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33 results about "HIP JOINT FLEXION" patented technology
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At each flexible joint in the body, there is a primary and often secondary muscle group responsible for flexion at that joint. In the hip, for instance, the primary muscles are the iliopsoas, the tensor fasciae latae, and the rectus femoris, collectively known as the hip flexors.
Hip flexion assist orthosis or hip knee extension assist orthosis
Owner:BERNARDONI GENE PAUL
Rehabilitation training robot for lower limbs
ActiveCN102836048AFlexible movementGood lookingChiropractic devicesMovement coordination devicesReciprocating motionMuscles of the hip
The invention belongs to the field of rehabilitation medical devices, particularly relating to a rehabilitation training robot for lower limbs. The robot consists of a support mechanism, an incline system, a lower limb training mechanism and a control system. The lower limb training mechanism comprises a hip joint mechanism and an ankle joint mechanism; and the ankle joint mechanism consists of a screw nut structure for realizing linear reciprocating motion and a crank four-bar mechanism for realizing plantar flexion and dorsal flexure. The hip joint mechanism and the ankle joint mechanism are combined to finish different training tasks by fully using the principle of the four-bar mechanism and drive the lower limbs of patients to generate the training method consisting of different training modes, training tracks and exciting ways. The training modes include active training, passive training, resistance training and the like; the exciting ways for training the lower limbs include hip joint flexion and extension exciting, foot reciprocating exciting, ankle joint toe flexion and dorsal flexure exciting and combination exciting; the robot moves flexibly, is stable and reliable, has simple appearance and is easy to be accepted by the patients.
Owner:TSINGHUA UNIV
Hip joint passive exoskeleton device based on energy time-sharing regulation
The invention belongs to the field of lower limb assisting exoskeletons, and discloses a hip joint passive exoskeleton device based on energy time-sharing regulation. The hip joint passive exoskeletondevice comprises a waist arc-shaped support assembly, hip joint assemblies, thigh assemblies and elastic component connecting assemblies, wherein the waist arc-shaped support assembly comprises surrounding support devices and flexible bandages; each hip joint assembly comprises a hip joint inwards folding and outward unfolding connector and a hip joint bending and stretching connector; each thighassembly comprises a thigh outer-side connecting rod, a thigh front hoop and a thigh rear hoop; each elastic component connecting assembly comprises an L-shaped cantilever, an force arm, a digging rope clutch, an extension spring and a flexible rope. For the hip joint passive exoskeleton device based on energy time-sharing regulation provided by the invention, through the digging rope clutches triggered along with the joint angle, the extension springs stretch for storing the mechanical energy of the human body when the human hip joint does negative work and contract for releasing the energywhen the human hip joint does positive work, so that the time-sharing regulation on the mechanical energy of the human body is realized finally, the movement of the hip joint is assisted, the metabolic energy consumption generated during walk is reduced, in addition, the hip joint passive exoskeleton device has the advantages that the structure is simple, the cost is low, the weight is small, andthe wearing is comfortable.
Owner:HUAZHONG UNIV OF SCI & TECH
Wearable bionic hydraulic mechanical lower limb rehabilitation walking aid
PendingCN106726363ASolve problems such as poor motor coordination and incoherent motionImprove fluencyWalking aidsAgainst vector-borne diseasesPoor motor coordinationThigh
The invention discloses a wearable bionic hydraulic mechanical lower limb rehabilitation walking aid and aims to solve problems of high leg weight, poor motor coordination with human bodies and the like of existing motor drive equipment to further improve smoothness and applicability of rehabilitation walking aid equipment. The walking aid comprises a back plate, a waist plate, triaxial hip joints, double-acting hydraulic cylinders, thigh bodies, bionic link knee joints, crus bodies, two-axial ankle joints and sole plates. The triaxial hip joints comprise hip joint adduction / abduction mechanisms, hip joint flexion and extension mechanisms and hip joint pronation / supination mechanisms. Each knee joint flexion and extension mechanism comprises a thigh connector, a front rocking rod, a rear rocking rod, a crus connector, a double-acting hydraulic cylinder and a limiting mechanism. The two-axial ankle joints comprise flexion and extension rotating shafts and adduction / abduction rotating shafts, an elastic steel plate externally presses each flexion and extension rotating shaft, and the other side of each steel plate is provided with a slot connected with the sole plate. Each ankle joint hydraulic cylinder is connected between a corresponding crus supporting plate and the corresponding adduction / abduction rotating shaft to control swing of the corresponding sole plate.
