Joint movement assistance device

Joint movement assistance device

  • CN 105,873,555 A
  • Filed: 06/26/2015
  • Published: 08/17/2016
  • Est. Priority Date: 08/28/2014
  • Status: Active Application
First Claim
Patent Images

1. a joint motions auxiliary device, has:

  • auxiliary force transfer part, and it has flexibility;

    TheOne installation portion, it is arranged at an end of this auxiliary force transfer part, be installed in user across passOne position of joint;

    Second installation portion, it is arranged at another end of this auxiliary force transfer part, quiltIt is arranged on another position across joint of user;

    Driver element, it is to this auxiliary force transfer partApply the auxiliary force of draw direction;

    Joint angles sensor, its angle of bend to this joint of this userDegree detects;

    And the control unit of auxiliary timing, its detected value based on this joint angles sensorDetermining the work timing of this driver element, this joint motions auxiliary device is characterised by,Being provided with (i) auxiliary force control unit, it regulates described driving when described auxiliary force acts onThe output level of unit, so that the load acting on described auxiliary force transfer part becomes the mesh of described auxiliary forceScale value;

    And (ii) relaxes and prevent control unit, it makes described driving when described auxiliary force does not acts onCell operation this auxiliary force transfer part is applied bias force, to eliminate the pine of described auxiliary force transfer partRelax,Further, this joint motions auxiliary device is provided with load sensor, and this load sensor is to acting onThe load of the draw direction of described auxiliary force transfer part detects,In described auxiliary force control unit and described lax at least one unit preventing in control unit,Detected value based on this load sensor carries out feedback control to the work of described driver element, so that makingLoad for this auxiliary force transfer part becomes the described auxiliary force as target or described bias force.

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