ANGOLD, RUSSDON,ZOSS, ADAM BRIAN,BURNS, JON WILLIAM,HARDING, NATHAN HERBERT
申请号：
CA2734469
公开号：
CA2734469C
申请日:
2009.09.24
申请国别(地区):
CA
年份:
2016
代理人:
摘要：
A lower limb orthotic device (100) includes a thigh link (101) connected to ahip link (102) through a hip joint(103) a hip torque generator (106) including a hip actuator (110) and a firstmechanical transmission mechanism (111) interposedbetween the thigh link ( 101) and the hip link (102), a shank link (104)connected to the thigh link (101) through a knee joint( 105), a knee torque generator ( 107) including a knee actuator (112) and asecond mechanical transmission mechanism (113) interposedbetween the thigh link (101) and the shank link (104), and a controller (108),such as for a common motor (154) andpump (156) connected to the hip and knee torque generators (106, 107), forregulating relative positions of the various componentsin order to power a user through a natural walking motion, with the first andsecond mechanical transmission mechanisms(111, 113) aiding in evening out torque over the ranges of motion, while alsoincreasing the range of motion where the torquegenerators (106, 107) can produce a non-zero torque.
