CN109333512A - A kind of knee joint servomechanism - Google Patents
A kind of knee joint servomechanism Download PDFInfo
- Publication number
- CN109333512A CN109333512A CN201811440354.2A CN201811440354A CN109333512A CN 109333512 A CN109333512 A CN 109333512A CN 201811440354 A CN201811440354 A CN 201811440354A CN 109333512 A CN109333512 A CN 109333512A
- Authority
- CN
- China
- Prior art keywords
- sole
- air bag
- cylinder
- leg
- energy storage
- 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.)
- Granted
Links
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 25
- 210000002414 leg Anatomy 0.000 claims abstract description 54
- 238000004146 energy storage Methods 0.000 claims abstract description 36
- 210000000689 upper leg Anatomy 0.000 claims abstract description 25
- 210000001699 lower leg Anatomy 0.000 abstract description 26
- 239000002775 capsule Substances 0.000 abstract description 7
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000037081 physical activity Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of knee joint servomechanism, waistband is fastened in loins, and thigh support bar is bound on thigh, and leg support bar is bound on shank, is hinged with cylinder between thigh support bar and leg support bar.Air bag is equipped in sole, air bag gas circuit leads to cylinder.Left and right air bag alternately supplies, i.e., right crus of diaphragm spirit capsule transtracheal controls left leg cylinder, and left foot spirit capsule transtracheal controls right leg cylinder.Right crus of diaphragm heelstrike, lift by left heel, and right crus of diaphragm air bag starts to compress at this time, and left foot air bag air-breathing under the action of energy storage equipment, left leg cylinder starts to shrink.Right crus of diaphragm heelstrike while, right crus of diaphragm bottom energy storage equipment be pressurized carry out energy storage.Heelstrike, right heel lift, left foot air bag compresses left foot at this time, and right crus of diaphragm air bag air-breathing under the action of energy storage equipment, right leg cylinder starts to shrink.Left foot heelstrike while, left foot bottom energy storage equipment be pressurized carry out energy storage.
Description
Technical field
The present invention relates to biological exoskeleton device field, in particular to a kind of knee joint servomechanism.
Background technique
In physical activity, knee joint is that human body bears burdens maximum position, especially when human body is squatted down to knee joint
The burden of generation is particularly acute, and knee joint is also easy to fatigue.In ectoskeleton power-assisted field, people always want to obtain a kind of knee
Joint assistance mechanism does not need additional dynamic structure, it is only necessary to be completed with spring energy-storage original part；General knee joint helps
Force mechanisms can all use spring, and spring can generate power-assisted effect by compression in human body walking.
In the prior art, general knee joint servomechanism carries out power-assisted in use, since servomechanism mostly uses spring
When response it is very fast, support force may be insufficient when or spring strength larger to the pressure of muscle is smaller.
Summary of the invention
It is an object of the invention to: a kind of knee joint servomechanism is provided, solves general knee joint servomechanism
In use, carrying out responding very fast, or spring force larger to the pressure of muscle when power-assisted since servomechanism mostly uses spring
The problem that support force may be insufficient when measuring smaller.
The technical solution adopted by the invention is as follows:
A kind of knee joint servomechanism, including waistband and the exoskeleton system being connected on waistband, the exoskeleton system
Including the two thigh support components in left and right, the thigh support component include thigh support bar and with hinged small of thigh support bar
Leg support rod and the sole connecting with leg support bar further include that cylinder and cylinder and the air bag being arranged in sole and accumulation of energy fill
It sets, described cylinder one end and thigh support bar are pivotally connected, and the other end and leg support bar are pivotally connected；
It further include tracheae, one end of tracheae connects air bag, and the other end connects cylinder, wherein the air bag in the sole of left leg
It is connect with the cylinder of right leg, the air bag in the sole of right leg is connect with the cylinder of left leg.
When human body walking, waistband is fastened in loins, and thigh support bar is bound on thigh, and leg support bar is bound in shank
On, cylinder is hinged between thigh support bar and leg support bar.Air bag is equipped in sole, air bag gas circuit leads to cylinder.Left and right
Air bag alternately supplies, i.e., right crus of diaphragm spirit capsule transtracheal controls left leg cylinder, and left foot spirit capsule transtracheal controls right leg cylinder.
When work, right crus of diaphragm heelstrike, lift by left heel, and right crus of diaphragm air bag starts to compress at this time, work of the left foot in energy storage equipment
With lower gasbag air-breathing, left leg cylinder is started to shrink.Right crus of diaphragm heelstrike while, right crus of diaphragm bottom energy storage equipment be pressurized carry out energy storage.
