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WO2018098848A1 - Appareil d'exosquelette pour réduire les charges des articulations de membres inférieurs et mesurer une force de support - Google Patents

Appareil d'exosquelette pour réduire les charges des articulations de membres inférieurs et mesurer une force de support Download PDF

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Publication number
WO2018098848A1
WO2018098848A1 PCT/CN2016/109417 CN2016109417W WO2018098848A1 WO 2018098848 A1 WO2018098848 A1 WO 2018098848A1 CN 2016109417 W CN2016109417 W CN 2016109417W WO 2018098848 A1 WO2018098848 A1 WO 2018098848A1
Authority
WO
WIPO (PCT)
Prior art keywords
leg
thigh
knee joint
fixedly connected
plate
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.)
Ceased
Application number
PCT/CN2016/109417
Other languages
English (en)
Chinese (zh)
Inventor
王东海
李国民
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Sygole Intelligent Technology Co Ltd
Huazhong University of Science and Technology
Original Assignee
Guangdong Sygole Intelligent Technology Co Ltd
Huazhong University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Sygole Intelligent Technology Co Ltd, Huazhong University of Science and Technology filed Critical Guangdong Sygole Intelligent Technology Co Ltd
Publication of WO2018098848A1 publication Critical patent/WO2018098848A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • 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
    • 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
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors

Definitions

  • the invention belongs to the field of medical auxiliary equipment and sports equipment, and particularly relates to an exoskeleton device for reducing joint load of lower limbs and measuring support force.
  • the gait support phase supports the human body weight
  • the gait swing follows the human body movement
  • the lower limb joint supports the human body.
  • the load force reduces the pain of the patient while walking, measures the supporting force, quantifies the effect of the use, and evaluates the comfort of the human body.
  • the technical problem to be solved by the present invention is to provide an exoskeleton device that reduces the joint load of the lower limbs, which can reduce the load on the lower limbs and can detect the support force.
  • the present invention adopts the following technical solutions:
  • An exoskeleton device for reducing joint load and measuring support force of a lower limb comprising a seat mechanism, a thigh mechanism, a knee joint mechanism, a calf mechanism and a shoe cover mechanism, wherein the thigh mechanism and the seat mechanism are movably connected to move the thigh mechanism toward the human body coronal plane
  • the knee joint mechanism is connected to the thigh mechanism and the calf mechanism
  • the shoe cover mechanism is connected to the calf mechanism
  • the knee joint mechanism includes a knee joint upper plate, a knee joint inner plate, a knee joint outer plate and a knee joint lower connecting plate, and a knee joint
  • the upper connecting plate is fixedly connected with the thigh mechanism
  • the lower part is fixedly connected with the knee joint inner plate
  • the lower part of the knee joint is fixedly connected with the knee joint outer plate
  • the lower part is fixedly connected with the lower leg mechanism
  • the knee joint inner plate is provided with the first curve.
  • the slot and the second curved slot are provided with a first
  • the first curved groove is located above the second curved groove, and the length of the first curved groove is smaller than the length of the second curved groove.
  • the first curved groove and the second curved groove are each set to an arc shape.
  • the calf mechanism comprises a lower leg upper rod, a lower leg outer rod, a lower leg strap, a lower leg inner rod, an air spring and a force sensor, the upper part of the lower leg is fixedly connected with the lower joint plate of the knee joint, the lower part is fixedly connected with the outer leg of the lower leg, and the lower leg is inside.
  • the upper part of the rod is connected with the outer leg of the lower leg
  • the lower leg strap is fixed on the outer leg of the lower leg
  • the upper part of the air spring is fixedly connected with the inner leg of the lower leg
  • the force sensor is attached to the lower end of the air spring.
  • the upper part of the inner leg of the lower leg is inserted into the outer leg of the lower leg and is engaged with the outer leg of the lower leg, and the upper part of the air spring extends into the inner leg of the lower leg to be fixedly installed.
  • the shoe cover mechanism includes an L-shaped sole plate, a connecting plate, a spring connecting barrel, a foot outer Velcro, a heel velcro and a back velcro, a foot outer velcro, a heel velcro and a foot back.
  • the velcro is mounted on the sole plate, the connecting plate is fixedly connected with the outer side of the sole plate, and the spring connecting barrel is mounted and connected with the connecting plate, and the spring connecting sleeve is set at the lower part of the air spring.
  • a hinge hinge is arranged between the connecting plate and the spring connecting cylinder, one side of the hinge hinge is fixedly connected with the connecting plate, and the other of the hinge hinges is movably connected with the spring connecting barrel.
  • the seat mechanism includes a curved rail seat, a slider, a curved seat cushion and a waist strap, and the slider movable suit slides back and forth along the curved rail seat on the curved rail seat, and the waist strap is fixedly mounted on the On the seat cushion, the seat cushion is mounted on the curved rail seat, and the thigh mechanism is movably connected to the slider.
  • the thigh mechanism includes a thigh upper rod, a thigh rod, a thigh strap and a thigh lower rod, the upper part of the upper leg is movably connected with the seat mechanism, the lower part is fixedly connected with the thigh rod, the thigh strap is fixed on the thigh rod, and the thigh is lower rod.
  • the upper part is fixedly connected with the thigh rod, the lower part is fixedly connected with the upper joint plate of the knee joint, and the upper leg of the thigh is movably connected with the slider.
  • the slider is provided with a connecting groove, and the upper part of the upper leg of the thigh is inserted into the connecting groove and is mounted by a pin, and the upper leg of the thigh moves in the connecting groove along the crown surface of the human body with the pin as a rotating axis.
  • the exoskeleton supports the body part body weight, reduces the load force when the lower limb joint supports the human body, reduces the internal force of the hip joint, the knee joint, the ankle joint, and reduces the joint.
  • Internal friction and wear and muscle fatigue relieve pain during walking of patients with lower extremity osteoarthritis, can effectively prevent and recover patients with lower extremity osteoarthritis, and use force sensor to detect the size of support force, quantitatively record the use effect, and evaluate human comfort sense.
  • the exoskeleton is driven by the human body to follow the synchronous movement of the human body, and does not affect the normal walking of the human body.
  • Figure 1 is a schematic perspective view of the present invention
  • Figure 2 is a perspective view showing the structure of the seat mechanism of the present invention.
  • Figure 3 is a perspective view showing the three-dimensional structure of the thigh mechanism of the present invention.
  • Figure 4 is a schematic perspective view of a knee joint of the present invention.
  • Figure 5 is a schematic view showing the state of decomposition of the knee joint of the present invention.
  • Figure 6 is a perspective view showing the three-dimensional structure of the lower leg mechanism of the present invention.
  • Figure 7 is a perspective view showing the three-dimensional structure of the shoe cover mechanism of the present invention.
  • the present invention discloses an exoskeleton device for reducing lower limb joint load and measuring support force, including a seat mechanism 1, a thigh mechanism 2, a knee joint mechanism 3, a calf mechanism 4, and a shoe cover mechanism.
  • the thigh mechanism 2 and the seat mechanism 1 is movably connected to move the thigh mechanism 2 toward the coronal plane of the human body
  • the knee joint mechanism 3 is connected to the thigh mechanism 2 and the lower leg mechanism 4
  • the shoe cover mechanism 5 is mounted and coupled with the calf mechanism 4, the knee joint
  • the mechanism 3 includes a knee joint connecting plate 301, a knee joint inner plate 302, a knee joint outer plate 305, and a knee joint lower connecting plate 308.
  • the upper portion of the knee joint upper connecting plate 301 is fixedly coupled with the thigh mechanism 2, and the lower portion and the knee joint inner plate 302.
  • the upper joint of the lower knee joint plate 308 is fixedly connected with the knee joint outer plate 305, the lower portion is fixedly connected with the lower leg mechanism 4, and the knee joint inner plate 302 is provided with a first curved groove 303 and a second curved groove 304, outside the knee joint.
  • the plate 305 is provided with a first curved axis 306 in which the movable card is mounted in the first curved groove 303 and a second curved axis 307 in which the movable card is mounted in the second curved groove 304.
  • the first curve axis and the second curve axis move back and forth in the first curved groove and the second curved groove, respectively, thereby achieving relative rotation between the knee joint inner plate and the knee joint outer plate.
  • the first curved groove 303 is located above the second curved groove 304, and the length of the first curved groove is smaller than the length of the second curved groove. And the first curved groove and the second curved groove are both set to an arc shape.
  • the calf mechanism 4 includes a lower leg upper rod 401, a lower leg outer rod 402, a lower leg strap 403, a lower leg inner rod 404, an air spring 405 and a force sensor 406, and an upper part of the lower leg upper rod 401 and a knee joint lower connecting plate.
  • 308 is fixedly connected, the lower part is fixedly connected with the lower leg outer rod 402, the upper part of the lower leg inner rod 404 is fixedly connected with the lower leg outer rod 402, the lower leg strap 403 is fixed on the lower leg outer rod 402, and the upper part of the air spring 405 is fixedly connected with the lower leg inner rod 404.
  • the force sensor 406 is attached to the lower end of the air spring 405.
  • the upper part of the lower leg inner rod 404 is inserted into the outer leg outer rod 402 and is engaged with the outer leg outer rod 402, so that the telescopic adjustment between the outer leg of the lower leg and the inner rod of the lower leg can be realized, and the length can be adjusted to expand the application.
  • the upper portion of the air spring 405 extends into the lower leg inner rod 404 for fixed installation.
  • the calf straps tie the human calf.
  • the air spring compresses the length when the calf mechanism supports the weight of the human body part.
  • the force generated by the compression supports the weight of the human body part.
  • the bottom end of the force sensor contacts the ground, and the support force can be measured.
  • the shoe cover mechanism 5 includes an L-shaped sole plate 501, a connecting plate 502, a spring connecting barrel 504, a foot outer Velcro 505, a heel velcro 506, and a foot velcro 507.
  • the velcro 505, the heel velcro 506 and the velcro 507 are mounted on the sole 501.
  • the connecting plate 502 is fixedly connected to the outer side of the sole 501, and the spring connecting sleeve 504 is connected to the connecting plate.
  • the spring connection barrel 504 is fitted over the lower portion of the air spring 405.
  • a hinge hinge 503 is disposed between the connecting plate 502 and the spring connecting barrel 504.
  • the spring connecting barrel 504 can be rotated relative to the connecting plate 502 through the hinge hinge to realize the flexion and extension movement of the ankle joint of the human body relative to the exoskeleton, the hinge hinge increases the degree of freedom of the ankle abduction/adduction, and the air spring sleeve is connected with the spring.
  • the degree of freedom of the external rotation/inner rotation of the ankle joint and the freedom of linear motion are added to the barrel, which meets the requirements of ergonomics.
  • the velcro-bonded connection between the outer velcro, the heel velcro and the velcro of the foot is convenient, soft, stable and reliable.
  • the seat mechanism 1 includes a curved rail seat 101, a slider 102, a curved seat cushion 104, and a waist strap 105, and the slider 102 is movably fitted on the curved rail seat 101 along the curved shape.
  • the rail seat 101 slides back and forth, the waist strap 105 is fixedly mounted on the seat cushion 104, the seat cushion 104 is mounted on the curved rail seat 101, and the thigh mechanism 2 is movably coupled to the slider 102.
  • the human body is seated on the seat cushion, and the waist strap is fastened to the waist of the human body along the outer waist of the human body.
  • the center of rotation of the slider sliding is just the center of rotation of the hip joint of the human body, and the flexion/straight of the sagittal plane of the hip joint is realized. This is comfortable to wear and ergonomic.
  • the thigh mechanism 2 includes a thigh upper rod 201, a thigh rod 202, a thigh strap 203 and a thigh lower rod 204.
  • the upper portion of the upper thigh rod 201 is movably connected with the slider 103 of the seat mechanism 1, the lower portion and the thigh.
  • the rod 202 is fixedly connected, and the thigh strap 203 is fixed on the thigh rod 202.
  • the upper part of the lower thigh rod 204 is fixedly connected with the thigh rod 202, and the lower part is fixedly connected with the upper joint plate 301 of the knee joint.
  • the upper thigh and the thigh bar can be configured as a retractable structure to adjust the length. Through the rotational connection between the thigh rod and the U-shaped slider connecting groove, the thigh rod can be moved toward the coronal plane to realize hip abduction/adduction.
  • the thigh straps tie the thighs of the human body.
  • the slider 102 is provided with a connecting groove 103.
  • the upper part of the upper leg 201 is inserted into the connecting groove 103 and is mounted by a pin.
  • the upper leg 201 is in the connecting groove 103 along the pin as a rotating axis along the human body. Coronal movement.
  • the exoskeleton device follows the lower limb of the human body: when the foot of the lower limb is pressed against the ground, the lower limb is in the supporting phase, the knee joint mechanism in the exoskeleton is in the extreme straight state, and the air spring compresses to generate the supporting force. Supporting the weight of the human body, the bottom end of the force sensor contacts the ground and measures the amount of support. When the foot of the lower limb leaves the ground, the lower limb is in the swing phase, the air spring returns to the original length, and the exoskeleton knee joint flexes and follows the human knee joint freely.