Owner:NORTHEASTERN UNIV
Human body fluid collection bag
InactiveUS7513894B2Easily disposableEasy to useVaccination/ovulation diagnosticsNon-surgical orthopedic devicesHuman bodyHIP JOINT FLEXION
Owner:HOWLETT JIM
Heavy-load under-actuated parallel lower-limb assisting exoskeleton with elastic buffer
ActiveCN106541393AImprove stabilityStable outputProgramme-controlled manipulatorExoskeleton robotEngineering
The invention discloses a heavy-load under-actuated parallel lower-limb assisting exoskeleton with elastic buffer, and relates to a lower-limb assisting exoskeleton which solves the problems that an existing lower-limb assisting exoskeleton robot is great in weight, is poor in load capacity and is low in travelling speed. The heavy-load under-actuated parallel lower-limb assisting exoskeleton comprises a back part, a waist part, a left leg, a right leg and foot parts, wherein the back part is connected with the waist part; the two sides of the waist part are separately connected with the left leg and the right leg; the left leg and the right leg are connected with the corresponding foot parts; the waist part is rotatably connected with the back part; each of the left leg and the right leg comprises an ankle joint and two sets of flexion and extension swing telescopic structures; the two sets of flexion and extension swing telescopic structures are separately arranged at the two ends of the waist part; each set of flexion and extension swing telescopic structures comprises hip joint flexion and extension swing telescopic mechanisms and series-parallel connection telescopic mechanisms; and each hip joint flexion and extension swing telescopic mechanism is mounted on the waist part, and can rotate front and back relative to the waist part. The heavy-load under-actuated parallel lower-limb assisting exoskeleton is used for an exoskeleton robot.
Owner:HARBIN INST OF TECH
Hip flexion assist orthosis or hip knee extension assist orthosis
An apparatus suitable for imitating one or more muscle members of a human user during physical therapy, wherein the apparatus is configured to be used in conjunction with the human user having a waist and a leg having a knee. The apparatus includes an adjustable waist belt configured to be secured around the human user's waist and a lower leg support configured to encircle the human user's leg in a vicinity of the knee. The apparatus further includes an elastic member configured to provide an adjustable tensile resistance between the waist belt and the lower leg support.
Owner:BERNARDONI GENE PAUL
Hip assist walker
A wheeled walker for training an individual to walk by enabling hip flexion. The walker is equipped with a pulley located between two anchors points to which the ends of an elastic cord are attached a middle portion of the elastic cord runs over the pulley. A first harness for receiving a foot of the user is slidingly coupled to the segment of the elastic cord located between the first anchor point and the pulley. A similar harness for receiving the other foot of the user is slidingly coupled to the segment of the elastic cord located between the second anchor point and the pulley.
Owner:NEUROMUSCULAR GAIN
Hip assist walker
Owner:NEUROMUSCULAR GAIN
Gravity-change-driven lower-limb exoskeleton robot
InactiveCN108852756ATake advantage ofConsistent with normal walking gaitWalking aidsThighExoskeleton robot
The invention relates to a gravity-change-driven lower-limb exoskeleton robot. A battery, a driver and a central processing unit are installed in a back module, and the back module is fixedly connected with a back supporting frame module together; the two sides of a supporting frame of the back supporting frame module are rotationally connected with thigh rod pieces through shafts respectively, the two thigh rod pieces are connected together through a back cable, the thigh rod pieces rotate around the shafts through thigh gravity changes in the walking process, and therefore bending and extending of the hip joint are driven; knee-joint motor modules are fixedly connected with the lower portions of the thigh rod pieces; motors in the knee-joint motor modules are connected with output shaftsthrough harmonic reducers and torque sensors, and the output shafts are connected with upper rod pieces of shank rod pieces through keys so that bending and extending of the knee joint can be driven.Bending and extending of the hip joint are driven by the gravity changes, and bending and extending of the knee joint are driven by the motors. Through the structure, compared with a commercialized lower-limb exoskeleton robot, the weight is reduced, and using of energy is also saved.