Heelstrike, right heel lift, left foot air bag compresses left foot at this time, and right crus of diaphragm air bag under the action of energy storage equipment is inhaled
Gas, right leg cylinder start to shrink.Left foot heelstrike while, left foot bottom energy storage equipment be pressurized carry out energy storage.
Further, the sole is made of lower sole and upper sole, wherein lower sole it is identical with upper sole shape and under
Sole front end is connect with the front end of upper sole.Lower sole and upper sole are articulated and connected, that is, sole is descended to fix with upper sole toe cap.
Further, the air bag and energy storage equipment are arranged between lower sole and upper sole.
Further, the energy storage equipment includes the baffle and support plate perpendicular to lower sole, the baffle and support plate
Between be provided with the guide rod vertical with baffle and support plate, the direction of the guide rod and the heel of sole are directed toward the side of toe cap
It further include the guide sleeve being nested in outside guide rod to identical, the guide sleeve is connect by hinge with upper sole, and guide sleeve also leads to
Spring is crossed to connect with baffle.
Further, the baffle and support plate are located at the both ends of guide rod, and wherein it is close to be located at guide rod for baffle
One end of heel.
Further, the spring increases the active force of guide sleeve with the spacing between lower sole and upper sole and subtracts
It is small.The present apparatus can control the angle between upper and lower sole, thus ensure that every sole air bag pressured state is consistent,
To which the active force that the air pressure for generating air bag generates cylinder remains the same, cylinder piston when avoiding different people walking
The inconsistent problem of bar retraction stroke.
Energy storage equipment using the above structure, since guide sleeve is connect by hinge with upper sole, while guide rod is fixed
On lower sole, when heelstrike, the spacing between upper sole and lower sole reduces, and the angle on hinge and ground reduces, hinge
Chain belt action-oriented set is axially moved along guide rod, stretching or compressed spring；When heeloff, stretches or the spring of compression is multiple
Position, driving guide sleeve along guide rod be axially moved, guide sleeve under the action of the spring, it is in the horizontal direction project to upper sole
Hinged place is close, and the angle on hinge and ground increases, and increases the spacing between sole and lower sole, completes to reset.
Further, the front-end and back-end of the sole are provided with bandage.It completes to fix convenient for sole and sole.
Further, the middle section of the tracheae is fixed on waistband.If the middle section of tracheae is not fixed on waistband, and
Tracheae is directly directly connected to cylinder, the air bag due to being left leg is connect with the cylinder of right leg, and the air bag of right leg and left leg
Cylinder connection, then action when tracheae be easy to trip user, use is more inconvenient.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
1. a kind of knee joint servomechanism of the present invention also has cylinder not only with spring as servomechanism, cylinder is dynamic
With certain damping when making, solve general knee joint servomechanism in use, since servomechanism mostly uses spring, into
The problem very fast, support force may be insufficient when or spring strength larger to the pressure of muscle is smaller is responded when row power-assisted
2. a kind of knee joint servomechanism of the present invention, when work, right crus of diaphragm heelstrike, lift by left heel, at this time right crus of diaphragm air bag
Start to compress, left foot air bag air-breathing under the action of energy storage equipment, left leg cylinder starts to shrink.Right crus of diaphragm heelstrike while, it is right
Foot bottom energy storage equipment, which is pressurized, carries out energy storage；Heelstrike, right heel lift, left foot air bag compresses left foot at this time, and right crus of diaphragm is in accumulation of energy
Air bag air-breathing under the action of device, right leg cylinder start to shrink.Left foot heelstrike while, left foot bottom energy storage equipment is pressed into
Row energy storage.
Detailed description of the invention
Examples of the present invention will be described by way of reference to the accompanying drawings, in which:
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is footwear sole construction schematic diagram of the invention；
In figure, 1- waistband, 2- thigh support bar, 3- leg support bar, 4 soles, 5- cylinder, 6- air bag, 7- energy storage equipment,
701- baffle, 702- guide rod, 703- support plate, 704- guide sleeve, 705- hinge, 706- spring, 8- pivot, 9- tracheae.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
It elaborates below with reference to Fig. 1, Fig. 2 to the present invention.
Embodiment 1
A kind of knee joint servomechanism, including waistband 1 and the exoskeleton system being connected on waistband, the exoskeleton system
Including the two thigh support components in left and right, the thigh support component includes thigh support bar 2 and hinged with thigh support bar 2
Leg support bar 3 and the sole 4 connecting with leg support bar 3 further include cylinder 5 and cylinder 5 and the air bag being arranged in sole 4
6 and energy storage equipment 7, described 5 one end of cylinder and thigh support bar 2 are pivotally connected, and the other end and leg support bar 3 are pivotally connected；
It further include tracheae 9, one end of tracheae connects air bag 6, and the other end connects cylinder 5, wherein in the sole 4 of left leg
Air bag 6 is connect with the cylinder 5 of right leg, and the air bag 6 in the sole 4 of right leg is connect with the cylinder 5 of left leg.
