CN103301007A - Backpack-type walking power assisting device - Google Patents
Backpack-type walking power assisting device Download PDFInfo
- Publication number
- CN103301007A CN103301007A CN 201310215174 CN201310215174A CN103301007A CN 103301007 A CN103301007 A CN 103301007A CN 201310215174 CN201310215174 CN 201310215174 CN 201310215174 A CN201310215174 A CN 201310215174A CN 103301007 A CN103301007 A CN 103301007A
- Authority
- CN
- China
- Prior art keywords
- slide block
- chute
- spring
- fixing head
- supporting mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a backpack-type walking power assisting device which comprises a supporting frame, wherein a back plate, straps, a backpack and a size-adjustable waistband are arranged on the supporting frame; a rotatable hip joint is mounted at the lower end of the supporting frame; a pair of lower limb exoskeletons are mounted on the hip joint; each lower limb exoskeleton comprises a thigh bone supporting mechanism, a leg bone supporting mechanism and a foot fixing mechanism; the leg bone supporting mechanism is elastically connected with the foot fixing mechanism; the thigh bone supporting mechanism comprises a thigh bone fixing plate and a first gravity balance mechanism; the leg bone supporting mechanism comprises a leg fixing plate and a second gravity balance mechanism; and the thigh bone fixing plate is elastically connected with the leg fixing plate. The backpack-type walking power assisting device has the advantages that the first gravity balance mechanism and the second gravity balance mechanism are used for balancing the lower limb gravity in a moving process of a human body in real time, thereby enabling a user to walk by following a movement trajectory of a human skeleton and reducing the physical output of the user; a pure mechanical structure design is adopted; the device cannot be influenced by an external environment; and the stability and reliability are high.
Description
Technical field
The present invention relates to a kind of power assisting device, especially relate to a kind of backpack pad it power assisting device.
Background technology
In war, disaster assistance or mountain forest fire extinguishing procedure, often run into road destroyed or do not have a situation of road, motor vehicles and machines are advanced and are obstructed or impassable, in order in time to arrive destination, advancing on foot becomes inevitable choice, and still, people's muscle power is limited, advance on foot at a distance fast for a long time, depend merely on muscle power and be difficult to support.The person saves muscle power in order to help the pad it, backpack pad it power assisting device occurred.The patent No. is to disclose a kind of back-pack type walk assisting device for pedestrian walker in 200820175157.8 the Chinese utility model patent, this back-pack type walk assisting device for pedestrian walker comprises casing, power input mechanism, two groups of clutches, two groups of power connecting and disconnecting mechanisms, two groups of shift mechanisms and two groups of driving mechanisms of taking a step, in use, power input mechanism is input to clutch with external connection power, clutch passes to shift mechanism with power, power connecting and disconnecting mechanism alternately separates or combination according to pedestrian's two clutches of speed controlling of taking a step, hocket and lift motion thereby control two shift mechanisms, the heart yearn by two flexible pipe backguys alternately take a step foot that driving mechanism drives the people of pulling upwards lifts and takes a step to advance forward.In this back-pack type walk assisting device for pedestrian walker frame for movement and circuit control are combined, its project organization more complicated of one side, cost is higher, and weight is also heavier, cause financial burden and health burden to user, circuit control structure easily is subject to the impact of external environment on the other hand, and stability and reliability are not high.
Summary of the invention
Technical problem to be solved by this invention provides a kind of simple in structure, stability and the high backpack pad it power assisting device of reliability.
