CN108972516A - A kind of pure manpower ectoskeleton trunk system - Google Patents
A kind of pure manpower ectoskeleton trunk system Download PDFInfo
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- CN108972516A CN108972516A CN201811093931.5A CN201811093931A CN108972516A CN 108972516 A CN108972516 A CN 108972516A CN 201811093931 A CN201811093931 A CN 201811093931A CN 108972516 A CN108972516 A CN 108972516A
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- turning set
- connector
- trunk
- ectoskeleton
- pure manpower
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Mechanical Engineering (AREA)
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Abstract
The invention provides a kind of pure manpower ectoskeleton trunk system, including trunk frame, the trunk vertical bar being vertically arranged is provided in the middle part of trunk frame, the lower end of trunk vertical bar is connected with top and the bottom connector, top and the bottom connector includes upper connector and lower connector, the top of upper connector and the lower end of trunk vertical bar are affixed by bolt, the lower end of upper connector is connected with turning set in cylinder, the upper end of lower connector is connected with arc-shaped lower turning set, upper turning set and lower turning set are coaxially disposed, the outer end of two sides is fixed after upper turning set is connected with lower turning set by shaft, upper turning set is relatively rotatable to each other with lower turning set.The invention provides a kind of trunk structure for extensional mode mechanical exoskeleton, and structure is simple, easy to install, is the ectoskeleton using manpower as dynamic Control as pure human powered machine people ectoskeleton.
Description
Technical field
The invention belongs to mechanical exoskeleton technical field, more particularly, to a kind of pure manpower ectoskeleton trunk system.
Background technique
Human body ectoskeleton power-assisting robot originates from the imagination and research and development of U.S.'s Ha Deman power-assisting robot in 1966, arrives
Today is whole still in development phase, energy resource supply device and the control for highly meeting human action agility and order of accuarcy requirement
The transfer device of system and power processed all needs to put into research and development energetically and test is attempted.With the U.S. in terms of the research achievement of ectoskeleton
It is the most advanced with Japanese technical research.The emphasis in the U.S. is Japanese then auxiliary closer to daily life and medical treatment in military army operation
It helps.China is also in the primary stage in this field, largely rests on theoretic, and the application mainly studied is medical rehabilitation
Supporting mechanism, control system, epigenetic of mechanical exoskeleton etc..There is no complication system technology entities production,
We also differ greatly with the more leading Japanese U.S. in this field.
The essence of power-assisted machine is exactly that the strength of the mankind itself and movement speed are put to several times greater or even thousands of times.Ectoskeleton
As the machinery of high-precision simulating behaviors of human bodies, the development and optimization of technology not only add the wing for military and medical treatment, also will be not
Carry out building field and manufacturing field makes the contribution that can not be estimated and compare.
Increasingly it is intended to the tough and tensile lighting of material, the low consumption of the energy, the nothing of control in terms of wearable attaching type
Seamization, the smoothnessization of driving.This requires building material be tough and tensile light elastic composite, wear ectoskeleton in guarantee
Person while, reduce energy consumption.Its energy offer device, which will convert ectoskeleton for natural energy resources as far as possible, to be made
The energy, and can guarantee that the time of enough length is done in support.And the installation of its control system, it is desirable that user puts on energy after the equipment
Enough normal activities and safety action smoothness.
In building, the ectoskeleton with power-assisted will than general tower crane, the more flexible task that accurately fulfils assignment of mechanical arm,
Personnel casualty accidents etc. are effectively reduced.People wears constructure type ectoskeleton, and human body weight bearing ability not only can be improved, reduce to labour
Amount and mechanical working technique qualification, machinery dress itself are also the protection of a kind of couple of people itself out of the human body.In manufacturer
Face is also such.
Summary of the invention
In view of this, the invention is directed to a kind of pure manpower ectoskeleton trunk system, asked with solving above-mentioned technology
Topic.
