CN110653802B - Knee joint movement assistance exoskeleton device - Google Patents
Knee joint movement assistance exoskeleton device Download PDFInfo
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- CN110653802B CN110653802B CN201910944307.XA CN201910944307A CN110653802B CN 110653802 B CN110653802 B CN 110653802B CN 201910944307 A CN201910944307 A CN 201910944307A CN 110653802 B CN110653802 B CN 110653802B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 65
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 58
- 210000000689 upper leg Anatomy 0.000 claims abstract description 115
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 238000004146 energy storage Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims abstract description 7
- 230000001154 acute effect Effects 0.000 claims description 28
- 210000003127 knee Anatomy 0.000 claims description 5
- 239000013585 weight reducing agent Substances 0.000 claims description 4
- 230000009194 climbing Effects 0.000 abstract description 20
- 210000001699 lower leg Anatomy 0.000 description 113
- 238000006073 displacement reaction Methods 0.000 description 15
- 238000009434 installation Methods 0.000 description 15
- 230000000694 effects Effects 0.000 description 12
- 230000008275 binding mechanism Effects 0.000 description 8
- 230000006835 compression Effects 0.000 description 8
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- 230000001070 adhesive effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000002441 reversible effect Effects 0.000 description 4
- 229910000639 Spring steel Inorganic materials 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- 239000010959 steel Substances 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
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- 229910052799 carbon Inorganic materials 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 208000000112 Myalgia Diseases 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
The invention discloses a knee joint movement assisting exoskeleton device which comprises a thigh support rod and a shank support rod, wherein an intermediate rotating shaft mechanism comprises a thigh connecting disc and a shank connecting disc which are rotatably connected, a first limiting groove and a second limiting groove are respectively arranged on the thigh connecting disc and the shank connecting disc, the first limiting groove and the second limiting groove are partially overlapped in an initial state, in addition, in the relative rotating process of the shank support rod and the thigh support rod, the overlapping range of the first limiting groove and the second limiting groove is gradually enlarged, the knee joint movement assisting exoskeleton device also comprises an energy storage mechanism, the energy storage mechanism comprises a spring and a crank sliding block mechanism, the crank sliding block mechanism comprises a crank, a connecting rod and a sliding block, one end of the spring is fixedly connected to the thigh support rod, the other end of the spring is always abutted against the sliding. The scheme realizes the purposes of reducing extra load when the knee joint of the human body is bent during walking on a flat road and providing passive assistance only during large-angle motions such as climbing mountains and climbing stairs.
Description
Technical Field
The invention relates to the technical field of wearable equipment, in particular to a knee joint movement assistance exoskeleton device.
Background
The knee joint is the joint with the largest bearing capacity of the human body, and the force borne by the knee joint is very large in large-angle and high-strength motions such as climbing mountains, going upstairs and downstairs and the like, so that certain damage can be caused to the knee joint when people climb stairs, for example, the knee joint can be greatly stressed when large objects are carried to go upstairs and downstairs; after people do exercises for a period of time, the physical strength is reduced, muscle soreness and sports fatigue occur, the flexibility and coordination of the exercises are greatly reduced, and the knee joints of the lower limbs are particularly obvious, so that an efficient knee joint exercise assisting mechanism is urgently needed.
A knee joint movement assistance exoskeleton is a bionic mechanical device which is worn outside a knee joint and provides assistance for the knee joint movement assistance exoskeleton as the name suggests. In addition, the exoskeleton also has the functions of supporting the body weight, protecting body organs, assisting in movement, sensing the environment and the like. The existing knee joint power assisting device is divided into an active power assisting device and a passive power assisting device, the active power assisting device mainly comprises a hydraulic drive device and a motor drive device, the hydraulic drive device is mostly applied to the field of load-bearing power assisting, a hydraulic cylinder is arranged between a thigh and a shank, an oil way is switched through a hydraulic system, supporting and releasing of the knee joint of the exoskeleton robot are achieved, the hydraulic drive device has the advantages of high power density and quick dynamic response, but the problem of complex control of a hydraulic servo system also exists; the motor-driven power assisting device is mainly applied to the fields of rehabilitation and disabled assisting, a mode that a motor speed reducer acts on a knee joint directly is adopted, a mode that a roller lead screw connected between a thigh and a shank is driven by a motor is also adopted, motor driving is convenient to control, but the power density of the motor is low, and the motor-driven power assisting device is suitable for the field of rehabilitation with dyskinesia of lower limbs. Compared with a passive exoskeleton, the active exoskeleton needs energy supply and motion control, and has the advantages of complex system, high cost and low reliability.
The invention patent application document with the publication number of CN109176478A discloses a knee joint passive power assisting device, which comprises a thigh support and a shank support, wherein the thigh support and the shank support are connected through a rotating shaft, the rotating shaft is fixedly arranged at the upper end of the shank support, a spring is arranged on the outer side of the thigh support, one end of the spring is fixedly connected with the upper part of the thigh support, and the other end of the spring is connected with a disc structure arranged on the rotating shaft through a steel wire rope; the shank support swings to drive the rotating shaft to rotate, and the rotating shaft drives the disc structure to rotate so as to stretch the steel wire rope. However, the power assisting device in the above application document has the following problems in practical use: when a human body walks, the crus rotate relative to the thighs, the crus support rotates along with the crus, then the rotating shaft is driven to rotate, when the knees are bent, the rotating shaft rotates to enable the steel wire rope to stretch the spring, when the knees are stretched, the spring resets to provide assistance for the rotating shaft, energy storage assistance is carried out on the whole process of the motion of the human body, the human body does not need assistance to be used for stretching the spring when the human body walks on a level road, and therefore the load and the discomfort of the human body when the human body walks on the level road are increased.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: how to provide a passive knee joint movement assisting exoskeleton device which can not increase the walking load of a human body when walking on a flat road and only provides assistance when moving at a large angle such as mountain climbing, going upstairs and downstairs and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
the knee joint movement assisting exoskeleton device comprises a thigh supporting rod and a shank supporting rod, wherein the thigh supporting rod and the shank supporting rod are rotatably connected through an intermediate rotating shaft mechanism, the intermediate rotating shaft mechanism comprises a thigh connecting disc and a shank connecting disc which are coaxially and rotatably connected, the thigh connecting disc is used for being fixedly connected with the thigh supporting rod, the shank connecting disc is used for being fixedly connected with the shank supporting rod, arc-shaped first limiting grooves and arc-shaped second limiting grooves are respectively arranged on positions, which are on the thigh connecting disc and the shank connecting disc, and are equidistant from the rotating connection position, the central angle degree of the arc corresponding to the first limiting grooves is larger than that of the arc corresponding to the second limiting grooves, the first limiting grooves and the second limiting grooves are partially overlapped in an initial state, and in the relative rotation process of the shank supporting rod and the thigh supporting rod, the overlapping range of the first limiting groove and the second limiting groove is gradually enlarged, the energy storage mechanism comprises a spring and a slider-crank mechanism which are in a free state under an initial state, the slider-crank mechanism comprises a crank, a connecting rod and a sliding block, the crank is arranged in parallel with the thigh connecting plate, one end of the crank is connected with the rotary joint of the thigh connecting plate and the shank connecting plate, the other end of the crank is connected with the connecting rod, a limiting bulge extending towards the thigh connecting plate is further arranged on the crank, the limiting bulge extends into the first limiting groove and the second limiting groove and can slide along the first limiting groove and the second limiting groove, an installation pipe is arranged on the thigh supporting rod, the spring is sleeved on the installation pipe, and one end of the spring, which is close to the crank, is fixedly connected on the thigh supporting rod, the other end of the spring abuts against the sliding block, the other end of the connecting rod, which is connected with the crank, is connected with the sliding block, and the crank can drive the sliding block to move towards the thigh connecting disc through the connecting rod and compress the spring when rotating.
