CN107260494A - Assistant robot - Google Patents
Assistant robot Download PDFInfo
- Publication number
- CN107260494A CN107260494A CN201710435748.8A CN201710435748A CN107260494A CN 107260494 A CN107260494 A CN 107260494A CN 201710435748 A CN201710435748 A CN 201710435748A CN 107260494 A CN107260494 A CN 107260494A
- Authority
- CN
- China
- Prior art keywords
- rotating mechanism
- gear
- knee joint
- knee
- controller
- 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
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
Abstract
The invention discloses assistant robot, include the support component of hip joint rotating mechanism, knee joint rotating mechanism and ankle-joint rotating mechanism in its lower limb walking mechanism；Body bearing part, battery and the controller matched with body is installed in support component, controller is connected with hip joint rotating mechanism, knee joint rotating mechanism and ankle-joint rotating mechanism respectively, remote control is connected with controller, the action of energy operational control lower limb walking mechanism.The present invention can help patient to realize standing or Walking, so as to prevent bedsore, muscular atrophy and osteoporosis, reduce muscle cramp and deformity of joint, safeguard patients ' life quality and recovered part self care ability, the other present invention can not only assist patient to walk level land, moreover it is possible to which stair activity, is that the life of patient brings great convenience.
Description
Technical field
The present invention relates to walking apparatus technical field, and in particular to assistant robot.
Background technology
Because a variety of causes causes people's walking and standing to have obstacle in actual life, such as：Spinal injury, spina bifida, brain
The empty disease of paralysis, paraplegia, polio, multiple sclerosis, vertebra, apoplexy, brain trauma, hemiplegia, Guillain Barre syndrome, kan setsu waza
Afterwards etc., the action of these patients for a long time is inconvenient, not only physiologically cannot get rehabilitation, is psychologically also greatly affected, this
When be accomplished by some walking devices taken exercise of standing and help, help patient to realize and stand or Walking, so as to prevent bedsore, flesh
Meat atrophy and osteoporosis, reduce muscle cramp and deformity of joint, safeguard patients ' life quality and recovered part is taken care of oneself
Ability.
The content of the invention
The invention aims to the shortcoming and defect for overcoming prior art, there is provided assistant robot, the wireless remote control
Walking device can help patient to realize standing or Walking, so as to prevent bedsore, muscular atrophy and osteoporosis reduce muscle convulsion
Contraction and deformity of joint, safeguard patients ' life quality and recovered part self care ability；Patient can not only be assisted to walk level land,
Can also stair activity, be that the life of patient brings great convenience.
To reach above-mentioned purpose, the present invention provides following technical scheme：
The present invention proposes assistant robot, is made up of lower limb walking mechanism, body bearing assembly and remote control；The lower limb row
Walking includes the two hip joint rotating mechanisms, knee joint rotating mechanism and the ankle-joint rotating mechanism that are provided with mirror symmetry in mechanism
Support component；Body bearing part, battery and the controller matched with body be installed in the support component, the battery with
Controller is connected, and controller is connected with hip joint rotating mechanism, knee joint rotating mechanism and ankle-joint rotating mechanism respectively,
The remote control is connected with controller, the action of energy operational control lower limb walking mechanism.
Further, the support component includes thigh outboard beam and the femoribus internus being connected by arc fixture
Bar, shank outboard beam and medial leg bar, the thigh outboard beam are connected with shank outboard beam by knee joint rotating mechanism,
The femoribus internus bar is connected with medial leg bar by knee articulation bar, and the knee articulation bar rotates with knee joint
Mechanism is corresponding.
Further, the hip joint rotating mechanism lower end drive connection thigh outboard beam, the thigh outboard beam together with
The scope that femoribus internus bar can be driven in rotation is：20 degree to 90 degree forward backward, the knee joint rotating mechanism can drive small
Leg outer side bar is around the scope that thigh outboard beam rotates together with medial leg bar and knee articulation bar：70 degree to forward 2 backward
Degree；
Further, the hip joint rotating mechanism includes being arranged on the hip joint motor of hip joint mounting box side and is arranged on
Little gear, gear wheel and gear band inside hip joint mounting box, the hip joint motor are connected with battery and controller respectively
Connect, and drive connection little gear, little gear is fixed by gear V belt translation gear wheel, the gear wheel lower end with thigh outboard beam
Connection.
Further, the gear band rear is provided with the tensioning wheel of connection swing arm, and the swing arm is adjusted by stopping means
Position in swing arm groove, and then gear band is kept by tensioning state by the tensioning wheel of swing arm one end.
