CN102379793B - Upper limb rehabilitation training robot - Google Patents
Upper limb rehabilitation training robot Download PDFInfo
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- CN102379793B CN102379793B CN2011102378054A CN201110237805A CN102379793B CN 102379793 B CN102379793 B CN 102379793B CN 2011102378054 A CN2011102378054 A CN 2011102378054A CN 201110237805 A CN201110237805 A CN 201110237805A CN 102379793 B CN102379793 B CN 102379793B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 88
- 238000012549 training Methods 0.000 title claims abstract description 83
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 19
- 210000000245 forearm Anatomy 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 13
- 238000007514 turning Methods 0.000 claims abstract description 9
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- 210000004907 gland Anatomy 0.000 claims description 20
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- 238000000034 method Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 210000003797 carpal joint Anatomy 0.000 claims description 4
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- 210000001145 finger joint Anatomy 0.000 abstract description 2
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- 210000003857 wrist joint Anatomy 0.000 abstract 2
- 238000011084 recovery Methods 0.000 description 9
- 210000001503 joint Anatomy 0.000 description 8
- 230000035876 healing Effects 0.000 description 6
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Abstract
The invention relates to an upper limb rehabilitation training robot which comprises a first joint, a second joint, a third joint, a fourth joint and a fifth joint; the five joints are sequentially connected serially; the movement of all the joints respectively corresponds to the unfolding/folding of shoulder joints, the bending/extension of the shoulder joints, the bending/extension of elbow joints, the internal rotation/external turning of forearms, the bending/extension of wrist joints and the bending/extension of fingers; all the joints of the robot are driven by independent motors; each joint is provided with a mechanical hard limit and an electric limit to protect the training of a patient; and the second joint and the fourth joint are respectively provided with a adjustment device capable of adjusting relative positions between the second joint and the third joint and between the third joint and the fifth joint. The upper limb rehabilitation training robot provides various rehabilitation movement for the turning of the shoulders, elbows and forearms as well as the wrist and finger joints of the upper limbs of the patient in a three-dimensional space, and can complete the upper limb rehabilitation training to the upper limbs of the patient with higher quality.
Description
Technical field
The present invention relates to a kind of upper-limbs rehabilitation training robot, belong to medical rehabilitation exercising device technical field.
Background technology
Be on the increase because of suffering from the number that cerebrovascular disease or nervous system disease cause the middle-older patient hemiplegia in recent years, and present rejuvenation trend in years; Simultaneously; Because something so cause nerve injury or the number of limb injury also more and more; Especially the forfeiture of upper extremity exercise function; Greatly influenced the ability of patient's daily life, for the patient of these hemiplegias and limbs damaged, carrying out rehabilitation training is very important and crucial medical procedure.
Along with modern nervus centralis rehabilitation mechanism progress of research, research worker is being carried out big quantity research based on robotics aspect the motion function rehabilitation both at home and abroad, and its goal in research is the robot that development has rehabilitation and Function of Evaluation.The healing robot technology is a kind of new nervus motorius rehabilitation technology, and robotics is applied to rehabilitation field, both effective rehabilitation training can be provided, and does not increase clinical treatment personnel's the burden and the cost of health care again; In addition, robot can write down full and accurate treatment data and figure, and objective, treatment and evaluating accurately can be provided, and helps the carrying out of robot auxiliary treatment hemiplegia, can effectively improve rehabilitation efficacy and improve rehabilitation efficient.
At present; Both at home and abroad upper-limbs rehabilitation training robot is being used for there are many shortcoming and defect when upper extremity exercise dysfunction patient treats with rehabilitation training, mainly contains: the joint of support activities is single or less, especially be not integrated in the motion in joints such as forearm rotation and wrist finger in system and the device; Individual adaptability is poor, can not carry out the adjustment or the adjustment inconvenience of device according to different patients; The motor pattern of supporting is single, can only carry out passive exercise or install not possessing the driving function; Comfortableness is relatively poor, can not realize man-machine harmony and unification preferably; The interest that can not excite the patient to train; Can not solve safety problems such as strength and position overload preferably.
Summary of the invention
The present invention is intended to overcome the deficiency of above-mentioned prior art; A kind of upper-limbs rehabilitation training robot has been proposed; This robot can be used for that upper extremity exercise dysfunction patient treats, rehabilitation training, rehabilitation recruitment evaluation, and structure is lightly attractive in appearance, and individual adaptability is good and easy to adjust; Support the upper limb multi-joint and comprise the rehabilitation training of finger-joint, use handling safety effective.
The technical scheme that the present invention adopted is:
The present invention relates to a kind of upper-limbs rehabilitation training robot, comprise I joint, II joint, III joint, IV
Joint and V joint; 5 joints are coupled in series successively; The corresponding respectively shoulder joint abduction/adduction of the motion in each joint, shoulder joint flexion/extension, elbow joint flexion/extension, forearm inward turning/turn up, carpal joint flexion/extension and finger flexion/extension, each joint all can be trained use separately.
A kind of upper-limbs rehabilitation training robot; Be used for upper extremity exercise dysfunction patient and carry out rehabilitation training; This robot comprises upper limb training institution, underframe (001), seat (002); Upper limb training institution is fixed on the underframe (001), underframe (001) configuration one seat (002), and this robot has I joint (100); Its corresponding shoulder joint abduction/adduction is characterized in that: I joint (100) comprise a driving device (101), a horizontal rotation device (108), a base device (201); Said underframe (001) is rigidly connected with the securing supports of driving device (101); Driving device (101) driving rotational device (108) swing; Base device (201) is fixed on the far-end of slewing equipment (108) swing, and with slewing equipment (108) swing, base device (201) tilts along the lower right; And base device (201) be positioned at slewing equipment (108) under, the device of fixing arm when base device (201) is provided with training shoulder joint abduction/adduction.
Said driving device (101) is a motor reducer one, and said slewing equipment (108) is a revoliving arm, and said base device (201) is the fork-shaped base.
I joint (100) also comprises driving shaft (105), bearing block (103), upper bearing (metal) gland (102), lower bearing gland (104), connecting axle (109); Said securing supports is bearing block (103); Motor reducer one (101) drives driving shaft (105) and rotates; Driving shaft (105) cooperates installation with bearing; This bearing is installed in the bearing block (103); The both ends of the surface up and down of bearing block (103) are separately installed with upper bearing (metal) gland (102) and lower bearing gland (104), and motor reducer one (101) is fixed on the upper bearing (metal) gland (102), and the both ends vertical direction of revoliving arm (108) is respectively arranged with through hole one (108a), through hole two (108c); Insert respectively in the through hole one (108a), through hole two (108c) of revoliving arm (108) on the top of the bottom of driving shaft (105) and connecting axle (109); And fixing, the lower end of connecting axle (109) is fixed on the fork-shaped base (201), and the fork-shaped base is realized the shoulder joint abduction/adduction under the drive of driving shaft (105), revoliving arm (108), connecting axle (109).
The left and right sides end side surface of revoliving arm (108) is provided with the fluting one (108b) and fluting two (108d) of vertical direction; Fluting one (108b) and fluting two (108d) are located at the end face center of revoliving arm (108); And along continuous straight runs extends to each self-corresponding through hole one (108a), through hole two (108c); Form the axial slits that is communicated with through hole one and through hole two respectively; Make fluting one, fluting two slits at two ends of revoliving arm (108) diminish through tight fixed bolt, thereby realize being fixedly connected of revoliving arm (108) and driving shaft (105), connecting axle (109).
Bottom end face at driving shaft (105) is provided with radial groove one; Revoliving arm (108) is gone up and the bottom end face of driving shaft (105) link is provided with radial groove two; Radial groove one is measure-alike with radial groove two shapes; Driving shaft (105) is packed into behind the through hole one (108a), and radial groove one is aligned with each other with radial groove two, and revoliving arm (108) locating piece one (111) is installed in the groove after this alignment; And with screw that revoliving arm locating piece one (111) is fixing, this structure is used for further keeping the relative position of revoliving arm (108) and driving shaft (105).
This robot also comprises II joint (200), lifts/transfers on its corresponding shoulder joint, be i.e. flexion/extension motion.
This II joint (200) has a driving device (202), the vertically rotating slewing equipment in the base device bottom; This driving device (202) drives the rotating slewing equipment of this vertical direction, and this slewing equipment is provided with the device of fixing arm when being used to train the shoulder joint flexion/extension.
The driving device (202) in said II joint (200) is that motor reducer two, said slewing equipment vertically are gyroaxis (206), gyration block (203), pivoted lever (208,209); On the pivoted lever that the device of fixing arm is installed during training shoulder joint flexion/extension, be used for fixing upper arm.
Said pivoted lever is pivoted lever one (208) and pivoted lever two (209), and II joint (200) also comprise bearing block (205), III joint contiguous block (210), rod end fixture (212); Motor reducer two (202) and bearing block (205) are fixed on fork-shaped base (201) bottom; Bearing is installed in the bearing block (205); Gyroaxis (206) is enclosed within the endoporus of bearing (204); Gyration block (203) is positioned between two forks of fork-shaped base (201) bottom; Gyroaxis (206) stretches in the centre bore of gyration block (203); And the output shaft driving rotational axle (206) of motor reducer two (202) drives gyration block (203) and rotates, pivoted lever one (208) and pivoted lever two (209) settings parallel to each other, and their end passes the through hole on the gyration block (203) and fixes with gyration block (203); The pivoted lever one (208) and pivoted lever two (209) other ends pass the through hole on the III joint contiguous block (210); III joint contiguous block (210) is used to connect the III joint (300) of corresponding elbow joint flexion/extension, and III joint contiguous block (210) can horizontally slip along pivoted lever one (208) and pivoted lever two (209), and the other end end of pivoted lever one (208) and pivoted lever two (209) is fixed with rod end fixture (212); Gyration block (203) is under the driving of motor reducer two (202); Drive pivoted lever one (208) and pivoted lever two (209) and be fixed on pivoted lever one (208) with pivoted lever two (209) on parts rotate around II joint (200) gyroaxis (206) axis II-II, realization shoulder joint flexion/extension moves.