In this scheme, the initial state is: the human body is in an upright state, the included angle between the thigh support rod and the shank support rod is 180 degrees, the rotation angle of the shank support rod relative to the thigh support rod is 0 degree, namely the motion angle of the knee joint of the human body is 0 degree.
Like this, the ectoskeleton device of this scheme is when using, connects thigh branch on the thigh, and shank branch connects on the shank, and under initial condition, the spring is in free state, and first spacing groove and second spacing groove overlap partly, and spacing arch stretches into the position that first spacing groove and second spacing groove overlap.
When a human body walks, the knee joint is bent by swinging the shank, the shank support rod is driven to rotate around the thigh support rod, the shank support rod drives the shank connecting rod to rotate around the thigh connecting plate, the second limiting groove on the shank connecting plate rotates relative to the first limiting groove on the thigh connecting plate, so that the overlapping range between the second limiting groove and the first limiting groove is enlarged, because the central angle degree of the arc corresponding to the first limiting groove is larger than that of the arc corresponding to the second limiting groove, the overlapping range between the second limiting groove and the first limiting groove is gradually enlarged until the second limiting groove is completely overlapped with the first limiting groove, the position of the limiting bulge extending into the overlapping position of the first limiting groove and the second limiting groove is kept unchanged before the second limiting groove is completely overlapped with the first limiting groove, namely, the crank-slider mechanism is in a static state at the moment, and the slider can not compress the spring, the energy storage mechanism does not work; when the second limiting groove and the first limiting groove are completely overlapped, the shank continuously swings to drive the shank connecting disc to rotate around the thigh connecting disc, at the moment, under the action of the second limiting groove on the limiting protrusion, the second limiting groove drives the limiting protrusion to rotate around the rotating joint together, the limiting protrusion drives the crank to rotate while rotating, the crank rotates to further drive the sliding block to move to compress and store energy for the spring, when the shank of a human body swings back to the knee joint and extends, the shank connecting disc rotates to rotate around the thigh connecting disc, the crank rotates to drive the sliding block to move back, the sliding block moves back to drive the spring to reset, and energy released in the resetting process of the spring is the assisting force for the movement of the knee joint.
When a human body walks on a flat road, the swing angle of the crus is small, so that the rotation angle of the crus connecting disc around the thigh connecting disc is small, the rotation angle of the second limiting groove relative to the first limiting groove is small, namely, the second limiting groove always rotates at the position before the second limiting groove completely coincides with the first limiting groove, so that the condition that the energy storage mechanism is always in an inoperative state when the human body walks on the flat road is ensured, the device can not bring resistance to the walking of the human body on the flat road, and the load of the walking of the human body on the flat road can not be increased.
When the human body is climbing mountains, when climbing stairs and other large-angle motions, when the bent knee joint of the lower leg is in buckling motion, the angle of the lower leg swing is large, the angle of the lower leg connecting disc rotating in a winding mode is large at the moment, the second limiting groove and the first limiting groove are completely overlapped and then continuously rotate, the second limiting groove drives the crank to rotate through the limiting protrusion while continuously rotating, further the spring is compressed to store energy, when the lower leg swings back to the knee joint to be in stretching motion, the energy stored in the spring reset release is the motion assistance of the human body.
Therefore, the scheme realizes the purpose of providing assistance only during large-angle motions of mountain climbing, stair climbing and the like without increasing the walking load of a human body during walking on a flat road.
This scheme adopts slider-crank mechanism to drive the spring and warp the energy storage simultaneously, adopts wire rope to drive the mode of spring deformation energy storage to compare with the tradition, and the slider-crank mechanism performance of this scheme is more reliable, long service life, the installation of being convenient for is maintained.
Preferably, a direction from a fulcrum of the crank to a connecting point of the crank and the connecting rod is a length direction of the crank, a direction from the connecting point of the connecting rod and the crank to the connecting point of the connecting rod and the slider is a length direction of the connecting rod, and the length of the connecting rod is greater than that of the crank.
Therefore, when the crus swing back to the knee joint to do stretching movement, the elastic force generated by the spring reset is transmitted to the crank through the connecting rod, and the vertical component force transmitted to the crank is the assistance to the human body movement; in the transmission process of spring elasticity, form lever structure between connecting rod and the crank, wherein the connecting point of connecting rod and crank is as lever structure's fulcrum, and in this lever structure, the elasticity that the spring produced is used in the lever, so the elasticity of spring is as power, and the connecting rod is as power arm, and the crank is as resistance arm, and the power that receives in crank fulcrum department is the resistance, according to the theory of action of lever: a power arm and a resistance arm; because the length of the lever as the power arm is greater than that of the crank as the resistance arm, the elastic force of the spring end forms resistance acting on the fulcrum of the crank after being amplified through leverage, and the vertical component of the resistance is the assistance to the motion of a human body; therefore, the assistance to the human body movement is larger than the elastic force generated by the spring, the effect of the assistance to the human body movement is enhanced, the human body wearing the movement assistance exoskeleton device can save more labor during movement, and the assistance effect is improved.
