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WO2018157307A1 - Dispositif de transport auxiliaire portable - Google Patents

Dispositif de transport auxiliaire portable Download PDF

Info

Publication number
WO2018157307A1
WO2018157307A1 PCT/CN2017/075261 CN2017075261W WO2018157307A1 WO 2018157307 A1 WO2018157307 A1 WO 2018157307A1 CN 2017075261 W CN2017075261 W CN 2017075261W WO 2018157307 A1 WO2018157307 A1 WO 2018157307A1
Authority
WO
WIPO (PCT)
Prior art keywords
human body
wearable auxiliary
cord
bracket
transport device
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/CN2017/075261
Other languages
English (en)
Chinese (zh)
Inventor
李满天
邓静
袁金生
王帅
李生广
蔡昌荣
丘世因
盛文涛
王鑫
蒋振宇
刘国才
李爱镇
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.)
Shenzhen Longhaite Robot Technology Co ltd
Original Assignee
Shenzhen Longhaite Robot Technology Co ltd
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 Shenzhen Longhaite Robot Technology Co ltd filed Critical Shenzhen Longhaite Robot Technology Co ltd
Priority to PCT/CN2017/075261 priority Critical patent/WO2018157307A1/fr
Publication of WO2018157307A1 publication Critical patent/WO2018157307A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