In order to achieve the above objectives, the technical solution of the invention is achieved in that
A kind of pure manpower ectoskeleton trunk system, including trunk frame are provided in the middle part of trunk frame and to be vertically arranged
Trunk vertical bar, the lower end of trunk vertical bar are connected with top and the bottom connector, and top and the bottom connector includes upper connector and lower company
Fitting, the top of upper connector and the lower end of trunk vertical bar are affixed by bolt, and the lower end of upper connector is connected with cylinder
Upper turning set, the upper end of lower connector are connected with arc-shaped lower turning set, and upper turning set and lower turning set are coaxially disposed, upper to turn
The outer end of two sides is fixed after dynamic set is connected with lower turning set by shaft, and upper turning set is relatively rotatable to each other with lower turning set.
Further, it is provided with lug boss on upper turning set, the notch section with raised portion fits is provided on lower turning set, it is convex
The portion of rising can be rotated in notch section, and the cross-sectional arc length of lug boss is less than the cross-sectional arc length of notch section.
Further, upper turning set can rotate 20 degree of angle relative to lower turning set.
Further, trunk frame includes upper and lower crossbeam, and the both ends of upper and lower crossbeam are logical with the end of left and right frame respectively
Hinge connection is crossed, the side of hinge is fixed on the end of upper beam or lower beam, and the other side of hinge is fixed on left frame
Or the same side of trunk frame is arranged in the end of left frame, hinge.
Further, the lower part of lower turning set is vertical interconnecting piece, and the lower end of vertical interconnecting piece and the upper end of spherical pair connect
It connects, the lower end of spherical pair and the upper surface of transverse connection are affixed, the hip of transverse connection and pure manpower exoskeleton lower limbs system
Portion is affixed.
Compared with the existing technology, a kind of pure manpower ectoskeleton trunk system described in the invention has the advantage that
(1) the invention provides a kind of trunk structure for extensional mode mechanical exoskeleton, and structure is simple, easy to install, as
Pure human powered machine people ectoskeleton is the ectoskeleton using manpower as dynamic Control；
(2) the invention can realize that shoulder joint is overturn, and bending, the rotation of waist, can be realized trunk and human body is turned round
The consistency of the corresponding sports such as waist.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide to further understand the invention, present invention wound
The illustrative embodiments and their description made are used to explain the present invention creation, do not constitute the improper restriction to the invention.?
In attached drawing:
Fig. 1 is the structural schematic diagram of the pure manpower exoskeleton system of the invention embodiment；
Fig. 2 is the structural schematic diagram of pure manpower ectoskeleton upper limb system described in the invention embodiment；
Fig. 3 is the structural schematic diagram of pure manpower ectoskeleton trunk system described in the invention embodiment；
Fig. 4 is the structural schematic diagram of pure manpower exoskeleton lower limbs system described in the invention embodiment；
Description of symbols:
1, pure manpower ectoskeleton upper limb system；101, large arm rod piece；102, large arm cross bar；103, large arm vertical bar；104, big
Arm extension；105, forearm control piece；106, forearm controls cross bar；107, forearm rod piece；108, forearm extension；109, it controls
Connector；110, flexural rigidity bar；111, hand control piece；112, arm extension rod；2, pure manpower ectoskeleton trunk system；
201, upper beam；202, lower beam；203, left frame；204, left frame；205, hinge；206, trunk vertical bar；207, upper company
Fitting；208, upper turning set；2081, lug boss；209, lower turning set；2091, notch section；210, lower connector；211, baffle；
212, fixed pin；213, spherical pair；214, transverse connection；3, pure manpower exoskeleton lower limbs system；301, crotch's connector one；
302, crotch's connector two；303, crotch's connector three；304, thigh rod piece；3041, leg connector one；3042, leg connects
Fitting two；3043, leg connector three；305, shank rod piece one；306, shank rod piece two；307, shank rod piece three；308, foot
Lateral connector bar；309, foot connecting plate；310, L-type right angle connecting rod；311, step connecting rod；312, extend sole；313, connect after foot
Bar.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention can
To be combined with each other.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
As shown in Figure 1, a kind of pure manpower exoskeleton system, including pure manpower ectoskeleton upper limb system 1, pure manpower ectoskeleton
Trunk system 2 and pure manpower exoskeleton lower limbs system 3.Pure manpower ectoskeleton upper limb system 1 and pure manpower ectoskeleton trunk system 2
Side connection, the upper end of pure manpower exoskeleton lower limbs system 3 is connect with the lower end of pure manpower ectoskeleton trunk system 2.
