CN101474121B - Device for healing and training shoulder joint - Google Patents

Device for healing and training shoulder joint Download PDF

Info

Publication number
CN101474121B
CN101474121B CN2008102374795A CN200810237479A CN101474121B CN 101474121 B CN101474121 B CN 101474121B CN 2008102374795 A CN2008102374795 A CN 2008102374795A CN 200810237479 A CN200810237479 A CN 200810237479A CN 101474121 B CN101474121 B CN 101474121B
Authority
CN
China
Prior art keywords
shoulder
arm
plate
dish
fixed
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.)
Active
Application number
CN2008102374795A
Other languages
Chinese (zh)
Other versions
CN101474121A (en
Inventor
熊蔡华
江先志
陈文斌
黄晓琳
熊有伦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hubei Intel pump intelligent machine Co.
Original Assignee
Huazhong University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Huazhong University of Science and Technology filed Critical Huazhong University of Science and Technology
Priority to CN2008102374795A priority Critical patent/CN101474121B/en
Publication of CN101474121A publication Critical patent/CN101474121A/en
Application granted granted Critical
Publication of CN101474121B publication Critical patent/CN101474121B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention relates to a shoulder joint rehabilitation training device and belongs to the rehabilitation medical appliances; the rehabilitation training device solves the problem that the existing device only carries out single freedom degree training. The shoulder joint rehabilitation training device comprises a shoulder supporting mechanism, an abduction-adduction mechanism and a procurvation and post-extension mechanism; the shoulder supporting mechanism is composed of a back supporting plate, a back adjusting plate, a back connecting plate, a shoulder front plate, a shoulder-back supporting plate, a shoulder-back base plate and a shoulder front-tensioning block; the abduction-adduction mechanism is composed of a shoulder front connecting plate, a shoulder rear connecting plate, a shoulder front bearing base, a shoulder front shaft, a shoulder rear protecting plate, a shoulder post-tensioning disk, a shoulder rear bearing base and a shoulder rear shaft; the procurvation and post-extension mechanism is composed of an arm front connecting plate, an arm rear connecting plate, an arm supporting plate, an arm tensioning disk, an arm side shaft, an elbow connecting plate and an arm side bearing base. The shoulder joint rehabilitation training device eliminates the safety hazard of people causes by overtravel movement and realizes abduction-adduction, and procurvation, post-extension movement and combined movement of the shoulder joint; the structure is simple, the wearing is comfortable, the adjustment is flexible, the movement is smooth, and the device is safe and reliable and can carry out all-round rehabilitation training for upper-limb handicapped patients.

Description

Device for healing and training shoulder joint
Technical field
The invention belongs to the rehabilitation medical apparatus, be specifically related to the device that a kind of auxiliary human body shoulder joint is carried out rehabilitation training, be applicable to the rehabilitation training of the upper extremity exercise impaired patients that causes because of reasons such as apoplexy, industrial injury and vehicle accidents.
Background technology
Shoulder joint is the important joint of human upper limb, and therefore, device for healing and training shoulder joint is a part important in the upper limb rehabilitation robot structure.The disability patient is in the rehabilitation training of upper limbs process, and upper limb rehabilitation robot need directly act on human upper limb, and training process must be safe, comfortable, and therefore, device for healing and training shoulder joint structurally must be to consider human body shoulder structure characteristics and motion mode.At first, device for healing and training shoulder joint must be able to satisfy the basic exercise of human body shoulder, and shoulder is done omnibearing muscle and nerve stimulation; Secondly, device for healing and training shoulder joint must must guarantee patient body not to be produced any injury, with the safety of assurance rehabilitation training process when the muscle of patient's shoulder joint is done effectively training with nerve; Simultaneously, in order to strengthen the safety of rehabilitation training process, must be on the frame for movement of device for healing and training shoulder joint, the range of limiting mechanism motion is to prevent producing accident under the situation of control system disorder; At last, the structure of device for healing and training shoulder joint needs and can be adapted to the patient of different builds by flexible, to guarantee the comfortableness of rehabilitation training process;
Existing device for healing and training shoulder joint or structure are huge, be not suitable for dressing and family's use, or function are too simple, can't do effective rehabilitation training to disability patient's shoulder joint machine; In addition, the centre of motion of the existing device for healing and training shoulder joint of part can not be not high with patient's shoulder joint kinesitherapy center repeatability, can produce discomfort and be difficult to obtain rehabilitation training efficiently the patient in the rehabilitation training process.Publication number CN 1876335A, open day 2006 December 13 day, are called the technical scheme that patent application proposed of " articulation mechanism of recovery exercising robot ", can only do the rehabilitation training of single-degree-of-freedom, can not do omnibearing training to shoulder joint.
Summary of the invention
The invention provides a kind of device for healing and training shoulder joint, solve the problem that existing apparatus can only be done the single-degree-of-freedom training.
A kind of device for healing and training shoulder joint of the present invention comprises that shoulder stretches mechanism behind supporting mechanism, outreach adduction mechanism and the preceding song, it is characterized in that:
Pulling block was formed before described shoulder supporting mechanism was carried on the back seat board and shoulder by back support plate, back adjustable plate, back connecting plate, shoulder header board, shoulder back of the body gripper shoe, shoulder; Described each plate all has many parallel regulating tanks, and back support plate and back adjustable plate, back adjustable plate and back connecting plate, back connecting plate are connected and fixed by the screw in the regulating tank with shoulder back of the body gripper shoe; Shoulder back of the body gripper shoe is connected and fixed by the screw in the regulating tank with shoulder header board, shoulder back of the body seat board respectively; Pulling block and shoulder header board are connected and fixed by screw before the shoulder;
Described outreach adduction mechanism realizes the outreach adduction campaign of shoulder joint, by connecting plate, shoulder back connecting plate, shoulder front-end bearing pedestal, shoulder front axle, shoulder back backplate, shoulder post-tensioning dish, shoulder rear bearing block before the shoulder, take on rear axle and form; All has equally distributed adjustment hole on connecting plate, shoulder back connecting plate, shoulder front-end bearing pedestal, shoulder back backplate and the shoulder post-tensioning dish before the shoulder;
Connecting plate one end is connected and fixed by the adjustment hole inner bolt with shoulder back of the body seat board before the shoulder, and the other end is connected and fixed by the adjustment hole inner bolt with the shoulder front-end bearing pedestal; The shoulder front axle places in the shoulder front-end bearing pedestal; Shoulder back connecting plate one end is connected and fixed by the adjustment hole inner bolt with shoulder back of the body seat board, and the other end is connected and fixed by the adjustment hole inner bolt with shoulder back backplate, and the shoulder rear bearing block is connected and fixed by screw with shoulder back backplate;