Definitions

  • the present invention belongs to the field of handling equipment, and more particularly to a wearable auxiliary handling device.
  • a wearable auxiliary handling device includes:
  • a force guiding frame configured to transmit the force received by the two tensioning mechanisms to the hip of the human body
  • a strap connected to the guide frame, for fixing the guide frame to a human body
  • the force guiding frame comprises two struts extending from the upper end to the front ends of the shoulders of the human body and a bearing belt for supporting the hips of the human body, and the two tensioning mechanisms are respectively connected with the two struts.
  • Embodiments of the present invention provide two grippers, two tensioning mechanisms, a strap, and a guide frame;
  • the force guide is mounted on the human body by a strap, and the bearing belt of the guide frame is supported on the human hip.
  • the upper ends of the two support rods of the guide frame extend to the front ends of the two shoulders respectively, and the two tension mechanisms are respectively connected.
  • Two poles and two grippers so that when carrying heavy objects, the gripper can be used to grip the weight and pull the weight to the tension mechanism to reduce the load on the arm and reduce the repeated handling.
  • the arm is fatigued; and the tension mechanism transmits the tension of the gripper to the strut of the force guide, and the force guide transmits the load pull force to the hip body of the human body, thereby reducing the force on the back part of the human body, thereby protecting the waist of the person , the spine, relieves muscle strain and fatigue.
  • FIG. 1 is a schematic structural view of a wearable auxiliary transport device according to a first embodiment of the present invention
  • FIG. 2 is a cross-sectional structural view of the winder lock of the cord of FIG.
  • FIG. 3 is a schematic structural view of the holder and the locker of FIG. 1;
  • FIG. 4 is a side view showing the structure of the holder and the thread locker of FIG. 1;
  • FIG. 5 is a schematic structural view of the locker of the locker of FIG. 4.
  • FIG. 6 is a side view showing a wearable auxiliary handling device according to a second embodiment of the present invention.
  • FIG. 7 is a front elevational view showing the guide frame of the wearable auxiliary transport device of FIG. 6;
  • FIG. 8 is a front elevational view showing a guide frame of a wearable auxiliary transport device according to a third embodiment of the present invention.
  • a wearable auxiliary handling device 100 includes two holders 50, two tensioning mechanisms 30, a guide frame 10 and a strap 70;
  • the belt 70 is connected to the force guiding frame 10 for fixing the force guiding frame 10 to the human body;
  • the guiding frame 10 includes two supporting rods 11 and a bearing belt 13, and the upper ends of the two supporting rods 11 respectively extend to the shoulders of the human body
  • two tensioning mechanisms 30 are respectively connected to the two struts 11;
  • the bearing belts 13 are used for supporting and supporting the hips of the human body, so that the force is transmitted to the hips of the human body.
  • the holder 50 is used for holding and supporting an object to be transported, and is generally worn on a person's hand during use, so as to facilitate handling, and to prevent heavy objects from directly pressing on the hand to prevent hand injury.
  • Two tensioning mechanisms 30 are respectively connected to the two grippers 50 for pulling up the corresponding grippers 50, so as to clamp and support the weights at the gripper 50, the weight can be pulled upwards to reduce the load on the arm. Reduce arm fatigue caused by repeated handling.
  • the load force of the tension mechanism 30 is transmitted to the corresponding strut 11 and then transmitted to the human hip, so that most of the load of the heavy object is absorbed by the human hip to reduce the waist load, thereby protecting the waist and the spine of the person. , alleviate muscle strain and fatigue.
  • the wearable auxiliary transport device 100 fixes the guide frame 10 to the human body through the strap 70 after use, and the bearing belt 13 of the guide frame 10 is supported on the human hip portion; the extension of the two support rods 11 To the front end of the shoulders of the two, the two tensioning mechanisms 30 respectively connect the two strut 11 and the two grippers 50; the two grippers 50 are worn on the hands of the person; The device 50 supports the weight to prevent the hand from being injured; and when the person carries the heavy object, the force guide 10 is moved upward, so that the two struts 11 of the force frame 10 pull the two tension mechanisms 30 upward, and The two tensioning mechanisms 30 are caused to pull the two grippers 50 upwards, thereby reducing the load on the arms.
  • the guide frame 10 is mounted on the human body by the strap 70, the bearing of the guide frame 10
  • the force belt 13 is supported on the human hip, and the upper ends of the two poles 11 of the guide frame 10 respectively extend to the front ends of the two shoulders, and the two tension mechanisms 30 are respectively connected.
  • Two struts 11 and two grippers 50 so that when the weight is carried, the gripper 50 can be used to grip the weight and pull the weight on the tension mechanism 30 to reduce the load on the arm and reduce the load.
  • the back part is stressed, thus protecting the waist and spine of the person, reducing muscle strain and fatigue. .
  • the bearing belt 13 is for supporting a waist belt bound to the hip of the human body.
  • the bearing belt 13 is set as a belt structure, which can be easily installed and fixed on the human hip, and the same can support the bearing.
  • the bearing belt 13 may also be two fork structures that are fitted to the hips on both sides of the human body, so that the guide frame 10 is mounted on the human body, and the two forks are forked in the human body. Hip.
