CN106419939B - A kind of plantar pressure detection device and the movement power assisting device for installing the device - Google Patents
A kind of plantar pressure detection device and the movement power assisting device for installing the device Download PDFInfo
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- CN106419939B CN106419939B CN201510483444.XA CN201510483444A CN106419939B CN 106419939 B CN106419939 B CN 106419939B CN 201510483444 A CN201510483444 A CN 201510483444A CN 106419939 B CN106419939 B CN 106419939B
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Abstract
A kind of plantar pressure detection device, including the first stiff sheet, several the first hollow out deformation cantilevers are provided on first stiff sheet, first sensor is fitted on the first hollow out deformation cantilever, the second stiff sheet is provided with above first stiff sheet, it is connected between the first stiff sheet and the second stiff sheet by several first pressure-bearing bodies, the lower end of the first pressure-bearing body is mounted on the first hollow out deformation cantilever；It directly will be in all pressure-loadeds to hollow out deformation cantilever using column pressure-bearing body between first, second stiff sheet, so that not measured loss by dynamometry, first hollow out deformation cantilever generates Bending Deformation after being under pressure, first sensor can perceive the deformation, and measurement foot pressure signal is accurate.Stiff sheet load ability is strong, is directly connected to other mechanical structures with can be convenient, and is easy installation and fixes, and the plantar pressure structure of the detecting device is simple, secured, and reliable performance greatly reduces cost.
Description
Technical field
The present invention relates to pressure-detecting device, especially a kind of plantar pressure detection device and be equipped with the plantar pressure inspection
Survey the movement power assisting device of device.
Background technique
Accurate real-time measurement wearer vola and/or mechanical structure pedestal is needed to bear in wearable exoskeleton device
Pressure, to perceive wearer's current kinetic situation, to implement associated drives control, to realize movement assist function.Biped type
Robot is also required to real-time measurement robot foot section pressure, to assist to judge robotary.
Existing vola measuring device not enough optimizes the design of sensor and mechanical structure, and it is not quasi- enough to there is measurement
Really, the problems such as vola measuring device is not secured enough, and structure is excessively complicated, at high cost, reliability is not high.
Patent CN2006800006514.1 and Chinese University of Science and Technology Master's thesis in 2010 are " a kind of for gait detection
The research of flexible biped power-assisting robot sensory perceptual system " a kind of plantar pressure detection device is disclosed, using flexible oil pressure pipe
Incude plantar pressure, the problem that this device band is come is that oil pressure pipe contact bearing area is difficult to accurately measure, so as to cause survey
Amount inaccuracy.Patent CN201410036599.4 discloses a kind of plantar pressure detection device, is surveyed using several dynamometry floating blocks
Plantar pressure is measured, it is at high cost the problem is that structure is complicated, and will lead to measurement when pressure-loaded arrives device edge and tie
Fruit serious distortion.Patent CN201410491074.X discloses sufficient end force checking device, and the apparatus structure is complicated, at high cost, also
It will lead to measurement result inaccuracy when there is a situation where pressure-loaded to device edge, and the device only single-point load, structure is not
Securely, long-time service is easily damaged.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of measurement, accurate and structure is simple, secured, reliable performance, at
This low plantar pressure detection device, the invention also discloses a kind of movement power-assisted dresses for being equipped with the plantar pressure detection device
It sets.
The technical scheme to solve the above technical problems is that
A kind of plantar pressure detection device, which is characterized in that including the first stiff sheet, be arranged on first stiff sheet
There are several the first hollow out deformation cantilevers, is fitted on the first hollow out deformation cantilever for monitoring the first hollow out deformation
The first sensor of cantilever deformation is provided with the second stiff sheet above first stiff sheet, in the first stiff sheet and
It is connected between second stiff sheet by several the first pressure-bearing bodies, the lower end of the first pressure-bearing body is mounted on described first and engraves
On empty deformation cantilever.
The beneficial effects of the present invention are: using column pressure-bearing body directly by all pressure between the first, second stiff sheet
It is loaded on hollow out deformation cantilever, so that not measured loss by dynamometry, the first hollow out deformation cantilever generates after being under pressure
Bending Deformation, first sensor can perceive the deformation, and measurement foot pressure signal is accurate.Stiff sheet load ability is strong, can
It to be easily directly connected to other mechanical structures, is easy installation and fixes, the plantar pressure structure of the detecting device is simple, secured, property
Can be reliable, greatly reduce cost.