Further, the knee joint rotating mechanism includes the knee joint motor and peace installed in knee joint mounting box side
Little gear and sector gear inside knee joint mounting box, the knee joint motor are connected with battery and controller respectively
Connect, and drive and be provided with two microswitches on the little gear that is connected with sector gear, the knee joint mounting box, it is described micro-
Dynamic switch is corresponding without increment with sector gear, to detect and limit the extreme position rotated back and forth of sector gear；It is described
Sector gear upper end is fixedly connected with thigh outboard beam, and the knee joint mounting box lower end is fixedly connected with shank outboard beam.
Further, the battery and controller are arranged on U-shaped plate and on rear side of waist, the hip joint motor peace
Mounted in the inner side of hip joint mounting box and on rear side of the waist, the knee joint motor be arranged on the inner side of knee joint mounting box and
On rear side of knee joint.
Further, the body bearing part includes the sufficient part of waistline, ischium part and ankle, and the waistline is by laminating human body waist
And the VELCRO installed on the curved slab and curved slab of belly is constituted, waistline is fixedly mounted on hip joint by U-shaped plate and installed
On the inside of box；The VELCRO that the ischium part is installed on the curved slab and curved slab for fitting human buttock and thigh is constituted, and is led to
Cross arc fixture to be fixedly mounted between thigh outboard beam and femoribus internus bar, the ischium part top edge is provided with what is turned up
Ischium platform；The magic that the sufficient part of the ankle is installed on the human calf that fits, ankle-joint and the curved slab and curved slab of foot
Patch composition, is fixedly mounted between shank outboard beam and medial leg bar by arc fixture.
Further, the waistline upper edge is provided with cushion, and the height of waistline is appreciable for a little higher than patient's waist
Position.
Further, the remote control is arranged at crutches holding, the remote control and controller wireless connection, controller
Include transmitter and battery.
The beneficial effects of the invention are as follows：
1. patient wears the wireless remote control at holding on the operation crutches matched with lower limb walking mechanism, make control system control
Lower limb walking mechanism, drives thigh to be operated with shank, lower limb vehicle with walking machine by hip joint rotating mechanism and knee joint rotating mechanism
Structure is run according to the manner of execution of human body walking, is made more flexible in the walking process of leg；
Stood or Walking 2. the invention can help patient to realize, so as to prevent bedsore, muscular atrophy and osteoporosis are reduced
Muscle cramp and deformity of joint, safeguard patients ' life quality and recovered part self care ability；The other present invention is not only
Patient can be assisted to walk level land, moreover it is possible to stair activity, be that the life of patient brings great convenience；
3. the motor that the present invention is used uses rearmounted method, accomplish to occupy little space and hidden, and whole lower limb row
Walk mechanism to may be worn in clothes, the image appearance of patient is maintained well；
4. the hip joint rotating mechanism and knee joint rotating mechanism deft design that use are driven accurate and efficiency high, wear patient
Comfortably, walk freely, and energy-conservation.
5. being capable of preferably power transmission and guarantor using thigh outboard beam, femoribus internus bar and shank outboard beam, medial leg bar
Protect balance；
6. the position that a little higher than patient's waist of the height of waistline can sense, therefore patient can perceive lower limb walking mechanism and ground
Contact, can preferably assist patient to operate walking device；
7. the sufficient part of waistline, ischium part and ankle is the curved slab of laminating organization of human body, body and more preferably Horizon can not only be fixed
Weighing apparatus stress load-bearing, and patient's comfortable wearing can be made.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of hip joint rotating mechanism；
Fig. 3 is the structural representation of knee joint rotating mechanism；
Fig. 4 is the structural representation of waistline；
Fig. 5 is the structural representation of ischium part；
Fig. 6 is the structural representation of the sufficient part of ankle.
In accompanying drawing：1st, hip joint rotating mechanism, 11, hip joint motor, 12, U-shaped plate, 13, hip joint mounting box, 111, small
Gear, 112, gear wheel, 113, gear band, 121, swing arm, 122, tensioning wheel, 123, swing arm groove, 131, stopping means, 21, big
Leg outer side bar, 211, femoribus internus bar, 212, knee articulation bar, 22, shank outboard beam, 221, medial leg bar, 23, arc
Fixture, 3, knee joint rotating mechanism, 31, knee joint motor, 32, knee joint mounting box, 311, sector gear, 331, fine motion opens
Close, 41, waistline, 42, ischium part, 421, ischium platform, 43, the sufficient part of ankle.