As shown in Fig. 2, pure manpower ectoskeleton upper limb system 1 include a large arm rod piece 101, one end of large arm rod piece 101 with
The side frame of pure manpower ectoskeleton trunk system 2 is hinged.Large arm rod piece 101, a large arm cross bar 102 and two large arm vertical bars 103
Constitute the first parallelogram motion mechanism.Two large arm vertical bars 103 are arranged in parallel, and one end of large arm vertical bar 103 is respectively and greatly
Armed lever part 101 is hinged, other end and between the two interval setting of two large arm vertical bars 103 close to large arm rod piece 101, large arm
Cross bar 102 is arranged in parallel with large arm rod piece 101, the side frame of one end of large arm cross bar 102 and pure manpower ectoskeleton trunk system 2
Hingedly, the middle part of two large arm vertical bars 103 is hinged with large arm cross bar 102 respectively.Large arm vertical bar 103 play expand shoulder level,
Transmit the effect of large arm movement.Large arm cross bar 102 is in order to increase the stability and intensity of the first parallelogram mechanism.In order to more
It is bonded human body, the lower end of large arm vertical bar 103 is connected with the linker for arm.
One end of large arm extension 104 is fixed on the large arm rod piece of large arm rod piece 101 Yu the hinged one end of large arm cross bar 102
101 outsides.Large arm extension 104 passes through the earhole in the outside of large arm rod piece 101, and large arm extension 104 can be along itself axis
Rotation.Large arm extension 104 plays the role of extending ectoskeleton size, amplification ectoskeleton movement.Large arm extension 104 is in addition
One end is provided with the second parallelogram motion mechanism.Second parallelogram motion mechanism is the parallelogram for controlling forearm
Mechanism.Second parallelogram motion mechanism includes large arm extension 104, forearm rod piece 107, forearm control cross bar 106 and small
Arm control piece 105, forearm control piece 105 and forearm rod piece 107 are arranged in parallel, one end of forearm control piece 105 and forearm rod piece
107 is hinged with large arm extension 104 respectively, and forearm control cross bar 106 is arranged in parallel with large arm extension 104, and forearm control is horizontal
The both ends of bar 106 are hinged with the end of forearm control piece 105 and forearm rod piece 107 respectively.
One end of forearm rod piece 107 protrudes from large arm extension 104 forward, and protruding portion and the forearm of forearm rod piece 107 prolong
The one end for stretching part 108 is affixed, and forearm extension 108 is arranged in parallel with forearm rod piece 107, the other end of forearm extension 108
Extend forward.The free end of forearm extension 108 is for installing terminal device.
Third parallelogram motion mechanism is connected on the inner sidewall of forearm control piece 105.Third parallelogram fortune
Motivation structure is for solving the problems, such as that the joint due to caused by large arm extension is misaligned.Third parallelogram motion mechanism includes one
Control 109, two flexural rigidity bars 110 of connector and a hand control piece 111, control connector 109 and forearm control piece 105
It is arranged in parallel, two flexural rigidity bars 110 are arranged in parallel, and one end side section of two flexural rigidity bars 110 is not connected with control
The both ends of lateral wall of the part 109 far from forearm control piece 105 are hinged, and connector 109 is parallel sets with control for hand control piece 111
It sets, the both ends of hand control piece 111 are hinged with the other end of flexural rigidity bar 110 respectively.The flexural rigidity bar 110 of forward setting
Front side wall on be connected with arm extension rod 112, arm extension rod 112 extends forward.
