CN115556078B - A wearable flexible follow-up power-assisted exoskeleton auxiliary device - Google Patents
A wearable flexible follow-up power-assisted exoskeleton auxiliary device Download PDFInfo
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- CN115556078B CN115556078B CN202211336109.3A CN202211336109A CN115556078B CN 115556078 B CN115556078 B CN 115556078B CN 202211336109 A CN202211336109 A CN 202211336109A CN 115556078 B CN115556078 B CN 115556078B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
穿戴式柔性随动助力外骨骼辅助设备，包括背板、背箱、背箱翻转组件、髋关节组件、大腿组件、膝关节组件、小腿组件、踝关节组件、足部贴合组件和座椅支撑杆；背板顶部设置有背箱翻转组件，背箱设置在背板的一侧，背板的另一侧贴合人体；两个髋关节组件左右对称安装于背板的下方，每个髋关节组件上均依次连接有大腿组件、膝关节组件、小腿组件、踝关节组件以及足部贴合组件；足部贴合组件上设置有座椅支撑杆，当小腿组件靠近大腿组件时，座椅支撑杆能够顶在大腿组件上形成隐形座椅。本发明座椅支撑杆开至最大限度位置时，支撑杆上端与前文所述的大腿组件设置的大腿板上的座椅支撑孔可以契合，形成使使用人可以蹲坐的座椅。
A wearable flexible follow-up power-assisted exoskeleton auxiliary device includes a backboard, a back box, a back box flip assembly, a hip joint assembly, a thigh assembly, a knee joint assembly, a calf assembly, an ankle joint assembly, a foot fitting assembly and a seat support rod; a back box flip assembly is arranged on the top of the backboard, the back box is arranged on one side of the backboard, and the other side of the backboard fits the human body; two hip joint assemblies are installed symmetrically below the backboard, and each hip joint assembly is sequentially connected to a thigh assembly, a knee joint assembly, a calf assembly, an ankle joint assembly and a foot fitting assembly; a seat support rod is arranged on the foot fitting assembly, and when the calf assembly is close to the thigh assembly, the seat support rod can be pressed against the thigh assembly to form an invisible seat. When the seat support rod of the present invention is opened to the maximum position, the upper end of the support rod can fit with the seat support hole on the thigh board provided with the thigh assembly as described above, forming a seat that allows the user to squat.
Description
Technical Field
The invention belongs to the field of exoskeleton auxiliary equipment, and particularly relates to wearable flexible follow-up power-assisted exoskeleton auxiliary equipment.
Background
The special staff such as doctors, warriors and the like need to work continuously under high strength, and the special staff needs to work continuously for a long time for reasons of insufficient medical strength, lack of hands of medical staff, incapacity of medical equipment in place and the like, so that the physical strength of the staff is extremely tested, and the work of the special staff can only be limited in a certain fixed area and can not be moved for a long time, so that the work efficiency is greatly affected under the conditions of overdrawing of physical strength. The existing wearable equipment is only leg-shaped, special staff often needs to carry a lot of equipment or instruments, and the existing equipment cannot be adapted to the situations that the special staff is high in strength and carries equipment for a long time.
Disclosure of Invention
The invention aims to provide wearable flexible follow-up power assisting exoskeleton auxiliary equipment, which solves the problem that the conventional equipment cannot be adapted to the situations of high-strength and long-time equipment carrying of special staff.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
A wearable flexible follow-up power assisting exoskeleton auxiliary device comprises a back plate, a back box overturning assembly, hip joint assemblies, thigh assemblies, knee joint assemblies, shank assemblies, ankle joint assemblies, foot fitting assemblies and seat supporting rods, wherein the back box overturning assembly is arranged at the top of the back plate, the back box is arranged on one side of the back plate, the other side of the back plate is fitted with a human body, the two hip joint assemblies are symmetrically arranged below the back plate, each hip joint assembly is sequentially connected with the thigh assemblies, the knee joint assemblies, the shank assemblies, the ankle joint assemblies and the foot fitting assemblies, the seat supporting rods are arranged on the foot fitting assemblies, and when the shank assemblies are close to the thigh assemblies, the seat supporting rods can be propped against the thigh assemblies to form invisible seats.