Further, hollow out is carried out on first stiff sheet, the first hollow out deformation cantilever is arranged in hollow part, should
One end of first hollow out deformation cantilever is connect with first stiff sheet.
Beneficial effect using above-mentioned further scheme is: the deformation of hollow out cantilever force is larger on stiff sheet, Neng Goubian
Deformation is detected in sensor.
Further, the first hollow out deformation cantilever is structure as a whole with first stiff sheet.
Using the beneficial effect of above-mentioned further scheme is: the first hollow out deformation cantilever and first stiff sheet is one
Body structure, sound construction are reliable.
Further, the first sensor is mounted on the surface of first stiff sheet, and the first sensor is described
One end of first hollow out deformation cantilever is installed, and the height of the first sensor is less than the height of the first pressure-bearing body, described
First pressure-bearing body is installed in the other end of the first hollow out deformation cantilever.
Beneficial effect using above-mentioned further scheme is: according to the principle of lever, the lower end of the first pressure-bearing body is far from
The junction of one hollow out deformation cantilever and the first stiff sheet is installed, and makes the first hollow out shape after the first pressure-bearing body stress at this time
It is larger to become cantilever deformation, is measured convenient for the first sensor, the first sensor is close to the first hollow out deformation cantilever
It is nearby installed with the junction of the first stiff sheet, sensitive can perceive the variation of pressure signal, high sensitivity, measurement standard
Really.
Further, also hollow out is provided with several the second hollow out deformation cantilevers on first stiff sheet, this second is engraved
The second sensor for monitoring the second hollow out deformation cantilever deformation is all separately installed on empty deformation cantilever, described first just
Property thin plate below be provided with third stiff sheet, the third stiff sheet and first stiff sheet by several second
The connection of pressure-bearing body, the upper end of the second pressure-bearing body is mounted on the second hollow out deformation cantilever.
Beneficial effect using above-mentioned further scheme is: by using three layers of stiff sheet, can measure simultaneously respectively
Pressure between third, the first thin plate and between the second, first thin plate, to be conducive to be mounted on wearable ectoskeleton, simultaneously
Detect the pressure of Human Sole and the pressure of ectoskeleton mechanical pedestal.
Further, hollow out is carried out on first stiff sheet, the second hollow out deformation cantilever is arranged in hollow part, this
One end of two hollow out deformation cantilevers is connect with first stiff sheet；The second hollow out deformation cantilever and first rigidity
Thin plate is structure as a whole.
Using the beneficial effect of above-mentioned further scheme is: the second hollow out deformation cantilever and first stiff sheet is one
Body structure is firmly combined reliable.
Further, the second sensor is mounted on the surface of the second hollow out deformation cantilever, which exists
One end of the second hollow out deformation cantilever is installed, and the height of the second sensor is less than the height of the second pressure-bearing body,
It is installed far from one end of the second hollow out deformation cantilever the upper end of the second pressure-bearing body.
Beneficial effect using above-mentioned further scheme is: second sensor be mounted on the second hollow out deformation cantilever deformation compared with
Big position is easy to implement the sensitivity of detection.
Further, the first pressure-bearing body (34) and second one end pressure-bearing body (34a) are separately fixed at first rigidity
On the first hollow out deformation cantilever (33) and the second hollow out deformation cantilever (33a) on thin plate (31), the other end is separately fixed at
On two stiff sheets (32) and third stiff sheet (36)；The both ends of the first pressure-bearing body (34) and the second pressure-bearing body (34a)
It is realized and is fixed using screw, rivet, welding or bonding method.
Using the beneficial effect of above-mentioned further scheme is: the first pressure-bearing body and the second pressure-bearing body both ends fixation can be with
Enhance the mechanical strength and reliability of apparatus of the present invention.
Further, one laterally outside of the first stiff sheet extends, which is folded upward to form mounting portion.
Beneficial effect using above-mentioned further scheme is: plantar pressure detection device stiff sheet side has bent
At turning up, the side is turned up can be transported by the auxiliary of the modes such as screw, rivet, welding or stickup and application apparatus of the present invention
Dynamic ectoskeleton is tightly fastened；Turning up, which can also be used to, installs foot bandage, so that apparatus of the present invention securely couple human body foot
Portion.
In such a way that stiff sheet side is turned up so that apparatus of the present invention can be convenient with application apparatus or wearer
Foot is fixed together, easy to use, high reliablity.
Further, the first sensor, second sensor are strain-ga(u)ge transducer.
Beneficial effect using above-mentioned further scheme is: strain-ga(u)ge transducer compact structure is frivolous, is easily installed.
Further, the first hollow out deformation cantilever and the second hollow out deformation cantilever (33a) are rectangle, spiral shape, T word
Shape, round or ellipse.
Beneficial effect using above-mentioned further scheme is: the first hollow out deformation cantilever and the second hollow out deformation cantilever
The shape of (33a) can flexible choice according to actual needs.
A kind of movement power assisting device, including dynamical system, control system and executing agency, the executing agency include and people
The link mechanism of body lower limb cooperation load-bearing, which is characterized in that the link mechanism includes mechanical pedestal, which is equipped with
The plantar pressure detection device as described in any one of claim 1 to 7, first stiff sheet are mounted in mechanical pedestal.
First stiff sheet, one laterally outside extends, which is folded upward at, and peace is provided on the extension
Hole is filled, the threaded hole with mounting hole perforation is provided in the mechanical pedestal, screw passes through the mounting hole, and screw thread is matched
Conjunction is installed in the threaded hole.
Further, plantar pressure detection device lower section of the present invention, over or around are also covered with flexible material, described
Flexible material is rubber, plastics, fabric, animal's leather etc..
Beneficial effect using above-mentioned further scheme is: periphery covering flexible material can be anti-skidding, and can increase and wear
Wearer's comfort level.
Further, the flexible material for covering the plantar pressure detection device is a close encapsulation body, by the vola
Device for pressure measurement cladding.
Beneficial effect using above-mentioned further scheme is: being covered outside the measuring device using closed flexible sealing body
It encloses, the scope of application and reliability of the measuring device can be increased with waterproof.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the wearable ectoskeleton embodiment of apparatus of the present invention application；
Fig. 2 is the main view of human body plantar pressure detection device embodiment 1 of the present invention；
Fig. 3 is that embodiment 1 removes the top view after the second stiff sheet；
Fig. 4 is the main view of human body plantar pressure detection device embodiment 2 of the present invention；
Fig. 5 is that embodiment 2 removes the top view after the second stiff sheet；
Fig. 6 is the main view of human body plantar pressure detection device embodiment 3 of the present invention；
Fig. 7 is 3 mounting structure schematic diagram of embodiment；
Fig. 8 is that embodiment 3 removes the top view after the second stiff sheet.
In attached drawing, component names representated by each label are as follows:
10, fixed device；11, extension；201, transmission shaft；202, first connecting rod；203, the first connecting shaft；204, second
Connecting rod；205, the second connecting shaft；206, line shaft；207, thigh link；208, knee axis；209, shank link；
210, ankle-joint axis；211, mechanical pedestal；31, the first stiff sheet；32, the second stiff sheet；33, a hollow out deformation cantilever；
34, the first pressure-bearing body；35, first sensor；33a, the second hollow out deformation cantilever；34a, the second pressure-bearing body；35a, two sensors；
36, stiff sheet；37, screw.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
Embodiment 1:
Plantar pressure detection device of the invention is applied to movement power assisting device.As shown in Figure 1, the movement power assisting device
Including dynamical system, control system and executing agency, the dynamical system and control system are respectively mounted and are fixed on human body waist
In fixed device 10, fixed 10 lower end of device is provided with to the extension 11 of hip joint, described in the lower end installation of the extension 11
Executing agency.
Executing agency includes the link mechanism with human body lower limbs cooperation load-bearing, and the link mechanism includes thigh link
207, shank link 209, first connecting rod 202, second connecting rod 204 and foot structure 211.On the thigh link 209
End is fixed on 11 lower end of waist extension by transmission shaft 201, and lower end connects shank link by knee axis 208
The lower end of 209 upper end, the shank link 209 connects foot structure 211 by ankle-joint axis 210.The thigh connection
There are also line shafts 206, the line shaft 206 to be sequentially connected by belt and transmission shaft 201 for setting in section 207, the line shaft 206
It is connect with one end of first connecting rod 202, the other end of first connecting rod 202 passes through the first connecting shaft 203 and the one of second connecting rod 204
End connection, the other end of the second connecting rod 204 are mounted on the top of shank link 209 by the second connecting shaft 205.The biography
Moving axis 201 carries out power transmitting by belt by the dynamical system in the fixed device 10 of waist.
As shown in Figures 2 and 3, the lower end of shank link 209 is connected with mechanical pedestal 211, institute by ankle-joint axis 208
It states mechanical pedestal 211 and plantar pressure detection device is installed, which includes the first stiff sheet 31, this first
There are six the first hollow out deformation cantilever 33, the first hollow out deformation cantilever 33 is thin in first rigidity for setting on stiff sheet 31
On plate 31 hollow out formed, which is structure as a whole with first stiff sheet 31, this first
The first sensor 35 for monitoring 33 deformation of the first hollow out deformation cantilever is fitted on hollow out deformation cantilever 33, first passes
Sensor 35 is mounted on the upper surface of first stiff sheet 31 and connect with control system.The first sensor 35 is close to described
The installation of the junction of first hollow out deformation cantilever 33 and the first stiff sheet 31.Is provided with above first stiff sheet 31
Two stiff sheets 32 pass through six the first pressure-bearing body 34 connections, institute between the first stiff sheet 31 and the second stiff sheet 32
The lower end for stating the first pressure-bearing body 34 is mounted on the first hollow out deformation cantilever 33, and the lower end of the first pressure-bearing body 34 is far from described
The installation of the junction of first hollow out deformation cantilever 33 and the first stiff sheet 31.
When carrying out pressure measurement using the Human Sole pressure-detecting device, human foot steps down in the second of described device
On stiff sheet 32, human foot pressure is fully loaded on the first stiff sheet 31 by multiple column pressure-bearing bodies 34 at this time
On multiple hollow out deformation cantilevers 33, hollow out deformation cantilever 33 can deformation occurs, 35 energy of the strain-ga(u)ge transducer attached to it
Enough sense deformation quantity, so that the wearable exoskeleton device can calculate corresponding pressure value according to deformation quantity, control
Movement.
Embodiment 2:
The structure of the embodiment 2 is similar to Example 1, the difference is that the structure of plantar pressure detection device is different.
As shown in Figure 4 and Figure 5, in embodiment 2, plantar pressure detection device is arranged in parallel with three pieces of stiff sheets, wherein
There are four the first hollow out deformation cantilevers 33 for hollow out setting on first stiff sheet 31, are furthermore provided with four the second hollow out deformation
It is all separately installed on cantilever 33a, the second hollow out deformation cantilever 33a for monitoring the second hollow out deformation cantilever 33a deformation
Second sensor 35a, second sensor 35a is mounted on the lower surface of the second hollow out deformation cantilever 33a, second sensing
Device 35a is installed close to the junction of the second hollow out deformation cantilever 33a and the first stiff sheet 31.First stiff sheet
31 lower section is provided with third stiff sheet 36, and the third stiff sheet 36 and first stiff sheet 31 pass through four second
The 34a connection of pressure-bearing body, the upper end of the second pressure-bearing body 34a are mounted on the second hollow out deformation cantilever 33a, and described second
It is installed far from the junction of the second hollow out deformation cantilever 33a and the first stiff sheet 31 upper end of pressure-bearing body 34a.
Pressure measurement is carried out using Human Sole pressure-detecting device described in embodiment 2, human foot steps down in described device
The second stiff sheet 32 on when, human foot pressure is fully loaded on the first stiff sheet 31 by the first pressure-bearing body 34
On first hollow out deformation cantilever 33, first sensor 35 can sense deformation；Meanwhile pressure will continue to through the first stiff sheet
31 are loaded on the second pressure-bearing body 34a, the second hollow out deformation cantilever 33a corresponding to the second pressure-bearing body 34a also can deformation occurs,
The second sensor 35a attached to it can sense deformation quantity.At this point, if wearable exoskeleton device passes through machine again
Mechanical pressure is loaded directly on the first stiff sheet 31 by tool structure again, then be attached on the second hollow out deformation cantilever 33a
Two sensor 35a can sense bigger deformation, and the pressure value measured is human body plantar pressure and exoskeleton device machine
The sum of tool pressure.
Embodiment 3:
The structure of the embodiment 3 is similar to Example 2, the difference is that the structure of plantar pressure detection device is different.