Preferably, two sides of the limiting protrusion respectively abut against one side of the second limiting groove in the arc direction and one side of the first limiting groove in the arc direction in the initial state.
Therefore, if the knee joint is damaged by the reverse rotation of the shank connecting disc under special conditions, one side of the limiting bulge is abutted against one side of the second limiting groove in the arc direction in the initial state, and the rotation angle of the shank connecting disc is limited by the limiting bulge, so that the damage to the knee joint caused by the reverse rotation of the shank connecting disc is avoided; meanwhile, the other side of the limiting bulge is abutted against one side of the first limiting groove in the arc direction in the initial state, the position of the crank slider mechanism after the shank swings back is limited by the limiting bulge, and the situation that the crank continuously rotates to exceed the position of the initial state due to the inertia effect after swinging back along with the shank is prevented, so that the spring deforms to generate vibration, the use comfort of the device is influenced, and the movement of the knee joint is further influenced. Therefore, the scheme can avoid the injury to the knee joint caused by the reversal of the crus connecting disc, and can also ensure the use comfort of the device.
Preferably, the central angle degree of the arc corresponding to the first limiting groove is 120 degrees, and the central angle degree of the arc corresponding to the second limiting groove is 30-60 degrees.
Therefore, the angles of the first limiting groove and the second limiting groove are selected by comprehensively considering factors such as the height of a human body, the length of the leg, the walking road condition and the like, and the requirement of the swing amplitude of the shank during large-angle motion such as mountain climbing, stair climbing and the like can be met by the corresponding circular arc of the first limiting groove. The selection of the circle center angle of the arc corresponding to the second limiting groove comprehensively considers the buckling angle of the knee joint of the human body walking on the flat road, the small step is about 30 degrees and the large step is about 60 degrees, so that the energy storage mechanism can be always in an inoperative state when walking on the flat road, the increase of load during walking on the flat road is avoided, and meanwhile, the spring can store larger energy to assist the motion of the human body when the motion of large angles such as mountain climbing, stair climbing and the like is ensured by the angle of the first limiting groove.
Preferably, be equipped with first mount pad on the thigh branch and be located the second mount pad of first mount pad below, first mount pad with vertical being connected with the installation pipe between the second mount pad, the spring with the slider is all established install the pipe and can be followed the vertical slip of installation pipe, spring lower extreme fixed connection be in on the second mount pad, the spring upper end with the slider offsets.
Therefore, the spring and the sliding block are sleeved on the installation pipe, and the installation pipe is used for guiding, installing and supporting the movement of the spring and the sliding block.
Preferably, a vertical weight-reducing through hole is formed in the mounting tube, two vertical limiting grooves are symmetrically formed in the outer circumference of the mounting tube, the limiting grooves are communicated with the weight-reducing through hole, the axial center line of each limiting groove is located above the axial center line of the mounting tube, the sliding block is sleeved at the position, provided with the limiting grooves, outside the mounting tube, and the axial width of the inner diameter of the sliding block is larger than the axial width between the two limiting grooves and smaller than the axial width of the outer diameter of the mounting tube.
Like this, subtract heavy through-hole and be used for realizing the whole of installation pipe and subtract heavy effect, utilize spacing recess to inject the shift position of slider simultaneously, avoided the slider to the excessive compression of spring on the one hand, on the other hand inject the position of slider when the return, avoid the slider to get back to initial position after because inertial effect further drives the just shape vibration of spring, influence the use travelling comfort of device.
Preferably, the length of the crank is 3-4cm, the length of the connecting rod is 9-11cm, an acute angle included between the length direction of the crank and a vertical plane in an initial state is 40-50 degrees, and the angle is changed within a range of 45-105 degrees.
Therefore, when the acute angle included between the displacement of the sliding block and the vertical plane in the initial state between the length direction of the crank is small, the displacement change of the sliding block is slow, and when the same spring force is required, if the displacement of the sliding block is small, namely the compression amount of the spring is small, the required spring stiffness is large, and the sliding block is not easy to compress; if the acute angle included between the length direction of the crank and the vertical plane in the initial state is too large, the connecting rod is too long, the length of the spring is considered, the length of the spring is influenced due to the large angle, and the compressible amount of the spring is small; in addition, after the spring rebounds, the force borne by the crank is transmitted back to the crank through the connecting rod, when the included angle between the connecting rod and the crank is 90 degrees, the efficiency of the force transmitted back to the crank is high, so that the crank is required to be changed near the 90-degree angle between the crank and the connecting rod, the efficiency of the elastic force transmission of the spring is high, and the selection is started at 40-50 degrees after the factors are fully considered; therefore, the displacement of the sliding block is changed quickly, the length of the crank and the connecting rod is moderate, and the efficiency of the force transmitted back by the spring is high.
Preferably, an acute angle included between the length direction of the connecting rod and a vertical plane is less than 25 degrees, and an acute angle included between the connecting rod and the crank is 60-90 degrees.
Therefore, the elastic force of the spring is transmitted back to the crank through the connecting rod when being transmitted back, the loss is related to the cosine value of the acute angle between the length direction of the connecting rod and the vertical plane and the sine value of the acute angle between the connecting rod and the crank theoretically, the acute angle between the length direction of the connecting rod and the vertical plane is designed to be less than 25 degrees, the rest chord value is larger than 0.9, the acute angle between the connecting rod and the crank is designed to be 60-90 degrees, and the sine value is larger than 0.8, so that the efficiency of transmitting the elastic force of the spring back to the crank is effectively ensured.
Preferably, the binding device further comprises a binding mechanism, wherein the binding mechanism comprises a binding belt capable of being pasted and a binding belt connecting piece fixedly connected with the binding belt capable of being pasted, and the binding belt connecting piece is fixedly connected with the thigh support rod and the shank support rod.
