CN205459236U - Collapsible portable low limbs ectoskeleton - Google Patents
Collapsible portable low limbs ectoskeleton Download PDFInfo
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- CN205459236U CN205459236U CN201620012709.8U CN201620012709U CN205459236U CN 205459236 U CN205459236 U CN 205459236U CN 201620012709 U CN201620012709 U CN 201620012709U CN 205459236 U CN205459236 U CN 205459236U
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Abstract
The utility model provides a collapsible portable low limbs ectoskeleton, it includes back of the body frame (1) and thigh subassembly (17), characterized by thigh subassembly (17) mainly raise pole (7), thigh downward modulation pole (8), bind device (9) with thigh driving cylinder (11) are constituteed by the thigh, thigh driving cylinder (11) are continuous with thigh rise pole (7), the thigh raises pole (7) and thigh downward modulation pole (8) grafting links to each other, and bind device (9) and install on the thigh raises pole (7), thigh downward modulation pole (8) be the arc structure and can rotate and fold up so that the shank in shank subassembly (18) raises pole (10), the thigh raises pole (7) and can wind the rot. While of vertical axis with hip joint subassembly (16) continuous department, can also do and swing around the gyration of volume form axle, and the gyration swing around the sagittal axle can be done in hip joint subassembly (16). The utility model discloses a transportation is folded to the receipts of human ectoskeleton, has small transportation and delivers convenient advantage.
Description
Technical field
This utility model relates to a kind of power-assisted technology, especially a kind of field march operation power-assisted technology, specifically a kind of Collapsible mobile lower limb exoskeleton.
Background technology
It is known that exoskeleton robot is a kind of wearable machinery, it both can be followed human motion by detection body motion information, and then born load for human body, alleviates human body heavy burden sense；Gait planning can be passed through again, allow robot with human motion, carry out rehabilitation training.Thus exoskeleton robot has broad application prospects in fields such as military combat, disaster assistance and rehabilitations.Especially in fields such as military affairs, scientific investigation, fire-fighting rescues, soldier, scientific investigation personnel and fire-fighting rescue worker usually need distance walking, bear weight, the transport wounded, field work, mountain climbing expedition etc., the motion of these specific form cannot complete by traditional vehicles, and the body constitution of sporter is required the highest, and by using exoskeleton robot that sufficient strength and endurance can be provided to strengthen the abilities such as distance walking and heavy burden, thus it is substantially reduced the difficulty of some special duties.Therefore particularly important for ectoskeletal research.
Current ectoskeleton both domestic and external focuses mostly in considering its load performance, but consider less for its portable performance, according to the knowledge of the applicant, existing ESD can not fold mostly, cause volume bigger, transport and delivery inconvenience, therefore, design a kind of portable lower limb exoskeleton that can fold and have great importance.
Utility model content
The purpose of this utility model is to be straight-bar form for the leg portion in existing ectoskeleton equipment and affected the problem that folding is inconvenient or folding volume is excessive that causes by joint component freedom of motion, and design one folding volume is little, transport, hydrogen send convenient Collapsible mobile lower limb exoskeleton.
The technical solution of the utility model is:
A kind of Collapsible mobile lower limb exoskeleton, it includes backrest 1, hip joint assembly 16, thigh assembly 17, shank component 18 and ankle joint assembly 14, described hip joint assembly 16 is arranged in backrest 1, thigh assembly 17 upper end is connected with hip joint assembly 16, lower end is connected with the upper end of shank component 18, the lower end of shank component 18 is connected with ankle joint assembly 19, ankle joint assembly 19 connection has sole 15 it is characterized in that, and described thigh assembly 17 is mainly raised bar 7 by thigh, thigh lowers bar 8, binding apparatus 9 and thigh driving cylinder 11 form, the upper end that bar 7 is raised with thigh in the upper end of thigh driving cylinder 11 is connected, lower end is connected with shank component 18；Thigh is raised bar 7 and is connected with thigh downward bar 8 grafting and is fixed the length adjustment realizing huckle by securing member, binding apparatus 9 is arranged on thigh and raises on bar 7 to be connected with user thigh, and described thigh lowers the curved structure of bar 8 so that the shank in shank component 18 raises bar 10 can rotate folding around the knee joint connecting thigh assembly 17 and shank component 18；Thigh raises bar 7 can be while vertical axis revolution realizes the outer motion (left and right turn) of medial rotation/rotation with hip joint assembly 16 connecting place, can also make to swing around frontal axis realize before and after stride function, hip joint assembly 16 can realize side leg lift by the rotary oscillation made around sagittal axis.