  • the load bearing belt 13 can also be a U-shaped frame structure that, in use, is placed directly on the hip of the human body.
  • the lead frame 10 further includes a bracket 20, and in the use of the cymbal, the bracket 20 is disposed at the back position of the human body, and the lower end of the bracket 20 is connected to the rear side of the belt, and the two struts 11 respectively
  • the rear end of the human body extends from both shoulders to the front ends of the shoulders, and the rear ends of the two poles 11 are connected to the upper end of the bracket 20.
  • the bracket 20 disposed at the back position of the human body can overcome the contact force of the back of the human body by a part of the tilting moment of the weight on the human body during the transmission load force, further reducing the waist force, and the same through the bracket 20
  • the corrective action can prevent the curvature of the spine during the handling process, so that the worker can maintain the correct posture of the spine during the manual handling process, thereby ensuring the health and safety of the worker's back and reducing the occurrence of occupational injuries.
  • the bracket 20 may be provided with a front portion of the human body or on both sides of the human body.
  • the strut 11 can be directly coupled to the load belt 13.
  • the bracket 20 has a Y-shaped structure, and the two free ends of the upper end of the bracket 20 are respectively connected to the rear ends of the two poles 11.
  • the bracket 20 is arranged in a Y-shaped structure, so that the area of the bracket 20 covering the back of the person can be reduced, so that the wearing arm can be more ventilated to improve the comfort of use, and the weight of the bracket 20 can be reduced, thereby reducing the pair.
  • the burden of people is provided in a Y-shaped structure, and since the bracket 20 has a Y shape, the upper end has two left and right free ends, so that it can be easily connected to the two poles 11. It is convenient to connect with two poles 11.
  • the bracket 20 can also be in other configurations, such as a plate-like structure or the like.
  • the rear ends of the respective rods 11 are hinged to the respective free ends of the brackets 20.
  • the rear end and the support of the strut 11 The corresponding free end hinges are hinged, so that the strut 11 can swing upwards to a certain extent, thereby facilitating wearing.
  • bracket 20 is a telescopic frame to facilitate the use of people of different heights.
  • the bracket 20 includes a receiving box 21 and a spine plate 22, and the spine plate 22 is inserted into the receiving box 21, and the two supporting rods 11 are respectively connected to two sides of the receiving box 21, and the spine board 22 is The lower end is connected to the bearing belt 13.
  • the accommodating case 21 and the spine plate 22 are disposed, and the spine plate 22 is inserted into the accommodating case 21, and the length of the cradle 22 is adjusted by inserting the depth of the spine plate 22 into the accommodating case 21.
  • each tension mechanism 30 includes a cord 31 that connects the strut 11 and the corresponding gripper 50 at both ends.
  • the tension mechanism 30 facilitates the bending movement, thereby facilitating the movement of the gripper 50 by the arm.
  • the tension mechanism 30 can also use a tie rod structure, such as connecting the upper end of the tie rod to the support rod 11 by a hinge, and the lower end of the pull rod is connected to the holder 50, thereby also functioning as a force transmission.
  • each tension mechanism 30 further includes a winding lock 32, and the winding lock 32 is mounted on the corresponding support 11.
  • the winding locker 32 is used to wind the cord 31 and is locked by the cord 31 to lock the strap 31.
  • the winding locker 32 is arranged, and the cord 31 is unstressed, so that the cord 31 can be freely extended and contracted to facilitate the movement of the arm; and the weight is fixed in the gripper 50, and the weight is lifted upwards.
  • the spool locker 32 can lock the strap 31 so that the strap 31 can be subjected to the weight of the load.
  • the winding locker 32 includes a support box 321, a reel 322 pivotally connected to the support box 321, a coil spring 323 that drives the reel 322 to wind the cord 31, and a ratchet 324 connected to the reel 322. a pawl 325 for locking the ratchet 324 and a torsion spring 326 for driving the pawl 325 to unlock the ratchet 324.
  • the pawl 325 is pivotally connected in the support box 321, and one end of the cord 31 is connected to the reel 322, and the cord 31 is further One end is passed around the holder 50 and connected to the pawl 325.
  • the torsion spring 326 pushes the pawl 325 away from the ratchet wheel 324, so that the ratchet 324 and the reel 3 22 can be rotated, and the arm pulls the cymbal to pull the cord 31 out of the reel 322.
  • the cord 31 is extended; and the arm is moved toward the strut U , and the coil spring 323 drives the reel 322 to rotate to wind the cord 31.
  • the strap 31 pulls the weight ⁇
  • the other end of the strap 31 is pulled, and the pawl 325 is driven to lock the ratchet 324, thereby preventing the spool 322 from rotating, so that the strap 31 can bear the load.
  • each tension mechanism 30 further includes a locker 33 for locking the strap 31 to prevent the strap 31 from being caught on the spool 32 2 , and the locker 33 is mounted on the corresponding gripper 50 . .
  • the thread locker 33 is provided, and when the cymbal is used, the cord 31 can be locked by the thread locker 33 to better prevent the cord 31 from expanding and contracting.
  • the other end of the strap 31 when carrying a weight, the other end of the strap 31 can be pressed or hooked to pull the other end of the strap 31, thereby pulling the pawl 325.
  • the wire locker 33 includes a support block 331, a rotating shaft 332 and a stopper 333.
