GB2611670A - Passive lower limb power-assisted exoskeleton based on gravitational potential energy locking - Google Patents

Passive lower limb power-assisted exoskeleton based on gravitational potential energy locking Download PDF

Info

Publication number
GB2611670A
GB2611670A GB2300140.7A GB202300140A GB2611670A GB 2611670 A GB2611670 A GB 2611670A GB 202300140 A GB202300140 A GB 202300140A GB 2611670 A GB2611670 A GB 2611670A
Authority
GB
United Kingdom
Prior art keywords
rod member
spring
thigh
shank
waist
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
GB2300140.7A
Other languages
English (en)
Inventor
Cao Enguo
Gao Yang
Chen Lu
Wang Gang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangnan University
Original Assignee
Jiangnan University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangnan University filed Critical Jiangnan University
Publication of GB2611670A publication Critical patent/GB2611670A/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A61H2201/1284—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient using own weight
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1436—Special crank assembly
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces

Landscapes

  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)
GB2300140.7A 2020-10-21 2020-11-03 Passive lower limb power-assisted exoskeleton based on gravitational potential energy locking Pending GB2611670A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011130913.7A CN112318487B (zh) 2020-10-21 2020-10-21 一种基于重力势能锁止的被动式下肢助力外骨骼
PCT/CN2020/126132 WO2022082862A1 (zh) 2020-10-21 2020-11-03 一种基于重力势能锁止的被动式下肢助力外骨骼

Publications (1)

Publication Number Publication Date
GB2611670A true GB2611670A (en) 2023-04-12

Family

ID=74311852

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2300140.7A Pending GB2611670A (en) 2020-10-21 2020-11-03 Passive lower limb power-assisted exoskeleton based on gravitational potential energy locking

Country Status (3)

Country Link
CN (1) CN112318487B (zh)
GB (1) GB2611670A (zh)
WO (1) WO2022082862A1 (zh)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112936228B (zh) * 2021-02-08 2023-03-14 延边大学 下肢外骨骼机器人
CN113440372B (zh) * 2021-04-16 2022-05-24 北京航空航天大学 一种柔性驱动膝关节外骨骼
CN114654449B (zh) * 2022-03-29 2024-04-12 上海微电机研究所(中国电子科技集团公司第二十一研究所) 主被动结合穿戴式膝关节助力外骨骼
WO2024097040A1 (en) * 2022-11-02 2024-05-10 University Of Florida Research Foundation, Incorporated Apparatus and method using a spring-powered knee exoskeleton for gait assistance
CN116214481B (zh) * 2023-01-18 2023-08-11 首都体育学院 一种降低行走能量消耗的无源踝关节外骨骼
CN116458322B (zh) * 2023-05-10 2023-09-01 诸暨市海道机械股份有限公司 一种割草机
CN117338500B (zh) * 2023-09-07 2024-03-26 湖北健身医疗器械有限公司 一种腰椎牵引装置
CN117462371B (zh) * 2023-12-28 2024-04-05 中国科学院自动化研究所 一种二自由度运动辅助的膝关节外骨骼机器人

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104758099A (zh) * 2015-04-20 2015-07-08 哈尔滨工业大学 基于重力平衡的下肢助力外骨骼
CN109773755A (zh) * 2018-12-27 2019-05-21 南京航空航天大学 一种无驱动的穿戴式膝关节助力外骨骼机器人
US20190262214A1 (en) * 2011-07-29 2019-08-29 Leonis Medical Corporation Method and system for control and operation of motorized orthotic exoskeleton joints
CN111745624A (zh) * 2020-06-30 2020-10-09 电子科技大学 一种无源助力的外骨骼负重机器人
CN111773026A (zh) * 2020-06-16 2020-10-16 中国科学院深圳先进技术研究院 一种多关节刚柔结合助力下肢外骨骼

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105943316B (zh) * 2016-05-23 2018-06-29 成都润惠科技有限公司 一种具有回力结构的人体下肢外骨骼
US10912666B2 (en) * 2016-12-08 2021-02-09 University Of Washington Energy storage device for an exoskeleton
CN110251370B (zh) * 2019-05-22 2021-06-08 安徽大学 一种被动型重力自平衡下肢外骨骼结构体
CN111702747B (zh) * 2020-06-30 2021-07-06 重庆理工大学 被动式负重助力下肢外骨骼

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190262214A1 (en) * 2011-07-29 2019-08-29 Leonis Medical Corporation Method and system for control and operation of motorized orthotic exoskeleton joints
CN104758099A (zh) * 2015-04-20 2015-07-08 哈尔滨工业大学 基于重力平衡的下肢助力外骨骼
CN109773755A (zh) * 2018-12-27 2019-05-21 南京航空航天大学 一种无驱动的穿戴式膝关节助力外骨骼机器人
CN111773026A (zh) * 2020-06-16 2020-10-16 中国科学院深圳先进技术研究院 一种多关节刚柔结合助力下肢外骨骼
CN111745624A (zh) * 2020-06-30 2020-10-09 电子科技大学 一种无源助力的外骨骼负重机器人

Also Published As

Publication number Publication date
WO2022082862A1 (zh) 2022-04-28
CN112318487A (zh) 2021-02-05
CN112318487B (zh) 2021-10-15

Similar Documents

Publication Publication Date Title
GB2611670A (en) Passive lower limb power-assisted exoskeleton based on gravitational potential energy locking
US11638673B2 (en) Hip-knee passive exoskeleton device based on clutch time-sharing control
CN107811805B (zh) 穿戴式下肢外骨骼康复机器人
CN109773755B (zh) 一种无驱动的穿戴式膝关节助力外骨骼机器人
CN111773026B (zh) 一种多关节刚柔结合助力下肢外骨骼
CN110292507B (zh) 一种踝关节助力外骨骼
CN108247618B (zh) 一种减轻背部与膝关节负荷的下肢外骨骼
CN111745624B (zh) 一种无源助力的外骨骼负重机器人
CN109848967B (zh) 仿生机械外骨骼穿戴装置
CN110404229B (zh) 一种病床用腿部康复训练装置
CN111920650B (zh) 一种旋转缓冲助力机构和外骨骼踝关节缓冲助力装置
CN201001827Y (zh) 多功能运动康复床
CN110063877A (zh) 驱动后置式下肢外骨骼机器人
CN209059885U (zh) 一种无动力助力行走随动装置
CN110840710A (zh) 被动式膝关节助力机器人
CN106821688A (zh) 一种负重助走外骨骼
CN114347000B (zh) 一种被动式柔性膝踝关节助力外骨骼机器人
Xiong et al. Multi-articular passive exoskeleton for reducing the metabolic cost during human walking
CN110623817A (zh) 一种无动力髋关节储能助行外骨骼
CN211485539U (zh) 被动式膝关节助力机器人
CN115120472B (zh) 一种基于能量跨关节转移的下肢纯被动外骨骼装置
CN209175735U (zh) 一种膝关节助力装置
CN114055435B (zh) 一种适用于外骨骼的离合器及踝关节助力外骨骼
CN116214481B (zh) 一种降低行走能量消耗的无源踝关节外骨骼
CN217339259U (zh) 一种步行辅助机构

Legal Events

Date Code Title Description
789A Request for publication of translation (sect. 89(a)/1977)

Ref document number: 2022082862

Country of ref document: WO