CN104116613A - Intelligent upper limb auxiliary motion device - Google Patents
Intelligent upper limb auxiliary motion device Download PDFInfo
- Publication number
- CN104116613A CN104116613A CN201410343237.XA CN201410343237A CN104116613A CN 104116613 A CN104116613 A CN 104116613A CN 201410343237 A CN201410343237 A CN 201410343237A CN 104116613 A CN104116613 A CN 104116613A
- Authority
- CN
- China
- Prior art keywords
- hydraulic cylinder
- mechanical arm
- upper limb
- dimension
- power converter
- 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
Abstract
The invention discloses an intelligent upper limb auxiliary motion device which is composed of mechanical ectoskeletons and a power conversion mechanism. Each mechanical ectoskeleton comprises a mechanical arm, an elbow joint control mechanism, a shoulder joint control mechanism, a shoulder shaft and a back plate. The power conversion mechanism comprises a left dimension control hydraulic cylinder, a power convertor and a right dimension control hydraulic cylinder, the left dimension control hydraulic cylinder is connected with the power converter through an oil pipe, and the right dimension control hydraulic cylinder is connected with the power converter through an oil pipe. A hydraulic system is adopted in the intelligent upper limb auxiliary motion device which is simple in structure and high in reliability. The upper limbs of a patient serve as power sources, and no external power supply is needed, so that the intelligent upper limb auxiliary motion device is safe and reliable, and secondary injury risks are avoided. Meanwhile, the intelligent upper limb auxiliary motion device further can be used at home, and therefore, rehabilitation expenditure of the patient is greatly reduced.
Description
Technical field
The present invention relates to a kind of assisted movement apparatus, relate in particular to exercising apparatus for recovery of upper limb.
Background technology
Most patients with cerebral apoplexy and some upper limb are subject to the patient of unexpected injury; need after surgery suffering limb to carry out long-time, high-frequency rehabilitation training; especially patients with cerebral apoplexy; performed the operation and finished after the preliminary rehabilitation of hospital; during patient will go back home; in order to make suffering limb can be often movable and be unlikely to atrophy, client need regularly carries out rehabilitation training to rehabilitation center, to patient and family members, has brought very large inconvenience.
Present rehabilitation training of upper limbs mainly contains three kinds of modes: the mechanical arm of the convalescence device moving in a circle of the rehabilitation training of being undertaken by Med Tech, similar bicycle pedal, the similar industrial robot of Electromechanical Control.
The rehabilitation training of being undertaken by Med Tech, by technician, to patient's observation, inquiry, technician can carry out careful understanding to patient's rehabilitation situation, and need to carry out rehabilitation for patient, there is extraordinary effect, by the encouragement to patient, make patient be full of the confidence of rehabilitation simultaneously.The weak point one of this method be needs of patients under other people accompanying, the rehabilitation center of coming and going frequently, gives apart from the local patient far away of rehabilitation center and brings very large inconvenience.The 2nd, the expense of rehabilitation is more expensive, and Med Tech belongs to middle-and-high-ranking technician, and rehabilitation course can take again the more time of technician, and rehabilitation simultaneously often will continue the time of several years, and this expense brings puzzlement to many families.
The convalescence device moving in a circle of similar bicycle pedal, its action principle is at the both sides of turning cylinder mounting knob, and healthy upper limb and suffering limb is fixing respectively, realizes the training of suffering limb by the manual or driven by motor of healthy upper limb.Its advantage one is that expense is very cheap, the 2nd, and patient oneself just can carry out at home, very convenient.Its weak point is that direction and the amplitude of suffering limb motion is all very limited, and this device can only be placed in patient the place ahead, carries out the motion before and after upper and lower in limited amplitude, shoulder joint outwards and lift high cannot realization.
The rehabilitation training that the mechanical arm of the similar industrial robot of Electromechanical Control carries out, its advantage is the working strength that has reduced Med Tech, has improved technician's work efficiency.Weak point one is somewhat expensive, the 2nd, patient still will come and go between family and rehabilitation center, the 3rd, it can only move according to programming in advance, the 4th, under existing technical conditions, perception to pain is not prompt enough, the 5th, how eliminate pain perception and the equipment time delay between quitting work, and the secondary injury bringing thus.
Summary of the invention
For problems of the prior art, the invention discloses a kind of Intelligent upper limb assisted movement device, can make patient independently carry out the rehabilitation training of suffering limb, long-term training contributes to the neural recovery of suffering limb.