  • the rotating shaft 332 is mounted on the supporting block 331, the stopper 333 is fixed on the supporting block 331, and the stopper 333 is disposed on the supporting block 331.
  • the strap 31 bypasses the rotating shaft 332, and one end of the strap 31 is located between the stopper 333 and the rotating shaft 332.
  • the stopper 333 can be pressed against the other end of the string 31 to lock the string 31.
  • the cord 31 is separated from the stopper 333, it can be freely moved on the rotating shaft 332, so that the cord 31 on the reel 322 can be freely expanded and contracted.
  • the support block 331 is connected to the holder 50.
  • the thread locker 33 can also be a clip structure in which the strap 31 can be clamped to lock the strap 31.
  • a support block 334 is further mounted on the support block 331, and the connection block 334 is connected to the holder 50.
  • each of the holders 50 includes a glove 50 for covering the hand, and the ligament 52 is connected to the position of each finger on the glove 50, and the ligament 52 is connected to the tension mechanism 30, and the glove 50 corresponds to each A hardening block 53 is provided at the finger pad and palm position.
  • a ligament 52 is disposed on each finger of the glove 50. After the force is applied, the ligament 52 can pull the glove 50 to bend the fingers of the glove, and the hardening block 53 is provided on the finger pad and the palm of the hand, which can be easily grasped by fingers. Heavy objects.
  • the holder 50 can also be of a flat construction to support the weight.
  • the corresponding position of the back of each finger of the glove 50 is matched with a positioning sleeve 55, and the ligament 52 passes through the positioning sleeve 55, so that the ligament 52 can pull the glove 50 to bend the fingers of the glove.
  • a mounting belt 54 is provided on the glove 50 corresponding to the palm position.
  • a mounting belt 54 is provided on the glove 50 to mount the structure of the locker 33, the clip, and the like. Further, the mounting strap 54 can be a tightening strap for mounting the thread locker 33.
  • the ligament 52 is connected to the connecting block 334 of the thread locker 33, so that the cord 31 bypasses the rotating shaft 332 of the thread locker 33, and the end of the cord 31 away from the stopper 333 is provided.
  • 311 is coupled to the spool 322 in the winder lock 32; the end 312 of the strap 31 adjacent the stop 333 is associated with the pawl 325 in the winder lock 32 Even.
  • the gripper 50 carries the load ⁇ , adjusts the position of the locker 33, causes the stopper 333 to abut against the other end 312 of the cord 31, and the one end 311 of the cord 31 moves toward the stopper 333, and the strap 31 is moved.
  • the other end 31 2 is pressed against the stopper 333 to lock the other end 312 of the cord 31; then the other end 312 of the cord 31 pulls the pawl 325 in the winding lock 32 to lock the pawl 325
  • the ratchet 324 prevents the reel 322 from rotating; the tether 31 is tensioned to withstand the load.
  • the torsion spring 326 pushes the pawl 325 away from the ratchet wheel 324, so that the ratchet 324 and the reel 322 can be rotated; adjusting the position of the lock 33 to make the cord 31
  • the two ends move away from the stopper 333, thereby unlocking the other end 312 of the cord 31, and the arm pulls the cymbal, and the cord 31 can be pulled out from the reel 322 to extend the cord 31; and the arm is extended to the strut In the 11 direction movement, the coil spring 323 drives the reel 322 to rotate to wind the cord 31.
  • the strap 70 is a strap structure to facilitate the back of the guide frame 10 on the person.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1
  • the wearable auxiliary transport device 100 of the present embodiment is different from the wearable auxiliary transport device of the first embodiment:
  • the wearable auxiliary handling device 100 further includes a resisting mechanism 25 for engaging against the spine of the human body. Setting the resisting mechanism 25, in the handling of the sputum, can better prevent the curvature of the human spine and protect the spine and the waist.
  • the resisting mechanism 25 includes a spacer 251 and a support shaft 252 that is mounted on the bracket 20 to support the spacer 251 on the bracket 20.
  • the spacer 251 is used to match the human spine for protection. Further, the spacer 251 is made of a flexible material, and the shape conforms to the curve of the human waist.
  • the support shaft 252 is threadedly mounted on the bracket 20 to adjust the distance between the spacer 251 and the bracket 20 to accommodate people of different sizes.
  • the resisting mechanism 25 can also be an elastic plate that is coupled to the bracket 20.
  • the resisting mechanism 25 further includes a resilient plate 253 for resisting the pad 251, the elastic plate 253 is disposed between the pad 251 and the spine plate 22, and the pad 251 is mounted on the elastic plate 253, and The spring plate 253 is hinged to the spine plate 22.
  • the elastic plate 253 is provided so that the spacer 251 can better fit the waist of the human body.
  • two sides of the accommodating case 21 of the bracket 20 are respectively mounted with a back plate 211, and the two struts 11 are respectively connected to the two back plates 211.
  • a backing plate 211 is provided to facilitate connection with each of the poles 11 and to support the respective poles 11.
  • the same back plate 211 can function to protect the two shoulder portions of the person.
  • a back pad 23 is fixed on each backboard 211 for fitting with a shoulder of the human body.
  • the back pad 23 is made of a flexible material, and the shape conforms to the curve of the back of the human body.
  • the spine plate 22 is provided with a plurality of latching teeth 221, and the lifting box 212 is mounted with a lifting button 212.
  • the lifting button 212 extends into the latching teeth 221 on the spine plate 22, the spine can be placed.
  • the plate 22 is locked; and when the lift button 212 is disengaged from the latch 221, the spine plate 22 can slide in the accommodating case 21, thereby adjusting the length of the bracket 20.
  • the bearing belt 13 includes a tail lamina 131 and two hip plates 132, and the two hip plates 132 are respectively connected to the left and right sides of the caudal plate 131.
  • the lower end of the spinal plate 22 is connected to the caudal plate 131.
  • the caudal plate 131 When worn, the caudal plate 131 is located at the caudal vertebrae of the human body, and the two hip plates 132 are respectively placed on both sides of the human hip.
  • a tail pad 136 is further mounted on the tail lamina 131.
  • the tail pad 136 is attached to the tail cone of the human body, and the tail pad 136 is made of a flexible material, and the shape conforms to the curve of the human tail vertebra.
  • the two hip plates 132 are respectively hinged with the left and right sides of the tail lamina 131, and the front ends of the hip plates 132 are respectively respectively provided with hook structures, so that the front ends of the two hip plates 132 are worn after being worn. Connected, and then the bearing belt 13 is mounted on the person's hip.
  • the front ends of the two hip plates 132 are respectively mounted with pulleys 133, and the guide frame 10 further includes two pull cords 134; one end of each pull cord 134 is connected to the corresponding tension mechanism 30, and the other end is supported by the bracket. 20.
  • a pulley 133 passing through the caudal plate 131, a hip plate 132 and bypassing the front end of the hip plate 132 is coupled to the hip plate 132, and the two tension members 30 are slidably mounted on the two struts 11, respectively.
  • the pull cord 134 at the left side is connected to the tension mechanism 30 on the left side, and the other end of the left pull cord 134 passes through the bracket 20, the tail lamina 131 and passes through the hip plate 132 on the left side, bypassing the hip plate.
  • a pulley 133 at the front end of the 132 is coupled to the left hip plate 132.
  • the right side of the drawstring 13 is connected to the tension mechanism 30 on the right side, and the other end of the right drawstring 134 passes through the bracket 20, the tail lamina 131 and passes through the right hip plate 132, bypassing
  • a pulley 133 at the front end of the hip plate 132 is coupled to the right hip plate 132.
  • the two tensioning mechanisms 30 are slidably mounted on the two struts 11, respectively. Therefore, when the tension mechanism 30 is subjected to the load, it will move forward on the corresponding strut 11, thereby pulling the corresponding pull cord 134, thereby driving the two hip plates 132 close to each other so as to be hung on the hip of the human body.
  • the two winding locks 32 are respectively slidably mounted on the two struts 11, and each of the struts 11 is provided with a sliding slot 111 for supporting the corresponding winding locker 32, and two pulling ropes 134 They are respectively connected to two winding lockers 3 2 .
  • the force guiding frame 10 further includes two shoulder covers 16, which are respectively mounted on the two supporting rods 11 to cover the two winding lockers 32, respectively.
  • each of the poles 11 is mounted with a shoulder pad 12 which is made of a flexible material so as to be supported on a person's shoulder so that the shoulder of the person can bear a partial load during handling.
  • the wearable auxiliary transport device 100 of the present embodiment is different from the wearable auxiliary transport device of the second embodiment:
  • each hip plate 132 is hinged using a plurality of skirts 1321.
  • This structure can be better worn on the hips of the human body, and can be better adapted to people of different waist sizes, and the contact with the human body will be more uniform, and the wearing comfort can be improved.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Dispositif de transport auxiliaire portable (100), comprenant : deux dispositifs de préhension (50), qui sont utilisés pour supporter un objet à porter; deux mécanismes de tension (30), qui sont utilisés pour tirer vers le haut des éléments de préhension correspondants (50); un cadre de transmission de force (10), qui est utilisé pour transmettre la force portée par les deux mécanismes de tension (30) à la partie de hanche d'un corps humain; et une sangle (70), qui est utilisée pour fixer le cadre de transmission de force (10) sur le corps humain; le cadre de transmission (10) comprend deux tiges de support (11) et une courroie de support (13). Lors de l'utilisation, le cadre de transmission de force (10) est monté sur le corps humain au moyen de la sangle (70), et la courroie de support (13) du cadre de transmission de force (10) fournit un support au niveau de la partie de la hanche du corps humain, tandis que les extrémités supérieures des deux tiges de support (11) du cadre de transmission de force (10) s'étendent vers les extrémités avant de deux épaules, respectivement. Lorsqu'un objet lourd est transporté, les dispositifs de préhension (50) sont utilisés pour maintenir l'objet lourd, et l'objet lourd est tiré vers le haut au moyen des mécanismes de tension (30) de manière à réduire la charge sur les bras et à réduire la fatigue du bras, tandis que le cadre de transmission de force (10) transmet la charge aux hanches du corps humain pour réduire la force sur la partie de la taille et de la partie arrière du corps humain, protégeant ainsi la taille et la colonne vertébrale, et réduisant la contrainte musculaire et la fatigue corporelle.
PCT/CN2017/075261 2017-02-28 2017-02-28 Dispositif de transport auxiliaire portable Ceased WO2018157307A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/075261 WO2018157307A1 (fr) 2017-02-28 2017-02-28 Dispositif de transport auxiliaire portable

