25 results about "Exoskeleton Device" patented technology

The application discloses a hand rehabilitation training system and adaptive training method based on brain-muscle coupling and force feedback, comprising a force feedback exoskeleton device, a training task interaction module, an electroencephalogram-electromyogram acquisition module, a synchronous control module, a signal preprocessing and feature extraction module, a brain-muscle coupling analysis module, an adaptive training adjustment module, and a safety constraint and degradation control module. The system is based on a virtual environment, and the user wears the force feedback exoskeleton device to complete the grasping task, and the electroencephalogram and electromyogram signals are synchronously acquired, the brain-muscle coupling indexes of the trial and round are calculated, and the training task difficulty parameters and the force feedback intensity parameters are updated based on the indexes, and the parameter updating process is safety constrained, and the degradation control is executed in abnormal conditions. The application realizes the closed-loop adaptive adjustment of the hand rehabilitation training task difficulty and the force feedback intensity with controllable online calculation, and is helpful to improve the training adaptability and the central-peripheral collaborative training effect.

1. Name of the design product: hip walking exoskeleton. 2. Use of the design product: for exoskeleton device (wearable robot). 3. Design points of the design product: in shape. 4. Picture or photograph best indicating the design points: perspective view.

The application provides a finger exoskeleton device and a motion decoupling method thereof, a middle phalanx transmission mechanism arranged at a proximal phalanx part and connected with a driving mechanism; a distal phalanx transmission mechanism arranged at a distal phalanx part and connected with the middle phalanx transmission mechanism; and the driving mechanism is used to provide power. The application has the beneficial effect that the finger exoskeleton device and the motion decoupling method thereof can increase the rotation angle of the distal phalanx by decoupling the motion of the distal phalanx and the middle phalanx under the stress action of the middle phalanx only when the grip is insufficient, so that the grip is sufficient.

The application provides an exoskeleton device, belonging to the technical field of exoskeletons. The exoskeleton device comprises a back rod assembly, a first leg assembly, a second leg assembly and a hip belt assembly. The two ends of the back rod assembly are respectively provided with a first motor support and a second motor support. The first motor support is internally provided with a first driving motor for connecting the first leg assembly. The second motor support is internally provided with a second driving motor for connecting the second leg assembly. The hip belt assembly comprises two connecting end covers and a flexible hip belt. The two connecting end covers are respectively connected to the two ends of the flexible hip belt. The two connecting end covers are respectively rotatably connected to the first motor support and the second motor support. The two connecting end covers are respectively rotated relative to the first motor support and the second motor support, so as to adjust the working angle of the flexible hip belt relative to the back rod assembly. The exoskeleton device of the application can enhance the assistance stability and assistance effect of the exoskeleton device in the riding, climbing and squatting modes.

The application belongs to the technical field of wearable exoskeleton devices, and provides a wearable exoskeleton device suitable for rehabilitation training of infants with congenital cerebral palsy and an exoskeleton control method. The device comprises a wearable exoskeleton device main body, hip joint drives symmetrically arranged on the left and right sides, knee joint drives, ankle joint drives, a controller and multiple groups of sensors. The controller stores joint target trajectory data corresponding to multiple training modes, retrieves corresponding trajectory data based on the selected training mode and generates control instructions to actively drive the affected lower limbs to move. The multiple groups of sensors comprise electromyography sensors, inertial measurement units and pressure sensors. The controller identifies abnormal movement modes such as combined responses and extensor spasticity based on sensor signals and dynamically reduces the drive control gain to release abnormal stress in a compliant manner. The application realizes multi-mode active guidance training and asymmetric assistance for infants with congenital cerebral palsy, and has the ability of abnormal mode identification and safe compliant response.

