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CN111615376A - 一种髋关节外骨骼 - Google Patents

一种髋关节外骨骼 Download PDF

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Publication number
CN111615376A
CN111615376A CN201980006090.6A CN201980006090A CN111615376A CN 111615376 A CN111615376 A CN 111615376A CN 201980006090 A CN201980006090 A CN 201980006090A CN 111615376 A CN111615376 A CN 111615376A
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China
Prior art keywords
exoskeleton
waist
hip
axis
pulley
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Granted
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CN201980006090.6A
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CN111615376B (zh
Inventor
袁博
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Chongqing Niudi Technology Development Co ltd
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Individual
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Priority to CN202210553827.XA priority Critical patent/CN114986479B/zh
Publication of CN111615376A publication Critical patent/CN111615376A/zh
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    • 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
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • 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
    • A61H2201/1645—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user
    • A61H2201/1647—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user the anatomy of a particular individual
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/088—Hip

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • 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)
  • Prostheses (AREA)
  • Manipulator (AREA)

Abstract

一种外骨骼，其特征在于，包括髋部机构（41），该髋部机构（41）包括左髋部（412）和右髋部（413），该左髋部（412）和右髋部（413）各自分别包括至少三个单轴机构协同实现该髋部机构（41）与人体髋部的同构运动。

Description

PCT国内申请，说明书已公开。

Claims (32)

  1. PCT国内申请，权利要求书已公开。
CN201980006090.6A 2018-11-28 2019-11-27 一种髋关节外骨骼 Active CN111615376B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210553827.XA CN114986479B (zh) 2018-11-28 2019-11-27 一种髋关节外骨骼

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
CN2018114338609 2018-11-28
CN201811433860 2018-11-28
CN201910639370 2019-07-19
CN2019106393702 2019-07-19
PCT/CN2019/121206 WO2020108517A1 (zh) 2018-11-28 2019-11-27 一种髋关节外骨骼

Related Child Applications (1)

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CN202210553827.XA Division CN114986479B (zh) 2018-11-28 2019-11-27 一种髋关节外骨骼

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CN111615376A true CN111615376A (zh) 2020-09-01
CN111615376B CN111615376B (zh) 2022-05-03

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US (1) US12440415B2 (zh)
CN (2) CN111615376B (zh)
WO (1) WO2020108517A1 (zh)

Cited By (6)

* Cited by examiner, † Cited by third party
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CN112659104A (zh) * 2020-12-31 2021-04-16 上海微电机研究所(中国电子科技集团公司第二十一研究所) 一种辅助负重型下肢外骨骼助力机器人
CN112677140A (zh) * 2020-12-31 2021-04-20 上海微电机研究所(中国电子科技集团公司第二十一研究所) 一种下肢外骨骼机器人髋关节机械结构
CN113146591A (zh) * 2021-05-27 2021-07-23 重庆理工大学 一种具有减震功能的负重助力外骨骼
CN113276096A (zh) * 2021-05-27 2021-08-20 重庆理工大学 一种负重外骨骼背负装置
CN114734420A (zh) * 2021-01-07 2022-07-12 重庆市牛迪科技发展有限公司 一种多自由度一体式快拆关节及外骨骼
CN114986479A (zh) * 2018-11-28 2022-09-02 袁博 一种髋关节外骨骼

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CN111588600B (zh) * 2020-06-30 2025-06-06 上海理工大学 一种被动式变刚度储能助力髋关节外骨骼
CN112891150B (zh) * 2020-12-16 2022-08-12 山东科技大学 面向助力应用的三自由度髋关节外骨骼
CN115887171A (zh) * 2021-08-25 2023-04-04 广州视睿电子科技有限公司 一种康复外骨骼系统
CN113843770A (zh) * 2021-09-27 2021-12-28 国网江苏省电力有限公司扬州供电分公司 一种辅助行走缓冲装置
US20240142233A1 (en) * 2021-10-29 2024-05-02 Cybernetic Sports Methods, systems, apparatuses, and devices for providing a balance to objects
CN114886727B (zh) * 2022-04-02 2024-05-14 长春工业大学 一种可穿戴三自由度的髋关节康复装置
CN114832311B (zh) * 2022-04-29 2023-03-31 四川大学华西医院 一种用于髋关节的外展训练装置
CN114849182B (zh) * 2022-06-13 2023-07-21 法罗适(上海)医疗技术有限公司 一种训练手套及自动对接和释放控制方法
WO2024098070A1 (en) 2022-11-04 2024-05-10 Sarcos Corp. Robotic end-effector having dynamic stiffening elements with resilient spacers for conforming object interaction
US20240227164A1 (en) * 2023-01-06 2024-07-11 Sarcos Corp. Stance Adjustment for A Robotic System
CN116671689B (zh) * 2023-06-05 2025-08-05 苏州维凯医用器材科技有限公司 一种术后用弹力短裤
WO2025065163A1 (zh) * 2023-09-25 2025-04-03 中国科学院深圳先进技术研究院 一种超轻便准被动多自由度髋-膝关节助力机器人
CN117428743B (zh) * 2023-12-18 2024-03-01 中国科学院自动化研究所 外骨骼机器人
CN119526362B (zh) * 2024-12-04 2025-09-16 河北工业大学 一种弯腰和行走助力外骨骼