Two parallelogram mechanisms are applied on forearm ectoskeleton, are the second parallelogram motion mechanism and respectively
Three parallelogram motion mechanisms.The function of second parallelogram motion mechanism is the same as the first parallelogram in large arm ectoskeleton
The function of movement mechanism is identical, is the effect for amplifying moving displacement.Third parallelogram motion mechanism be then for solve by
The problem of joint caused by change in size is not overlapped.
As shown in figure 3, pure manpower ectoskeleton trunk system 2 includes trunk frame, trunk frame includes upper and lower crossbeam
(201,202), the both ends of upper and lower crossbeam (201,202) are connected with the end of left and right frame (203,204) by hinge 205 respectively
It connects, the side of hinge 205 is fixed on the end of upper beam 201 or lower beam 202, and the other side of hinge 205 is fixed on a left side
The same side of trunk frame is arranged in the end of frame 203 or left frame 204, hinge 205.It is provided in the middle part of trunk frame
The trunk vertical bar 206 being vertically arranged, trunk vertical bar 206 is vertical with trunk frame, the upper end of trunk vertical bar 206 and upper cross
The middle part of beam 201 is affixed, and the middle part of trunk vertical bar 206 and the middle part of lower beam 202 are affixed.The lower end of trunk vertical bar 206
It is connected with top and the bottom connector.
Top and the bottom connector includes upper connector 207 and lower connector 210, and the top of upper connector 207 and trunk are vertical
The lower end of bar 206 is affixed by bolt, and the lower end of upper connector 207 is connected with turning set 208 in cylinder, lower connector 210
Upper end be connected with arc-shaped lower turning set 209, upper turning set 208 is coaxially disposed with lower turning set 209, upper turning set 208
The outer end of two sides is fixed by baffle 211 and fixed pin 212 after being connected with lower turning set 209 by shaft, upper turning set 208
It is relatively rotatable to each other with lower turning set 209.Lug boss 2081 is provided on upper turning set 208, be provided on lower turning set 209 with it is convex
The notch section 2091 that portion 2081 cooperates is played, lug boss 2081 can be rotated in notch section 2091, the cross section arc of lug boss 2081
The long cross-sectional arc length for being less than notch section 2091, will thus define that turning set 208 can be 209 turns relative to lower turning set
The dynamic angle limited.Upper turning set 208 can rotate 20 degree of angle relative to lower turning set 209.Upper turning set 208 with lower turn
The combination of dynamic set 209 is equivalent to the waist of human body.
The lower part of lower turning set 209 is vertical interconnecting piece, and the lower end of vertical interconnecting piece is connect with the upper end of spherical pair 213,
The lower end of spherical pair 213 and the upper surface of transverse connection 214 are affixed, transverse connection 214 and pure manpower exoskeleton lower limbs system
The crotch of system 3 is affixed.The junction of spherical pair 213 also corresponds to the waist of human body, and the design of spherical pair 213 guarantees outside pure manpower
Left-right rotation of the bone trunk system 2 relative to pure manpower exoskeleton lower limbs system 3.
As shown in figure 4, pure manpower exoskeleton lower limbs system 3 includes crotch's component and leg assembly.Crotch's component includes phase
A pair of of crotch connector 1 symmetrically arranged for transverse connection 214, the upper surface of one end of crotch's connector 1
Hinged with the lower end surface of one end of transverse connection 214, the other end of lower end surface of crotch's connector 1 is connect with crotch
One end upper surface of part 2 302 is hinged, and Liang Ge crotch connector 2 302 is symmetrical arranged relative to transverse connection 214.Crotch connects
The other end of upper surface of fitting 2 302 and the lower end surface of one end of crotch connector 3 303 are hinged, crotch's connector three
303 are symmetrical arranged relative to transverse connection 214, and the other end of crotch's connector 3 303 and the upper end of leg assembly are hinged.
3 303 3 pairs of crotch's connector 1, crotch's connector 2 302, crotch's connector aluminium alloy rods constitute one group
Symmetrical quadrilateral structure has stable architectural characteristic, while each junction ensure that with pin connection and possess at crotch
Enough freedom degrees follow human motion.
Leg assembly includes leg connector 1, and leg connector 1 is U-shaped structure, and the two of leg connector
The end of side wall and crotch connector 3 303 is hinged.The intermediate plate of leg connector 1 and one end of thigh rod piece 304 are solid
It connects, the other end of thigh rod piece 304 is connected with leg connector 2 3042, leg connector 2 3042 and leg connector one
3041 structure is identical, is connected with leg connector 3 3043, leg on the thigh rod piece 304 of leg connector 2 3042
Connector 2 3042, leg connector 3 3043 are identical as the structure of leg connector 1.
The end of leg connector 3 3043 and one end of shank rod piece 1 are hinged, the end of leg connector 2 3042
Portion and one end of shank rod piece 2 306 are hinged, and shank rod piece 3 307 is arranged in parallel with thigh rod piece 304, shank rod piece 3 307
Both ends it is hinged with one end of shank rod piece 1, shank rod piece 2 306 respectively.Thigh rod piece 304, shank rod piece 1,
Shank rod piece 2 306 and shank rod piece 3 307 form the 4th parallelogram movement mechanism.
One end of sufficient lateral connector bar 308 and the lower end of shank rod piece 1 are hinged, sufficient lateral connector bar 308 and shank rod piece
One 305 is hinged point articulated with shank rod piece 3 307.The lower end inside of sufficient lateral connector bar 308 is connected with horizontally disposed foot
Connecting plate 309, foot connecting plate 309 are vertically arranged with sufficient lateral connector bar 308.
The right angle of L-type right angle connecting rod 310 and shank rod piece 2 306 and hinged, L at the hinge joint of shank rod piece 3 307
Type right angle connecting rod 310 it is opening down, one end rearward of L-type right angle connecting rod 310 and one end of sufficient back link 313 are hinged, foot
The other end of back link 313 and the rear end of foot connecting plate 309 are hinged, forward one end and step of L-type right angle connecting rod 310
One end of connecting rod 311 is hinged.The other end of step connecting rod 311 and the one end for extending sole 312 are hinged, shank rod piece 2 306
Lower end with extend sole 312 other end it is hinged.Extend the structure that sole 312 is square, extends the lower end of sole 312
Face is plane, and the both ends for extending the inclined-plane of sole 312 are hinged with the end of shank rod piece 2 306 and step connecting rod 311 respectively.L
The preceding right angle arm of type right angle connecting rod 310, step connecting rod 311, the lower part composition the 5th for extending sole 312 and shank rod piece 2 306
Parallelogram motion mechanism.
Thigh rod piece 304 and human thigh to be fixed using bandage respectively, shank rod piece 1 is fixed with human calf,
People's foot is trampled on foot connecting plate 309 and is fixed with bandage, and so far the connection of leg assembly and human body has been completed.Work as people
When body carries out foot-up movement, sufficient back link 313 moves downward and L-type right angle connecting rod 310 is promoted to do around the hinge joint of right angle
Rotate clockwise, the preceding right angle arm of L-type right angle connecting rod 310 traction foot's connecting rod moves upwards so that extend sole 312 with
Human body, which synchronizes, to be moved upwards.
The invention is fixed on trunk on one side, is changed to the other end on the basis of guaranteeing parallelogram
And adjustment, extend to edge lengths to required multiple, obtained is that amplification is wanted to use motion profile (the whole amplification of multiple
Ectoskeleton).Both wearer can have been made to extend the distance of its movement, to broaden the scope of work, and wearer can have been helped complete
Adult body itself can not unaided some tasks.Extension function is realized by multiple link mechanisms, wherein with the flat of connecting rod
Row quadrilateral structure is main technical foundation, and each joint is attached using pin, to obtain extensional mode robot dermoskeleton
Bone mechanical mechanism.
The foregoing is merely the preferred embodiments of the invention, are not intended to limit the invention creation, all at this
Within the spirit and principle of innovation and creation, any modification, equivalent replacement, improvement and so on should be included in the invention
Protection scope within.
Claims (5)
1. a kind of pure manpower ectoskeleton trunk system, it is characterised in that: including trunk frame, be provided in the middle part of trunk frame perpendicular
The trunk vertical bar (206) being directly arranged, the lower end of trunk vertical bar (206) are connected with top and the bottom connector, top and the bottom connector
Including upper connector (207) and lower connector (210), the top of upper connector (207) and the lower end of trunk vertical bar (206) are logical
Cross that bolt is affixed, the lower end of upper connector (207) is connected with turning set in cylinder (208), and the upper end of lower connector (210) is solid
It is connected to arc-shaped lower turning set (209), upper turning set (208) and lower turning set (209) are coaxially disposed, upper turning set (208)
The outer end of two sides is fixed after being connected with lower turning set (209) by shaft, upper turning set (208) and lower turning set (209) energy
It is enough to relatively rotate.
2. pure manpower ectoskeleton trunk system according to claim 1, it is characterised in that: be arranged on upper turning set (208)
Have lug boss (2081), the notch section (2091) with lug boss (2081) cooperation, lug boss are provided on lower turning set (209)
(2081) it can be rotated in notch section (2091), the cross-sectional arc length of lug boss (2081) is less than the cross section of notch section (2091)
Arc length.
3. pure manpower ectoskeleton trunk system according to claim 2, it is characterised in that: upper turning set (208) being capable of phase
Lower turning set (209) are rotated with 20 degree of angle.
4. pure manpower ectoskeleton trunk system according to claim 1, it is characterised in that: trunk frame includes upper, lower horizontal
Beam (201,202), end of the both ends of upper and lower crossbeam (201,202) respectively with left and right frame (203,204) pass through hinge
(205) connect, the side of hinge (205) is fixed on the end of upper beam (201) or lower beam (202), hinge (205) it is another
Outer side is fixed on the end of left frame (203) or left frame (204), and the same side of trunk frame is arranged in hinge (205).
5. pure manpower ectoskeleton trunk system according to claim 1, it is characterised in that: the lower part of lower turning set (209)
Lower end for vertical interconnecting piece, vertical interconnecting piece is connect with the upper end of spherical pair (213), the lower end of spherical pair (213) and transverse direction
The upper surface of connector (214) is affixed, and transverse connection (214) and the crotch of pure manpower exoskeleton lower limbs system (3) are affixed.
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| CN201811093931.5A CN108972516A (en) | 2018-09-19 | 2018-09-19 | A kind of pure manpower ectoskeleton trunk system |
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| CN201811093931.5A CN108972516A (en) | 2018-09-19 | 2018-09-19 | A kind of pure manpower ectoskeleton trunk system |
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| CN114832392A (en) * | 2019-08-07 | 2022-08-02 | 株式会社万代 | Joint structure and human body |
| CN114832392B (en) * | 2019-08-07 | 2024-03-22 | 株式会社万代 | Joint structure and human body |
| CN110434837A (en) * | 2019-09-10 | 2019-11-12 | 深圳市迈步机器人科技有限公司 | A kind of upper limb assistance device |
| CN110434837B (en) * | 2019-09-10 | 2024-04-02 | 深圳市迈步机器人科技有限公司 | Upper limb booster |
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Application publication date: 20181211 |