CN206643909U - A kind of pneumatic muscles upper limbs assistance exoskeleton system - Google Patents
A kind of pneumatic muscles upper limbs assistance exoskeleton system Download PDFInfo
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- CN206643909U CN206643909U CN201720329474.XU CN201720329474U CN206643909U CN 206643909 U CN206643909 U CN 206643909U CN 201720329474 U CN201720329474 U CN 201720329474U CN 206643909 U CN206643909 U CN 206643909U
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- rotating shaft
- bone
- upper arm
- shoulder
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 64
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 23
- 210000000784 arm bone Anatomy 0.000 claims abstract description 34
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 31
- 230000000694 effects Effects 0.000 claims abstract description 21
- 210000000245 forearm Anatomy 0.000 claims description 33
- 230000033001 locomotion Effects 0.000 claims description 18
- 230000006698 induction Effects 0.000 claims description 16
- 210000003414 extremity Anatomy 0.000 description 6
- 230000006872 improvement Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 230000008447 perception Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
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Abstract
The utility model discloses a kind of pneumatic muscles upper limbs assistance exoskeleton system, including to skeleton before the lateral skeleton of back arms bone, upper arm bone, focile, shoulder and shoulder；The upper end of the back arms bone connects the lateral skeleton of shoulder by the first joint module, by for driving the pneumatic muscles of the first joint module activity to connect between the back arms bone and the lateral skeleton of the shoulder；The upper end of the upper arm bone is connected before the shoulder to skeleton by second joint module, before the upper arm bone and the shoulder between skeleton by for driving the pneumatic muscles of the second joint module activities to connect；The focile connects the upper arm bone by the 3rd joint module, by for driving the pneumatic muscles of the 3rd joint module activity to connect between the focile and the upper arm bone；A pressure rings are respectively set on the upper arm bone and the focile.The utility model uses pneumatic muscles as executive component, and user has good collaboration with exoskeleton system.
Description
Technical field
A kind of mechanical exoskeleton product technical field is the utility model is related to, outside particularly a kind of pneumatic muscles upper limbs power-assisted
Skeletal system.
Background technology
Mechanical exoskeleton is the robot towards people, they can be defined as by user wear those supplement or
Instead of the equipment of limbs.Ectoskeleton can be manipulated in the limbs side of user, and the coordinated movement of various economic factors is carried out with the four limbs of user,
Or a part of limbs of disabled user are replaced, cooperated with remainder limbs；But this does not necessarily mean that dermoskeleton
Bone must be moveable or portable, and wherein a big chunk reason is exactly the limit of executive component and power source volume weight
System；Mechanical exoskeleton can be counted as a kind of technology for strengthening, adapting to, protecting wearer's body.Ectoskeleton can be in user
The ability of user is extended on the basis of manipulation, helps user to reach more than the strength of its own；Deformity can also be helped to make
User controls or instead of its part of limb again, is interacted by the physics between user and ectoskeleton and perception interactive, allows
User is cooperated with ectoskeleton on perception, decision-making, interaction many levels.
Exoskeleton system of the prior art is driven using motor, hydraulic pressure, air pressure mode mostly, most power-assisteds
Ectoskeleton is driven using hydraulic system.The advantages of motor driven systems is efficiency high, accurate control can be achieved, be easy for installation,
But its efficiency is low with mass ratio, it is difficult to a wide range of use is realized in ectoskeleton.The advantages of hydraulic system, is power and quality
Than big, high thrust can be produced in small size；But hydraulic system is working media using hydraulic oil, easily produces leakage problem；
And fluid power system efficiency is low, energy expenditure is very big, and energy source requires high, high to processing request, and cost is high.Baric systerm has
Working media cleaning, efficiency high, in light weight, low cost and other advantages, but because the power of cylinder component is low with mass ratio, cause it
It is difficult to apply on high-power system.
Novel pneumatic element --- pneumatic muscles have excellent power and volume ratio and power and mass ratio, make gas
Pressure driving progressively substitutes hydraulic-driven in exoskeleton system becomes possibility.
Utility model content
For overcome the deficiencies in the prior art, the utility model provides a kind of pneumatic muscles upper limbs assistance exoskeleton system
System, uses pneumatic muscles as executive component, user and exoskeleton system in perceptions, decision-making, interact in aspect with well assisting
The property made.
Technical scheme is used by the utility model solves its technical problem：
A kind of pneumatic muscles upper limbs assistance exoskeleton system, including installed in human body back and with human body back cooperative motion
Back arms bone, the upper arm bone installed in human body upper arm and with human body upper arm cooperative motion, installed in human body forearm and with before human body
The focile of arm cooperative motion, in addition to for connecting the back arms bone and the shoulder bone of the upper arm bone；The shoulder bone bag
Include before the lateral skeleton of shoulder and shoulder to skeleton, L-shaped structure is combined into skeleton before the lateral skeleton of shoulder and the shoulder；
The first joint module is provided with below the lateral skeleton of shoulder, to being provided with second joint below skeleton before the shoulder
Module；The upper end of the back arms bone connects the lateral skeleton of shoulder by first joint module, and the back arms bone and
By for driving the pneumatic muscles of the first joint module activity to connect between the lateral skeleton of shoulder；The upper arm bone
Upper end connected by the second joint module before the shoulder to skeleton, and to skeleton before the upper arm bone and the shoulder
Between by for driving the pneumatic muscles of the second joint module activities to connect；The lower end of the upper arm bone is provided with the 3rd
Joint module, the upper end of the focile connect the lower end of the upper arm bone, and the forearm by the 3rd joint module
By for driving the pneumatic muscles of the 3rd joint module activity to connect between bone and the upper arm bone；The upper arm bone and
The pressure rings for being used to sense human upper limb locomotion trend are each provided with the focile.
The above-mentioned word for being used to describe the position and region of each component, such as lower section, top and bottom etc., each mean and work as institute
Pneumatic muscles upper limbs assistance exoskeleton system is stated on human body and human upper limb is in when naturally drooping state, each component
Position and region spatial relation, similarly hereinafter.
As the further improvement of above-mentioned technical proposal, the pressure rings include the first stress induction ring and the second stress sense
The axis collinear of Ying Huan, the first stress induction ring and the second stress induction ring.
As the further improvement of above-mentioned technical proposal, the first stress induction ring is by symmetrically arranged first arc in face
Jig arm and the second arc jig arm are formed, and the second stress induction ring is by the symmetrically arranged 3rd arc jig arm in face and the 4th arc
Jig arm is formed；The pressure rings also include ring mounting blocks, the first stress grip block and the second stress grip block, first stress
Grip block connects the ring mounting blocks by the first gripper cylinder, and the second stress grip block is connected by the second gripper cylinder
The ring mounting blocks, the first arc jig arm and the 3rd arc jig arm are fixedly mounted on the first stress grip block
On, the second arc jig arm and the 4th arc jig arm are fixedly mounted on the second stress grip block.
As the further improvement of above-mentioned technical proposal, the back arms bone includes back arms support frame, installed in the back of the body
Back arms on arm support frame fixes ring seat and the back arms muscle retainer ring fixed installed in the back arms in ring seat；It is described
First joint module includes the first joint rotating shaft, first rotating shaft mounting blocks and first rotating shaft contiguous block, the first rotating shaft installation
Block and the first rotating shaft contiguous block are hinged by first joint rotating shaft, and the first rotating shaft mounting blocks are fixedly connected with institute
The lateral skeleton of shoulder is stated, the first rotating shaft contiguous block is fixedly connected with the back arms support frame；For driving described first to close
The pneumatic muscles for saving module activities connect the back arms muscle retainer ring and the first rotating shaft mounting blocks.