Technical solution of the present invention is: a kind of Intelligent upper limb assisted movement device, is comprised of mechanical exoskeleton and power conversion mechanism; Described mechanical exoskeleton consists of successively mechanical arm, elbow joint controlling organization, shoulder joint controlling organization, shoulder axle and backboard; Described power conversion mechanism comprises left side dimension control hydraulic cylinder, power converter, right side dimension control hydraulic cylinder, described left side dimension is controlled hydraulic cylinder and is connected with described power converter by oil pipe, and described power converter is controlled hydraulic cylinder by oil pipe and described right side dimension and is connected.
Above-mentioned Intelligent upper limb assisted movement device, it is further characterized in that: described mechanical arm comprises large arm and forearm; Described power converter is comprised of transducer the first hydraulic cylinder 311, transducer the second hydraulic cylinder 312, gag lever post 313, cylinder body fixing head 314, plunger rod steady pin 315; Described transducer the first hydraulic cylinder and transducer the second hydraulic cylinder are fixed plunger rod with steady pin after fixing side by side.
Above-mentioned Intelligent upper limb assisted movement device, it is further characterized in that: described power conversion mechanism has four groups, every group of motion of controlling a dimension of described mechanical arm, controls the motion of four dimensions altogether; Described elbow joint controlling organization is the motion of one-dimensional degree; Described shoulder joint controlling organization is three dimensionality motion; Described shoulder joint controlling organization is controlled hydraulic cylinder by top, bottom and three dimensions of level and is controlled, be arranged in large arm above, below and side, the dimension of upper and lower is controlled hydraulic cylinder and is fixed on the same vertical shoulder axle being connected with backboard, and the dimension of level is controlled hydraulic cylinder and is fixed in the transverse support bar of being stretched out by backboard.
Dimension driving being attached thereto when any action of the described mechanical arm in a side is controlled hydraulic cylinder and is made expanding-contracting action, dimension is controlled the flexible of hydraulic cylinder and by described power converter, identical expanding-contracting action is delivered on the mechanical arm of opposite side, makes the mechanical arm of opposite side make identical action.
Described mechanical arm is connected by rotating shaft with backboard, and power converter can be arranged in backboard; The present invention adopts hydraulic drive design, and the mode that is connected and fixed of described mechanical arm and user arm adopts open-close type snap ring to fix, and palm hold with a firm grip control or two kinds of modes of nylon belt are used in the folding of described open-close type snap ring.
The present invention compares and has obvious advantage and good effect in existing technology: 1, this device designs according to mechanical exoskeleton principle, and the motion of suffering limb almost can complete the everything in daily life, and training effect is obvious; 2, this device adopts hydraulic system, simplicity of design, and reliability is high, is applicable to long-term training; 3, this device by patient health upper limb as power source, without external power supply, safe and reliable, without secondary injury risk; 4, this apparatus cost is cheap, is again to use in the family simultaneously, has greatly reduced patient's rehabilitation expenditure; 5, being connected of this device and arm adopts open-close type snap ring, and snap ring contacts with stapler arm, and power transmission is more smooth, the fixing and depart from very convenient of arm.
Accompanying drawing explanation
Fig. 1 is power conversion mechanism schematic diagram of the present invention;
Fig. 2 is System Working Principle figure of the present invention;
Fig. 3 is upper limb assisted movement device schematic diagram of the present invention.
In figure, parts coding schedule is as follows:
| 1 | Left side mechanical arm ectoskeleton |
| 10 | Left side mechanical arm elbow joint dimension is controlled hydraulic cylinder |
| 11 | Mechanical arm shoulder joint bottom, left side dimension is controlled hydraulic cylinder |
| 111 | Hydraulic cylinder body |
| 112 | Cylinder plunger bar |
| 12 | Mechanical arm shoulder joint top, left side dimension is controlled hydraulic cylinder |
| 13 | Left side mechanical arm shoulder joint horizontal dimensions is controlled hydraulic cylinder |
| 14 | Left side mechanical arm forearm |
| 15 | Left side mechanical arm elbow joint supports |
| 16 | The large arm of left side mechanical arm |
| 17 | Left side mechanical arm cross-brace |
| 18 | Left side mechanical arm shoulder axle |
| 3 | Power conversion mechanism |
| 30 | Elbow joint power converter |
| 31 | Shoulder joint lower cylinder power converter |
| 311 | Transducer the first hydraulic cylinder |
| 312 | Transducer the second hydraulic cylinder |
| 313 | Gag lever post |
| 314 | Cylinder body fixing head |
| 315 | Plunger rod steady pin |
| 32 | Shoulder joint upper hydraulic cylinder power converter |
| 33 | Shoulder joint horizontal hydraulic cylinder power converter |
| 5 | Right side mechanical arm ectoskeleton |
| 50 | Right side mechanical arm elbow joint dimension is controlled hydraulic cylinder |
| 51 | Mechanical arm shoulder joint bottom, right side dimension is controlled hydraulic cylinder |
| 52 | Mechanical arm shoulder joint top, right side dimension is controlled hydraulic cylinder |
| 53 | Right side mechanical arm shoulder joint horizontal dimensions is controlled hydraulic cylinder |
| 54 | Right side mechanical arm forearm |
| 55 | Right side mechanical arm elbow joint supports |
| 56 | The large arm of right side mechanical arm |
| 57 | Right side mechanical arm cross-brace |
| 58 | Right side mechanical arm shoulder axle |
| 7 | Backboard |
| 9 | Oil pipe |
The specific embodiment
Below in conjunction with accompanying drawing, by specific embodiment, technical solution of the present invention is described further.
As shown in Figure 1, Figure 2, Figure 3 shows, Fig. 1 is power conversion mechanism schematic diagram of the present invention; Fig. 2 is System Working Principle figure of the present invention; Fig. 3 is upper limb assisted movement device schematic diagram of the present invention.
The Intelligent upper limb assisted movement device of the present embodiment, is comprised of left side mechanical arm ectoskeleton 1 and right side mechanical arm ectoskeleton 5 and power conversion mechanism.
Described left side mechanical arm ectoskeleton 1 is controlled hydraulic cylinder 10 by left side mechanical arm elbow joint dimension, mechanical arm shoulder joint bottom, left side dimension is controlled hydraulic cylinder 11, hydraulic cylinder body 111, cylinder plunger bar 112, mechanical arm shoulder joint top, left side dimension is controlled hydraulic cylinder 12, left side mechanical arm shoulder joint horizontal dimensions is controlled hydraulic cylinder 13, left side mechanical arm forearm 14, left side mechanical arm elbow joint supports 15, the large arm 16 of left side mechanical arm, left side mechanical arm cross-brace 17, left side mechanical arm shoulder axle 18 forms successively,
Described right side mechanical arm ectoskeleton 5 is takeed on axle 58 and is formed successively by right side mechanical arm elbow joint dimension control hydraulic cylinder 50, mechanical arm shoulder joint bottom, right side dimension control hydraulic cylinder 51, mechanical arm shoulder joint top, right side dimension control hydraulic cylinder 52, right side mechanical arm shoulder joint horizontal dimensions control hydraulic cylinder 53, right side mechanical arm forearm 54, right side mechanical arm elbow joint support 55, the large arm 56 of right side mechanical arm, right side mechanical arm cross-brace 57, right side mechanical arm.
Described power converter 3 is comprised of elbow joint power converter 30, shoulder joint lower cylinder power converter 31, shoulder joint upper hydraulic cylinder power converter 32, shoulder joint horizontal hydraulic cylinder power converter 33; Described shoulder joint lower cylinder power converter 31 is comprised of transducer the first hydraulic cylinder 311, transducer the second hydraulic cylinder 312, gag lever post 313, cylinder body fixing head 314, plunger rod steady pin 315; Described transducer the first hydraulic cylinder 311 and transducer the second hydraulic cylinder 312 are fixing rear fixing with plunger rod steady pin 315 side by side.
Described left side dimension is controlled hydraulic cylinder and is comprised that left side mechanical arm elbow joint dimension control hydraulic cylinder 10, mechanical arm shoulder joint bottom, left side dimension control hydraulic cylinder 11, mechanical arm shoulder joint top, left side dimension are controlled hydraulic cylinder 12, left side mechanical arm shoulder joint horizontal dimensions is controlled hydraulic cylinder 13.
Described right side dimension is controlled hydraulic cylinder and is comprised that right side mechanical arm elbow joint dimension is controlled hydraulic cylinder 50, mechanical arm shoulder joint bottom, right side dimension is controlled hydraulic cylinder 51, mechanical arm shoulder joint top, right side dimension control hydraulic cylinder 52, right side mechanical arm shoulder joint horizontal dimensions control hydraulic cylinder 53.