The mechanism of contiguous block (210) below the adjustment that horizontally slips of pivoted lever one (208) and pivoted lever two (209) is passed through realizes; Wear position between the through hole of pivoted lever one (208) and pivoted lever two (209) in being used on the contiguous block (210) and offer the rectangle slotted eye (210c) of vertical said pivoted lever direction; Be used to hold fixture block (211) in the rectangle slotted eye (210c); Fixture block (211) is identical substantially with rectangle slotted eye (210c) shape; Matched in clearance between them, the central authorities of fixture block (211) have the screw (211a) of horizontal direction, and adjustment bolt two (214) one ends have screw thread (214a); This threaded end is screwed into the screw (211a) on the above-mentioned fixture block; The other end passes rod end fixture (212) and is fixedly connected with handwheel two (216), and rod end fixture (212) allows adjustment bolt two (214) to rotate, but stops it to move axially; Rotation through handwheel two (216) drives adjustment bolt two (214), fixture block (211), and then drives contiguous block (210) along pivoted lever one and pivoted lever two slips.
This robot also comprises III joint (300), its corresponding elbow joint flexion/extension, and III joint (300) comprise elbow joint slewing equipment, driving device.
The elbow joint slewing equipment in said III joint (300) comprises gyroaxis (321), gyroaxis fixture (322), bearing block (324), bearing gland (326), fan-shaped revolving meber (325); Gyroaxis fixture (322) connects firmly the side in III joint contiguous block (210) below of II joint (200); Gyroaxis (321) is fixedly mounted on the end of gyroaxis fixture (322); Gyroaxis (321) middle part is provided with the bearing block (324) of laying bearing, is installed with fan-shaped revolving meber (325) on the bearing block (324).
The driving device in said III joint (300) comprises fixedly limited block (305) composition of motor base (301), motor reducer (302), crank (303), revolute pair one (304) and revolute pair two (307), connecting rod (306), rocking bar (308), crank (303); Motor base (301) is packed in an end that stretches out gyration block (203) on pivoted lever one (208) and the pivoted lever two (209) in II joint (200); Motor reducer (302) is fixed on the motor base (301); Motor reducer (302) output shaft is connected with an end of crank (303); Crank (303) other end is connected with a revolute pair one (304), and this revolute pair one (304) is affixed with connecting rod (306) one ends, and the other end of connecting rod (306) and revolute pair two (307) are affixed; This revolute pair two (307) is affixed with rocking bar (308) one ends, and rocking bar (308) other end and fan-shaped gyration block (325) are affixed.
This robot also comprises IV joint (400), the inward turning of its corresponding upper limb forearm and/or turn up.
IV joint (400) comprises fixed block (401), bearing block (402), sector gear (404), gear shaft (405), connecting rod one (406) and connecting rod two (408), latch segment (407), rod end fixture (409), clamping screw (410), clamping screw handwheel (411); Fixed block (401) connects firmly on the fan-shaped revolving meber (325) of III joint (300) through a locking device; Bearing block (402) is packed on the fixed block (401); Bearing in one end of gear shaft (405) and the bearing block is connected, and the other end is fixedly connected handwheel, and the gear parts of gear shaft (405) and sector gear (404) are connected with a joggle; Connecting rod one (406) and connecting rod two (408) two ends are equipped with the rod end fixture; This is the rod end fixture and sector gear (404) integrative-structure of fixed block (401) side wherein, and connecting rod one (406) and connecting rod two (408) laterally arrange, and latch segment (407) is L-shaped; L shaped one side slidably also can be arranged on connecting rod one (406) and the connecting rod two (408) with locking, and L shaped another side end is provided with adpting flange.
The locking device of said fixed block (401) comprises clamping screw (341), clamping screw fixed block (342), briquetting (343), wedge (344), bearing pin one (345) and bearing pin two (346), pressure pad (347); Clamping screw fixed block (342) is fixed on the fan-shaped revolving meber (325); One end of clamping screw (341) is connected with clamping screw fixed block (342); Clamping screw fixed block (342) allows clamping screw (341) to rotate but stops it to move axially; Clamping screw (341) other end screws in the screw on the wedge (344) in the briquetting (343), and briquetting (343) and wedge (344) are slidingly matched, and briquetting (343) is fixedly connected with the end of bearing pin one (345) with bearing pin two (346); Be fixed with pressure pad (347) on the other end of bearing pin one (345) and bearing pin two (346), handwheel is arranged on the clamping screw outside; Rotation lock bolt (341) drives wedge (344) and moves; Bearing pin one (345) and bearing pin two (346) move axially in the effect lower edge of wedge (344) to make briquetting (343), thereby the pressure pad (347) that makes the bearing pin other end is locked at the sector gear (404) of IV joint (400) on the fan-shaped revolving meber (325).
This robot also comprises V joint (500), and it has carpal joint flexion/extension function.
V joint (500) comprises the palm driving device.
The palm driving device comprises base plate (501), bearing block (502), motor/reductor (504), motor base (505), fixedly limited block (508), cam disc (509), driving shaft (510), rotary handle (511), cam disc connecting rod (512), carriage connector (513), palm carriage (514), palm fixed bar (515); V joint (500) is connected with the adpting flange that latch segment (407) is gone up in IV joint (400) with IV joint (400) flange through base plate (501) one ends; Bearing block (502) is fixed on base plate (501) upper surface; The upper surface of bearing block (502) is fixed with fixedly limited block (508); The below base of bearing block (502) is fixed with motor base (505); Motor/reductor (504) is fixed on the motor base (505), and the output shaft of motor/reductor (504) is vertical with driving shaft (510), and these two between centers adopt gear drive; The upper end of driving shaft (510) is fixedly connected rotary handle (511); The far-end of rotary handle (511) is fixedly connected an end of carriage connector (513), and the other end of carriage connector (513) is towards driving shaft (510), and cam disc (509) is enclosed within on the driving shaft (510) through the hole sky on it; Be positioned at rotary handle (511) below; One lateral edges of cam disc (509) upper surface is fixedly connected with cam disc connecting rod (512), and cam disc connecting rod (512) is hinged with the end away from driving shaft (510) of carriage connector (513), and cam disc (509) is connected with rotary handle (511) with carriage connector (513) through cam disc connecting rod (512) like this; Palm carriage (514) and palm fixed bar (515) are installed on the carriage connector (513); Palm carriage (514) can be gone up slidable adjustment at carriage connector (513), and palm fixed bar (515) vertical tray connector (513) extends upward, and the two ends of palm fixed bar (515) are bandage (516) fixedly.
The V joint (500) that this robot comprises also has finger flexion/extension function.
V joint (500) also comprises the finger actuation device.
The finger actuation device comprises cam limited block (531), intermediate connecting rod (533), far-end connecting rod (534), support bar (535), refers to bar (537), refers to sliding (538), cam limited block connector (542), block (532 and 540); The cam limited block connector (542) that bearing is installed is fixed on the base plate (501); Minor axis one (541) one end cooperates installation with the interior bearing of cam limited block connector (542); The other end and cam limited block (531) are hinged; Be fixedly connected with two blocks (532 and 540) on the dual-side of cam limited block (531), the two ends of intermediate connecting rod (533) are hinged with the near-end of the end away from minor axis one (541) of cam limited block (531), far-end connecting rod (534) respectively, and the near-end of far-end connecting rod (534) also is fixedly connected with minor axis two (545) in addition; Minor axis two (545) and the bearing of installing in rotary handle (511) far-end cooperate installation; Be fixed with support bar (535) on the far-end of far-end connecting rod (534), support bar (535) is vertical with far-end connecting rod (534) and extend upward, and refers to that bar (537) is enclosed within on the support bar 535 through the cover piece 536 that connects firmly; Refer to that bar (537) is vertical with support bar (535), refer to slide (538) and on finger bar (537), can slide.
Compared with prior art, advantage of the present invention and good effect are:
1) upper-limbs rehabilitation training robot apery upper limb design has realized man-machine Perfect Matchings, the comfortableness when having improved rehabilitation training;
2) be integrated into the realization of joint motions such as human upper limb shoulder joint, elbow joint, carpal joint and finger motion on the upper-limbs rehabilitation training robot, especially can have realized the motion of wrist and finger, thereby improve the effectiveness of rehabilitation training;
3) can adjust each interarticular position distance of upper-limbs rehabilitation training robot easily according to the size of different patient's upper limb, strengthen the adaptability of recovery exercising robot different individual patients;
4) the upper limb rehabilitation robot multi-joint is connected in series; And parallelogram linkage is adopted in the III joint; Many rod members mechanism is adopted in the V joint; Thereby make whole healing robot mechanism compact, attractive in appearance more, also significantly reduced the rotary inertia of each simultaneously, improved the precision of healing robot;
5) motion of wrist and finger is equipped with a cover motor/decelerator, makes and has also reduced cost simultaneously by compact conformation;
6) 3 force transducers are arranged between recovery exercising robot and human upper limb, can be to overload (driving force) and abnormal conditions detect and security protection;
7) electric spacing and/or mechanical hard stopping means is installed on each cradle head of upper-limbs rehabilitation training robot, has guaranteed the safety the when patient carries out rehabilitation training.
Description of drawings
Fig. 1 is a population structure sketch map of the present invention;
Fig. 2 is the population structure sketch map that omits carriage, bandage mechanism of the present invention;
Fig. 3 is the structural representation in I joint;
Fig. 4 is the cutaway view of Fig. 3;
Fig. 5 is the sketch map before driving shaft, the connecting axle assembling;
Fig. 6 is fixing limited block 110 place's horizontal cross among Fig. 3;
Fig. 7 is a revoliving arm downside left end bottom view among Fig. 3;
Fig. 8 is the structural representation in II joint;
Fig. 9 is the structural representation of another view direction in II joint;
Figure 10 is the mechanical position limitation and the electric position limiting structure sketch map in II joint;
Figure 11 is for regulating the adjusting device structural representation that II joint and III are closed the internode relative position;
Figure 12 is the structural representation in III joint;
Figure 13 is that III joint slewing equipment and force transducer connect sketch map;
Figure 14 is an III joint locking device structure sketch map;
Figure 15 is the mechanical position limitation and the electric position limiting structure sketch map in III joint;
Figure 16 is an III joint parallelogram connection-rod revolute pair structural representation;
Figure 17 is the structural representation in IV joint;
Figure 18 is the structural representation in V joint;
Figure 19 is the structural representation of another view direction in V joint;
Figure 20 is the electric position limiting structure sketch map in V joint;
Figure 21 is the mechanical position limitation structural representation in V joint;
Figure 22 is a healing robot operation principle sketch map.
The specific embodiment
Further introduce embodiments of the invention below in conjunction with accompanying drawing:
Following embodiment is illustrative, is not determinate, can not limit protection scope of the present invention with following embodiment.
As shown in Figure 1; Upper-limbs rehabilitation training robot comprises I joint 100, II joint 200, III joint 300, IV joint 400 and V joint 500; 5 joints of described upper limb rehabilitation robot are coupled in series successively; Wherein I joint 100 wraparound shaft axis I-I is rotated; II joint 200 wraparound shaft axis II-II is rotated; III joint 300 wraparound shaft axis III-III is rotated; IV joint 400 wraparound shaft axis IV-IV are rotated, and V joint 500 wraparound shaft axis V-V is rotated, the axis of rotation I-I in I the joint 100 and axis of rotation II-II in II joint 200 intersects vertically, the axis of rotation III-III in the axis of rotation II-II in II joint 200 and III joint 300 is vertical but non-intersect; Axis of rotation III-III and the axis of rotation IV-IV in IV joint 400, the axis of rotation IV-IV in IV joint 400 and the axis of rotation V-V in V joint 500 in III joint 300 intersect vertically, and the axis of rotation IV-IV in IV joint 400 is through the intersection point of I joint 100 axis of rotation I-I and II joint 200 axis of rotation II-II; II joint 200 is connected with the connecting axle 109 in I joint 100 through base 201; III joint 300 lock onto on the pivoted lever 208,209 through contiguous block 210; Motor base 301 lock onto on pivoted lever 208,209 rear ends in II joint 100; IV joint 400 is connected with fan-shaped revolving meber 325 on the III joint through the locking device that is fixed on the III joint 300, and V joint 500 is connected (referring to Figure 17,18) through the connecting plate 501 on the V articulated arm 500 with latch segment 407 on the IV joint 400.
The structure in I joint 100 is (seeing Fig. 3-7):
I joint 100 comprise motor/reductor 101, driving shaft 105, bearing 106 and 107, bearing block 103, bearing gland 102 and 104, fixedly limited block 110, move limited block 113, revoliving arm 108, connecting axle 109, revoliving arm locating piece 111 and 112; Wherein motor/reductor 101 output shafts stretch in the interstitial hole of driving shaft 105; Connect driving driving shaft 105 through key and rotate, driving shaft 105 cooperates installation with bearing 106,107, and bearing 106 and 107 is a pair of angular contact ball bearing of installing back-to-back; This bearing is installed in the bearing block 103; Bearing block 103 both ends of the surface up and down be separately installed with bearing gland 102 and 104, motor/reductor 101 is fixed on the upside bearing gland 102, the two ends of revoliving arm 108 are respectively arranged with through hole one 108a, through hole two 108c and fluting 108b, 108d (see figure 5); Fluting 108b, 108d are located at the end face of revoliving arm 108; And perpendicular end surface extends to through hole 108a, 108c, forms slit, and insert respectively among through hole one 108a, through hole two 108c of revoliving arm 108 on the top of the bottom of driving shaft 105 and connecting axle 109; Make two ends fluting 108b, the 108d of revoliving arm 108 diminish through tight fixed bolt, thereby realize being fastenedly connected of revoliving arm 108 and driving shaft 105, connecting axle 109.In addition; End face is provided with longitudinal fluting one in the bottom of driving shaft 105; Bottom end face with driving shaft 105 links on the revoliving arm 108 is provided with longitudinal fluting two (as shown in Figure 4), and longitudinal fluting one is measure-alike with longitudinal fluting two shapes, and driving shaft 105 is packed into behind through hole one 108a; Longitudinal fluting one is aligned with each other with longitudinal fluting two; Then revoliving arm 108 locating pieces 1 are installed in the groove after this alignment, and are fixed, be used to keep the relative position of revoliving arm 108 and driving shaft 105 with screw.End face is provided with longitudinal fluting three in the upper end of connecting axle 109; Upper end with connecting axle 109 links on the revoliving arm 108 is provided with longitudinal fluting four, and longitudinal fluting three is identical with longitudinal fluting four geomeries, and connecting axle 109 is packed into behind through hole two 108c; Longitudinal fluting three is aligned with each other with longitudinal fluting four; Then revoliving arm locating piece 2 112 is installed in the groove after this alignment, and is fixed, be used to keep the relative position of revoliving arm 108 and connecting axle 109 with screw.
The position-limit mechanism in I joint 100 adopts mechanical position limitation and electric spacing combining, and concrete structure is following:
(1) mechanical position limitation: fixedly limited block 110 is fixed on the downside bearing gland 104; Fixedly limited block 110 constitutes mechanical position limitation mechanism with mobile limited block 113; Fixedly limited block 110 is provided with fan-shaped pylone (as shown in Figure 6); Move limited block 113 and be fixed on zone corresponding on the driving shaft 105 with this fan-shaped pylone; And this fan-shaped pylone zone of protrusion entering, revoliving arm 108 contacts the mechanical position limitation of realizing two extreme positions through moving limited block 113 with two sides 110a, the 110b of this fan-shaped pylone in rotation process.
(2) electric spacing: magnetic links 114 is fixed on the revoliving arm 108 on the bottom surface with driving shaft 105 links (as shown in Figure 7); Two Hall elements 115 and 116 are fixed on fixedly on the limited block 110; Its particular location does; Fixedly the corresponding outer circumferential side in two sides of fan-shaped pylone on the limited block 110 makes revoliving arm 108 in rotation process, when magnetic links 114 respectively with Hall element 115,116 over against the time; Corresponding Hall element is connected, thereby realizes two extreme positions electric spacing in I joint 100.
The course of action in I joint 100 is: motor/reductor 101 drives revoliving arm 108 100 axiss of rotation I-I rotation around the I joint through driving shaft 105; Revoliving arm 108 drives fixing connecting axle 109 on it, connects II joint 200 through connecting axle 109 and realizes the 100 axiss of rotation I-I rotation around the I joint of whole upper limb rehabilitation robot.When revoliving arm 108 rotates, when magnetic links 114 respectively with Hall element 115,116 over against the time, corresponding Hall element is connected, thereby realizes two extreme positions electric spacing in I joint 100; When two the face 113a, the 113b that move limited block 113 touch two side 110a, the 110b of the fixing fan-shaped pylone of limited block 110 respectively; Revoliving arm forwards two extreme positions to; Can't be rotated further again; Thereby realize the mechanical position limitation protection in I joint 100,, improved the security performance of this upper-limbs rehabilitation training robot through mechanical position limitation and electric spacing duplicate protection.
The structure in II joint 200 is (seeing Fig. 8-11):
II joint 200 comprises fork-shaped base 201, motor/reductor 202, gyration block 203, bearing 204, bearing block 205, gyroaxis 206, a pair of revolution rod member 208 and 209, contiguous block 210, moves limited block 207, fixture block 211, rod end fixture 212, clamping screw 213, adjustment bolt 214, handwheel 215 and 216; Motor/reductor 202 is fixed on fork-shaped base 201 bottoms with bearing block 205; Bearing 204 is a pair of deep groove ball bearings; This bearing is installed in the bearing block 205, and gyroaxis 206 is enclosed within the endoporus of bearing 204 and is mated installation, and gyroaxis 206 stretches in the centre bore of gyration block 203; And the output shaft of motor/reductor 202 connects driving rotational axle 206 through key and drives gyration block 203 rotations; Revolution rod member 208 and 209 settings parallel to each other, their end are packed on the gyration block 203 (revoliving arm 108 is similar with being connected of driving shaft 105 in connected mode and the I joint 100), the through hole that pivoted lever 208,209 passes on the contiguous block 210; Contiguous block 210 can slide along pivoted lever 208,209, and the other end of pivoted lever 208,209 is fixed with rod end fixture 212; Gyration block 203 drives pivoted lever 208,209 and is fixed on other parts 200 gyroaxises, the 206 axis II-II rotation around the II joint on the pivoted lever 208,209 under the driving of motor/reductor 202.
Position-limit mechanism referring to accompanying drawing 10, the II joints 200 also adopts mechanical position limitation and electric spacing combining, and concrete structure is following:
(1) mechanical position limitation: bearing block 205 conducts are limited block fixedly, and its side towards gyration block 203 is provided with scalloped recess, and the angular dimension of scalloped recess is confirmed by the amplitude of fluctuation of revolution rod member 208,209.Moving limited block 207 is packed on the gyration block 203 and along with gyration block 203 wraparound rotating shafts 206 are rotated; The installation site of moving limited block 207 is corresponding with above-mentioned scalloped recess; And mobile limited block 207 protrusions get into the zone of scalloped recess; Make gyration block 203 in turning course, when moving two side 205a that limited block 207 touches above-mentioned scalloped recess, 205b, II joint 200 forwards two extreme positions to; Can't be rotated further again, thereby realize the mechanical position limitation protection in II joint 200.
(2) electric spacing: as to move limited block 207 and be provided with magnetic links 217; Position in the corresponding fan-shaped two sides of the scalloped recess outer circumferential side of bearing block is fixed with Hall element 218,219 respectively, and magnetic links 217 and Hall element 218,219 are realized spacing control through magnetic induction.When magnet steel 217 respectively with Hall element 218,219 over against the time, corresponding Hall element is connected, thereby realizes two extreme positions electric spacing in II joint 200.
The position of contiguous block 210 on revolution rod member 208,209 can be adjusted and lock, and this function is mainly realized by clamping screw 213, adjustment bolt 214, fixture block 211, handwheel 215 and 216, and is specific as follows:
(1) adjustment process realizes through following structure: the rectangle slotted eye 210c (Figure 11) that between two revolution rod member 208,209 holes of contiguous block 210, has vertical revolution rod member direction; Be used to hold fixture block 211 in the rectangle slotted eye 210c; Fixture block 211 is identical substantially with rectangle slotted eye 210c shape, matched in clearance between them.Have the screw 211a of horizontal direction on the fixture block 211; Adjustment bolt 214 1 ends are equipped with screw thread 214a, and an end of adjustment bolt 214 is screwed into the screw 211a on the above-mentioned fixture block, and the other end passes rod end fixture 212 and is fixedly connected with handwheel 216; Moving axially of rod end fixture 212 restriction adjustment bolts 214; But allow its rotation, rotate adjustment bolt 214, can drive contiguous block 210 through fixture block 211 and slide along revolution rod member 208,209 through handwheel 216.
(2) lock function is realized through following structure: on contiguous block 210 vertical direction; Be used to wear between two through holes of pivoted lever 208,209 and be provided with fluting 210b; Fluting 210b connects the left and right sides face (direction shown in Figure 11) of contiguous block 210, forms slit.On contiguous block 210, also offer another fluting 210a; Form another road slit; This another fluting 210a and therebetween position vertical with the 210b that slots; Another fluting 210a and rectangle slotted eye 210c lay respectively at the relative both sides (direction shown in Figure 11) of contiguous block 210, and this another fluting 210a connects the left and right sides face of contiguous block 210 too, just form two cantilevers in fluting 210a side on contiguous block 210 vertical direction like this.In another fluting 210a centre position, vertically turn round rod member 208,209 directions and be drilled with screwed hole, this screwed hole is crossed over fluting 210b and is further extended, and this screwed hole cooperates with clamping screw 213, and the outer end of clamping screw 213 is fixed with handwheel 215.When rotating handwheel 215, above-mentioned cantilever is crooked slightly, fluting 210b slit is diminished, thereby utilize clamping screw 213 that contiguous block 210 is locked on the pivoted lever 208,209.When unclamping clamping screw 213 with handwheel 215 reverse rotations; Rotate adjustment bolt 214 with handwheel 216; Can drive contiguous block 210 through fixture block 211 slides along pivoted lever 208,209; Be connected with III joint 300 on the contiguous block 210, thereby realize regulate the relative position in 300 in II joint 200 and III joint.
The structure in III joint 300 is (seeing Figure 12-16):
Referring to Fig. 9,12, be connected with the gyroaxis fixture 322 in III joint 300 on the contiguous block 210, on the left surface vertical direction (direction as shown) of gyroaxis fixture 322, install connecting plate 221; The middle part of connecting plate 221 vertically is provided with connecting rod 222, and connecting rod 222 can slide up and down along connecting plate 221, between them through the locking mechanism locking; The other end of connecting rod 222 is fixedly connected an end of force transducer 223; Force transducer 223 is 2 D force sensors, and the other end of force transducer 223 is fixedly connected upper arm carriage connector 224, force transducer 223 along continuous straight runs settings; Upper arm carriage connector 224 is vertical with force transducer 223; And extend in the upward direction, be fixed with the carriage 225 of upper limb upper arm on the upper arm carriage connector 224, can the upper limb upper arm be strapped on the carriage 225 through bandage 226.
III joint 300 comprises slewing equipment, driving device, locking device.Slewing equipment is fixedly connected with the rocking bar 308 of driving device through the fan-shaped gyration block 325 on it, and locking device is connected on the fan-shaped gyration block 325 of slewing equipment through the clamping screw fixed block 342 on it.
Slewing equipment (referring to Figure 12) comprises gyroaxis 321, gyroaxis fixture 322, bearing 323, bearing block 324, bearing gland 326, fan-shaped revolving meber 325; Gyroaxis fixture 322 connects firmly on the contiguous block 210 in II joint 200; Gyroaxis fixture 322 is fixing with gyroaxis 321; Be provided with bearing block 324 in the middle of the gyroaxis 321; The bearing 323 that is installed in the bearing block 324 is a pair of angular contact ball bearings of installing back-to-back, is installed with fan-shaped revolving meber 325 on the bearing block 324.Driving device (referring to Figure 12) comprises that the fixedly limited block 305 of motor base 301, motor/reductor 302, crank 303, revolute pair 304 and 307 (its concrete structure introduction see after literary composition), connecting rod 306, rocking bar 308, crank 303 forms; Motor base 301 is packed in an end (referring to Fig. 1) that stretches out gyration block 203 on the pivoted lever 208,209 in II joint 200; Motor/reductor 302 is fixed on the motor base 301; The fixedly limited block 305 of crank 303 is fixed on the motor base 301, and motor/reductor 302 output shafts are connected with an end of crank 303, and crank 303 other ends are connected with a revolute pair 304; This revolute pair 304 is affixed with connecting rod 306 1 ends; The other end of connecting rod 306 and another revolute pair 307 are affixed, and this another revolute pair 307 is affixed with rocking bar 308 1 ends, and rocking bar 308 other ends and fan-shaped gyration block 325 are affixed.
Revolute pair 304,307 (seeing Figure 16) mainly is made up of bearing pin 391, connecting rod contiguous block 393, bearing (being installed in the connecting rod contiguous block 393, not shown), bearing gland 394.Bearing pin 391 is installed in the bearing, make bearing pin 391 relatively connecting rod contiguous block 393 rotate.The bottom of connecting rod contiguous block 393 is provided with through hole 393a; One end of connecting rod 306 passes from this through hole 393a; Through hole 393a is vertically installed with fluting 393b to connecting rod contiguous block 393 bottom faces on connecting rod contiguous block 393, and connecting rod 306 and connecting rod contiguous block 393 lock through tight fixed bolt 395 vertical and that be right against the 393b that slots.When unclamping holding screw 395, connecting rod 306 can move in the hole 393a on the connecting rod contiguous block 393, thereby realizes the adjustment of connecting rod 306 with respect to the length of two revolute pairs 304,307.
Locking device (referring to Figure 13, Figure 14) comprises clamping screw 341, clamping screw fixed block 342, briquetting 343, wedge 344, bearing pin 345 and 346, pressure pad 347; Clamping screw fixed block 342 is fixed on the fan-shaped revolving meber 325 (Figure 14); One end of clamping screw 341 is connected with clamping screw fixed block 342; Clamping screw fixed block 342 allows clamping screw 341 to rotate but stops its axially-movable; In the screw on the wedge 344 of clamping screw 341 other ends screw-in briquetting 343, briquetting 343 is slidingly matched with wedge 344, and briquetting 343 is fixedly connected with an end of two bearing pins 345,346; Be fixed with pressure pad 347 on the other end of bearing pin 345,346, handwheel is arranged on the outside of clamping screw 341; Rotation lock bolt 341 drives wedge 344 and moves; Bearing pin 345,346 directions move in the effect lower edge of wedge 344 to make briquetting 343; Thereby pressure pad 347 sector gears with IV joint 400 (404) that make the bearing pin other end are locked at (about sector gear 404 literary composition introduction in the back in IV joint 400) on the fan-shaped revolving meber 325, realize being connected IV joint 400 and III joint 300.This locking device can be adjusted needs according to rehabilitation training to the locking of sector gear 404 and select to unclamp or lock, and promptly after adjusting the position, locks.
Shown in figure 14, the position-limit mechanism of crank 303 in motor process also adopts mechanical position limitation and electric spacing combining, and concrete structure is following:
(1) mechanical position limitation: crank 303 is to move limited block, and it constitutes mechanical position limitation mechanisms with fixing limited block 305.One end face of the fixedly limited block 305 of crank 303 is provided with scalloped recess; This scalloped recess extends to fixedly limited block 305 neighborings; The size of the fan-shaped angle of this scalloped recess depends on the maximum angle of revolution requirement of crank 303, and crank 303 embeds in this groove, and can in this groove, rotate; When two side 303a, the 303b of crank 303 touch two side 305a, the 305b of fixing limited block 305 scalloped recess respectively; Crank 303 forwards two extreme positions to, can't be rotated further again, thereby realize the mechanical position limitation protection in III joint 300.
(2) electric spacing: magnetic links 309 is installed on the crank 303, fixedly is fixed with Hall element 310,311 on the limited block 305, and magnetic links 309 constitutes electric spacing with Hall element 310,311.Hall element 310,311 is installed in fixedly the position corresponding with the scalloped recess side on the limited block; Make and rotate when motor/reductor 302 drives crank 303; Magnetic links 309 can be respectively with Hall element 310,311 over against the time; Corresponding Hall element is connected, thereby realizes two extreme positions electric spacing in III joint 300.
III joint 300 is parallelogram four-bar linkage (seeing Figure 12); Parallel and equal with axis of rotation from the axis of rotation of revolute pair 304 to the vertical join line 382 the axis III-III of the gyroaxis 321 in III joint 300 from another revolute pair 307 to the vertical join line 381 the axis of rotation of motor/reductor 302; Rocking bar 308 connects firmly with fan-shaped revolving meber 325; Motor/reductor 302 drives crank 303; Crank 303 drives revolute pair 304 and moves; Revolute pair 304 drivening rods 306 rotate with rocking bar 308, and then drive fan-shaped revolving meber 325 and rotate around axis III-III of the gyroaxis 321 in III joint 300, thereby rotate around the axis of rotation III-III in III joint 300 in parts and IV joint 400, the V joint 500 of realizing being connected in fan-shaped revolving meber 325.
The structure in IV joint 400 is (seeing Figure 17)
IV joint 400 comprises fixed block 401, bearing block 402, bearing 403, sector gear 404, gear shaft 405, bar 406 and 408, latch segment 407, rod end fixture 409, clamping screw 410, clamping screw handwheel 411; Fixed block 401 connects firmly on the fan-shaped revolving meber 325 in III joint 300, and bearing block 402 is packed on the fixed block 401, and pair of bearings 403 is installed in respectively on bearing block 402 and the fixed block 401; One end and the pair of bearings 403 of gear shaft 405 are connected; The other end is fixedly connected handwheel, and the gear parts of gear shaft 405 and sector gear 404 are connected with a joggle, and bar 406 and 408 two ends all are fixed with the rod end fixture; Rod end fixture and sector gear 404 integrative-structures near fixed block 401 ends; Bar 406,408 laterally arranges, and latch segment 407 is L-shaped, and L shaped one side is locked on a pair of bar 406,408 through clamping screw 410; Another side is provided with adpting flange, is used for and being connected of V joint 500.When unclamping the locking device in III joint 300; Hand rotation gear shaft handwheel makes gear shaft 405 rotate; Because fixed block 401 is fixedly connected with fan-shaped revolving meber 325, moves so gear shaft 405 drives fan-shaped revolving meber 325 circumferencial directions in III joint, sector gear 404 edge 300, thereby realize that IV joint 400 integral body are around its axis of rotation IV-IV rotation; When turning to correct position, through locking device locking (referring to Figure 13).
The latch-up structure of latch segment 407 is identical with the latch-up structure of the contiguous block 210 in II joint 200, repeats no more at this.When the handwheel 411 that connects firmly on the rotation lock bolt 410, latch segment 407 unclamps, and can move with the bar length direction of hand propelled latch segment 407 along bar 406,408, thereby realize that III joint and V close the adjustment of internode relative position.
The structure in V joint 500 is (seeing Figure 18-21):
V joint 500 comprises palm driving device and finger actuation device.
The palm driving device comprises base plate 501, bearing block 502, bearing 503, motor/reductor 504, motor base 505, bevel gear 506 and 507, fixedly limited block 508, cam disc 509, driving shaft 510, rotary handle 511, cam disc connecting rod 512, carriage connector 513, palm carriage 514, palm fixed bar 515.The adpting flange that is connected latch segment 407 on flange and the IV joint 400 through base plate 501 1 ends in V joint 500 and IV joint 400 is connected.Bearing block 502 is fixed on base plate 501 other ends; Bearing 503 is a pair of angular contact ball bearings of installing back-to-back, and bearing 503 is installed in the bearing block, and driving shaft 510 cooperates with bearing 503 to be installed; The upper surface of bearing block 502 is fixed with fixedly limited block 508; The below base of bearing block 502 is fixed with motor base 505, and motor/reductor 504 is fixed on the motor base 505, and the output shaft of motor/reductor 504 is vertical with driving shaft 510; Be separately installed with an intermeshing bevel gear 506,507 on these two axles; The upper end of driving shaft 510 is connected with rotary handle 511, and the far-end of rotary handle 511 is fixedly connected an end of hand tray frame connector 513, and the other end of hand tray frame connector 513 is folded to driving shaft 510 sides.Cam disc 509 is enclosed within on the driving shaft 510 through the hole sky on it; Can be around driving shaft 510 rotations; One lateral edges of cam disc 509 upper surfaces is fixedly connected with cam disc connecting rod 512; Cam disc connecting rod 512 is hinged with the end away from driving shaft 510 of hand tray frame connector 513, and cam disc 509 is connected with rotary handle 511 with hand tray frame connector 513 through cam disc connecting rod 512 like this, and palm carriage 514 is packed on the hand tray frame connector 513 with palm fixed bar 515; Palm carriage 514 can be on hand tray frame connector 513 slidable adjustment; Palm fixed bar 515 vertical hand tray frame connectors 513 extend upward, and the two ends of palm fixed bar 515 are bandage 516 fixedly, and bandage 516 is used for fixing palm.
The finger actuation device comprises cam limited block 531, intermediate connecting rod 533, far-end connecting rod 534, support bar 535, refers to bar 537, refers to cunning 538, cam limited block connector 542, nylon block 532 and 540; The cam limited block connector 542 that bearing is installed is fixed on the base plate 501; Minor axis 541 1 ends cooperate installation with cam limited block connector 542 interior bearings, and minor axis 541 other ends and cam limited block 531 are hinged, and cam limited block 531 takes the shape of the letter U; This pin joint is positioned at the U-shaped bottom; Realize the rotation of cam limited block 531 with respect to base plate 501, be fixedly connected with nylon block 532 and 540 on the dual-side of cam limited block 531, it is hinged that the near-end of one of U-shaped upper end of minor axis 539,543 and cam limited block 531, far-end connecting rod 534 is passed through at the two ends of intermediate connecting rod 533 respectively; The near-end of far-end connecting rod 534 also is fixedly connected with minor axis 545 in addition; Minor axis 545 cooperates with bearing 544 in rotary handle 511 far-ends to be installed, and is fixed with finger strut 535 on the far-end of far-end connecting rod 534, and finger strut 535 and far-end connecting rod 534 are vertical and extend upward; Refer to that bar 537 is enclosed within on the finger strut 535 through the cover piece 536 that connects firmly, refer to that sliding 538 can slide on finger bar 537.Motor/reductor 504 rotates through a pair of bevel gear 506 and 507 driving rotational handles 511; Rotary handle 511 drives far-end connecting rod 534; And under the drive and constraint of cam disc 509, cam limited block 531, intermediate connecting rod 533, realize the rotation of support bar 535 with respect to rotary handle 511.
The position-limit mechanism in V joint 500 adopts mechanical position limitation and electric spacing combining, and is specific as follows:
(1) mechanical position limitation (Figure 21): fixedly the side near driving shaft 510 is provided with fan groove on the limited block 508; This fan groove has side end face 508a and 508b; Be fixed with fan-shaped bump on the driving shaft 510; This fan-shaped bump has side end face 510a and 510b, and when two side end face 510a, the 510b of the fan-shaped bump of driving shaft 510 touched two side end face 508a, the 508b of the fixing fan groove of limited block 508 respectively, driving shaft 510 forwarded two extreme positions to; Can't be rotated further again, thereby realize the mechanical position limitation protection in V joint 500.
(2) electric spacing (Figure 20,21): magnetic links 551 is fixed on the cam disc 509; Fixedly be fixed with Hall element 552 and 553 on the limited block 508; Hall element 552 and 553 concrete installation sites are set according to the needs of angle of revolution; When motor/reductor 504 rotated through a pair of bevel gear 506 and 507 driving rotational handles 511, rotary handle 511 drove cam discs 509 through cam disc connecting rod 512 and rotates around driving shaft 510, when magnetic links 551 respectively with Hall element 552,553 over against the time; Corresponding Hall element is connected, thereby realizes two extreme positions electric spacing in V joint 500.
Be fixed on the palm carriage 514 through bandage 516 and the palm of palm fixed bar 515 patient; To point also to be fixed on and refer on sliding 538 through bandage; The rotary handle 511 that posts foil gauge is one one dimensional force sensors; Can directly measure the active force between palm and healing robot; Active force between finger and healing robot acts on cam disc 509 through the nylon block 532 and 540 on intermediate connecting rod 533, far-end connecting rod 534, the cam disc limited block 531, acts on rotary handle 511 through cam disc connecting rod 512 again, thereby the power when realizing palm with the finger gymnastic action detects and power is controlled.
The operation principle of robot of the present invention is:
Referring to Figure 21, upper-limbs rehabilitation training robot of the present invention is fixed on any underframe 001, and disposes a seat 002.When carrying out rehabilitation training; The patient is seated on the seat 002; The position of adjustment recovery exercising robot; Make the axis of rotation I-I in I joint 100 of upper limb rehabilitation robot align with the shoulder joint center of patient's upper limb in vertical direction; Axis of rotation II-the II in II joint 200 aligns with the shoulder joint center of patient's upper limb in the horizontal direction; And the adjustment adjusting device on II joint 200 and the IV joint 400 is set, make the axis of rotation III-III in III joint 300 and the axis of rotation V-V in V joint 400 align with the elbow joint and the carpal joint center of the corresponding upper limb of patient respectively, with bandage upper arm, forearm, palm, the finger of patient's upper limb is fixed on the correspondence position of recovery exercising robot then; This upper-limbs rehabilitation training robot is through the driving in 5 joints; Realize respectively in each joint: I joint 100 realizes that (flexion/extension) realized lifting/transferring on the shoulder in shoulder abduction/adduction, II joint 200, elbow joint flexion/extension, IV joint 400 realization forearm inward turnings/turn up are realized in III joint 300, and wrist flexion/extensions and finger flexion/extension are realized in V joint 500.For the independent a certain joint of training, 5 joints of recovery exercising robot can single driving, realizes monarthric rehabilitation exercise training; Through the aggregate motion in a plurality of joints, realize complicated motion, accomplish simple daily functional action, as carry trousers, comb one's hair, hold water etc.; In order to realize the rehabilitation training of specific action, can set the motion in each joint in advance, make the patient accomplish the specified action rehabilitation training; Utilization is installed on three pick offs on the recovery exercising robot, can the interaction force of patient and recovery exercising robot be detected, and obtains the motion intention of patient's upper limb; When the patient also was not enough to drive robot and moves, recovery exercising robot provided power, and auxiliary patient carries out upper extremity exercise; Increase along with patient's muscular strength; Recovery exercising robot can provide the resistance opposite with patient's upper extremity exercise, thereby realizes damped motion, increases patient's muscle-training.
Claims (39)
1. upper-limbs rehabilitation training robot; Be used for upper extremity exercise dysfunction patient and carry out rehabilitation training, this robot comprises upper limb training institution, underframe (001) and seat (002), and upper limb training institution is fixed on the underframe (001); Underframe (001) configuration one said seat (002); This robot has I joint (100), and its corresponding shoulder joint abduction/adduction is characterized in that:
I joint (100) comprises a driving device one (101), one a horizontal rotation device one (108) and a base device (201); Said underframe (001) is rigidly connected with the securing supports of driving device one (101); One (108) swing of driving device one (101) driving rotational device; Base device (201) is fixed on the far-end of slewing equipment one (108) swing; With slewing equipment one (108) swing; Base device (201) tilts along the lower right, and base device (201) be positioned at slewing equipment one (108) under, the device of fixing arm when base device (201) is provided with training shoulder joint abduction/adduction;
This robot also comprises II joint (200) and III joint (300), lifts/transfers on the corresponding shoulder joint in II joint (200), be i.e. flexion/extension motion; The corresponding elbow joint flexion/extension in III joint (300), III joint (300) comprise elbow joint slewing equipment and driving device;
This II joint (200) has two (202) and vertically rotating slewing equipments in the base device bottom of a driving device; This driving device two (202) drives the rotating slewing equipment of this vertical direction, and this slewing equipment is provided with the device of fixing arm when being used to train the shoulder joint flexion/extension;
The driving device two (202) in said II joint (200) is a motor reducer two; Said slewing equipment vertically is made up of II joint gyroaxis (206), gyration block (203) and pivoted lever (208,209); The device of fixing arm is installed on the pivoted lever during training shoulder joint flexion/extension, is used for fixing upper arm;
Said pivoted lever wears III joint contiguous block (210) on (208,209);
The elbow joint slewing equipment in said III joint (300) comprises III joint gyroaxis (321), III joint gyroaxis fixture (322), bearing block three (324), bearing gland one (326) and fan-shaped revolving meber (325); III joint gyroaxis fixture (322) connects firmly the side in III joint contiguous block (210) below of II joint (200); III joint gyroaxis (321) is fixedly mounted on the end of III joint gyroaxis fixture (322); III joint gyroaxis (321) middle part is provided with the said bearing block three (324) of laying bearing, is installed with said fan-shaped revolving meber (325) on the said bearing block three (324).
2. upper-limbs rehabilitation training robot as claimed in claim 1 is characterized in that: said driving device one (101) is motor reducer one, and said slewing equipment one (108) is a revoliving arm, and said base device (201) is the fork-shaped base.
3. upper-limbs rehabilitation training robot as claimed in claim 2 is characterized in that: I joint (100) also comprise driving shaft one (105), bearing block one (103), upper bearing (metal) gland (102), lower bearing gland (104) and connecting axle (109); Said securing supports is a bearing block one (103); Motor reducer one (101) drives driving shaft one (105) and rotates; Driving shaft one (105) cooperates installation with bearing; This bearing is installed in the bearing block one (103); The both ends of the surface up and down of bearing block one (103) are separately installed with said upper bearing (metal) gland (102) and said lower bearing gland (104), and motor reducer one (101) is fixed on the said upper bearing (metal) gland (102), and the both ends vertical direction of revoliving arm (108) is respectively arranged with through hole one (108a), through hole two (108c); Insert respectively in the through hole one (108a), through hole two (108c) of revoliving arm (108) on the top of the bottom of driving shaft one (105) and connecting axle (109); And fixing, the lower end of connecting axle (109) is fixed on the fork-shaped base (201), and the fork-shaped base is realized the shoulder joint abduction/adduction under the drive of driving shaft one (105), revoliving arm (108) and connecting axle (109).
4. upper-limbs rehabilitation training robot as claimed in claim 3; It is characterized in that: the left and right sides end side surface of said revoliving arm (108) is provided with the fluting one (108b) and fluting two (108d) of vertical direction; Fluting one (108b) and fluting two (108d) are located at the end face center of revoliving arm (108); And along continuous straight runs extends in each self-corresponding through hole one (108a), the through hole two (108c); Form the axial slits that is communicated with through hole one (108a) and through hole two (108c) respectively; Make fluting one, fluting two slits at two ends of revoliving arm (108) diminish through tight fixed bolt one, thereby realize being fixedly connected of revoliving arm (108) and driving shaft one (105), connecting axle (109).
5. upper-limbs rehabilitation training robot as claimed in claim 4; It is characterized in that: the bottom end face at driving shaft one (105) is provided with radial groove one; Revoliving arm (108) is gone up the corresponding radial groove two that is provided with of bottom end face with driving shaft one (105) link; Radial groove one is measure-alike with radial groove two shapes, and driving shaft one (105) is packed into behind the through hole one (108a), and radial groove one is aligned with each other with radial groove two; Revoliving arm locating piece one (111) is installed in the groove after this alignment, and with screw that revoliving arm locating piece one (111) is fixing.
6. upper-limbs rehabilitation training robot as claimed in claim 5; It is characterized in that: the upper end end face at connecting axle (109) is provided with radial groove three; Said revoliving arm (108) is gone up and the corresponding radial groove four that is provided with of the upper end of connecting axle (109) link; Radial groove three is identical with radial groove four geomeries, and connecting axle (109) is packed in the through hole two (108c), and radial groove three is aligned with each other with radial groove four; Revoliving arm locating piece two (112) is installed in the groove after this alignment, and with screw that revoliving arm locating piece two (112) is fixing.
7. upper-limbs rehabilitation training robot as claimed in claim 6 is characterized in that: said I joint (100) is provided with mechanical position limitation and electric spacing.
8. upper-limbs rehabilitation training robot as claimed in claim 7; It is characterized in that: said mechanical position limitation is by fixedly limited block one and mobile limited block one are formed; Fixedly limited block one (110) is fixed on the said lower bearing gland (104); Fixedly limited block one (110) is provided with fan-shaped pylone, moves limited block one (113) and is fixed on driving shaft one (105) and goes up correspondingly with this fan-shaped pylone, in moving process, mutually touches realization mechanical position limitation with fixing limited block one through mobile limited block one.
9. upper-limbs rehabilitation training robot as claimed in claim 8; It is characterized in that: said electric spacingly form by two Hall elements one (115,116) and a magnetic links one (114); Magnetic links one (114) is fixed on the revoliving arm (108); Hall element one (115,116) is fixed in fixedly on the limited block one (110), when magnetic links one (114) and Hall element one (115,116) over against the time, corresponding Hall element one is connected.
10. upper-limbs rehabilitation training robot as claimed in claim 1; It is characterized in that: said pivoted lever is pivoted lever one (208) and pivoted lever two (209), and II joint (200) also comprise bearing block two (205), said III joint contiguous block (210) and rod end fixture (212); Motor reducer two (202) and bearing block two (205) are fixed on fork-shaped base (201) bottom; Bearing is installed in the bearing block two (205); II joint gyroaxis (206) is enclosed within the endoporus of bearing (204); Gyration block (203) is positioned between two forks of fork-shaped base (201) bottom; II joint gyroaxis (206) stretches in the centre bore of gyration block (203); And the output shaft of motor reducer two (202) drives II joint gyroaxis (206) and drives gyration block (203) and rotate, pivoted lever one (208) and pivoted lever two (209) settings parallel to each other, and their end passes the through hole on the gyration block (203) and fixes with gyration block (203); The pivoted lever one (208) and pivoted lever two (209) other ends pass the through hole on the said III joint contiguous block (210); Said III joint contiguous block (210) is used to connect the III joint (300) of corresponding elbow joint flexion/extension, and said III joint contiguous block (210) can horizontally slip along pivoted lever one (208) and pivoted lever two (209), and the other end end of pivoted lever one (208) and pivoted lever two (209) is fixed with said rod end fixture (212); Gyration block (203) is under the driving of motor reducer two (202); Drive pivoted lever one (208) and pivoted lever two (209) and be fixed on pivoted lever one (208) with pivoted lever two (209) on parts rotate around II joint (200) gyroaxis (206) axis II-II, realization shoulder joint flexion/extension moves.
11. upper-limbs rehabilitation training robot as claimed in claim 10; It is characterized in that: the mechanism of said III joint contiguous block (210) below the adjustment that horizontally slips of pivoted lever one (208) and pivoted lever two (209) is passed through realizes; Wear position between the through hole of pivoted lever one and pivoted lever two in being used on the said III joint contiguous block (210) and offer the rectangle slotted eye (210c) of vertical said pivoted lever direction; Be used to hold fixture block (211) in the rectangle slotted eye (210c); Fixture block (211) is identical substantially with rectangle slotted eye (210c) shape; Matched in clearance between them, the central authorities of fixture block (211) have the screw (211a) of horizontal direction, and adjustment bolt two (214) one ends have screw thread (214a); This threaded end is screwed into the screw (211a) on the above-mentioned fixture block; The other end passes said rod end fixture (212) and is fixedly connected with handwheel two (216), and said rod end fixture (212) allows adjustment bolt two (214) to rotate, but stops it to move axially; Rotation through handwheel two (216) drives adjustment bolt two (214), fixture block (211), and then drives said III joint contiguous block (210) along pivoted lever one (208) and pivoted lever two (209) slips.
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12. upper-limbs rehabilitation training robot as claimed in claim 11 is characterized in that: said III joint contiguous block (210) locks through locking mechanism after pivoted lever one (208) and pivoted lever two (209) slip adjustment.
?
13. upper-limbs rehabilitation training robot as claimed in claim 12; It is characterized in that: described locking mechanism is: on said III joint contiguous block (210) vertical direction; Be used to wear between two through holes of pivoted lever one (208) and pivoted lever two (209) and be provided with fluting (210b); Fluting (210b) connects the left and right sides face of said III joint contiguous block (210); Form slit, on said III joint contiguous block (210), also offer another fluting (210a), form another road slit; This another fluting (210a) with the fluting (210b) vertical and be positioned at wherein between the position; Another fluting (210a) and rectangle slotted eye (210c) lay respectively at the relative both sides of said III joint contiguous block (210), and this another fluting (210a) connects the left and right sides face of said III joint contiguous block (210) too, at the left and right sides face of said III joint contiguous block (210); Fluting (210b) and another fluting (210a) form " T " shape, form two relative cantilevers on said like this III joint contiguous block (210) vertical direction; In another fluting (210a) centre position; Vertical pivoted lever one (208) and pivoted lever two (209) directions are drilled with screwed hole; This screwed hole is crossed over fluting (210b) and is further extended, and this screwed hole cooperates with clamping screw one (213), and the outer end of clamping screw one (213) is fixed with handwheel one (215); When rotating handwheel one (215); Above-mentioned cantilever is crooked slightly, fluting (210b) slit is diminished, thereby said III joint contiguous block (210) is locked on pivoted lever one (208) and the pivoted lever two (209).
?
14., it is characterized in that like the described upper-limbs rehabilitation training robot of one of claim 10-13: said II joint (200) be provided with II joint mechanical position limitation and the II joint electric spacing.
?
15. upper-limbs rehabilitation training robot as claimed in claim 14; It is characterized in that: said II joint mechanical position limitation is: bearing block two (205) conducts are limited block two fixedly; Fixedly limited block two is provided with scalloped recess towards a side of gyration block (203); The angular dimension of scalloped recess is confirmed by the amplitude of fluctuation of pivoted lever one (208) and pivoted lever two (209); Mobile limited block two (207) is packed in gyration block (203), and upward and along with gyration block (203) gyroaxis (206) rotates around the II joint; The installation site of moving limited block two (207) is corresponding with above-mentioned scalloped recess; And mobile limited block two (207) protrusions get into the zone of scalloped recess, make gyration block (203) in turning course, move two sides (205a, 205b) that limited block two (207) can touch above-mentioned scalloped recess.
16. upper-limbs rehabilitation training robot as claimed in claim 15; It is characterized in that: said II joint is electric spacingly to be: move limited block two (207) and be provided with magnetic links two (217); Scalloped recess outer circumferential side at bearing block two (205); Be fixed with two Hall elements two (218,219), magnetic links two (217) and Hall element two (218,219) are realized spacing control through magnetic induction, when magnetic links two (217) respectively with Hall element two (218,219) over against the time; Corresponding Hall element two is connected, thereby realizes two extreme positions electric spacing in II joint (200).
17. upper-limbs rehabilitation training robot as claimed in claim 1 is characterized in that: the driving device in said III joint (300) comprises the fixedly limited block three (305) of motor base one (301), motor reducer three (302), crank (303), revolute pair one (304) and revolute pair two (307), connecting rod (306), rocking bar (308) and crank (303); Motor base one (301) is packed in an end that stretches out gyration block (203) on pivoted lever one (208) and the pivoted lever two (209) in II joint (200); Motor reducer three (302) is fixed on the motor base one (301); Motor reducer three (302) output shafts are connected with an end of crank (303); Crank (303) other end is connected with a revolute pair one (304), and this revolute pair one (304) is affixed with connecting rod (306) one ends, and the other end of connecting rod (306) and revolute pair two (307) are affixed; This revolute pair two (307) is affixed with rocking bar (308) one ends, and rocking bar (308) other end and fan-shaped revolving meber (325) are affixed.
18. upper-limbs rehabilitation training robot as claimed in claim 17; It is characterized in that: said revolute pair one (304) is identical with revolute pair two (307) structures; Form by bearing pin (391), connecting rod contiguous block (393), bearing and bearing gland two (394); Bearing pin (391) is installed in the bearing; The bottom of connecting rod contiguous block (393) is provided with through hole (393a); Be used to wear an end of connecting rod (306), the through hole (393a) on connecting rod contiguous block (393) to connecting rod contiguous block (393) bottom face is vertically installed with fluting (393b), and connecting rod (306) locks through the tight fixed bolt two (395) perpendicular to fluting (393b) with connecting rod contiguous block (393).
19. upper-limbs rehabilitation training robot as claimed in claim 18 is characterized in that: said III joint (300) be provided with III joint mechanical position limitation and the III joint electric spacing.
20. upper-limbs rehabilitation training robot as claimed in claim 19; It is characterized in that: said III joint mechanical position limitation structure is following; The fixedly limited block three (305) of crank (303) is fixed on the motor base one (301) in III joint; Fixedly an end face of limited block three (305) is provided with scalloped recess, and crank (303) embeds in this groove, and can in this groove, rotate; When two sides of crank (303) (303a, 303b) touched two sides (305a, 305b) of fixing limited block three (305) scalloped recess respectively, crank (303) forwarded two extreme positions to.
21. upper-limbs rehabilitation training robot as claimed in claim 19; It is characterized in that: the electric position limiting structure in said III joint is following; Magnetic links three (309) is installed on the crank (303), and two Hall elements three (310,311) are packed in fixedly on the limited block three (305), and magnetic links three (309) and Hall element three (310,311) constitute electric spacing; Make and rotate when motor reducer three (302) drives crank (303); Magnetic links three (309) can be respectively with Hall element three (310,311) over against the time, corresponding Hall element three is connected, thereby realizes two extreme positions electric spacing in III joint (300).
22. upper-limbs rehabilitation training robot as claimed in claim 17 is characterized in that: the axis of rotation of said revolute pair one (304) is parallel and equal to the vertical dimension (382) between the axis III-III of the gyroaxis (321) of III joint (300) to the axis of rotation of vertical dimension (381) between the axis of rotation of III joint motor reductor three (302) and revolute pair two (307).
23. upper-limbs rehabilitation training robot as claimed in claim 22; It is characterized in that: this robot is provided with upper arm bondage carriage mechanism; On the left surface vertical direction of III joint gyroaxis fixture (322), install connecting plate (221), the middle part of connecting plate (221) vertically is provided with connecting rod (222), and connecting rod (222) can slide up and down along connecting plate (221); Lock through locking mechanism between them; The other end of connecting rod (222) is fixedly connected an end of force transducer one (223), and the other end of force transducer one (223) is fixedly connected upper arm carriage connector (224), force transducer one (223) along continuous straight runs setting; Upper arm carriage connector (224) is vertical with force transducer one (223); And extend in the upward direction, be fixed with the upper arm carriage (225) of upper limb on the upper arm carriage connector (224), can the upper limb upper arm be strapped on the upper arm carriage (225) through bandage one (226).
24. upper-limbs rehabilitation training robot as claimed in claim 23 is characterized in that: the force transducer one (223) in the said III joint (300) is a 2 D force sensor.
25. upper-limbs rehabilitation training robot as claimed in claim 24 is characterized in that: be fixed with upper limb forearm carriage on the said fan-shaped revolving meber (325).
26. upper-limbs rehabilitation training robot as claimed in claim 25; It is characterized in that: the concrete structure of said upper limb forearm carriage is; Fixing forearm carriage connector (362) on the end face that makes progress of said fan-shaped revolving meber (325); One end of force transducer two (363) is fixedly connected with this forearm carriage connector (362); The other end is fixed with said upper limb forearm carriage (364), and this force transducer two (363) is horizontally disposed with, and can the upper limb forearm be strapped on this carriage (364) through bandage two (365).
27. like the described upper-limbs rehabilitation training robot of one of claim 17-26, it is characterized in that: this robot also comprises IV joint (400), the inward turning of its corresponding upper limb forearm and/or turn up.
28. upper-limbs rehabilitation training robot as claimed in claim 27 is characterized in that: IV joint (400) comprise fixed block (401), bearing block four (402), sector gear (404), gear shaft (405), connecting rod one (406) and connecting rod two (408), latch segment (407), rod end fixture (409), clamping screw two (410) and clamping screw two handwheels (411); Fixed block (401) connects firmly on the fan-shaped revolving meber (325) of III joint (300) through a locking device; Bearing block four (402) is packed on the fixed block (401); Bearing in one end of gear shaft (405) and the bearing block four (402) is connected, and the other end is fixedly connected handwheel, and the gear parts of gear shaft (405) and sector gear (404) are connected with a joggle; Connecting rod one (406) and connecting rod two (408) two ends are equipped with the rod end fixture; Wherein the rod end fixture of fixed block (401) side and sector gear (404) integrative-structure, connecting rod one (406) and connecting rod two (408) laterally arrange, and latch segment (407) is L-shaped; L shaped one side slidably also can be arranged on connecting rod one (406) and the connecting rod two (408) with locking, and L shaped another side end is provided with adpting flange.
29. upper-limbs rehabilitation training robot as claimed in claim 28 is characterized in that: the locking device of said fixed block (401) comprises clamping screw three (341), clamping screw three fixed blocks (342), briquetting (343), wedge (344), bearing pin one (345) and bearing pin two (346) and pressure pad (347); Clamping screw three fixed blocks (342) are fixed on the fan-shaped revolving meber (325); One end of clamping screw three (341) is connected with clamping screw three fixed blocks (342); Clamping screw three fixed blocks (342) allow clamping screw three (341) to rotate but stop it to move axially; Clamping screw three (341) other ends screw in the screw on the wedge (344) in the briquetting (343); Briquetting (343) and wedge (344) are slidingly matched; Briquetting (343) is fixedly connected with the end of bearing pin one (345) with bearing pin two (346), is fixed with pressure pad (347) on the other end of bearing pin one (345) and bearing pin two (346), and clamping screw three handwheels are arranged on clamping screw three (341) outsides; Rotation lock bolt three (341) drives wedge (344) and moves; Bearing pin one (345) and bearing pin two (346) move axially in the effect lower edge of wedge (344) to make briquetting (343), thereby the pressure pad (347) that makes the bearing pin one and bearing pin two other ends is locked at the sector gear (404) of IV joint (400) on the fan-shaped revolving meber (325).
30. upper-limbs rehabilitation training robot as claimed in claim 27 is characterized in that: this robot also comprises V joint (500), and it has carpal joint flexion/extension function.
31. upper-limbs rehabilitation training robot as claimed in claim 30 is characterized in that: V joint (500) comprise the palm driving device.
32. upper-limbs rehabilitation training robot as claimed in claim 31 is characterized in that: said palm driving device comprises base plate (501), bearing block five (502), motor reducer four (504), motor base two (505), fixedly limited block four (508), cam disc (509), driving shaft two (510), rotary handle (511), cam disc connecting rod (512), hand tray frame connector (513), palm carriage (514) and palm fixed bar (515); The adpting flange of the latch segment (407) on V joint (500) and IV joint (400) flange through base plate (501) one ends and IV joint (400) is connected; Bearing block five (502) is fixed on base plate (501) upper surface; The upper surface of bearing block five (502) is fixed with said fixedly limited block four (508); The below base of bearing block five (502) is fixed with said motor base two (505); Motor reducer four (504) is fixed on the said motor base two (505); Motor reducer four (504) drives driving shaft two (510); The upper end of driving shaft two (510) is fixedly connected said rotary handle (511); The far-end of said rotary handle (511) is fixedly connected an end of hand tray frame connector (513), and the other end of hand tray frame connector (513) is towards driving shaft two (510), and cam disc (509) is enclosed within on the driving shaft two (510) through the hole sky on it; And be positioned at said rotary handle (511) below; One lateral edges of cam disc (509) upper surface is fixedly connected with said cam disc connecting rod (512), and said cam disc connecting rod (512) is hinged with the end away from driving shaft two (510) of hand tray frame connector (513), and cam disc (509) is connected with said rotary handle (511) with hand tray frame connector (513) through said cam disc connecting rod (512) like this; Palm carriage (514) and palm fixed bar (515) are installed on the hand tray frame connector (513); Palm carriage (514) can be gone up slidable adjustment at hand tray frame connector (513), and the vertical hand tray frame connector (513) of palm fixed bar (515) extends upward, and the two ends of palm fixed bar (515) are bandage three (516) fixedly.
33. upper-limbs rehabilitation training robot as claimed in claim 32 is characterized in that: the V joint (500) that this robot comprises also has finger flexion/extension function.
34. upper-limbs rehabilitation training robot as claimed in claim 33 is characterized in that: V joint (500) also comprise the finger actuation device.
35. upper-limbs rehabilitation training robot as claimed in claim 34 is characterized in that: said finger actuation device comprises cam limited block (531), intermediate connecting rod (533), far-end connecting rod (534), finger strut (535), refers to bar (537), refers to sliding (538), cam limited block connector (542) and block (532 and 540); The said cam limited block connector (542) that bearing is installed is fixed on the base plate (501); Minor axis one (541) one end cooperates installation with the interior bearing of said cam limited block connector (542); The other end and said cam limited block (531) are hinged; Be fixedly connected with two said blocks (532 and 540) on the dual-side of said cam limited block (531); The two ends of said intermediate connecting rod (533) are hinged with the near-end of the end away from minor axis one (541) of said cam limited block (531), said far-end connecting rod (534) respectively; The near-end of said far-end connecting rod (534) also is fixedly connected with minor axis two (545) in addition, and minor axis two (545) and the bearing that is installed in said rotary handle (511) far-end cooperate installation, are fixed with said finger strut (535) on the far-end of said far-end connecting rod (534); Said finger strut (535) is vertical with said far-end connecting rod (534) and extend upward; Said finger bar (537) is enclosed within on the finger strut (535) through the cover piece (536) that connects firmly, and said finger bar (537) is vertical with said finger strut (535), and said finger sliding (538) can slide on said finger bar (537).
36., it is characterized in that like the described upper-limbs rehabilitation training robot of one of claim 30-35: said V joint (500) be provided with V joint mechanical position limitation and the V joint electric spacing.
37. upper-limbs rehabilitation training robot as claimed in claim 36; It is characterized in that: said V joint mechanical position limitation structure is following; The side that the said fixedly limited block four (508) of V joint (500) driving shaft two (510) is gone up near driving shaft two (510) is provided with fan groove; This fan groove has side end face (508a and 508b), is fixed with projection on the driving shaft two (510), and this projection has side end face (510a and 510b); When two side end faces of driving shaft two (510) projections (510a, 510b) touch two side end faces (508a, 508b) of fan groove of said fixedly limited block four (508) respectively; Driving shaft two (510) forwards two extreme positions to, can't be rotated further again, thereby realize the mechanical position limitation protection in V joint (500).
38. upper-limbs rehabilitation training robot as claimed in claim 37; It is characterized in that: the electric position limiting structure in said V joint is following; Magnetic links four (551) is fixed on the cam disc (509); Hall element four (552 and 553) is packed on the said fixedly limited block four (508) of V joint (500) driving shaft two (510); The concrete installation site of Hall element four (552 and 553) is set according to the needs of angle of revolution, make to rotate when motor reducer four (504) drives driving shafts two (510), magnetic links four (309) can be respectively with Hall element four (310,311) over against the time; Corresponding Hall element four is connected, thereby realizes electric spacing.
39. upper-limbs rehabilitation training robot as claimed in claim 35 is characterized in that: said rotary handle (511) is one one dimensional force sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102378054A CN102379793B (en) | 2011-08-18 | 2011-08-18 | Upper limb rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102378054A CN102379793B (en) | 2011-08-18 | 2011-08-18 | Upper limb rehabilitation training robot |
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| Publication Number | Publication Date |
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| CN102379793A CN102379793A (en) | 2012-03-21 |
| CN102379793B true CN102379793B (en) | 2012-11-28 |
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| CN2011102378054A Active CN102379793B (en) | 2011-08-18 | 2011-08-18 | Upper limb rehabilitation training robot |
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| CN105189050A (en) * | 2013-02-28 | 2015-12-23 | 脸谱公司 | Modular exoskeletal force feedback controller |
| US9984541B2 (en) | 2013-02-28 | 2018-05-29 | Facebook, Inc. | Modular exoskeletal force feedback controller |
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