858148A
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- shoulder
- driving
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 60
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 25
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 47
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 36
- 210000003414 extremity Anatomy 0.000 claims abstract description 3
- 210000000245 forearm Anatomy 0.000 claims description 27
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 230000035807 sensation Effects 0.000 claims description 2
- 239000007779 soft material Substances 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000002146 bilateral effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 6
- 210000001624 hip Anatomy 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 235000013372 meat Nutrition 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004118 muscle contraction Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000001766 physiological effect Effects 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to robot system design field, a kind of upper limb exoskeleton robot of pneumatic muscles driving, including back bracket and upper arm.The upper arm is carried on the back connector by shoulder and is fixed in back bracket, and back bracket plays connection and supporting role to upper arm.The structure of limb exoskeleton robot is with back bracket center line bilateral symmetry.The back bracket includes that frame structure, pulley, shoulder back connector and shoulder joint driving muscle, pulley are fixed on the upside of frame structure；The upper arm includes enclosed type ball-joint, clamping plate, Medial upper arm clamping plate, upper arm pulley, elbow joint fixed wheel, tandem drive muscle on the outside of upper arm；The enclosed type ball-joint is fixed on shoulder back connector upper end lower surface.Beneficial effects of the present invention are：Using pneumatic muscles as driving, structural complexity and cost have been greatly reduced compared to motor and hydraulic-driven；Elbow joint is equipped with fixed wheel, is able to achieve in the case where extreme angle and still ensures that series connection muscle can export enough torque.
Description
Technical field
The invention belongs to robot system design fields, more particularly to a kind of upper limb dermoskeleton of pneumatic muscles driving
Bone robot.
Background technique
Exoskeleton robot is substantially a kind of wearable robot, that is, a kind of machinery being worn on outside operator's body
Mechanism.Since exoskeleton robot technology can enhance the personal ability when completing certain tasks, ectoskeleton and operator's group
At people-exoskeleton system can have bigger adaptability, therefore, draw to the research of exoskeleton robot in recent years to environment
Many scientific research personnel's note that and obtaining in fields such as individual soldier's military combat equipment, auxiliary medical equipment, servomechanisms are played
It is widely applied.
Traditional ectoskeleton mostly uses motor and hydraulic-driven, and motor and hydraulic-driven cost are excessively high, motor driven output
Torque is too small, and structure is complicated, and then noise is excessive for hydraulic-driven.Traditional upper limb ectoskeleton shoulder joint three degree of freedom driving
It is often implemented separately, structure is complicated and disperses, and bionical performance is low.Simultaneously as pneumatic muscles shrinking percentage is small, traditional, pneumatic
The ectoskeleton of muscle driving has that motion range is small.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of upper limb ectoskeleton machines of pneumatic muscles driving
Device people, the upper limb ectoskeleton are mainly used for that human upper limb is assisted to bear a heavy burden and carry out flexible motion.
To achieve the above object, the present invention uses following technical scheme：
A kind of upper limb exoskeleton robot of pneumatic muscles driving, including back bracket and upper arm.
The upper arm is carried on the back connector by shoulder and is fixed in back bracket, and back bracket plays connection to upper arm and support is made
With；The structure of limb exoskeleton robot is symmetrical along back bracket center line.
The back bracket includes frame structure, pulley, shoulder back connector and shoulder joint driving muscle, between six pulleys etc.
Away from being fixed on the upside of frame structure；It is inside frame structure and right respectively with six pulleys that six roots of sensation shoulder joint driving muscle is placed in parallel
It answers, fixed on the downside of lower end and frame structure, shoulder joint driving muscle upper end passes through wirerope respectively around frame structure is located at
The pulley of upside is connect with the driving rope of enclosed type ball-joint, realizes the driving to enclosed type ball-joint.Pulley realizes shoulder joint
Section driving muscle power output direction is flexibly oriented to and reduces the frictional force in power conversion process, improves transmission efficiency.It is described
Shoulder back connector be V structure, v-shaped opening angle is greater than 90 degree, and V-arrangement lower end is fixed on frame structure right side, upper end and upper arm
Enclosed type ball-joint connection.
