CN102715999A - Parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation - Google Patents
Parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation Download PDFInfo
- Publication number
- CN102715999A CN102715999A CN2012102140407A CN201210214040A CN102715999A CN 102715999 A CN102715999 A CN 102715999A CN 2012102140407 A CN2012102140407 A CN 2012102140407A CN 201210214040 A CN201210214040 A CN 201210214040A CN 102715999 A CN102715999 A CN 102715999A
- Authority
- CN
- China
- Prior art keywords
- slide block
- patient
- ancon
- rehabilitation
- training
- 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
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 11
- 206010019468 Hemiplegia Diseases 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims description 9
- 206010018325 Congenital glaucomas Diseases 0.000 claims description 6
- 206010012565 Developmental glaucoma Diseases 0.000 claims description 6
- 208000007157 Hydrophthalmos Diseases 0.000 claims description 6
- 201000001024 buphthalmos Diseases 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 125000006850 spacer group Chemical group 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 241000834287 Cookeolus japonicus Species 0.000 abstract 2
- 208000001738 Nervous System Trauma Diseases 0.000 description 4
- 210000003169 central nervous system Anatomy 0.000 description 4
- 208000026106 cerebrovascular disease Diseases 0.000 description 4
- 230000035876 healing Effects 0.000 description 4
- 208000028412 nervous system injury Diseases 0.000 description 4
- 208000020339 Spinal injury Diseases 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 208000029028 brain injury Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000004973 motor coordination Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000035899 viability Effects 0.000 description 1
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation, which belongs to the field of medical rehabilitation equipment. The robot consists of a parallel mechanism with a variable rod length, an operation handle, an ancon used for bearing the elbow of a patient, a bull eye universal wheel and a control system, wherein the parallel mechanism with the variable rod length is installed on a table top and is divided into a left part and a right part which are symmetric; one ends of two parts are hinged by the operation handle; the bull eye universal wheel is installed below the hinged position of the operation handle and is installed onto the ancon hinged with the operation handle; the position of the operation handle is determined according to the numerical value of two triangular bottom angles formed by a servo motor control mechanism via a computer to finish a target locus; by controlling a speed parameter, a velocity field is formed in the movement reachable space of the patient during passive movement, and the patient is guided to passively move along the set locus; during active movement, the force parameters of different points in a movement plane can be set; and a force field is formed in the movement reachable space and is used for the active movement training and the impedance movement training of the patient.
Description
Technical field
The invention belongs to the medical rehabilitation instrument field, particularly a kind of plane training upper limb hemiplegia multistage rehabilitation parallel robot can be applicable to cerebrovascular disease, central nervous system injury patient rehabilitation technique fields such as brain or spinal injury.
Background technology
Cerebrovascular disease such as apoplexy, brain or patient's disability rates such as spinal injury, central nervous system injury are higher, and main sequela is acute nerve paralysis, and in various degree viability and DB are arranged.And in fact giving this type of patient rehabilitation timely, the patient can recover most of motor function.To cerebrovascular disease such as apoplexy, brain or patients such as spinal injury, central nervous system injury, adopt the method for rehabilitation's teacher treatment one to one usually at present, this class methods efficient is low, intensity is big, and can not give to estimate accurately to patient's rehabilitation situation.Neural healing robot is according to rehabilitation medicine, and in conjunction with subjects such as mechanics, neuro-cognitive, electronics, auxiliary and part replaces the treatment machine people of traditional rehabilitation Shi Jinhang rehabilitation.Compare with the physiatrician, healing robot not only can carry out rehabilitation nursing and can gather the various parameters in the patient moving process, is beneficial to carry out rehabilitation evaluation accurately, further formulate individual character rehabilitation scheme with strong points and carry out scientific research.
To cerebrovascular disease, the different corresponding practical situations of rehabilitation stage of central nervous system injury patient, needs of patients different training pattern and training mission.Training mode comprises passive exercise (power-assisted training), initiatively training, impedance training etc., and the training mission track comprises straight line, circular arc, customization of individual character track or near the track of daily exercise.But existing towed healing robot comes with some shortcomings at present, can not satisfy the patient and train demand, and it mainly shows and is: can better realize passive exercise; But can not fine realization patient initiatively train,, have operating difficulties in patient's active exercise stage; The speed and the acceleration that cause the patient to operate are discontinuous, and there is defective in towed robot during patient's active exercise just, and structure is dumb; Adaptability is not high; Cause patient's operational capacity accurately to embody, even cause the dyskinesia, bring the patients ' psychological burden; Abundant training track can not be provided, patient's training is not reached the daily life motion function rehabilitation, multistage, complicated training promptly can not be provided.