As shown in Fig. 6, Fig. 7 and Fig. 8,31 left side of the first stiff sheet extends outward, which is folded upward at, this is curved
Folding part and mechanical pedestal 211 be fixed together by multiple screws 37 in this way, apparatus of the present invention just with wearable exoskeleton device
It is rigidly secured together.Using the present embodiment device, Human Sole pressure and ectoskeleton mechanical pressure can be measured simultaneously.
210 lower end of ankle-joint axis connects mechanical pedestal 211, and the mechanical pedestal 211 is used to carry ectoskeleton mechanical pressure,
First stiff sheet, 31 left side bending is fixed together with the mechanical pedestal 211 by multiple screws 37.In this way, of the invention
Device is just rigidly secured together with wearable exoskeleton device.Human foot can be measured using the present embodiment device simultaneously
The pressure and ectoskeleton mechanical pressure of application, simple for structure, firm and durable, measurement are accurate, high reliablity.
In above three embodiments, first sensor 35, second sensor 35a are the foil gauge sensing of compact structure
Device.First hollow out deformation cantilever 33 and the second hollow out deformation cantilever 33a can be rectangle, spiral shape, T-shaped, round, oval
Deng flexible transformation shape according to actual needs is no longer exhaustive herein.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (14)
1. a kind of plantar pressure detection device, which is characterized in that including the first stiff sheet (31), first stiff sheet (31)
On be provided with several the first hollow out deformation cantilevers (33), be fitted on the first hollow out deformation cantilever (33) for monitoring
The first sensor (35) of first hollow out deformation cantilever (33) deformation, the first stiff sheet (31) top are provided with second
Stiff sheet (32) passes through several the first pressure-bearing bodies (34) between the first stiff sheet (31) and the second stiff sheet (32)
Connection, the lower end of the first pressure-bearing body (34) is mounted on the first hollow out deformation cantilever (33)；First rigidity is thin
Also hollow out is provided with several the second hollow out deformation cantilevers (33a) on plate (31), all divides on the second hollow out deformation cantilever (33a)
Second sensor (35a) for monitoring the second hollow out deformation cantilever (33a) deformation is not installed, it is thin in first rigidity
Plate (31) and the opposite other side of second stiff sheet (32) are provided with third stiff sheet (36), the third stiff sheet
(36) it is connect with first stiff sheet (31) by several the second pressure-bearing bodies (34a), the second pressure-bearing body (34a)
Upper end is mounted on the second hollow out deformation cantilever (33a).
2. plantar pressure detection device according to claim 1, which is characterized in that on first stiff sheet (31)
Hollow out is carried out, the first hollow out deformation cantilever (33), one end of the first hollow out deformation cantilever (33) and institute is arranged in hollow part
State the first stiff sheet (31) connection.
3. plantar pressure detection device according to claim 2, which is characterized in that the first hollow out deformation cantilever (33)
It is structure as a whole with first stiff sheet (31).
4. plantar pressure detection device according to claim 3, which is characterized in that the first sensor (35) is mounted on
The surface of first stiff sheet (31), the first sensor (35) are mounted on the one of the first hollow out deformation cantilever (33)
End, the height of the first sensor (35) are less than the height of the first pressure-bearing body (34), the first pressure-bearing body (34)
Lower end is mounted on the other end of the first hollow out deformation cantilever (33).
5. plantar pressure detection device according to claim 1, which is characterized in that first stiff sheet (31) is enterprising
The second hollow out deformation cantilever (33a), one end of the second hollow out deformation cantilever (33a) and institute is arranged in row hollow out, hollow part
The first stiff sheet (31) connection is stated, the second hollow out deformation cantilever (33a) is integrated with first stiff sheet (31)
Structure.
6. plantar pressure detection device according to claim 5, which is characterized in that second sensor (35a) installation
On the surface of the second hollow out deformation cantilever (33a), the second sensor (35a) is in the second hollow out deformation cantilever
The one end of (33a) is installed, and the height of the second sensor (35a) is less than the height of the second pressure-bearing body (34a), and described the
It is installed in the other end of the second hollow out deformation cantilever (33a) upper end of two pressure-bearing bodies (34a).
7. plantar pressure detection device according to claim 6, which is characterized in that the first stiff sheet (31) side
Extend outward, which is bent to form mounting portion upward or downward.