The application discloses a wearable full-body flexible power-assisted exoskeleton device, which comprises an upper limb part, a connecting part, a lower limb part and a control part, the upper limb part is connected with the lower limb part through the connecting part, the upper limb part comprises a back plate, a harness, a motor, a transmission device, a wire reel, a flexible pipe and a battery; the control part comprises a core development board, a pressure sensor and an inertial measurement unit, the pressure sensor and the inertial measurement unit respectively measure cargo weight and human body posture data, so that the operation of the motor is controlled through the core development board to realize power-assisted control. The application directly transmits the self weight of a part of the exoskeleton to the ground through a mechanical structure, thereby effectively reducing the pressure of self weight and improving work efficiency; the flexible rope is connected and equipped with the harness to realize the function of carrying assistance, the flexible rope arranged on the harness not only can save space, but also will not affect the operation of the human body and the machine.

1. Name of the designed product: exoskeleton. 2. Use of the designed product: exoskeleton device for assisting human body. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.

The application discloses a kind of based on knee joint motion mechanism's bionic joint mechanism, belong to bionic mechanical technical field.The bionic joint mechanism includes two bars four cable tensioning support units symmetrically arranged on two sides, is set in two bars four cable tensioning support unit between femur contour movement subassembly, with the femur contour movement subassembly and two bars four cable tensioning support unit cooperation setting bilateral linkage mechanism and drum wheel curved surface cooperation mechanism.The application can simulate the motion characteristics in the process of knee joint flexion by setting femur contour movement subassembly, improve the bionics and motion coordination of mechanism;By two bars four cable tensioning support unit and bilateral linkage mechanism, the mechanism has support ability and adaptability in the process of movement, ensure the consistency of two sides movement.The mechanism has the advantages of compact structure, linkage reliable, motion coordination, and can be applied to bionic robot, exoskeleton device and other related bionic mechanical system.

This invention belongs to the field of exoskeleton technology, specifically an anti-tipping lower limb exoskeleton device, comprising a lower limb exoskeleton and a balance system. The balance system includes a ring-shaped retainer and concentrically arranged ring-shaped isolation tubes, with a centrifugal device installed within the isolation tubes. The centrifugal device includes two counterweights evenly spaced along the ring channel and a ring-shaped connecting frame connecting all the counterweights, which can rotate in place within the isolation tubes. The balance system also includes a fan assembly, whose air duct connects to the isolation tubes and drives the airflow inside the ring channel. The fan assembly accelerates the airflow velocity within the ring channel, thereby driving the counterweights to rotate. The two high-speed centrifugal counterweights provide all-around support for the lower limb exoskeleton, preventing the user from tipping over. Furthermore, the balance system is positioned above the hip joint of the lower limb exoskeleton and does not directly act on the user, thus not affecting the user's experience with the exoskeleton.

The application discloses a kind of based on brick wall geometric features's bionic adaptive climbing hand exoskeleton device, belong to bionic machinery and emergency rescue and high-altitude operation protective equipment technical field.The device, compliance spine array assembly includes several side-by-side interval set spine and several side-by-side interval set tension spring;Spine has pitch rotation degree of freedom, present bionic eagle claw state bending;The front end of several tension springs is connected with the rear end of several spine one by one, rear end is connected with the middle part of main body fixed assembly;In natural state, the tension of several tension springs makes corresponding several spine keep downward buckling tendency;Wrist fixed assembly and the rear part of main body fixed assembly are rotatably connected, so that main body fixed assembly has pitch rotation degree of freedom relative to wrist fixed assembly.The present application can be realized in city brick wall etc.Rough vertical surface provides safe, stable climbing anchorage point, has independent compliance, can bear transient impact load and can easily detach.

The application provides a knee joint exoskeleton device and a lower limb outdoor walking aid exoskeleton robot. The device comprises: a thigh contraction connecting rod; a knee joint upper connecting rod connected to the rotating end of the thigh contraction connecting rod in a rotatable manner; a knee joint lower connecting rod connected to the other end of the knee joint upper connecting rod in a rotatable manner; and a knee joint elastic adjustment assembly having an uphill and downhill mode and a flat ground mode. The application switches to the flat ground mode when walking on the flat ground. When the leg is bent and straightened, the knee joint elastic adjustment assembly stores the flat ground elastic potential energy. When the leg is straightened and bent, the knee joint elastic adjustment assembly releases the flat ground elastic potential energy to provide power assistance. The knee joint elastic adjustment assembly switches to the uphill and downhill mode when going uphill and downhill. When the leg is straightened and bent, the knee joint elastic adjustment assembly stores the uphill and downhill elastic potential energy. When the leg is bent and straightened, the knee joint elastic adjustment assembly releases the uphill and downhill elastic potential energy to provide power assistance, which can adapt to different outdoor terrains.