The present invention solves the problems of the technologies described above the technical scheme that adopts: a kind of backpack pad it power assisting device, comprise bracing frame, be provided with backboard on the described bracing frame, braces, the belt of knapsack and dimension adjustable, the lower end of described bracing frame is equipped with rotating hip joint, a pair of lower limb exoskeleton is installed on the described hip joint, described lower limb exoskeleton comprises the Thigh bone supporting mechanism, focile supporting mechanism and foot's fixed mechanism, described focile supporting mechanism be connected foot fixed mechanism elasticity and connect, described Thigh bone supporting mechanism comprises thigh fixing head and the first gravitational equilibrium mechanism, described focile supporting mechanism comprises shank fixing head and the second gravitational equilibrium mechanism, described thigh fixing head is connected with described shank fixing head elasticity, and described the first gravitational equilibrium mechanism and described the second gravitational equilibrium mechanism are used for the gravity of balance human body lower limbs.
Be provided with the first chute on the described thigh fixing head, described the first gravitational equilibrium mechanism comprises the first slide block, the first ball bearing, be fixedly mounted on first support bar in the described thigh fixing head outside and the first spring that an end is fixed on described the first upper end of slide block, described the first ball bearing be fixedly mounted in described the first slide block and sheathed described the first support bar on, described the first slide block reaches in described the first chute, the other end of described the first spring is fixed on the upper end of described the first chute, when human body walking, described the first slide block slides up and down the Real-time Balancing human bady gravitational in described the first chute, described the first spring is along with mobile elongation or the compression of described the first slide block produce power-assisted, be provided with the second chute on the described shank fixing head, described the second gravitational equilibrium mechanism comprises the second slide block, the second ball bearing, be fixedly mounted on second support bar in the described shank fixing head outside and the second spring that an end is fixed on described the second upper end of slide block, described the second ball bearing be fixedly mounted in described the second slide block and sheathed described the second support bar on, described the second slide block reaches in described the second chute, and the other end of described the second spring is fixed on the upper end of described the second chute.
Described the first slide block comprises mount pad and balance weight, described mount pad is fixedly connected with described balance weight, described the first ball bearing is positioned at described mount pad, described balance weight reaches in described the first chute, the density of the material of described mount pad is less than the density of the material of described balance weight, and the structure of described the second slide block is identical with the structure of described the first slide block.
Respectively be provided with one on the dual-side of described hip joint with the lug of axis hole, be provided with screw rod in the described axis hole, the lower end of described screw rod is fixedly mounted on the described thigh fixing head, the upper end of described screw rod is equipped with nut, be arranged with two conical Compress Springs on the described screw rod, be respectively the first Compress Spring and the second Compress Spring, described the first Compress Spring is between described nut and described lug, described the second Compress Spring is between described lug and described thigh fixing head, and the stub end of the stub end of described the first Compress Spring and described the second Compress Spring withstands on the upper and lower end face of described lug.
The arranged outside of the lower end of described thigh fixing head has the first Connection Block, and the arranged outside of the upper end of described shank fixing head has the second Connection Block, described the first Connection Block be connected the second Connection Block and connect by the 3rd spring.
The both sides of described bracing frame are respectively arranged with the upper limb ectoskeleton, described upper limb ectoskeleton comprises upper arm supporting mechanism and underarm supporting mechanism, described upper arm supporting mechanism comprises arm restraining board and upper arm gravitational equilibrium mechanism, described underarm supporting mechanism comprises lower arm restraining board and underarm gravitational equilibrium mechanism, and described upper arm restraining board is connected with described lower arm restraining board elasticity.
Be provided with the 3rd chute on the described upper arm restraining board, described upper arm gravitational equilibrium mechanism comprises the 3rd slide block, the 3rd ball bearing, be fixedly mounted on the 3rd support bar in the described upper arm restraining board outside and the 4th spring that an end is fixed on described the 3rd upper end of slide block, described the 3rd ball bearing be fixedly mounted in described the 3rd slide block and sheathed described the 3rd support bar on, described the 3rd slide block reaches in described the 3rd chute, the other end of described the 4th spring is fixed on the upper end of described the 3rd chute, when human body walking, described the 3rd slide block slides up and down Real-time Balancing human arm gravity in described the 3rd chute, described the 4th spring is along with mobile elongation or the compression of described the 3rd slide block produce power-assisted, be provided with the 4th chute on the described lower arm restraining board, described underarm gravitational equilibrium mechanism comprises Four-slider, the 4th ball bearing, be fixedly mounted on the 4th support bar in the described lower arm restraining board outside and the 5th spring that an end is fixed on described Four-slider upper end, described the 4th ball bearing be fixedly mounted in the described Four-slider and sheathed described the 4th support bar on, described Four-slider reaches in described the 4th chute, and the other end of described the 5th spring is fixed on the upper end of described the 4th chute.