Summary of the invention
Not enough for overcoming prior art and product, satisfy that the patient the present invention proposes a kind of plane training upper limb hemiplegia multistage rehabilitation parallel robot in the master of different phase, the demand of passive exercise in the hemiparalysis recovery training.
The technical scheme that the present invention adopts is: ancon, buphthalmos universal wheel and control system by on the table variable rod length parallel institution, operating grip, carrying patient ancon are installed are formed.
Said variable rod length parallel institution is divided into left-right symmetric two parts, and every side has two guide rails, is respectively lower guideway and upper rail, and the two ends of lower guideway and upper rail are provided with spacer pin respectively; One end of lower guideway is installed on the motor shaft through motor and guide-rail coupling member, and through motor positioning key location; First slide block is installed on the lower guideway, and second slide block is installed on the upper rail, and first slide block and second slide block are affixed through flange; The 3rd slide block is installed on the upper rail, and an end of connecting rod is fixed on the 3rd slide block; The other end of the two-part connecting rod in the left and right sides is hinged through operating grip;
The buphthalmos universal wheel is installed below the hinged place of two connecting rods and operating grip, and is installed on the hinged ancon of operating grip, the two-part variable rod length parallel institution in the left and right sides and ancon formation " Y " shape structure;
Control system is connected with the motor of the left and right sides respectively; The triangle two base angle angle numerical value that computer is formed through the servomotor controller structure; Confirm position, operating grip place (triangular apex); Accomplish target trajectory, through the control rate parameter, when passive exercise; Can reach in patient's motion and to have formed velocity field in the space, the guiding patient passive along setting orbiting motion; When active exercise, can set the force parameter of the difference in the plane of movement, can reach in motion and form the field of force in the space, be used in patient's active exercise training and resistive exercise training etc.
During passive exercise; The motor of both sides drives lower guideway swing simultaneously, and connecting rod and three slide blocks are driven, when the 3rd slide block slides into the spacer pin place and stops to slide; First slide block and second slide block are still slidably; Second slide block and the 3rd slide block are selected to slide at random in this process, up to the scope of reaching capacity, accomplish the planned trajectory of operating grip under the Passive Mode through the pivot angle of controlling symmetric guide rail; During active exercise; The people is the control operation handle, and the part that connecting rod and the 3rd slide block are composed of a fixed connection becomes driving link, and first slide block, second slide block, lower guideway and upper rail become driven member; Connecting rod and the 3rd slide block slide on upper rail and swing simultaneously; Drive is driven with side slide and guide rail, and two parts mechanism in the left and right sides freely stretches according to stressed variation, realizes the track that the operating grip place will accomplish.
Fixedly bandage is set on the said ancon.
Beneficial effect of the present invention is:
Different phase according to patient's rehabilitation during training provides required passive or initiatively training, satisfies the patient demand of Different Individual and different phase.The present invention is simple in structure, and is rationally distributed, reliable and stable.Variable rod length mechanism is with a plurality of slide blocks and connecting rod assembly; Moving autonomous distribution of slide block in the operating process and connecting rod realized mechanism stable inertia, and patient's operation is not produced obstacle; The speed, the acceleration that reach operation are continuous; Robot end's motion does not produce sudden change, makes the patient not have psychological burden, reaches good rehabilitation efficacy.Simultaneously can accurately gather the kinematic parameter in patient's training process, satisfy multiple rehabilitation scheme and formulate demand and scientific research needs.This robot is through the redundant smooth-going and mechanism's fault-tolerant ability that improves motion, and mechanism's motility is high, has the good man-machine interaction ability.The present invention is particularly early stage in the upper limb healing technical field, mid-term, multistage in later stage rehabilitation field will have wide practical use.
Description of drawings
Fig. 1 is the structural scheme of mechanism of plane training upper limb hemiplegia multistage rehabilitation parallel robot;
Fig. 2 is the redundant variable rod length parallel institution of a upper limb hemiplegia rehabilitation sketch map.
Label among the figure:
1-motor and guide-rail coupling member; The 2-lower guideway; 3-first slide block; 4-second slide block; 5-the 3rd slide block; The 6-upper rail; The 7-connecting rod; The 8-operating grip; The 9-ancon; 10-buphthalmos universal wheel; 16-motor positioning key; The 17-desktop.
