[go: up one dir, main page]

CN210589274U - Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch - Google Patents

Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch Download PDF

Info

Publication number
CN210589274U
CN210589274U CN201921580945.XU CN201921580945U CN210589274U CN 210589274 U CN210589274 U CN 210589274U CN 201921580945 U CN201921580945 U CN 201921580945U CN 210589274 U CN210589274 U CN 210589274U
Authority
CN
China
Prior art keywords
electromagnet
pace
sensor
frame
power
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.)
Expired - Fee Related
Application number
CN201921580945.XU
Other languages
Chinese (zh)
Inventor
张永康
尚同同
肖科旭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Vocational University
Original Assignee
Suzhou Vocational University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Vocational University filed Critical Suzhou Vocational University
Priority to CN201921580945.XU priority Critical patent/CN210589274U/en
Application granted granted Critical
Publication of CN210589274U publication Critical patent/CN210589274U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Rehabilitation Tools (AREA)

Abstract

本实用新型提供了一种步速可调步距自适应的穿戴式助力行走装置,包括机械组件和控制组件,机械组件包括束腰带,束腰带的两侧对称设有机架,机架的下方配合安装有大腿托板,大腿托板的下端配合安装有大腿固定带,下端设有弹簧线圈;控制组件包括通过线缆连接的电源模块、电机驱动器、控制模块、步速调节旋钮、电源开关、传感器A、传感器B、薄膜压力传感器、设有电磁铁A和电磁铁B,传感器A和传感器B配合安装在保护盖上,薄膜压力传感器设置在弹簧线圈的下端。与现有技术相比,本实用新型的有益效果在于:解决了老年群体长时间行走障碍的问题,具有步速可调、步距自动适应不同情况下人的走路习惯、安全可靠、结构简单﹑成本低等优点。

Figure 201921580945

The utility model provides a self-adaptive wearable power-assisted walking device with adjustable pace, which includes a mechanical component and a control component. The mechanical component includes a belt, and two sides of the belt are symmetrically provided with a frame. A thigh support plate is installed at the bottom of the thigh support plate, a thigh fixing belt is installed at the lower end of the thigh support plate, and a spring coil is installed at the lower end; the control component includes a power module, a motor driver, a control module, a pace adjustment knob, a power The switch, sensor A, sensor B, film pressure sensor are provided with electromagnet A and electromagnet B, sensor A and sensor B are installed on the protective cover, and the film pressure sensor is arranged at the lower end of the spring coil. Compared with the prior art, the utility model has the beneficial effects of solving the problem of long-term walking obstacles in the elderly group, and has the advantages of adjustable pace, automatic adaptation to people's walking habits in different situations, safety and reliability, and simple structure. Advantages such as low cost.