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/075261 WO2018157307A1 (fr) 2017-02-28 2017-02-28 Dispositif de transport auxiliaire portable

Publications (1)

Publication Number Publication Date
WO2018157307A1 true WO2018157307A1 (fr) 2018-09-07

Family

ID=63369623

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/075261 Ceased WO2018157307A1 (fr) 2017-02-28 2017-02-28 Dispositif de transport auxiliaire portable

Country Status (1)

Country Link
WO (1) WO2018157307A1 (fr)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4407632B2 (ja) * 2005-12-26 2010-02-03 パナソニック株式会社 筋力補助装置
CN201602917U (zh) * 2010-03-01 2010-10-13 孙巨涛 腰部助力器
FR2978690A1 (fr) * 2011-08-02 2013-02-08 Pierre Andre Davezac Exosquelette de levage et de portage de charges
FR2993811A1 (fr) * 2012-07-26 2014-01-31 Pierre Andre Davezac Exosquelette a bras mecaniques isoelastiques motorises
CN103690280A (zh) * 2013-12-13 2014-04-02 上海交通大学 基于连续体传动机构的欠驱动假肢手
CN104552276A (zh) * 2014-12-31 2015-04-29 浙江大学 气动肌肉驱动的外骨骼助力机构
CN205094945U (zh) * 2015-10-27 2016-03-23 朱培章 助力外骨骼
CN105856190A (zh) * 2016-03-17 2016-08-17 西南交通大学 一种可穿戴搬运助力装置
CN106625612A (zh) * 2017-02-28 2017-05-10 深圳龙海特机器人科技有限公司 穿戴式辅助搬运装置

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4407632B2 (ja) * 2005-12-26 2010-02-03 パナソニック株式会社 筋力補助装置
CN201602917U (zh) * 2010-03-01 2010-10-13 孙巨涛 腰部助力器
FR2978690A1 (fr) * 2011-08-02 2013-02-08 Pierre Andre Davezac Exosquelette de levage et de portage de charges
FR2993811A1 (fr) * 2012-07-26 2014-01-31 Pierre Andre Davezac Exosquelette a bras mecaniques isoelastiques motorises
CN103690280A (zh) * 2013-12-13 2014-04-02 上海交通大学 基于连续体传动机构的欠驱动假肢手
CN104552276A (zh) * 2014-12-31 2015-04-29 浙江大学 气动肌肉驱动的外骨骼助力机构
CN205094945U (zh) * 2015-10-27 2016-03-23 朱培章 助力外骨骼
CN105856190A (zh) * 2016-03-17 2016-08-17 西南交通大学 一种可穿戴搬运助力装置
CN106625612A (zh) * 2017-02-28 2017-05-10 深圳龙海特机器人科技有限公司 穿戴式辅助搬运装置

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