Owner:UNIV OF SHANGHAI FOR SCI & TECH
Lower limb rehabilitation robot capable of balancing self-weight and using method thereof
ActiveCN111588587ASmall sizeReduce working noiseChiropractic devicesThighPhysical medicine and rehabilitation
The invention relates to a lower limb rehabilitation robot capable of balancing self-weight. The lower limb rehabilitation robot mainly comprises a hip joint assembly with a self-weight balancing device, a knee joint assembly capable of achieving self-locking protection, an ankle joint assembly capable of achieving self-locking protection, a manual length adjusting assembly and leg binding deviceswhich are connected in sequence. According to the invention, the self-weight balancing device of the lower limb rehabilitation robot is designed, so that the required output torque is reduced, and therefore the size of a driving system is reduced. According to the leg binding device of the lower limb rehabilitation robot, adjustment in the leg direction, transverse adjustment perpendicular to theleg direction and rapid disassembly and assembly can be conducted in a working process; through connection of the leg binding devices at the thigh and shank positions with a patient, rehabilitation training of flexion and extension movement of the hip joint, flexion and extension movement of the knee joint and toe flexion and dorsal extension movement of the ankle joint of the patient can be achieved, and the lengths of thighs and shanks can be adjusted. In addition, the device is simple in structure, is convenient to operate, is small in size, light in weight and good in safety protection performance, and meets the industrial standard of medical equipment.
Owner:YANSHAN UNIV
Wearable walking assisting robot and hybrid assisting control method thereof
ActiveCN112060055AImprove wearing comfortImprove comfortProgramme-controlled manipulatorHuman bodyEngineering
The invention relates to a wearable walking assisting robot and a hybrid assisting control method thereof, and belongs to the technical field of wearable robots. The wearable walking assisting robot comprises a waist wearing unit, a thigh binding unit and a hip joint buckling / stretching driving unit; the thigh binding unit comprises thigh rods; the waist wearing unit comprises a back support of aplate-type structure; L-shaped connecting arms are hinged to two side ends of the back support through hip joint adduction / abduction joint mechanisms respectively; and the thigh rods are fixed to theouter ends of the L-shaped connecting arms through the hip joint buckling / stretching driving unit, and the joint axis of the hip joint buckling / stretching driving unit and the joint axis of the hip joint adduction / abduction joint mechanism intersect at the center of the hip joint of a human body. The improvement of the structure can ensure that the human body coincides with the corresponding jointmovement rotating shaft of the walking assisting robot to eliminate man-machine interference force and improve wearing comfort, and can be widely applied to walking assistance of the old and other people with weak lower limbs.
Owner:ZHEJIANG UNIV
System to assist walking
PendingCN110418626APreserve hip flexionProgramme-controlled manipulatorChiropractic devicesHip flexionSpinal cord lesion
The invention relates to a system to assist walking in spinal cord injured people, who preserve hip flexion capacity, the system comprising a pair of KAFO-type orthoses with: (a) an angular actuator (5) in each knee; (b) an orientation and acceleration sensor (6) on each leg; (c) a power supply and control system (7) to which all the sensors and actuators are connected; (d) a control algorithm deciding when to flex or extend the knee depending on the walking cycle, using information from the sensors.
Owner:UNIV DA CORUNA +2
Flexible lower limb rehabilitation robot for assisting cerebral apoplexy sufferer to recover pace
ActiveCN112515921AImprovement of abnormal compensationAbnormal compensatory reductionWalking aidsHuman bodyPhysical medicine and rehabilitation
The invention provides a flexible lower limb rehabilitation robot for assisting a cerebral apoplexy sufferer to recover pace. The flexible lower limb rehabilitation robot comprises a flexible exoskeleton kit and a driving execution module; the flexible exoskeleton kit comprises a hip joint-waist fixing module, an ankle joint fixing module and a passive elastic module; the driving execution modulecomprises a driving control module and a flexible sheath type transmission module; the driving control module controls the flexible sheath type transmission module to achieve adjustment on distances among fixing anchor points on the hip joint-waist fixing module and the ankle joint fixing module so as to assist ankle joint plantar flexion and hip joint flexion of the sufferer; and the passive elastic module is free of any power system support and is subjected to passive length changing only by virtue of human body action changing during walking, so as to achieve complementarity assistance to ankle joint rotating. According to the flexible lower limb rehabilitation robot, by using flexible kit designing, driving mechanism designing and control and sensing module building, multi-joint-assisted rehabilitation of people suffering from lower limb abnormal pace is achieved, and safety is guaranteed; and the flexible lower limb rehabilitation robot has the advantages of portability, high degree of freedom and easiness in carry-over.
Owner:SHANGHAI JIAO TONG UNIV
Hip joint exercising mechanism with two degrees of freedom
ActiveCN110179631AImprove exercise effectPromote recoveryChiropractic devicesMuscles of the hipDegrees of freedom
The invention provides a hip joint exercising mechanism with two degrees of freedom and relates to the technical field of rehabilitation equipment. The hip joint exercising mechanism solves the technical problem that the common hip joint exercising mechanism is large in size and poor in mobility and can only perform simple joint exercising. The hip joint exercising mechanism with the two degrees of freedom comprises a left exercising unit and a right exercising unit that are arranged side by side, wherein the left exercising unit and the right exercising unit comprise hip joint adduction and abduction components and hip joint flexion and extension components; the hip joint adduction and abduction components are first degree of freedom (DOF) components; the hip joint flexion and extension components are second DOF components; the hip joint adduction and abduction components comprise bases, adduction and abduction motors and adduction and abduction joints; and the hip joint flexion and extension components comprise flexion and extension motors, belt driving components, motor support seats and extension joints. The hip joint exercising mechanism is used for hip joint rehabilitation exercise, has the characteristics of small size, light weight and good mobility, can also be matched with other exercising devices for use to achieve multi- joint exercising and is strong in practicability.
Owner:BEIJING INSTITUTE OF PETROCHEMICAL TECHNOLOGY +1
Rehabilitation training robot for lower limbs
ActiveCN102836048BFlexible movementGood lookingChiropractic devicesMovement coordination devicesReciprocating motionMuscles of the hip
Owner:TSINGHUA UNIV
Hip joint stretch treatment training apparatus
The invention discloses a hip joint stretch treatment training apparatus and belongs to the technical field of fitness and rehabilitation equipment. The hip joint stretch treatment training apparatus comprises a moving support, a support bar is arranged at the bottom of the moving support, the bottom end of the support bar is releasably arranged on support a of an underframe, one end of the moving support is supported by support b, the other end of the moving support is hinged to a support seat, the bottom of the support seat is fixed to the underframe, and the moving support is connected with an erecting mechanism, a hip joint abduction / adduction training mechanism, a hip joint flexion / stretch training mechanism and a knee joint flexion / stretch training mechanism. The hip joint stretch treatment training apparatus has the advantages that stretch rehabilitation training for hip joint abduction / adduction and stretch rehabilitation training for hip joint flexion / stretch are achieved respectively through the hip joint abduction / adduction training mechanism and the hip joint flexion / stretch training mechanism; supination angle and knee joint moving state are changed through the erecting mechanism and the knee joint flexion / stretch mechanism so as to finish the above training under different weight reductions and different knee joint moving angles, and rehabilitation effect is improved.
Owner:DALIAN UNIV OF TECH +1
Wearable flexible lower limb assisting exoskeleton
PendingCN114099256AImprove stabilityReduce energy consumptionWalking aidsAgainst vector-borne diseasesHuman bodyGait disorders
The invention discloses a wearable flexible lower limb power-assisted exoskeleton which comprises a flexible garment, an elastic driving device, a Bowden cable driving device, a driving control device, a flexible binding device and a sensing system. The device is used for providing a stable stress anchor point for the device except for the flexible clothes and ensuring the connection stability and the wearing comfort. The elastic driving device is arranged on the front side of a human body and provides buckling assistance for hip joints; the Bowden cable driving device is arranged on the rear side of the thigh and provides assistance for extension of the hip joint; the driving control device is arranged on the back of the flexible garment and used for controlling the whole system and providing driving power. The flexible binding devices are arranged at knee joints of lower limbs of a human body and used for connecting the knee joints; the sensing system is used for recognizing gaits. The hip joint bending and stretching moment is provided for a user in the walking process, the daily walking stability of a person with lower limb dysfunction is improved, and the lower limb walking gait abnormity is corrected and improved.
Owner:UNIV OF SHANGHAI FOR SCI & TECH
Special step through ambulation aid device
A device called a step-through ambulation aid which targets deficits encountered due to lower extremity paresis involving poor hip flexion. The device is comprised of a slidable plate that surrounds an inner liner. The plate surrounds a patient's foot and has a means to removably secure the device to the patient's foot. The use of the Step-Through Ambulation aid device on the bottom of a shoe allows reduction in friction forces encountered across most surfaces, including carpet, tile, wood, asphalt, and cement. The thin, smooth surface of the aid allows the foot to glide forward with virtually no resistance or friction from the walking surface. As a result, ambulation without additional physical assistance for leg advancement is made possible.
Owner:KEEKER SUSAN
Dynamic hip joint prosthesis control system
InactiveCN111110411ASolve the control lag behind the human body movement intentionAchieve speedProsthesisInformation processingControl signal
The invention relates to the field of rehabilitative prosthetics and orthotics, in particular to a dynamic hip joint prosthesis control system. The dynamic hip joint prosthesis control system comprises a gait information collection module, a gait information processing module, a control module, a motor driving module, a communication module, a motor power supply module, a control power supply module, a photo coupler isolation module and a Kalman filtering module; and the control system receives plantar pressure information and knee joint and hip joint flexion and extension information, collected by the gait information collection module, through the communication module, the received information is processed to generate a control signal, and the motor driving device (module) receives the control signal through the communication module to drive a dynamic hip joint prosthesis to run, so as to drive a patient to walk. The provided dynamic hip joint prosthesis control system has the advantage that strength needed by the patient to walk is reduced so that the patient can walk conveniently.
Owner:UNIV OF SHANGHAI FOR SCI & TECH
Hip and knee joint passive exoskeleton power assisting device based on energy storage
ActiveCN114392131AReduce metabolic energy consumptionAvoid exercise restrictionsChiropractic devicesWalking aidsThighPhysical medicine and rehabilitation
The invention discloses a hip and knee joint passive exoskeleton power assisting device based on energy storage, and belongs to the technical field of lower limb exoskeletons. A fixed mounting platform is provided for the thigh energy storage assembly and the shank energy storage assembly through the waist fixing assembly, the thigh energy storage assembly and the shank energy storage assembly are provided with designed first elastic elements and second elastic elements respectively, when thighs swing backwards in the later period of a supporting phase, the first elastic elements are stretched, negative work generated when the thighs swing backwards is absorbed, and the thighs swing backwards; energy is recovered and released in the early stage of a swinging phase to provide hip joint buckling auxiliary torque; when the shank stretches forwards in the later stage of the swing phase, the second elastic element is stretched to absorb negative work generated when the shank stretches forwards, the negative work generated when the shank stretches forwards is converted into elastic potential energy, and the elastic potential energy is recovered to provide hip joint stretching auxiliary torque when the thigh swings backwards in the early stage of the supporting phase. In other words, in the whole gait cycle, the hip joint is assisted to stretch and bend at the same time, and the exoskeleton assisting efficiency is improved.