As the further improvement of above-mentioned technical proposal, the upper arm bone includes upper arm support frame, on described
Upper arm on arm support frame fixes ring seat and the upper arm muscles retainer ring fixed installed in the upper arm in ring seat；It is described
Second joint module includes second joint rotating shaft, the second rotating shaft mounting blocks and the second rotating shaft contiguous block, the second rotating shaft installation
Block and the second rotating shaft contiguous block are hinged by the second joint rotating shaft, and the second rotating shaft mounting blocks are fixedly connected with institute
State and be fixedly connected with the upper arm support frame to skeleton, the second rotating shaft contiguous block before shoulder；For driving described second to close
The pneumatic muscles for saving module activities connect the upper arm muscles retainer ring and the second rotating shaft mounting blocks.
As the further improvement of above-mentioned technical proposal, the focile includes forearm support frame, before described
Forearm on arm support frame fixes ring seat and the forearm muscle retainer ring fixed installed in the forearm in ring seat；It is described
3rd joint module includes the 3rd joint rotating shaft, the 3rd rotating shaft mounting blocks and the 3rd rotating shaft contiguous block, the 3rd rotating shaft installation
Block and the 3rd rotating shaft contiguous block are hinged by the 3rd joint rotating shaft, and the 3rd rotating shaft mounting blocks are fixedly connected with institute
Upper arm support frame is stated, the 3rd rotating shaft contiguous block is fixedly connected with the forearm support frame；For driving the described 3rd to close
The pneumatic muscles for saving module activities connect the forearm muscle retainer ring and the 3rd rotating shaft mounting blocks.
As the further improvement of above-mentioned technical proposal, the lower end of the forearm support frame is additionally provided with forearm grip ring.
Compared with prior art, the beneficial effects of the utility model are：
A kind of pneumatic muscles upper limbs assistance exoskeleton system provided by the utility model, uses pneumatic muscles to perform member
Part, respectively to monitor the movement tendency of user, pressure rings monitor one pressure rings of installation in upper arm bone and focile in addition
To all directions on power carry out synthesis and can judge the direction of motion and trend needed for exoskeleton system, make user with it is outer
Skeletal system has good collaboration with perception, decision-making, interaction aspect.
In addition, to skeleton, back arms support rib before the lateral skeleton of exoskeleton system shoulder provided by the utility model, shoulder
Frame, upper arm support frame and forearm support frame can use Modular Structure Design, so as to reduce the processing of exoskeleton system
Cost；And it is adjustable to be arranged at each module position such as NOL ring, muscle retainer ring and grip ring on above-mentioned modularization skeleton,
So as to adjust the active length of each skeleton, in order to better adapt to the Arm structure of different users.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is a kind of main structure diagram of pneumatic muscles upper limbs assistance exoskeleton system described in the utility model；
Fig. 2 is a kind of side structure schematic view of pneumatic muscles upper limbs assistance exoskeleton system described in the utility model；
Fig. 3 is a kind of overlooking the structure diagram of pneumatic muscles upper limbs assistance exoskeleton system described in the utility model.
Embodiment
Referring to figs. 1 to Fig. 3, Fig. 1 to Fig. 3 is the structural representation of one specific embodiment of the utility model.
As shown in Figure 1 to Figure 3, a kind of pneumatic muscles upper limbs assistance exoskeleton system, including installed in human body back and with
The back arms bone of human body back cooperative motion, the upper arm bone installed in human body upper arm and with human body upper arm cooperative motion, installed in people
Body forearm and with the focile of human body forearm cooperative motion, in addition to for connecting the back arms bone and the shoulder of the upper arm bone
Bone；The shoulder bone is included before the lateral skeleton 11 of shoulder and shoulder to skeleton 12, the lateral skeleton 11 of shoulder and the shoulder
Forward direction skeleton 12 is combined into L-shaped structure；The lower section of the lateral skeleton 11 of shoulder is provided with the first joint module, before the shoulder
The lower section of skeleton 12 is provided with second joint module；The upper end of the back arms bone passes through described in first joint module connection
The lateral skeleton 11 of shoulder, and by for driving first joint mould between the back arms bone and the lateral skeleton 11 of the shoulder
The pneumatic muscles connection of block activity；The upper end of the upper arm bone is connected before the shoulder to skeleton by the second joint module
12, and before the upper arm bone and the shoulder between skeleton 12 by for driving the pneumatic of the second joint module activities
Muscle connects；The lower end of the upper arm bone is provided with the 3rd joint module, and the upper end of the focile passes through the 3rd joint
Module connects the lower end of the upper arm bone, and by for driving the 3rd joint between the focile and the upper arm bone
The pneumatic muscles connection of module activities；One is each provided with the upper arm bone and the focile to be used to sense human upper limb fortune
The pressure rings of dynamic trend.
