CN101125112A - Wearing type upper limb recovery training robot device - Google Patents
Wearing type upper limb recovery training robot device Download PDFInfo
- Publication number
- CN101125112A CN101125112A CNA200710053293XA CN200710053293A CN101125112A CN 101125112 A CN101125112 A CN 101125112A CN A200710053293X A CNA200710053293X A CN A200710053293XA CN 200710053293 A CN200710053293 A CN 200710053293A CN 101125112 A CN101125112 A CN 101125112A
- Authority
- CN
- China
- Prior art keywords
- turn
- rotating shaft
- elbow
- shoulder
- wrist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200710053293XA CN101125112B (en) | 2007-09-20 | 2007-09-20 | Wearing type upper limb recovery training robot device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200710053293XA CN101125112B (en) | 2007-09-20 | 2007-09-20 | Wearing type upper limb recovery training robot device |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101125112A true CN101125112A (en) | 2008-02-20 |
CN101125112B CN101125112B (en) | 2010-06-30 |
Family
ID=39093308
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN200710053293XA Expired - Fee Related CN101125112B (en) | 2007-09-20 | 2007-09-20 | Wearing type upper limb recovery training robot device |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN101125112B (en) |
Cited By (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008131563A1 (en) * | 2007-05-01 | 2008-11-06 | Queen's University At Kingston | Robotic exoskeleton for limb movement |
CN102119902A (en) * | 2011-03-29 | 2011-07-13 | 浙江大学 | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton |
CN102151215A (en) * | 2011-04-07 | 2011-08-17 | 东华大学 | Exoskeletal rehabilitation mechanical arm for upper limb |
CN102258849A (en) * | 2011-04-22 | 2011-11-30 | 上海交通大学 | Upper limb hemiplegia rehabilitation robot |
CN103356361A (en) * | 2013-08-06 | 2013-10-23 | 常州大学 | Parallel type shoulder joint rehabilitation training machine |
US8574178B2 (en) | 2009-05-26 | 2013-11-05 | The Hong Kong Polytechnic University | Wearable power assistive device for helping a user to move their hand |
CN103536426A (en) * | 2013-10-12 | 2014-01-29 | 华中科技大学 | Pneumatic muscle-actuated wearable elbow joint rehabilitation training device |
CN104434469A (en) * | 2014-12-25 | 2015-03-25 | 哈尔滨工程大学 | Exoskeleton type arm rehabilitation training device |
CN104473751A (en) * | 2014-12-25 | 2015-04-01 | 哈尔滨工程大学 | Left-hand/right-hand dual-purpose upper limb rehabilitation robot |
CN104825258A (en) * | 2015-03-24 | 2015-08-12 | 华南理工大学 | Shoulder-wearable functional auxiliary arm |
CN105034001A (en) * | 2015-08-03 | 2015-11-11 | 南京邮电大学 | Biomimetic manipulator synchronous wireless control system and method |
CN105287020A (en) * | 2015-11-23 | 2016-02-03 | 王波 | Multipurpose shoulder joint position frame |
CN105287019A (en) * | 2015-11-23 | 2016-02-03 | 王波 | Multifunctional shoulder joint position frame |
CN105287167A (en) * | 2015-12-03 | 2016-02-03 | 常州信息职业技术学院 | Intelligent upper limb rehabilitation training device |
CN105751204A (en) * | 2016-04-18 | 2016-07-13 | 智造未来(北京)机器人系统技术有限公司 | Wearing robot |
CN105748260A (en) * | 2016-04-26 | 2016-07-13 | 华北理工大学 | Shoulder rehabilitation training robot with three degrees of freedom |
CN105965475A (en) * | 2016-04-18 | 2016-09-28 | 智造未来(北京)机器人系统技术有限公司 | Robot control method and system and robot |
CN106863268A (en) * | 2017-02-17 | 2017-06-20 | 哈尔滨工业大学 | A kind of loaded self-adaptive passive equilibrium upper limbs ectoskeleton |
CN109771118A (en) * | 2019-03-05 | 2019-05-21 | 山东威高医疗科技有限公司 | A kind of upper limb fracture resetting apparatus |
CN110859731A (en) * | 2019-10-25 | 2020-03-06 | 西北工业大学 | Six-degree-of-freedom exoskeleton type upper limb rehabilitation robot |
CN112057081A (en) * | 2020-09-02 | 2020-12-11 | 西安交通大学第二附属医院 | A activity function test device for bone joint detects |
CN113143684A (en) * | 2021-04-09 | 2021-07-23 | 山东海天智能工程有限公司 | Upper limb rehabilitation robot |
CN113230090A (en) * | 2021-05-25 | 2021-08-10 | 西安理工大学 | Wearable upper limb rehabilitation auxiliary training robot |
CN113288731A (en) * | 2021-07-02 | 2021-08-24 | 北京航空航天大学 | Wearable flexible upper limb assistance exoskeleton based on foldable weaving soft driver |
CN113398540A (en) * | 2021-07-30 | 2021-09-17 | 河南汇博神方智能康复设备有限公司 | Hand rehabilitation training device |
CN114209554A (en) * | 2022-01-25 | 2022-03-22 | 安徽职业技术学院 | Elbow joint traction system based on rehabilitation training |
CN114534192A (en) * | 2022-01-14 | 2022-05-27 | 复旦大学 | Multi-degree-of-freedom training device for upper limb rehabilitation |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111067760B (en) * | 2019-12-31 | 2022-11-08 | 上海机器人产业技术研究院有限公司 | Upper limb rehabilitation training robot based on omnidirectional mobile platform |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5951499A (en) * | 1996-09-27 | 1999-09-14 | Orthologic Corp. | Continuous passive motion device for upper extremity forearm therapy |
FR2839916B1 (en) * | 2002-05-22 | 2004-10-15 | Agence Spatiale Europeenne | EXOSQUELET FOR HUMAN ARMS, ESPECIALLY FOR SPATIAL APPLICATIONS |
CN1258352C (en) * | 2003-07-25 | 2006-06-07 | 清华大学 | Rehabilitation training robot for motion of single joint of hemiplegia patient |
CN2688278Y (en) * | 2004-04-07 | 2005-03-30 | 哈尔滨工程大学 | Multifunctional robot for upper limb rehabilitating exercise |
CN201135581Y (en) * | 2007-09-20 | 2008-10-22 | 华中科技大学 | Wearable upper limbs rehabilitation training robot device |
-
2007
- 2007-09-20 CN CN200710053293XA patent/CN101125112B/en not_active Expired - Fee Related
Cited By (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8347710B2 (en) | 2007-05-01 | 2013-01-08 | Queen's University At Kingston | Robotic exoskeleton for limb movement |
US8800366B2 (en) | 2007-05-01 | 2014-08-12 | Queen's University At Kingston | Robotic exoskeleton for limb movement |
WO2008131563A1 (en) * | 2007-05-01 | 2008-11-06 | Queen's University At Kingston | Robotic exoskeleton for limb movement |
US8574178B2 (en) | 2009-05-26 | 2013-11-05 | The Hong Kong Polytechnic University | Wearable power assistive device for helping a user to move their hand |
CN102119902A (en) * | 2011-03-29 | 2011-07-13 | 浙江大学 | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton |
CN102151215A (en) * | 2011-04-07 | 2011-08-17 | 东华大学 | Exoskeletal rehabilitation mechanical arm for upper limb |
CN102258849A (en) * | 2011-04-22 | 2011-11-30 | 上海交通大学 | Upper limb hemiplegia rehabilitation robot |
CN103356361B (en) * | 2013-08-06 | 2015-11-18 | 常州大学 | A kind of parallel healing and training shoulder joint machine |
CN103356361A (en) * | 2013-08-06 | 2013-10-23 | 常州大学 | Parallel type shoulder joint rehabilitation training machine |
CN103536426A (en) * | 2013-10-12 | 2014-01-29 | 华中科技大学 | Pneumatic muscle-actuated wearable elbow joint rehabilitation training device |
CN103536426B (en) * | 2013-10-12 | 2014-07-09 | 华中科技大学 | Pneumatic muscle-actuated wearable elbow joint rehabilitation training device |
CN104434469A (en) * | 2014-12-25 | 2015-03-25 | 哈尔滨工程大学 | Exoskeleton type arm rehabilitation training device |
CN104473751A (en) * | 2014-12-25 | 2015-04-01 | 哈尔滨工程大学 | Left-hand/right-hand dual-purpose upper limb rehabilitation robot |
CN104825258A (en) * | 2015-03-24 | 2015-08-12 | 华南理工大学 | Shoulder-wearable functional auxiliary arm |
CN105034001A (en) * | 2015-08-03 | 2015-11-11 | 南京邮电大学 | Biomimetic manipulator synchronous wireless control system and method |
CN105287020A (en) * | 2015-11-23 | 2016-02-03 | 王波 | Multipurpose shoulder joint position frame |
CN105287019A (en) * | 2015-11-23 | 2016-02-03 | 王波 | Multifunctional shoulder joint position frame |
CN105287019B (en) * | 2015-11-23 | 2016-10-12 | 丽水市人民医院 | A kind of Multifunctional shoulder joint gesture rack |
CN105287020B (en) * | 2015-11-23 | 2016-10-12 | 丽水市人民医院 | A kind of multipurpose shoulder joint gesture rack |
CN105287167A (en) * | 2015-12-03 | 2016-02-03 | 常州信息职业技术学院 | Intelligent upper limb rehabilitation training device |
CN105751204A (en) * | 2016-04-18 | 2016-07-13 | 智造未来(北京)机器人系统技术有限公司 | Wearing robot |
CN105965475A (en) * | 2016-04-18 | 2016-09-28 | 智造未来(北京)机器人系统技术有限公司 | Robot control method and system and robot |
CN105965475B (en) * | 2016-04-18 | 2019-07-02 | 智造未来(北京)机器人系统技术有限公司 | Control method, control system and the robot of robot |
CN105748260A (en) * | 2016-04-26 | 2016-07-13 | 华北理工大学 | Shoulder rehabilitation training robot with three degrees of freedom |
CN105748260B (en) * | 2016-04-26 | 2018-09-25 | 华北理工大学 | Three Degree Of Freedom shoulder recovery exercising robot |
CN106863268A (en) * | 2017-02-17 | 2017-06-20 | 哈尔滨工业大学 | A kind of loaded self-adaptive passive equilibrium upper limbs ectoskeleton |
CN109771118A (en) * | 2019-03-05 | 2019-05-21 | 山东威高医疗科技有限公司 | A kind of upper limb fracture resetting apparatus |
CN110859731A (en) * | 2019-10-25 | 2020-03-06 | 西北工业大学 | Six-degree-of-freedom exoskeleton type upper limb rehabilitation robot |
CN112057081A (en) * | 2020-09-02 | 2020-12-11 | 西安交通大学第二附属医院 | A activity function test device for bone joint detects |
CN113143684A (en) * | 2021-04-09 | 2021-07-23 | 山东海天智能工程有限公司 | Upper limb rehabilitation robot |
CN113230090A (en) * | 2021-05-25 | 2021-08-10 | 西安理工大学 | Wearable upper limb rehabilitation auxiliary training robot |
CN113230090B (en) * | 2021-05-25 | 2023-05-09 | 西安理工大学 | Wearable upper limb rehabilitation auxiliary training robot |
CN113288731A (en) * | 2021-07-02 | 2021-08-24 | 北京航空航天大学 | Wearable flexible upper limb assistance exoskeleton based on foldable weaving soft driver |
CN113398540A (en) * | 2021-07-30 | 2021-09-17 | 河南汇博神方智能康复设备有限公司 | Hand rehabilitation training device |
CN113398540B (en) * | 2021-07-30 | 2022-08-05 | 希迪克康养产业发展有限公司 | Hand rehabilitation training device |
CN114534192A (en) * | 2022-01-14 | 2022-05-27 | 复旦大学 | Multi-degree-of-freedom training device for upper limb rehabilitation |
CN114209554A (en) * | 2022-01-25 | 2022-03-22 | 安徽职业技术学院 | Elbow joint traction system based on rehabilitation training |
Also Published As
Publication number | Publication date |
---|---|
CN101125112B (en) | 2010-06-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN101125112B (en) | Wearing type upper limb recovery training robot device | |
CN201135581Y (en) | Wearable upper limbs rehabilitation training robot device | |
CN104622668B (en) | A kind of bionical device for healing and training of shoulder joint kinesitherapy | |
CN101357097B (en) | Five freedom degree ectoskeleton type upper limb rehabilitation robot | |
US20200093677A1 (en) | Multifunctional hand rehabilitation training device | |
CN103315880B (en) | Hand external skeleton rehabilitation system based on memory alloy driving | |
CN104666049B (en) | Portable upper-limb rehabilitation robot | |
CN111281741B (en) | Reconfigurable exoskeleton upper limb rehabilitation robot for different body types | |
CN109009875A (en) | Personalized upper-limbs rehabilitation training robot | |
CN110051501A (en) | A kind of upper limb rehabilitation robot and its application method of Table top type | |
CN204618765U (en) | Exercising apparatus for recovery of upper limb | |
CN106074092A (en) | A kind of novel exoskeleton finger healing robot and method of work thereof | |
CN208626133U (en) | Light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot | |
CN101181175B (en) | Device for healing and training elbow joint | |
CN110037890B (en) | Hand function rehabilitation exoskeleton robot based on double four-bar mechanism | |
CN108836732B (en) | Upper limb rehabilitation training exoskeleton mechanism with human-machine motion compatibility and passive gravity balance characteristics | |
CN109223447A (en) | A kind of upper limb healing of right and left mutually changing and movable auxiliary device | |
CN108524192A (en) | Wearable forearm initiative rehabilitation with myoelectricity perception trains exoskeleton device | |
CN106031669A (en) | A seven-degree-of-freedom upper limb assisting exoskeleton robot | |
Cheng et al. | Design of an upper limb rehabilitation robot based on medical theory | |
CN113827445B (en) | Seven-degree-of-freedom serial-parallel upper limb exoskeleton rehabilitation robot | |
CN204601060U (en) | The bionical device for healing and training of a kind of shoulder joint kinesitherapy | |
CN209301637U (en) | Personalized upper-limbs rehabilitation training robot | |
CN205323094U (en) | Multifunctional exercise vehicle | |
CN109953867A (en) | A kind of light-type multiple degrees of freedom Bionic flexible dermaskeleton type upper limb power-assisting robot |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
C41 | Transfer of patent application or patent right or utility model | ||
TR01 | Transfer of patent right |
Effective date of registration: 20160629 Address after: 430074 Hubei, East Lake hi tech Zone, high tech Avenue, No. 999, overseas talent building, block A, building, floor, 5 Patentee after: WUHAN INTELLIGENT EQUIPMENT INDUSTRIAL INSTITUTE Co.,Ltd. Patentee after: Xiong Caihua Patentee after: Sun Ronglei Patentee after: Zhao Huan Patentee after: Chen Wenbin Patentee after: Tao Xiaozhong Address before: 430074 Hubei Province, Wuhan city Hongshan District Luoyu Road No. 1037 Patentee before: Huazhong University of Science and Technology |
|
TR01 | Transfer of patent right |
Effective date of registration: 20170306 Address after: 430075 Wuhan Province, East Lake New Technology Development Zone, high tech Avenue, No., the future of science and Technology City, A4 south, building 4, room 5, floor 514, room 999 Patentee after: HUBEI YINGTEBO INTELLIGENT MACHINE CO.,LTD. Address before: 430074 Hubei, East Lake hi tech Zone, high tech Avenue, No. 999, overseas talent building, block A, building, floor, 5 Patentee before: WUHAN INTELLIGENT EQUIPMENT INDUSTRIAL INSTITUTE Co.,Ltd. Patentee before: Xiong Caihua Patentee before: Sun Ronglei Patentee before: Zhao Huan Patentee before: Chen Wenbin Patentee before: Tao Xiaozhong |
|
TR01 | Transfer of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100630 |
|
CF01 | Termination of patent right due to non-payment of annual fee |