Owner:HUAZHONG UNIV OF SCI & TECH
A hip joint passive exoskeleton device based on energy time-sharing regulation
Owner:HUAZHONG UNIV OF SCI & TECH
System to assist walking
The invention relates to a system to assist walking in spinal cord injured people, who preserve hip flexion capacity, comprising a pair of KAFO-type orthoses with: (a) an angular actuator (5) in each knee; (b) an orientation and acceleration sensor (6) on each leg; (c) a power supply and control system (7) to which all the sensors and actuators are connected; (d) a control algorithm deciding when to flex or extend the knee depending on the walking cycle, using information from the sensors.
Owner:UNIV DE EXTREMADURA +2
A two-degree-of-freedom hip joint training mechanism
ActiveCN110179631BImprove exercise effectPromote recoveryChiropractic devicesHip flexionPhysical medicine and rehabilitation
The invention provides a two-degree-of-freedom hip joint training mechanism, relates to the technical field of rehabilitation equipment, and solves the technical problems of large size, poor mobility, and only single-joint training of common hip joint training mechanisms. The two-degree-of-freedom hip joint training mechanism includes a left training unit and a right training unit arranged side by side. The component is the first degree of freedom component, the hip flexion and extension component is the second degree of freedom component, the hip joint adduction and abduction component includes a base, an adduction and abduction motor and an adduction and abduction joint, and the hip flexion and extension component includes a flexion and abduction component. Extension motor, belt drive assembly, motor support base and flexion and extension switch. The invention is used for hip joint rehabilitation training, and has the characteristics of small size, light weight and good mobility, and can also be used in conjunction with other training equipment to realize multi-joint training, and has strong practicability.
Owner:BEIJING INSTITUTE OF PETROCHEMICAL TECHNOLOGY +1
Multi-degree-of-freedom bionic exoskeleton body structure
InactiveCN114469646ARealize the effect of multi-degree-of-freedom trainingFlexible and diverse rehabilitation actionsChiropractic devicesWalking aidsThighElectric machinery
The invention discloses a multi-degree-of-freedom bionic exoskeleton body structure, which comprises a hip supporting mechanism, a hip joint flexion and extension motor, a thigh mechanism, a shank mechanism, a sole plate and a battery control box, a hip joint abduction motor mounting piece is arranged on one side of the lower end of the hip supporting mechanism, and the hip joint abduction motor mounting piece is connected with a rotary connecting piece through a rotating shaft; a bushing bearing is mounted between the rotating shaft and the hip joint abduction motor mounting piece; through cooperative use of a hip abduction motor, a hip joint flexion and extension motor, a knee joint flexion and extension motor, an ankle side linear motor and an ankle rear linear motor, the effect of multi-degree-of-freedom training is achieved, flexible and diversified rehabilitation actions can be achieved, the rehabilitation efficiency is greatly improved, a user inputs instructions through a user input end in the whole use process, and the user experience is improved. And the master controller issues the instruction of the user to the corresponding motor so as to complete the corresponding action, so that the whole operation process is simple and convenient, and related users can conveniently use.
Owner:WUXI MENTAL HEALTH CENT +2
Flexible exoskeleton walking aid driven by non-external force
PendingCN114795834AReduce manufacturing costReduce weightChiropractic devicesHuman bodyMuscle strength
The invention discloses a non-external-force-driven flexible exoskeleton walking aid. The non-external-force-driven flexible exoskeleton walking aid comprises a flexible binding unit and a power assisting unit connected with the flexible binding unit. The flexible binding unit comprises a waist binding belt fixed to the waist and abdomen of the human body, a first binding belt fixed to the healthy limb and a second binding belt fixed to the affected limb. The power assisting unit comprises a driving power assisting line and a driven power assisting line; the driving assisting line is connected with the waist binding belt, the first binding belt and the second binding belt, and the driven assisting line is connected with the waist binding belt and the second binding belt; the healthy limb provides driving power for the diseased limb through the driving power-assisted line to enable the diseased limb to move relatively, and the diseased limb moves relatively along with the movement of the diseased limb through the driven power-assisted line. Through the structural arrangement, the healthy limbs serve as a power source, and hip joint flexion and knee joint and ankle joint two-way movement assistance of the affected limbs are achieved through potential energy and waist muscle strength generated by movement of the healthy limbs.