Specifically, the pressure rings include the first stress induction ring and the second stress induction ring, first stress induction
The axis collinear of ring and the second stress induction ring.The first stress induction ring is by the symmetrically arranged first arc jig arm in face
21 and second arc jig arm 22 form, the second stress induction ring is by the symmetrically arranged 3rd arc jig arm 23 in face and the 4th arc
Clevis arm 24 is formed；The pressure rings also include ring mounting blocks 25, the first stress grip block 26 and the second stress grip block 27, institute
State the first stress grip block 26 and the ring mounting blocks 25 are connected by the first gripper cylinder 28, the second stress grip block 27 is logical
Cross the second gripper cylinder 29 and connect the ring mounting blocks 25, the first arc jig arm 21 and the 3rd arc jig arm 23 are solid
Dingan County is on the first stress grip block 26, the second arc jig arm 22 and the fixed peace of the 4th arc jig arm 24
On the second stress grip block 27.The pressure rings of said structure can be monitored perpendicular to three sides of ectoskeleton bone framework
Upward power.
The back arms bone includes back arms support frame 31, the back arms on the back arms support frame 31 fixes ring seat
32 and installed in the back arms fix ring seat 32 on back arms muscle retainer ring 33；First joint module includes first
Joint rotating shaft 41, first rotating shaft mounting blocks 42 and first rotating shaft contiguous block 43, the first rotating shaft mounting blocks 42 and described first
Rotating shaft contiguous block 43 is hinged by first joint rotating shaft 41, and the first rotating shaft mounting blocks 42 are fixedly connected with the shoulder
Lateral skeleton 11, the first rotating shaft contiguous block 43 are fixedly connected with the back arms support frame 31；For driving described first to close
The pneumatic muscles for saving module activities connect the back arms muscle retainer ring 33 and the first rotating shaft mounting blocks 42.
The upper arm bone includes upper arm support frame 51, the upper arm on the upper arm support frame 51 fixes ring seat
52 and installed in the upper arm fix ring seat 52 on upper arm muscles retainer ring 53；The second joint module includes second
Joint rotating shaft 61, the second rotating shaft mounting blocks 62 and the second rotating shaft contiguous block 63, the second rotating shaft mounting blocks 62 and described second
Rotating shaft contiguous block 63 is hinged by the second joint rotating shaft 61, and the second rotating shaft mounting blocks 62 are fixedly connected with the shoulder
Forward direction skeleton 12, the second rotating shaft contiguous block 63 are fixedly connected with the upper arm support frame 51；For driving described second to close
The pneumatic muscles for saving module activities connect the upper arm muscles retainer ring 53 and the second rotating shaft mounting blocks 62.
The focile includes forearm support frame 71, the forearm on the forearm support frame 71 fixes ring seat
72 and installed in the forearm fix ring seat 72 on forearm muscle retainer ring 73；3rd joint module includes the 3rd
Joint rotating shaft 81, the 3rd rotating shaft mounting blocks 82 and the 3rd rotating shaft contiguous block 83, the 3rd rotating shaft mounting blocks 82 and the described 3rd
Rotating shaft contiguous block 83 is hinged by the 3rd joint rotating shaft 81, and the 3rd rotating shaft mounting blocks 82 are fixedly connected with the upper arm
Support frame 51, the 3rd rotating shaft contiguous block 83 are fixedly connected with the forearm support frame 71；For driving the described 3rd to close
The pneumatic muscles for saving module activities connect the forearm muscle retainer ring 73 and the 3rd rotating shaft mounting blocks 82.The forearm branch
The lower end of support bone frame 71 is additionally provided with forearm grip ring 74.
In order to realize the coordination of user and ectoskeleton, ectoskeleton need to prejudge the movement tendency of user, perform phase
With action, realize the perception to user's movement tendency using pressure rings in above-mentioned ectoskeleton：Ectoskeleton is in normal state
Articular muscle is in tensioning state, i.e., ectoskeleton joint integrally can approximation regard as one it is viscous and overall, user passes through pressure
Power ring is fixed with ectoskeleton bone framework, when user's arm produces movement tendency, can be hindered, lead by bone pressure rings
Cause, when the pressure increase between front direction bone pressure rings and user's arm, to be reflected as current directional pressure ring cantilever beam shape
Become, cause foil gauge voltage change.
Ectoskeleton detection judges the user's direction of motion trend after front direction stress changes, and control magnetic valve is completed current
The rotation in joint, until between user and ectoskeleton pressure stability in 0.The control system of ectoskeleton can approximation be seen as pressure
The control strategy that ring pressure reduces as far as possible；In other words, i.e., user drags whole ectoskeleton using the strength of very little
System.
Above to it is of the present utility model preferably implement illustrated, certainly, the utility model can also use with
The different form of above-mentioned embodiment, those skilled in the art are made on the premise of without prejudice to the utility model spirit
Equivalent conversion or corresponding change, should all belong in the scope of protection of the utility model.
Claims (7)
- A kind of 1. pneumatic muscles upper limbs assistance exoskeleton system, it is characterised in that：Including being carried on the back installed in human body back and with human body The back arms bone of portion's cooperative motion, the upper arm bone installed in human body upper arm and with human body upper arm cooperative motion, installed in human body forearm And with the focile of human body forearm cooperative motion, in addition to for connecting the back arms bone and the shoulder bone of the upper arm bone；Institute Stating shoulder bone is included before the lateral skeleton of shoulder and shoulder to skeleton, is combined before the lateral skeleton of shoulder and the shoulder to skeleton L-shaped structure；The first joint module is provided with below the lateral skeleton of shoulder, is set before the shoulder to the lower section of skeleton There is second joint module；The upper end of the back arms bone connects the lateral skeleton of shoulder, and institute by first joint module State between back arms bone and the lateral skeleton of the shoulder by for driving the pneumatic muscles of the first joint module activity to connect； The upper end of the upper arm bone is connected before the shoulder to skeleton by the second joint module, and the upper arm bone and the shoulder Before portion between skeleton by for driving the pneumatic muscles of the second joint module activities to connect；The lower end of the upper arm bone The 3rd joint module is provided with, the upper end of the focile connects the lower end of the upper arm bone by the 3rd joint module, And by for driving the pneumatic muscles of the 3rd joint module activity to connect between the focile and the upper arm bone；Institute State and the pressure rings for being used to sense human upper limb locomotion trend are each provided with upper arm bone and the focile.
- A kind of 2. pneumatic muscles upper limbs assistance exoskeleton system according to claim 1, it is characterised in that：The pressure rings Including the first stress induction ring and the second stress induction ring, the axle of the first stress induction ring and the second stress induction ring Line is conllinear.
- A kind of 3. pneumatic muscles upper limbs assistance exoskeleton system according to claim 2, it is characterised in that：Described first should Power inductance loop is made up of the symmetrically arranged first arc jig arm in face and the second arc jig arm, the second stress induction ring by face of Claim the 3rd arc jig arm and the 4th arc jig arm composition set；The pressure rings also include ring mounting blocks, the first stress clamps Block and the second stress grip block, the first stress grip block connect the ring mounting blocks by the first gripper cylinder, and described the Two stress grip blocks connect the ring mounting blocks, the first arc jig arm and the 3rd arc folder by the second gripper cylinder Arm is fixedly mounted on the first stress grip block, the second arc jig arm and the fixed peace of the 4th arc jig arm On the second stress grip block.