Figure 201921580945

Description

Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch
Technical Field
The invention relates to the technical field of power-assisted walking devices, in particular to a wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch.
Background
China has entered an age of long life and aging, and the aging of the population has attracted extensive attention of the whole society. The auxiliary appliance developed and designed for the old can improve the life quality of the old, help to reduce the pressure of social care and promote social harmony. The insufficiency of lower limb strength is a common problem in the elderly population, and the activity range of the elderly is seriously influenced.
At present, walking aids mainly comprise: (1) the walking stick, the walking aid frame and the like can play a role in assisting the old to walk, but do not fundamentally solve the problem that the lower limbs of the old are weak to lift legs; (2) the unpowered power-assisted walking machine, such as the Ailaiqi unpowered walking rehabilitative apparatus in the current market, adopts a spring compression energy storage design, can effectively improve walking efficiency, but the energy storage still needs human legs to do work, does not solve the problem of long-time movement of the old, and is expensive (the purchase price of RMB used for one leg is 3650 yuan, and the purchase price of double legs is 7100 yuan); (3) powered 'power-assisted walking machinery', most of the structures are complex, different continuous walking pace can be selected, on one hand, the walking mode of stopping when the old people walk is difficult to adapt to, and on the other hand, the power device is often required to be used for early-stage adaptive training. In addition, the power-assisted walking machine usually needs to be added with detection equipment with a high price, the manufacturing cost is higher, the light waist exoskeleton 'ATOUN MODEL Y' of the ATOUN of the Japan exoskeleton manufacturing company is sold at about 3.5 ten thousand RMB, the whole manufacturing cost is very high, the maintenance and the like of the equipment are also difficult, and the application range of the power-assisted walking machine is greatly limited. The equipment is mostly applied to military and scientific research, and has very few applications in civil use. In view of the above reasons, aiming at the walking mode of the lower limb strength insufficiency of the old and the frequent walking and stopping of the old, the invention provides the wearable power-assisted walking device which can adapt to the walking mode of the old, has simple structure and low cost, can adjust the walking speed and the walking pitch and is self-adaptive, so as to meet the requirements of the old on daily life and long-time walking.
Disclosure of Invention
In order to solve the problems, the invention discloses a wearable power-assisted walking device with adjustable pace speed and self-adaptive pace distance, which solves the problem of long-time walking obstacle of the old group and has the advantages of adjustable pace speed, automatic pace distance adaptation to walking habits of people under different conditions, safety, reliability, simple structure, low cost and the like.
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides a wearing formula helping hand running device of adjustable stride self-adaptation of pace which characterized in that: the mechanical component comprises a waistband, a frame is symmetrically arranged on two sides of the waistband, a cover matched with the frame is installed on the inner side of the frame in a matched mode, a thigh supporting plate is installed on the lower portion of the frame in a matched mode, a protective cover is installed on the inner side of the cover in a matched mode, a thigh fixing band is installed on the inner side of the lower end of the thigh supporting plate in a matched mode, a spring coil is arranged at the lower end of the thigh fixing band, a motor base is arranged in the frame, a motor is installed in the motor base in a matched mode, a worm is installed on the upper portion of the motor in a matched mode, a bidirectional pawl is installed on the inner side of the motor in a matched mode, a turbine is connected with the front side of the worm in a matched mode and is rotatably connected with the frame through a transmission shaft, the turbine is fixedly connected with the transmission shaft, the upper end and the lower end of the reset spring are respectively connected with the bidirectional pawl and the lower end of the inside of the rack, the driving wheel is sleeved with a bidirectional ratchet wheel sharing a central shaft with the driving wheel, the inner side of the bidirectional ratchet wheel is engaged with two driven wheels, the driven wheels are symmetrically arranged on the upper side and the lower side of the driving wheel in the circumferential direction and are engaged with the driving wheel, a driven wheel fixing plate A and a driven wheel fixing plate B are respectively arranged on the inner side and the outer side of each driven wheel, a rolling bearing is sleeved outside the inner end of the transmission shaft, and a thrust bearing is arranged; the control assembly comprises a power module, a motor driver, a control module, a pace adjusting knob, a power switch, a sensor A, a sensor B, a film pressure sensor, an electromagnet A and an electromagnet B which are connected through cables, wherein the sensor A and the sensor B are installed on a protective cover in a matched mode, and the film pressure sensor is arranged at the lower end of a spring coil.
Furthermore, the upper end of the thigh supporting plate is arranged between the cover and the protective cover in a matching mode.
Furthermore, the thigh fixing belt is fixedly connected with the thigh supporting plate through a fixing bolt.
Furthermore, an electromagnet fixing seat A and an electromagnet fixing seat B are respectively installed on the electromagnet A and the electromagnet B in a matched mode.
Further, the control assembly further comprises a power display and an alarm.
Compared with the prior art, the invention has the beneficial effects that:
1. the method can be used for multiple industries such as logistics, medical treatment, military, health care and the like, and has wide market prospect;
2. the device combines a mechanical technology and a control technology, the pace is adjustable, the pace is adaptive to the walking habit of a user, and early adaptive training is not needed;
3. two operation modes are provided, so that power can be provided for a user in different environments;
4. when a motor or an electrical element of the device breaks down, the control system is automatically powered off, and the thigh supporting plate is in a free rotation state under the condition of power failure, so that the occurrence of accidents (such as falling down of a user caused by the failure) can be effectively prevented, and the device is safe and reliable and has stronger popularization and application prices;
5. compared with the similar products in the market, the product has low price and strong practicability.
Drawings
Fig. 1 is a schematic structural diagram of a wearable power-assisted walking device with adjustable pace speed and adaptive pace distance according to the invention.
Fig. 2 is a schematic view of the left half of fig. 1 with the waistband removed.
Fig. 3 is a schematic structural diagram of fig. 2 with the protective cover, the sensor a and the sensor B removed.
Fig. 4 is a schematic structural view of fig. 3 with the cover and the thigh support removed.
Fig. 5 is a schematic structural view of fig. 4 with the frame and the driven wheel fixing plate a removed.
Fig. 6 is a schematic structural view of fig. 5 with a driven wheel fixing plate B, a bidirectional ratchet wheel a and a driven wheel removed.
Fig. 7 is a front schematic view of a wearable power-assisted walking device with adjustable pace speed and adaptive pace distance according to the invention.
Fig. 8 is a cross-sectional view a-a of fig. 7.
List of reference numerals:
1-power supply module, 11-motor driver, 12-control module, 13-step speed adjusting knob, 14-power switch, 15-electricity display, 16-sensor A, 17-sensor B, 18-alarm, 2-waistband, 3-frame, 31-protective cover, 32-cover, 4-thigh support plate, 41-thigh fixing belt, 42-fixing bolt, 43-spring coil, 44-film pressure sensor, 5-driven wheel fixing plate A, 51-driven wheel fixing plate B, 6-transmission shaft, 61-rolling bearing, 62-thrust bearing, 7-bidirectional pawl, 71-electromagnet fixing seat A, 72-electromagnet A, 73-electromagnet fixing seat B, 74-electromagnet B, 75-a reset tension spring, 8-a worm wheel, 81-a bidirectional ratchet wheel, 82-a driving wheel, 83-a driven wheel, 9-a motor base, 91-a motor and 92-a worm.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention. It should be noted that the terms "front", "rear", "left" and "right" used in the following description refer to directions toward the lower right, upper left, lower left and upper right in the drawings, respectively, and the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.
As shown in the figure, the self-adaptive wearable power-assisted walking device with adjustable step pitch comprises a mechanical assembly and a control assembly, wherein the mechanical assembly comprises a waistband 2, the two sides of the waistband 2 are symmetrically provided with a frame 3, the inner side of the frame 3 is provided with a cover 32 matched with the frame 3 in a matching way, the lower part of the frame 3 is provided with a thigh supporting plate 4 in a matching way, the inner side of the cover 32 is provided with a protective cover 31 in a matching way, the inner side of the lower end of the thigh supporting plate 4 is provided with a thigh fixing band 41 in a matching way, the lower end of the thigh fixing band is provided with a spring coil 43, a motor base 9 is arranged in the frame 3, a motor 91 is arranged in the motor base 9 in a matching way, a worm 92 is arranged above the motor 91 in a matching way, the inner side of the worm is provided with a bidirectional pawl 7 in a matching way, an electromagnet A72 and an electromagnet B74 are symmetrically arranged below the bidirectional pawl 7, a reset spring 75 is arranged between an electromagnet A72 and an electromagnet B74, the upper end and the lower end of the reset spring 75 are respectively connected with the bidirectional pawl 7 and the lower end of the interior of the rack 3, a bidirectional ratchet 81 sharing a central shaft with the drive wheel 82 is sleeved outside the drive wheel 82, two driven wheels 83 are meshed inside the bidirectional ratchet 81, the driven wheels 83 are symmetrically arranged on the upper side and the lower side of the drive wheel 82 in the circumferential direction and meshed with the drive wheel 82, a driven wheel fixing plate A5 and a driven wheel fixing plate B51 are respectively arranged on the inner side and the outer side of each driven wheel 83, a rolling bearing 61 is sleeved outside the inner end of the transmission shaft 6, and a thrust; the control assembly comprises a power supply module 1, a motor driver 11, a control module 12, a pace speed adjusting knob 13, a power supply switch 14, a sensor A16, a sensor B17, a film pressure sensor 44, an electromagnet A72 and an electromagnet B74, wherein the sensor A16 and the sensor B17 are installed on the protective cover 31 in a matching mode, and the film pressure sensor 44 is arranged at the lower end of the spring coil 43.
In the present embodiment, the upper end of the thigh rest 4 is fitted between the cover 32 and the protective cover 31.
In the present embodiment, the thigh fixing strap 41 is fixedly connected to the thigh rest 4 by a fixing bolt 42.
In this embodiment, the electromagnet a72 and the electromagnet B74 are respectively fitted with an electromagnet fixing seat a71 and an electromagnet fixing seat B73.
In this embodiment, the control unit further includes a power display 15 and an alarm 18.
The detailed using method of the invention is as follows:
1. the power switch 14 is pressed, the device is powered on, and the bidirectional pawl 7 and the bidirectional ratchet 81 are in a separated state under the tension of the reset tension spring 75;
2. a normal mode and a climbing mode are arranged on the control panel, and the climbing mode is selected;
3. the step speed adjusting knob 13 is adjusted to change the rotating speed of the motor 91, so that the step speed adjustment is realized;
4. the left leg and the right leg move forwards, when the thigh supporting plate 4 rotates in the vertical direction, the sensor B17 is pressed to send a signal to the control module 12, the motor 91 transmits the signal forwards, the worm 92 drives the worm wheel 8 to rotate clockwise, the bidirectional ratchet 81 tends to rotate anticlockwise, meanwhile, the electromagnet A72 is electrified for a short time to attract the bidirectional pawl 7 to lock the bidirectional ratchet 81 in the anticlockwise direction, the worm wheel 8 drives the driven wheel fixing plate A5 to rotate clockwise through the driving wheel 82 and the driven wheel 83, so that the thigh supporting plate 4 is driven to rotate forwards, the leg lifting action is realized, the bidirectional pawl 7 cannot be restored under the pressure of the bidirectional ratchet 81, and the ratchet pawl is in a locking state;
5. a film pressure sensor 44 is arranged under the foot (the film pressure sensor 44 is in a strip shape, and can send out signals after the sole or the heel of the foot touches the ground). When the left foot and the right foot touch the ground, the film pressure sensor 44 is pressed to send a signal to the control module 12, the motor 91 rotates reversely, the bidirectional pawl 7 is separated from the bidirectional ratchet 81 under the tension of the reset tension spring 75, the worm 92 drives the worm wheel 8 to rotate anticlockwise, the bidirectional ratchet 81 has a trend of rotating clockwise, meanwhile, the electromagnet B17 is electrified for a short time to attract the bidirectional pawl 7 to lock the bidirectional ratchet 81 clockwise, the worm wheel 8 drives the driven wheel fixing plate A5 to rotate anticlockwise through the driving wheel 8 and the driven wheel (83), so that the thigh supporting plate 4 is driven to rotate backwards to realize leg collection, the bidirectional pawl 7 cannot be restored under the pressure of the bidirectional ratchet 81, and the ratchet pawl is in a locking state;
6. when the thigh supporting plate 4 rotates backwards in the vertical direction, the sensor B17 is pressed to send a signal to the control module 12, the motor 91 stops rotating, the left leg and the right leg move backwards, the bidirectional pawl 7 is separated from the bidirectional ratchet 81 under the pulling force of the reset tension spring 75, only the driven wheel 83 and the bidirectional ratchet 81 rotate around the driving wheel 82 at the moment, and almost no additional load exists;
7. 3, 4, 5 and 6 steps are repeated on the right leg and the left leg to realize the walking assistance;
8. when the normal mode is selected, the film pressure sensor 44 is pressed to send a signal to the control module 12 after the foot of the person touches the ground in the step 4, the motor 91 stops after rotating for a circle, so that the bidirectional pawl 7 is separated from the bidirectional ratchet 81 under the pulling force of the reset tension spring 75 conveniently, the driven wheel 83 and the bidirectional ratchet 81 rotate around the driving wheel 82, the leg folding action is realized under the action of forward movement of the gravity center of the human body, the operation time of the motor 91 is reduced, and the energy consumption is reduced. Other steps are the same as the climbing mode;
9. when the power switch 14 is pressed down, the device is powered off and stops working, and the thigh supporting plate 4 is in a free rotation state;
10. when the thigh supporting plate 4 moves to the sensor A16, the angle between the leg of the person and the vertical direction is adjustable to the maximum degree, the motor 91 stops rotating, and the safety of the user is guaranteed;
11. the user can know the residual capacity of the power supply module 1 from the capacity display screen 15, and when the capacity is lower than 10%, the alarm 18 gives an alarm;
12. when the motor 91 fails or the electric appliance element fails, the alarm gives an alarm, and the control system automatically cuts off the power supply. The left and right legs move to drive the bidirectional ratchet 81 to rotate, the bidirectional pawl 7 is separated from the bidirectional ratchet 81 under the tension of the reset tension spring 75, and at the moment, the user can walk normally almost without extra load.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.

Claims (5)

1.一种步速可调步距自适应的穿戴式助力行走装置,其特征在于:包括机械组件和控制组件,所述机械组件包括束腰带(2),所述束腰带(2)的两侧对称设有机架(3),所述机架(3)的内侧配合安装有与其相适配的机盖(32),机架(3)的下方配合安装有大腿托板(4),所述机盖(32)的内侧配合安装有保护盖(31),所述大腿托板(4)的下端内侧配合安装有大腿固定带(41),下端设有弹簧线圈(43),所述机架(3)内设有电机座(9),电机座(9)中配合安装有电机(91),所述电机(91)的上方配合安装有蜗杆(92),内侧配合安装有双向棘爪(7),所述蜗杆(92)前侧配合连接有涡轮(8),所述涡轮(8)通过传动轴(6)与机架(3)转动连接,且涡轮(8)与传动轴(6)固定连接,所述传动轴的内端上还套设有主动轮(82),所述双向棘爪(7)的下方对称设有电磁铁A(72)和电磁铁B(74),所述电磁铁A(72)和电磁铁B(74)之间设有复位弹簧(75),所述复位弹簧(75)的上下两端分别与双向棘爪(7)以及机架(3)的内部下端连接,所述主动轮(82)外套设有与其共中心轴的双向棘轮(81),所述双向棘轮(81)的内侧啮合有两从动轮(83),所述从动轮(83)对称设置在主动轮(82)周向方向上的上下两侧,并与主动轮(82)向啮合,所述从动轮(83)的内外两侧分别设有从动轮固定板A(5)和从动轮固定板B(51),所述传动轴(6)的内端外套设有滚动轴承(61),所述从动轮固定板A(5)的外侧中部设有推力轴承(62);所述控制组件包括通过线缆连接的电源模块(1)、电机驱动器(11)、控制模块(12)、步速调节旋钮(13)、电源开关(14)、传感器A(16)、传感器B (17)、薄膜压力传感器(44)、设有电磁铁A(72)和电磁铁B(74),所述传感器A(16)和传感器B (17)配合安装在保护盖(31)上,所述薄膜压力传感器(44)设置在弹簧线圈(43)的下端。1. A self-adaptive wearable power-assisted walking device with adjustable pace, characterized by comprising a mechanical component and a control component, the mechanical component comprising a belt (2), and the belt (2) A frame (3) is arranged symmetrically on both sides of the frame (3), a cover (32) that matches the frame (3) is installed on the inner side, and a thigh support plate (4) is installed on the lower part of the frame (3). ), a protective cover (31) is fitted on the inner side of the cover (32), a thigh fixing belt (41) is fitted on the inner side of the lower end of the thigh support plate (4), and a spring coil (43) is arranged at the lower end, The frame (3) is provided with a motor seat (9), a motor (91) is fitted in the motor seat (9), a worm (92) is fitted above the motor (91), and a worm (92) is fitted on the inside of the motor (91). A two-way pawl (7), the front side of the worm (92) is matched and connected with a turbine (8), the turbine (8) is rotatably connected to the frame (3) through the transmission shaft (6), and the turbine (8) is connected to the The transmission shaft (6) is fixedly connected, the inner end of the transmission shaft is also sleeved with a driving wheel (82), and the electromagnet A (72) and the electromagnet B ( 74), a return spring (75) is provided between the electromagnet A (72) and the electromagnet B (74), and the upper and lower ends of the return spring (75) are respectively connected to the bidirectional pawl (7) and the frame. (3) connected to the inner lower end of the driving wheel (82), the outer casing of the driving wheel (82) is provided with a bidirectional ratchet wheel (81) coaxial with it, the inner side of the bidirectional ratchet wheel (81) is engaged with two driven wheels (83), the The driven wheel (83) is symmetrically arranged on the upper and lower sides of the driving wheel (82) in the circumferential direction, and meshes with the driving wheel (82), and the driven wheel (83) is provided with a driven wheel fixing plate A on the inner and outer sides of the driven wheel (83). (5) and the driven wheel fixing plate B (51), the inner end of the transmission shaft (6) is provided with a rolling bearing (61), and the outer middle of the driven wheel fixing plate A (5) is provided with a thrust bearing (62). ); the control assembly includes a power module (1), a motor driver (11), a control module (12), a pace adjustment knob (13), a power switch (14), a sensor A (16), A sensor B (17), a thin film pressure sensor (44), are provided with an electromagnet A (72) and an electromagnet B (74), the sensor A (16) and the sensor B (17) are fitted on the protective cover (31) Above, the thin film pressure sensor (44) is arranged at the lower end of the spring coil (43). 2.根据权利要求1所述的一种步速可调步距自适应的穿戴式助力行走装置,其特征在于:所述大腿托板(4)的上端配合安装在机盖(32)和保护盖(31)之间。2. A wearable power-assisted walking device with adjustable pace and self-adaptive pace according to claim 1, characterized in that: the upper end of the thigh support plate (4) is fitted on the cover (32) and protected between covers (31). 3.根据权利要求1所述的一种步速可调步距自适应的穿戴式助力行走装置,其特征在于:所述大腿固定带(41)通过固定螺栓(42)与大腿托板(4)固定连接。3. A wearable power-assisted walking device with adjustable pace and self-adaptive stride according to claim 1, characterized in that: the thigh fixing belt (41) is connected to the thigh support plate (4) through fixing bolts (42) ) fixed connection. 4.根据权利要求1所述的一种步速可调步距自适应的穿戴式助力行走装置,其特征在于:所述电磁铁A(72)和电磁铁B(74)上分别配合安装有电磁铁固定座A(71)和电磁铁固定座B(73)。4 . The wearable power-assisted walking device with adjustable pace and adaptive pace according to claim 1 , wherein the electromagnet A ( 72 ) and the electromagnet B ( 74 ) are respectively fitted with a Electromagnet holder A (71) and electromagnet holder B (73). 5.根据权利要求1所述的一种步速可调步距自适应的穿戴式助力行走装置,其特征在于:所述控制组件中还包括电量显示器(15)和警报器(18)。5 . A wearable power-assisted walking device with adjustable pace and adaptive pace according to claim 1 , wherein the control component further comprises a power display ( 15 ) and an alarm ( 18 ). 6 .
CN201921580945.XU 2019-09-23 2019-09-23 Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch Expired - Fee Related CN210589274U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921580945.XU CN210589274U (en) 2019-09-23 2019-09-23 Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921580945.XU CN210589274U (en) 2019-09-23 2019-09-23 Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch

Publications (1)

Publication Number Publication Date
CN210589274U true CN210589274U (en) 2020-05-22

Family

ID=70718630

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201921580945.XU Expired - Fee Related CN210589274U (en) 2019-09-23 2019-09-23 Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch

Country Status (1)

Country Link
CN (1) CN210589274U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110480621A (en) * 2019-09-23 2019-11-22 苏州市职业大学 A kind of wearable assisted walk device that the adjustable step pitch of leg speed is adaptive
CN112451318A (en) * 2020-11-19 2021-03-09 苏州市职业大学 Power-assisted walking device based on slide block transmission

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110480621A (en) * 2019-09-23 2019-11-22 苏州市职业大学 A kind of wearable assisted walk device that the adjustable step pitch of leg speed is adaptive
CN110480621B (en) * 2019-09-23 2024-03-19 苏州市职业大学 Self-adaptive wearable power-assisted walking device with adjustable pace
CN112451318A (en) * 2020-11-19 2021-03-09 苏州市职业大学 Power-assisted walking device based on slide block transmission

Similar Documents

Publication Publication Date Title
CN110480621B (en) Self-adaptive wearable power-assisted walking device with adjustable pace
CN108078737B (en) Amplitude automatic adjustment type leg rehabilitation training device and control method
CN105835041B (en) A kind of exoskeleton robot hip joint, exoskeleton robot and its control method
CN210589274U (en) Wearable power-assisted walking device with adjustable step speed and self-adaptive step pitch
CN107126348A (en) A kind of accurate passive knee ankle-joint coupling lower limb exoskeleton and its control method
CN110292507A (en) Ankle joint helping hand ectoskeleton
CN107174488B (en) A wheeled drive self-balancing power ectoskeleton of sole for spinal cord injury patient
CN110559162B (en) Lower Exoskeleton Drive
CN107174490A (en) A kind of portable device for healing and training
CN214511821U (en) A rope-pulled flexible lower-limb exoskeleton-assisted robot
CN109172177A (en) Steady comfortable wheel-track combined type stair-climbing wheelchair
CN112603752A (en) Rope-pulling type flexible lower limb exoskeleton power-assisted robot and motion control method thereof
CN112870022A (en) Lower limb in-situ rehabilitation training equipment based on lasso exoskeleton
CN111923017A (en) Power-assisted walking device based on ratchet pawl mechanism and worm gear motor
CN111700776B (en) Auxiliary walker based on hybrid drive of worm gear motor and energy storage spring
CN112451318B (en) Helping hand running gear based on slider transmission
CN113520786B (en) Wearable lower limb exoskeleton auxiliary walking robot
CN209678897U (en) A wheel-track compound wheelchair that can climb stairs
CN212547604U (en) A pace-adjustable power-assisted walking device that can realize walk-and-stop walking mode
CN111494167A (en) A pace-adjustable power-assisted walking device that can realize walk-and-stop walking mode
CN111759682B (en) Unpowered human body lower limb assistance exoskeleton device
CN104323891A (en) Climbing electric wheelchair with health supervision and alarm functions
CN110496016B (en) Auxiliary walking device
CN109276412B (en) Lower limb knee joint and ankle joint boosting exoskeleton rigidity adjusting device
CN117462367A (en) An energy-saving portable exoskeleton robot for walking assistance

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20200522