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CN101589983A (zh) * 2009-06-26 2009-12-02 北京工业大学 穿戴式下肢外骨骼装置
WO2010025403A1 (en) * 2008-08-28 2010-03-04 Raytheon Sarcos, Llc Control logic for biomimetic joint actuators
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CN103932870A (zh) * 2014-05-04 2014-07-23 浙江大学 仿生设计下肢康复训练外骨骼
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CN107928996A (zh) * 2017-11-22 2018-04-20 上海理工大学 一种半被动轻量型下肢外骨骼

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CN106214425A (zh) * 2016-09-28 2016-12-14 哈尔滨工业大学 一种外骨骼式创伤手指康复机器人
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US20110028871A1 (en) * 2008-04-07 2011-02-03 Honda Motor Co., Ltd. Curved guide mechanism and walking assist device
WO2010025403A1 (en) * 2008-08-28 2010-03-04 Raytheon Sarcos, Llc Control logic for biomimetic joint actuators
CN101589983A (zh) * 2009-06-26 2009-12-02 北京工业大学 穿戴式下肢外骨骼装置
CN103610524A (zh) * 2013-12-16 2014-03-05 哈尔滨工业大学 一种便携储能式外骨骼助力机器人
CN103932870A (zh) * 2014-05-04 2014-07-23 浙江大学 仿生设计下肢康复训练外骨骼
CN105592835A (zh) * 2014-09-10 2016-05-18 乌普机械可变资本公司 用于具有损伤骨骼和肌肉的两足动物的可调整机械外骨骼
CN205867054U (zh) * 2016-05-23 2017-01-11 成都润惠科技有限公司 一种具有回力结构的人体下肢外骨骼
CN107137207A (zh) * 2017-07-03 2017-09-08 哈尔滨工业大学 基于绳‑滑轮机构的欠驱动下肢助力外骨骼机器人
CN107928996A (zh) * 2017-11-22 2018-04-20 上海理工大学 一种半被动轻量型下肢外骨骼

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114986479A (zh) * 2018-11-28 2022-09-02 袁博 一种髋关节外骨骼
CN114986479B (zh) * 2018-11-28 2025-02-28 袁博 一种髋关节外骨骼
CN112659104A (zh) * 2020-12-31 2021-04-16 上海微电机研究所(中国电子科技集团公司第二十一研究所) 一种辅助负重型下肢外骨骼助力机器人
CN112677140A (zh) * 2020-12-31 2021-04-20 上海微电机研究所(中国电子科技集团公司第二十一研究所) 一种下肢外骨骼机器人髋关节机械结构
CN114734420A (zh) * 2021-01-07 2022-07-12 重庆市牛迪科技发展有限公司 一种多自由度一体式快拆关节及外骨骼
CN113146591A (zh) * 2021-05-27 2021-07-23 重庆理工大学 一种具有减震功能的负重助力外骨骼
CN113276096A (zh) * 2021-05-27 2021-08-20 重庆理工大学 一种负重外骨骼背负装置

Also Published As

Publication number Publication date
CN111615376B (zh) 2022-05-03
US12440415B2 (en) 2025-10-14
WO2020108517A1 (zh) 2020-06-04
US20220117825A1 (en) 2022-04-21
CN114986479A (zh) 2022-09-02
CN114986479B (zh) 2025-02-28

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