Described power conversion mechanism has four groups, and every group of motion of controlling a dimension of described mechanical arm, controls the motion of four dimensions altogether.Described elbow joint controlling organization is the motion of one-dimensional degree; Described shoulder joint controlling organization is three dimensionality motion; Described shoulder joint controlling organization is controlled hydraulic cylinder by (top, bottom and level) three dimensions and is controlled, respectively to be arranged in the top dimension control hydraulic cylinder above large arm, the horizontal dimensions control hydraulic cylinder that bottom dimension is below controlled hydraulic cylinder and side, described top dimension is controlled hydraulic cylinder and is fixed on the same vertical shoulder axle being connected with backboard with bottom dimension control hydraulic cylinder, and described horizontal dimensions is controlled hydraulic cylinder and is fixed in the transverse support bar of being stretched out by backboard.
Dimension driving being attached thereto in any action of the described mechanical arm of a side is controlled hydraulic cylinder and is made expanding-contracting action, and dimension is controlled the flexible of hydraulic cylinder and by described power converter, identical expanding-contracting action is delivered on the mechanical arm of opposite side.
Mechanical arm is connected by shoulder axle with backboard 7; Power conversion mechanism is arranged in backboard 7.Intelligent upper limb assisted movement device adopts hydraulic drive design, and the mode that is connected and fixed of mechanical arm and user arm adopts open-close type snap ring to fix, and palm hold with a firm grip control or two kinds of modes of nylon belt are used in the folding of described open-close type snap ring.
The Intelligent upper limb assisted movement device use procedure of the present embodiment is divided into the following steps:
The first step, is fixed on backboard 7 on the backrest of chair, regulates the width of backboard 7 and the length of mechanical arm to adapt to different patients' height; This operation generally, only need to be carried out once in patient's long-term motion process, has reduced patient household's the operation frequency;
Second step, patient is sitting on chair, with healthy upper limb, suffering limb is put into the snap ring on the mechanical arm of homonymy, then with the nylon belt on snap ring, snap ring is fastening, and healthy upper limb stretches into corresponding mechanical arm again, the handle of holding with a firm grip;
The 3rd step, patient health upper limb is made the action of wishing that suffering limb is trained, such as: flat act, elbow in the wrong, upper act, horizontal stretching, suitable winding counterclockwise etc.;
The 4th step, when motion completes, healthy upper limb departs from from mechanical arm, unties the nylon belt on suffering limb snap ring, and suffering limb is departed from from mechanical arm.
The power source of this device is healthy upper limb, adopts hydraulic drive design simultaneously, and its movement velocity is slower, in motor process, patient feels any pain or discomfort, and the stop motion immediately of healthy upper limb is also replied to the direction of releiving, and has almost avoided the generation of secondary injury completely; Patient can complete independently to the use of this device oneself, does not need other people assistance, at any time rehabilitation training; This device, owing to there is no external power supply, when patient is in alone, is not worried the risk of getting an electric shock.
The arm fixed mechanism of this device is that palm is held with a firm grip and controlled or the fixing open-close type snap ring of nylon belt, if patient in use has any other demand, such as coughing, tickle, drink water, answer a call etc., healthy upper limb can unclamp palm at any time, make arm from mechanical arm, deviate from related needs, and do not need suffering limb to deviate from and the health of standing from mechanical arm.
Above-described embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; All changes of making according to technical solution of the present invention, when the function producing does not exceed the scope of technical solution of the present invention, all belong to protection scope of the present invention.
Claims (7)
1. an Intelligent upper limb assisted movement device, is characterized in that: mechanical exoskeleton and power conversion mechanism, consist of; Described mechanical exoskeleton consists of successively mechanical arm, elbow joint controlling organization, shoulder joint controlling organization, shoulder axle and backboard; Described power conversion mechanism comprises left side dimension control hydraulic cylinder, power converter, right side dimension control hydraulic cylinder, described left side dimension is controlled hydraulic cylinder and is connected with described power converter by oil pipe, and described power converter is controlled hydraulic cylinder by oil pipe and described right side dimension and is connected.
2. Intelligent upper limb assisted movement device according to claim 1, is characterized in that: described mechanical arm comprises large arm and forearm; Described power converter is comprised of transducer the first hydraulic cylinder (311), transducer the second hydraulic cylinder (312), gag lever post (313), cylinder body fixing head (314), plunger rod steady pin (315); Described transducer the first hydraulic cylinder (311) and transducer the second hydraulic cylinder (312) are fixed plunger rod with steady pin after fixing side by side.
3. Intelligent upper limb assisted movement device according to claim 1, is characterized in that: described power conversion mechanism has four groups, and every group of motion of controlling a dimension of described mechanical arm, controls the motion of four dimensions altogether.
4. according to the Intelligent upper limb assisted movement device described in claim 1 or 3, it is characterized in that: described elbow joint controlling organization is the motion of one-dimensional degree; Described shoulder joint controlling organization is three dimensionality motion; Described shoulder joint controlling organization is controlled hydraulic cylinder by three dimensions and is controlled, respectively to be arranged in the top dimension control hydraulic cylinder above large arm, the horizontal dimensions control hydraulic cylinder that bottom dimension is below controlled hydraulic cylinder and side, described top dimension is controlled hydraulic cylinder and is fixed on the same vertical shoulder axle being connected with backboard with bottom dimension control hydraulic cylinder, and described horizontal dimensions is controlled hydraulic cylinder and is fixed in the transverse support bar of being stretched out by backboard.
5. Intelligent upper limb assisted movement device according to claim 1, it is characterized in that: dimension driving being attached thereto in any action of the described mechanical arm of a side is controlled hydraulic cylinder and made expanding-contracting action, and dimension is controlled the flexible of hydraulic cylinder and by described power converter, identical expanding-contracting action is delivered on the mechanical arm of opposite side.
6. Intelligent upper limb assisted movement device according to claim 1, is characterized in that: described mechanical arm is connected by shoulder axle with described backboard; Described power converter is arranged in described backboard.
7. Intelligent upper limb assisted movement device according to claim 1, it is characterized in that: described Intelligent upper limb assisted movement device adopts hydraulic drive design, the mode that is connected and fixed of described mechanical arm and user arm adopts open-close type snap ring to fix, and the folding of described open-close type snap ring is used palm and held with a firm grip and control or two kinds of modes of nylon belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410343237.XA CN104116613B (en) | 2014-07-17 | 2014-07-17 | A kind of Intelligent upper limb synkinesia device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410343237.XA CN104116613B (en) | 2014-07-17 | 2014-07-17 | A kind of Intelligent upper limb synkinesia device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104116613A true CN104116613A (en) | 2014-10-29 |
| CN104116613B CN104116613B (en) | 2016-05-25 |
Family
ID=51762398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410343237.XA Active CN104116613B (en) | 2014-07-17 | 2014-07-17 | A kind of Intelligent upper limb synkinesia device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104116613B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106063759A (en) * | 2015-04-23 | 2016-11-02 | 本田技研工业株式会社 | Action assisting device |
| CN108852740A (en) * | 2018-02-09 | 2018-11-23 | 湖北工业大学 | A kind of pneumatic upper limb rehabilitation robot |
| CN110974615A (en) * | 2019-12-07 | 2020-04-10 | 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 | Method for generating mirror image motion and mirror image motion device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006058442A1 (en) * | 2004-11-30 | 2006-06-08 | Eidgenössische Technische Hochschule Zürich | System and method for a cooperative arm therapy and corresponding rotation module |
| CN1956692A (en) * | 2004-02-05 | 2007-05-02 | 莫托里卡股份有限公司 | Methods and apparatus for rehabilitation and training |
| CN101579282A (en) * | 2009-06-12 | 2009-11-18 | 东华大学 | Pneumatic drive mode of limbs joint rehabilitation training and pneumatic type upper limbs rehabilitation training device |
| KR101065892B1 (en) * | 2009-01-23 | 2011-09-19 | 허영백 | Strengthening and Rehabilitating Exercise Apparatus |
| WO2012042416A2 (en) * | 2010-09-11 | 2012-04-05 | Scuola Superiore S. Anna | Device to relieve the articular efforts resulting from the weight of a human limb |
| EP2620135A1 (en) * | 2012-01-24 | 2013-07-31 | Jaroslaw Andrzej Frydel | Movement system of a device for alignment, support for motion and rehabilitation, in particular for the rehabilitation of people with difficulty walking and improving muscle strength |
| CN103919659A (en) * | 2014-04-21 | 2014-07-16 | 安阳工学院 | Automatic shoulder joint rehabilitation training device |
| CN203988903U (en) * | 2014-07-17 | 2014-12-10 | 蒋文庆 | A kind of Intelligent upper limb assisted movement device |
-
2014
- 2014-07-17 CN CN201410343237.XA patent/CN104116613B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1956692A (en) * | 2004-02-05 | 2007-05-02 | 莫托里卡股份有限公司 | Methods and apparatus for rehabilitation and training |
| WO2006058442A1 (en) * | 2004-11-30 | 2006-06-08 | Eidgenössische Technische Hochschule Zürich | System and method for a cooperative arm therapy and corresponding rotation module |
| KR101065892B1 (en) * | 2009-01-23 | 2011-09-19 | 허영백 | Strengthening and Rehabilitating Exercise Apparatus |
| CN101579282A (en) * | 2009-06-12 | 2009-11-18 | 东华大学 | Pneumatic drive mode of limbs joint rehabilitation training and pneumatic type upper limbs rehabilitation training device |
| WO2012042416A2 (en) * | 2010-09-11 | 2012-04-05 | Scuola Superiore S. Anna | Device to relieve the articular efforts resulting from the weight of a human limb |
| EP2620135A1 (en) * | 2012-01-24 | 2013-07-31 | Jaroslaw Andrzej Frydel | Movement system of a device for alignment, support for motion and rehabilitation, in particular for the rehabilitation of people with difficulty walking and improving muscle strength |
| CN103919659A (en) * | 2014-04-21 | 2014-07-16 | 安阳工学院 | Automatic shoulder joint rehabilitation training device |
| CN203988903U (en) * | 2014-07-17 | 2014-12-10 | 蒋文庆 | A kind of Intelligent upper limb assisted movement device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106063759A (en) * | 2015-04-23 | 2016-11-02 | 本田技研工业株式会社 | Action assisting device |
| CN108852740A (en) * | 2018-02-09 | 2018-11-23 | 湖北工业大学 | A kind of pneumatic upper limb rehabilitation robot |
| CN108852740B (en) * | 2018-02-09 | 2020-08-07 | 湖北工业大学 | Pneumatic upper limb rehabilitation robot |
| CN110974615A (en) * | 2019-12-07 | 2020-04-10 | 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 | Method for generating mirror image motion and mirror image motion device |
| CN110974615B (en) * | 2019-12-07 | 2022-03-04 | 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 | Method for generating mirror image motion and mirror image motion device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104116613B (en) | 2016-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204484681U (en) | Elbow joint motion convalescence device | |
| CN109009875A (en) | Personalized upper-limbs rehabilitation training robot | |
| CN204260988U (en) | A kind of massage couch | |
| CN203790256U (en) | Upper limb rehabilitation training device | |
| CN105193582A (en) | Upper-and-lower-limb intelligent active/passive rehabilitation training device | |
| CN205019357U (en) | Go up main passive rehabilitation training device of low limbs intelligence | |
| CN106821623A (en) | A kind of patients with paralyzed lower limbs wheelchair with massage recovering function | |
| CN107296719B (en) | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot | |
| CN104606027B (en) | Elbow joint motion convalescence device | |
| CN106420260B (en) | It is a kind of can comprehensive autonomous trained upper limb body mobility rehabilitation seat | |
| CN111956447B (en) | Recovered brace of upper limbs that dynamic and static combines | |
| CN108888469A (en) | A kind of the elderly's limb function rehabilitation training device | |
| CN104398367A (en) | Electric pressure-reducing hip joint/knee joint recovery exerciser | |
| CN104116613B (en) | A kind of Intelligent upper limb synkinesia device | |
| CN104367444A (en) | Medical scapulohumeral periarthritis prevention and rehabilitation device | |
| CN203988903U (en) | A kind of Intelligent upper limb assisted movement device | |
| CN206652147U (en) | Old disability patient with four limbs link auxiliary rehabilitation device | |
| CN201244171Y (en) | Massage robot | |
| CN103750976A (en) | TDOF (three degree of freedom) external bone type finger rehabilitation robot | |
| CN209301637U (en) | Personalized upper-limbs rehabilitation training robot | |
| CN105833468A (en) | Limb linkage rehabilitation exercising machine | |
| CN109771214A (en) | A kind of recovery robot by training paces | |
| CN203749788U (en) | Device for enabling bedridden patient to walk initiatively or passively | |
| CN105310865A (en) | Horizontal lower limb rehabilitation training robot | |
| CN202355487U (en) | Physiotherapy bed |
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 |