CN107414789B - Closed hydraulic transmission wearable leg power assisting device - Google Patents
Closed hydraulic transmission wearable leg power assisting device Download PDFInfo
- Publication number
- CN107414789B CN107414789B CN201710372494.XA CN201710372494A CN107414789B CN 107414789 B CN107414789 B CN 107414789B CN 201710372494 A CN201710372494 A CN 201710372494A CN 107414789 B CN107414789 B CN 107414789B
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- hydraulic cylinder
- hydraulic
- force transmission
- cylinder part
- thigh
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 102
- 210000000689 upper leg Anatomy 0.000 claims abstract description 48
- 210000002414 leg Anatomy 0.000 claims abstract description 28
- 210000004394 hip joint Anatomy 0.000 claims abstract description 25
- 230000000712 assembly Effects 0.000 claims abstract description 8
- 238000000429 assembly Methods 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims description 8
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims 3
- 244000309466 calf Species 0.000 claims 1
- 239000004744 fabric Substances 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 6
- 230000002146 bilateral effect Effects 0.000 abstract description 3
- 238000012546 transfer Methods 0.000 description 12
- 210000001217 buttock Anatomy 0.000 description 4
- 239000003921 oil Substances 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 206010040007 Sense of oppression Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a closed hydraulic transmission wearable leg power assisting device which comprises a mounting seat (1) worn on the trunk of a human body and two sets of transmission assemblies arranged in bilateral symmetry, wherein each transmission assembly comprises a force transmission part (4) for helping a thigh on one side to lift up, a hip joint adapter part (2) and a back hydraulic cylinder part (3) which are arranged on the mounting seat (1) and connected with the force transmission part (4), and a sole hydraulic cylinder part (5) which is connected with the back hydraulic cylinder part (3) through hydraulic pipeline parts (6 and 7) and is positioned on the other side. Compared with the prior art, the power assisting device is simple in structure, the mounting seat is matched with the body of a person through the flexible cloth support, meanwhile, the walking posture of the person is reproduced all the time in the running process of the power assisting device, the power assisting device is well matched with the walking posture of the person, the leg lifting action of the person is assisted, the walking process of the person is not interfered, and the power assisting device can be used as a seat after a hydraulic pipeline part is cut off.
Description
Technical Field
The invention relates to a leg power assisting device, in particular to a wearable leg power assisting device with closed hydraulic transmission.
Background
The wearable power assisting device is a relatively new research field in recent years, and can help people to expand the exercise capacity of the limbs of people and reduce the burden of heavy objects on people.
Conventional wearable power assist devices that require external power have some of the following disadvantages:
1. the whole device comprises a mechanical device, a power device and a control device which are wearable on each part of the human body and a plurality of sensors for detecting the motion information of the human body, so that the dead weight is overlarge, and the portability of the device is reduced to a certain extent.
2. The cost of the sensor, the high-power motor and other devices is high, so that the practicability and the popularity of the whole device are reduced.
Aiming at the problems, how to simplify the structure of the device to reduce the self weight of the device and reduce the manufacturing cost while finishing the movement is a difficult point for designing the wearable power assisting device.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a wearable leg power assisting device with closed hydraulic transmission.
The purpose of the invention can be realized by the following technical scheme:
a closed hydraulic transmission wearable leg power assisting device comprises a mounting seat worn on a human body trunk and two sets of transmission assemblies symmetrically arranged left and right, wherein each transmission assembly comprises a force transmission part for helping a thigh on one side to lift up, a hip joint switching part and a back hydraulic cylinder part which are arranged on the mounting seat and connected with the force transmission part, and a foot sole hydraulic cylinder part which is connected with the back hydraulic cylinder part through a hydraulic pipeline and is positioned on the other side;
when the sole hydraulic cylinder part on one side is stepped on, the pressure of hydraulic oil in the sole hydraulic cylinder part and the back hydraulic cylinder part which is communicated with the sole hydraulic cylinder part and is positioned on the other side is increased, the back hydraulic cylinder part on the other side is pushed to operate, and the force transmission part on the other side is driven to rotate around the hip joint under the connection of the hip joint adapter part, so that the thigh on the other side is lifted.
As a preferred embodiment, the hip joint adapter component includes a first plate disposed on the mounting seat, a third plate fixedly connected to the force transmission component, and a second plate rotatably connected to the first plate and the third plate at two ends, wherein the first plate and the second plate rotate relatively in the left-right direction, and the second plate and the third plate rotate relatively in the front-back direction.
More preferably, as for the above preferred embodiment, the third plate is provided with a strip-shaped mounting groove, and when the third plate is assembled, the third plate and the force transmission member are clamped and fixed by arranging a bolt structure to penetrate through the strip-shaped mounting groove and the force transmission member. The length of the hip joint switching component can be conveniently adjusted by arranging the strip-shaped mounting grooves, so that the hip joint switching component can be matched with people with different heights.
As a preferred embodiment, the back hydraulic cylinder part comprises a hydraulic cylinder fixing accessory, a first hydraulic pipe joint, a hydraulic cylinder and a Y-shaped joint, wherein the hydraulic cylinder fixing accessory is rotatably connected with the end part of the hydraulic cylinder through a pin and is fixedly connected to the mounting seat, and the Y-shaped joint is installed on a piston rod extending out of the hydraulic cylinder through threads and is rotatably connected with the force transmission part through a pin.
In a preferred embodiment, the force transfer member comprises a force transfer structure consisting of a plurality of rods for lifting the thigh, and a plurality of serrated plates mounted on the force transfer structure.
More preferably, a space allowing the lower leg to be lifted is left below the force transmission structure, and the bottom of the force transmission structure is processed into a shape which is in smooth contact with the ground.
As a further preferred embodiment of the above preferred embodiment, the hydraulic line is provided with a cut-off switch, when the cut-off switch is closed, the movement of the back hydraulic cylinder part is limited and the force transmission part cannot rotate, at this time, the detachable hip support cloth is installed on the serrated plate, and the force transmission part can be used as a seat.
More preferably, as for the above preferred embodiment, the force transfer structure is attached to the thigh and the thigh is at a reference angle of 0 ° when standing upright, and the effective working rotation angle of the force transfer structure is-30 ° to 30 °.
In a preferred embodiment, a cushion pad is attached to the thigh during use. So as to relieve the oppression feeling of the force transmission part to the thigh.
As a preferred embodiment, the sole hydraulic cylinder part comprises a U-shaped plate part, an elastic band and a double-shaft hydraulic cylinder, wherein the elastic band and the double-shaft hydraulic cylinder are arranged on the U-shaped plate part, and a second hydraulic pipe joint connected with a hydraulic pipeline is further arranged on the double-shaft hydraulic cylinder. The elastic band is used for fixing the U-shaped plate and the shoes of the user.
As a preferred embodiment, the mounting seat is a flexible cloth support. According to the invention, a closed hydraulic principle is applied, when a person walks, taking one of the transmission components as an example, which has the function of assisting the right thigh to lift when a left foot is stepped on, when a sole hydraulic cylinder part arranged on the left sole is stepped on, due to the communication of a hydraulic pipeline, the pressure of hydraulic oil in a back hydraulic cylinder part arranged on the right side of the back is increased, a piston rod of the hydraulic cylinder part is pushed out to drive a force transmission part, and the force transmission part rotates forwards around a hip joint under the help of the rotary connection of a hip joint adapter part, so that the right thigh is jacked up. Similarly, the other transmission assembly also realizes the function of assisting the left thigh to lift when the right foot is pressed down. The two transmission assemblies do not interfere with each other, act on the thigh together, and help the thigh muscle of the human body save labor in the process of repeatedly lifting and stepping the leg of the human body.
The invention can also have the second function of serving as a seat, and the cut-off switch is arranged in the hydraulic pipeline, so that when the switch is cut off, the movement of the piston rod in the back hydraulic cylinder part can be limited, at the moment, the force transmission assembly cannot rotate and is fixed, and at the moment, the buttock support cloth is hung on the serrated plate to serve as the seat.
The effective working angle of the force transmission part is backward-30 degrees and forward 30 degrees, wherein the force transmission structure is attached to the thigh, and the thigh is referenced 0 degree when standing vertically. When the thigh is lifted forwards by more than 30 degrees, the oil of the push stroke oil circuit of the sole hydraulic cylinder part is completely pressed into the back hydraulic cylinder part, and the force transmission structure does not help the thigh to be lifted any more, is separated from the thigh and does not limit the thigh to be lifted.
Compared with the prior art, the power assisting device is simple in structure, the mounting seat is matched with the body of a person through the flexible cloth support, meanwhile, the walking posture of the person is reproduced constantly in the running process of the power assisting device, the walking posture of the person is well matched, the leg lifting action of the person is assisted, and meanwhile, the walking process of the person is not interfered.
Drawings
FIG. 1 is a general schematic view of the assembly of the wearable leg assist device of the present invention;
FIG. 2 is a schematic structural view of a hip joint adapter component of the wearable leg assist device of the present invention;
FIG. 3 is a schematic structural view of the back hydraulic cylinder part of the present invention;
FIG. 4 is a schematic view of the force transfer member of the present invention;
FIG. 5 is a schematic view of the construction of the sole hydraulic cylinder unit of the present invention;
FIG. 6 is a schematic view of the cushion mounted on the thigh;
FIG. 7 is a schematic view of the buttock support panel mounted on the force transfer member;
FIG. 8 is a schematic view of a user in a standing position wearing the wearable leg assist device of the present invention;
FIG. 9 is a schematic view showing a walking posture of the wearable leg power assist device of the present invention worn by a user (hydraulic lines are omitted);
FIG. 10 is a schematic view of a user walking up stairs while wearing the wearable leg power assist device of the present invention;
FIG. 11 is a schematic view of a user sitting on the wearable leg assist device of the present invention;
FIG. 12 is a schematic view of the hydraulic circuit connections of the present invention;
FIG. 13 is a schematic diagram of the connection of the hydraulic circuit of the present invention;
in the figure, 1 is a mounting seat, 2 is a hip joint adapter part, 3 is a back hydraulic cylinder part, 4 is a force transmission part, 5 is a sole hydraulic cylinder part, 6 and 7 are hydraulic pipeline accessories, 8 is a cushion pad, 9-hip supporting cloth, 10-a cut-off switch, 2-1 is a first plate, 2-2 is a second plate, 2-3 is a third plate, 3-1 is a hydraulic cylinder fixing accessory, 3-2 is a first hydraulic pipe joint, 3-3 is a hydraulic cylinder, 3-4 is a Y-shaped joint, 4-1 is a force transmission structure, 4-2 is a sawtooth plate, 5-1 is a double-shaft hydraulic cylinder, 5-2 is a second hydraulic pipe joint, 5-3 is an elastic band, and 5-4 is a U-shaped plate.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
A closed hydraulic transmission wearable leg power assisting device is structurally shown in figure 1 and comprises a mounting seat 1 worn on the trunk of a human body and two sets of transmission assemblies arranged in bilateral symmetry, wherein the mounting seat 1 is made of flexible cloth and matched with the trunk of the body of a user, each transmission assembly comprises a force transmission part 4 for lifting a thigh on one side, a hip joint adapter part 2 and a back hydraulic cylinder part 3 which are arranged on the mounting seat 1 and connected with the force transmission part 4, and a foot sole hydraulic cylinder part 5 which is connected with the back hydraulic cylinder part 3 through hydraulic pipeline accessories 6 and 7 and is positioned on the other side;
when the sole hydraulic cylinder part 5 on one side is stepped on, the pressure of the sole hydraulic cylinder part 5 and the hydraulic oil communicated with the sole hydraulic cylinder part 5 and positioned in the back hydraulic cylinder part 3 on the other side is increased, the back hydraulic cylinder part 3 on the other side is pushed to operate, and the force transmission part 4 on the other side is driven to rotate around the hip joint under the connection of the hip joint adapter part 2, so that the thigh on the other side is lifted.
As a preferred embodiment, as shown in fig. 2, the hip joint adapter 2 comprises a first plate 2-1 disposed on the mounting seat 1, a third plate 2-3 fixedly connected with the force transmission member 4, and a second plate 2-2 rotatably connected with the first plate 2-1 and the third plate 2-3 at two ends thereof, wherein the first plate 2-1 and the second plate 2-2 rotate relatively in the left-right direction around an a-a axis, and the second plate 2-2 and the third plate 2-3 rotate relatively in the up-down direction around a b-b axis. The third plate 2-3 is provided with a strip-shaped mounting groove, and during assembly, the third plate 2-3 and the force transmission component 4 are clamped and fixed by arranging a bolt structure to penetrate through the strip-shaped mounting groove and the force transmission component 4.
As a preferred embodiment, as shown in fig. 3, the back hydraulic cylinder part 3 comprises a cylinder attachment 3-1, a first hydraulic coupler 3-2, a hydraulic cylinder 3-3 and a Y-joint 3-4, the cylinder attachment 3-1 is pivotally connected to the end of the hydraulic cylinder 3-3 and is adapted to be fixedly connected to the mounting 1, and the Y-joint 3-4 is mounted on the piston rod of the extended hydraulic cylinder 3-3 and is pivotally connected to the hole of the force-transmitting part 4 by a pin. The hydraulic cylinder fixing accessory 3-1 is arranged on the mounting seat 1 through a screw structure
As a preferred embodiment, as shown in fig. 4, the force transfer part 4 comprises a force transfer structure 4-1 consisting of a plurality of rod pieces for lifting the thigh, and a plurality of serrated plates 4-2 mounted on the force transfer structure 4-1. The shape of the force transmission structure 4-1 ensures that the force transmission structure conforms to the shape and structure of the leg of a human body and can be well attached to the thigh, a space allowing the shank to be lifted is reserved below the force transmission structure, and the bottom of the force transmission structure is processed into a shape which is stably contacted with the ground.
As shown in fig. 12 and 13, a cut-off switch 10 may be disposed in the hydraulic lines 6 and 7, when the cut-off switch 10 is closed, the movement of the back hydraulic cylinder member 3 is restricted and the force transmission member 4 is prevented from rotating, at this time, the hip support cloth 9 is detachably mounted on the serrated plate 4-2, and the force transmission member 4 can be used as a seat, as shown in fig. 7 and 11.
When in use, a cushion pad 8 is additionally arranged on the thigh. To relieve the pressure of the force-transmitting member 4 on the thigh, as shown in fig. 6.
As a preferred embodiment, as shown in FIG. 5, the sole hydraulic cylinder unit 5 includes a U-shaped plate 5-4, and an elastic band 5-3 and a biaxial hydraulic cylinder 5-1 mounted on the U-shaped plate 5-4, and a second hydraulic pipe joint 5-2 connected to hydraulic lines 6, 7 is further provided on the biaxial hydraulic cylinder 5-1. The elastic band 5-3 is used for fixing the U-shaped plate 5-4 with the shoes of the user. The double-shaft hydraulic cylinder 5-1 is provided with one on each side of the U-shaped plate 5-4, is connected with the hydraulic lines 6, 7 through four second hydraulic line joints 5-2, and is communicated with the back hydraulic cylinder part 3 on the other side, and the specific line connections thereof are shown in fig. 12 and 13.
The invention uses the closed hydraulic principle to work, when the device is worn on the body of a user, the device is vertically stood as shown in figure 8, when a person walks, referring to figure 9 or figure 10, taking one of the transmission components as an example, which can realize the function of helping the right thigh to lift when the left foot is stepped on, when the sole hydraulic cylinder part 5 arranged on the left sole is stepped on, the hydraulic oil pressure in the back hydraulic cylinder part 3 arranged on the right side of the back is increased due to the communication of the hydraulic pipelines 6 and 7, the piston rod of the back hydraulic cylinder part is pushed out, the force transmission part 4 is driven, and under the rotary connection help of the hip joint adapter part 2, the force transmission part 4 rotates forwards, thereby jacking the right thigh and rotating around the hip joint to help the right thigh to lift. Similarly, the other transmission assembly also realizes the treading of the right foot to help the lifting of the left thigh. The two transmission assemblies do not interfere with each other, act on the thigh together, and help the thigh muscle of the human body save labor in the process of repeatedly lifting and stepping the leg of the human body.
The invention can also have the second function of serving as a seat, and the cut-off switch 10 is arranged in the hydraulic pipelines 6 and 7, so that the movement of the piston rod in the back hydraulic cylinder part 3 can be limited, at the moment, the force transmission component can not rotate and is fixed, and at the moment, the buttock supporting cloth 9 is hung on the serrated plate 4-2 to serve as the seat.
The effective working angle of the force transfer part 4 of the invention is preferably-30 degrees backwards and 30 degrees forwards, wherein the force transfer structure 4-1 is attached to the thigh and the thigh is 0 degree when standing vertically. When the thighs are lifted forwards by more than 30 degrees, the oil of the stroke oil circuit of the sole hydraulic cylinder part 5 is completely pressed into the back hydraulic cylinder part 3, and the force transmission structure 4-1 does not help the thighs to be lifted any more, is separated from the thighs and does not limit the thighs to be lifted.
Example 1
A closed hydraulic transmission wearable leg power assisting device is structurally shown in figure 1 and comprises a mounting seat 1 which is worn on the trunk of a human body and two sets of transmission assemblies which are arranged in bilateral symmetry, wherein the mounting seat 1 can be made of flexible cloth and matched with the trunk of the body of a user, each transmission assembly comprises a force transmission part 4 for lifting a thigh on one side, a hip joint adapter part 2 and a back hydraulic cylinder part 3 which are arranged on the mounting seat 1 and connected with the force transmission part 4, and a foot sole hydraulic cylinder part 5 which is connected with the back hydraulic cylinder part 3 through hydraulic pipelines 6 and 7 and located on the other side.
The hip joint switching part 2 comprises a first plate 2-1 arranged on the mounting seat 1, a third plate 2-3 fixedly connected with the force transmission part 4, and a second plate 2-2 with two ends respectively rotatably connected with the first plate 2-1 and the third plate 2-3, wherein the first plate 2-1 and the second plate 2-2 relatively rotate around an a-a axis along the left-right direction, and the second plate 2-2 and the third plate 2-3 relatively rotate around a b-b axis along the front-back direction. The third plate 2-3 is provided with a strip-shaped mounting groove, and during assembly, the third plate 2-3 and the force transmission component 4 are clamped and fixed by arranging a bolt structure to penetrate through the strip-shaped mounting groove and the force transmission component 4.
The force transmission part 4 comprises a force transmission structure 4-1 consisting of a plurality of rod pieces and used for lifting thighs, and three serrated plates 4-2 arranged on the force transmission structure 4-1. The shape of the force transmission structure 4-1 ensures that the force transmission structure conforms to the shape and structure of the leg of a human body and can be well attached to the thigh, a space allowing the shank to be lifted is reserved below the force transmission structure, and the bottom of the force transmission structure is processed into a shape which is stably contacted with the ground.
When the sole hydraulic cylinder part 5 on one side is stepped on, the pressure of the sole hydraulic cylinder part 5 and the hydraulic oil communicated with the sole hydraulic cylinder part 5 and positioned in the back hydraulic cylinder part 3 on the other side is increased, the back hydraulic cylinder part 3 on the other side is pushed to operate, and the force transmission part 4 on the other side is driven to rotate around the hip joint under the connection of the hip joint adapter part 2, so that the thigh on the other side is lifted.
Example 2
Compared with example 1, most of them are the same, except that in this example there is further limitation: the back hydraulic cylinder part 3 comprises a hydraulic cylinder fixing accessory 3-1, a first hydraulic pipe joint 3-2, a hydraulic cylinder 3-3 and a Y-shaped joint 3-4, the hydraulic cylinder fixing accessory 3-1 is rotatably connected with the end part of the hydraulic cylinder 3-3 and is used for fixedly connecting the mounting seat 1, and the Y-shaped joint 3-4 is arranged on a piston rod extending out of the hydraulic cylinder 3-3 and is rotatably connected with a hole in the force transmission part 4 through a pin. The hydraulic cylinder fixing accessories 3-1 are arranged on the mounting base 1 through screw structures.
Example 3
Compared with example 1, most of them are the same, except that in this example there is further limitation: the sole hydraulic cylinder part 5 comprises a U-shaped plate 5-4, an elastic band 5-3 arranged on the U-shaped plate 5-4 and a double-shaft hydraulic cylinder 5-1, and a second hydraulic pipe joint 5-2 connected with hydraulic pipelines 6 and 7 is also arranged on the double-shaft hydraulic cylinder 5-1. The elastic band 5-3 is used for fixing the U-shaped plate 5-4 with the shoes of the user. The double-shaft hydraulic cylinder 5-1 is provided with one on each side of the U-shaped plate 5-4, is connected with hydraulic pipelines 6 and 7 through four second hydraulic pipe joints 5-2 and is communicated with the back hydraulic cylinder part 3 on the other side.
Example 4
Compared with example 1, most of them are the same, except that in this example there is further limitation: a cut-off switch 10 can be arranged in the hydraulic pipelines 6 and 7, when the cut-off switch 10 is closed, the back hydraulic cylinder component 3 limits the movement and enables the force transmission component 4 not to rotate, at the moment, the buttock supporting cloth 9 is detachably arranged on the serrated plate 4-2, and the force transmission component 4 can be used as a seat.
The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710372494.XA CN107414789B (en) | 2017-05-24 | 2017-05-24 | Closed hydraulic transmission wearable leg power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710372494.XA CN107414789B (en) | 2017-05-24 | 2017-05-24 | Closed hydraulic transmission wearable leg power assisting device |
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| Publication Number | Publication Date |
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| CN107414789A CN107414789A (en) | 2017-12-01 |
| CN107414789B true CN107414789B (en) | 2020-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710372494.XA Expired - Fee Related CN107414789B (en) | 2017-05-24 | 2017-05-24 | Closed hydraulic transmission wearable leg power assisting device |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112137468B (en) * | 2020-08-27 | 2022-07-05 | 同济大学 | Barrier-free intelligent bathtub suitable for lower limb barrier people |
| JP2022191542A (en) * | 2021-06-16 | 2022-12-28 | 守屋 孝敏 | Load reduction device |
| CN113319830B (en) * | 2021-07-08 | 2024-05-17 | 桂林理工大学 | Unpowered human lower limb exoskeleton |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1071073A (en) * | 1991-09-28 | 1993-04-21 | 霍满焕 | Walking power assisting device |
| JP5163989B2 (en) * | 2009-07-23 | 2013-03-13 | 興基 玉田 | Walking equipment |
| CN103330635A (en) * | 2013-06-26 | 2013-10-02 | 中国科学院合肥物质科学研究院 | A wearable lower limb power-assisted robot, its folding method and a hand-drawn case for shipping |
| CN104586610A (en) * | 2015-01-30 | 2015-05-06 | 陕西科技大学 | Walking assisting device based on hydraulic driving |
| CN105798893A (en) * | 2016-06-03 | 2016-07-27 | 河北工业大学 | Human lower limb exoskeleton assisting in load bearing |
-
2017
- 2017-05-24 CN CN201710372494.XA patent/CN107414789B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1071073A (en) * | 1991-09-28 | 1993-04-21 | 霍满焕 | Walking power assisting device |
| JP5163989B2 (en) * | 2009-07-23 | 2013-03-13 | 興基 玉田 | Walking equipment |
| CN103330635A (en) * | 2013-06-26 | 2013-10-02 | 中国科学院合肥物质科学研究院 | A wearable lower limb power-assisted robot, its folding method and a hand-drawn case for shipping |
| CN104586610A (en) * | 2015-01-30 | 2015-05-06 | 陕西科技大学 | Walking assisting device based on hydraulic driving |
| CN105798893A (en) * | 2016-06-03 | 2016-07-27 | 河北工业大学 | Human lower limb exoskeleton assisting in load bearing |
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| CN107414789A (en) | 2017-12-01 |
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Granted publication date: 20200324 |