Compared with prior art, the lower end that the invention has the advantages that bracing frame is equipped with rotating hip joint, a pair of lower limb exoskeleton is installed on the hip joint, thigh fixing head in the lower limb exoskeleton and shank fixing head be the fixing human shank respectively, the thigh fixing head is connected the kneed degree of freedom of assurance with shank fixing head elasticity, gravity in the first gravitational equilibrium mechanism and the second gravitational equilibrium mechanism Real-time Balancing human motion process, the movement locus that allows user follow skeleton is walked, reduce the physical demands of user, braces is used for bearing load, whole load passes to ground by power assisting device, make human body directly not bear weight, alleviate the user burden, power assisting device of the present invention is simple in structure, and cost is lower, and adopts the design of pure frame for movement, can not be subject to the impact of external environment, stability and reliability are high;
On the thigh fixing head, be provided with the first chute, the first gravitational equilibrium mechanism comprises the first slide block, the first ball bearing, be fixedly mounted on first support bar in the thigh fixing head outside and the first spring that an end is fixed on the first upper end of slide block, by the first ball bearing being fixedly mounted in the first slide block and on sheathed the first support bar, guarantee the traveling priority of the first slide block, avoid producing gravity deflection, the first spring is along with mobile elongation or the compression of the first slide block produce power-assisted, this power-assisted directly acts on the direction of motion that human body assist to be corrected human body, guarantees that user follows the movement locus of skeleton and walk;
When the first slide block comprises mount pad and balance weight, mount pad is fixedly connected with balance weight, ball bearing is positioned at mount pad, balance weight reaches in the first chute, the ball bearing that is positioned at mount pad is installed on the first support bar, and the first slide block is installed simply thus, and the density of the material of mount pad is less than the density of the material of balance weight in addition, guarantee that on the basis of the first slide block gravitational equilibrium effect of realization its weight is in OK range, in order to avoid the first slide block itself causes burden to human body;
On the dual-side of hip joint, respectively be provided with one with the lug of axis hole, be provided with screw rod in the axis hole, the lower end of screw rod be fixedly mounted on the thigh fixing head, but the upper end of screw rod is equipped with the nut of up-down adjustment position, be arranged with two conical Compress Springs on the screw rod, the first Compress Spring is between nut and lug, the second Compress Spring is between lug and thigh fixing head, the stub end of the stub end of the first Compress Spring and the second Compress Spring withstands on the upper and lower end face of lug, the rigidity of conical Compress Spring increases gradually, relax and elimination resonance, nut can be adjusted up and down simultaneously, so that wearer is more comfortable and walking is more stable, also further strengthened the weight capacity of hip joint.
Description of drawings
Fig. 1 is axonometric chart of the present invention;
Fig. 2 is front view of the present invention;
Fig. 3 is rearview of the present invention;
Fig. 4 is side view of the present invention;
Fig. 5 is the enlarged drawing of lower limb exoskeleton of the present invention;
Fig. 6 is the ectoskeletal enlarged drawing of upper limb of the present invention.
The specific embodiment
Embodiment is described in further detail the present invention below in conjunction with accompanying drawing.
Embodiment: as shown in the figure, a kind of backpack pad it power assisting device, comprise bracing frame 1, be provided with backboard 2 on the bracing frame 1, braces 3, the belt 5 of knapsack 4 and dimension adjustable, the lower end of bracing frame 1 is equipped with rotating hip joint 6, a pair of lower limb exoskeleton 7 is installed on the hip joint 6, lower limb exoskeleton 7 comprises Thigh bone supporting mechanism 8, focile supporting mechanism 9 and foot's fixed mechanism 10, focile supporting mechanism 9 is connected elasticity and is connected with the foot fixed mechanism, Thigh bone supporting mechanism 8 comprises thigh fixing head 81 and the first gravitational equilibrium mechanism, focile supporting mechanism 9 comprises shank fixing head 91 and the second gravitational equilibrium mechanism, thigh fixing head 81 is connected with shank fixing head 91 elasticity, the gravity of the first gravitational equilibrium mechanism and the second gravitational equilibrium mechanism Real-time Balancing human body lower limbs guarantees that user follows the movement locus of skeleton and walk.Hip joint 6 can be connected with bracing frame 1 by helical spring realizes its rotation, and motility is strong, can realize like a cork bending over waiting action.
In the present embodiment, be provided with the first chute 82 on the thigh fixing head 81, the first gravitational equilibrium mechanism comprises the first slide block 83, the first ball bearing (not shown), be fixedly mounted on first support bar 84 in thigh fixing head 81 outsides and the first spring 85 that an end is fixed on the first slide block 83 upper ends, the first ball bearing is fixedly mounted in the first slide block 83 and on sheathed the first support bar 84, the first slide block 83 reaches in the first chute 82, the other end of the first spring 85 is fixed on the upper end of the first chute 82, be provided with the second chute 92 on the shank fixing head 91, the second gravitational equilibrium mechanism comprises the second slide block 93, the second ball bearing (not shown), be fixedly mounted on second support bar 94 in shank fixing head 91 outsides and the second spring 95 that an end is fixed on the second slide block 93 upper ends, the second ball bearing is fixedly mounted in the second slide block 93 and on sheathed the second support bar 94, the second slide block 93 reaches in the second chute 92, the other end of the second spring 95 is fixed on the upper end of the second chute 92, when human body walking, the first slide block 83 slides up and down Real-time Balancing human body thigh gravity in the first chute 82, the first spring 85 is along with mobile elongation or the compression of the first slide block 83 produce power-assisted, the second slide block 93 slides up and down Real-time Balancing human body shank gravity in the second chute 92, the second spring 95 is along with mobile elongation or the compression of the second slide block 93 produce power-assisted, thus the gravitational equilibrium of realization human body lower limbs.
In the present embodiment, the first slide block 83 comprises mount pad 831 and balance weight 831, be provided with screw hole on the mount pad 831, be provided with screw hole on the balance weight 832, mount pad 831 is connected with balance weight and is screwed connection, the first ball bearing is positioned at mount pad 831, balance weight 831 reaches in the first chute 82, the density of the material of mount pad 831 is less than the density of the material of balance weight 831, the material of mount pad 831 is aluminum, and the material of balance weight 831 is ferrum, wherein, the weight that screw hole can further reduce by the first slide block 83 is set on mount pad 831 and the balance weight 832, makes the weight of the first slide block 83 satisfy human normal gait walking requirement.The structure of the second slide block 93 is identical with the structure of the first slide block 83.
In the present embodiment, respectively be provided with one on the dual-side of hip joint 6 with the lug 61 of axis hole, be provided with screw rod 62 in the axis hole, the lower end of screw rod 62 is fixedly mounted on the thigh fixing head 81, the upper end of screw rod 62 is equipped with nut 63, be arranged with two conical Compress Springs on the screw rod 62, be respectively the first Compress Spring 64 and the second Compress Spring 65, the first Compress Spring 64 is between nut 63 and lug 61, the second Compress Spring 65 is between lug 61 and thigh fixing head 81, and the stub end of the stub end of the first Compress Spring 64 and the second Compress Spring 65 withstands on the upper and lower end face of lug 61.
In the present embodiment, the arranged outside of the lower end of thigh fixing head 81 has the first Connection Block 811, and the arranged outside of the upper end of shank fixing head 91 has the second Connection Block 911, the first Connection Blocks 811 and is connected Connection Block 911 by 11 connections of the 3rd spring.
In the present embodiment, the both sides of bracing frame 1 are respectively arranged with upper limb ectoskeleton 12, upper limb ectoskeleton 12 comprises upper arm supporting mechanism and underarm supporting mechanism, the upper arm supporting mechanism comprises arm restraining board 121 and upper arm gravitational equilibrium mechanism, the underarm supporting mechanism comprises lower arm restraining board 122 and underarm gravitational equilibrium mechanism, upper arm restraining board 121 is connected with lower arm restraining board 122 elasticity, and upper arm restraining board 121 is hinged on the bracing frame 1 with lower arm restraining board 122.
In the present embodiment, be provided with the 3rd chute 123 on the upper arm restraining board 121, the upper arm gravitational equilibrium mechanism comprises the 3rd slide block 124, the 3rd ball bearing (not shown), be fixedly mounted on the 3rd support bar 125 in arm restraining board 121 outsides and the 4th spring 126 that an end is fixed on the 3rd slide block 124 upper ends, the 3rd ball bearing is fixedly mounted in the 3rd slide block 124 and on sheathed the 3rd support bar 125, the 3rd slide block 124 reaches in the 3rd chute 123, the other end of the 4th spring 126 is fixed on the upper end of the 3rd chute 123, be provided with the 4th chute 127 on the lower arm restraining board 122, the underarm gravitational equilibrium mechanism comprises Four-slider 128, the 4th ball bearing (not shown), be fixedly mounted on the 4th support bar 129 in lower arm restraining board 122 outsides and the 5th spring 130 that an end is fixed on Four-slider 128 upper ends, the 4th ball bearing is fixedly mounted in the Four-slider 128 and is set on the 4th support bar 129, Four-slider 128 reaches in the 4th chute 127, and the other end of the 5th spring 130 is fixed on the upper end of the 4th chute 127.When human body walking, the 3rd slide block 124 slides up and down in the 123 interior motions according to the human body upper arm of the 3rd chute, the 4th spring 126 is along with mobile elongation or the compression of the 3rd slide block 124 produce power-assisted, Four-slider 128 slides up and down in the 127 interior motions according to the human body underarm of the 4th chute, the 5th spring 130 is along with mobile elongation or the compression of Four-slider 128 produce power-assisted, thus upper limb gravitational equilibrium in the assurance user moving process.
In the present embodiment, the structure of the 3rd slide block 124 and Four-slider 128 is identical with the first slide block 83.Upper arm restraining board 121 and lower arm restraining board 122 connect by spring in the outside, thereby guarantee the motility of elbow joint.
Claims (7)
1. backpack pad it power assisting device, comprise bracing frame, it is characterized in that being provided with backboard on the described bracing frame, braces, the belt of knapsack and dimension adjustable, the lower end of described bracing frame is equipped with rotating hip joint, a pair of lower limb exoskeleton is installed on the described hip joint, described lower limb exoskeleton comprises the Thigh bone supporting mechanism, focile supporting mechanism and foot's fixed mechanism, described focile supporting mechanism be connected foot fixed mechanism elasticity and connect, described Thigh bone supporting mechanism comprises thigh fixing head and the first gravitational equilibrium mechanism, described focile supporting mechanism comprises shank fixing head and the second gravitational equilibrium mechanism, described thigh fixing head is connected with described shank fixing head elasticity, and described the first gravitational equilibrium mechanism and described the second gravitational equilibrium mechanism are used for the gravity of balance human body lower limbs.