The upper arm includes enclosed type ball-joint, clamping plate, Medial upper arm clamping plate, upper arm pulley, elbow joint are fixed on the outside of upper arm
Wheel, tandem drive muscle；The enclosed type ball-joint is fixed on shoulder back connector lower surface；The top plane of enclosed type ball-joint
If there are three be uniformly distributed and apart from top planar central distance be R hole；Three shoulder leading blocks are fixed on shoulder back connection
The hole of the top plane of the upper surface of part, three shoulder leading blocks and enclosed type ball-joint corresponds；Enclosed type ball-joint
Three driving ropes bypass shoulder leading block respectively and connect with wirerope；The lower end of enclosed type ball-joint is fixed on the outside of upper arm
Between clamping plate and Medial upper arm clamping plate, the lower end of upper arm medial and lateral clamping plate and forearm are hinged, realize forearm rotation, and elbow joint is fixed
Wheel is fixed on forearm by the center of circle of hinge joint；
Fixed upper arm pulley, wirerope drive flesh with two elbow joints respectively around upper arm pulley on the outside of clamping plate on the outside of upper arm
The connection of meat one end, two elbow joints driving muscle other ends respectively with clamping plate lower end on the outside of the elbow joint fixed wheel and upper arm on forearm
Connection, such a series of contraction of muscle amount become larger, can realize in the case where guaranteeing certain output torque to the bigger model of elbow joint
The driving enclosed.
Further, the enclosed type ball-joint, including shoulder joint fixed platform, shoulder joint moving platform, joint ball, on
Arm rotary shaft and driving rope；
The shoulder joint fixed platform includes top plane and pillar, and top plane sets that there are three be uniformly distributed and apart from top plane
Centre distance is the hole of R, and top plane is fixed on pillar upper end, is equipped with ball-and-socket at the lower end center of pillar, joint ball is placed in ball
In nest；Joint ball lower end and upper arm rotate axis connection；Upper arm rotates outer shaft sleeve shoulder joint moving platform, and shoulder joint moving platform is sleeve
Shape, sleeve outer wall are distributed three connecting pins with sectional uniform, and connecting pin and sleeve central axis distance are r；Shoulder joint is dynamic flat
Three driving ropes are fixed in three connecting pins of platform respectively, and the other end of three driving ropes is passed through in shoulder joint fixed platform
Push up three Kong Houyu wirerope connection of plane.
Further, the exoskeleton robot further includes bandage, and bandage includes shoulder strap, chest strap, waist
Bandage, upper arm bandage and forearm bandage, shoulder strap is U-shaped hard material, for holding upper limb ectoskeleton and load weight, shoulder
Portion's bandage is symmetrically fixed on the frame structure；Remaining bandage is flexible bandage, can use the soft materials such as nylon, chest strap and
Waist bandage is each attached in frame structure, and for matching the relative position between trunk and ectoskeleton, upper arm bandage connects
Connect on Medial upper arm clamping plate, forearm bandage is fixed on forearm, upper arm bandage and forearm bandage for guarantee human body arm and
Relatively fixed between ectoskeleton, flexible bandage main function is to realize that should fix again between people and ectoskeleton has centainly
Activity space, with guarantee human body wearing ectoskeleton comfort.
Further, the upper limb exoskeleton robot of a kind of pneumatic muscles driving, which is characterized in that the elbow closes
Saving fixed wheel is sector belt sheave, and elbow joint fixed wheel is fixed with forearm, and elbow joint fixed wheel and hinge are concentric, elbow joint fixed wheel
Effect is：In the case that angle is close to 180 degree between forearm and upper arm, elbow joint fixed wheel guarantees that elbow joint driving muscle can be defeated
Enough torque is to drive elbow joint out.
Further, the frame structure constitutes frame structure using two lateral frames and two perpendicular supports；Lateral frame
It is that aluminum corner brace material cutting drilling forms with perpendicular support, fixation is bolted between each bracket, human body back, bracket can be close to
Primarily serve the connection and supporting role to shoulder joint driving muscle.
Beneficial effects of the present invention are：Using homemade pneumatic muscles as driving, pneumatic muscles have good flexibility
With bionical performance, structural complexity and cost have been greatly reduced compared to motor and hydraulic-driven.Shoulder joint uses ball-joint
The parallel-connection structure of form, and ball-and-socket is tilted to right front, consistent with human body shoulder joint physiological property, bio-imitability is high, compact-sized；
Shoulder joint pneumatic muscles are placed in back bracket, and realize guiding role with pulley, not only compact-sized, beautiful, also can be certain
The insufficient defect of pneumatic muscles shrinking percentage is made up in degree, elbow joint uses two pneumatic muscles tandem drives, increases pneumatic
The length of muscle compensates for the insufficient defect of pneumatic muscles shrinking percentage, increases elbow joint freedom degree motion range；Elbow joint
Fixed wheel is installed, is able to achieve in the case where extreme angle and still ensures that series connection muscle can export enough torque.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the main view of Fig. 1.