Further, the hip joint assembly comprises a hip joint connecting bracket and a hip joint connecting spring, one end of the hip joint connecting bracket is fixed on the backboard, the other end of the hip joint connecting bracket is hinged on the thigh assembly, and the hip joint connecting spring is arranged between the thigh assembly and the hip joint connecting bracket.
Further, the thigh assembly comprises a thigh supporting plate and a thigh fixing plate, one end of the thigh supporting plate is connected with the hip joint connecting bracket of the hip joint assembly, the other end of the thigh supporting plate is hinged to the shank assembly, and the thigh fixing plate is fixedly arranged on the inner side of the thigh supporting plate.
Further, a positioning groove is formed in the thigh fixing plate, and the seat support rod is propped in the positioning groove.
Further, the shank subassembly includes shank backup pad and shank fixed plate, and the thigh backup pad articulates in the one end of shank backup pad, and the other end of shank backup pad articulates on the foot laminating subassembly, and the fixed inboard that sets up in the shank backup pad of shank fixed plate.
Further, the articulated department of thigh backup pad and shank backup pad is provided with knee joint subassembly, and knee joint subassembly includes spring mounting panel and knee joint connection spring, and the spring mounting panel is the articulated department of cross hinge in thigh backup pad and shank backup pad, between the both ends of spring mounting panel and the thigh backup pad to and all install knee joint connection spring between the both ends of spring mounting panel and the shank backup pad.
Further, the ankle joint assembly comprises a telescopic rod and an ankle joint spring, the telescopic rod is arranged between the shank support plate and the foot fitting assembly, and the ankle joint spring is arranged between the telescopic rod and the pedal.
Further, the foot fitting assembly comprises an upper pedal, a foot flexible spring pad, a lower pedal, a toe collar and a heel collar, wherein the flexible foot spring pad is positioned between the upper pedal and the lower pedal, the toe collar is arranged at the front end of the upper pedal, the heel collar is arranged at the rear end of the upper pedal, and the seat support rod is arranged at the rear part of the heel collar.
The back box overturning assembly comprises a back plate slideway, a back box frame, a back box overturning pulley block and a connecting rod, wherein the back plate slideway is arranged on the back plate, the back box frame is arranged at the bottom of the back plate, the back box overturning pulley block is symmetrically arranged at the top of the back plate, one end of the connecting rod is connected with the back box overturning pulley block, the other end of the connecting rod is hinged to two ends of the back box, the back box is clamped in the back plate slideway with a back plate contact surface, and a brace is arranged on the back box.
Further, the back box comprises an upper back box and a lower back box, the upper back box is connected with the lower back box through a hinge, and a test tube rack is arranged in the lower back box.
Compared with the prior art, the invention has the following technical effects:
The wearable flexible servo-assisted exoskeleton auxiliary equipment disclosed by the invention adopts the exoskeleton constructed on the basis of human biomechanics, the skeleton-muscle-joint model is adopted, the walking gesture of a person is fitted to walk freely, the action amplitude of the person following the walking of the human body is realized, the wearing of the user is comfortable and convenient, the back box slides to the upper part of the braces through the slide way and can be turned over to the front of the body through the pulley block, the upper back box layer and the lower back box layer can be opened through the door plates arranged on the two sides, and the user can conveniently operate under the condition that the user needs emergency special operation and independently store and store the sampling test tube.
When the seat supporting rod is opened to the maximum position, the upper end of the supporting rod can be matched with the seat supporting hole on the thigh plate arranged on the thigh assembly, so that a seat which can be squatted by a user is formed.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of a wearable flexible follow-up power-assisted exoskeleton auxiliary device of the present invention;
FIG. 2 is a schematic diagram of a front side structure of an embodiment of the wearable flexible follow-up power-assisted exoskeleton auxiliary device of the present invention;
FIG. 3 is a schematic structural view of a back plate assembly of an embodiment of the wearable flexible follow-up power-assisted exoskeleton auxiliary device of the present invention;
FIG. 4 is a schematic view of a flexibly rotatable knee joint and flexibly rotatable ankle joint assembly of an embodiment of the wearable flexible follow-up booster exoskeleton auxiliary device of the present invention;
fig. 5 is a schematic diagram of a structure of a back box in an open state of an embodiment of the wearable flexible follow-up power assisting exoskeleton auxiliary device of the present invention.
Fig. 6 is a schematic diagram showing a back box of an embodiment of the wearable flexible follow-up power assisting exoskeleton auxiliary device of the present invention being turned over to the front.