Shoulder post-tensioning dish is placed on the shoulder rear axle, and the shoulder rear axle places in the shoulder rear bearing block and the dead in line of shoulder front axle; On the circumferential end surfaces of shoulder post-tensioning dish groove is arranged, place steel wire rope in the groove, steel wire rope is under the driving of actuator, before the shoulder of pulling shoulder post-tensioning rim, the common axis rotation of shoulder rear axle;
Stretch motion after stretching the preceding song that mechanism realizes shoulder joint before described behind the song, draw dish, arm side shaft, elbow connecting plate and arm side shaft holder to form by connecting plate, arm gripper shoe, arm behind connecting plate, the arm before the arm; Connecting plate, arm gripper shoe, arm draw dish and elbow connecting plate all to have equally distributed adjustment hole behind the preceding connecting plate of arm, the arm;
Connecting plate one end is connected and fixed by the adjustment hole inner bolt with shoulder front axle connecting plate before the arm, and the other end and arm side shaft holder are connected and fixed by the adjustment hole inner bolt, and the arm side shaft holder other end and arm gripper shoe are connected and fixed by screw; Connecting plate one end is connected and fixed by the adjustment hole inner bolt with shoulder post-tensioning dish behind the arm, and the other end and arm gripper shoe are connected and fixed by the adjustment hole inner bolt;
Arm draws dish to be placed on the arm side shaft, and the arm side shaft is installed in the arm side shaft holder, and arm draws on the circumferential end surfaces of dish groove, places steel wire rope in the groove, and steel wire rope is under the driving of actuator, and the pulling arm draws disc spins, and the elbow connecting plate that draws dish to connect with arm also can rotate; The range of movement that arm draws dish by arm before connecting plate and the restriction of arm gripper shoe.
Described device for healing and training shoulder joint, it is further characterized in that:
In the described outreach adduction mechanism, fixing multi-disc steel wire rope catch on the backplate of described shoulder back prevents that steel wire rope breaks away from the groove on the shoulder post-tensioning dish; On 4 positions of shoulder post-tensioning dish circumference clock, backplate upper edge, described shoulder back, fixing spacing catch, the limited catch of range of movement of shoulder post-tensioning dish and the restriction of shoulder back of the body seat board;
Stretch in the mechanism behind the song before described, arm side shaft holder upper edge arm draws fixedly multi-disc steel wire rope catch of dish circumference, prevents that steel wire rope disengaging arm from drawing the groove on the dish.
Described device for healing and training shoulder joint, the end face of described shoulder rear axle and arm side shaft can have the hole, is used for placing angular displacement sensor, and measurement human body shoulder is stretched the movement angle on the direction behind outreach adduction and preceding song.
Shoulder supporting mechanism of the present invention is fixed on the human body shoulder with this device for healing and training shoulder joint, is connected in human body back by back of the body gripper shoe, and by regulating the position of back porch back of the body adjustable plate, to adapt to different body dimension.In the crop pulling block groove is arranged, can pass rope band, this device for healing and training is tied up on one's body the human body, mechanism more firm.
The axis of axis, shoulder rear axle overlaps with the axis of movement of human body shoulder when doing the outreach adduction campaign before the shoulder, to guarantee the comfortableness of human body head movement.While supporting way before and after the support of shoulder is adopted, the dyskinesia and the deformation of having avoided unbalance loading to cause to motion.
The axis normal of the axis of arm side shaft and shoulder front axle, the crossing point of axes that has spatially guaranteed to stretch behind the outreach adduction campaign of this mechanism and the preceding song motion coincides with the pass selected parts of human body shoulder and adorns the center, makes human body shoulder training process comfortable as far as possible.
Stretch the motion of mechanism scope behind the outreach adduction mechanism of shoulder and the preceding song and on frame for movement, be limited in the normal range of movement of human body, thereby guarantee human body safety.
The present invention has limited the range of movement of motion on frame for movement, eliminated the potential safety hazard that overtravel is moved and brought to human body; Realized stretching two kinds of motions and compound motion thereof behind the outreach adduction of shoulder joint and the preceding song, simple in structure, dress comfortable, regulate flexibly, it is submissive, safe and reliable to move, and can do omnibearing rehabilitation training to upper limb disability patient's shoulder joint.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention;
Fig. 2 is the front view of Fig. 1;
Fig. 3 is the right view of Fig. 2.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is elaborated.
As Fig. 1, Fig. 2, shown in Figure 3, the present invention includes shoulder and stretch mechanism behind supporting mechanism, outreach adduction mechanism and the preceding song;
Pulling block 7 was formed before the shoulder supporting mechanism was carried on the back gripper shoe 5, shoulder back of the body seat board 6 and shoulder by back support plate 1, back adjustable plate 2, back connecting plate 3, shoulder header board 4, shoulder, and material is hard aluminium alloy; Described each plate all has many parallel regulating tanks, and back support plate 1 is connected and fixed by the screw in the regulating tank with shoulder back of the body gripper shoe 5 with back connecting plate 3, back connecting plate 3 with back adjustable plate 2, back adjustable plate 2; Shoulder back of the body gripper shoe 5 is connected and fixed by the screw in the regulating tank with shoulder header board 4, shoulder back of the body seat board 6 respectively; Pulling block 7 and shoulder header board 4 are connected and fixed by screw before the shoulder;
Outreach adduction mechanism realizes the outreach adduction campaign of shoulder joint, form by connecting plate 8, shoulder back connecting plate 22, shoulder front-end bearing pedestal 9, shoulder front axle 27, shoulder back backplate 23, shoulder post-tensioning dish 20, shoulder rear bearing block 25, shoulder rear axle 21 before the shoulder, wherein, the material of shoulder front-end bearing pedestal 9, shoulder rear bearing block 25, shoulder front axle 27 and shoulder rear axle 21 is the 45# steel, and other is hard aluminium alloy; All has equally distributed adjustment hole on connecting plate 8, shoulder back connecting plate 22, shoulder front-end bearing pedestal 9, shoulder back backplate 23 and the shoulder post-tensioning dish 20 before the shoulder;
Connecting plate 8 one ends are connected and fixed by the adjustment hole inner bolt with shoulder back of the body seat board 6 before the shoulder, and the other end is connected and fixed by the adjustment hole inner bolt with shoulder front-end bearing pedestal 9; Shoulder front axle 27 places in the shoulder front-end bearing pedestal 9; Shoulder back connecting plate 22 1 ends are connected and fixed by the adjustment hole inner bolt with shoulder back of the body seat board 6, and the other end is connected and fixed by the adjustment hole inner bolt with shoulder back backplate 23, and shoulder rear bearing block 25 and shoulder back backplate 23 are connected and fixed by screw;
Shoulder post-tensioning dish 20 is placed on the shoulder rear axle 21, and shoulder rear axle 21 places in the shoulder rear bearing block 25 and the dead in line of shoulder front axle 27; On the circumferential end surfaces of shoulder post-tensioning dish 20 groove is arranged, placement steel wire rope 16 in the groove, steel wire rope 16 are under the driving of actuator, and pulling shoulder post-tensioning dish 20 is preceding along shoulder, the common axis rotation of shoulder rear axle;
In the outreach adduction mechanism, fixing multi-disc steel wire rope catch 11 on the backplate 23 of shoulder back prevents that steel wire rope breaks away from the groove on the shoulder post-tensioning dish 20; On 4 positions of shoulder post-tensioning dish 20 circumference clocks, backplate 23 upper edges, shoulder back, fixing spacing catch 19, the limited catch 19 of range of movement of shoulder post-tensioning dish 20 and 6 restrictions of shoulder back of the body seat board;
Before stretch motion after stretching the preceding song that mechanism realizes shoulder joint behind the song, draw dish 13, arm side shaft 14, elbow connecting plate 15 and arm side shaft holder 24 to form by connecting plate 18, arm gripper shoe 17, arm behind connecting plate before the arm 10, the arm, wherein, the material of arm side shaft 14 and arm side shaft holder 24 is the 45# steel, other be hard aluminium alloy; Connecting plate 18, arm gripper shoe 17, arm draw dish 13 and elbow connecting plate 15 all to have equally distributed adjustment hole behind the preceding connecting plate 10 of arm, the arm;
Connecting plate 10 1 ends and shoulder front axle connecting plate 26 are connected and fixed by the adjustment hole inner bolt before the arm, and the other end and arm side shaft holder 24 are connected and fixed by the adjustment hole inner bolt, and arm side shaft holder 24 other ends and arm gripper shoe 17 are connected and fixed by screw; Connecting plate 18 1 ends and shoulder post-tensioning dish 20 are connected and fixed by the adjustment hole inner bolt behind the arm, and the other end and arm gripper shoe 17 are connected and fixed by the adjustment hole inner bolt;
Arm draws dish 13 to be placed on the arm side shaft 14, and arm side shaft 14 is installed in the arm side shaft holder 24, and arm draws on the circumferential end surfaces of dish 13 groove, place steel wire rope 16 in the groove, steel wire rope is under the driving of actuator, and the pulling arm draws dish 13 rotations, and the elbow connecting plate 15 that draws dish 13 to connect with arm also can rotate; Connecting plate 10 and 17 restrictions of arm gripper shoe before arm draws dish 13 range of movement by arm.
Stretch in the mechanism behind the preceding song, arm side shaft holder 24 upper edge arms draw fixedly multi-disc steel wire rope catch 11 of dish 13 circumference, prevent that steel wire rope breaks away from arm and draws the groove that coils on 13.
The end face of shoulder rear axle 21 and arm side shaft 14 can also have the hole, is used for placing angular displacement sensor, and measurement human body shoulder is stretched the movement angle on the direction behind outreach adduction and preceding song.

Claims (3)

1. device for healing and training shoulder joint is stretched mechanism after comprising shoulder supporting mechanism, outreach adduction mechanism and preceding song, it is characterized in that:
Pulling block (7) was formed before described shoulder supporting mechanism was carried on the back seat board (6) and shoulder by back support plate (1), back adjustable plate (2), back connecting plate (3), shoulder header board (4), shoulder back of the body gripper shoe (5), shoulder; Described each plate all has many parallel regulating tanks, and back support plate (1) is connected and fixed by the screw in the regulating tank with shoulder back of the body gripper shoe (5) with back connecting plate (3), back connecting plate (3) with back adjustable plate (2), back adjustable plate (2); Shoulder back of the body gripper shoe (5) is connected and fixed by the screw in the regulating tank with shoulder header board (4), shoulder back of the body seat board (6) respectively; Pulling block (7) and shoulder header board (4) are connected and fixed by screw before the shoulder;
Described outreach adduction mechanism realizes the outreach adduction campaign of shoulder joint, by connecting plate (8), shoulder back connecting plate (22), shoulder front-end bearing pedestal (9), shoulder front axle (27), shoulder back backplate (23), shoulder post-tensioning dish (20), shoulder rear bearing block (25) before the shoulder, take on rear axle (21) and form; All has equally distributed adjustment hole on connecting plate (8), shoulder back connecting plate (22), shoulder front-end bearing pedestal (9), shoulder back backplate (23) and the shoulder post-tensioning dish (20) before the shoulder;
Connecting plate (8) one ends are connected and fixed by the adjustment hole inner bolt with shoulder back of the body seat board (6) before the shoulder, and the other end is connected and fixed by the adjustment hole inner bolt with shoulder front-end bearing pedestal (9); Shoulder front axle (27) places in the shoulder front-end bearing pedestal (9); Shoulder back connecting plate (22) one ends are connected and fixed by the adjustment hole inner bolt with shoulder back of the body seat board (6), and the other end is connected and fixed by the adjustment hole inner bolt with shoulder back backplate (23), and shoulder rear bearing block (25) is connected and fixed by screw with shoulder back backplate (23);
Shoulder post-tensioning dish (20) is placed on the shoulder rear axle (21), and shoulder rear axle (21) places in the shoulder rear bearing block (25), the dead in line of shoulder rear axle and shoulder front axle (27); On the circumferential end surfaces of shoulder post-tensioning dish (20) groove is arranged, place steel wire rope (16) in the groove, steel wire rope (16) is under the driving of actuator, and pulling shoulder post-tensioning dish (20) is along shoulder front axle, the common axis rotation of shoulder rear axle;
Stretch motion after stretching the preceding song that mechanism realizes shoulder joint before described behind the song, draw dish (13), arm side shaft (14), elbow connecting plate (15) and arm side shaft holder (24) to form by connecting plate (18), arm gripper shoe (17), arm behind connecting plate before the arm (10), the arm; Connecting plate (18), arm gripper shoe (17), arm draw dish (13) and elbow connecting plate (15) all to have equally distributed adjustment hole behind the preceding connecting plate (10) of arm, the arm;
Connecting plate (10) one ends are connected and fixed by the adjustment hole inner bolt with shoulder front axle connecting plate (26) before the arm, the other end and arm side shaft holder (24) are connected and fixed by the adjustment hole inner bolt, and arm side shaft holder (24) other end and arm gripper shoe (17) are connected and fixed by screw; Connecting plate (18) one ends are connected and fixed by the adjustment hole inner bolt with shoulder post-tensioning dish (20) behind the arm, and the other end and arm gripper shoe (17) are connected and fixed by the adjustment hole inner bolt;
Arm draws dish (13) to be placed on the arm side shaft (14), arm side shaft (14) is installed in the arm side shaft holder (24), arm draws on the circumferential end surfaces of dish (13) groove, place steel wire rope (16) in the groove, steel wire rope is under the driving of actuator, the pulling arm draws dish (13) rotation, and the elbow connecting plate (15) that draws dish (13) to connect with arm also can rotate; The range of movement that arm draws dish (13) by arm before connecting plate (10) and arm gripper shoe (17) restriction.
2. device for healing and training shoulder joint as claimed in claim 1 is characterized in that:
In the described outreach adduction mechanism, described shoulder back backplate (23) is gone up fixedly multi-disc steel wire rope catch (11), prevents that steel wire rope breaks away from the groove of takeing on the post-tensioning dish (20); On 4 positions of shoulder post-tensioning dish (20) circumference clock, backplate (23) upper edge, described shoulder back, fixing spacing catch (19), the limited catch of range of movement (19) of shoulder post-tensioning dish (20) and shoulder back of the body seat board (6) restriction;
Stretch in the mechanism behind the song before described, arm side shaft holder (24) upper edge arm draws fixedly multi-disc steel wire rope catch (11) of dish (13) circumference, prevents that steel wire rope disengaging arm from drawing the groove on the dish (13).
3. device for healing and training shoulder joint as claimed in claim 1 or 2 is characterized in that:
The end face of described shoulder rear axle (21) and arm side shaft (14) has the hole, is used for placing angular displacement sensor, and measurement human body shoulder is stretched the movement angle on the direction behind outreach adduction and preceding song.
CN2008102374795A 2008-12-26 2008-12-26 Device for healing and training shoulder joint Active CN101474121B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2008102374795A CN101474121B (en) 2008-12-26 2008-12-26 Device for healing and training shoulder joint

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2008102374795A CN101474121B (en) 2008-12-26 2008-12-26 Device for healing and training shoulder joint

Publications (2)

Publication Number Publication Date
CN101474121A CN101474121A (en) 2009-07-08
CN101474121B true CN101474121B (en) 2010-09-01

Family

ID=40834971

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2008102374795A Active CN101474121B (en) 2008-12-26 2008-12-26 Device for healing and training shoulder joint

Country Status (1)

Country Link
CN (1) CN101474121B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102258411B (en) * 2011-05-03 2013-06-26 上海理工大学 Cable control type upper limb function training robot arm
CN104306130B (en) * 2014-10-22 2015-06-17 华中科技大学 Coupling drive based shoulder-elbow joint rehabilitation trainer
CN104473752B (en) * 2014-11-10 2015-07-29 华中科技大学 A kind of exercising apparatus for recovery of upper limb based on grouping couple drive
TWI600421B (en) * 2016-01-05 2017-10-01 國立成功大學 Shoulder joint rehabilitation assistive device

Also Published As

Publication number Publication date
CN101474121A (en) 2009-07-08

Similar Documents

Publication Publication Date Title
CN107374907B (en) Wearable upper limb exoskeleton rehabilitation device
CN103932870B (en) Bionic Design lower limb rehabilitation training ectoskeleton
CN204293444U (en) A kind of exoskeleton-type shoulder girdle and upper limbs work in coordination with healing robot
CN104622668B (en) A kind of bionical device for healing and training of shoulder joint kinesitherapy
CN106420256B (en) Wearable flexible upper limb rehabilitation robot based on lasso trick driving
CN105520819B (en) A kind of exoskeleton-type shoulder girdle cooperates with healing robot with upper limb
CN101474121B (en) Device for healing and training shoulder joint
CN103110499A (en) Wrist joint rehabilitation training device
CN104887456A (en) Wearable rehabilitation training device for upper limbs driven by pneumatic artificial muscles
CN201422989Y (en) Exoskeleton with three degree of freedom for auxiliary ankle joint exercises
CN102961231A (en) Gait rehabilitation training robot
CN208611255U (en) A kind of Neurology training rehabilitation device
CN109248043A (en) A kind of upper-limb recovery training device
CN108186290A (en) A kind of passive finger recovering training device of master
CN108969305A (en) A kind of ectoskeleton hand device for healing and training
CN110547947A (en) Lower limb rehabilitation training robot
CN110192965A (en) A kind of device for healing and training
CN107019621A (en) Upper limb rehabilitation robot
CN108524192B (en) Wearable forearm initiative rehabilitation training exoskeleton device with myoelectricity perception
CN204601060U (en) The bionical device for healing and training of a kind of shoulder joint kinesitherapy
CN109350446A (en) Master based on electromyography signal passively combines upper-limbs rehabilitation training robot system
CN205268507U (en) Recovered robot of a vertebra of standing
KR20150021736A (en) reform apparatus for cerebralapoplexy rehabilitative therapeutic
CN109464265B (en) A kind of upper limb rehabilitation robot based on Coupling System of Flexible Structures And Rigid Body
CN109620640A (en) A kind of adjustable device for healing and training elbow joint of forearm

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model
TR01 Transfer of patent right

Effective date of registration: 20160722

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 TECHNOLOGY RESEARCH 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

C41 Transfer of patent application or patent right or utility model
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 Intel pump intelligent machine Co.

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 TECHNOLOGY RESEARCH 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