Owner:陈陆飞
Lower limb rehabilitation robot capable of balancing its own weight and method of using the same
The invention relates to a lower limb rehabilitation robot capable of balancing its own weight, which mainly includes a hip joint assembly with a self-balancing device connected in sequence, a knee joint assembly capable of self-locking protection, an ankle joint assembly capable of self-locking protection, and a manual length adjustment assembly. Gaiters. The present invention designs a device for balancing the self-weight of the lower limb rehabilitation robot, which reduces the required output torque, thereby reducing the size of the drive system; the leggings device of the lower limb rehabilitation robot designed by the present invention can be adjusted along the leg direction, vertical Horizontal adjustment in the direction of the legs and quick disassembly; connected to the patient through the leggings at the thighs and legs, it can realize the rehabilitation training of the patient's hip joint flexion and extension, knee joint flexion and extension, and ankle toe flexion and dorsiflexion. and the calf can be adjusted in length; in addition, the present invention is simple in structure, easy to operate, small in size, light in weight and good in safety and protection, and conforms to the industry standard of medical equipment.
Owner:YANSHAN UNIV
Hip Stretch Therapeutic Training Device
Owner:DALIAN UNIV OF TECH +1
A wearable walking assist robot and its hybrid assist control method
ActiveCN112060055BImprove wearing comfortImprove comfortProgramme-controlled manipulatorThighPhysical medicine and rehabilitation
The invention relates to a wearable walking assist robot and a hybrid assist control method thereof, belonging to the technical field of wearable robots. The wearable walking assisting robot includes a waist wearing unit, a thigh binding unit and a hip joint flexion / extension driving unit; the thigh binding unit includes a thigh rod; the waist wearing unit includes a back bracket of a plate structure; On the upper part, L-shaped connecting arms are respectively hinged through the hip joint adduction / abduction joint mechanism; the thigh rod is fixed on the outer end of the L-shaped connecting arm through the hip joint flexion / extension drive unit, and the hip joint The joint axis of the flexion / extension drive unit intersects the joint axis of the hip joint adduction / abduction joint mechanism at the center of the human hip joint. The improvement of the above-mentioned structure can ensure the coincidence of the corresponding joint motion axes of the human body and the walker robot, eliminate the human-machine interference force, improve the wearing comfort, and can be widely used in walking assistance for the elderly and other people with weak lower limbs.
Owner:ZHEJIANG UNIV
Heterogeneous wearable load assisting device and control method thereof
ActiveCN107322569AReduce fatigueImprove load boosting capabilityProgramme-controlled manipulatorAgainst vector-borne diseasesHuman bodyThigh
The invention discloses a heterogeneous wearable load assisting device and a control method thereof. The heterogeneous wearable load assisting device comprises a back frame and two groups of leg mechanisms, wherein the two groups of leg mechanisms are symmetrically connected with the back frame; each leg mechanism comprises a thigh, a shank, a foot, an actuator, an encoder and a positioning sensor and has six freedom degrees which are two hip joint flexion / extension freedom degrees, two knee joint flexion / extension freedom degrees and two ankle joint flexion / extension freedom degrees. After being arranged on the back of a wearer, the device can transmit load acting force to the ground well. According to the control method, the motion position and angle information of the feet of a human body is acquired through the positioning sensors, the motion control of the device is carried out according to the information, and encoder information is used as feedback to realize the motion matching of the device and the wearer. The heterogeneous wearable load assisting device has the advantages of being simple in structure, good in power assisting effect, simple in control thinking, and capable of being used for enhancing the walking load capacity of the wearer and reducing the fatigue of the human body.
Owner:NANJING UNIV OF SCI & TECH
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