When human body walking, waistband 1 is fastened in loins, and thigh support bar 2 is bound on thigh, and leg support bar 3 is bound small
On leg, cylinder 5 is hinged between thigh support bar 2 and leg support bar 3.Air bag 6 is equipped in sole 4,6 gas circuit of air bag leads to gas
Cylinder 5.Left and right air bag 6 alternately supplies, i.e., 6 transtracheal 9 of right crus of diaphragm spirit capsule controls left leg cylinder 5, the control of 6 transtracheal 9 of left foot spirit capsule
Make right leg cylinder 5.
When work, right crus of diaphragm heelstrike, lift by left heel, and right crus of diaphragm air bag 6 starts to compress at this time, by the gas in right crus of diaphragm air bag 6
Body is pressed into left leg cylinder 5, and left leg cylinder 5 starts to shrink, left foot 6 air-breathing of left foot air bag under the action of energy storage equipment 7.Right crus of diaphragm
While heelstrike, right crus of diaphragm bottom energy storage equipment 7, which is pressurized, carries out energy storage.
Heelstrike, right heel lift, left foot air bag 6 starts to compress left foot at this time, the gas in left foot air bag 6 is pressed into right
In leg cylinder 5, right leg cylinder 5 is started to shrink, right crus of diaphragm 6 air-breathing of right crus of diaphragm air bag under the action of energy storage equipment 7.Left foot is heelstrike
Meanwhile left foot bottom energy storage equipment 7 is pressurized and carries out energy storage.
Embodiment 2
The present embodiment the difference from embodiment 1 is that, the sole 4 is made of lower sole 401 and upper sole 402, wherein
Lower sole 401 and 402 shape of upper sole is identical and lower 401 front end of sole is connect with the front end of upper sole 402.Lower sole 401 with
Upper sole 402 is articulated and connected, that is, sole 401 is descended to fix with upper 402 toe cap of sole.The upper sole 402 passes through the pivot at heel
Axis 8 is connect with leg support bar.
Further, the air bag 6 and energy storage equipment 7 are arranged between lower sole 401 and upper sole 402.
Further, the energy storage equipment 7 includes the baffle 701 and support plate 703 perpendicular to lower sole 401, the gear
The guide rod 702 vertical with baffle 701 and support plate 703 is provided between plate 701 and support plate 703, the guide rod 702
Direction is identical as the heel of the sole 4 direction direction of toe cap, further includes the guide sleeve 704 being nested in outside guide rod 702, described to lead
It is connect to set 704 by hinge 705 with upper sole 402, guide sleeve 704 is also connect by spring 706 with baffle 701.
Further, the baffle 701 and support plate 703 are located at the both ends of guide rod 702, wherein 701, baffle
In guide rod 702 close to one end of heel.
Further, the spring 706 is to the active force of guide sleeve 704 between lower sole 401 and upper sole 402
Reduce away from increase.
Energy storage equipment 7 using the above structure, since guide sleeve 704 is connect by hinge 705 with upper sole 402, simultaneously
Guide rod 702 is fixed on lower sole 401, and when heelstrike, the spacing between upper sole 402 and lower sole 401 reduces, hinge
Chain 705 and the angle on ground reduce, and hinge 705 drives guide sleeve 704 to be axially moved along guide rod 702, stretching or compressed spring
706；When heeloff, stretches or the spring 706 of compression resets, driving guide sleeve 704 is axially moved along guide rod 702, is led
It is in the horizontal direction to project to, hinge 705 and ground close with upper 402 hinged place of sole to set 704 under the action of spring 706
The angle in face increases, and increases the spacing between sole 402 and lower sole 401, completes to reset.
Further, the front-end and back-end of the sole 4 are provided with bandage.It completes to fix convenient for sole 4 and sole.
Further, the middle section of the tracheae 9 is fixed on waistband 1.If the middle section of tracheae 9 is not fixed on waistband 1
On, and tracheae 9 is directly directly connected to cylinder 5, it is connect due to being the air bag 6 of left leg with the cylinder 5 of right leg, and the gas of right leg
Capsule 6 is connect with the cylinder 5 of left leg, then in action, tracheae 9 is easy to trip user, and use is more inconvenient.