The specific embodiment
The invention provides a kind of plane training upper limb hemiplegia multistage rehabilitation parallel robot, the present invention is further specified below in conjunction with the accompanying drawing and the specific embodiment.
Operation principle of the present invention is: in rehabilitation course; The influence that auxiliary device is brought into is more little good more; Perfect condition is no bad load, when patient moving, does not bring the factor that sways the emotion into, and patient's nerve control and kinetism can embody in such mechanism.Do not meet the patient with delay, mechanism and operate will when patient moving consciousness is interfered, when man-machine interaction produced obstacle, hemiplegic patient's psychology all can be affected with physiology, when situation is serious even the generation spasm.Particularly observe under the situation of patient and record kinematic parameter at needs, bad load is interfered the training motion, causes writing down accurate data, can not carry out rehabilitation evaluation accurately.To the requirement of mechanism, find and to realize satisfactory mechanism when the present invention is based on above the training, particularly meet the mechanism of active exercise.When using this robot active operation, that slides between slide block and the connecting rod freely selects, moves with meeting, and except that frictional force, does not have other power influence operations, makes system inertia stable.Come planned trajectory through control triangular apex position, tactile feedback control is through being installed on the alternately vibration of oscillator of both sides, patient's ancon front and back, and the prompting patient accomplishes interior receipts, arms sideward lift.
Structure of the present invention is as depicted in figs. 1 and 2: the variable rod length parallel institution is divided into left-right symmetric two parts, and every side has two guide rails, is respectively lower guideway 2 and upper rail 6, and the two ends of lower guideway 2 and upper rail 6 are provided with spacer pin respectively; One end of lower guideway 2 is installed on the motor shaft through motor and guide-rail coupling member 1, and through motor positioning key 16 location; First slide block 3 is installed on the lower guideway 2, and second slide block is installed on the upper rail 6, and first slide block 3 and second slide block 4 are affixed through flange; The 3rd slide block 5 is installed on the upper rail 6, and an end of connecting rod 7 is fixed on the 3rd slide block 5; The other end of the two-part connecting rod 7 in the left and right sides is hinged through operating grip 8.
Below the hinged place of two connecting rods 7 and operating grip 8, buphthalmos universal wheel 10 is installed, and is installed on the hinged ancon 9 of operating grip 8, the two-part variable rod length parallel institution in the left and right sides and ancon 9 formation " Y " shape structures.Fixedly bandage is set on the ancon 9.
Control system is connected with the motor of the left and right sides respectively; The triangle two base angle angle numerical value that computer is formed through the servomotor controller structure; Confirm position, operating grip place (triangular apex); Accomplish target trajectory, through the control rate parameter, when passive exercise; Can reach in patient's motion and to have formed velocity field in the space, the guiding patient passive along setting orbiting motion; When active exercise, can set the force parameter of the difference in the plane of movement, can reach in motion and form the field of force in the space, be used in patient's active exercise training and resistive exercise training etc.
During passive exercise; The motor of both sides drives lower guideway 2 swing simultaneously, and connecting rod 7 and three slide blocks are driven, when the 3rd slide block 5 slides into the spacer pin place and stops to slide; First slide block 3 and second slide block 4 are still slidably; Second slide block 4 and the 3rd slide block 5 are selected to slide at random in this process, up to the scope of reaching capacity, accomplish the planned trajectory of operating grip 8 under the Passive Mode through the pivot angle of controlling symmetric guide rail; During active exercise; The people is a control operation handle 8, and the part that connecting rod 7 and the 3rd slide block 5 are composed of a fixed connection becomes driving link, and first slide block 3, second slide block 4, lower guideway 2 and upper rail 6 become driven member; Connecting rod 7 and the 3rd slide block 5 slide on upper rail 6 and swing simultaneously; Drive is driven with side slide and guide rail, and two parts mechanism in the left and right sides freely stretches according to stressed variation, realizes the track that operating grip 8 places will accomplish.
Through regulating stroke, speed and the thrust of servomotor, realize different training burden, training mode; Different training modes is realized in velocity field, the field of force through a plurality of motor coordinations form in the space, comprises Passive Mode, aggressive mode, impedance mode, assistant mode etc., applies optimal training mode period to patient's different rehabilitation.
Present embodiment monnolithic case full-size is: length * wide * height=840mm * 750mm * 150mm,
Minimum dimension is: length * wide * height=840mm * 350mm * 150mm.