8. plantar pressure detection device according to claim 6, which is characterized in that the first sensor (35), second
Sensor (35a) is strain-ga(u)ge transducer.
9. plantar pressure detection device according to claim 1, which is characterized in that the first hollow out deformation cantilever (33)
It is rectangle, spiral shape, T-shaped, round or ellipse with the second hollow out deformation cantilever (33a).
10. plantar pressure detection device according to claim 1, which is characterized in that the first pressure-bearing body (34) and
Two one end pressure-bearing body (34a) are separately fixed at the first hollow out deformation cantilever (33) and second on first stiff sheet (31)
On hollow out deformation cantilever (33a), the other end is separately fixed on the second stiff sheet (32) and third stiff sheet (36)；It is described
It is realized and is fixed using screw, rivet, welding or bonding method in the both ends of first pressure-bearing body (34) and the second pressure-bearing body (34a).
11. a kind of movement power assisting device, including dynamical system, control system and executing agency, the executing agency includes and people
The link mechanism of body lower limb cooperation load-bearing, which is characterized in that the link mechanism includes mechanical pedestal (211), the mechanical pedestal
(211) installation is just like any one of claims 1 to 10 plantar pressure detection device, the first stiff sheet (31) installation
On mechanical pedestal (211).
12. movement power assisting device according to claim 11, which is characterized in that (31) one side of the first stiff sheet to
Outside extends, which is folded upward at, mounting hole is provided on the extension, is provided on the mechanical pedestal (211)
With the threaded hole of mounting hole perforation, screw (37) passes through the mounting hole, and is threadedly engaged and is installed in the threaded hole.
13. movement power assisting device according to claim 11, which is characterized in that under the plantar pressure detection device
Side, over or around are also covered with flexible material, and the flexible material is rubber, plastics, fabric or animal's leather.
14. movement power assisting device according to claim 13, which is characterized in that be covered on the plantar pressure detection device
Flexible material formed a close encapsulation body, by the plantar pressure detection device coat.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510483444.XA CN106419939B (en) | 2015-08-07 | 2015-08-07 | A kind of plantar pressure detection device and the movement power assisting device for installing the device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510483444.XA CN106419939B (en) | 2015-08-07 | 2015-08-07 | A kind of plantar pressure detection device and the movement power assisting device for installing the device |
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| CN106419939A CN106419939A (en) | 2017-02-22 |
| CN106419939B true CN106419939B (en) | 2019-07-26 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107741290B (en) * | 2017-10-11 | 2023-09-15 | 中国科学院深圳先进技术研究院 | Robot foot device with plantar pressure detection function |
| CN109676584A (en) * | 2018-12-11 | 2019-04-26 | 上海航天控制技术研究所 | A kind of ectoskeleton hydraulic sensitive formula sensing shoes |
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| CN1915168A (en) * | 2006-09-06 | 2007-02-21 | 哈尔滨工程大学 | Force transducer for sole of foot |
| CN101589983A (en) * | 2009-06-26 | 2009-12-02 | 北京工业大学 | Wearable lower limb exoskeleton device |
| CN101917902A (en) * | 2007-12-27 | 2010-12-15 | 国立大学法人筑波大学 | Detector for position of gravitational center and wearing-type motion assisting device equipped with detector for position of gravitational center |
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN104758142A (en) * | 2015-04-10 | 2015-07-08 | 电子科技大学 | Assistance exoskeleton robot |
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|---|---|---|---|---|
| CN2721009Y (en) * | 2004-07-14 | 2005-08-31 | 中国中医研究院骨伤科研究所 | Measuring device for realizing foot sole pressure with thumb exstrophy |
| CN1915168A (en) * | 2006-09-06 | 2007-02-21 | 哈尔滨工程大学 | Force transducer for sole of foot |
| CN101917902A (en) * | 2007-12-27 | 2010-12-15 | 国立大学法人筑波大学 | Detector for position of gravitational center and wearing-type motion assisting device equipped with detector for position of gravitational center |
| CN101589983A (en) * | 2009-06-26 | 2009-12-02 | 北京工业大学 | Wearable lower limb exoskeleton device |
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| CN104758142A (en) * | 2015-04-10 | 2015-07-08 | 电子科技大学 | Assistance exoskeleton robot |
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| CN106419939A (en) | 2017-02-22 |
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