Embodiment 3
The present embodiment the difference from example 2 is that, at the heel of the lower sole 401 install baffle 701, support plate
703 are mounted on the line of baffle 701 and toe cap, projection of the tie point of hinge 705 and upper sole 402 on lower sole 401
Closer away from toe cap relative to support plate 703, the spring 706 is in compressive state always.
Energy storage equipment 7 using the above structure, since guide sleeve 704 is connect by hinge 705 with upper sole 402, simultaneously
Guide rod 702 is fixed on lower sole 401, and when heelstrike, the spacing between upper sole 402 and lower sole 401 reduces, hinge
Chain 705 and the angle on ground reduce, and hinge 705 drives guide sleeve 704 to be axially moved along guide rod 702, compressed spring 706；?
When heeloff, the spring 706 of compression resets, and driving guide sleeve 704 is axially moved along guide rod 702, and guide sleeve 704 is in spring
It is in the horizontal direction to project to, the angle increase on hinge 705 and ground close with upper 402 hinged place of sole under the action of 706,
Increase the spacing between sole 402 and lower sole 401, completes to reset.
The above, only the preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, it is any
Those skilled in the art within the technical scope disclosed by the invention, can without the variation that creative work is expected or
Replacement, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be limited with claims
Subject to fixed protection scope.
Claims (8)
1. a kind of knee joint servomechanism, including exoskeleton system waistband (1) and be connected on waistband, the exoskeleton system
Including the two thigh support components in left and right, the thigh support component includes thigh support bar (2) and cuts with scissors with thigh support bar (2)
The leg support bar (3) connect and the sole (4) being connect with leg support bar (3), it is characterised in that: further include that cylinder (5) is gentle
Cylinder (5) and the air bag (6) and energy storage equipment (7) being arranged in sole (4), described cylinder (5) one end and thigh support bar (2) pivot
It connects, the other end and leg support bar (3) are pivotally connected；
It further include tracheae (9), one end of tracheae connects air bag (6), and the other end connects cylinder (5), wherein the sole (4) of left leg
Interior air bag (6) is connect with the cylinder (5) of right leg, and the air bag (6) in the sole (4) of right leg is connect with the cylinder (5) of left leg.
2. a kind of knee joint servomechanism according to claim 1, it is characterised in that: the sole (4) is by lower sole
(401) it is formed with upper sole (402), wherein lower sole (401) sole (401) front end identical and lower with upper sole (402) shape
It is connect with the front end of upper sole (402).
3. a kind of knee joint servomechanism according to claim 2, it is characterised in that: the air bag (6) and energy storage equipment
(7) it is arranged between lower sole (401) and upper sole (402).
4. a kind of knee joint servomechanism according to claim 3, it is characterised in that: the energy storage equipment (7) includes hanging down
Directly in the baffle (701) and support plate (703) of lower sole (401), it is provided between the baffle (701) and support plate (703)
The guide rod (702) vertical with baffle (701) and support plate (703), the direction of the guide rod (702) and the shoes of sole (4)
Direction with being directed toward toe cap is identical, further includes being nested in the guide sleeve (704) of guide rod (702) outside, and the guide sleeve (704) is logical
It crosses hinge (705) to connect with upper sole (402), guide sleeve (704) is also connect by spring (706) with baffle (701).
5. a kind of knee joint servomechanism according to claim 4, it is characterised in that: the baffle (701) and support plate
(703) both ends of guide rod (702) are located at, wherein baffle (701) is located at the one end of guide rod (702) close to heel.
6. a kind of knee joint servomechanism according to claim 4, it is characterised in that: the spring (706) is to guide sleeve
(704) active force increases with the spacing between lower sole (401) and upper sole (402) and is reduced.
7. a kind of knee joint servomechanism according to claim 1, it is characterised in that: the front end of the sole (4) is with after
End is provided with bandage.
