CN111603356B - Under-actuated knee joint device for lower limb exoskeleton - Google Patents
Under-actuated knee joint device for lower limb exoskeleton Download PDFInfo
- Publication number
- CN111603356B CN111603356B CN202010430915.1A CN202010430915A CN111603356B CN 111603356 B CN111603356 B CN 111603356B CN 202010430915 A CN202010430915 A CN 202010430915A CN 111603356 B CN111603356 B CN 111603356B
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- driven wheel
- wheel
- driving
- rope
- connecting rod
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 41
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 210000003127 knee Anatomy 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims 3
- 238000010168 coupling process Methods 0.000 claims 3
- 238000005859 coupling reaction Methods 0.000 claims 3
- 230000033001 locomotion Effects 0.000 abstract description 10
- 210000001699 lower leg Anatomy 0.000 abstract description 6
- 208000027418 Wounds and injury Diseases 0.000 description 10
- 210000002414 leg Anatomy 0.000 description 3
- 210000000689 upper leg Anatomy 0.000 description 3
- 208000036487 Arthropathies Diseases 0.000 description 1
- 208000020084 Bone disease Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000002303 tibia Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H1/024—Knee
-
- 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
- A61H2201/16—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
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an underactuated knee joint device for lower limb exoskeleton, comprising: the device comprises an upper mounting plate, a driving wheel rotatably connected to the upper mounting plate, a first connecting rod with a first end rotatably connected to the upper mounting plate, a first driven wheel rotatably connected to a second end of the first connecting rod, a second connecting rod with a first end fixedly connected to the first driven wheel, a second driven wheel rotatably connected to a second end of the second connecting rod, a lower mounting plate fixedly connected to the second driven wheel, and a plurality of ropes for inputting driving force to the driving wheel and for realizing sequential transmission among the driving wheel, the first driven wheel and the second driven wheel. The device has two degrees of freedom, namely, the device can assist the lower leg to bend and stretch, has the degree of freedom of sagittal plane movement, can adapt to the movement characteristics of the knee joint, and can not cause joint pressure; and the driving of two degrees of freedom can be realized through one driving mechanism, and the driving mechanism can be arranged at a position far away from the knee joint, so that the weight of the knee joint can be reduced.
Description
Technical Field
The invention relates to the field of medical rehabilitation instruments, in particular to an under-actuated knee joint device for lower limb exoskeleton.
Background
Research shows that the knee joint of a human body moves in a complex way, when the knee joint does flexion and extension movement, the knee joint does not simply rotate in a single degree of freedom, the femur rotates and slides on the tibia, the knee joint structure of the exoskeleton of the lower limb at present is common to rotate in a single degree of freedom, the ergonomics are not met, not only the human-machine movement is not coordinated, but also the pressure of the joint is caused, and therefore the joint is possibly damaged. In addition, the motors of the active exoskeleton are all arranged at joints at present, so that the weight of the whole lower limb is increased, and the inertia of the joint movement is increased.
There is a need for a more reliable solution.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an underactuated knee joint device for lower limb exoskeleton aiming at the defects in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme: an underactuated knee device for a lower extremity exoskeleton, comprising: the device comprises an upper mounting plate, a driving wheel rotatably connected to the upper mounting plate, a first connecting rod with a first end rotatably connected to the upper mounting plate, a first driven wheel rotatably connected to a second end of the first connecting rod, a second connecting rod with a first end fixedly connected to the first driven wheel, a second driven wheel rotatably connected to a second end of the second connecting rod, a lower mounting plate fixedly connected to the second driven wheel, and a plurality of ropes for inputting driving force to the driving wheel and for realizing sequential transmission among the driving wheel, the first driven wheel and the second driven wheel.
Preferably, the rope includes first and second driving ropes wound around a tread of the driving wheel in opposite directions for inputting driving force to the driving wheel, first and second transmission ropes connected between the driving wheel and the first driven wheel, and third and fourth transmission ropes connected between the first and second driven wheels.
Preferably, the first end of the first drive rope and the first end of the second drive rope are wound on the tread of the drive wheel in opposite directions, and the second end of the first drive rope and the second end of the second drive rope are wound on the tread of the first driven wheel in opposite directions;
The first end of the third transmission rope and the first end of the fourth transmission rope are wound on the wheel surface of the first driven wheel in opposite directions, and the second end of the third transmission rope and the second end of the fourth transmission rope are wound on the wheel surface of the second driven wheel in opposite directions.
Preferably, the wheel surfaces of the driving wheel, the first driven wheel and the second driven wheel are respectively provided with a winding groove for winding the ropes and a fixing groove for fixing the ropes, and the ropes are fixedly connected with fixing blocks for being fixed in the corresponding fixing grooves.
Preferably, the fixing block includes a tab portion for being fixedly inserted into the fixing groove and a connection portion connected to the tab portion for being fixedly connected to the rope.
Preferably, the upper mounting plate is fixedly connected with a first connecting shaft, and the driving wheel is rotatably connected to the first connecting shaft through a first bearing.
Preferably, a second connecting shaft is rotatably inserted in a shaft hole formed in the first connecting shaft through a second bearing, and the other end of the second connecting shaft is fixedly connected with the first end of the first connecting rod.
Preferably, the second end of the first connecting rod is fixedly connected with a third connecting shaft, and the first driven wheel is rotatably connected to the third connecting shaft through a third bearing.
Preferably, the first end of the second connecting rod is fixedly connected with the first driven wheel, and the second end of the second connecting rod is fixedly connected with a fourth connecting shaft.
Preferably, the second driven wheel is rotatably connected to the fourth connecting shaft through a fourth bearing, and the lower mounting plate is fixedly connected to the second driven wheel.
The beneficial effects of the invention are as follows:
The under-actuated knee joint device for the lower limb exoskeleton has two degrees of freedom, namely, the under-actuated knee joint device assists the lower leg to bend and stretch, has the degree of freedom of sagittal plane movement, can adapt to the movement characteristic of the knee joint, and does not cause joint pressure; and the driving of two degrees of freedom can be realized through one driving mechanism, and the driving mechanism can be arranged at a position far away from the knee joint, so that the weight of the knee joint can be reduced, and the knee joint is more flexible. The invention can be applied to the patients with knee joint dysfunction or limited functions caused by injury of lower limb knee joints and muscle tissues or bone diseases, and can assist the patients to perform rehabilitation treatment of knee joint flexion and extension.
Drawings
FIG. 1 is a schematic diagram of the front view of an underactuated knee device for lower extremity exoskeleton of the present invention;
FIG. 2 is a schematic view of the back view of an under-actuated knee device for lower extremity exoskeleton of the present invention;
FIG. 3 is a schematic view of the front view of the underactuated knee device for lower extremity exoskeleton of the present invention with the first and second links removed;
FIG. 4 is a schematic representation of the structure of the invention from a rear view with a partial assembly removed for an underactuated knee device for a lower extremity exoskeleton;
fig. 5 is a schematic view of the rope of the present invention fixed to a driving wheel;
FIG. 6 is a schematic cross-sectional view of the drive wheel and first driven wheel portion of the present invention;
FIG. 7 is a schematic cross-sectional view of a first driven wheel and a second driven wheel portion of the present invention;
FIG. 8 is a schematic representation of one motion state of the underactuated knee device for lower extremity exoskeleton of the present invention;
FIG. 9 is a schematic illustration of another motion state of the underactuated knee device for lower extremity exoskeleton of the present invention;
FIG. 10 is a schematic structural view of a fixation device for an under-actuated knee device of a lower extremity exoskeleton in an embodiment of the invention;
FIG. 11 is a schematic illustration of an under-actuated knee device for a lower extremity exoskeleton in accordance with an embodiment of the present invention secured to a human body.
Reference numerals illustrate:
10-an upper mounting plate; 11-a drive wheel; 12-a first link; 13-a first driven wheel; 14-a second link; 15-a second driven wheel; 16-a lower mounting plate; 120—a first end of a first link; 121-a second end 121 of the first link; 140-a first end of a second link; 141-a second end of the second link;
20-a first drive rope; 21-a second drive rope; 22-a first drive rope; 23-a second drive line; 24-a third drive rope; 25-fourth drive rope; 220-a first end of a first drive rope; 221-a second end of the first drive rope; 230-a first end of a second drive rope; 231-a second end of the second drive rope; 240-a first end of a third drive rope; 241-the second end of the third drive rope; 250-a first end of a fourth drive rope; 251-the second end of the fourth drive rope;
30-a fixed groove; 31-a fixed block; 32-an insert part; 33-a connection; 34-rope holes; 35-clamping columns; 36-winding groove;
40—a first connecting shaft; 41-shaft hole; 42-a second connecting shaft; 43-a third connecting shaft; 44-a fourth connecting shaft; 45-a first bearing; 46-a second bearing; 47-a third bearing; 48-fourth bearing;
50-an under-actuated knee device for lower extremity exoskeleton; 51-human body; 52-a motor;
60-upper fixing sleeve; 61-lower fixing sleeve.
Detailed Description
The present invention is described in further detail below with reference to examples to enable those skilled in the art to practice the same by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-7, an under-actuated knee joint apparatus for a lower extremity exoskeleton of the present embodiment includes: the driving wheel device comprises an upper mounting plate 10, a driving wheel 11 rotatably connected to the upper mounting plate 10, a first connecting rod 12 with a first end rotatably connected to the upper mounting plate 10, a first driven wheel 13 rotatably connected to a second end 121 of the first connecting rod 12, a second connecting rod 14 with a first end fixedly connected to the first driven wheel 13, a second driven wheel 15 rotatably connected to a second end 141 of the second connecting rod, a lower mounting plate 16 fixedly connected to the second driven wheel 15, and a plurality of ropes for inputting driving force to the driving wheel 11 and for realizing sequential transmission among the driving wheel 11, the first driven wheel 13 and the second driven wheel 15.
In the invention, the first driven wheel 13 is positioned on the side part which is basically flush with the knee joint, the upper mounting plate 10 is positioned on the side part above the knee joint and is fixed with the thigh, and the lower mounting plate 16 is positioned on the side part below the knee joint and is fixed with the shank; the device adopts a rope for transmission, an external driving mechanism (such as a motor) provides driving tension for the rope, so that the first connecting rod 12 can rotate relative to the upper mounting plate 10, and the second connecting rod 14 can rotate relative to the first connecting rod 12; the underactuated knee joint device of the present invention has two degrees of freedom, namely, the lower mounting plate 16 as an output end can rotate relative to the upper mounting plate 10 and can move in a sagittal plane relative to the upper mounting plate 10, thereby being capable of well adapting to the movement of the knee joint without causing joint pressure.
Referring to fig. 4, in which the ropes include first and second driving ropes 20 and 21 wound on the wheel surface of the driving wheel 11 in opposite directions for inputting driving force to the driving wheel 11, first and second transmission ropes 22 and 23 connected between the driving wheel 11 and the first driven wheel 13, and third and fourth transmission ropes 24 and 25 connected between the first and second driven wheels 13 and 15.
The first end 220 of the first drive line and the first end 230 of the second drive line are wound in opposite directions on the tread of the drive wheel 11, and the second end 221 of the first drive line and the second end 231 of the second drive line are wound in opposite directions on the tread of the first driven wheel 13;
the first end 240 of the third drive line and the first end 250 of the fourth drive line are wrapped around the tread of the first driven wheel 13 in opposite directions and the second end 241 of the third drive line and the second end 251 of the fourth drive line are wrapped around the tread of the second driven wheel 15 in opposite directions.
Referring to fig. 5, winding grooves 36 around which ropes are wound and fixing grooves 30 for fixing the ropes are formed on the wheel surfaces of the driving wheel 11, the first driven wheel 13 and the second driven wheel 15, and fixing blocks 31 for fixing in the corresponding fixing grooves 30 are fixedly connected to the ropes. The fixing block 31 includes a tab portion 32 for fixing inserted into the fixing groove 30 and a connection portion 33 connected to the tab portion 32 for fixedly connecting to the rope. The rope is clamped into the winding groove 36, the inserting piece part 32 and the inner wall of the fixing groove 30 can be fixedly connected through screws, the rope passes through the rope hole 34 on the connecting part 33, the tail end of the rope is provided with the clamping column 35, so that the rope is connected to the connecting part 33, and when the rope moves along the stretching direction, the clamping column 35 is propped against the rope hole 34, so that the corresponding driving wheel 11 or driven wheel can be driven to rotate through the rope.
Referring to fig. 3,4, 6 and 7, the upper mounting plate 10 is fixedly connected with a first connecting shaft 40, and the driving wheel 11 is rotatably connected to the first connecting shaft 40 through a first bearing 45. A second connecting shaft 42 is rotatably inserted into the shaft hole 41 formed in the first connecting shaft 40 through a second bearing 46, and the other end of the second connecting shaft 42 is fixedly connected to the first end 120 of the first link. So that the drive wheel 11 can rotate relative to the upper mounting plate 10 and the first end 120 of the first link can also rotate relative to the upper mounting plate 10.
The second end 121 of the first connecting rod 12 is fixedly connected with a third connecting shaft 43, and the first driven wheel 13 is rotatably connected to the third connecting shaft 43 through a third bearing 47. So that the rotation of the second end 121 of the first link 12 can drive the first driven wheel 13 to move, and the driving force transmitted by the driving wheel 11 through the rope can enable the first driven wheel 13 to rotate relative to the second end 121 of the first link 12.
The first end 140 of the second link is fixedly connected with the first driven wheel 13, and the second end 141 of the second link is fixedly connected with the fourth connecting shaft 44. The second driven wheel 15 is rotatably connected to the fourth connecting shaft 44 through a fourth bearing 48, and the lower mounting plate 16 is fixedly connected to the second driven wheel 15. So that the rotation of the second end 141 of the second link can drive the second driven wheel 15 to move, and the driving force transmitted by the driving wheel 11 through the rope can enable the second driven wheel 15 to rotate relative to the second end 141 of the second link.
The working principle of the invention is as follows:
referring to fig. 8, a pulling force is provided to the first driving rope 20, the driving wheel 11 rotates clockwise, and the driving wheel 11 rotates clockwise through the first driving rope 22 to drive the first driven wheel 13; the first driven wheel 13 drives the second driven wheel 15 to rotate clockwise through the third transmission rope 24, and simultaneously the rotation of the first driven wheel 13 enables the second connecting rod 14 to rotate clockwise around the first end of the second connecting rod, so that the lower mounting plate 16 on the second end 141 of the second connecting rod rotates clockwise, and the lower leg can be driven to realize leg bending; since the first end 120 of the first link is rotatable relative to the upper mounting plate 10, the second end 121 of the first link 12 is rotatable relative to the first driven wheel 13, and the second link 14 is rotatable, so that the first driven wheel 13 can move away from the knee joint (i.e., the first driven wheel 13 can move away from the knee joint when the leg is bent, so that the sliding of the knee joint can be adapted, and no pressure is applied to the knee joint).
Referring to fig. 9, pulling force is provided to the second driving rope 21, the driving wheel 11 rotates counterclockwise, and the driving wheel 11 drives the first driven wheel 13 to rotate counterclockwise through the second transmission rope 23; the first driven wheel 13 drives the second driven wheel 15 to rotate anticlockwise through the fourth transmission rope 25, and meanwhile, the rotation of the first driven wheel 13 enables the second connecting rod 14 to rotate anticlockwise around the first end of the second connecting rod, so that the lower mounting plate 16 on the second end 141 of the second connecting rod rotates anticlockwise, and the lower leg can be driven to realize leg stretching; since the first end 120 of the first link is rotatable relative to the upper mounting plate 10, the second end 121 of the first link 12 is rotatable relative to the first driven wheel 13, and the second link 14 is rotatable, so that the first driven wheel 13 can move in a direction approaching the knee joint (i.e., the first driven wheel 13 can move in a direction approaching the knee joint when the lower leg is extended), thereby being capable of adapting to the sliding of the knee joint without causing pressure on the knee joint.
Referring to fig. 10, in one embodiment, an upper fixing sleeve 60 is fixedly connected to the upper mounting plate 10, the upper fixing sleeve 60 may be fixedly sleeved on the thigh, a lower fixing sleeve 61 is fixedly connected to the lower mounting plate 16, and the lower fixing sleeve 61 may be fixedly sleeved on the calf.
In the present invention, since the external driving device provides the driving force to the device through the rope, the driving device can be disposed away from the knee joint to reduce the weight at the knee joint. For example, referring to fig. 11, in one embodiment, the under-actuated knee device 50 for the exoskeleton of lower limbs is worn on a human body 51, driving tension is provided to the first driving rope 20 and the second driving rope 21 by a motor 52, and the motor 52 can be worn on the back of the human body. The wire tube is sleeved outside the rope exposed outside, the wire tube is made of hard materials which are bent, and when the rope stretches and slides in the wire tube, the wire tube can basically keep still, and a plurality of ropes are prevented from interfering or winding with each other.
Although embodiments of the present invention have been disclosed above, it is not limited to the use of the description and embodiments, it is well suited to various fields of use for the invention, and further modifications may be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the particular details without departing from the general concepts defined in the claims and the equivalents thereof.
Claims (5)
1. An underactuated knee device for a lower extremity exoskeleton, comprising: the device comprises an upper mounting plate, a driving wheel rotatably connected to the upper mounting plate, a first connecting rod with a first end rotatably connected with the upper mounting plate, a first driven wheel rotatably connected to a second end of the first connecting rod, a second connecting rod with a first end fixedly connected with the first driven wheel, a second driven wheel rotatably connected to a second end of the second connecting rod, a lower mounting plate fixedly connected to the second driven wheel, and a plurality of ropes for inputting driving force to the driving wheel and for realizing sequential transmission among the driving wheel, the first driven wheel and the second driven wheel;
the rope comprises a first driving rope and a second driving rope which are wound on the wheel surface of the driving wheel in opposite directions and are used for inputting driving force to the driving wheel, a first transmission rope and a second transmission rope which are connected between the driving wheel and a first driven wheel, and a third transmission rope and a fourth transmission rope which are connected between the first driven wheel and the second driven wheel;
The first end of the first transmission rope and the first end of the second transmission rope are wound on the wheel surface of the driving wheel in opposite directions, and the second end of the first transmission rope and the second end of the second transmission rope are wound on the wheel surface of the first driven wheel in opposite directions;
The first end of the third transmission rope and the first end of the fourth transmission rope are wound on the wheel surface of the first driven wheel in opposite directions, and the second end of the third transmission rope and the second end of the fourth transmission rope are wound on the wheel surface of the second driven wheel in opposite directions;
a second connecting shaft is rotatably inserted in a shaft hole formed in the first connecting shaft through a second bearing, and the other end of the second connecting shaft is fixedly connected with the first end of the first connecting rod;
A second end of the first connecting rod is fixedly connected with a third connecting shaft, and the first driven wheel is rotatably connected to the third connecting shaft through a third bearing;
the first end of the second connecting rod is fixedly connected with the first driven wheel, and the second end of the second connecting rod is fixedly connected with a fourth connecting shaft.
2. The under-actuated knee joint apparatus for lower limb exoskeleton of claim 1, wherein the driving wheel, the first driven wheel and the second driven wheel are respectively provided with a winding groove for winding ropes and a fixing groove for fixing the ropes, and the ropes are fixedly connected with fixing blocks for being fixed in the corresponding fixing grooves.
3. The underactuated knee joint apparatus for lower extremity exoskeleton of claim 2, wherein said fixing block includes a tab portion for fixing inserted into said fixing groove and a connection portion connected to said tab portion for fixedly connecting to said rope.
4. The underactuated knee joint apparatus for lower extremity exoskeleton of claim 1, wherein said upper mounting plate is fixedly coupled to a first coupling shaft, and said driving wheel is rotatably coupled to said first coupling shaft via a first bearing.
5. An underactuated knee joint apparatus as recited in claim 1, wherein said second driven wheel is rotatably coupled to said fourth coupling shaft by a fourth bearing, said lower mounting plate being fixedly coupled to said second driven wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010430915.1A CN111603356B (en) | 2020-05-20 | 2020-05-20 | Under-actuated knee joint device for lower limb exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010430915.1A CN111603356B (en) | 2020-05-20 | 2020-05-20 | Under-actuated knee joint device for lower limb exoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111603356A CN111603356A (en) | 2020-09-01 |
| CN111603356B true CN111603356B (en) | 2024-05-17 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010430915.1A Active CN111603356B (en) | 2020-05-20 | 2020-05-20 | Under-actuated knee joint device for lower limb exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111603356B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5765444A (en) * | 1995-07-10 | 1998-06-16 | Kensington Laboratories, Inc. | Dual end effector, multiple link robot arm system with corner reacharound and extended reach capabilities |
| CN204698953U (en) * | 2015-05-29 | 2015-10-14 | 陕西科技大学 | A kind of type hydraulic actuator lower limb exoskeleton bionic device |
| CN107569363A (en) * | 2017-09-05 | 2018-01-12 | 哈尔滨工业大学 | A kind of wearable wrist recovery training Flexible Transmission ectoskeleton |
| CN108025445A (en) * | 2015-07-23 | 2018-05-11 | 斯里国际 | Robots arm and robotic surgical system |
| CN108114414A (en) * | 2016-11-29 | 2018-06-05 | 三星电子株式会社 | Exercise aid device |
| CN212592980U (en) * | 2020-05-20 | 2021-02-26 | 中国科学院苏州生物医学工程技术研究所 | Underactuated knee joint device for lower extremity exoskeleton |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9261172B2 (en) * | 2004-09-30 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Multi-ply strap drive trains for surgical robotic arms |
| EP4628063A3 (en) * | 2016-09-09 | 2026-01-14 | Ecole Polytechnique Fédérale de Lausanne (EPFL) | Modular exoskeleton for example for spinal cord injured patients |
-
2020
- 2020-05-20 CN CN202010430915.1A patent/CN111603356B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5765444A (en) * | 1995-07-10 | 1998-06-16 | Kensington Laboratories, Inc. | Dual end effector, multiple link robot arm system with corner reacharound and extended reach capabilities |
| CN204698953U (en) * | 2015-05-29 | 2015-10-14 | 陕西科技大学 | A kind of type hydraulic actuator lower limb exoskeleton bionic device |
| CN108025445A (en) * | 2015-07-23 | 2018-05-11 | 斯里国际 | Robots arm and robotic surgical system |
| CN108114414A (en) * | 2016-11-29 | 2018-06-05 | 三星电子株式会社 | Exercise aid device |
| CN107569363A (en) * | 2017-09-05 | 2018-01-12 | 哈尔滨工业大学 | A kind of wearable wrist recovery training Flexible Transmission ectoskeleton |
| CN212592980U (en) * | 2020-05-20 | 2021-02-26 | 中国科学院苏州生物医学工程技术研究所 | Underactuated knee joint device for lower extremity exoskeleton |
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| Publication number | Publication date |
|---|---|
| CN111603356A (en) | 2020-09-01 |
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