Claims (2)
1. upper limb hemiplegia multistage rehabilitation parallel robot is trained on a plane; Ancon (9), buphthalmos universal wheel (10) and control system by being installed in variable rod length parallel institution on the desktop (17), operating grip (8), carrying patient's ancon are formed; It is characterized in that
Said variable rod length parallel institution is divided into left-right symmetric two parts, and every side has two guide rails, is respectively lower guideway (2) and upper rail (6), and the two ends of lower guideway (2) and upper rail (6) are provided with spacer pin respectively; One end of lower guideway (2) is installed on the motor shaft through motor and guide-rail coupling member (1), and through motor positioning key (16) location; First slide block (3) is installed on the lower guideway (2), and second slide block is installed on the upper rail (6), and first slide block (3) and second slide block (4) are affixed through flange; The 3rd slide block (5) is installed on the upper rail (6), and an end of connecting rod (7) is fixed on the 3rd slide block (5); The other end of the two-part connecting rod in the left and right sides (7) is hinged through operating grip (8);
In two connecting rods (7) and the below of the hinged place of operating grip (8) buphthalmos universal wheel (10) is installed, and is installed on the hinged ancon (9) of operating grip (8), two-part variable rod length parallel institution in the left and right sides and ancon (9) constitute " Y " shape structure;
Control system is connected with the motor of the left and right sides respectively;
During passive exercise; The motor of both sides drives lower guideway (2) swing simultaneously, and connecting rod (7) is driven with three slide blocks, when the 3rd slide block (5) slides into the spacer pin place and stops to slide; First slide block (3) and second slide block (4) are still slidably; Second slide block (4) is selected to slide with the 3rd slide block (5) at random in this process, up to the scope of reaching capacity, accomplishes the planned trajectory of operating grip (8) under the Passive Mode through the pivot angle of controlling symmetric guide rail; During active exercise; The people is a control operation handle (8), and connecting rod (7) becomes driving link with the part that the 3rd slide block (5) is composed of a fixed connection, and first slide block (3), second slide block (4), lower guideway (2) and upper rail (6) become driven member; Connecting rod (7) is gone up the swing simultaneously of sliding with the 3rd slide block (5) at upper rail (6); Drive is driven with side slide and guide rail, and two parts mechanism in the left and right sides freely stretches according to stressed variation, realizes that operating grip (8) locates the track that will accomplish.
2. a kind of plane training upper limb hemiplegia multistage rehabilitation parallel robot according to claim 1 is characterized in that said ancon is provided with fixedly bandage on (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210214040.7A CN102715999B (en) | 2012-06-25 | 2012-06-25 | Parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210214040.7A CN102715999B (en) | 2012-06-25 | 2012-06-25 | Parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102715999A true CN102715999A (en) | 2012-10-10 |
| CN102715999B CN102715999B (en) | 2014-06-18 |
Family
ID=46941963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210214040.7A Expired - Fee Related CN102715999B (en) | 2012-06-25 | 2012-06-25 | Parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102715999B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105232291A (en) * | 2015-09-18 | 2016-01-13 | 中国科学院自动化研究所 | Rehabilitation training bed supportive of continuous adjustment of gravity center and inclination angle |
| CN105476818A (en) * | 2016-01-14 | 2016-04-13 | 清华大学 | Rehabilitation training device |
| CN106512328A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot |
| CN106512329A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot with flexible joints |
| CN107951680A (en) * | 2017-12-27 | 2018-04-24 | 北京航空航天大学 | A kind of Table top type wrist joint recovery exercising robot structure |
| CN108013959A (en) * | 2018-01-25 | 2018-05-11 | 李文平 | Upper limb healing Medical Devices |
| CN108542704A (en) * | 2018-04-10 | 2018-09-18 | 广西科技大学 | Upper limb healing Medical Devices patient activity's device |
| CN110169894A (en) * | 2019-06-24 | 2019-08-27 | 深圳睿瀚医疗科技有限公司 | Drawing-type upper limb integrated training device |
| CN112057292A (en) * | 2019-12-04 | 2020-12-11 | 宁波大学 | Six-degree-of-freedom series-parallel upper limb rehabilitation robot |
| CN114012710A (en) * | 2021-12-14 | 2022-02-08 | 江西制造职业技术学院 | Two-translation picking robot containing parallelogram closed-loop sub-chain with variable rod length |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040243025A1 (en) * | 2003-05-29 | 2004-12-02 | Zalman Peles | Orthodynamic rehabilitator |