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

Abstract

L'invention concerne un appareil d'exosquelette pour réduire les charges des articulations de membres inférieurs et mesurer une force de support, comprenant un mécanisme de siège (1), un mécanisme de cuisse (2), un mécanisme d'articulation de genou (3), un mécanisme de jambe inférieure (4) et un mécanisme de couverture de chaussure (5); le mécanisme de cuisse (2) est relié de façon mobile au mécanisme de siège (1); le mécanisme d'articulation de genou (3) est relié au mécanisme de cuisse (2) et au mécanisme de jambe inférieure (4); le mécanisme de couverture chaussure (5) est monté et relié au mécanisme de jambe inférieure (4); le mécanisme d'articulation de genou (3) comprend une plaque de connexion d'articulation de genou supérieure (301), une plaque d'articulation de genou interne (302), une plaque d'articulation de genou externe (305), et une plaque de connexion d'articulation de genou inférieure (308); la partie supérieure de la plaque de connexion d'articulation de genou supérieure (301) est reliée de manière fixe au mécanisme de cuisse (2), et la partie inférieure est reliée de manière fixe à la plaque d'articulation de genou interne (302); la partie supérieure de la plaque de connexion d'articulation de genou inférieure (308) est reliée de manière fixe à la plaque d'articulation de genou externe (305), et la partie inférieure est reliée de manière fixe au mécanisme de jambe inférieure (4); la plaque d'articulation de genou interne (302) est pourvue d'une première rainure incurvée (303) et d'une seconde rainure incurvée (304); un premier arbre incurvé (306) s'encliquète de manière mobile dans la première rainure incurvée (303) et un second arbre incurvé (307) s'encliquete de manière mobile dans la seconde rainure incurvée (304) sont disposés sur la plaque d'articulation de genou externe (305). L'appareil d'exosquelette peut réduire la force de charge des articulations de membres inférieurs lors du support d'un corps humain, et mesurer une force de support.
PCT/CN2016/109417 2016-12-02 2016-12-12 Appareil d'exosquelette pour réduire les charges des articulations de membres inférieurs et mesurer une force de support Ceased WO2018098848A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611095293.1A CN106420280B (zh) 2016-12-02 2016-12-02 一种减轻下肢关节负载及测量支撑力的外骨骼装置
CN201611095293.1 2016-12-02

Publications (1)

Publication Number Publication Date
WO2018098848A1 true WO2018098848A1 (fr) 2018-06-07

Family

ID=58223136

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/109417 Ceased WO2018098848A1 (fr) 2016-12-02 2016-12-12 Appareil d'exosquelette pour réduire les charges des articulations de membres inférieurs et mesurer une force de support

Country Status (2)

Country Link
CN (1) CN106420280B (fr)
WO (1) WO2018098848A1 (fr)

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CN109276412A (zh) * 2018-10-24 2019-01-29 江苏集萃微纳自动化系统与装备技术研究所有限公司 一种下肢膝关节与踝关节助力外骨骼刚度大小调节装置
CN109623797A (zh) * 2019-03-01 2019-04-16 河北工业大学 一种非拟人的体重支撑型下肢助力外骨骼
CN110215295A (zh) * 2019-07-11 2019-09-10 河北工业大学 一种下肢助坐装置
CN110613586A (zh) * 2019-09-17 2019-12-27 中北大学 一种下肢康复机器人
CN110625595A (zh) * 2019-09-11 2019-12-31 江苏凌步智能科技有限公司 一种新型人体外骨骼主动膝关节结构
TWI690307B (zh) * 2019-02-22 2020-04-11 中國科技大學 智能腿部保健外骨骼裝置
CN113041103A (zh) * 2021-04-21 2021-06-29 南京林业大学 一种用于行走时减轻下肢受力的支撑装置
CN113478466A (zh) * 2021-07-23 2021-10-08 华南理工大学 一种兼具负载传导及步行节能的无源下肢外骨骼
CN113478470A (zh) * 2021-08-17 2021-10-08 河北工业大学 一种可穿戴的随行助坐外骨骼
CN114434421A (zh) * 2021-12-31 2022-05-06 北京林业大学 主被动结合的可穿戴下肢助力外骨骼装置
CN114848331A (zh) * 2022-05-14 2022-08-05 栗磊 一种抗下肢内收支具
CN115192398A (zh) * 2022-08-17 2022-10-18 西北工业大学 一种外骨骼仿生支具
CN115252245A (zh) * 2022-07-29 2022-11-01 北京航空航天大学 一种踝关节假肢适配器
CN115488861A (zh) * 2022-10-14 2022-12-20 塞伯睿机器人技术(南京)有限公司 一种无源下肢外骨骼
CN118288266A (zh) * 2024-06-06 2024-07-05 陕西三航科技有限公司 人体膝关节助力外骨骼装置

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CN107309867B (zh) * 2017-08-17 2023-05-23 河北工业大学 基于重力支撑的下肢助力外骨骼
CN108606866B (zh) * 2018-05-17 2023-10-03 四川大学 气囊式膝关节支具
CN109124999B (zh) * 2018-08-30 2020-06-16 大连理工大学 一种气动减重步行助力机器人
CN109330256A (zh) * 2018-09-06 2019-02-15 华中科技大学 一种位姿可调式外骨骼座椅
CN111035541A (zh) * 2018-10-11 2020-04-21 杨进松 关节退化辅助器
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CN118288266A (zh) * 2024-06-06 2024-07-05 陕西三航科技有限公司 人体膝关节助力外骨骼装置

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