Fig. 3 is the right view of Fig. 1.
Fig. 4 is the schematic diagram that upper arm is connect with forearm.
Fig. 5 is the diagrammatic cross-section of upper arm rotary shaft and the assembly of shoulder joint moving platform.
In figure：1 perpendicular support；2 forearm bandages；3 upper arm bandages；4 shoulder joint wirerope；5 shoulder leading blocks；6 back steel
Cord；7 lateral frames；8 back leading blocks；9 shoulders carry on the back connector；10 shoulder joint pneumatic muscles；10 shoulder joint pneumatic muscles；11 waists
Portion's bandage；12 chest straps；13 shoulder straps；14 shoulder joint fixed platforms；15 joint balls；16 upper arm rotary shafts；17 shoulder joint
Moving platform；18 upper arm pulleys；19 tandem pneumatic muscle；Clamping plate on the outside of 20 upper arm；21 Medial upper arm clamping plates；22 forearms；23 elbows close
Save fixed wheel；24 elbow hinges；25 transverse bearing A；26 thrust bearings；27 transverse bearing B.
Specific embodiment
The upper limb ectoskeleton that a kind of pneumatic muscles of the invention are driven below with reference to FIG. 1 to FIG. 5 and specific embodiment
Robot is described in further detail.
According to FIG. 1 to FIG. 5, a kind of upper limb exoskeleton robot of pneumatic muscles driving, mainly include back bracket,
Shoulder carries on the back connector 9, parallel drive shoulder joint, upper arm, tandem drive elbow joint, forearm 20, bandage etc., and back bracket is by perpendicular support
1, lateral frame 7 and shoulder joint driving muscle 10, back bracket leading block 8 and wirerope 6 form, and parallel drive shoulder joint is by steel
Cord 4, shoulder leading block 5, shoulder joint fixed platform 14, joint ball 15 and shoulder joint moving platform 17 form, and upper arm is by upper arm
Rotary shaft 16, upper arm pulley 18, clamping plate 20 and Medial upper arm clamping plate 21 form on the outside of upper arm, and tandem drive elbow joint is by series connection gas
Dynamic muscle 19 and elbow joint fixed wheel 23 form, and band portion is by forearm bandage 2, upper arm bandage 3, waist bandage 11, chest strap
12 and shoulder strap 14 form, between upper arm rotary shaft 16 and shoulder joint moving platform 14 pass through transverse bearing A25, transverse bearing B
27 are connected with thrust bearing 26.
Upper limb exoskeleton robot arm is carried out by taking shoulder joint flexion and extension in sagittal plane and elbow joint flexion and extension as an example
The operating process explanation lifted.
Wearing
Human body first will dress upper limb ectoskeleton, and shoulder strap 13 is the hard bandage of U-shaped, frame on human body shoulder,
Main function makes one physical efficiency and holds upper limb ectoskeleton from below, and most of quality of ectoskeleton and weight bearing passes through shoulder U-shaped bandage
Human body is passed to, the soft objects such as sponge can be padded below to improve wearing comfort, first by shoulder strap frame when dressing ectoskeleton
On shoulders of human body, chest strap 12, waist bandage 11, upper arm bandage 2 and forearm bandage 3 are then bound, removes shoulder strap
Except other bandages be flexible bandage, flexible bandage main function is to realize should fix again between people and ectoskeleton
There is certain activity space, to guarantee the comfort of human body wearing ectoskeleton.
Shoulder joint kinesitherapy
By taking right arm as an example, control system detection human motion issues certain signal after being intended to, and controls three shoulder joint respectively
The air pressure inside of muscle 10 is driven, three pneumatic muscles 10 are located in back bracket, pneumatic muscles upper end connecting steel wire ropes 6, steel wire
Rope is around the pulley positioned at back bracket and in shoulder fixed platform and is connected on shoulder joint moving platform 17, three pneumatic fleshes of root
Power and movement are passed into shoulder joint moving platform by pulley when meat shrinks or extends, shoulder joint moving platform transmits the force to upper arm
Rotary shaft 16, so that the pendulum of upper arm rotary shaft, i.e. two freedom degrees of abduction/adduction and flexion/extension are able to achieve, since shoulder joint is dynamic
Thrust bearing 26, transverse bearing A25 and transverse bearing B 27, energy flexible rotating, institute are equipped between platform and upper arm rotary shaft
It is in non-driving state with the internal/external rotations freedom degree of shoulder joint, this freedom degree can be by human upper limb come active drive.
Elbow joint motion
The pneumatic muscles 19 of driving elbow joint are cascades, are connected between two muscle by wirerope, flesh of connecting
Meat bypasses movable pulley 18, and one end is connected with the elbow joint fixed wheel 23 on forearm, bypasses elbow joint fixed wheel, one end by wirerope
It is connected with 20 lower end of outside clamping plate, when pneumatic muscles inner inflatable, series connection muscle is shunk together, when pneumatic muscles are shunk,
Elbow joint fixed wheel 23 is pulled to move, and elbow joint fixed wheel 23 is fixed on forearm 22, this can drive forearm around hinge 24
Rotation upwards.When pneumatic muscles are deflated, series connection muscle elongation realizes that elbow closes in the case where weight bearing or human body actively drive
Section around hinge is rotated down.
Claims (8)
1. a kind of upper limb exoskeleton robot of pneumatic muscles driving, which is characterized in that including back bracket and upper arm；
The upper arm is fixed in back bracket by shoulder back connector (9)；The structure of limb exoskeleton robot is along back branch
Frame center line is symmetrical；
The back bracket includes frame structure, pulley (8), shoulder back connector (9) and shoulder joint driving muscle (10), six cunnings
Wheel (8) is equidistantly fixed on the upside of frame structure；Six roots of sensation shoulder joint driving muscle (10) be placed in inside frame structure in parallel and with
Six pulleys (8) respectively correspond, fixed on the downside of lower end and frame structure, and shoulder joint driving muscle (10) upper end passes through steel respectively
Cord (6) bypasses the pulley (8) being located on the upside of frame structure and connect with the driving rope of enclosed type ball-joint, realizes to enclosed type
The driving of ball-joint；Shoulder back connector (9) is V structure, and v-shaped opening angle is greater than 90 degree, and V-arrangement lower end is fixed on frame
On the right side of structure, the enclosed type ball-joint of upper end and upper arm is connected；
The upper arm include enclosed type ball-joint, clamping plate (20) on the outside of upper arm, Medial upper arm clamping plate (21), upper arm pulley (18),
Elbow joint fixed wheel (23), tandem drive muscle (19)；The enclosed type ball-joint is fixed on shoulder back connector (9) lower surface；
The top plane of enclosed type ball-joint set there are three be uniformly distributed and apart from top planar central distance be R hole；Three shoulders are led
The upper surface of shoulder back connector (9) is fixed on to pulley (5), three shoulder leading blocks (5) and the top of enclosed type ball-joint are flat
The hole in face corresponds；Three driving ropes of enclosed type ball-joint bypass shoulder leading block (5) and wirerope (6) even respectively
It connects；Enclosed type ball-joint lower end is fixed between clamping plate on the outside of upper arm (20) and Medial upper arm clamping plate (21), upper arm medial and lateral folder
Forearm (22) rotation hingedly, is realized, elbow joint fixed wheel (23) is fixed on small using hinge joint as the center of circle in the lower end and forearm (22) of plate
On arm (22)；On the outside of upper arm on the outside of clamping plate (20) fixed upper arm pulley (18), wirerope is around upper arm pulley (18) respectively with two
Root elbow joint drives the connection of muscle (19) one end, two elbow joints driving muscle (19) other ends respectively with the elbow on forearm (22)
Joint fixed wheel (23) is connected with clamping plate on the outside of upper arm (20) lower end.
2. a kind of upper limb exoskeleton robot of pneumatic muscles driving as described in claim 1, which is characterized in that described closes
Locking-type ball-joint, including shoulder joint fixed platform (14), shoulder joint moving platform (17), joint ball (15), upper arm rotary shaft (16)
With driving rope；
The shoulder joint fixed platform (14) includes top plane and pillar, and top plane sets that there are three be uniformly distributed and apart from top plane
Centre distance is the hole of R, and top plane is fixed on pillar upper end, is equipped with ball-and-socket at the lower end center of pillar, joint ball (15) is set
In ball-and-socket；Joint ball (15) lower end is connect with upper arm rotary shaft (16)；Upper arm rotary shaft (16) housing shoulder joint moving platform
(17), shoulder joint moving platform (17) is sleeve-shaped, and sleeve outer wall is distributed three connecting pins, connecting pin and sleeve with sectional uniform
Central axis distance is r；Three driving ropes, three driving ropes are fixed in three connecting pins of shoulder joint moving platform (17) respectively
The other end pass through shoulder joint fixed platform (14) top plane three Kong Houyu wirerope (6) connect.
3. a kind of upper limb exoskeleton robot of pneumatic muscles driving as claimed in claim 1 or 2, which is characterized in that described
Exoskeleton robot further include bandage, bandage includes shoulder strap (13), chest strap (12), waist bandage (11), upper arm
Bandage (3) and forearm bandage (2), shoulder strap (13) are U-shaped hard material, and shoulder strap (13) is symmetrically fixed on frame structure
On；Remaining bandage is flexible bandage, and using soft material, chest strap (12) and waist bandage (11) are each attached to frame knot
On structure, for matching the relative position between trunk and ectoskeleton, upper arm bandage (3) is connected to Medial upper arm clamping plate (21)
On, forearm bandage (2) is fixed on forearm (22).
4. a kind of upper limb exoskeleton robot of pneumatic muscles driving as claimed in claim 1 or 2, which is characterized in that described
Elbow joint fixed wheel (23) is sector belt sheave, and elbow joint fixed wheel (23) and forearm (22) are fixed, elbow joint fixed wheel (23) and hinge
It (24) is concentric.
5. a kind of upper limb exoskeleton robot of pneumatic muscles driving as claimed in claim 3, which is characterized in that the elbow closes
Section fixed wheel (23) is sector belt sheave, and elbow joint fixed wheel (23) and forearm (22) are fixed, elbow joint fixed wheel (23) and hinge (24)
For concentric.
6. the upper limb exoskeleton robot that a kind of pneumatic muscles as described in claim 1,2 or 5 drive, which is characterized in that institute
The frame structure stated constitutes frame structure using two lateral frames (7) and two perpendicular supports (1).
7. a kind of upper limb exoskeleton robot of pneumatic muscles driving as claimed in claim 3, which is characterized in that the frame
Frame structure constitutes frame structure using two lateral frames (7) and two perpendicular supports (1).
8. a kind of upper limb exoskeleton robot of pneumatic muscles driving as claimed in claim 4, which is characterized in that the frame
Frame structure constitutes frame structure using two lateral frames (7) and two perpendicular supports (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810785041.4A CN108858148B (en) | 2018-07-17 | 2018-07-17 | Pneumatic muscle-driven upper limb exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810785041.4A CN108858148B (en) | 2018-07-17 | 2018-07-17 | Pneumatic muscle-driven upper limb exoskeleton robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108858148A true CN108858148A (en) | 2018-11-23 |
| CN108858148B CN108858148B (en) | 2020-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810785041.4A Expired - Fee Related CN108858148B (en) | 2018-07-17 | 2018-07-17 | Pneumatic muscle-driven upper limb exoskeleton robot |
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| CN109746897A (en) * | 2019-01-07 | 2019-05-14 | 吉林大学 | A kind of back bionic exoskeleton power assisting device |
| CN110385698A (en) * | 2019-07-30 | 2019-10-29 | 北京机械设备研究所 | A kind of motor-driven four-degree-of-freedom upper limb exoskeleton device |
| CN110421551A (en) * | 2019-08-08 | 2019-11-08 | 哈工大机器人（合肥）国际创新研究院 | A kind of bionical preceding arm mechanism with Muscle tensility performance |
| CN110812124A (en) * | 2019-12-06 | 2020-02-21 | 上海大学 | Pneumatic-driven flexible wearable upper limb rehabilitation system |
| CN114404216A (en) * | 2021-12-23 | 2022-04-29 | 燕山大学 | Wearable exoskeleton shoulder rehabilitation assistive device |
| WO2022240377A3 (en) * | 2021-05-11 | 2023-07-13 | Tb Teknoloji Sanayi Ve Ticaret Anonim Sirketi | Carrier body structure used in exoskeleton |
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| CN109746897A (en) * | 2019-01-07 | 2019-05-14 | 吉林大学 | A kind of back bionic exoskeleton power assisting device |
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| CN110385698A (en) * | 2019-07-30 | 2019-10-29 | 北京机械设备研究所 | A kind of motor-driven four-degree-of-freedom upper limb exoskeleton device |
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| CN114404216A (en) * | 2021-12-23 | 2022-04-29 | 燕山大学 | Wearable exoskeleton shoulder rehabilitation assistive device |
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| Publication number | Publication date |
|---|---|
| CN108858148B (en) | 2020-11-20 |
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