CN112315731B - Novel flexible exoskeleton material and control method - Google Patents
Novel flexible exoskeleton material and control method Download PDFInfo
- Publication number
- CN112315731B CN112315731B CN201911142027.3A CN201911142027A CN112315731B CN 112315731 B CN112315731 B CN 112315731B CN 201911142027 A CN201911142027 A CN 201911142027A CN 112315731 B CN112315731 B CN 112315731B
- Authority
- CN
- China
- Prior art keywords
- patient
- flexible exoskeleton
- gait
- information
- processing module
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000000463 material Substances 0.000 title claims abstract description 25
- 230000005021 gait Effects 0.000 claims abstract description 38
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 4
- 230000008859 change Effects 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 11
- 229920000642 polymer Polymers 0.000 claims description 9
- 239000000835 fiber Substances 0.000 claims description 8
- 150000002500 ions Chemical class 0.000 claims description 5
- 239000002904 solvent Substances 0.000 claims description 5
- 239000004744 fabric Substances 0.000 claims description 4
- 229920001940 conductive polymer Polymers 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 239000004627 regenerated cellulose Substances 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims 1
- 238000000576 coating method Methods 0.000 claims 1
- 238000013480 data collection Methods 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 7
- 210000003414 extremity Anatomy 0.000 description 6
- 238000011084 recovery Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 238000009965 tatting Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000009940 knitting Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 208000006820 Arthralgia Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a novel flexible exoskeleton material and a control method, which comprises a flexible exoskeleton coat and an information acquisition library, wherein a processing module and a data acquisition module are arranged in the flexible exoskeleton coat, the input end of the processing module is electrically connected with the output end of the data acquisition module, the processing module is in bidirectional connection with the information acquisition library, the data acquisition module sends acquired information to the processing module, the novel flexible exoskeleton material and the control method change the control action mode of the traditional exoskeleton, various disadvantages of the traditional rigid exoskeleton are effectively solved through the mode, a patient is more comfortable in the training process, the patient can input some key information of the patient limb in a brand new control mode, the function is utilized to correspondingly output a standard gait relatively suitable for the patient, the acquired reverse signals corresponding to the gait are found, the reverse signals are controlled in a forward direction, and the rehabilitation training of the patient is performed.
Description
Technical Field
The invention relates to the technical field of medical appliances, in particular to a novel flexible exoskeleton material and a control method.
Background
The rehabilitation exoskeleton is a typical man-machine integrated system, and joint pain, limitation of movement space and the like can be caused by mismatching of human-machine joint movement axes, so that rehabilitation training effects are affected, and secondary injury to affected limbs is even caused. However, most of the existing rehabilitation exoskeletons adopt rigid structures, so that man-machine integration is difficult to achieve in the use process of patients, the patients are unnatural in the training process, the patients are painful, and the existing rehabilitation training has major defects.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a novel flexible exoskeleton material and a control method, which have the advantages of light weight, convenient action and the like, and solve the problems of heavy weight, inconvenient action and great difference with the movement state of people.
(II) technical scheme
In order to achieve the purpose of convenient action, the invention provides the following technical scheme: the intelligent multifunctional intelligent exoskeleton fabric comprises a flexible exoskeleton fabric and an information acquisition library, wherein a processing module and a data acquisition module are arranged in the flexible exoskeleton fabric, the input end of the processing module is electrically connected with the output end of the data acquisition module, the processing module is in bidirectional connection with the information acquisition library, the data acquisition module sends acquired information to the processing module, and the processing module sends received data to the information acquisition library.
Preferably, the fiber actuator knitted by the flexible exosuit can generate larger force, and the flexible exosuit is knitted by the tatting mode, so that the output force is smaller but the flexible exosuit is more ductile.
Preferably, a wireless transmission module is arranged in the flexible exoskeleton suit, and the wireless transmission module is in wireless connection with the mobile phone terminal.
Preferably, a timing device is arranged in the flexible exoskeleton suit and electrically connected with the processing module, and the timing device comprises a touch screen and a buzzer.
The invention aims to provide a manufacturing method of a novel flexible exoskeleton material, which comprises the following steps:
1) The biocompatible and regenerated cellulose yarn is coated with a conductive polymer.
2) When a low voltage is applied to the polymer, ions and solvents can change their size in and out of the polymer structure, and when a positive voltage is applied, the ions and solvents can shrink, and when a negative voltage is applied, the ions and solvents can expand.
3) Such fibers are woven in a knitted or woven manner using standard industrial machinery to develop fiber actuators that convert electrical energy into power.