2. backpack pad it power assisting device according to claim 1, it is characterized in that being provided with the first chute on the described thigh fixing head, described the first gravitational equilibrium mechanism comprises the first slide block, the first ball bearing, be fixedly mounted on first support bar in the described thigh fixing head outside and the first spring that an end is fixed on described the first upper end of slide block, described the first ball bearing be fixedly mounted in described the first slide block and sheathed described the first support bar on, described the first slide block reaches in described the first chute, the other end of described the first spring is fixed on the upper end of described the first chute, when human body walking, described the first slide block slides up and down the Real-time Balancing human bady gravitational in described the first chute, described the first spring is along with mobile elongation or the compression of described the first slide block produce power-assisted, be provided with the second chute on the described shank fixing head, described the second gravitational equilibrium mechanism comprises the second slide block, the second ball bearing, be fixedly mounted on second support bar in the described shank fixing head outside and the second spring that an end is fixed on described the second upper end of slide block, described the second ball bearing be fixedly mounted in described the second slide block and sheathed described the second support bar on, described the second slide block reaches in described the second chute, and the other end of described the second spring is fixed on the upper end of described the second chute.
3. backpack pad it power assisting device according to claim 2, it is characterized in that described the first slide block comprises mount pad and balance weight, described mount pad is fixedly connected with described balance weight, described the first ball bearing is positioned at described mount pad, described balance weight reaches in described the first chute, the density of the material of described mount pad is less than the density of the material of described balance weight, and the structure of described the second slide block is identical with the structure of described the first slide block.
4. backpack pad it power assisting device according to claim 1, it is characterized in that respectively being provided with one with the lug of axis hole on the dual-side of described hip joint, be provided with screw rod in the described axis hole, the lower end of described screw rod is fixedly mounted on the described thigh fixing head, the upper end of described screw rod is equipped with nut, be arranged with two conical Compress Springs on the described screw rod, be respectively the first Compress Spring and the second Compress Spring, described the first Compress Spring is between described nut and described lug, described the second Compress Spring is between described lug and described thigh fixing head, and the stub end of the stub end of described the first Compress Spring and described the second Compress Spring withstands on the upper and lower end face of described lug.
5. backpack pad it power assisting device according to claim 1, the arranged outside that it is characterized in that the lower end of described thigh fixing head has the first Connection Block, the arranged outside of the upper end of described shank fixing head has the second Connection Block, described the first Connection Block be connected the second Connection Block and connect by the 3rd spring.
6. backpack pad it power assisting device according to claim 1, the both sides that it is characterized in that described bracing frame are respectively arranged with the upper limb ectoskeleton, described upper limb ectoskeleton comprises upper arm supporting mechanism and underarm supporting mechanism, described upper arm supporting mechanism comprises arm restraining board and upper arm gravitational equilibrium mechanism, described underarm supporting mechanism comprises lower arm restraining board and underarm gravitational equilibrium mechanism, and described upper arm restraining board is connected with described lower arm restraining board elasticity.
