CN220007798U - Lower limb auxiliary moving device based on exoskeleton - Google Patents
Lower limb auxiliary moving device based on exoskeleton Download PDFInfo
- Publication number
- CN220007798U CN220007798U CN202320481186.1U CN202320481186U CN220007798U CN 220007798 U CN220007798 U CN 220007798U CN 202320481186 U CN202320481186 U CN 202320481186U CN 220007798 U CN220007798 U CN 220007798U
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- lower limb
- movable
- shaft
- foot
- exoskeleton
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 40
- 210000002683 foot Anatomy 0.000 claims abstract description 54
- 210000001624 hip Anatomy 0.000 claims abstract description 30
- 210000000689 upper leg Anatomy 0.000 claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 210000002414 leg Anatomy 0.000 claims abstract description 15
- 230000000694 effects Effects 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 8
- 238000003466 welding Methods 0.000 claims 2
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract description 5
- 210000004394 hip joint Anatomy 0.000 abstract description 5
- 210000001503 joint Anatomy 0.000 abstract description 5
- 244000309466 calf Species 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 241001166076 Diapheromera femorata Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Rehabilitation Tools (AREA)
Abstract
The utility model relates to a lower limb auxiliary moving device based on exoskeleton, which comprises a waist supporting mechanism, wherein a lower limb moving mechanism is arranged at the lower end of the waist supporting mechanism, and a foot rest mechanism is arranged at the lower end of the lower limb moving mechanism; the utility model is convenient to quickly wear at the lower limb position, is convenient to directly limit on the waist support to be bound and fixed through the arranged waist support mechanism, is convenient to directly bind the thigh and the calf to stably assist the front and back movable adjustment through the arranged lower limb movable mechanism, has higher freedom degree, realizes the movable adjustment of the high freedom degrees of the hip joint, the leg joint and the ankle joint, and is convenient to stably bind the feet on the foot placement collet through the arranged foot rest mechanism, so that the support is safe and anti-skid, has wide application range, ensures that the movement of a wearer is more flexible, and is suitable for more complex movement scenes.
Description
Technical Field
The utility model belongs to the technical field of exercise auxiliary equipment, and particularly relates to a lower limb auxiliary moving device based on exoskeleton.
Background
Exoskeleton robot technology is a technology integrating mechanical, mechanics, sensing, control, information and the like, and provides a wearable mechanical auxiliary device for users. The exoskeleton robot plays a great role in various fields, so that the development prospect is very broad.
The personal walking-aid exoskeleton robot is taken as a wearable device, is a typical man-machine hybrid system, and the existing exoskeleton robot in China is still in a research and development stage; for the design of lower limbs, no autonomous balancing capability exists at present, the walking stick is needed to assist to keep the balance of the body, which is equivalent to the fact that two hands cannot be vacated to do other things when walking or standing, meanwhile, the two hands are needed to keep the balance of the body, so that the two hands can bear a considerable part of the body weight, certain difficulty is caused for the aged, the weak or the people with weak upper limbs, and the freedom of movement of the lower limbs is limited greatly. For this purpose, a corresponding technical solution needs to be designed to solve.
Disclosure of Invention
Aiming at the defects existing in the prior art, the utility model provides an exoskeleton-based lower limb auxiliary moving device with autonomous balancing capability and higher lower limb movement freedom, which has the following specific technical scheme:
the utility model provides a lower limb auxiliary moving device based on exoskeleton, which comprises a waist supporting mechanism, wherein a lower limb moving mechanism is arranged at the lower end of the waist supporting mechanism, and a foot rest mechanism is arranged at the lower end of the lower limb moving mechanism;
the waist supporting mechanism comprises a transversely arranged limiting ring, the limiting ring is of a C-shaped structure, a waist binding belt is sleeved between the end parts of the limiting ring, and a waist supporting plate is longitudinally and fixedly arranged in the middle of the inner part of the limiting ring;
the lower limb moving mechanism comprises a thigh moving plate, the top of the thigh moving plate is rotationally connected with a first moving shaft, the bottom of the thigh moving plate is rotationally connected with a second moving shaft, the bottom of the second moving shaft is rotationally connected with a shank moving plate, the bottom of the shank moving plate is rotationally connected with a third moving shaft, and leg binding belts are fixedly arranged on the inner side surfaces of the thigh moving plate and the shank moving plate;
the foot support mechanism comprises a foot placement bottom support, and foot binding belts are fixedly arranged on the upper portion of the foot placement bottom support.
As a preferable technical scheme of the utility model, the end parts of the limiting rings are respectively and longitudinally welded with a fixed column, the bottom ends of the fixed columns are axially welded with a connecting column, and the connecting column is detachably connected with a supporting column fixedly arranged at one inner end of the movable shaft.
As a preferable technical scheme of the utility model, the support pillar comprises a first fixed block vertically connected with the inner end of the first movable shaft, a second fixed block is abutted to the outer end face of the first fixed block, a groove hole is formed in the middle of the abutted position of the second fixed block and the top face of the first fixed block, the connecting pillar is inserted into the groove hole, the inner diameter of the groove hole is smaller than that of the connecting pillar, and the first fixed block and the second fixed block are fixedly connected through a plurality of locking bolts.
As a preferable technical scheme of the waist restraint strap, the outer sides of the end parts of the limiting rings are respectively connected with a first mounting plate through bolts, the end parts of the first mounting plates longitudinally penetrate through two first through hole grooves, and the end parts of the waist restraint strap are respectively connected with the first through hole grooves on the same side in a penetrating manner.
As a preferable technical scheme of the utility model, a movable sleeve shaft I is welded at the top of the thigh movable plate, the movable sleeve shaft I is axially movably sleeved outside the movable shaft I, a movable inner shaft is welded at the bottom of the thigh movable plate, and the movable inner shaft is embedded and rotatably connected to the upper part of the movable shaft II.
As a preferable technical scheme of the utility model, a movable sleeve shaft II is welded at the top of the lower leg movable plate, the movable sleeve shaft II is movably sleeved at the lower part of the movable shaft II, a sleeve is welded at the bottom of the lower leg movable plate, and the sleeve is movably sleeved at the outer end part of the movable shaft III.
As a preferable technical scheme of the foot support, the inner end part of the movable shaft III is movably sleeved with the movable sleeve shaft III, the lower part of the movable sleeve shaft III is longitudinally welded with a support connecting rod, and the bottom of the support connecting rod is welded to the outer side of the rear end part of the foot support.
As a preferable technical scheme of the utility model, the side surface of the foot placement collet is respectively connected with at least two second mounting plates in parallel through bolts, the upper parts of the second mounting plates are transversely provided with two second through hole grooves in a penetrating way, and the end parts of the foot restraint belts are respectively connected with the second through hole grooves on the same side in a penetrating way.
As a preferable technical scheme of the utility model, a plurality of inner grooves are transversely and penetratingly formed in the bottom surface of the foot placement base, and rubber pads are adhered to the bottom surface of the foot placement base.
As a preferable technical scheme of the utility model, two ends of the middle parts of the waist binding belt, the leg binding belt and the foot binding belt are respectively correspondingly bolted with a socket and a bolt, and the socket is correspondingly in buckling connection with the bolt.
The beneficial effects of the utility model are as follows:
the utility model is convenient to quickly wear at the lower limb position, is convenient to directly limit on the waist support to be bound and fixed through the arranged waist support mechanism, is convenient to directly bind the thigh and the calf to stably assist the front and back movable adjustment through the arranged lower limb movable mechanism, has higher freedom degree, realizes the movable adjustment of the high freedom degrees of the hip joint, the leg joint and the ankle joint, and is convenient to stably bind the feet on the foot placement collet through the arranged foot rest mechanism, so that the support is safe and anti-skid, has wide application range, ensures that the movement of a wearer is more flexible, and is suitable for more complex movement scenes.
Drawings
FIG. 1 shows a schematic overall perspective view of the present utility model;
FIG. 2 is a schematic perspective view of a lumbar support mechanism according to the present utility model;
FIG. 3 is a schematic perspective view of the lower limb movement mechanism of the present utility model;
FIG. 4 is a front view of the lower limb movement mechanism of the present utility model;
FIG. 5 is a schematic perspective view of a support post according to the present utility model;
FIG. 6 shows a schematic diagram (I) of a foot rest mechanism according to the present utility model;
FIG. 7 shows a schematic diagram of a structure of a foothold of the present utility model (II);
fig. 8 shows a schematic view of a partial structure of the binding band according to the present utility model.
The figure shows: 1. a lumbar support mechanism; 11. a limiting ring; 111. fixing the column; 1111. a connecting column; 112. a first mounting piece; 1121. a through hole groove I; 12. a waist support plate; 13. a waist binding belt; 2. a lower limb movement mechanism; 21. thigh movable plate; 211. a movable sleeve shaft I; 212. a movable inner shaft; 22. a lower leg movable plate; 221. a movable sleeve shaft II; 222. a sleeve; 23. a movable shaft I; 24. a movable shaft II; 25. a movable shaft III; 26. a movable sleeve shaft III; 27. leg restraining straps; 28. a support post; 281. a first fixed block; 282. a second fixed block; 283. a locking bolt; 284. a groove hole; 3. a foot rest mechanism; 31. the feet are placed on the bottom support; 311. an inner groove; 312. a rubber pad; 32. a second mounting piece; 321. a through hole groove II; 33. foot restraint straps; 34. a support link; 4. a socket; 41. a bolt.
Detailed Description
The present utility model will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
As shown in fig. 1 to 4 and 6, an exoskeleton-based lower limb auxiliary moving device comprises a lumbar support mechanism 1, wherein a lower limb moving mechanism 2 is arranged at the lower end of the lumbar support mechanism 1, and a foot rest mechanism 3 is arranged at the lower end of the lower limb moving mechanism 2;
the lumbar support mechanism 1 comprises a transversely arranged limiting ring 11, wherein the limiting ring 11 is of a C-shaped structure, a lumbar binding belt 13 is sleeved between the end parts of the limiting ring 11, and a lumbar supporting plate 12 is longitudinally and fixedly arranged in the middle of the inner part of the limiting ring 11;
the lower limb moving mechanism 2 comprises a thigh moving plate 21, wherein a first moving shaft 23 is rotatably connected to the top of the thigh moving plate 21, a second moving shaft 24 is rotatably connected to the bottom of the thigh moving plate 21, a shank moving plate 22 is rotatably connected to the bottom of the second moving shaft 24, a third moving shaft 25 is rotatably connected to the bottom of the shank moving plate 22, and leg binding belts 27 are fixedly arranged on the inner side surfaces of the thigh moving plate 21 and the shank moving plate 22;
the foot rest mechanism 3 comprises a foot rest base 31, and a foot restraint belt 33 is fixedly arranged on the upper part of the foot rest base 31.
By adopting the technical scheme, the device is convenient to quickly wear at the lower limb position, and is convenient to directly limit to the constraint and fixation of the lumbar support through the arranged lumbar support mechanism 1, wherein the lumbar support plate 12 adopts a comfortable back cushion structure, and the lumbar is supported by a stressed jacking manner; through the lower limb movable mechanism 2 that sets up, convenient direct constraint thigh and shank are stable supplementary back-and-forth movement regulation, and the degree of freedom is higher, has realized the activity regulation of hip joint, leg joint and ankle joint high degree of freedom to through the foot rest mechanism 3 that sets up, conveniently place the foot stable constraint on the foot places collet 31, support and remove, safe antiskid, application scope is wide, makes the wearer move more nimble, in order to adapt to more complicated motion scene.
As shown in fig. 2 and 4, the ends of the limiting rings 11 are respectively welded with a fixed column 111 longitudinally, the bottom ends of the fixed columns 111 are welded with a connecting column 1111 axially, and the connecting column 1111 is detachably connected with a supporting column 28 fixedly arranged at the inner end of the movable shaft 23.
By adopting the above technical scheme, the fixed column 111 and the connecting column 1111 provided are detachably connected with the support column 28, so that the whole dismounting and fixing of the lumbar support mechanism 1 is facilitated.
As shown in fig. 5, the support post 28 includes a first fixed block 281 perpendicularly connected to the inner end of the first movable shaft 23, a second fixed block 282 is abutted to the outer end surface of the first fixed block 281, a slot 284 is formed in the middle of the abutted portion between the second fixed block 282 and the top surface of the first fixed block 281, the connecting post 1111 is inserted into the slot 284, the inner diameter of the slot 284 is smaller than the inner diameter of the connecting post 1111, and the first fixed block 281 and the second fixed block 282 are fixedly connected by a plurality of locking bolts 283.
By adopting the technical scheme, the first fixing block 281 and the second fixing block 282 which are arranged are matched with the locking bolt 283, so that the connecting column 1111 inserted in the groove hole 284 can be well disassembled and fixed; the inner diameter of the recess hole 284 is smaller than the inner diameter of the connection column 1111, and the locking effect on the connection column 1111 can be further increased.
As shown in fig. 2, the outer sides of the end portions of the limiting rings 11 are respectively connected with a first mounting plate 112 through bolts, two through hole slots 1121 are longitudinally formed in the end portions of the first mounting plate 112, and the end portions of the waist binding belts 13 are respectively connected with the through hole slots 1121 on the same side in a penetrating manner.
By adopting the above technical scheme, the first mounting piece 112 and the first through hole slot 1121 thereof can be conveniently connected and fixed with the waist binding belt 13.
As shown in fig. 3 and 4, a first movable sleeve shaft 211 is welded at the top of the thigh movable plate 21, the first movable sleeve shaft 211 is axially movably sleeved outside the first movable shaft 23, a movable inner shaft 212 is welded at the bottom of the thigh movable plate 21, and the movable inner shaft 212 is connected with the upper part of the second movable shaft 24 in an embedded and rotating manner.
By adopting the technical scheme, the movable sleeve shaft I211 is matched with the movable shaft I23, and the movable inner shaft 212 is matched with the movable shaft II 24, so that the movable degree of freedom of the thigh movable plate 21 can be better increased, and the hip joint can be conveniently regulated.
As shown in fig. 3 and 4, the top of the lower leg movable plate 22 is welded with a second movable sleeve shaft 221, the second movable sleeve shaft 221 is movably sleeved at the lower part of the second movable shaft 24, the bottom of the lower leg movable plate 22 is welded with a sleeve 222, and the sleeve 222 is movably sleeved at the outer end part of the third movable shaft 25.
By adopting the technical scheme, the movable sleeve shaft II 221 is matched with the movable shaft II 24, and the sleeve 222 is matched with the movable shaft III 25, so that the movable degree of freedom of the lower leg movable plate 22 can be better increased, and the leg joint can be conveniently adjusted.
As shown in fig. 4 and 7, the inner end of the third movable shaft 25 is movably sleeved with the third movable sleeve shaft 26, the lower part of the third movable sleeve shaft 26 is longitudinally welded with a support connecting rod 34, and the bottom of the support connecting rod 34 is welded to the outer side of the rear end of the foot placement bottom bracket 31.
By adopting the technical scheme, the movable shaft III 25 is matched with the movable sleeve shaft III 26, so that the movable degree of freedom of the foot support mechanism 3 can be better increased, and the movable adjustment of the ankle joint can be stably supported.
As shown in fig. 6, the side surfaces of the foot placement base 31 are respectively connected with at least two second mounting pieces 32 side by bolts, two second through-hole grooves 321 are transversely formed in the upper portions of the second mounting pieces 32 in a penetrating manner, and the end portions of the foot restraint straps 33 are respectively connected with the second through-hole grooves 321 on the same side in a penetrating manner.
By adopting the above technical scheme, the second mounting piece 32 and the second through hole slot 321 thereof can be conveniently connected with the foot constraint belt 33.
As shown in fig. 7, a plurality of inner grooves 311 are formed transversely through the bottom surface of the foot rest base 31, and rubber pads 312 are adhered to the bottom surface of the foot rest base 31.
By adopting the technical scheme, the inner groove 311 and the rubber pad 312 can be arranged to stabilize and prevent skid when moving.
As shown in fig. 8, the two ends of the middle parts of the waist binding belt 13, the leg binding belt 27 and the foot binding belt 33 are respectively correspondingly bolted with a socket 4 and a bolt 41, and the socket 4 is correspondingly in snap connection with the bolt 41.
Through adopting above-mentioned technical scheme, socket 4 and bolt 41 that set up, convenient quick grafting dismouting, easy operation.
In the implementation of the utility model, firstly, feet are placed in the foot placement collet 31, the feet are fixedly inserted through the foot binding belts 33 at the upper parts of the mounting plates II 32, the legs are locked in a stretching way, the legs are bound and fixed through the leg binding belts 27 at the inner side ends of the thigh movable plate 21 and the shank movable plate 22, and finally, the waist is tightly abutted to the waist through the waist supporting plate 12, the waist is bound and fixed through the waist binding belts 13, when the waist is moved forwards, the movable sleeve shaft I211 is movably regulated outside the movable shaft I23, the movable inner shaft 212 is rotatably regulated inside the movable shaft II 24, the movable sleeve shaft II 221 is rotatably regulated outside the movable shaft II 24, the movable sleeve shaft III 26 is rotatably regulated outside the movable shaft III 25, and the sleeve 222 is rotatably regulated outside the movable shaft III 25, so that the movable regulation of the hip joint, the leg joint and the ankle joint multiple degrees of freedom is realized, the application range is wide, and the movement of a wearer is more flexible, so that the wearer can adapt to more complex movement scenes.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.
Claims (10)
1. Exoskeleton-based lower limb auxiliary moving device is characterized in that: the lumbar support device comprises a lumbar support mechanism (1), wherein the lower end of the lumbar support mechanism (1) is provided with a lower limb moving mechanism (2), and the lower end of the lower limb moving mechanism (2) is provided with a foot rest mechanism (3);
the waist supporting mechanism (1) comprises a transversely arranged limiting ring (11), the limiting ring (11) is of a C-shaped structure, a waist binding belt (13) is sleeved between the end parts of the limiting ring (11), and a waist supporting plate (12) is longitudinally and fixedly arranged in the middle of the inner part of the limiting ring (11);
the lower limb moving mechanism (2) comprises a thigh moving plate (21), a first moving shaft (23) is rotationally connected to the top of the thigh moving plate (21), a second moving shaft (24) is rotationally connected to the bottom of the thigh moving plate, a lower leg moving plate (22) is rotationally connected to the bottom of the second moving shaft (24), a third moving shaft (25) is rotationally connected to the bottom of the lower leg moving plate (22), and leg binding belts (27) are fixedly arranged on the inner side surfaces of the thigh moving plate (21) and the lower leg moving plate (22);
the foot support mechanism (3) comprises a foot placement bottom support (31), and a foot binding belt (33) is fixedly arranged on the upper portion of the foot placement bottom support (31).
2. An exoskeleton-based lower limb assist movement device as claimed in claim 1, wherein: the end parts of the limiting rings (11) are respectively and longitudinally welded with a fixed column (111), the bottom ends of the fixed columns (111) are axially welded with a connecting column (1111), and the connecting column (1111) is detachably connected with a supporting column (28) fixedly arranged at the inner end of the movable shaft I (23).
3. An exoskeleton-based lower limb assist movement device as claimed in claim 2, wherein: the support pillar (28) comprises a first fixed block (281) which is vertically connected with the inner end of the first movable shaft (23), a second fixed block (282) is abutted to the outer end face of the first fixed block (281), a groove hole (284) is formed in the middle of the abutted position of the top surface of the second fixed block (282) and the first fixed block (281), the connecting pillar (1111) is inserted into the groove hole (284), the inner diameter of the groove hole (284) is smaller than that of the connecting pillar (1111), and the first fixed block (281) and the second fixed block (282) are fixedly connected through a plurality of locking bolts (283).
4. An exoskeleton-based lower limb assist movement device as claimed in claim 1, wherein: the outer side of the end part of the limiting ring (11) is respectively connected with a first mounting plate (112) through bolts, the end part of the first mounting plate (112) is longitudinally provided with two first through hole grooves (1121) in a penetrating mode, and the end part of the waist binding belt (13) is respectively connected with the first through hole grooves (1121) on the same side in a penetrating mode.
5. An exoskeleton-based lower limb assist movement device as claimed in claim 1, wherein: the top of the thigh movable plate (21) is welded with a movable sleeve shaft I (211), the movable sleeve shaft I (211) is axially movably sleeved outside the movable shaft I (23), the bottom of the thigh movable plate (21) is welded with a movable inner shaft (212), and the movable inner shaft (212) is embedded and rotatably connected to the upper part of the movable shaft II (24).
6. An exoskeleton-based lower limb assist movement device as in claim 5, wherein: the top welding of shank fly leaf (22) has activity sleeve axle two (221), activity sleeve axle two (221) axial activity cup joint in activity axle two (24) lower part, the bottom welding of shank fly leaf (22) has sleeve (222), sleeve (222) activity cup joint in the outer tip of activity axle three (25).
7. The exoskeleton-based lower limb assist movement device of claim 6, wherein: the inner end part of the movable shaft III (25) is movably sleeved with the movable sleeve shaft III (26), the lower part of the movable sleeve shaft III (26) is longitudinally welded with a supporting connecting rod (34), and the bottom of the supporting connecting rod (34) is welded to the outer side of the rear end part of the foot placement bottom bracket (31).
8. An exoskeleton-based lower limb assist movement device as claimed in claim 7, wherein: the side of collet (31) is placed to foot is connected with two at least mounting plate two (32) side by side through the bolt respectively, two through-hole groove two (321) have transversely been seted up on the upper portion of mounting plate two (32), the tip of foot constraint area (33) respectively rather than homonymy through-hole groove two (321) cross-under fixed.
9. An exoskeleton-based lower limb assist movement device as claimed in claim 8, wherein: the bottom surface of foot place collet (31) transversely link up and has seted up a plurality of internal grooves (311), and the bottom surface of foot place collet (31) bonds and has rubber pad (312).
10. The exoskeleton-based lower limb assist movement device of any one of claims 1 to 9, wherein: the waist binding belt (13), the leg binding belt (27) and the foot binding belt (33) are correspondingly bolted with a socket (4) and a bolt (41) respectively at two ends of the middle part, and the socket (4) is correspondingly in buckling connection with the bolt (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320481186.1U CN220007798U (en) | 2023-03-14 | 2023-03-14 | Lower limb auxiliary moving device based on exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320481186.1U CN220007798U (en) | 2023-03-14 | 2023-03-14 | Lower limb auxiliary moving device based on exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220007798U true CN220007798U (en) | 2023-11-14 |
Family
ID=88673348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320481186.1U Active CN220007798U (en) | 2023-03-14 | 2023-03-14 | Lower limb auxiliary moving device based on exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220007798U (en) |
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2023
- 2023-03-14 CN CN202320481186.1U patent/CN220007798U/en active Active
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