Embodiment
The embodiment of the present invention is described in further detail with reference to embodiment：
As shown in Figures 1 to 6, it is made up of lower limb walking mechanism, body bearing assembly and remote control；Include in lower limb walking mechanism
The support group of two hip joint rotating mechanisms 1, knee joint rotating mechanism 3 and the ankle-joint rotating mechanism of mirror symmetry is installed
Part；Body bearing part, battery and the controller matched with body is installed, battery is connected with controller in support component, controlled
Device processed is connected with hip joint rotating mechanism 1, knee joint rotating mechanism 3 and ankle-joint rotating mechanism respectively, remote control and control
Device is connected, the action of energy operational control lower limb walking mechanism.
Support component includes thigh outboard beam 21 and femoribus internus bar 211, the shank being connected by arc fixture 23
Outboard beam 22 and medial leg bar 221, thigh outboard beam 21 are connected with shank outboard beam 22 by knee joint rotating mechanism 3,
Femoribus internus bar 211 is connected with medial leg bar 221 by knee articulation bar 212, knee articulation bar 212 and knee joint
Rotating mechanism 3 is corresponding.
The lower end drive connection thigh outboard beam 21 of hip joint rotating mechanism 1, thigh outboard beam 21 is together with femoribus internus bar 211
The scope that can be driven in rotation is：20 degree to 90 degree forward backward, knee joint rotating mechanism 3 can drive shank outboard beam together with small
Inboard leg bar and knee articulation bar are around the scope that thigh outboard beam rotates：70 degree to 2 degree forward backward；
Hip joint rotating mechanism 1 is included installed in the hip joint motor 11 of the side of hip joint mounting box 13 and installed in hip joint peace
Little gear 111, gear wheel 112 and the gear band 113 of the inside of mounted box 13, hip joint motor 111 respectively with battery and controller phase
Connection, and drive connection little gear 111, little gear 111 is driven gear wheel 112 by gear band 113, the lower end of gear wheel 112 with
Thigh outboard beam 21 is fixedly connected；The rear of gear band 113 is provided with the tensioning wheel 122 of connection swing arm 121, and swing arm 121 is by spacing
Device 131 adjusts the position in swing arm groove 123, and then is kept gear band 113 by the tensioning wheel 122 of the one end of swing arm 121
Tensioning state.
Knee joint rotating mechanism 3 includes closing installed in the knee joint motor 31 of the side of knee joint mounting box 32 and installed in knee
The little gear 111 and sector gear 311 of the inside of mounting box 32 are saved, knee joint motor 31 is connected with battery and controller respectively,
And drive and be provided with two microswitches 311 on the little gear 111 that is connected with sector gear 311, knee joint mounting box 32, it is micro-
Dynamic switch 331 is corresponding without increment with sector gear 311, to detect and limit the limit rotated back and forth of sector gear 311
Position；The upper end of sector gear 311 is fixedly connected with thigh outboard beam 21, and the lower end of knee joint mounting box 32 is consolidated with shank outboard beam 22
Fixed connection.
Battery and controller are arranged on U-shaped plate 12 and on rear side of waist, and hip joint motor 11 is pacified installed in hip joint
The inner side of mounted box 13 and on rear side of the waist, knee joint motor 31 is arranged on the inner side of knee joint mounting box 32 and positioned at knee joint
Rear side.
Body bearing part includes waistline 41, the sufficient part 43 of ischium part 42 and ankle, and waistline 41 is by laminating human body waist and belly
The VELCRO composition installed on curved slab and curved slab, waistline 41 is fixedly mounted in hip joint mounting box 13 by U-shaped plate
Side；The VELCRO that ischium part 42 is installed on the curved slab and curved slab for fitting human buttock and thigh is constituted, and passes through arc
Fixture 23 is fixedly mounted between thigh outboard beam 21 and femoribus internus bar 211, and the top edge of ischium part 42 is provided with what is turned up
Ischium platform 421；The magic that ankle foot part 43 is installed on the human calf that fits, ankle-joint and the curved slab and curved slab of foot
Patch composition, is fixedly mounted between shank outboard beam 22 and medial leg bar 221 by arc fixture 23；The upper edge of waistline 41
Cushion is provided with, the height of waistline 41 is the appreciable position of a little higher than patient's waist；Remote control is arranged at crutches holding, distant
Device and controller wireless connection are controlled, controller includes transmitter and battery.
Described above is only the preferred embodiment of the present invention, it is noted that come for one of ordinary skill in the art
Say, without departing from the technical principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
When being considered as within protection scope of the present invention.
Claims (10)
1. assistant robot, it is characterised in that be made up of lower limb walking mechanism, body bearing assembly and remote control；The lower limb
Include two hip joint rotating mechanisms, knee joint rotating mechanism and the ankle-joint whirler for being provided with mirror symmetry in walking mechanism
The support component of structure；Body bearing part, battery and the controller matched with body, the battery are installed in the support component
It is connected with controller, controller is connected with hip joint rotating mechanism, knee joint rotating mechanism and ankle-joint rotating mechanism respectively
Connect, the remote control is connected with controller, the action of energy operational control lower limb walking mechanism.
2. assistant robot according to claim 1, it is characterised in that the support component includes passing through arc fixture
Outside thigh outboard beam and femoribus internus bar, shank outboard beam and the medial leg bar being connected, the thigh outboard beam and shank
Side lever is connected by knee joint rotating mechanism, and the femoribus internus bar is connected with medial leg bar by knee articulation bar
Connect, the knee articulation bar is corresponding with knee joint rotating mechanism.
3. assistant robot according to claim 2, it is characterised in that the hip joint rotating mechanism lower end drive connection
Thigh outboard beam, the scope that the thigh outboard beam can be driven in rotation together with femoribus internus bar is：20 degree to forward 90 backward
Degree, the knee joint rotating mechanism can drive shank outboard beam together with medial leg bar and knee articulation bar around thigh outboard beam
The scope of rotation is：70 degree to 2 degree forward backward.
4. assistant robot according to claim 3, it is characterised in that the hip joint rotating mechanism includes being arranged on hip
The hip joint motor of joint mounting box side and little gear, gear wheel and gear band inside hip joint mounting box, institute
State hip joint motor respectively with battery and controller to be connected, and drive connection little gear, little gear is big by gear V belt translation
Gear, the gear wheel lower end is fixedly connected with thigh outboard beam.
5. assistant robot according to claim 4, it is characterised in that the gear band rear is provided with connection swing arm
Tensioning wheel, the swing arm adjusts position in swing arm groove by stopping means, and then by the tensioning wheel of swing arm one end by gear
Band keeps tensioning state.
6. assistant robot according to claim 3, it is characterised in that the knee joint rotating mechanism includes being arranged on knee
The knee joint motor of joint mounting box side and little gear and sector gear inside knee joint mounting box, the knee are closed
Section motor is connected with battery and controller respectively, and drives the little gear being connected with sector gear, and the knee joint is installed
Two microswitches are provided with box, the microswitch is corresponding without increment with sector gear, to detect and limit sector
The extreme position rotated back and forth of gear；The sector gear upper end is fixedly connected with thigh outboard beam, and the knee joint is installed
Box lower end is fixedly connected with shank outboard beam.
7. the assistant robot according to any one of claim 4 or 6, it is characterised in that the battery and controller are set
On U-shaped plate and on rear side of waist, the hip joint motor is arranged on the inner side of hip joint mounting box and on rear side of waist,
The knee joint motor is arranged on the inner side of knee joint mounting box and on rear side of knee joint.
8. assistant robot according to claim 2, it is characterised in that the body bearing part includes waistline, ischium part
With the sufficient part of ankle, the VELCRO that the waistline is installed on the curved slab and curved slab of laminating human body waist and belly is constituted, waist
Enclose and be fixedly mounted on by U-shaped plate on the inside of hip joint mounting box；The ischium part is by laminating human buttock and the curved slab of thigh
And the VELCRO composition installed on curved slab, by arc fixture be fixedly mounted on thigh outboard beam and femoribus internus bar it
Between, the ischium part top edge is provided with the ischium platform turned up；The sufficient part of the ankle is by human calf, ankle-joint and the foot of fitting
Curved slab and curved slab on install VELCRO composition, shank outboard beam and shank are fixedly mounted on by arc fixture
Between interior side lever.
9. assistant robot according to claim 8, it is characterised in that the waistline upper edge is provided with cushion, waistline
Height be the appreciable position of a little higher than patient's waist.
10. assistant robot according to claim 1, it is characterised in that the remote control is arranged at crutches holding, institute
Remote control and controller wireless connection are stated, controller includes transmitter and battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710435748.8A CN107260494A (en) | 2017-06-12 | 2017-06-12 | Assistant robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710435748.8A CN107260494A (en) | 2017-06-12 | 2017-06-12 | Assistant robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107260494A true CN107260494A (en) | 2017-10-20 |
Family
ID=60067110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710435748.8A Pending CN107260494A (en) | 2017-06-12 | 2017-06-12 | Assistant robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107260494A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107714396A (en) * | 2017-11-09 | 2018-02-23 | 哈尔滨程天科技发展有限公司 | A kind of power-assisted pocket stern formula corbel band of exoskeleton robot |
| CN108095981A (en) * | 2017-12-13 | 2018-06-01 | 杨胜楠 | A kind of walker device for being directed to thrombosis patients |
| CN109350459A (en) * | 2018-10-25 | 2019-02-19 | 宁波杰曼智能科技有限公司 | A kind of auxiliary walking devices and its walk help control method |
| CN109464264A (en) * | 2018-11-30 | 2019-03-15 | 内蒙古工业大学 | A kind of human body lower limbs power assistive device |
| CN110063877A (en) * | 2019-03-04 | 2019-07-30 | 上海理工大学 | Drive rear-mounted lower limb exoskeleton robot |
| EP3527189A1 (en) * | 2018-02-20 | 2019-08-21 | Samsung Electronics Co., Ltd. | Motion assistance apparatus |
| EP3666242A3 (en) * | 2018-12-10 | 2020-09-16 | Samsung Electronics Co., Ltd. | Motion assistance apparatus |
| CN112842829A (en) * | 2019-11-28 | 2021-05-28 | 丰田自动车株式会社 | Leg support and garment covering the same |
| CN113018790A (en) * | 2020-12-07 | 2021-06-25 | 邱存珍 | Artificial intelligence recovered device of taking exercise of orthopedics |
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| KR20110049470A (en) * | 2009-11-05 | 2011-05-12 | (주)트리플씨메디칼 | Knee brace including rotator hinge member |
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| CN106420271A (en) * | 2016-09-06 | 2017-02-22 | 广州科安康复专用设备有限公司 | Single-driven bionic gait rehabilitation training robot system |
| JP2017086460A (en) * | 2015-11-10 | 2017-05-25 | サンコール株式会社 | Actuator unit for long leg brace |
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| KR20100075269A (en) * | 2008-12-24 | 2010-07-02 | 한양대학교 산학협력단 | Robot for assisting the muscular strength of lower extremity and control method for walking of the same |
| KR20110049470A (en) * | 2009-11-05 | 2011-05-12 | (주)트리플씨메디칼 | Knee brace including rotator hinge member |
| US20130296754A1 (en) * | 2012-05-05 | 2013-11-07 | Becker Orthopedic Appliance Company | Orthotic joint and knee-ankle-foot orthotic device incorporating same |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN103610568A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| JP2017086460A (en) * | 2015-11-10 | 2017-05-25 | サンコール株式会社 | Actuator unit for long leg brace |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107714396A (en) * | 2017-11-09 | 2018-02-23 | 哈尔滨程天科技发展有限公司 | A kind of power-assisted pocket stern formula corbel band of exoskeleton robot |
| CN108095981B (en) * | 2017-12-13 | 2020-11-20 | 永康市第一人民医院 | Walking aid device for thrombus patients |
| CN108095981A (en) * | 2017-12-13 | 2018-06-01 | 杨胜楠 | A kind of walker device for being directed to thrombosis patients |
| US11517492B2 (en) | 2018-02-20 | 2022-12-06 | Samsung Electronics Co., Ltd. | Motion assistance apparatus |
| EP3527189A1 (en) * | 2018-02-20 | 2019-08-21 | Samsung Electronics Co., Ltd. | Motion assistance apparatus |
| CN109350459A (en) * | 2018-10-25 | 2019-02-19 | 宁波杰曼智能科技有限公司 | A kind of auxiliary walking devices and its walk help control method |
| CN109464264A (en) * | 2018-11-30 | 2019-03-15 | 内蒙古工业大学 | A kind of human body lower limbs power assistive device |
| CN109464264B (en) * | 2018-11-30 | 2020-09-18 | 内蒙古工业大学 | Human lower limb assisting device |
| EP3666242A3 (en) * | 2018-12-10 | 2020-09-16 | Samsung Electronics Co., Ltd. | Motion assistance apparatus |
| US11707399B2 (en) | 2018-12-10 | 2023-07-25 | Samsung Electronics Co., Ltd. | Motion assistance apparatus |
| CN110063877A (en) * | 2019-03-04 | 2019-07-30 | 上海理工大学 | Drive rear-mounted lower limb exoskeleton robot |
| CN112842829A (en) * | 2019-11-28 | 2021-05-28 | 丰田自动车株式会社 | Leg support and garment covering the same |
| CN112842829B (en) * | 2019-11-28 | 2023-09-08 | 丰田自动车株式会社 | Leg support and clothes covering same |
| CN113018790A (en) * | 2020-12-07 | 2021-06-25 | 邱存珍 | Artificial intelligence recovered device of taking exercise of orthopedics |
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Application publication date: 20171020 |