7. backpack pad it power assisting device according to claim 1, it is characterized in that being provided with the 3rd chute on the described upper arm restraining board, described upper arm gravitational equilibrium mechanism comprises the 3rd slide block, the 3rd ball bearing, be fixedly mounted on the 3rd support bar in the described upper arm restraining board outside and the 4th spring that an end is fixed on described the 3rd upper end of slide block, described the 3rd ball bearing be fixedly mounted in described the 3rd slide block and sheathed described the 3rd support bar on, described the 3rd slide block reaches in described the 3rd chute, the other end of described the 4th spring is fixed on the upper end of described the 3rd chute, when human body walking, described the 3rd slide block slides up and down Real-time Balancing human arm gravity in described the 3rd chute, described the 4th spring is along with mobile elongation or the compression of described the 3rd slide block produce power-assisted, be provided with the 4th chute on the described lower arm restraining board, described underarm gravitational equilibrium mechanism comprises Four-slider, the 4th ball bearing, be fixedly mounted on the 4th support bar in the described lower arm restraining board outside and the 5th spring that an end is fixed on described Four-slider upper end, described the 4th ball bearing be fixedly mounted in the described Four-slider and sheathed described the 4th support bar on, described Four-slider reaches in described the 4th chute, and the other end of described the 5th spring is fixed on the upper end of described the 4th chute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201310215174 CN103301007A (en) | 2013-05-31 | 2013-05-31 | Backpack-type walking power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201310215174 CN103301007A (en) | 2013-05-31 | 2013-05-31 | Backpack-type walking power assisting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103301007A true CN103301007A (en) | 2013-09-18 |
Family
ID=49127020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201310215174 Pending CN103301007A (en) | 2013-05-31 | 2013-05-31 | Backpack-type walking power assisting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103301007A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015148576A1 (en) * | 2014-03-24 | 2015-10-01 | Levitate Technologies, Inc. | Leg augmentation systems and methods for use |
| CN105055127A (en) * | 2015-07-24 | 2015-11-18 | 黄河科技学院 | Unpowered lower limb joint decompression exoskeleton apparatus |
| CN105055125A (en) * | 2015-07-24 | 2015-11-18 | 黄河科技学院 | Power control rotatable supporting mechanism of power-driven lower limb joint decompression device |
| CN105105988A (en) * | 2015-09-22 | 2015-12-02 | 谷林电器(深圳)有限公司 | Walking assisting device |
| CN105364908A (en) * | 2014-08-21 | 2016-03-02 | Posco公司 | Wearable Robot |
| CN105943316A (en) * | 2016-05-23 | 2016-09-21 | 成都润惠科技有限公司 | Human lower extremity exoskeleton having force-returning structures |
| CN106041899A (en) * | 2016-08-22 | 2016-10-26 | 中国人民解放军63908部队 | Lower extremity assist exoskeleton robot |
| CN106361540A (en) * | 2015-07-21 | 2017-02-01 | 三星电子株式会社 | Frame module and motion assistance apparatus including the same |
| CN106625598A (en) * | 2016-12-20 | 2017-05-10 | 东南大学 | Knee joint power assisting device with automatic rigidity switching function |
| RU2637604C1 (en) * | 2016-06-17 | 2017-12-05 | Александр Михайлович Медведев | Mobile device for walking |
| CN109940594A (en) * | 2019-05-05 | 2019-06-28 | 深圳航天科技创新研究院 | Power exoskeleton robot |
| CN110251370A (en) * | 2019-05-22 | 2019-09-20 | 安徽大学 | A kind of passive-type gravity self-balancing lower limb exoskeleton structural body |
| CN111743736A (en) * | 2020-06-28 | 2020-10-09 | 吉首大学 | Carbon-free walking aid for old people |
| CN113146591A (en) * | 2021-05-27 | 2021-07-23 | 重庆理工大学 | Load-bearing assistance exoskeleton with damping function |
| CN111743736B (en) * | 2020-06-28 | 2024-06-11 | 吉首大学 | Carbon-free walking aid for old people |
-
2013
- 2013-05-31 CN CN 201310215174 patent/CN103301007A/en active Pending
