CN102670379A - 移动式可穿戴下肢外骨骼康复机器人 - Google Patents
移动式可穿戴下肢外骨骼康复机器人 Download PDFInfo
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- CN102670379A CN102670379A CN201210153557XA CN201210153557A CN102670379A CN 102670379 A CN102670379 A CN 102670379A CN 201210153557X A CN201210153557X A CN 201210153557XA CN 201210153557 A CN201210153557 A CN 201210153557A CN 102670379 A CN102670379 A CN 102670379A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 59
- 210000004394 hip joint Anatomy 0.000 claims description 61
- 210000000689 upper leg Anatomy 0.000 claims description 57
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 56
- 210000000629 knee joint Anatomy 0.000 claims description 50
- 230000035876 healing Effects 0.000 claims description 22
- 210000002683 foot Anatomy 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 210000003414 extremity Anatomy 0.000 claims description 6
- 230000005021 gait Effects 0.000 abstract description 4
- 230000004064 dysfunction Effects 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000009207 exercise therapy Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103006414A (zh) * | 2012-12-20 | 2013-04-03 | 华南理工大学 | 一种上肢康复机器人 |
CN105997437A (zh) * | 2016-07-18 | 2016-10-12 | 广西盈锐智能机械有限公司 | 全身协调多功能四臂机器人及其操作方法 |
CN106539668A (zh) * | 2017-01-11 | 2017-03-29 | 刘建英 | 一种步态康复训练装置 |
CN107126344A (zh) * | 2017-07-05 | 2017-09-05 | 天津科技大学 | 下肢行走功能康复用外骨骼康复机器人与控制***及方法 |
CN107260496A (zh) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | 一种可穿戴外骨骼下肢康复机器人 |
CN107374901A (zh) * | 2017-03-17 | 2017-11-24 | 河南科技大学 | 一种下肢外骨骼关节用康复训练装置 |
CN107708639A (zh) * | 2015-04-07 | 2018-02-16 | 万德克拉夫特公司 | 包括具有两个枢转轴线的机械踝部连接件的外骨骼 |
CN109288650A (zh) * | 2018-07-31 | 2019-02-01 | 电子科技大学 | 穿戴者可独立使用的移动式下肢运动训练和辅助智能装置 |
CN110123584A (zh) * | 2019-06-06 | 2019-08-16 | 长春理工大学 | 一种六自由度可穿戴柔性绳驱外骨骼式上肢康复训练机器人 |
CN110179631A (zh) * | 2019-06-25 | 2019-08-30 | 北京石油化工学院 | 一种两自由度的髋关节训练机构 |
CN110236875A (zh) * | 2019-05-13 | 2019-09-17 | 广西科技大学 | 一种移动式下肢外骨骼康复机器人及其控制*** |
CN110464601A (zh) * | 2019-09-02 | 2019-11-19 | 燕山大学 | 一种可穿戴式生物融合下肢康复机器人 |
CN110575364A (zh) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | 肢体康复外骨骼和肢体康复*** |
CN112315747A (zh) * | 2019-11-20 | 2021-02-05 | 河南水滴智能技术有限公司 | 一种新型外骨骼控制方案 |
CN113910203A (zh) * | 2021-11-11 | 2022-01-11 | 电子科技大学 | 一种康复型外骨骼装置 |
CN114028176A (zh) * | 2021-12-16 | 2022-02-11 | 青岛科技大学 | 一种多自由度下肢康复外骨骼机构 |
CN114305989A (zh) * | 2021-12-29 | 2022-04-12 | 钛虎机器人科技(上海)有限公司 | 外骨骼助力及下肢康复一体机器人 |
CN114469646A (zh) * | 2022-01-26 | 2022-05-13 | 无锡市精神卫生中心 | 一种多自由度仿生外骨骼本体结构 |
WO2022188605A1 (zh) * | 2021-03-10 | 2022-09-15 | 王继荣 | 多功能下肢康复智能辅助行走机器人 |
CN115715729A (zh) * | 2022-11-30 | 2023-02-28 | 河北工业大学 | 一种移乘搬运式下肢康复机器人 |
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CN2270491Y (zh) * | 1996-06-11 | 1997-12-17 | 杭州迈迪克仪器有限公司 | 肘关节被动运动器 |
WO2002003904A1 (fr) * | 2000-06-21 | 2002-01-17 | Shigeo Takizawa | Dispositif de levage pouvant effectuer un mouvement d'activation |
CN201257110Y (zh) * | 2008-09-23 | 2009-06-17 | 常州市钱璟康复器材有限公司 | 减重步态训练器 |
JP4492978B1 (ja) * | 2009-05-26 | 2010-06-30 | 美智恵 光山 | 運動機能回復訓練器 |
CN101791255A (zh) * | 2010-03-08 | 2010-08-04 | 上海交通大学 | 助行外骨骼机器人***及控制方法 |
CN102327173A (zh) * | 2011-09-29 | 2012-01-25 | 上海交通大学 | 外骨骼可穿戴下肢康复机器人 |
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2012
- 2012-05-15 CN CN201210153557.XA patent/CN102670379B/zh active Active
Patent Citations (6)
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CN2270491Y (zh) * | 1996-06-11 | 1997-12-17 | 杭州迈迪克仪器有限公司 | 肘关节被动运动器 |
WO2002003904A1 (fr) * | 2000-06-21 | 2002-01-17 | Shigeo Takizawa | Dispositif de levage pouvant effectuer un mouvement d'activation |
CN201257110Y (zh) * | 2008-09-23 | 2009-06-17 | 常州市钱璟康复器材有限公司 | 减重步态训练器 |
JP4492978B1 (ja) * | 2009-05-26 | 2010-06-30 | 美智恵 光山 | 運動機能回復訓練器 |
CN101791255A (zh) * | 2010-03-08 | 2010-08-04 | 上海交通大学 | 助行外骨骼机器人***及控制方法 |
CN102327173A (zh) * | 2011-09-29 | 2012-01-25 | 上海交通大学 | 外骨骼可穿戴下肢康复机器人 |
Cited By (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103006414A (zh) * | 2012-12-20 | 2013-04-03 | 华南理工大学 | 一种上肢康复机器人 |
CN107708639B (zh) * | 2015-04-07 | 2020-11-27 | 万德克拉夫特公司 | 包括具有两个枢转轴线的机械踝部连接件的外骨骼 |
CN107708639A (zh) * | 2015-04-07 | 2018-02-16 | 万德克拉夫特公司 | 包括具有两个枢转轴线的机械踝部连接件的外骨骼 |
CN105997437A (zh) * | 2016-07-18 | 2016-10-12 | 广西盈锐智能机械有限公司 | 全身协调多功能四臂机器人及其操作方法 |
CN106539668A (zh) * | 2017-01-11 | 2017-03-29 | 刘建英 | 一种步态康复训练装置 |
CN106539668B (zh) * | 2017-01-11 | 2019-03-19 | 刘建英 | 一种步态康复训练装置 |
CN107374901A (zh) * | 2017-03-17 | 2017-11-24 | 河南科技大学 | 一种下肢外骨骼关节用康复训练装置 |
CN107374901B (zh) * | 2017-03-17 | 2023-03-21 | 河南科技大学 | 一种下肢外骨骼关节用康复训练装置 |
CN107126344A (zh) * | 2017-07-05 | 2017-09-05 | 天津科技大学 | 下肢行走功能康复用外骨骼康复机器人与控制***及方法 |
CN107126344B (zh) * | 2017-07-05 | 2023-08-18 | 天津科技大学 | 下肢行走功能康复用外骨骼康复机器人与控制***及方法 |
CN107260496A (zh) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | 一种可穿戴外骨骼下肢康复机器人 |
CN109288650A (zh) * | 2018-07-31 | 2019-02-01 | 电子科技大学 | 穿戴者可独立使用的移动式下肢运动训练和辅助智能装置 |
CN110236875A (zh) * | 2019-05-13 | 2019-09-17 | 广西科技大学 | 一种移动式下肢外骨骼康复机器人及其控制*** |
CN110123584A (zh) * | 2019-06-06 | 2019-08-16 | 长春理工大学 | 一种六自由度可穿戴柔性绳驱外骨骼式上肢康复训练机器人 |
CN110123584B (zh) * | 2019-06-06 | 2024-02-13 | 长春理工大学 | 一种六自由度可穿戴柔性绳驱外骨骼式上肢康复训练机器人 |
CN110179631A (zh) * | 2019-06-25 | 2019-08-30 | 北京石油化工学院 | 一种两自由度的髋关节训练机构 |
CN110179631B (zh) * | 2019-06-25 | 2021-12-10 | 北京石油化工学院 | 一种两自由度的髋关节训练机构 |
CN110464601A (zh) * | 2019-09-02 | 2019-11-19 | 燕山大学 | 一种可穿戴式生物融合下肢康复机器人 |
CN110575364A (zh) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | 肢体康复外骨骼和肢体康复*** |
CN110575364B (zh) * | 2019-09-25 | 2022-05-13 | 深圳市丞辉威世智能科技有限公司 | 肢体康复外骨骼和肢体康复*** |
CN112315747B (zh) * | 2019-11-20 | 2023-08-22 | 河南水滴智能技术有限公司 | 一种外骨骼设备的设计方法 |
CN112315747A (zh) * | 2019-11-20 | 2021-02-05 | 河南水滴智能技术有限公司 | 一种新型外骨骼控制方案 |
WO2022188605A1 (zh) * | 2021-03-10 | 2022-09-15 | 王继荣 | 多功能下肢康复智能辅助行走机器人 |
CN113910203B (zh) * | 2021-11-11 | 2023-12-05 | 电子科技大学 | 一种康复型外骨骼装置 |
CN113910203A (zh) * | 2021-11-11 | 2022-01-11 | 电子科技大学 | 一种康复型外骨骼装置 |
CN114028176A (zh) * | 2021-12-16 | 2022-02-11 | 青岛科技大学 | 一种多自由度下肢康复外骨骼机构 |
CN114305989A (zh) * | 2021-12-29 | 2022-04-12 | 钛虎机器人科技(上海)有限公司 | 外骨骼助力及下肢康复一体机器人 |
CN114469646A (zh) * | 2022-01-26 | 2022-05-13 | 无锡市精神卫生中心 | 一种多自由度仿生外骨骼本体结构 |
CN115715729A (zh) * | 2022-11-30 | 2023-02-28 | 河北工业大学 | 一种移乘搬运式下肢康复机器人 |
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