The application provides a multifunctional exoskeleton device, and belongs to the technical field of wearable auxiliary equipment, specifically, a hip joint locking mechanism is arranged on a hip joint module, and a knee joint locking mechanism is arranged on a knee joint module; a first roller is arranged on the rear of a waist module through a folding support, a folding locking mechanism for locking the folding support in a folded state or an unfolded state is arranged on the folding support, a second roller is connected to the knee joint module or a lower leg part through a supporting rod, the supporting rod is rotatably arranged on the knee joint module or the lower leg module, and a supporting locking mechanism for locking the position of the supporting rod is arranged on the knee joint module or the lower leg part; a plurality of connecting rods are detachably mounted on a thigh part, a first connecting seat is arranged on the end of the thigh part close to the knee joint, a second connecting seat is arranged on the end of the lower leg part away from the knee joint, the first connecting seat and the second connecting seat are used for detachably clamping the end of the connecting rod, and the multifunctional exoskeleton device comprises a standing mode and a trolley mode.

The present application relates to medical rehabilitation training and power-assisted equipment, in particular to a shoulder joint exoskeleton device based on human-like movement mechanism. The device comprises a back plate, a shoulder joint mechanism and a functional electrical stimulation system. The shoulder joint mechanism is arranged on one side or both sides of the back plate. The shoulder joint mechanism comprises a fixed shoulder joint, a driving wheel, a scissor-type scapula following mechanism and a shoulder support. The fixed shoulder joint is arranged on the back plate. The driving wheel is installed on the fixed shoulder joint through a center of symmetry shaft. One end of the scissor-type scapula following mechanism is connected with the center of symmetry shaft, and the other end is connected with the shoulder support. The scissor-type scapula following mechanism is used for passively following the protraction and retraction movement of the human scapula. By rotating the driving wheel, the abduction and adduction movement of the shoulder joint is realized. The functional electrical stimulation system is used for assisting the activation of target muscles. The present application has simple structure, is easy to wear and portable, can realize active movement and electrical stimulation collaborative rehabilitation, and effectively improves the rehabilitation efficiency.

This invention relates to the field of rehabilitation and assistive robotics, and discloses a rope-driven assisted flexible exoskeleton device, comprising: a drive unit disposed at the torso position, fixed to the waist by a waist belt and fixed to the shoulder by shoulder straps; a lower limb fixation assembly including a knee brace body fixed around the knee joint by nylon straps; and at least three independent flexible transmission channels. This rope-driven assisted exoskeleton device, by centrally arranging the drive unit at the lower back and using three independent flexible transmission channels to distribute the driving force to the front of the thigh, the back of the thigh, and the back of the calf, achieves auxiliary torque output to the hip and ankle joints. Compared to motor-driven rigid exoskeletons, the drive unit of this invention is not located at the joint position, significantly reducing the mass and inertia of the lower limb end, and improving the wearer's movement compliance and comfort.

The application relates to the technical field of arm exoskeletons, and discloses an arm exoskeleton device for improving the arm strength of the old and a running system thereof, which can be matched with a human arm to form deep coupling and adaptation, adopts a pneumatic mode to provide power, the driving process is softer, the action coverage is more comprehensive, the design is more humanized, the practicality is better, and the arm exoskeleton device comprises a forearm exoskeleton and an upper arm exoskeleton ring, the forearm exoskeleton comprises a first primary cover, a second primary cover, a first intermediate cover, a second intermediate cover, a first final cover and a second final cover, the first primary cover is fixedly connected with the second primary cover, the first intermediate cover is fixedly connected with the second intermediate cover, the first final cover is fixedly connected with the second final cover, the first intermediate cover and the second intermediate cover are fixedly connected with a primary rail half ring, the first primary cover and the second primary cover are provided with a primary connection ring groove matched with the primary rail half ring, and the first final cover and the second final cover are fixedly connected with an intermediate rail half ring.

