公开(公告)号：US20190282430A1

公开(公告)日：2019-09-19

申请号：US16428091

申请日：2019-05-31

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Liancun Zhang ,  Qiang Huang

IPC: A61H3/00 ,  A61H1/02

Abstract: The present disclosure discloses an unpowered wearable walking assistance knee equipment with gait self-adaptivity comprising a left foot power output assembly, a right foot power output assembly, a left leg knee joint assistance execution assembly, a right leg knee joint assistance execution assembly and a driving force transmission device. The equipment of the present disclosure is based on lever principle and crank block structure principle and adopts an operation mode of combining ipsilateral parallel driving input and different sides cross driving input. The self-weight of the human body is utilized as a driving force during the walking process to enable the left foot power output assembly to provide the left leg knee joint assistance execution assembly with a pulling force for its stretching and to provide the right leg knee joint assistance execution assembly with a pulling force for its bending, and to enable the right foot power output assembly to provide the right leg knee joint assistance execution assembly with a pulling force for its stretching and to provide the left leg knee joint assistance execution assembly with a pulling force for its bending, so that a torque for assisting the stretching and bending of the left leg knee joint and the right leg knee joint is generated according to a gait cycle regularity during the walking process, and the goal of walking assistance is achieved.

公开(公告)号：US11633319B2

公开(公告)日：2023-04-25

申请号：US16428091

申请日：2019-05-31

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Qiang Huang ,  Liancun Zhang ,  Fei Meng ,  Weimin Zhang ,  Zhiheng Wang

IPC: A61H3/00 ,  A61H1/02

Abstract: The present disclosure discloses an unpowered wearable walking assistance knee equipment with gait self-adaptivity comprising a left foot power output assembly, a right foot power output assembly, a left leg knee joint assistance execution assembly, a right leg knee joint assistance execution assembly and a driving force transmission device. The equipment of the present disclosure is based on lever principle and crank block structure principle and adopts an operation mode of combining ipsilateral parallel driving input and different sides cross driving input. The self-weight of the human body is utilized as a driving force during the walking process to enable the left foot power output assembly to provide the left leg knee joint assistance execution assembly with a pulling force for its stretching and to provide the right leg knee joint assistance execution assembly with a pulling force for its bending, and to enable the right foot power output assembly to provide the right leg knee joint assistance execution assembly with a pulling force for its stretching and to provide the left leg knee joint assistance execution assembly with a pulling force for its bending, so that a torque for assisting the stretching and bending of the left leg knee joint and the right leg knee joint is generated according to a gait cycle regularity during the walking process, and the goal of walking assistance is achieved.

公开(公告)号：US11497672B2

公开(公告)日：2022-11-15

申请号：US16812278

申请日：2020-03-07

Applicant: Beijing Institute of Technology

Inventor： Liancun Zhang ,  Qiang Huang ,  Wenkang Wang

IPC: A61H3/00

Abstract: The present invention discloses a soft knee exoskeleton driven by a negative-pressure linear actuator, including: an exoskeleton controller, a left leg knee joint soft actuator, a right leg knee joint soft actuator and the like. The soft knee exoskeleton mainly uses a miniature vacuum negative pressure pump as an air pressure power source. A DSP embedded control system performs real-time processing on the data, such as a muscle force, a knee joint angle and a human-machine interaction force, detected by a sensing system, estimates a human-machine cooperation state, and performs real-time control on the switching of the negative pressure flow and an air channel of the miniature vacuum negative pressure pump.