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015148576A1 (en) * | 2014-03-24 | 2015-10-01 | Levitate Technologies, Inc. | Leg augmentation systems and methods for use |
| CN105364908B (en) * | 2014-08-21 | 2017-05-17 | Posco公司 | wearable robot |
| CN105364908A (en) * | 2014-08-21 | 2016-03-02 | Posco公司 | Wearable Robot |
| CN106361540A (en) * | 2015-07-21 | 2017-02-01 | 三星电子株式会社 | Frame module and motion assistance apparatus including the same |
| CN105055127A (en) * | 2015-07-24 | 2015-11-18 | 黄河科技学院 | Unpowered lower limb joint decompression exoskeleton apparatus |
| CN105055125A (en) * | 2015-07-24 | 2015-11-18 | 黄河科技学院 | Power control rotatable supporting mechanism of power-driven lower limb joint decompression device |
| CN105105988A (en) * | 2015-09-22 | 2015-12-02 | 谷林电器(深圳)有限公司 | Walking assisting device |
| CN105105988B (en) * | 2015-09-22 | 2017-05-31 | 谷林电器(深圳)有限公司 | Device of walking aid |
| CN105943316B (en) * | 2016-05-23 | 2018-06-29 | 成都润惠科技有限公司 | A kind of human body lower limbs ectoskeleton for having resilient structure |
| CN105943316A (en) * | 2016-05-23 | 2016-09-21 | 成都润惠科技有限公司 | Human lower extremity exoskeleton having force-returning structures |
| RU2637604C1 (en) * | 2016-06-17 | 2017-12-05 | Александр Михайлович Медведев | Mobile device for walking |
| CN106041899A (en) * | 2016-08-22 | 2016-10-26 | 中国人民解放军63908部队 | Lower extremity assist exoskeleton robot |
| CN106625598A (en) * | 2016-12-20 | 2017-05-10 | 东南大学 | Knee joint power assisting device with automatic rigidity switching function |
| CN109940594A (en) * | 2019-05-05 | 2019-06-28 | 深圳航天科技创新研究院 | Power exoskeleton robot |
| CN110251370A (en) * | 2019-05-22 | 2019-09-20 | 安徽大学 | A kind of passive-type gravity self-balancing lower limb exoskeleton structural body |
| CN110251370B (en) * | 2019-05-22 | 2021-06-08 | 安徽大学 | Passive gravity self-balancing lower limb exoskeleton structure |
| CN111743736A (en) * | 2020-06-28 | 2020-10-09 | 吉首大学 | Carbon-free walking aid for old people |
| CN111743736B (en) * | 2020-06-28 | 2024-06-11 | 吉首大学 | Carbon-free walking aid for old people |
| CN113146591A (en) * | 2021-05-27 | 2021-07-23 | 重庆理工大学 | Load-bearing assistance exoskeleton with damping function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103301007A (en) | Backpack-type walking power assisting device | |
| CN109454632B (en) | Lower limb exoskeleton system with descending buffer function | |
| CN104490568B (en) | Human lower extremity exoskeleton walking aid rehabilitation robot | |
| CN105686927B (en) | Collapsible mobile lower limb exoskeleton | |
| CN111773026B (en) | Multi-joint rigid-flexible combined power-assisted lower limb exoskeleton | |
| CN103462784B (en) | Power-assisted exercising apparatus | |
| JP6052235B2 (en) | Walking training device | |
| CN106491317B (en) | A kind of wearable knee joint walk help equipment from the adaptive gait of driving | |
| CN106821684B (en) | A kind of passive energy storage ankle-joint and foot mechanism for lower limb assistance exoskeleton | |
| CN107811805A (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| CN109009866A (en) | Sitting type lower limb exoskeleton rehabilitation robot | |
| CN203436523U (en) | Ten-freedom-degree lower limb walking-assisting device | |
| CN105662780A (en) | Lower limb powered shape righting device | |
| CN105125374A (en) | Walk training apparatus and walk training method thereof | |
| CN106137687B (en) | A kind of lower limb exoskeleton robot | |
| CN103349603A (en) | Ten-degree-of-freedom lower limb walking aid | |
| CN109044742B (en) | Rehabilitation type lower limb exoskeleton | |
| RU156507U1 (en) | EXCOSCELETON OF THE LOWER EXTREMITIES | |
| CN111228089B (en) | Wearable telescopic lower limb exoskeleton assisting device | |
| CN204723350U (en) | A kind of lower limb power assisting device based on pneumatic muscles | |
| CN110478191A (en) | A kind of non-anthropomorphic type exoskeleton rehabilitation robot of Novel leg | |
| CN113580100A (en) | Passive type load-bearing maneuvering exoskeleton | |
| CN205459236U (en) | Collapsible portable low limbs ectoskeleton | |
| CN115300864A (en) | Hip joint exoskeleton for transverse walking rehabilitation | |
| CN206183606U (en) | Low limbs ectoskeleton robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20130918 |