This invention discloses a biomimetic variable-cell lower limb exoskeleton device, comprising a thigh fixation component, a lower leg fixation component, a variable-cell triggering component, a traction component, a variable-cell load-bearing component, a variable-cell compliant joint component, and an energy storage component. The innovative biomimetic complete variable-cell passive adaptation and containment mechanism includes: in the swinging configuration, passive adaptation to lower limb swinging motion via compliant joints and linkage mechanisms; upon ground contact, the variable-cell triggering component drives the variable-cell compliant joint component to move along a guide structure via the traction component, and cooperates with spring damping, rollers, and the energy storage component to achieve impact buffering, low-friction transmission, and elastic energy storage; in the support phase, the variable-cell compliant joint component locks with the variable-cell load-bearing component, switching the device to a load-bearing configuration. This device balances swing compliance, ground contact buffering, and support load-bearing stability, and can be used for lower limb assistance and rehabilitation support.

1. Name of the product in this design: Exoskeleton Waist. 2. Purpose of this design: An exoskeleton device for assisting the human waist. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D rendering 1.

The application discloses a limb auxiliary exoskeleton device based on self-adaptive adjustment and energy recovery, which comprises a waistband assembly, two groups of main and passive power assisting mechanisms arranged on both sides of the waistband assembly, limb auxiliary support assemblies arranged on opposite sides of the two groups of main and passive power assisting mechanisms respectively, and energy storage mechanisms arranged on each limb auxiliary support assembly, wherein when the limb auxiliary support assemblies are bent and stretched, the energy storage mechanisms store the potential energy of the movement to further provide power assistance for the active knee extension action of the corresponding limb auxiliary support assembly. Through the on-off control of the electric push rod and the action of the extracorporeal sensing module, the main and passive power assisting mode of the lower limbs is selectively provided, the passive bending and stretching of the lower limbs are adjusted in real time according to the action trend, different activity requirements are met, in addition, the energy storage mechanism is arranged, the energy can be stored in the main and passive activities, and the stored energy is used in the power assisting action, so that an energy collection and release process is realized.

This application discloses a motion scene recognition method, belonging to the field of robotics. The method is executed by an exoskeleton device, which includes sensors. The method includes: acquiring a test parameter sequence and a sensor parameter sequence, wherein the test parameter sequence includes motion parameters of different test objects under different motion scenes, and the sensor parameter sequence is a set of motion parameters acquired from the sensors; calibrating the sensor parameter sequence based on the test parameter sequence to obtain a calibrated sensor parameter sequence; and determining the motion scene in which the exoskeleton device is located based on the calibrated sensor parameter sequence. This method uses a pre-tested test parameter sequence to calibrate the sensor parameter sequence acquired by the sensors in the exoskeleton device, thereby identifying the motion scene in which the exoskeleton device is located based on the calibrated sensor parameter sequence, ensuring the reliability of scene recognition by the exoskeleton device.

The application discloses a foldable lifting-stretcher type exoskeleton device, which comprises a shoulder bone supporting member and a spine bone supporting member connected with each other, the spine bone supporting member comprises a first and a second spine bone supporting connecting member connected with each other in a relative rotating mode, two ends of the side of the shoulder bone supporting member away from the spine bone supporting member are respectively connected with a shoulder joint locking pipe member, one end of the shoulder joint locking pipe member away from the shoulder bone supporting member is connected with a hook stretcher member, and the other end is connected with a locking adjusting seat, and the shoulder joint locking pipe member is movably connected with the shoulder bone supporting member through the locking adjusting seat. Through the device, the rescuer can wear the device and lift the stretcher through the hook stretcher member, when not in use, the spine bone supporting member can be folded in a relative mode through the first and the second spine bone supporting connecting member connected with each other in a relative rotating mode, and the shoulder joint locking pipe member at two ends of the shoulder bone supporting member can be quickly disassembled with the shoulder bone supporting member through the locking adjusting seat, so that the exoskeleton device can be folded for multiple times when not in use, and thus can be easily stored, and the space occupied is small.

A kind of lower limb exoskeleton muscle and tendon synergic energy storage capacity moment driving device.For solving the problems such as single energy storage mode, passive phase switching and low driving efficiency existing in exoskeleton muscle and tendon synergic energy storage related technologies, a passive module is arranged between the ankle of lower leg exoskeleton and the rear thigh exoskeleton, the passive module includes three passive energy storage ropes, a second spring, a third spring and three fixed pulleys;the energy storage capacity moment driving device is provided with an active module, the active module includes an active box, an active energy storage rope, a motor and a winding wheel;the power output end of the motor is provided with a winding wheel, the left end of the reset rope is slid through a sliding block, then upwardly passes through a second fixed pulley and is fixed on the upper left side of the sliding block.The lower limb exoskeleton transmission shaft and the transmission shaft of the active phase switching device are driven by a synchronous belt.The utility model improves the energy utilization rate of exoskeleton device under different gait phases, and improves the load adaptive adjustment capability.

The application discloses an exoskeleton device for assisting old caretakers and a man-machine cooperation method thereof, which comprises a U-shaped back plate, a waist fixing structure is fixedly connected to the front end of the control box, two fixed rods are fixedly installed at the lower ends of the thigh assisting mechanisms, the lower ends of the two thigh assisting mechanisms are fixedly installed with the calf assisting mechanisms, the left end and the right end of the U-shaped back plate are movably installed with the large-arm assisting mechanisms through bearings, and the front ends of the two large-arm assisting mechanisms are fixedly installed with the small-arm assisting mechanisms. The exoskeleton device for assisting old caretakers and the man-machine cooperation method thereof can reduce the muscle burden of the legs, the large-arm assisting mechanism and the small-arm assisting mechanism can reduce the shoulder pressure when the arms are supported, so that the caretakers can more easily complete the work, the professional injuries are reduced, meanwhile, the stable assistance can avoid the action failure and guarantee the safety of the old people.

This invention relates to a portable exoskeleton device. The exoskeleton has a base equipped with components for secure attachment to a user. At least one drive unit advantageously provides torque to at least one distal joint supported by an intermediate motion assembly. This torque is advantageously amplified to power the movement of a motion linkage supporting at least one limb of the user. By providing sufficient degrees of freedom to the intermediate motion assembly, and using a flexible shaft to transmit torque from the drive unit to the distal joint, the operator's freedom of movement is advantageously ensured. A torque reaction countermeasure component advantageously reduces any adverse effects of the reaction force of the torque applied at the distal joint of the exoskeleton on the user's body, thereby further improving the safety, comfort, and accuracy of the exoskeleton during use.

This invention relates to the field of assistive device technology, specifically to a dual-mode power-generating and assistive knee exoskeleton device and its control method. The dual-mode power-generating and assistive knee exoskeleton device includes a device housing. A first wear-fixing component is located on the side of the device housing. A servo motor and a control system are connected inside the housing. The servo motor is connected to a transmission component, which is connected to an energy storage device on one side and a rotating connection component on the other. The rotating connection component is connected to a second wear-fixing component. A charging device is also located on the top of the device housing, and the charging device is electrically connected to the servo motor control system. This invention enables mode switching, achieving rapid conversion between power generation and assistive function.

The application discloses a kind of human exoskeleton device for mechanical arm control, control method and system.The device includes: exoskeleton body, several joint units, several drive units, transmission structure and control unit.By setting shoulder structure, elbow structure and wrist structure in exoskeleton body, match the physiological activity form of human upper limb;Joint unit represents the joint motion state of operator upper limb, cooperate with the joint motion information acquisition of drive unit built-in sensing component;Flexible transmission part is used to realize the spatial separation arrangement of drive unit and joint unit, and the compactness and motion flexibility of equipment wearing are optimized;Motion instruction issuing and stress feedback closed-loop regulation are realized by control unit, mechanical arm follow-up control is completed according to the motion of operator upper limb, and feedback driving signal is generated combined with mechanical arm stress feedback, control drive unit outputs feedback torque, realizes the combination of mechanical arm remote control and force feedback, improves the control precision and interactive experience of mechanical arm remote control.