nullDescribed hip joint assembly 16 is mainly by bearing even block 2、Outreach adduction plate 3、Hip wins 4 in succession、Lateral adjustments plate 5 and longitudinal adjustable plate 6 form，Bear and connect block 2 for being fixedly linked with backrest 1，Hip is won in succession and 4 is fixedly linked with bearing even block 2，Lateral adjustments plate 5 one end is inserted hip and is won in succession in 4 and fixed by securing member，Regulation lateral adjustments plate 5 insert hip win in succession 4 the degree of depth can regulate the body width that the width of hip joint assembly 16 is allowed to user and adapt，The other end of lateral adjustments plate 5 be connected interior receiving end hinged the connecting of outreach adduction plate 3，To make outreach adduction plate 3 make around the rotary oscillation of sagittal axis and then realize the side leg lift function of ESD，The abduction end of outreach adduction plate 3 is connected with one end grafting of longitudinal adjustable plate 6，And realize longitudinal adjustable plate 6 fixing to make hip joint assembly 16 can match at outreach adduction plate 3 abduction end with the body thickness of user by securing member，The other end of longitudinal adjustable plate 6 is connected by revolute with thigh，Realize thigh lifts drop movements，Separately have a horizontal rotation pair to realize walking on the downside of hip joint to turn to simultaneously.
Described shank component 18 is mainly raised bar 10, shank driving cylinder 12 and shank downward bar 13 by shank and forms, shank rise bar 10 is connected with shank downward bar 13 grafting and passes through securing member and fixes with the length needs adapting to user shank, shank is raised bar 10 and is connected with thigh member hinges by knee joint, raise at shank, on bar 10, binding apparatus 9 is installed, shank is lowered the lower end of bar 13 and is fixed on ankle joint assembly 14, the upper end of shank driving cylinder 12 is raised bar 10 with shank and is connected, and the lower end of shank driving cylinder 12 is also mounted on ankle joint assembly 14.
Described ankle joint assembly 14 includes calf support 1 ', the lower end of calf support 1 ' is journaled on stretching, extension bending axis 2 ', stretch bending axis 2 ' to be bearing on stretching, extension curved frame 3 ', stretching curved frame 3 ' drives whole ankle device around stretching bending axis 2 ' motion under the driving of hydraulic cylinder, stretch curved frame 3 ' to be fixed on interior receipts external spread frame 5 ', interior receipts external spread frame 5 ' is journaled in the outer showing shaft 6 ' of interior receipts, the outer showing shaft 6 ' of interior receipts is fixedly mounted on support 7 ', support 7 ' is installed in rotation in sole Rotating Plates 9 ' by the bearing pin of its underpart, sole Rotating Plates 9 ' is fixedly mounted on sole 11 ', sole 11 ' is provided with instep fixture 10 '.
On support 7 ', the both sides of interior receipts external spread frame 5 ' be provided with the postive stop baffle 8 ' preventing interior receipts external spread frame 5 ' inordinate rotation.
Described sole Rotating Plates 9 ' is provided with the arc safe spacing gathering sill 13 ' that the spacer pin for support 7 ' bottom inserts.
Described sole 11 ' is provided with flexo cushion 12 '.
Foot of the present utility model is connected by ankle joint with shank, and shank is connected by knee joint with thigh, and thigh is connected by hip joint with belt；Luggage carrier is firmly affiliated in backrest by frame for movement, and hydraulic system is arranged on below luggage carrier, is connected with hydraulic actuator.Hip joint, thigh, shank is respectively arranged the connection end of hydraulic actuator.Ankle joint uses revolute connected mode, is formed by rotating bar, cylindrical pivot set, and is connected with foot connecting rod by connector, completes the connection of shank and foot.Hip joint is connected by revolute with thigh, it is achieved thigh lift drop movements, separately have a horizontal rotation pair to realize walking on the downside of hip joint simultaneously and turn to.
The beneficial effects of the utility model:
1. this utility model uses single lower limb multi-cylinder to drive on the basis carrying out kinematics and dynamics analysis, is effectively improved the heavy burden ability of this device.
Ankle joint the most of the present utility model arranges 3 degree of freedom, enhances the equipment adaptability to road conditions, is effectively improved ectoskeleton power-assisting robot power-assisted effect.
Devise corresponding safe spacing module youngster on the most each freedom of motion, conscientiously ensure the safety of human motion.
4. binding apparatus is provided with buffer spring in up and down and back and forth direction, improves wearable adaptability, reduces vibration and impact.
5. the extension/flexion of hip joint, the outer degree of freedom of medial rotation/rotation become to arrange up and down, can fold vanning when taking off, be convenient for carrying.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model.
Fig. 2 is the partial schematic diagram of ankle joint assembly 14 motion module of the present utility model.
Fig. 3 is the partial schematic diagram of hip joint assembly 16 motion module of the present utility model.
Fig. 4 is kneed partial schematic diagram of the present utility model.
Fig. 5 is build adjustment module schematic diagram of the present utility model.
Fig. 6 is height adjustment module schematic diagram of the present utility model；Wherein Fig. 6 (a) is thigh length adjustment schematic diagram；Fig. 6 (b) is that lower-leg length regulates schematic diagram.
Fig. 7 is the structural representation of this utility model binding apparatus.
Fig. 8 is the ankle joint detonation configuration schematic diagram of Fig. 2.
Fig. 9 is human body reference plane and axle system schematic diagram.
Detailed description of the invention
With embodiment, this utility model is further described below in conjunction with the accompanying drawings.
As shown in figs 1-9.
A kind of hydraulically powered Collapsible mobile lower limb exoskeleton, it mainly by backrest 1, bear even block 2, outreach adduction plate 3, hip win 4 in succession, lateral adjustments plate 5, longitudinal adjustable plate 6, thigh raises bar 7, thigh lowers that bar 8 forms, binding apparatus 9, shank raise bar 10, thigh driving cylinder 11, shank driving cylinder 12, shank lower bar 13, ankle joint 14 and sole 15.As it is shown in figure 1, backrest 1 is connected on hip joint by bearing even block 2, hip joint is won in succession 4 by outreach adduction plate 3, hip, lateral adjustments plate 5, longitudinal adjustable plate 6 form, as shown in Figure 3, hip joint is adjustable structure, can be adjusted, as shown in Figure 5 according to wearer build is fat or thin；Hip joint is linked by revolute pair with leg portion, and the rotary shaft of revolute pair is hip joint extension/flexion axle, i.e. human body frontal plane and cross section intersection (also known as frontal axis, such as Fig. 9)；Leg portion is raised bar 7 by thigh and thigh is lowered bar 8 and formed, power on thigh is provided by thigh driving cylinder 11, thigh is lowered on bar 8 equipped with binding apparatus 9(Fig. 7, same as the prior art), the effect of binding apparatus 9 is to be connected on human body by ESD；Lower leg portion is raised bar 10 by shank and shank is lowered bar 13 and formed, power on shank is provided by shank driving cylinder 12, shank is lowered bar and is linked by revolute pair with exoskeleton ankle joint 14, and sole 15 is in whole ectoskeletal bottom, is responsible for supporting whole device and institute's weight bearing.Foot and shank are connected (Fig. 2,9) by ankle joint, and shank is connected (Fig. 4, same as the prior art) by knee joint with thigh, and thigh is connected by hip joint (Fig. 3) with belt；Luggage carrier is firmly affiliated in backrest 1 by frame for movement, and hydraulic system is arranged on below luggage carrier, is connected with hydraulic actuator.Hip joint, thigh, shank is respectively arranged the connection end of hydraulic actuator.Ankle joint uses revolute connected mode, is formed by rotating bar, cylindrical pivot set, and is connected with foot connecting rod by connector, completes the connection of shank and foot, such as Fig. 8.Thigh uses cambered design at knee joint, it is to avoid cause interference, cambered design to make folding effect more excellent during this folding device because of the existence of hydraulic drive cylinder.Hip joint is connected by revolute with thigh, it is achieved thigh lift drop movements, separately have a horizontal rotation pair to realize walking on the downside of hip joint simultaneously and turn to.Two thigh fluid pressure drive devices and two shank fluid pressure drive devices provide power for whole ESD, realizing exoskeleton robot coordination human body lower limbs by the relative angle of change parts various piece respectively to move according to normal run trace, turning function is then realized by the outer degree of freedom of medial rotation/rotation of hip joint and ankle joint.
During folding, first by two shanks from device rear after knee joint revolute (i.e. knee extension/bending degree of freedom) turns to extreme degree, again thigh and calf is rotate in place from device front around hip joint extension/flexion degree of freedom simultaneously, thigh and calf is rotated around hip joint medial rotation/outer degree of freedom of rotation simultaneously i.e. complete to fold the most again.
Details are as follows:
As shown in Figure 1, ectoskeleton of the present utility model includes backrest 1, hip joint assembly 16, thigh assembly 17, shank component 18 and ankle joint assembly 14, described hip joint assembly 16 is arranged in backrest 1, thigh assembly 17 upper end is connected with hip joint assembly 16, lower end is connected with the upper end of shank component 18, the lower end of shank component 18 is connected with ankle joint assembly 19, and ankle joint assembly 19 connects sole 15.Thigh assembly 17 is mainly raised bar 7 by thigh, thigh is lowered bar 8, binding apparatus 9 and thigh driving cylinder 11 and formed, and the upper end that bar 7 is raised with thigh in the upper end of thigh driving cylinder 11 is connected, lower end and shank component 18；Thigh is raised bar 7 and is connected with thigh downward bar 8 grafting and is fixed the length adjustment realizing huckle by securing member, binding apparatus 9 is arranged on thigh and raises on bar 7 to be connected with user thigh, and described thigh lowers the curved structure of bar 8 so that the shank in shank component 18 raises bar 10 can rotate folding around the knee joint connecting thigh assembly 17 and shank component 18；Thigh raises bar 7 and hip joint assembly 16 connecting place can turn round around vertical axis while striding about realization, moreover it is possible to make to stride before and after the rotary oscillation of frontal axis realizes, and hip joint assembly 16 can be made to lift lower limb around the rotary oscillation realization of sagittal axis.nullAs shown in Figure 3，Hip joint assembly 16 is mainly by bearing even block 2、Outreach adduction plate 3、Hip wins 4 in succession、Lateral adjustments plate 5 and longitudinal adjustable plate 6 form，Bear and connect block 2 for being fixedly linked with backrest 1，Hip is won in succession and 4 is fixedly linked with bearing even block 2，Lateral adjustments plate 5 one end is inserted hip and is won in succession in 4 and fixed by securing member，Regulation lateral adjustments plate 5 insert hip win in succession 4 the degree of depth can regulate the body width that the width of hip joint assembly 16 is allowed to user and adapt，The other end of lateral adjustments plate 5 be connected interior receiving end hinged the connecting of outreach adduction plate 3，To make outreach adduction plate 3 make around the rotary oscillation of sagittal axis and then realize the hip joint assembly 16 rotary oscillation around sagittal axis，The abduction end of outreach adduction plate 3 is connected with one end grafting of longitudinal adjustable plate 6，And realize longitudinal adjustable plate 6 fixing to make hip joint assembly 16 can match (state after width and thickness adjusted is as shown in Figure 5) at outreach adduction plate 3 abduction end with the body thickness of user by securing member，The other end of longitudinal adjustable plate 6 is connected (if desired by revolute 20 with thigh，Revolute 20 also can be driven promoting power-assisted effect further by motor)，Realize thigh lifts drop movements，Separately have a horizontal rotation pair 21 to realize walking on the downside of hip joint to turn to simultaneously.Shank component 18 is mainly raised bar 10, shank driving cylinder 12 and shank downward bar 13 by shank and forms, shank rise bar 10 is connected with shank downward bar 13 grafting and passes through securing member and fixes with the length needs adapting to user shank, shank is raised bar 10 and is connected with thigh member hinges by knee joint, raise at shank, on bar 10, binding apparatus 9 is installed, shank is lowered the lower end of bar 13 and is fixed on ankle joint assembly 14, the upper end of shank driving cylinder 12 is raised bar 10 with shank and is connected, and the lower end of shank driving cylinder 12 is also mounted on ankle joint assembly 14.
Ankle joint assembly 14 such as Fig. 2 of the present utility model, shown in 9, it includes calf support 1 ', the lower end of calf support 1 ' is journaled on stretching, extension bending axis 2 ', stretch bending axis 2 ' to be bearing on stretching, extension curved frame 3 ', stretching curved frame 3 ' drives whole ankle device around stretching bending axis 2 ' motion under the driving of hydraulic cylinder, stretch curved frame 3 ' to be fixed on interior receipts external spread frame 5 ', interior receipts external spread frame 5 ' is journaled in the outer showing shaft 6 ' of interior receipts, the outer showing shaft 6 ' of interior receipts is fixedly mounted on support 7 ', support 7 ' is installed in rotation in sole Rotating Plates 9 ' by the bearing pin of its underpart, sole Rotating Plates 9 ' is fixedly mounted on sole 11 ', sole 11 ' is provided with instep fixture 10 '.On support 7 ', the both sides of interior receipts external spread frame 5 ' be provided with the postive stop baffle 8 ' preventing interior receipts external spread frame 5 ' inordinate rotation.Sole Rotating Plates 9 ' is provided with the arc safe spacing gathering sill 13 ' that the spacer pin for support 7 ' bottom inserts.Described sole 11 ' is provided with flexo cushion 12 ', and both form sole 15.
This utility model is not directed to part and the most same as the prior art prior art maybe can be used to be realized.
Claims (7)
- null1. a Collapsible mobile lower limb exoskeleton，It includes backrest (1)、Hip joint assembly (16)、Thigh assembly (17)、Shank component (18) and ankle joint assembly (14)，Described hip joint assembly (16) is arranged in backrest (1)，Thigh assembly (17) upper end is connected with hip joint assembly (16)，Lower end is connected with the upper end of shank component (18)，The lower end of shank component (18) is connected with ankle joint assembly (19)，Ankle joint assembly (19) connects sole (15)，It is characterized in that described thigh assembly (17) is mainly raised bar (7) by thigh、Thigh lowers bar (8)、Binding apparatus (9) and thigh driving cylinder (11) composition，The upper end that bar (7) is raised with thigh in the upper end of thigh driving cylinder (11) is connected，Lower end is connected with shank component (18)；Thigh is raised bar (7) and is connected with thigh downward bar (8) grafting and is fixed the length adjustment realizing huckle by securing member, it is upper to be connected with user thigh that binding apparatus (9) is arranged on thigh rise bar (7), and described thigh lowers bar (8) curved structure so that shank rise bar (10) in shank component (18) can be around the knee joint rotation folding connecting thigh assembly (17) and shank component (18)；Thigh raises bar (7) can be while vertical axis revolution realizes the outer motion i.e. left and right turn of medial rotation/rotation with hip joint assembly (16) connecting place, can also make to stride function before and after the rotary oscillation of frontal axis realizes, hip joint assembly (16) can realize side leg lift by the rotary oscillation made around sagittal axis.
- nullCollapsible mobile lower limb exoskeleton the most according to claim 1，It is characterized in that described hip joint assembly (16) is mainly by bearing even block (2)、Outreach adduction plate (3)、Hip wins (4) in succession、Lateral adjustments plate (5) and longitudinal adjustable plate (6) composition，Bear even block (2) to be used for being fixedly linked with backrest (1)，Hip is won (4) in succession and bears even block (2) and be fixedly linked，Lateral adjustments plate (5) one end is inserted hip and is won in succession in (4) and fixed by securing member，Regulation lateral adjustments plate (5) is inserted win in succession the degree of depth of (4) of hip and can be regulated the body width that the width of hip joint assembly (16) is allowed to user and adapt，The other end of lateral adjustments plate (5) be connected interior receiving end hinged the connecting of outreach adduction plate (3)，To make outreach adduction plate (3) make around the rotary oscillation of sagittal axis and then realize the side leg lift function of ESD，The abduction end of outreach adduction plate (3) is connected with one end grafting of longitudinal adjustable plate (6)，And realize longitudinal adjustable plate (6) fixing to make hip joint assembly (16) can match at outreach adduction plate (3) abduction end with the body thickness of user by securing member，The other end of longitudinal adjustable plate (6) is connected by revolute with thigh，Realize thigh lifts drop movements，Separately have a horizontal rotation pair to realize walking on the downside of hip joint to turn to simultaneously.
- Collapsible mobile lower limb exoskeleton the most according to claim 1, it is characterized in that described shank component (18) is mainly raised bar (10) by shank, shank driving cylinder (12) and shank lower bar (13) composition, shank rise bar (10) is connected with shank downward bar (13) grafting and passes through securing member and fixes with the length needs adapting to user shank, shank is raised bar (10) and is connected with thigh member hinges by knee joint, raise at shank, on bar (10), binding apparatus (9) is installed, shank is lowered the lower end of bar (13) and is fixed on ankle joint assembly (14), the upper end of shank driving cylinder (12) is raised bar (10) with shank and is connected, the lower end of shank driving cylinder (12) is also mounted on ankle joint assembly (14).
- nullCollapsible mobile lower limb exoskeleton the most according to claim 1，It is characterized in that described ankle joint assembly (14) includes calf support (1 ')，The lower end of calf support (1 ') is journaled in stretching, extension bending axis (2 ')，Stretch bending axis (2 ') to be bearing in stretching, extension curved frame (3 ')，Stretching curved frame (3 ') drives whole ankle device around stretching bending axis (2 ') motion under the driving of hydraulic cylinder，Stretch curved frame (3 ') to be fixed on interior receipts external spread frame (5 ')，Interior receipts external spread frame (5 ') are journaled in the outer showing shaft (6 ') of interior receipts，The outer showing shaft (6 ') of interior receipts is fixedly mounted on support (7 ')，Support (7 ') is installed in rotation on sole Rotating Plates (9 ') by the bearing pin of its underpart，Sole Rotating Plates (9 ') is fixedly mounted on sole (11 ')，Sole (11 ') is provided with instep fixture (10 ').
- Collapsible mobile lower limb exoskeleton the most according to claim 4, is characterized in that, the both sides of interior receipts external spread frame (5 ') upper at support (7 ') are provided with the postive stop baffle (8 ') preventing interior receipts external spread frame (5 ') inordinate rotation.
- Collapsible mobile lower limb exoskeleton the most according to claim 4, is characterized in that described sole Rotating Plates (9 ') is provided with arc safe spacing gathering sill (13 ') that the spacer pin for support (7 ') bottom inserts.
- Collapsible mobile lower limb exoskeleton the most according to claim 4, is characterized in that described sole (11 ') is provided with flexo cushion (12 ').
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620012709.8U CN205459236U (en) | 2016-01-08 | 2016-01-08 | Collapsible portable low limbs ectoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620012709.8U CN205459236U (en) | 2016-01-08 | 2016-01-08 | Collapsible portable low limbs ectoskeleton |
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| CN205459236U true CN205459236U (en) | 2016-08-17 |
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| CN201620012709.8U Expired - Fee Related CN205459236U (en) | 2016-01-08 | 2016-01-08 | Collapsible portable low limbs ectoskeleton |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105686927A (en) * | 2016-01-08 | 2016-06-22 | 中国人民解放军理工大学 | A foldable portable lower extremity exoskeleton |
| CN106503364A (en) * | 2016-11-03 | 2017-03-15 | 电子科技大学 | A kind of lower limb exoskeleton time-varying reliability analysis method under condition of uncertainty |
| CN109223450A (en) * | 2018-08-30 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | A kind of robot convenient for patient's installation |
| CN111249115A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Exoskeleton assembly and lower limb rehabilitation device |
-
2016
- 2016-01-08 CN CN201620012709.8U patent/CN205459236U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105686927A (en) * | 2016-01-08 | 2016-06-22 | 中国人民解放军理工大学 | A foldable portable lower extremity exoskeleton |
| CN105686927B (en) * | 2016-01-08 | 2017-07-11 | 中国人民解放军理工大学 | Collapsible mobile lower limb exoskeleton |
| CN106503364A (en) * | 2016-11-03 | 2017-03-15 | 电子科技大学 | A kind of lower limb exoskeleton time-varying reliability analysis method under condition of uncertainty |
| CN106503364B (en) * | 2016-11-03 | 2020-07-31 | 电子科技大学 | Lower limb exoskeleton time-varying reliability analysis method under uncertain condition |
| CN109223450A (en) * | 2018-08-30 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | A kind of robot convenient for patient's installation |
| CN111249115A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Exoskeleton assembly and lower limb rehabilitation device |
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