- A kind of 4. pneumatic muscles upper limbs assistance exoskeleton system according to claim 1, it is characterised in that：The back arms bone Back arms including back arms support frame, on the back arms support frame is fixed ring seat and consolidated installed in the back arms Determine the back arms muscle retainer ring in ring seat；First joint module includes the first joint rotating shaft, first rotating shaft mounting blocks and the One rotating shaft contiguous block, the first rotating shaft mounting blocks and the first rotating shaft contiguous block are hinged by first joint rotating shaft Connect, the first rotating shaft mounting blocks are fixedly connected with the lateral skeleton of the shoulder, and the first rotating shaft contiguous block is fixedly connected described Back arms support frame；For driving the pneumatic muscles of the first joint module activity to connect the back arms muscle retainer ring and institute State first rotating shaft mounting blocks.
- A kind of 5. pneumatic muscles upper limbs assistance exoskeleton system according to claim 1, it is characterised in that：The upper arm bone Upper arm including upper arm support frame, on the upper arm support frame is fixed ring seat and consolidated installed in the upper arm Determine the upper arm muscles retainer ring in ring seat；The second joint module includes second joint rotating shaft, the second rotating shaft mounting blocks and the Two rotating shaft contiguous blocks, the second rotating shaft mounting blocks and the second rotating shaft contiguous block are hinged by the second joint rotating shaft Connect, the second rotating shaft mounting blocks are fixedly connected before the shoulder to skeleton, and the second rotating shaft contiguous block is fixedly connected described Upper arm support frame；For driving the pneumatic muscles of the second joint module activities to connect the upper arm muscles retainer ring and institute State the second rotating shaft mounting blocks.
- A kind of 6. pneumatic muscles upper limbs assistance exoskeleton system according to claim 5, it is characterised in that：The focile Forearm including forearm support frame, on the forearm support frame is fixed ring seat and consolidated installed in the forearm Determine the forearm muscle retainer ring in ring seat；3rd joint module includes the 3rd joint rotating shaft, the 3rd rotating shaft mounting blocks and the Three rotating shaft contiguous blocks, the 3rd rotating shaft mounting blocks and the 3rd rotating shaft contiguous block are hinged by the 3rd joint rotating shaft Connect, the 3rd rotating shaft mounting blocks are fixedly connected with the upper arm support frame, and the 3rd rotating shaft contiguous block is fixedly connected described Forearm support frame；For driving the pneumatic muscles of the 3rd joint module activity to connect the forearm muscle retainer ring and institute State the 3rd rotating shaft mounting blocks.
- A kind of 7. pneumatic muscles upper limbs assistance exoskeleton system according to claim 6, it is characterised in that：The forearm branch The lower end of support bone frame is additionally provided with forearm grip ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720329474.XU CN206643909U (en) | 2017-03-31 | 2017-03-31 | A kind of pneumatic muscles upper limbs assistance exoskeleton system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720329474.XU CN206643909U (en) | 2017-03-31 | 2017-03-31 | A kind of pneumatic muscles upper limbs assistance exoskeleton system |
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| Publication Number | Publication Date |
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| CN206643909U true CN206643909U (en) | 2017-11-17 |
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| CN201720329474.XU Expired - Fee Related CN206643909U (en) | 2017-03-31 | 2017-03-31 | A kind of pneumatic muscles upper limbs assistance exoskeleton system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019184589A1 (en) * | 2018-03-29 | 2019-10-03 | 京东方科技集团股份有限公司 | Exoskeleton recovery power assisting device |
-
2017
- 2017-03-31 CN CN201720329474.XU patent/CN206643909U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019184589A1 (en) * | 2018-03-29 | 2019-10-03 | 京东方科技集团股份有限公司 | Exoskeleton recovery power assisting device |
| US11571352B2 (en) | 2018-03-29 | 2023-02-07 | Beijing Boe Optoelectronics Technology Co., Ltd. | Assisted exoskeleton rehabilitation device |
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Granted publication date: 20171117 |