8. a kind of knee joint servomechanism according to claim 1, it is characterised in that: the middle section of the tracheae (9) is fixed
On waistband (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811440354.2A CN109333512B (en) | 2018-11-29 | 2018-11-29 | Knee joint power assisting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811440354.2A CN109333512B (en) | 2018-11-29 | 2018-11-29 | Knee joint power assisting mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109333512A true CN109333512A (en) | 2019-02-15 |
| CN109333512B CN109333512B (en) | 2024-08-02 |
Family
ID=65319238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811440354.2A Active CN109333512B (en) | 2018-11-29 | 2018-11-29 | Knee joint power assisting mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109333512B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111419649A (en) * | 2020-04-10 | 2020-07-17 | 赵勇 | Patient rehabilitation walking assisting device based on intelligent medical treatment |
| JP2022191542A (en) * | 2021-06-16 | 2022-12-28 | 守屋 孝敏 | Load reduction device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150209214A1 (en) * | 2013-12-16 | 2015-07-30 | Massachusetts Institute Of Technology | Optimal design of a lower limb exoskeleton or orthosis |
| CN106420279A (en) * | 2016-12-01 | 2017-02-22 | 北京理工大学 | Gait-based wearable flexible knee joint robot exoskeleton facility |
| CN106491319A (en) * | 2016-12-01 | 2017-03-15 | 北京理工大学 | A kind of wearable knee joint power-assisting robot |
| CN106491317A (en) * | 2016-12-01 | 2017-03-15 | 北京理工大学 | A kind of wearable knee joint walk help equipment of self-driven self adaptation gait |
| KR101830093B1 (en) * | 2016-09-20 | 2018-02-20 | 국방과학연구소 | WEARABlE ROBOT WITH HYDRAUlIC CYlINDER DEVICE |
| CN108189011A (en) * | 2018-02-12 | 2018-06-22 | 成都云鼎康德科技有限公司 | A kind of human body walking walk helper |
| CN209140890U (en) * | 2018-11-29 | 2019-07-23 | 成都云鼎康德科技有限公司 | A kind of knee joint servomechanism |
-
2018
- 2018-11-29 CN CN201811440354.2A patent/CN109333512B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150209214A1 (en) * | 2013-12-16 | 2015-07-30 | Massachusetts Institute Of Technology | Optimal design of a lower limb exoskeleton or orthosis |
| KR101830093B1 (en) * | 2016-09-20 | 2018-02-20 | 국방과학연구소 | WEARABlE ROBOT WITH HYDRAUlIC CYlINDER DEVICE |
| CN106420279A (en) * | 2016-12-01 | 2017-02-22 | 北京理工大学 | Gait-based wearable flexible knee joint robot exoskeleton facility |
| CN106491319A (en) * | 2016-12-01 | 2017-03-15 | 北京理工大学 | A kind of wearable knee joint power-assisting robot |
| CN106491317A (en) * | 2016-12-01 | 2017-03-15 | 北京理工大学 | A kind of wearable knee joint walk help equipment of self-driven self adaptation gait |
| CN108189011A (en) * | 2018-02-12 | 2018-06-22 | 成都云鼎康德科技有限公司 | A kind of human body walking walk helper |
| CN209140890U (en) * | 2018-11-29 | 2019-07-23 | 成都云鼎康德科技有限公司 | A kind of knee joint servomechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111419649A (en) * | 2020-04-10 | 2020-07-17 | 赵勇 | Patient rehabilitation walking assisting device based on intelligent medical treatment |
| JP2022191542A (en) * | 2021-06-16 | 2022-12-28 | 守屋 孝敏 | Load reduction device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109333512B (en) | 2024-08-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106420277B (en) | A kind of Portable flexible walking auxiliary equipment | |
| CN105904440B (en) | A kind of self-adapting flexible joint exoskeleton device | |
| CN102137641A (en) | Smooth rollover insole for prosthetic foot | |
| JP6366049B2 (en) | Leg assist device | |
| CN109333512A (en) | A kind of knee joint servomechanism | |
| US10835407B2 (en) | Orthotic device for assisting limb movement | |
| KR101425124B1 (en) | Gait assistance device including energy storage unit by ratchet | |
| WO2019118857A4 (en) | Medical walker | |
| CN209140890U (en) | A kind of knee joint servomechanism | |
| JP5892884B2 (en) | Lower limb massage device and control method of lower limb massage device | |
| JP5907370B2 (en) | Walking training device | |
| JP2008278921A (en) | Walking assist device | |
| CN208005664U (en) | A kind of human body walking walk helper | |
| CN212651294U (en) | Auxiliary walking device for rehabilitation | |
| CN112221084A (en) | Rehabilitation is joint postoperative rehabilitation training device for medical science | |
| CN114533499B (en) | A control system and control method for lower limb assistive device | |
| CN116135480A (en) | Wearable lower limb exoskeleton device | |
| CN114642573A (en) | Exoskeleton for rehabilitation | |
| CN204581636U (en) | Medical leg auxiliary fixer | |
| CN114404232A (en) | An auxiliary system for lower limb rehabilitation and walking assistance | |
| CN209662114U (en) | Semi-automatic knee joint recovery chair | |
| CN208405005U (en) | Knee joint stress variable correction brace | |
| CN209004599U (en) | Rapid wiring device, ectoskeleton driving device and lower limb assistance exoskeleton system | |
| CN211023879U (en) | Walking auxiliary device that parkinson disease was used | |
| CN208145313U (en) | Foot is naked to resume training device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |