CN109702715A - A kind of mechanical ectoskeleton seat - Google Patents
A kind of mechanical ectoskeleton seat Download PDFInfo
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- CN109702715A CN109702715A CN201811484251.6A CN201811484251A CN109702715A CN 109702715 A CN109702715 A CN 109702715A CN 201811484251 A CN201811484251 A CN 201811484251A CN 109702715 A CN109702715 A CN 109702715A
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Abstract
一种机械式外骨骼座椅，包括腿部连接模块、缓冲角度可调节模块和脚部连接模块，腿部连接模块包括与柔性带固定连接的坐垫板，柔性带与穿戴者腰带固定，坐垫板的长条形孔上固定有用于绑在穿戴者的大腿上且长度可调的绑带，坐垫板通过位于其下的长度调节模块与第一连杆固定连接；缓冲角度可调节模块包括符合人体工学的第一连杆和第二连杆，第一连杆和第二连杆通过销一铰链，二者转动连接，第二连杆内部安装有弹性支撑模块和角度调节模块；脚部连接模块包括固定在第二连杆的槽内的脚部长度可调模块，脚部长度可调模块与脚环铰接，脚环与脚底板铰接，能够提高坐下过程的柔顺性，且不会影响人体行走，在穿戴者站起时能起到助力效果，无需能源消耗。
A mechanical exoskeleton seat includes a leg connection module, a buffer angle adjustable module and a foot connection module, the leg connection module includes a cushion plate fixedly connected with a flexible belt, the flexible belt is fixed with a wearer's belt, and the cushion plate A length-adjustable strap is fixed on the elongated hole of the wearer's thigh, and the cushion plate is fixedly connected to the first link through a length adjustment module located under it; the buffer angle adjustable module includes a The first link and the second link of the engineering, the first link and the second link are connected by a pin and a hinge, and the two are connected in rotation. The second link is equipped with an elastic support module and an angle adjustment module; the foot connection module Including a foot length adjustable module fixed in the groove of the second link, the foot length adjustable module is hinged with the foot ring, and the foot ring is hinged with the foot bottom plate, which can improve the flexibility of the sitting process without affecting the human body Walking, it can help the wearer stand up without energy consumption.
Description
Technical field
The invention belongs to robotic technology field, in particular to a kind of mechanical ectoskeleton seat.
Background technique
Crouching, kneeling position gesture are a kind of bad work postures, are worked under these postures for a long time, muscle is easy to produce fatigue, long
And long generation damage and illness.Thigh support ectoskeleton can play the role of support to human body when human body is squatted down, and reduce
Leg muscle fatigue.Existing ectoskeleton seat mostly adjusts support angle with stepper motor and lead screw, and electric pushrod adjusts support
Angle, damper adjusting support angle, but these modes are when wearer walks, because the flexibility ratio of its angle change is not high,
Affect the walking of wearer.Secondly adjustment process is complicated, needs accurately to control, and motor and electric pushrod need a direct-furnish
Electricity.
Therefore the problem of existing wearable thigh support ectoskeleton is primarily present is that ectoskeleton seat is walking and squatting
Poor to the adaptability of people under lower two states, when walking or going upstairs, ectoskeleton angle change is not flexible, generates to human body
Interference problem；The problems such as angular adjustment process is cumbersome and electric element bring energy consumption.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is an object of the invention to propose a kind of mechanical ectoskeleton seat,
Can satisfy retinue property and with sit property requirement, have the characteristics that easy to operate, flexibility is high, without consuming energy.
To achieve the goals above, the technical solution adopted by the present invention is that:
A kind of mechanical ectoskeleton seat, including leg link block, bumper angle adjustable module connect mould with foot
Block；
The leg link block includes the seating pad 5 being fixedly connected with flexible-belt 1, the flexible-belt 1 and wearer's waist
Band is fixed, is fixed on the elongate holes of seating pad 5 for tying up on the thigh of wearer and length-adjustable bandage 3, cushion
Plate 5 is fixedly connected by the length adjustment module being located under it with first connecting rod 10；
The bumper angle adjustable module includes the first connecting rod 10 and second connecting rod 11 for meeting ergonomics, and first
By one 12 hinge of pin, the two is rotatablely connected for connecting rod 10 and second connecting rod 11, is equipped with resilient support mould inside second connecting rod 11
Block and angular adjustment module；
The elastic support module includes that inner cylinder 15,15 upper end of inner cylinder and first connecting rod 10 are formed by pin 2 13
Hinge connection, inner cylinder 15 are cased with outer cylindrical body 16 outside, and the two is slidably connected, and 16 lower end of outer cylindrical body and sliding block 19 pass through pin 3 18
Shape is in the hinge connection, and 16 side of outer cylindrical body is cased with spring 17, and the both ends of spring 17 directly connect with inner cylinder 16 and outer cylindrical body 17
Touching；
The angular adjustment module includes out the sliding block 19 there are two circular hole, and 19 sets of sliding block in the conduit being disposed below
On 24, the both ends of conduit 24 are inserted into the non through hole of upper fixed seat 23 and lower fixed seat 22 respectively and are fixed, upper fixed seat 23,
Lower fixed seat 22 is fixedly connected with second connecting rod 11, and 21 one end of elastic webbing is fixed in the cylindrical body of lower fixed seat 22, separately
One end is fixed in adjustment axis 20, and adjustment axis 20 is caught in the irregularly-shaped hole that 11 two sides of second connecting rod open up and is slidably connected, institute
Stating irregularly-shaped hole is three round holes and a linear slide hole composition, the diameter phase of the size and adjustment axis 20 of three round holes
It is same to be limited；
Foot's link block includes the foot length adjustable module being fixed in the slot of second connecting rod 11, foot head
It spends adjustable module and foot ring 30 is hinged, foot ring 30 and sole 31 are hinged.
The length adjustment module includes plate fixed block 6, and plate fixed block 6 is fixedly connected on 5 lower section of seating pad, and plate is fixed
Block 6 is fixedly connected with upper inner tube 7, and upper inner tube 7 is inserted in upper exterior tube 8, forms telescoping tube, and upper exterior tube 8 is placed in first connecting rod 10
It in slot, is fixedly connected with first connecting rod 10, upper inner tube 7 is built into V-arrangement spring leaf 9, and the cylindrical body of V-arrangement spring leaf 9 is caught in
The lateral aperture of inner tube 7 and upper exterior tube 8.
The foot length adjustable module includes lower outer pipe 26, and 26 sets of lower outer pipe in lower inner tube 27, form telescoping tube,
Lower inner tube 27 is equipped with V-arrangement spring leaf 28, and the cylindrical body of V-arrangement spring leaf 28 can be caught in the lateral aperture of lower outer pipe 26 and lower inner tube 27
It is interior.
The bottom end of the lower inner tube 27 is cased with rubber footmuff 29, and rubber gum cover 29 is directly contacted with ground.
5 lower part of seating pad is fixedly connected with shell 2, is fixed with cushion 4 on seating pad 5, cushion 4 directly with wearing
The contact of person's thigh.
The first connecting rod 10 and second connecting rod 11 are all made of the curved design of adaptation wearer's leg profile.
For set there are two position-limiting tube 14, two position-limiting tubes 14 are located at inner cylinder 15 and pin 2 13 on the pin 2 13
Two sides.
The foot ring 30 is equipped with stop collar 32,30 sets of the foot ring ladder outer circles in stop collar 32 with 31 hinged place of sole
On, stop collar 32 and sole 31 are fixed.
It is cased with that buffer spring 25 is free to slide, and buffer spring 25 is between sliding block 19 and lower fixed seat 22 on the conduit 24
Between, when wearer sits down, buffer spring 25 generates damping to the movement of sliding block 19 and plays the role of buffering.
The beneficial effects of the present invention are:
The present invention slides the double buffer mode of buffering and support device buffering using sliding block, can be improved the process of sitting down
Flexibility, and will not influence human body walking, power-assisted effect can be played when wearer stands；Mechanical three gear adjusting device,
Without energy consumption, and adjusting support angle is simpler, and under walking mode, ectoskeleton is to wearer without unfavorable shadows such as interference
It rings.The present invention and the main distinction of other ectoskeleton seats exist: the angle adjustment device of other ectoskeleton seats mainly uses
Power mode such as motor, hydraulic cylinder etc. or gas-liquid compression bar.These modes are required to wearer when sitting down every time and grasp
Make, control angle of sitting down, ectoskeleton of the invention is directed to certain operating condition, need to only adjust a gear.Secondly, these sides
When wearer walks, angle adjustment device is also required to be powered on formula, needs accurately to control to meet the angle of ectoskeleton and become
Change and change with wearer's knee joint angle, control is complicated, and followability is poor, affect the normal walking of wearer, running or on
Stair etc..Gear when walking, need to be only adjusted to most low gear, the variation of ectoskeleton joint angles is flexible, energy by ectoskeleton of the invention
It freely follows wearer's thigh and calf to move, provides three gear sitting postures to adapt to the needs of different operating conditions.In addition, under power mode,
It is whole heavy, it needs to consume energy, ectoskeleton of the invention uses no-power way, and overall structure is light, without energy consumption, facilitates work
The wearing of people and operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the adjustable ectoskeleton seat of the mechanical gear of the embodiment of the present invention.
Fig. 2 is the structural schematic diagram of the cushion plate module of the embodiment of the present invention.
Fig. 3 is the configuration schematic diagram of the cushion plate module of the embodiment of the present invention.
Fig. 4 is the structural schematic diagram of the bumper angle adjustable module of the embodiment of the present invention.
Fig. 5 is the configuration schematic diagram of the bumper angle adjustable module of the embodiment of the present invention.
Fig. 6 is the functional schematic of the bumper angle adjustable module of the embodiment of the present invention.
Fig. 7 is the configuration schematic diagram of the resilient supporting unit block of the embodiment of the present invention.
Fig. 8 is the structural schematic diagram of foot's module of the embodiment of the present invention.
Fig. 9 is the structural schematic diagram of the stop collar of inventive embodiments.
Appended drawing reference is as follows: 1- flexible-belt；2- shell；3- bandage；4- cushion；5- seating pad；6- plate fixed block；On 7-
Inner tube；8- upper exterior tube；9-V shape spring leaf；10- first connecting rod；11- second connecting rod；12- pin one；13- pin two；14- position-limiting tube；
15- inner cylinder；16- outer cylindrical body；17- spring；18- pin three；19- sliding block；20- adjustment axis；21- elastic webbing；22- lower fixed seat；
23- upper fixed seat；24- conduit；25- buffer spring；26- lower outer pipe；Inner tube under 27-；28-V shape spring leaf；29- Rubber foot
Set；30- foot ring；31- sole；32- stop collar.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
A kind of mechanical ectoskeleton seat, including leg link block, bumper angle adjustable module connect mould with foot
Block.
Referring to Fig. 1, the leg link block includes the seating pad 5 being fixedly connected with flexible-belt 1, the flexible-belt 1 with
Wearer's waistband is fixed, and referring to fig. 2, is fixed on the elongate holes of seating pad 5 for tying up on the thigh of wearer and length
Adjustable bandage 3, seating pad 5 are fixedly connected by the length adjustment module being located under it with first connecting rod 10；The seating pad
5 lower parts are fixedly connected with shell 2, and cushion 4 is fixed on seating pad 5, and cushion 4 is directly contacted with wearer's thigh.
Referring to Fig. 3, the length adjustment module includes plate fixed block 6, and plate fixed block 6 is fixedly connected under seating pad 5
Side, plate fixed block 6 are used as interlayer block, and plate fixed block 6 is fixedly connected with upper inner tube 7, and upper inner tube 7 is inserted in upper exterior tube 8, and formation is stretched
The draw, upper exterior tube 8 are placed in the slot of first connecting rod 10, are fixedly connected with first connecting rod 10, and upper inner tube 7 is built into V-arrangement spring
Piece 9, the cylindrical body of V-arrangement spring leaf 9 are caught in the lateral aperture of inner tube 7 and upper exterior tube 8, thus fixed upper inner tube 7 and upper exterior tube 8
Relative position, change adjustable upper position of the inner tube 7 in upper exterior tube 8 in position for being caught in lateral aperture, and then change telescoping tube
Dilatability, by adjusting the position of upper inner tube 7 in telescoping tube, and then change position of the seating pad 5 with respect to first connecting rod 10,
To adapt to the thigh length of different wearers.
Referring to fig. 4, Fig. 5, the bumper angle adjustable module include the first connecting rod 10 and second for meeting ergonomics
Connecting rod 11, first connecting rod 10 and second connecting rod 11 are rotatablely connected by one 12 hinge of pin, the two, are installed inside second connecting rod 11
Flexible supporting module and angular adjustment module；The first connecting rod 10 and second connecting rod 11 are all made of adaptation wearer leg
The curved design of profile can be improved man-machine matching.Curved design mainly avoids connecting rod and thigh and calf, kneed connects
Touching, the states ectoskeleton such as walk, go upstairs, sitting down is to human body without interference effect.
Referring to Fig. 6, the elastic support module includes inner cylinder 15, and 15 upper end of inner cylinder and first connecting rod 10 pass through pin
2 13 shapes are in the hinge connection, on the pin 2 13 set there are two position-limiting tube 14, two position-limiting tubes 14 be located at inner cylinder 15 with
The two sides of pin 2 13.It is cased with outer cylindrical body 16 outside inner cylinder 15, the two is slidably connected, and 16 lower end of outer cylindrical body and sliding block 19 pass through pin
3 18 shapes are in the hinge connection, and 16 hole depth of outer cylindrical body meets inner cylinder 15 and slides maximum 10mm, and 16 side of outer cylindrical body is cased with spring
17, the both ends of spring 17 are directly contacted with inner cylinder 16 and outer cylindrical body 17, and spring 17 plays the work of buffering when wearer sits down
With sliding distance of the decrement based on inner cylinder 15 is 10mm, plays the role of upward power-assisted when wearer stands.
The angular adjustment module includes out the sliding block 19 there are two circular hole, and 19 sets of sliding block in the conduit being disposed below
On 24, the both ends of conduit 24 are inserted into the non through hole of upper fixed seat 23 and lower fixed seat 22 respectively and are fixed, upper fixed seat 23,
Lower fixed seat 22 is fixedly connected with second connecting rod 11, and 21 one end of elastic webbing is fixed in the cylindrical body of lower fixed seat 22, separately
One end is fixed in adjustment axis 20, and by the preload power limit of elastic webbing 21, its is free to slide, as shown in Figure 7.Adjustment axis 20 is adopted
With screw bolt and nut, adjustment axis 20 is caught in the irregularly-shaped hole that 11 two sides of second connecting rod open up and is slidably connected, the irregularly-shaped hole
For three round holes and a linear slide hole composition, the size of three round holes is identical as the diameter of adjustment axis 20 to be limited
Position, adjustment axis 20 can arbitrarily switch different location in corresponding three gears in the position of three round holes, i.e. realization ectoskeleton three
The switching of the sitting posture of a gear, when adjusting, adjustment axis 20 is slided in the linear slide hole of 11 side of second connecting rod, three gears
Corresponding ectoskeleton angle is respectively 70 °, 55 °, 40 °；Be cased with buffer spring 25 on the conduit 24, buffer spring 25 between
Between sliding block 19 and lower fixed seat 22, without being fixedly connected and free to slide, when wearer sits down, buffer spring 25 is to sliding block
19 movement generates damping and plays the role of buffering.
Concrete operations process is as follows: in non-operating mode, wearer adjust in angle adjustment device 20 position of adjustment axis to
Most low gear is freely rotated between first connecting rod 1 and second connecting rod 2, and minimum free angle is 40 °, two when the walking of wearer
Connecting rod can follow both legs to swing, and adapt to knee joint angle under wearer's normal activity and change, ectoskeleton is without hindrance to wearer
Power does not influence the scenes such as walk or go upstairs.In the operational mode, wearer's squatting position according to required for different operating conditions is high
Degree, adjusting adjustment axis 20 in angle adjustment device can directly sit down to corresponding gear.During sitting down, sliding block 19 is slided
It is contacted to certain position with buffer spring 25, buffer spring 25 plays buffer function to sliding block 19, reduces impact, improves submissive
Property, when sliding block 19 moves to 20 position of adjustment axis, adjustment axis 20 limits the continuation slide downward of sliding block 19, resilient support dress
Setting middle inner cylinder 15, opposite sliding, spring 17 compress with outer cylindrical body 16, play buffer function, inner cylinder 15 is with respect to outer cylindrical body 16
The rear end 10mm face contact is slided, a process of sitting down is completed in no longer opposite sliding.When wearer stands, under compressive state
Spring 17 release energy, upward power-assisted is generated to wearer and is acted on.
Referring to Fig. 8, foot's link block includes the foot length adjustable die being fixed in the slot of second connecting rod 11
Block, foot length adjustable module and foot ring 30 are hinged, and using foot ring 30 as intermediary's bar, foot ring 30 and sole 31 are hinged.It is described
Foot length adjustable module includes lower outer pipe 26, and 26 sets of lower outer pipe in lower inner tube 27, form telescoping tube, and lower inner tube 27 is equipped with
V-arrangement spring leaf 28, the cylindrical body of V-arrangement spring leaf 28 can be caught in the lateral aperture of lower outer pipe 26 and lower inner tube 27.The lower inner tube
27 bottom end is cased with rubber footmuff 29, and rubber gum cover 29 is directly contacted with ground, and ectoskeleton rushes ground when reduction is sat down
It hits.According to the height of different wearers, 28 cylindrical body of V-arrangement spring leaf can be changed in the position of lower outer pipe, to adjust ectoskeleton
Length of the lower beam with respect to shank.There are three length for wearer's adjusting for telescoping tube tool.
Referring to Fig. 8, Fig. 9, the foot ring 30 is equipped with stop collar 32 with 31 hinged place of sole, and 30 sets of foot ring in stop collar
In 32 ladder outer circle, stop collar 32 and sole 31 are fixed.
The working principle of the invention is:
Main body of the present invention is actuating rod with first connecting rod 10 and second connecting rod 11, and connecting rod follows thigh and calf to move when walking；
When wearer sits down, connecting rod forms fixed angle, from the entire human body weight of wearer's posterior support.1 one end of flexible-belt and cushion
Plate 5 is fixed, and the other end is fixed with wearer's waistband.Shell 2 is fixedly connected with seating pad 5.The shape that ectoskeleton is connect with wearer
Formula has: being connect sole 31 with foot by bandage, cushion 4 is connect by bandage 3 with thigh, and flexible-belt 1 is connect with waistband.
When wearer dresses ectoskeleton walking, foot ring 30 empties second connecting rod 11 in shank rear, in the whole process, second
Connecting rod 11 is maintained a certain distance with shank, and with moving with it.When sitting down, foot ring 30 guides to second connecting rod 11
Face, wearer's body weight are oriented to ground through cushion 4, first connecting rod 10, second connecting rod 11 etc..
Claims (9)
1. a kind of mechanical ectoskeleton seat, which is characterized in that including leg link block, bumper angle adjustable module and foot
Portion's link block；
The leg link block includes the seating pad (5) being fixedly connected with flexible-belt (1), the flexible-belt (1) and wearer
Waistband is fixed, and is fixed on the elongate holes of seating pad (5) for tying up on the thigh of wearer and length-adjustable bandage
(3), seating pad (5) is fixedly connected by the length adjustment module being located under it with first connecting rod (10)；
The bumper angle adjustable module includes the first connecting rod (10) and second connecting rod (11) for meeting ergonomics, and first connects
Bar (10) and second connecting rod (11) are by pin one (12) hinge, and the two is rotatablely connected, and installation is flexible inside second connecting rod (11)
Supporting module and angular adjustment module；
The elastic support module includes inner cylinder (15), and inner cylinder (15) upper end and first connecting rod (10) pass through pin two (13) shape
It is in the hinge connection, is cased with outer cylindrical body (16) outside inner cylinder (15), the two is slidably connected, and outer cylindrical body (16) lower end and sliding block (19) are logical
It crosses pin three (18) shape to be in the hinge connection, outer cylindrical body (16) side is cased with spring (17), and the both ends of spring (17) are directly and inner cylinder
(16) it is contacted with outer cylindrical body (17)；
The angular adjustment module includes out the sliding block (19) there are two circular hole, and sliding block (19) is covered in the conduit being disposed below
(24) on, the both ends of conduit (24) are inserted into the non through hole of upper fixed seat (23) and lower fixed seat (22) respectively and are fixed, upper solid
Reservation (23), lower fixed seat (22) are fixedly connected with second connecting rod (11), and elastic webbing (21) one end is fixed on lower fixed seat
(22) in cylindrical body, the other end is fixed on adjustment axis (20), and adjustment axis (20) is caught in (11) two sides of second connecting rod and opens
If irregularly-shaped hole in be slidably connected, the irregularly-shaped hole is three round holes and linear slide hole composition, three round holes
Size is identical as the diameter of adjustment axis (20) to be limited；
Foot's link block includes the foot length adjustable module being fixed in the slot of second connecting rod (11), and foot length can
Hingedly, foot ring (30) and sole (31) are hinged for mode transfer block and foot ring (30).
2. a kind of mechanical ectoskeleton seat according to claim 1, which is characterized in that the length adjustment module includes
Plate fixed block (6), plate fixed block (6) are fixedly connected below seating pad (5), plate fixed block (6) and upper inner tube (7) fixed company
It connects, upper inner tube (7) is inserted in upper exterior tube (8), forms telescoping tube, upper exterior tube (8) is placed in the slot of first connecting rod (10), with first
Connecting rod (10) is fixedly connected, and upper inner tube (7) is built into V-arrangement spring leaf (9), and the cylindrical body of V-arrangement spring leaf (9) is caught in inner tube
(7) and the lateral aperture of upper exterior tube (8).
3. a kind of mechanical ectoskeleton seat according to claim 1, which is characterized in that the foot length adjustable module
Including lower outer pipe (26), lower outer pipe (26) covers on lower inner tube (27), forms telescoping tube, and lower inner tube (27) is equipped with V-arrangement spring leaf
(28), the cylindrical body of V-arrangement spring leaf (28) can be caught in the lateral aperture of lower outer pipe (26) and lower inner tube (27).
4. a kind of mechanical ectoskeleton seat according to claim 3, which is characterized in that the bottom end of the lower inner tube (27)
It is cased with rubber footmuff (29), rubber gum cover (29) is directly contacted with ground.
5. a kind of mechanical ectoskeleton seat according to claim 1, which is characterized in that seating pad (5) lower part is solid
Surely it is connected with shell (2), is fixed on seating pad (5) cushion (4), cushion (4) is directly contacted with wearer's thigh.
6. a kind of mechanical ectoskeleton seat according to claim 1, which is characterized in that the first connecting rod (10) and
Two connecting rods (11) are all made of the curved design of adaptation wearer's leg profile.
7. a kind of mechanical ectoskeleton seat according to claim 1, which is characterized in that be cased with two on the pin two (13)
A position-limiting tube (14), two position-limiting tubes (14) are located at the two sides of inner cylinder (15) and pin two (13).
8. a kind of mechanical ectoskeleton seat according to claim 1, which is characterized in that the foot ring (30) and sole
(31) hinged place is equipped with stop collar (32), and foot ring (30) covers in the ladder outer circle of stop collar (32), stop collar (32) and sole
Plate (31) is fixed.
9. a kind of mechanical ectoskeleton seat according to claim 1, which is characterized in that be cased on the conduit (24) slow
It is free to slide to rush spring (25), buffer spring (25) is between sliding block (19) and lower fixed seat (22).
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| CN201811484251.6A CN109702715B (en) | 2018-12-06 | 2018-12-06 | A mechanical exoskeleton seat |
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| CN201811484251.6A CN109702715B (en) | 2018-12-06 | 2018-12-06 | A mechanical exoskeleton seat |
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| CN109702715A true CN109702715A (en) | 2019-05-03 |
| CN109702715B CN109702715B (en) | 2020-08-14 |
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| CN110478198A (en) * | 2019-06-24 | 2019-11-22 | 浙江理工大学 | A kind of multifunctional power-assisted formula ectoskeleton chair |
| CN110507103A (en) * | 2019-08-28 | 2019-11-29 | 浙江工业大学 | It is a kind of for the wearable uprisal device with seat |
| CN111329721A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading |
| CN111329720A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Air-supported passive lower limb assistance exoskeleton device |
| CN111467178A (en) * | 2020-05-15 | 2020-07-31 | 上海电力大学 | Auxiliary standing device |
| CN111728798A (en) * | 2020-06-28 | 2020-10-02 | 扬州大学 | An exoskeleton device that assists human body support and helps to sit up |
| CN112587377A (en) * | 2020-12-09 | 2021-04-02 | 四川大学华西医院 | Knee joint flexible exoskeleton |
| CN113084780A (en) * | 2021-03-29 | 2021-07-09 | 新疆大学 | Lower limb assistance exoskeleton seat capable of being adjusted at multiple angles |
| CN115592645A (en) * | 2021-06-28 | 2023-01-13 | 上海飞机制造有限公司（Cn） | A kind of unpowered knee joint elastic support exoskeleton and exoskeleton robot |
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