Thus, the binding mechanism is used for connecting the exoskeleton mechanism with the upper leg and the lower leg, so that the exoskeleton and the human body can move in parallel. The thigh supporting rod and the shank supporting rod are tied up at the thigh and the shank of the human body through the tying-up mechanism respectively, and then the adhesive bandage arranged on the tying-up mechanism is adhered to achieve the purpose that the device is worn on the legs of the human body.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of the present invention;
fig. 2 is a schematic structural view of a thigh connecting pad according to a first embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a lower leg interface disc according to a first embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an installation pipe according to a first embodiment of the present invention;
fig. 5 is a schematic structural view of a thigh strut and a calf strut in a second embodiment of the invention.
Description of reference numerals: the thigh support 1, the first thigh support 101, the second thigh support 102, the third thigh support 103, the thigh connecting disc 2, the thigh connecting part 21, the thigh arc part 22, the first limiting groove 23, the shank connecting disc 3, the shank connecting part 31, the shank arc part 32, the second limiting groove 33, the shank support 4, the first shank support 41, the second shank support 42, the crank 5, the limiting protrusion 6, the second mounting seat 7, the connecting rod 8, the spring 9, the sliding block 10, the mounting tube 11, the limiting groove 111, the first mounting seat 12, the bandage connecting part 13 and the adhesive bandage 14.
Detailed Description
The invention will be further explained with reference to the drawings and the embodiments.
The first embodiment is as follows:
as shown in the attached drawings 1 to 3, the knee joint movement assisting exoskeleton device comprises a thigh support rod 1 and a shank support rod 4, wherein the thigh support rod 1 and the shank support rod 4 are rotatably connected through an intermediate rotating shaft mechanism, the intermediate rotating shaft mechanism comprises a thigh connecting disc 2 and a shank connecting disc 3 which are coaxially and rotatably connected, the thigh connecting disc 2 is fixedly connected with the thigh support rod 1, the shank connecting disc 3 is fixedly connected with the shank support rod 4, arc-shaped first limiting grooves 23 and arc-shaped second limiting grooves 33 are respectively arranged on positions, which are equidistant from the rotary connection position, on the thigh connecting disc 2 and the shank connecting disc 3, the central angle degree of the arc corresponding to the first limiting grooves 23 is larger than that of the arc corresponding to the second limiting grooves 33, the first limiting grooves 23 and the second limiting grooves 33 are partially overlapped in an initial state, and in the relative rotation process of the shank support rod 4 and the thigh support rod 1, the overlapping range of the first limiting groove 23 and the second limiting groove 33 is gradually enlarged, the energy storage mechanism comprises a spring 9 and a crank slider mechanism which are in a free state under an initial state, the crank slider mechanism comprises a crank 5, a connecting rod 8 and a slider 10, the crank 5 is arranged in parallel with the thigh connecting disk 2, one end of the crank 5 is connected with the rotary joint of the thigh connecting disk 2 and the shank connecting disk 3, the other end of the crank 5 is connected with the connecting rod 8, the crank 5 is also provided with a limiting bulge 6 extending towards the direction of the thigh connecting disk 2, the limiting bulge 6 extends into the first limiting groove 23 and the second limiting groove 33 and can slide along the first limiting groove 23 and the second limiting groove 33, the thigh support rod 1 is provided with a mounting pipe 11, the spring 9 is sleeved on the mounting pipe 11, one end of the spring 9 close to the crank 5 is fixedly connected to the thigh support rod 1, and the other end of the spring 9 is abutted against the slider, the other end of the connecting rod 8 connected with the crank 5 is connected with the sliding block 10, and when the crank 5 rotates, the sliding block 10 can be driven by the connecting rod 8 to move towards the thigh connecting disc 2 and compress the spring 9. In this embodiment, the position-limiting protrusion 6 is a snap rivet.
In this scheme, the initial state is: the human body is in an upright state, the included angle between the thigh support rod 1 and the shank support rod 4 is 180 degrees, the rotation angle of the shank support rod 4 relative to the thigh support rod 1 is 0 degree, namely the human knee joint movement angle is 0 degree.
Thus, when the exoskeleton device is used, the thigh support rod 1 is connected to a thigh, the shank support rod 4 is connected to a shank, and in an initial state, the spring 9 is in a free state, the first limiting groove 23 and the second limiting groove 33 are partially overlapped, and the limiting protrusion 6 extends into the position where the first limiting groove 23 and the second limiting groove 33 are overlapped.
When a human body walks, the knee joint is bent by swinging the shank, the shank support rod 4 is driven to rotate around the thigh support rod 1, at the moment, the shank support rod 4 drives the shank connection disk 3 to rotate around the thigh connection disk 2, the second limit groove 33 on the shank connection disk 3 rotates relative to the first limit groove 23 on the thigh connection disk 2, so that the overlapping range between the second limit groove 33 and the first limit groove 23 is enlarged, because the central angle degree of the arc corresponding to the first limit groove 23 is larger than that of the arc corresponding to the second limit groove 33, the overlapping range between the second limit groove 33 and the first limit groove 23 is gradually enlarged until the second limit groove 33 is completely overlapped with the first limit groove 23, before the second limit groove 33 is completely overlapped with the first limit groove 23, the position of the limit bulge 6 extending into the overlapping position of the first limit groove 23 and the second limit groove 33 is kept unchanged, namely, the crank 5 slide block 10 mechanism is in a static state, the sliding block 10 can not compress the spring 9, and the energy storage mechanism does not work; when the second limiting groove 33 and the first limiting groove 23 are completely overlapped, the shank continuously swings to drive the shank connecting disc 3 to rotate around the thigh connecting disc 2, at the moment, under the action of the second limiting groove 33 on the limiting protrusion 6, the second limiting groove 33 drives the limiting protrusion 6 to rotate around the rotation joint together, the limiting protrusion 6 rotates and drives the crank 5 to rotate, the crank 5 rotates to further drive the sliding block 10 to move to compress and store energy for the spring 9, when the human shank swings back and extends the knee joint, the shank connecting disc 3 rotates around the thigh connecting disc 2, the crank 5 rotates to drive the sliding block 10 to move back, the sliding block 10 moves back and drives the spring 9 to reset, and the energy released in the resetting process of the spring 9 is the assisting force of the knee joint movement.