| CN101347380A (en) * | 2008-09-05 | 2009-01-21 | 清华大学 | Upper limb hemiplegia rehabilitation robot device with adjustable training plan |
| CN201186005Y (en) * | 2008-04-17 | 2009-01-28 | 白焕峰 | Machine for exercising elbow joint |
-
2012
- 2012-06-25 CN CN201210214040.7A patent/CN102715999B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040243025A1 (en) * | 2003-05-29 | 2004-12-02 | Zalman Peles | Orthodynamic rehabilitator |
| CN201186005Y (en) * | 2008-04-17 | 2009-01-28 | 白焕峰 | Machine for exercising elbow joint |
| CN101347380A (en) * | 2008-09-05 | 2009-01-21 | 清华大学 | Upper limb hemiplegia rehabilitation robot device with adjustable training plan |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105232291A (en) * | 2015-09-18 | 2016-01-13 | 中国科学院自动化研究所 | Rehabilitation training bed supportive of continuous adjustment of gravity center and inclination angle |
| CN105476818A (en) * | 2016-01-14 | 2016-04-13 | 清华大学 | Rehabilitation training device |
| CN105476818B (en) * | 2016-01-14 | 2017-10-24 | 清华大学 | The device for healing and training detected based on reciprocal force |
| CN106512328A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot |
| CN106512329A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot with flexible joints |
| CN107951680A (en) * | 2017-12-27 | 2018-04-24 | 北京航空航天大学 | A kind of Table top type wrist joint recovery exercising robot structure |
| CN108013959A (en) * | 2018-01-25 | 2018-05-11 | 李文平 | Upper limb healing Medical Devices |
| CN108542704A (en) * | 2018-04-10 | 2018-09-18 | 广西科技大学 | Upper limb healing Medical Devices patient activity's device |
| CN110169894A (en) * | 2019-06-24 | 2019-08-27 | 深圳睿瀚医疗科技有限公司 | Drawing-type upper limb integrated training device |
| CN112057292A (en) * | 2019-12-04 | 2020-12-11 | 宁波大学 | Six-degree-of-freedom series-parallel upper limb rehabilitation robot |
| CN114012710A (en) * | 2021-12-14 | 2022-02-08 | 江西制造职业技术学院 | Two-translation picking robot containing parallelogram closed-loop sub-chain with variable rod length |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102715999B (en) | 2014-06-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102715999B (en) | Parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation | |
| CN200987756Y (en) | Rehabilitation exercising mechanical arm | |
| CN101401765A (en) | Upper limb hemiplegia rehabilitation robot device with adjustable training plan | |
| CN203829257U (en) | Rehabilitation training device | |
| CN110742775A (en) | Upper limb active and passive rehabilitation training robot system based on force feedback technology | |
| CN103735389B (en) | Finger coordination training and rehabilitation device | |
| CN106621207B (en) | The training method and healing robot of healing robot | |
| CN105496725B (en) | A kind of Three Degree Of Freedom thumb rehabilitation training mechanism | |
| CN108309689A (en) | A kind of gradual recovery training method based on exoskeleton robot | |
| CN103750980A (en) | Auxiliary rehabilitation training device for hemiplegic finger of patient | |
| CN100556389C (en) | Three-freedom recovery exercising robot | |
| CN109091818A (en) | The training method and system of rope-traction upper limb rehabilitation robot based on admittance control | |
| CN105396262A (en) | Rehabilitation robot capable of conducting multi-angle adjustment and cooperative training of upper and lower limbs | |
| CN104095736A (en) | Lower limb rehabilitation training system based on multi-position electric wheelchair | |
| CN102631277A (en) | Rocker type upper limb rehabilitation device and method for performing rehabilitation training by aid of rocker type upper limb rehabilitation device | |
| CN106389068A (en) | Device for autonomous rehabilitation training of upper limb unilateral hemiplegia patient and control method | |
| CN101816603B (en) | Electrically powered wheelchair device with rehabilitation mechanical arm | |
| CN108143597A (en) | A kind of movable type massage robot | |
| CN206566167U (en) | Healing robot | |
| CN101933876B (en) | Two-freedom-degree upper-limb rehabilitation assistive exercise device driven by dielectric EAP (electroactive polymer) and method thereof | |
| CN105564527B (en) | A kind of the steering-by-wire manoeuvring platform and method of operating of the manned legged type robot of heavy type | |
| Peng et al. | Design of casia-arm: A novel rehabilitation robot for upper limbs | |
| CN206434546U (en) | Shank drives training institution | |
| CN212416291U (en) | Rehabilitation robot system | |
| CN105435421A (en) | Two-level-bed multi-angle-adjustment rehabilitation robot for upper and lower limb cooperative training |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140618 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |