CN112263439A - Power-assisted walking device - Google Patents
Power-assisted walking device Download PDFInfo
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- CN112263439A CN112263439A CN202011157625.0A CN202011157625A CN112263439A CN 112263439 A CN112263439 A CN 112263439A CN 202011157625 A CN202011157625 A CN 202011157625A CN 112263439 A CN112263439 A CN 112263439A
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- joint driving
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- knee joint
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- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 210000004394 hip joint Anatomy 0.000 claims abstract description 63
- 210000000629 knee joint Anatomy 0.000 claims abstract description 47
- 210000001699 lower leg Anatomy 0.000 claims abstract description 30
- 210000000689 upper leg Anatomy 0.000 claims abstract description 30
- 210000001624 hip Anatomy 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 230000011664 signaling Effects 0.000 claims abstract description 8
- 210000002414 leg Anatomy 0.000 description 12
- 241001166076 Diapheromera femorata Species 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000253999 Phasmatodea Species 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000004705 lumbosacral region Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
-
- 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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5041—Interfaces to the user control is restricted to certain individuals
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- 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)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of walking assistance, in particular to a power-assisted walking device, which comprises: the control mechanism is used for inputting power assistance data and sending a first driving signal and a second driving signal according to the power assistance data; the waist support mechanism is used for fixing with the waist; the hip joint driving connecting rod is used for being fixed with the thigh; the hip joint driving component is electrically connected with the control mechanism, is rotatably connected with the waist supporting mechanism and is fixed with the hip joint driving connecting rod; the hip joint driving connecting rod is used for receiving a first driving signal and controlling the movement of the hip joint driving connecting rod according to the first driving signal; the knee joint driving connecting rod is used for being fixed with the crus; and the knee joint driving component is electrically connected with the control mechanism and used for receiving the second driving signal and controlling the movement of the knee joint driving connecting rod according to the second driving signal. The device has strong universality, and most users can walk naturally.
Description
Technical Field
The invention relates to the technical field of walking assistance, in particular to a power-assisted walking device.
Background
At present, people with inconvenient legs and feet, such as the old or rehabilitation people with short leg and foot operations, mainly rely on crutches or walking sticks to assist in supporting bodies during walking. However, when using a walking stick or a walking stick, the user needs to put the walking stick or the walking stick on the hand, and the use of the hand is limited during the use.
In order to solve the above-mentioned problems, chinese patent publication No. CN105362045A discloses a four-bar power-assisted walking device, which includes a pedal, an ankle pin, a shank support bar, a shank length adjustment block, a shank fixation band, an outer shank length adjustment bar, an outer thigh support bar, an inner shank length adjustment bar, a thigh fixation band, a link adjustment block, a thigh length adjustment block, a hip joint support, a waist fixation band, a link support bar, a link adjustment bar, a thigh adjustment bar, and an inner thigh support bar.
The device adopts four-bar linkage mechanics mechanism, can be when the user lifts up the thigh, and the automatic knee joint that rotates and then the shank is automatic lifts up, realizes the helping hand effect. However, the stepping widths of the upper and lower legs are different for each user when walking, and with this apparatus, the assisting force obtained by the lower body parts is almost the same for all users when walking, and many users get the assisting force for walking, but the walking is awkward.
Therefore, there is a need for a walking assist device with greater versatility, which enables most users to walk naturally.
Disclosure of Invention
The invention aims to provide an assisted walking device which can enable most users to walk naturally.
The basic scheme provided by the invention is as follows:
a power assisted walking device comprising:
the control mechanism is used for inputting power assistance data and sending a first driving signal and a second driving signal according to the power assistance data;
the waist support mechanism is used for fixing with the waist;
the hip joint driving connecting rod is used for being fixed with the thigh;
the hip joint driving component is electrically connected with the control mechanism, is rotatably connected with the waist supporting mechanism and is fixed with the hip joint driving connecting rod; the hip joint driving connecting rod is used for receiving a first driving signal and controlling the movement of the hip joint driving connecting rod according to the first driving signal;
the knee joint driving connecting rod is used for being fixed with the crus;
the knee joint driving component is electrically connected with the control mechanism, is rotatably connected with the hip joint driving connecting rod and is fixed with the knee joint driving connecting rod; and the knee joint driving connecting rod is used for receiving the second driving signal and controlling the movement of the knee joint driving connecting rod according to the second driving signal.
Basic scheme theory of operation and beneficial effect:
before the device is used, a user can input assistance data required by the user through the control mechanism according to characteristics such as stride and the like of the user. When the waist support mechanism is used, the waist support mechanism is fixed on the waist, the knee joint driving connecting rod is fixed with the shank, and the hip joint driving connecting rod is fixed with the thigh.
When the user starts walking, the device can be started, the control mechanism sends a first driving signal to the hip joint driving assembly according to the input power-assisted data, and sends a second driving signal to the knee joint driving assembly, and after the hip joint driving assembly receives the first driving signal, the hip joint driving assembly drives the connecting rod to provide power for the corresponding thigh walking of the user; after receiving the second driving signal, the knee joint driving component drives the knee joint driving connecting rod to provide walking assistance for corresponding crus of the user.
Thus, after the user inputs the assistance data in the control mechanism, when the device is used, the corresponding thigh walking assistance can be obtained through the hip joint driving component, and the corresponding shank walking assistance can be obtained through the knee joint driving component.
Although the body and walking habits of the user are different, the user can obtain the assistance suitable for the user to walk naturally by inputting the assistance data suitable for the user in the control mechanism according to the actual needs of the user.
Furthermore, the hip joint driving connecting rod comprises a first fixing rod and a first adjusting rod, the hip joint driving assembly drives the first fixing rod to move, and the first adjusting rod is parallel to and connected with the first fixing rod in a sliding mode.
The user can adjust the length of the hip joint driving connecting rod according to the length of the leg of the user, so that the hip joint driving connecting rod is more attached to the thigh of the user, and the hip joint driving connecting rod is more fit and comfortable to use.
Furthermore, the control mechanism is also used for inputting step frequency, generating gear signals according to the step frequency and respectively sending the gear signals to the hip joint driving component and the knee joint driving component; the hip joint driving component and the knee joint driving component are also used for driving assistance according to the frequency of the received gear signals.
The user can conveniently adjust the step frequency of the walking assistance according to the step frequency of the user, so that the assistance speed conforms to the step frequency habit of the user.
Furthermore, the control mechanism is also used for inputting adjusting signals, the adjusting signals comprise step frequency adjusting signals, and the gear signals are adjusted according to the step frequency adjusting signals.
The user can conveniently and rapidly adjust the step frequency of the power assisting.
Furthermore, the adjusting signal also comprises an assisting adjusting signal, and the control mechanism is also used for adjusting the first driving signal or the second driving signal according to the assisting adjusting signal.
The user can conveniently and quickly adjust the assistance to the shank or the thigh, so that the user can conform to the actual demand of the user.
Furthermore, a walking mode is prestored in the control mechanism, and the control mechanism is also used for selecting the walking mode and adjusting the first driving signal and the second driving signal according to the selected walking mode.
Under different situations, such as downhill, going up stairs, walking on level roads, etc., the motion trail of the leg is different. In the device, the walking mode is pre-stored in the control mechanism, and when a user needs to change the walking mode, the corresponding walking mode is directly selected.
Further, the control mechanism is fixed to the lumbar support mechanism.
The whole structure of the device is more concise and reasonable; and because the waist support mechanism can be fixed at the waist when the device is used, the control mechanism is convenient to operate.
Further, the lumbar support mechanism is in the shape of a belt.
Is convenient to wear.
Drawings
Fig. 1 is a schematic structural view of a first power-assisted walking device according to an embodiment of the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the lumbar support mechanism comprises a lumbar support mechanism 1, a hip joint driving component 2, a hip joint driving connecting rod 3, a knee joint driving component 4, a knee joint driving connecting rod 5 and a control mechanism 6.
Example one
As shown in fig. 1, the walking assist device includes a lumbar support mechanism 1, a hip joint drive unit 2, a hip joint drive link 3, a knee joint drive unit 4, a knee joint drive link 5, and a control mechanism 6, which are arranged in this order from top to bottom. Wherein, there are two sets of hip joint driving components 2, hip joint driving connecting rods 3, knee joint driving components 4 and knee joint driving connecting rods 5.
The lumbar support mechanism 1 is in the shape of a belt for fixing to the lumbar region.
The control mechanism 6 is fixed on the lumbar support mechanism 1, so that the whole structure of the device is simpler and more reasonable, and the control mechanism 6 is more convenient to operate. The control mechanism 6 is used for inputting the assistance data and sending a first driving signal and a second driving signal according to the assistance data.
The two groups of hip joint driving components 2 are respectively connected with the lumbar support mechanism 1 through ball bearings. The hip joint driving component 2 is electrically connected with the control mechanism 6 and used for receiving a first driving signal and controlling the movement of the hip joint driving connecting rod 3 according to the first driving signal. Specifically, in this embodiment, the driving mechanism of the hip joint driving assembly 2 drives the hip joint driving assembly 4 to move through the second rotating shaft. The hip joint driving connecting rod 3 is used for being fixed with a thigh, specifically, the hip joint driving connecting rod 3 comprises a first fixing rod and a first adjusting rod, the hip joint driving assembly 2 drives the first fixing rod to move, and the first adjusting rod is parallel to and connected with the first fixing rod in a sliding mode.
The knee joint driving component 4 is hinged with the lower end of the hip joint driving connecting rod 3, and the knee joint driving component 4 is also electrically connected with the control mechanism 6 and used for receiving a second driving signal and controlling the movement of the knee joint driving connecting rod 5 according to the second driving signal. Specifically, the driving mechanism of the knee joint driving assembly 4 drives the knee joint driving assembly 4 to move through the first rotating shaft. And the knee joint driving connecting rod 5 is used for being fixed with the lower leg.
The control mechanism 6 is also used for inputting the step frequency, generating gear signals according to the step frequency and respectively sending the gear signals to the hip joint driving component 2 and the knee joint driving component 4; the hip joint driving component 2 and the knee joint driving component 4 are also used for driving assistance according to the frequency of the received gear signal.
The control mechanism 6 is also used for inputting adjusting signals, the adjusting signals comprise step frequency adjusting signals, and the gear signals are adjusted according to the step frequency adjusting signals; the adjustment signal further comprises a power-assisted adjustment signal, and the control mechanism 6 is further configured to adjust the first drive signal or the second drive signal in accordance with the power-assisted adjustment signal.
The control mechanism 6 is pre-stored with a walking mode, and the control mechanism 6 is also used for selecting the walking mode and adjusting the first driving signal and the second driving signal according to the selected walking mode.
The specific implementation process is as follows:
before the device is used, a user can input assistance data required by the user through the control mechanism 6 according to characteristics such as stride and the like of the user.
When in use, the waist support mechanism 1 is fixed at the waist, and the knee joint driving connecting rod 5 is fixed with the lower leg, for example, tied by a bandage. And the hip joint driving connecting rod 3 and the thigh are fixed well. By adjusting the relative position of the first adjusting rod and the first fixing rod, a user can adjust the length of the hip joint driving connecting rod 3 according to the length of the leg of the user, so that the hip joint driving connecting rod is more attached to the thigh of the user, and the device is more fit and comfortable to use.
When walking starts, the device is started, the control mechanism 6 sends a first driving signal to the hip joint driving component 2 according to the input power-assisted data, and sends a second driving signal to the knee joint driving component 4, and after the hip joint driving component 2 receives the first driving signal, the hip joint driving connecting rod 3 is driven to provide power for walking of corresponding thighs of a user; after receiving the second driving signal, the knee joint driving component 4 drives the knee joint driving connecting rod 5 to provide walking assistance for the corresponding shank of the user.
Thus, when the user inputs the assist force data into the control mechanism 6 and uses the apparatus, the corresponding thigh walking assist force can be obtained by the hip joint drive unit 2 and the corresponding lower leg walking assist force can be obtained by the knee joint drive unit 4. Although the body and walking habits of the user are different, the user can obtain the assistance suitable for himself or herself and walk naturally by inputting the assistance data suitable for himself or herself in the control mechanism 6 according to the actual needs of the user.
Besides, the user can input the required step frequency through the control mechanism 6, and the step frequency of the walking assistance is adjusted according to the step frequency of the user, so that the assistance speed rate is consistent with the step frequency habit of the user. When the required step frequency is not accurate, rough step frequency data can be input, and the step frequency is rapidly adjusted through an adjusting signal.
Under different situations, such as downhill walking, stair climbing, level road walking, etc., the user can directly select the corresponding walking mode through the control mechanism 6 to obtain the most suitable leg assisting mode under the corresponding situation.
Example two
Different from the first embodiment, in the present embodiment, the knee joint driving connecting rod 5 is used for being fixed on the outer side of the lower leg, and the first flexible binding sheet and the second flexible binding sheet are fixedly arranged on the knee joint driving connecting rod 5; the first flexible binding sheet is used for fixing the shank around the front side direction of the shank, and a first pressure sensor is fixedly arranged on the first flexible binding sheet; the first pressure sensor is electrically connected with the control mechanism 6 and is used for collecting the pressure between the first flexible binding sheet and the front side of the lower leg; the second flexible binding sheet is used for fixing the shank around the rear side direction of the shank, and a second pressure sensor is fixedly arranged on the second flexible binding sheet; the second pressure sensor is electrically connected with the control mechanism 6 and is used for collecting the pressure between the second flexible binding sheet and the rear side of the lower leg. The driving mechanism of the knee joint driving component 4 drives the knee joint driving component 4 to move through the first rotating shaft. And a first angle sensor is arranged on the first rotating shaft and used for collecting the rotating angle of the first rotating shaft, and the first angle sensor is electrically connected with the control mechanism 6.
The hip joint driving connecting rod 3 is used for being fixed on the outer side of a thigh, and a third flexible binding sheet and a fourth flexible binding sheet are fixedly arranged on the hip joint driving connecting rod 3; the third flexible binding sheet is used for fixing the thigh around the front side direction of the thigh, and a third pressure sensor is fixedly arranged on the third flexible binding sheet; the third pressure sensor is electrically connected with the control mechanism 6 and used for collecting the pressure between the third flexible binding sheet and the front side of the thigh; the fourth flexible binding piece is used for fixing the thigh around the rear side direction of the shank, and a fourth pressure sensor is fixedly arranged on the fourth flexible binding piece; the fourth pressure sensor is electrically connected with the control mechanism 6 and used for collecting the pressure between the fourth flexible binding piece and the rear side of the thigh. The driving mechanism of the hip joint driving component 2 drives the hip joint driving component 2 to move through the second rotating shaft. And a second angle sensor is arranged on the second rotating shaft and used for collecting the rotating angle of the second rotating shaft, and the second angle sensor is electrically connected with the control mechanism 6.
The control mechanism 6 is also used for selecting control modes, and the control modes comprise an intelligent mode; in the intelligent mode, the control mechanism 6 is configured to determine whether a walking scene of a user changes according to feedback data of the first angle sensor, the first pressure sensor, the second angle sensor, the third pressure sensor, and the fourth pressure sensor, generate an intelligent recognition scene control strategy according to the feedback data when the walking scene changes according to a determination result, and adjust the first driving signal or the second driving signal according to the intelligent recognition scene control strategy.
The specific implementation process is as follows:
because the first pressure sensor is arranged on the first flexible binding piece, the detection data of the first pressure sensor can be suddenly increased only when the lower leg of the user exerts force forwards; similarly, the detection data of the second pressure sensor may suddenly increase only when the user's lower leg is forced backward.
Therefore, the force application mode of the lower leg of the user can be known according to the feedback data of the first pressure sensor and the second pressure sensor. Similarly, according to the feedback data of the third pressure sensor and the fourth pressure sensor, the force exertion mode of the thigh of the user can be known. In other embodiments, the torque sensor may also be used to collect the torque signals generated by the interaction between the human leg and the hip joint driving link 3 and the knee joint driving link 5, so as to know the leg force application mode and the thigh force application mode of the user.
Besides, the first angle sensor is arranged on the first rotating shaft, so that the current rotation angle of the lower leg of the user can be known according to the feedback data of the first angle sensor; similarly, according to the feedback data of the second angle sensor, the rotation angle of the current thigh of the user can be known.
According to the thigh rotation angle and the shank rotation angle of the user, the posture of the user at the current leg can be known. Knowing the leg posture, calf force-exerting mode and thigh force-exerting mode of the user, the assistance provided for the user can be known to meet the actual requirements of the user.
When the provided assistance does not meet the actual demand, the control mechanism 6 can also determine the current actual scene of the user by the leg posture and the force application mode of the user. For example, changing from flat ground to ascending, from descending to flat ground, etc., generating an intelligent recognition scene control strategy according to the feedback data, and adjusting the first driving signal or the second driving signal according to the intelligent recognition scene control strategy, so that the provided assistance is more consistent with the assistance actually required by the user.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (8)
1. A power assisted walking device, comprising:
the control mechanism is used for inputting power assistance data and sending a first driving signal and a second driving signal according to the power assistance data;
the waist support mechanism is used for fixing with the waist;
the hip joint driving connecting rod is used for being fixed with the thigh;
the hip joint driving component is electrically connected with the control mechanism, is rotatably connected with the waist supporting mechanism and is fixed with the hip joint driving connecting rod; the hip joint driving connecting rod is used for receiving a first driving signal and controlling the movement of the hip joint driving connecting rod according to the first driving signal;
the knee joint driving connecting rod is used for being fixed with the crus;
the knee joint driving component is electrically connected with the control mechanism, is rotatably connected with the hip joint driving connecting rod and is fixed with the knee joint driving connecting rod; and the knee joint driving connecting rod is used for receiving the second driving signal and controlling the movement of the knee joint driving connecting rod according to the second driving signal.
2. The assisted walking device of claim 1, wherein: the hip joint driving connecting rod comprises a first fixing rod and a first adjusting rod, the first fixing rod is driven by the hip joint driving assembly to move, and the first adjusting rod is parallel to and connected with the first fixing rod in a sliding mode.
3. The assisted walking device of claim 1, wherein: the control mechanism is also used for inputting step frequency, generating gear signals according to the step frequency and respectively sending the gear signals to the hip joint driving component and the knee joint driving component; the hip joint driving component and the knee joint driving component are also used for driving assistance according to the frequency of the received gear signals.
4. The assisted walking device of claim 3, wherein: the control mechanism is also used for inputting adjusting signals, the adjusting signals comprise step frequency adjusting signals, and the gear signals are adjusted according to the step frequency adjusting signals.
5. The assisted walking device of claim 4, wherein: the adjustment signal further comprises a power-assisted adjustment signal, and the control mechanism is further configured to adjust the first drive signal or the second drive signal according to the power-assisted adjustment signal.
6. The assisted walking device of claim 5, wherein: the control mechanism is pre-stored with a walking mode and is also used for selecting the walking mode and adjusting the first driving signal and the second driving signal according to the selected walking mode.
7. The assisted walking device of claim 1, wherein: the control mechanism is fixed on the lumbar support mechanism.
8. The assisted walking device of claim 7, wherein: the lumbar support mechanism is in the shape of a belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011157625.0A CN112263439A (en) | 2020-10-26 | 2020-10-26 | Power-assisted walking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011157625.0A CN112263439A (en) | 2020-10-26 | 2020-10-26 | Power-assisted walking device |
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| CN112263439A true CN112263439A (en) | 2021-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011157625.0A Pending CN112263439A (en) | 2020-10-26 | 2020-10-26 | Power-assisted walking device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975915A (en) * | 2021-04-12 | 2021-06-18 | 广州视源电子科技股份有限公司 | Hip joint exoskeleton device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104739620A (en) * | 2013-12-30 | 2015-07-01 | 三星电子株式会社 | Motion assistive apparatus and method of controlling the same |
| CN105456004A (en) * | 2015-12-28 | 2016-04-06 | 中国科学院自动化研究所 | Exoskeleton type moving and walking rehabilitation training device and method |
| CN106863273A (en) * | 2017-03-13 | 2017-06-20 | 杭州国辰机器人科技有限公司 | A kind of wearable knee joint booster of intelligence |
| CN107411938A (en) * | 2017-09-13 | 2017-12-01 | 温州可普汇信息科技有限责任公司 | The horizontal lower limb rehabilitation robot system of sitting |
-
2020
- 2020-10-26 CN CN202011157625.0A patent/CN112263439A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104739620A (en) * | 2013-12-30 | 2015-07-01 | 三星电子株式会社 | Motion assistive apparatus and method of controlling the same |
| CN105456004A (en) * | 2015-12-28 | 2016-04-06 | 中国科学院自动化研究所 | Exoskeleton type moving and walking rehabilitation training device and method |
| CN106863273A (en) * | 2017-03-13 | 2017-06-20 | 杭州国辰机器人科技有限公司 | A kind of wearable knee joint booster of intelligence |
| CN107411938A (en) * | 2017-09-13 | 2017-12-01 | 温州可普汇信息科技有限责任公司 | The horizontal lower limb rehabilitation robot system of sitting |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975915A (en) * | 2021-04-12 | 2021-06-18 | 广州视源电子科技股份有限公司 | Hip joint exoskeleton device |
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