When a human body walks on a flat road, the swing angle of the lower leg is small, so that the rotating angle of the lower leg connecting disc 3 around the upper leg connecting disc 2 is small, the rotating angle of the second limiting groove 33 relative to the first limiting groove 23 is also small, namely, the second limiting groove 33 always rotates at the position before the second limiting groove is completely overlapped with the first limiting groove 23, so that the energy storage mechanism is always in a non-working device when the human body walks on the flat road, the device can not bring resistance to the walking of the human body on the flat road, and the load of the walking of the human body on the flat road can not be increased.
When the human body is climbing mountains, when climbing stairs and other large-angle motions, when the bent knee joint of the lower leg is in buckling motion, the swing angle of the lower leg is large, the angle of the lower leg connecting disc 3 rotating around the upper leg connecting disc 2 is large at the moment, the second limiting groove 33 and the first limiting groove 23 completely overlap and then continuously rotate, the second limiting groove 33 continuously rotates and simultaneously drives the crank 5 to rotate through the limiting protrusion 6, further the spring 9 is compressed to store energy, when the lower leg swings back to the knee joint to be in stretching motion, the spring 9 resets and releases the stored energy to be the motion assistance of the human body.
Therefore, the scheme realizes the purpose of providing assistance only during large-angle motions of mountain climbing, stair climbing and the like without increasing the walking load of a human body during walking on a flat road.
This scheme adopts slider-crank mechanism to drive spring 9 and warp the energy storage simultaneously, adopts wire rope to drive the mode of spring 9 deformation energy storage to compare with the tradition, and the slider-crank mechanism performance of this scheme is more reliable, long service life, easy to install and maintain.
In the present embodiment, the direction from the fulcrum of the crank 5 to the connecting point of the crank 5 and the connecting rod 8 is the length direction of the crank 5, the direction from the connecting point of the connecting rod 8 and the crank 5 to the connecting point of the connecting rod 8 and the slider 10 is the length direction of the connecting rod 8, and the length of the connecting rod 8 is greater than the length of the crank 5.
Thus, when the lower leg swings back to the knee joint to do stretching movement, the elastic force generated by the reset of the spring 9 is transmitted to the crank 5 through the connecting rod 8, and the vertical component force transmitted to the crank 5 is the assistance to the movement of the human body; in the transmission process of the elastic force of the spring 9, a lever structure is formed between the connecting rod 8 and the crank 5, wherein the connecting point of the connecting rod 8 and the crank 5 is used as a fulcrum of the lever structure, in the lever structure, the elastic force generated by the spring 9 acts on the lever, so the elastic force of the spring 9 is used as power, the connecting rod 8 is used as a power arm, the crank 5 is used as a resistance arm, and the force applied to the fulcrum of the crank 5 is used as resistance force, according to the action principle of the lever: a power arm and a resistance arm; because the length of the lever as the power arm is greater than that of the crank 5 as the resistance arm, the elastic force of the end of the spring 9 is amplified after leverage to form resistance acting on the branch point of the crank 5, and the vertical component of the resistance is the assistance to the motion of the human body; therefore, the assistance to the human body movement is larger than the elastic force generated by the spring 9, the effect of the assistance to the human body movement is enhanced, the human body wearing the movement assistance exoskeleton device can save more labor during movement, and the assistance effect is improved.
In this embodiment, both sides of the limiting protrusion 6 are abutted against one side of the arc direction of the second limiting groove 33 and one side of the arc direction of the first limiting groove 23 in the initial state, respectively.
Thus, if in a special situation, the knee joint is damaged by the reverse rotation of the lower leg connecting disc 3, so that one side of the limiting bulge 6 is abutted against one side of the second limiting groove 33 in the arc direction in an initial state, the rotation direction of the lower leg connecting disc 3 is limited by the limiting bulge 6, and the injury to the knee joint caused by the reverse rotation of the lower leg connecting disc 3 is avoided; meanwhile, the other side of the limiting bulge 6 is abutted against one side of the first limiting groove 23 in the arc direction in the initial state, the position of the crank slider mechanism after the shank swings back is limited by the limiting bulge 6, the crank 5 is prevented from continuously rotating to exceed the position of the initial state due to the inertia effect after swinging back along with the shank, the spring 9 deforms to generate vibration, the use comfort of the device is influenced, and the movement of the knee joint is further influenced. Therefore, the scheme can avoid the injury to the knee joint caused by the reversion of the lower leg connecting disc 3, and simultaneously can also ensure the use comfort of the device.
In this embodiment, the first limiting groove 23 has a central angle of 120 ° with respect to the circular arc, and the second limiting groove 33 has a central angle of 30 ° to 60 ° with respect to the circular arc.
Like this, the selection of first spacing groove 23 and second spacing groove 33 angle is the comprehensive consideration human height, and factors such as shank length and walking road conditions obtain, and the selection of the centre of a circle angle that second spacing groove 33 corresponds the circular arc can guarantee to be in idle state when walking on the level road all the time, has avoided increasing the load when walking to the level road, and the assurance of first spacing groove 23 angle is when climbing mountain, climbing stair etc. large-angle's motion simultaneously, and spring 9 can store great energy and carry out the helping hand to human motion.
In this embodiment, the difference between the central angle of the arc corresponding to the first limiting groove 23 and the central angle of the arc corresponding to the second limiting groove 33 is 60-90 °.
Therefore, the requirements of the swing amplitude of the crus during large-angle movement such as mountain climbing, stair climbing and the like can be met.
In this embodiment, thigh branch 1 is last to be equipped with first mount pad 12 and to be located the second mount pad 7 of first mount pad 12 below, and vertical being connected with installation pipe 11 between first mount pad 12 and the second mount pad 7, and spring 9 and slider 10 all overlap and establish on installation pipe 11 and can follow the vertical slip of installation pipe 11, and spring 9 lower extreme fixed connection is on second mount pad 7, and spring 9 upper end offsets with slider 10.
Therefore, the spring 9 and the sliding block 10 are sleeved on the installation pipe 11, and the installation pipe 11 is used for guiding, installing and supporting the movement of the spring 9 and the sliding block 10.
As shown in fig. 4, in the present embodiment, a vertical weight-reducing through hole is formed in the mounting tube 11, two vertical limiting grooves 111 are symmetrically formed on the outer circumference of the mounting tube 11, the limiting grooves 111 are communicated with the weight-reducing through hole, the axial center line of the limiting groove 111 is located above the axial center line of the mounting tube 11, the slider 10 is sleeved at the position where the limiting groove 111 is formed outside the mounting tube 11, and the axial width of the inner diameter of the slider 10 is greater than the axial width between the two limiting grooves 111 and smaller than the axial width of the outer diameter of the mounting tube 11.
Like this, subtract heavy through-hole and be used for realizing subtracting the weight to the whole of installation pipe 11, utilize spacing recess 111 to prescribe a limit to the shift position of slider 10 simultaneously, avoided slider 10 to the excessive compression of spring 9 on the one hand, on the other hand prescribes a limit to the position of slider 10 when the return, avoids slider 10 to get back to initial position after owing to inertial effect further drive spring 9 just shape and produce vibration, influence the use travelling comfort of device.
In the present embodiment, the crank 5 has a length of 3 to 4cm, the connecting rod 8 has a length of 9 to 11cm, and the acute angle included between the length direction of the crank 5 and the vertical plane in the initial state is 40 to 50 °.
Therefore, when the acute angle included between the length direction of the crank 5 and the vertical plane is small in the initial state of the displacement of the slider 10, the displacement change of the slider 10 is slow, and when the same force of the spring 9 is required, if the displacement of the slider 10 is small, namely the compression amount of the spring 9 is small, the rigidity of the required spring 9 is large, and the spring is not easy to compress; if the acute angle included between the length direction of the crank 5 and the vertical plane is too large in the initial state, the connecting rod 8 is too long, and meanwhile, the length of the spring 9 is considered, the too large angle affects the length of the spring 9, and the compressible amount of the spring 9 is small; in addition, after the spring 9 rebounds, the force borne by the crank 5 is transmitted back to the crank 5 through the connecting rod 8, when the included angle between the connecting rod 8 and the crank 5 is 90 degrees, the efficiency of the force transmitted back to the crank 5 is high, therefore, the crank 5 needs to be changed around 90 degrees with the connecting rod 8, the efficiency of the elastic force transmission of the spring 9 is high, and the starting point is selected to be 40-50 degrees after the factors are fully considered; this allows both a rapid variation of the displacement of the slider 10 and a moderate length of the crank 5 and the connecting rod 8, with a high efficiency of the force transmitted back by the spring 9.
In the present embodiment, the acute angle included between the length direction of the connecting rod 8 and the vertical plane is less than 25 °, and the acute angle included between the connecting rod 8 and the crank 5 is 60 ° to 90 °.
Therefore, the elastic force of the spring 9 is transmitted back to the crank 5 through the connecting rod 8, so that theoretically, the transmission of force has two losses, the loss is directly related to the cosine value of the acute angle between the length direction of the connecting rod 8 and the vertical plane and the sine value of the acute angle between the connecting rod 8 and the crank 5, the acute angle between the length direction of the connecting rod 8 and the vertical plane is designed to be smaller than 25 degrees, the rest chord values are larger than 0.9, the acute angle between the connecting rod 8 and the crank 5 is designed to be 60-90 degrees, and the sine value is larger than 0.8, so that the efficiency of transmitting the elastic force of the spring 9 back to the crank 5 is effectively ensured.
In the embodiment, the utility model also comprises a binding mechanism, the binding mechanism comprises an adhesive binding band 14 and a binding band connecting piece 13 fixedly connected with the adhesive binding band 14, and the binding band connecting piece 13 is fixedly connected with the thigh strut 1 and the shank strut 4.
Therefore, the binding mechanism is used for connecting the exoskeleton mechanism with the large leg and the small leg to enable the exoskeleton and the human body to move in parallel, the thigh support rod 1 and the small leg support rod 4 are respectively bound at the thigh and the small leg of the human body through the binding mechanism, and the purpose of wearing the device on the leg of the human body can be realized through the binding mechanism and the binding band 14 which can be pasted.
In this embodiment, thigh connection pad 2 includes thigh connecting portion 21 and thigh circular arc portion 22, two rivet holes have been seted up on thigh connecting portion 21, thigh connection pad 2 links together with thigh branch 1 through rivet and second mount pad 7, thigh circular arc portion 22 is the decurrent structural style of opening, thigh connecting hole has been seted up at thigh circular arc portion 22's intermediate position, shank connection pad 3 includes shank connecting portion 31 and shank circular arc portion 32, the rivet hole has been seted up on shank connecting portion 31, shank connecting portion 31 is connected with shank branch 4 through the rivet, shank circular arc portion 32 stretches into in thigh circular arc portion 22's the open structure, and shank connecting hole has been seted up at shank circular arc portion 32's intermediate position, be equipped with the pivot in thigh connecting hole and shank connecting hole department, realize through the pivot that thigh connection pad 2 and shank connection pad 3's rotation is connected.
In this embodiment, the connecting rod 8 has a structure form with two circular arc ends and a rectangular middle part, the diameter width of the circular arc structures at the two ends of the connecting rod 8 is greater than the width of the rectangular structure in the middle of the connecting rod 8, and the connecting rod 8 is connected with the slider 10 and the crank 5 through the circular arc structures at the two ends respectively.
Like this, through the position design that needs be connected with slider 10 and crank 5 with connecting rod 8 both ends for the great arc structure of diameter width, and design the less rectangle structure of width with the connecting rod 8 centre, can alleviate whole connecting rod 8's weight like this under the prerequisite that satisfies the connection requirement, and then can alleviate energy storage mechanism's weight.
In the present embodiment, the spring 9 has a wire diameter of 1.8mm, an outer diameter of 20mm, and a stiffness of 2.82N/m.
Therefore, the size of the spring 9 is the optimal size obtained after multiple tests, the assistance effect can be well met, meanwhile, the rigidity is not too large, and the knee joint exercise assisting device is suitable for knee joint exercise.
In the present embodiment, the crank 5 and the connecting rod 8, and the connecting rod 8 and the slider 10 are connected by snap rivets.
Therefore, the primary and secondary rivets are convenient to install, wide in application and low in use cost.
The design of the slider-crank mechanism and the spring is specifically described below:
the design of slider-crank mechanism is comparatively important in this design, and slider-crank mechanism's effect carries out the spring compression and holds power when knee joint flexion motion compression spring, and when the knee joint extends, the elasticity of spring passes back the crank and carries out the helping hand. When the crank is designed, the length of the connecting rod and the crank is influenced by the thigh supporting rod, the length of the crank directly influences the stroke of the sliding block, meanwhile, the elastic force is transmitted back to the crank through the connecting rod when being transmitted back, two losses (as in formula 2-1) exist in the transmission of force theoretically, the acute angle included between the length direction of the connecting rod and a vertical plane and the acute angle included between the connecting rod and the crank are directly related, wherein the acute angle included between the length direction of the connecting rod and the vertical plane is smaller, and therefore the acute angle included between the connecting rod and the crank is mainly considered in the design.
F＝F1*cosA1*sinA2(2-1)
In the formula, F is an acting force vertical to the crank; f1Is the elastic force of the spring; a. the1Acute angle included between length direction of connecting rod and vertical plane, A2Is an acute angle included by the connecting rod and the crank.
According to the formula (2-1), if the return efficiency is determined to be 75% at the lowest during design, the average maximum value of the bending angle of the knee joint is set to be 80 degrees, the central angle degree of the arc corresponding to the second limiting groove on the lower leg connecting disc is 20 degrees, so that the maximum angle of rotation of the crank is 60 degrees, the acute angle clamped between the length direction of the connecting rod and the vertical plane can be well controlled to be below 25 degrees, the cosine value of the angle is greater than 0.9, and the acute angle clamped between the connecting rod and the crank is greater than 60 degrees, so that the cosine value of the included angle between the crank and the connecting rod is greater than 0.8.
In addition, the displacement formula of the slide block is as follows:
in the formula: r is the crank length, L is the connecting rod length, and alpha is the angle between the crank length direction and the vertical plane.
Through calculation, when the angle between the length direction of the crank and the vertical plane of the slider is small, the displacement change of the slider is slow, when the same spring force is required, if the displacement of the slider is small, namely the compression amount of the spring is small, the required spring stiffness is large and is not easy to compress, then the initial angle is selected to be too large, the connecting rod is too long, meanwhile, the length of the spring is also considered, the angle between the length direction of the crank and the vertical plane is too large, the length of the mounted spring is influenced, the compressible amount of the spring is small, the main problem is also that the force borne by the crank after the spring rebounds back is transmitted back to the crank through the connecting rod, when the included angle between the connecting rod and the crank is 90 degrees, the efficiency of the force transmitted back to the crank is extremely high, therefore, the change of the crank needs to be changed near 90 degrees to the connecting rod, and the efficiency of the spring force transmission is high, the selection starts at 45 ° after fully considering these factors; the displacement of the sliding block is changed quickly, the length of the crank and the connecting rod is moderate, and the efficiency of the force transmitted back by the spring is high.
When designing the spring, a requirement is set that the effect of the spring assist force is not less than 5N · m at maximum, the compression amount of the spring is determined by the displacement of the slider, and the displacement of the slider is taken as 30mm and the length of the crank is taken as 40mm at the time of calculation, so the spring force is first estimated and the average efficiency is taken as 0.85.
Moment M ═ F ═ R ═ 0.85 (2-3)
Wherein: the moment M is 5N M, R is 40mm, the required elastic force F is 147N, and the integer is 150N.
Calculating the wire diameter of the spring
τp＝0.62b(2-5)
In the formula:bas tensile limit of spring wireStrength;
τpallowable shear stress;
C. k is the coefficient for calculating the cylindrical helical spring;
d is the middle diameter of the spring;
d is the diameter of the spring wire.
The material is selected to be carbon spring steel wire grade C, the initial C is 6, the diameter d is 4-4.5, K is 1.253 according to GB/T1239, K is 8932 according to GB/T1239.6,bthe wire diameter d of the spring is 1.75mm calculated and is 1520MPa, and the standard wire diameter is 2 mm; the pitch diameter of the spring is 12mm, and the standard wire diameter is 16mm according to the wire diameter standard.
Calculating the effective number of turns of the spring:
in the formula: g is the shear modulus of the spring material, and the carbon spring steel wire G is 79 Gpa;
d is the diameter of the spring wire and is taken as 2 mm;
s is the displacement of the slide block, and is taken as 30 mm;
d is the middle diameter of the spring, and is taken as 16 mm;
f is the spring force, and is taken as 150N;
the data are taken into the formula (2-8), n is calculated to be 7.7, and the standard is taken to be 8, then the spring stiffness is:
the spring stiffness is calculated to be 4.82N/mm by taking the parameters into the formula (2-9);
spring inner diameter D1＝D-d＝14mm (2-10)
Spring outside diameter D2＝D+d＝18mm (2-11)
Taking a standard free height H0＝50mm (2-12)
Pitch of spring
Helix angle
After the spring calculation, three specifications of springs with the wire diameter of 1.8, the outer diameters of 19 and 20 and the wire diameter of 1.5 and the outer diameter of 20 of spring steel are purchased for testing, and after the testing is finished, the springs with the wire diameter of 1.8 and the outer diameter of 20 are adopted according to actual conditions, and the spring stiffness is 2.82N/m.
Example two:
as shown in fig. 5, the difference from the first embodiment is that the thigh strut 1 and the lower leg strut 4 in the first embodiment are different in structure, the thigh strut 1 is formed by combining three-stage structures, namely a first thigh strut 101, a second thigh strut 102 and a third thigh strut 103, each thigh strut is provided with a hollow-out weight reduction structure, the thigh struts are connected through screws, the third thigh strut 103 is used for connecting with the thigh connecting portion 21, the lower leg strut 4 is formed by combining two-stage structures, namely a first lower leg strut 41 and a second lower leg strut 42, each lower leg strut is provided with a hollow-out weight reduction structure, the lower leg struts are connected through screws, and the first lower leg strut 41 is used for connecting with the lower leg connecting portion 31. Thus, the weight of the whole thigh support rod 1 and the whole shank support rod 4 can be effectively reduced, and the load of the whole exoskeleton device on a human body can be reduced.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.
Claims (10)
1. The knee joint movement assisting exoskeleton device comprises a thigh supporting rod and a shank supporting rod, and is characterized in that the thigh supporting rod and the shank supporting rod are rotatably connected through an intermediate rotating shaft mechanism, the intermediate rotating shaft mechanism comprises a thigh connecting disc and a shank connecting disc which are coaxially and rotatably connected, the thigh connecting disc is used for being fixedly connected with the thigh supporting rod, the shank connecting disc is used for being fixedly connected with the shank supporting rod, arc-shaped first limiting grooves and arc-shaped second limiting grooves are respectively arranged on positions, which are on the thigh connecting disc and the shank connecting disc and are equidistant from the rotating connection position, the central angle degree of an arc corresponding to the first limiting grooves is larger than that of an arc corresponding to the second limiting grooves, the first limiting grooves and the second limiting grooves are partially overlapped in an initial state, and in the relative rotation process of the shank supporting rod and the thigh supporting rod, the overlapping range of the first limiting groove and the second limiting groove is gradually enlarged, the knee joint movement assisting exoskeleton device further comprises an energy storage mechanism, the energy storage mechanism comprises a spring and a crank slider mechanism which are in a free state in an initial state, the crank slider mechanism comprises a crank, a connecting rod and a slider, the crank is parallel to the thigh connecting plate, one end of the crank is connected to the rotary connection position of the thigh connecting plate and the shank connecting plate, the other end of the crank is connected with the connecting rod, a limiting bulge extending towards the thigh connecting plate is further arranged on the crank, the limiting bulge extends into the first limiting groove and the second limiting groove and can slide along the first limiting groove and the second limiting groove, a mounting pipe is arranged on the thigh supporting rod, and the spring is sleeved on the mounting pipe, one end, close to the crank, of the spring is fixedly connected to the thigh support rod, the other end of the spring abuts against the sliding block, the other end, connected with the crank, of the connecting rod is connected with the sliding block, and the crank can drive the sliding block to move towards the thigh connecting disc through the connecting rod and compress the spring when rotating.
2. The knee motion assist exoskeleton device of claim 1, wherein the direction from the fulcrum of the crank to the connection point of the crank and the link is the length direction of the crank, the direction from the connection point of the link and the crank to the connection point of the link and the slider is the length direction of the link, and the length of the link is greater than the length of the crank.
3. The knee joint movement assisting exoskeleton device as claimed in claim 1, wherein two sides of the limiting protrusion are respectively abutted against one side of the second limiting groove in the arc direction and one side of the first limiting groove in the arc direction in the initial state.
4. The knee joint movement assisting exoskeleton device as claimed in claim 1, wherein the first limit groove has a central angle of 120 ° with respect to the circular arc, and the second limit groove has a central angle of 30 ° -60 ° with respect to the circular arc.
5. The knee joint movement assisting exoskeleton device as claimed in claim 4, wherein the difference between the central angle of the arc corresponding to the first limit groove and the central angle of the arc corresponding to the second limit groove is 60-90 °.
6. The knee joint movement assisting exoskeleton device as claimed in claim 1, wherein a first mounting seat and a second mounting seat located below the first mounting seat are arranged on the thigh strut, a mounting tube is vertically connected between the first mounting seat and the second mounting seat, the spring and the slider are both sleeved on the mounting tube and can vertically slide along the mounting tube, the lower end of the spring is fixedly connected to the second mounting seat, and the upper end of the spring abuts against the slider.
7. The knee joint movement assisting exoskeleton device as claimed in claim 6, wherein a vertical weight reduction through hole is formed in the mounting tube, two vertical limiting grooves are symmetrically formed in the outer circumference of the mounting tube, the limiting grooves are communicated with the weight reduction through hole, the axial center line of each limiting groove is located above the axial center line of the mounting tube, the slider is sleeved outside the mounting tube and provided with the limiting grooves, and the axial width of the inner diameter of the slider is larger than the axial width between the two limiting grooves and smaller than the axial width of the outer diameter of the mounting tube.
8. The knee joint movement assisting exoskeleton device as claimed in claim 2, wherein the crank is 3-4cm long, the connecting rod is 9-11cm long, and the acute angle included between the crank length direction and the vertical plane in the initial state is 40-50 °.
9. The knee motion assist exoskeleton device of claim 2 wherein the link length direction encloses an acute angle of less than 25 ° with a vertical plane, and the link encloses an acute angle of 60 ° -90 ° with the crank.
10. The knee motion assist exoskeleton device of claim 1 further comprising a tie-up mechanism including an attachable strap and a strap connector fixedly connected to the attachable strap, the strap connector for fixedly connecting to the thigh strut and the shank strut.
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| CN111702747B (en) * | 2020-06-30 | 2021-07-06 | 重庆理工大学 | Passive load-bearing assistance lower limb exoskeleton |
| CN113021405B (en) * | 2021-03-22 | 2022-03-29 | 吉林大学 | Energy-saving bionic tension-compression body patellofemoral joint for biped walking robot |
| CN114571439A (en) * | 2022-03-15 | 2022-06-03 | 浙江工业大学 | Compact type joint braking lower limb assistance exoskeleton device |
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| ITMI20100784A1 (en) * | 2010-05-05 | 2011-11-06 | Consiglio Nazionale Ricerche | JOINT FOR JOINTS WITH PSEUDOELASTIC ELEMENTS |
| KR102191477B1 (en) * | 2012-09-07 | 2020-12-16 | 더 리전츠 오브 더 유니버시티 오브 캘리포니아 | Controllable Passive Artificial Knee |
| CN205988396U (en) * | 2016-05-03 | 2017-03-01 | 袁博 | A kind of ectoskeleton joint with reset function |
| KR20170125210A (en) * | 2016-05-04 | 2017-11-14 | 대우조선해양 주식회사 | Wearable robot |
| CN106514625B (en) * | 2016-12-20 | 2019-02-05 | 东南大学 | A kind of knee joint power assisting device of rigidity transformation into itself |
| JP6781091B2 (en) * | 2017-03-28 | 2020-11-04 | 本田技研工業株式会社 | Limb movement support device |
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Effective date of registration: 20240102 Address after: 401135 No. 19 Zhuoyue Road, Longxing Town, Liangjiang New Area, Yubei District, Chongqing (cluster registration) Patentee after: Chongqing Polytechnic Fuli Technology Co.,Ltd. Address before: No. 69 lijiatuo Chongqing District of Banan City Road 400054 red Patentee before: Chongqing University of Technology |