The invention provides a novel control method of flexible exoskeleton materials, which comprises the following steps:
1) Through letting normal person wear this flexible exoskeleton clothing reverse acquisition signal, normal person's motion in-process, data acquisition module transmits the gait information who gathers to processing module, and processing module sends the gait information who receives again to information acquisition storehouse, and information acquisition storehouse establishes the function of signal and time of each part and stores, in order to reach the accuracy of gathering gait, can gather many gait information of same individual gait and different individuals many times.
2) To achieve the adaptability of the acquired gait, the acquired information is classified according to the height and weight of the individual of each normal gait information provider, and a relatively huge database is established.
3) And establishing a human gait function, wherein each patient can input some key information of the limbs of the patient, then correspondingly outputting a standard gait relatively suitable for the patient by using the function, finding out the acquired reverse signals corresponding to the gait, and carrying out forward control on the reverse signals to carry out rehabilitation training of the patient.
(III) beneficial effects
Compared with the prior art, the invention provides a novel flexible exoskeleton material and a control method, which have the following beneficial effects:
1. according to the novel flexible exoskeleton material and the control method, a novel control action mode of a traditional exoskeleton is changed, a novel solution mode of the flexible exoskeleton is realized by combining a novel control mode, various adverse shortcomings of the traditional rigid exoskeleton are effectively overcome, the novel flexible exoskeleton material is heavy and inconvenient to move, and the novel flexible exoskeleton material is greatly different from a human movement state, so that a patient is more comfortable in the training process.
2. The novel flexible exoskeleton material and the control method are characterized in that the novel flexible exoskeleton material is combined with the characteristics of the material in a brand-new control mode to realize a brand-new flexible exoskeleton product, the control mode adopts a reverse signal acquisition method to acquire exoskeleton information of lower limbs of a human body, the standard reverse information acquisition library is established in a function or database mode, a patient can input some key information of own limbs, then the function is utilized to correspondingly output a standard gait relatively suitable for the patient, the acquired reverse signals corresponding to the gait are found, the forward control is carried out on the reverse signals, and rehabilitation training of the patient is carried out.
3. According to the novel flexible exoskeleton material and the control method, the wireless transmission module is in wireless connection with the mobile phone terminal, the wireless transmission module sends the motion state and motion data of the flexible exoskeleton garment to the mobile phone terminal, a patient personage can monitor the flexible exoskeleton material and the control method constantly, so that safety of the patient is guaranteed, a doctor can be connected, data of the recovery state of the patient can be collected conveniently, and further rehabilitation training is formulated conveniently.
4. According to the novel flexible exoskeleton material and the control method, by setting the timing device, the patient can be subjected to load to the body when the training time of the patient exceeds, and the rehabilitation of the patient is not facilitated, so that the patient sets the training time according to the rehabilitation training time table given by a doctor when the patient is subjected to rehabilitation training, and when the training time is reached, the processor starts the buzzer to send out warning sounds, and the patient is reminded to finish the rehabilitation training, so that the situation that the patient is damaged in body load caused by the excessive training is avoided.
Drawings
Fig. 1 is a schematic structural diagram of a novel control method according to the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one: the intelligent recovery training system comprises a flexible exoskeleton suit and an information acquisition library, wherein a processing module and a data acquisition module are arranged in the flexible exoskeleton suit, the input end of the processing module is electrically connected with the output end of the data acquisition module, the processing module is in bidirectional connection with the information acquisition library, the data acquisition module transmits acquired information to the processing module, the processing module transmits received data to the information acquisition library, the characteristics of the flexible novel material are combined to realize a brand new control mode by utilizing the flexible novel material, the brand new flexible exoskeleton product is realized, the control mode adopts a reverse signal acquisition method to acquire human lower limb exoskeleton information, the standard reverse information acquisition library is established in a function or database mode, a patient can input some key information of own limb, then the function is utilized to correspondingly output a standard gait relatively suitable for the patient, the acquired reverse signals corresponding to the gait are found, the reverse signals are controlled in a forward direction, and recovery training of the patient is carried out.
The fiber actuator woven by the flexible exoskeleton clothes in a knitting mode can generate larger force, the flexible exoskeleton clothes in a tatting mode has smaller output force and is more ductile, a novel control mode is combined with a novel control mode through a novel material to realize a novel solution mode of the flexible exoskeleton, various disadvantages of the traditional rigid exoskeleton are effectively overcome, and the flexible exoskeleton clothes are heavy and inconvenient to move, have great difference with the motion state of a person, and are more comfortable for a patient in the training process.
The inside of flexible ectoskeleton clothing is provided with wireless transmission module, wireless transmission module and cell-phone terminal wireless connection, and wireless transmission module sends flexible ectoskeleton clothing's motion state and motion data to cell-phone terminal, and patient personage can monitor often to guarantee patient's safety, doctor also can connect, in order to collect patient's recovery state's data, be convenient for formulate the rehabilitation training of next step.
The inside of flexible ectoskeleton clothing is provided with timing device, and timing device is connected with the processing module electricity, and the timing device includes touch-sensitive screen and bee calling organ, can cause the load to the health when patient training time surpasses, is unfavorable for patient's rehabilitation, therefore the patient sets up training time through the touch-sensitive screen according to doctor's rehabilitation training schedule when carrying out rehabilitation training, when reaching training time, the treater starts bee calling organ and sends out warning sound, reminds the patient to end rehabilitation training to patient has avoided the impaired condition of body load that the patient caused because of excessive training to take place.
The manufacturing method of the flexible exoskeleton suit comprises the following steps: the biocompatible and regenerated cellulose yarn is coated by conductive polymer, low voltage is applied to the polymer, ions and solvents can change the size of the polymer in and out of the polymer structure, the polymer is contracted when positive voltage is applied, the polymer is expanded when negative voltage is applied, and the fiber is knitted in a knitting or tatting mode by using standard industrial machinery, so that a fiber actuator capable of converting electric energy into power is developed.
The control method comprises the following steps: the method comprises the steps that through enabling normal people to wear the flexible exoskeleton suit to reversely acquire signals, in the motion process of normal people, a data acquisition module transmits acquired gait information to a processing module, the processing module transmits the received gait information to an information acquisition library, the information acquisition library establishes functions of signals and time of all parts to be stored, in order to achieve accuracy of the acquired gait, the same individual gait and a plurality of pieces of gait information of different individuals can be acquired for many times, in order to achieve adaptability of the acquired gait, the acquired information is classified according to the height weight and the like of each normal gait information provider, a relatively huge database is established, a human gait function is established, each patient can input some key information of the limbs of the patient, then the function is utilized to correspondingly output a standard gait relatively suitable for the patient, the acquired reverse signals corresponding to the patient are found, forward control is carried out on the reverse signals, and rehabilitation training of the patient is carried out.
The beneficial effects of the invention are as follows: the novel flexible exoskeleton is realized by changing the control action mode of the traditional exoskeleton and combining a novel control mode, various disadvantages, heaviness and inconvenient actions of the traditional rigid exoskeleton are effectively solved by the novel flexible exoskeleton, the novel flexible exoskeleton is more comfortable to a patient in the training process due to great difference between the exercise state of the traditional rigid exoskeleton and the exercise state of the patient, a novel flexible exoskeleton product is realized by combining the novel flexible material and the characteristics of the material and combining the novel control mode, the control mode adopts a reverse signal acquisition method to acquire human lower limb exoskeleton information, a standard reverse information acquisition library is established in a function or database mode, the patient can input some key information of own limb, and then a standard gait relatively suitable for the patient is correspondingly output by using the function, the acquired reverse signals corresponding to the gait are found, the reverse signals are positively controlled, the rehabilitation training of the patient is carried out, the wireless transmission module is wirelessly connected with the mobile phone terminal, the wireless transmission module transmits the motion state and the motion data of the flexible exoskeleton suit to the mobile phone terminal, the patient relatives can monitor the signals constantly so as to ensure the safety of the patient, the affiliated doctors can also connect the signals so as to collect the data of the recovery state of the patient, the next rehabilitation training is conveniently formulated, the patient can cause load to the body when the training time of the patient is exceeded, the rehabilitation of the patient is not facilitated, therefore, when the patient carries out the rehabilitation training, the training time is set through the touch screen according to the rehabilitation training schedule given by the doctor, when the training time is reached, the processor starts the buzzer to send warning sound to remind the patient to finish the rehabilitation training, thereby avoiding the occurrence of the condition that the body load of the patient is damaged due to over training.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. The flexible exoskeleton material is characterized by comprising a flexible exoskeleton garment and an information acquisition library, wherein a processing module and a data acquisition module are arranged in the flexible exoskeleton garment, the input end of the processing module is electrically connected with the output end of the data acquisition module, the processing module is in bidirectional connection with the information acquisition library, the data acquisition module sends acquired information to the processing module, and the processing module sends received data to the information acquisition library;
a wireless transmission module is arranged in the flexible exoskeleton suit and is in wireless connection with a mobile phone terminal; the flexible exoskeleton suit is characterized in that a timing device is arranged in the flexible exoskeleton suit and connected with the processing module, and the timing device comprises a touch screen and a buzzer; the wireless transmission module transmits the motion state and the motion data of the flexible exoskeleton suit to the mobile phone terminal; according to a rehabilitation training schedule given by a doctor, training time is set through a touch screen, and when the training time is reached, a processor starts a buzzer to give out warning sound, so that a patient is reminded to finish rehabilitation training;
the gait control method of the flexible exoskeleton suit comprises the following steps:
1) The method comprises the steps that a normal person wears the flexible exoskeleton suit to reversely collect signals, in the motion process of the normal person, the data collection module transmits the collected gait information to the processing module, the processing module sends the received gait information to the information collection library, the information collection library establishes functions of signals and time of all parts to be stored, and in order to achieve the accuracy of the collected gait, the gait of the same individual is collected for many times, and a plurality of gait information of different individuals are collected;
2) To achieve the adaptability of the acquired gait, classifying the acquired information according to the individual height and weight of each normal gait information provider, and establishing a database;
3) Establishing a human gait function, wherein each patient can input some key information of the limbs of the patient, then correspondingly outputting a standard gait matched with the patient by using the function, finding out the acquired reverse signals corresponding to the gait, and carrying out forward control on the reverse signals to carry out rehabilitation training of the patient;
the manufacturing method of the flexible exoskeleton suit comprises the following steps:
1) Coating the biocompatible and regenerated cellulose yarn with a conductive polymer;
2) Applying a low voltage to the polymer, ions and solvents can change their size in and out of the polymer structure, and can shrink when a positive voltage is applied, and expand when a negative voltage is applied;
3) Such fibers are woven in a knitted or woven manner using standard industrial machinery to develop fiber actuators that convert electrical energy into power.
2. A flexible exoskeleton material according to claim 1 wherein the fabric actuators knitted with the flexible exoskeleton garment are capable of producing greater force, and the flexible exoskeleton garment is woven with less force but more malleable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911142027.3A CN112315731B (en) | 2019-11-20 | 2019-11-20 | Novel flexible exoskeleton material and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911142027.3A CN112315731B (en) | 2019-11-20 | 2019-11-20 | Novel flexible exoskeleton material and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112315731A CN112315731A (en) | 2021-02-05 |
| CN112315731B true CN112315731B (en) | 2023-08-15 |
Family
ID=74319719
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911142027.3A Active CN112315731B (en) | 2019-11-20 | 2019-11-20 | Novel flexible exoskeleton material and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112315731B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006241422A (en) * | 2005-03-07 | 2006-09-14 | Japan Carlit Co Ltd:The | Conductive polymer actuator |
| CN1926725A (en) * | 2004-03-02 | 2007-03-07 | 皇家飞利浦电子股份有限公司 | A fabric interconnect system |
| CN101039641A (en) * | 2004-10-11 | 2007-09-19 | Smm医药公司 | Electro active compression bandage |
| CN201574236U (en) * | 2009-12-29 | 2010-09-08 | 陆建益 | Multifunctional yarn |
| CN102505231A (en) * | 2011-09-27 | 2012-06-20 | 绍兴县恒美花式丝有限公司 | Bamboo fiber, Coolmax fiber and conductive fiber blended yarn and method for producing same |
| WO2014034145A1 (en) * | 2012-08-30 | 2014-03-06 | 株式会社ニコン | Assistance tool |
| JP2014087636A (en) * | 2012-10-02 | 2014-05-15 | Nikon Corp | Walking support device |
| JP2015198154A (en) * | 2014-04-01 | 2015-11-09 | 帝人株式会社 | piezoelectric element |
| CN207133613U (en) * | 2017-08-29 | 2018-03-23 | 中航创世机器人（东莞）有限公司 | A distributed control system for rehabilitation medical robots based on cloud platform |
| CN108888473A (en) * | 2018-05-22 | 2018-11-27 | 哈尔滨工业大学 | Joint of lower extremity based on wearable walk-aiding exoskeleton moves reproducing method |
| JP2019082238A (en) * | 2017-10-31 | 2019-05-30 | 学校法人 中央大学 | Actuator |
| CN109996911A (en) * | 2016-09-27 | 2019-07-09 | 塞仁护理公司 | Intelligent yarn and for manufacture include electronic device yarn method |
| CN110387620A (en) * | 2018-04-16 | 2019-10-29 | 香港理工大学 | Multi-Fiber Composite Yarn with Multilayer Structure |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102132482A (en) * | 2008-08-26 | 2011-07-20 | 松下电器产业株式会社 | Conductive polymer actuator device, and conductive polymer actuator control device and control method |
| KR101978715B1 (en) * | 2018-12-24 | 2019-05-16 | 이동찬 | Fabric structure used for fabrication of wearable soft exoskeleton suit and wearable soft exoskeleton suit fabricated by the same |
-
2019
- 2019-11-20 CN CN201911142027.3A patent/CN112315731B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1926725A (en) * | 2004-03-02 | 2007-03-07 | 皇家飞利浦电子股份有限公司 | A fabric interconnect system |
| CN101039641A (en) * | 2004-10-11 | 2007-09-19 | Smm医药公司 | Electro active compression bandage |
| JP2006241422A (en) * | 2005-03-07 | 2006-09-14 | Japan Carlit Co Ltd:The | Conductive polymer actuator |
| CN201574236U (en) * | 2009-12-29 | 2010-09-08 | 陆建益 | Multifunctional yarn |
| CN102505231A (en) * | 2011-09-27 | 2012-06-20 | 绍兴县恒美花式丝有限公司 | Bamboo fiber, Coolmax fiber and conductive fiber blended yarn and method for producing same |
| WO2014034145A1 (en) * | 2012-08-30 | 2014-03-06 | 株式会社ニコン | Assistance tool |
| JP2014087636A (en) * | 2012-10-02 | 2014-05-15 | Nikon Corp | Walking support device |
| JP2015198154A (en) * | 2014-04-01 | 2015-11-09 | 帝人株式会社 | piezoelectric element |
| CN109996911A (en) * | 2016-09-27 | 2019-07-09 | 塞仁护理公司 | Intelligent yarn and for manufacture include electronic device yarn method |
| CN207133613U (en) * | 2017-08-29 | 2018-03-23 | 中航创世机器人（东莞）有限公司 | A distributed control system for rehabilitation medical robots based on cloud platform |
| JP2019082238A (en) * | 2017-10-31 | 2019-05-30 | 学校法人 中央大学 | Actuator |
| CN110387620A (en) * | 2018-04-16 | 2019-10-29 | 香港理工大学 | Multi-Fiber Composite Yarn with Multilayer Structure |
| CN108888473A (en) * | 2018-05-22 | 2018-11-27 | 哈尔滨工业大学 | Joint of lower extremity based on wearable walk-aiding exoskeleton moves reproducing method |
Non-Patent Citations (1)
| Title |
|---|
| Langquan Shui.Journal of Sound and Vibration.2018,310-326. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112315731A (en) | 2021-02-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhang et al. | Interaction of the human body with triboelectric nanogenerators | |
| Shi et al. | Progress of advanced devices and internet of things systems as enabling technologies for smart homes and health care | |
| CN105943207B (en) | One kind is based on idiodynamic intelligent artificial limb kinematic system and its control method | |
| CN202223388U (en) | Wearable brain-controlled intelligent artificial limb | |
| CN107411935A (en) | A kind of multi-mode brain-computer interface control method for software manipulators in rehabilitation | |
| CN111091890B (en) | Healthy cognitive system under self-motivation and feedback control | |
| CN107608524B (en) | A device for generating multi-target control commands based on electromyography | |
| CN102309365A (en) | Wearable brain-control intelligent prosthesis | |
| Kulkarni et al. | Overview: mechanism and control of a prosthetic arm | |
| CN107049704A (en) | A kind of flexible upper limbs ectoskeleton of auxiliary power | |
| CN103750836A (en) | Wearable myoelectricity instrument | |
| CN110123496A (en) | Upper extremity exercise function compensation equipment | |
| CN107028690B (en) | A kind of artificial limb system for upper limb high amputation person | |
| CN112315731B (en) | Novel flexible exoskeleton material and control method | |
| Du et al. | Recent advances in piezoelectric and triboelectric self-powered sensors for human–machine interface applications | |
| Weerasingha et al. | Powered ankle exoskeletons: existent designs and control systems | |
| CN114748224A (en) | A wearable forearm intelligent prosthesis including the elbow joint | |
| Ibrahim et al. | Smart homes for disabled people: A review study | |
| Motaghedolhagh et al. | Soft wearable body-powered hydraulic actuation system for a prosthetic finger design | |
| CN204428215U (en) | A kind of apery myoelectricity artificial hand | |
| CN114129176A (en) | Novel upper limb rehabilitation training system integrating multi-source stimulation | |
| CN110496308A (en) | It can provide the functional electric stimulation system and control method for customizing rehabilitation training | |
| CN204909750U (en) | Intelligence artificial limb based on both arms flesh electricity, Attitude information gather | |
| CN217244973U (en) | Wearable forearm intelligent artificial limb containing elbow joint | |
| CN209596147U (en) | A kind of outer auxiliary power function dress ornament structure |
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 |