Fig. 7 is a schematic view of a squatting position of an embodiment of the wearable flexible follow-up power-assisted exoskeleton auxiliary device of the present invention.
The device is characterized by comprising a back plate, a hip joint assembly, a thigh assembly, a knee joint assembly, a lower leg assembly, an ankle joint assembly, a thigh fixing plate, a foot attaching assembly, a back strap, a back plate slideway, an upper back box, a lower back box, a back box overturning pulley block, a flexible lower hem, a hip joint connecting bracket, a hip joint connecting spring, a knee joint connecting spring, a thigh supporting plate, a spring mounting plate, a joint spring, a lower leg supporting plate, a telescopic push rod, an upper pedal, a foot attaching spring cushion, a lower pedal, a toe collar, a heel loop, a seat supporting rod, a back box frame, a hinge, a test tube rack and an ankle joint spring.
Detailed Description
The present embodiment is a wearable flexible follow-up assisting exoskeleton device, the schematic perspective structure of which is shown in fig. 1, the schematic side structure of which is shown in fig. 2, the schematic back board of which is shown in fig. 3, the schematic diagrams of the knee joint and the ankle joint assembly which can rotate flexibly are shown in fig. 4, the open state structure of the medical box is shown in fig. 5, the medical box is turned to the front state of the body and the schematic diagram of which is shown in fig. 6, the squatting state is shown in fig. 7, the exoskeleton assisting device comprises a back board 1, the hip joint assembly 2 which can rotate flexibly and is symmetrically arranged at the front side of the lower end of the back board 1, the knee joint assembly 4 which can rotate flexibly and is arranged at the hip joint assembly which can rotate flexibly, the back box frame 29 which is arranged below the knee joint assembly can rotate flexibly, the back boxes 11 and 12 which are arranged on the back box frame 29, the thigh assemblies 3 are arranged between the hip joint assembly 2 and the knee joint assembly which can rotate flexibly, the thigh assemblies 4 and the thigh assemblies 6 which can rotate flexibly are arranged, the thigh assemblies 5 and the thigh support board 2 are arranged on the back board 2, the thigh support board 2 and the thigh support board which can rotate flexibly, the thigh support board 2 and the thigh support shaft which can be arranged on the back board 10 and the foot support plate which can be provided on the seat support plate 10, and the foot support plate which can be provided on the seat support plate and the foot support plate which can be provided on the back and the seat support plate and the foot support plate and the seat support plate and the leg and the supporting plate.
Aiming at the specific embodiment, the thigh fixing plate (seat supporting plate) is designed to be movably fastened and fixed by the binding belt for improving the comfort of a user, and meanwhile, the stability of wearing equipment is enhanced.
Wherein, the flexible lower hem 14 is installed to backplate 1 lower extreme, and backplate 1 front end upside bilateral symmetry is connected with braces 9. Simultaneously, the flexible rotary hip joint assembly 2 comprises a hip joint connecting bracket 15 and a hip joint connecting spring 16, the hip joint connecting bracket 15 is arranged between the thigh assembly 3 and the backboard 1, the hip joint connecting spring 16 is arranged between the thigh assembly 3 and the bracket 15, the thigh assembly 3 comprises a thigh supporting plate 18, the flexible rotary knee joint assembly 4 comprises a spring mounting plate 19 and a knee joint connecting spring 17, the calf assembly 5 comprises a calf supporting plate 21, the spring mounting plate 19 is arranged between the thigh supporting plate 18 and the calf supporting plate 21, and the knee joint connecting spring 17 is arranged between the spring mounting plate 19 and the thigh supporting plate 18 and between the spring mounting plate 19 and the calf supporting plate 21. The hip joint connecting springs 16 enable the hip joint assembly 2 capable of flexibly rotating to play a role of buffering, so that a user can walk and lift the hip and swing the hip, the walking gesture of the user is more natural and smooth, the knee joint connecting springs 20 form three groups of crossed triangular structures on the spring mounting plate 19, the knee joint assembly 4 capable of flexibly rotating of the exoskeleton has an elastic protection effect, the user cannot damage the knee and the meniscus due to overweight of the exoskeleton, and the reaction force of the foot falling to the ground during walking can be effectively reduced. In addition, the ankle joint assembly 6 capable of flexibly rotating includes a telescopic rod 22, and an ankle joint spring 32, wherein the telescopic rod 22 is arranged between the shank support plate 21 and the foot fitting assembly 8, and the ankle joint spring 32 is arranged between the telescopic rod 22 and the upper pedal 23. The foot fitting assembly 8 is composed of an upper pedal 23, a foot flexible spring pad 24, a lower pedal 25, a toe collar 26 and a heel collar 27, wherein the flexible foot spring pad 24 is positioned between the upper pedal 23 and the lower pedal 25, the toe collar 26 is arranged at the front end of the upper pedal 23, and the heel collar 27 is arranged at the rear end of the upper pedal 23 and is used for fastening the foot of a user to prevent falling. Finally, a seat support bar 28 is provided behind the heel collar 27, the seat support bar 28 being engageable with the thigh securing plate 7 for supporting a user for stable squatting.
When the wearable flexible follow-up power assisting exoskeleton auxiliary equipment of the technical scheme is used, the user back boxes 11 and 12 are arranged on the backboard 1 through the back box frame 29, then the exoskeleton is worn, the braces 9 are placed on two shoulders of a user to enable the backboard 1 to be attached to the back of the user, feet penetrate through the toe collars 26 to enable the foot attaching components 8 to be attached to the soles of the user, the binding bands arranged on the thigh fixing plates 7 are fastened, the calf components 5 are fixed with the lower legs, and the exoskeleton can be tightly attached to the user. The hip joint assembly 2, the knee joint assembly 4 and the ankle joint assembly 6 which can flexibly rotate are connected with each other to form a skeleton-muscle-joint model, and the springs of the joint models are matched, so that the movement between the joints can be buffered, the exoskeleton of a person can be driven when walking, the pressure on the joints can be reduced, and a user can walk more naturally and lightly. When reaching the working area, the seat support rod 28 arranged at the rear end of the heel loop 27 is unfolded and matched with the thigh fixing plate (seat support plate) 7 to form an invisible seat, so that the user can sit or squat conveniently, and the physical strength is saved. The back boxes 11 and 12 are slid to be separated from the slide way through the slide way 10 behind the back plate, at the moment, the back boxes 11 and 12 are turned to be in front of the body through the back box turning pulley blocks 13, then two side baffles of the upper back box are opened to enable the two side baffles to slide to be parallel to the box surface along the slide way inside the back box, the back boxes can be used as unfolded nucleic acid detection table boards, and after the table boards are unfolded, monitoring tools at the upper back box part and the lower back box part can be taken out and placed on the table boards to carry out nucleic acid detection. After the detection reagent is put back, the table plate is closed, the seat support rod 28 is retracted, the back boxes 11 and 12 are turned back through the back box turning pulley block 13, and then the back boxes are fixed on the back plate 1 through the slide way 10.
When the wearable flexible follow-up power assisting exoskeleton auxiliary equipment is used, a user installs a medical box on a backboard through a slideway, then wears the exoskeleton on the body, a skeleton-muscle-joint model formed by connecting a hip joint component capable of flexibly rotating, a knee joint component capable of flexibly rotating and an ankle joint component capable of flexibly rotating is used, the walking gesture of the user freely walks, after the user reaches a working area, a seat supporting rod arranged on a foot attaching component is matched with a seat supporting hole arranged on a thigh component to form a seat capable of enabling the user to squat, the back box slides to a position separated from the slideway through the backboard slideway, a pulley block connected with two sides of the back box is used for overturning the back box to the front of the body, then a baffle plate on two sides of the back box can slide to a position parallel to the box surface through the slideway to serve as a table plate which can be used for nucleic acid detection, when the table plate is opened, a detector can conveniently take out a detection tool in the box, a lower back box half can be fixed at the bottom of the upper half and a lower half is provided with a nucleic acid detection collecting plate, and when the detector needs to be taken out, and the test tube can be replaced after the test tube is completely used. When the detection is finished, the baffles on the two sides are closed, the back box is turned back to the body through the pulley block, and the back box slides into the slide way again, so that the back box is fixed on the back plate.
Preferably, the back side of the back plate is provided with a slide way for fixing the back box, and the lower end of the back plate is provided with a protection pad made of flexible materials. The protection pad is arranged at the back waist position of the user, so that extrusion damage caused by the fact that the bottom of the medical box is abutted against the back waist of the user to continuously apply acting force in the walking process is avoided.
Preferably, the left and right symmetry of backplate front end upside is provided with the braces, fixed pulley is installed to the braces top, the back of the body case both sides are provided with fixed pulley, and above-mentioned two sets of pulleys constitute the assembly pulley, can make the back of the body case overturn to the front of the body.
Preferably, the hip joint assembly capable of flexibly rotating comprises a bracket and a joint spring, wherein the bracket is arranged between the thigh assembly and the back plate, and the joint spring is arranged between the thigh assembly and the bracket. The joint spring enables the flexible rotation hip joint assembly to buffer and move more smoothly in the rotation movement process.
Preferably, the thigh assembly comprises a thigh plate, the knee joint assembly comprises a spring mounting plate and a joint spring, the shank assembly comprises a shank plate, the spring mounting plate is mounted between the thigh plate and the shank plate, and the joint spring is mounted between the spring mounting plate and the thigh plate and between the spring mounting plate and the shank plate. The joint springs form three groups of crossed triangular structures on the spring mounting plate, have elastic protection effect on the flexible knee joint component of the exoskeleton, and reduce the recoil force of foot landing during walking.
Preferably, the ankle joint assembly capable of flexibly rotating comprises an ankle joint shaft, a control push rod, a pedal and a joint spring, wherein the ankle joint shaft is arranged between the lower end of the lower leg plate and the pedal, the control push rod is arranged between the outer side of the lower leg plate and the ankle joint shaft, and the joint spring is arranged between the ankle joint shaft and the pedal. The ankle joint assembly capable of flexibly rotating plays a role in buffering stress in the process that the pedal vertically rotates along the ankle joint shaft through the joint spring.
Preferably, the front side of the upper pedal end is provided with a toe fixing collar, and the rear side of the upper pedal end is provided with a heel fixing collar. The toe fixing collar and the heel fixing collar are used for fixing feet of users, and are provided with buckles and tightening structures to prevent falling.
Preferably, the rear side of the heel fixing lantern ring of the foot fitting component is provided with a seat supporting rod capable of flexibly rotating, the supporting rod can be flexibly opened and closed to a limiting position, and the supporting rod can be closed to fit with the lower leg when the seat supporting rod is not used.
Preferably, when the seat support rod is opened to the maximum position, the upper end of the support rod can be matched with the seat support hole on the thigh plate arranged by the thigh assembly, so that a seat which can be squatted by a user is formed.
Claims (6)
1. The wearable flexible follow-up power assisting exoskeleton auxiliary equipment is characterized by comprising a backboard (1), a back box overturning assembly, hip joint assemblies (2), thigh assemblies (3), knee joint assemblies (4), shank assemblies (5), ankle joint assemblies (6), foot attaching assemblies (8) and seat supporting rods (28), wherein the back box overturning assembly is arranged at the top of the backboard (1), the back box is arranged at one side of the backboard (1), the other side of the backboard (1) is attached to a human body, the two hip joint assemblies (2) are symmetrically arranged below the backboard (1) in a left-right mode, each hip joint assembly (2) is sequentially connected with the thigh assemblies (3), the knee joint assemblies (4), the shank assemblies (5), the ankle joint assemblies (6) and the foot attaching assemblies (8), and the seat supporting rods (28) are arranged on the foot attaching assemblies (8), and when the shank assemblies (5) are close to the thigh assemblies (3), the seat supporting rods (28) can be abutted against the thigh assemblies (3) to form a hidden seat;
The thigh assembly (3) comprises a thigh supporting plate (18) and a thigh fixing plate (7), wherein one end of the thigh supporting plate (18) is connected with a hip joint connecting bracket (15) of the hip joint assembly (2), and the other end of the thigh supporting plate is hinged on the shank assembly (5), and the thigh fixing plate (7) is fixedly arranged at the inner side of the thigh supporting plate (18);
a positioning groove is formed in the thigh fixing plate (7), and a seat supporting rod (28) is propped in the positioning groove;
the back box overturning assembly comprises a back plate slideway (10), a back box frame (29), a back box overturning pulley block (13) and a connecting rod, wherein the back plate slideway (10) is arranged on the back plate (1), the back box frame (29) is arranged at the bottom of the back plate (1), the back box overturning pulley block (13) is symmetrically arranged at the top of the back plate (1), one end of the connecting rod is connected with the back box overturning pulley block (13), the other end of the connecting rod is hinged at two ends of the back box, and the contact surface of the back box and the back plate (1) is clamped in the back plate slideway (10), and a brace (9) is arranged on the back box;
The back box comprises an upper back box (11) and a lower back box (12), the upper back box (11) is connected with the lower back box (12) through a hinge (30), and a test tube rack (31) is arranged in the lower back box (12).
2. The wearable flexible follow-up power-assisted exoskeleton aid of claim 1, wherein the hip joint assembly (2) comprises a hip joint connection bracket (15) and a hip joint connection spring (16), one end of the hip joint connection bracket (15) is fixed on the backboard (1) and the other end is hinged on the thigh assembly (3), and the hip joint connection spring (16) is arranged between the thigh assembly (3) and the hip joint connection bracket (15).
3. The wearable flexible follow-up power assisting exoskeleton auxiliary device as claimed in claim 1, wherein the calf assembly (5) comprises a calf support plate (21) and a calf fixing plate, the thigh support plate (18) is hinged at one end of the calf support plate (21), the other end of the calf support plate (21) is hinged on the foot fitting assembly (8), and the calf fixing plate is fixedly arranged at the inner side of the calf support plate (21).
4. A wearable flexible follow-up power assisting exoskeleton auxiliary device as claimed in claim 3, characterized in that the hinge of the thigh support plate (18) and the shank support plate (21) is provided with a knee joint assembly (4), the knee joint assembly (4) comprises a spring mounting plate (19) and a knee joint connecting spring (17), the spring mounting plate (19) is hinged at the hinge of the thigh support plate (18) and the shank support plate (21) in a cross shape, knee joint connecting springs (17) are mounted between both ends of the spring mounting plate (19) and the thigh support plate (18) and between both ends of the spring mounting plate (19) and the shank support plate (21).
5. The wearable flexible follow-up power exoskeleton assistance device of claim 4 wherein the ankle assembly (6) comprises a telescopic rod (22) and an ankle spring (32), the telescopic rod (22) being disposed between the calf support plate (21) and the foot fitting assembly (8), the ankle spring (32) being disposed between the telescopic rod (22) and the upper pedal (23).
6. The wearable flexible follow-up power assisting exoskeleton auxiliary device as claimed in claim 1, wherein the foot fitting assembly (8) comprises an upper pedal (23), a foot flexible spring pad (24), a lower pedal (25), a toe collar (26) and a heel collar (27), the foot flexible spring pad (24) is located between the upper pedal (23) and the lower pedal (25), the toe collar (26) is arranged at the front end of the upper pedal (23), the heel collar (27) is arranged at the rear end of the upper pedal (23), and the seat support bar (28) is arranged at the rear of the heel collar (27).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211336109.3A CN115556078B (en) | 2022-10-28 | 2022-10-28 | A wearable flexible follow-up power-assisted exoskeleton auxiliary device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211336109.3A CN115556078B (en) | 2022-10-28 | 2022-10-28 | A wearable flexible follow-up power-assisted exoskeleton auxiliary device |
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| CN115556078A CN115556078A (en) | 2023-01-03 |
| CN115556078B true CN115556078B (en) | 2025-02-07 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434472A (en) * | 2014-12-03 | 2015-03-25 | 哈尔滨工程大学 | Training aiding robot for exoskeletons |
| CN107433570A (en) * | 2017-07-12 | 2017-12-05 | 中国科学技术大学 | wearable lower limb exoskeleton walking aid device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101937012B1 (en) * | 2017-02-02 | 2019-04-03 | 연세대학교 산학협력단 | Exoskeleton system for assisting lower limb joints |
| KR102490439B1 (en) * | 2020-12-31 | 2023-01-20 | 한국과학기술원 | Wearable Assistance Device |
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2022
- 2022-10-28 CN CN202211336109.3A patent/CN115556078B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434472A (en) * | 2014-12-03 | 2015-03-25 | 哈尔滨工程大学 | Training aiding robot for exoskeletons |
| CN107433570A (en) * | 2017-07-12 | 2017-12-05 | 中国科学技术大学 | wearable lower limb exoskeleton walking aid device |
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| CN115556078A (en) | 2023-01-03 |
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