CN104224494A - Six-DOF (Degree of Freedom) in-parallel waist rehabilitation training device - Google Patents

Six-DOF (Degree of Freedom) in-parallel waist rehabilitation training device Download PDF

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Publication number
CN104224494A
CN104224494A CN201410491844.0A CN201410491844A CN104224494A CN 104224494 A CN104224494 A CN 104224494A CN 201410491844 A CN201410491844 A CN 201410491844A CN 104224494 A CN104224494 A CN 104224494A
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CN
China
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support unit
artificial muscle
pneumatic artificial
frame
healing waistband
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CN201410491844.0A
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Chinese (zh)
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CN104224494B (en
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訾斌
尹光才
曾亿山
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合肥工业大学
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Abstract

The invention discloses a six-DOF (Degree Of Freedom) in-parallel waist rehabilitation training device, which aims to the problems during a waist rehabilitation training process that how six DOFs of the waist of a patient can be effectively and safely realized, how the adaptability of a training device is increased, and the like. The six-DOF in-parallel waist rehabilitation training device is characterized in that comprehensive six-motion-DOF rehabilitation training of the waist is realized through effective combination of a soft cable driving unit and a pneumatic artificial muscle supporting unit. According to the six-DOF in-parallel waist rehabilitation training device disclosed by the invention, structure change, training strength regulation and amplitude regulation can be carried out according to the illness condition of the patient and the individual difference through the effective combination and the modularization of two driving modes, and thus the adaptability is improved.

Description

A kind of six-freedom parallel waist rehabilitation training devices

Technical field

The present invention relates to medical rehabilitation exercising device field, specifically a kind of six-freedom parallel waist rehabilitation training devices.

Background technology

The number of patients of the waist movement obstacle caused due to social senilization and other accidental cause is in rising trend, has therefore had further requirement to the raising waist rehabilitation level of training and efficiency.But traditional rehabilitation depends on experience and the hand operation technology of therapist, training effectiveness is low, and workload is large, and human cost is high.The generation of device for healing and training efficiently solves above problem, limbs are driven to do the motion of thousands of repeatability by machine, not only therapist freed from heavy physical work, the quantification of rehabilitation means ensure that the quality of rehabilitation effectively.

Under existing technical conditions, device for healing and training is generally rotated by Wire driven robot waist, but the effect that Wire driven robot rotates is not clearly, the angle of waist rotation is very limited in this process, be difficult to adapt to bending over and swinging of larger angle, and rehabilitation training efficiency is lower.Other device for healing and training adopt rigidity to drive as cylinder, motor driving etc., are considered to poor safety performance owing to lacking compliance.And the maximum problem of existing device is that it designs according to specific supplemental characteristic, and structure is fixed non-adjustable, causes device for healing and training controllability and bad adaptability, can not, according to the individual variation adjustment structure of rehabilitation patient, cause practicality not high.

summary of the inventionthe object of this invention is to provide a kind of six-freedom parallel waist rehabilitation training devices, to solve prior art Problems existing.

In order to achieve the above object, the technical solution adopted in the present invention is:

A kind of six-freedom parallel waist rehabilitation training devices, include frame, described frame is by the edge of multiple vertical setting, the frame upper junction plate and the frame lower connecting plate be connected to bottom multiple edge that are connected to multiple edge top are formed, and on the left of frame between two edge bottoms, between two edge bottoms, right side, between rear side two edge bottoms, level connection joint has crossbeam respectively, it is characterized in that: described frame lower connecting plate is provided with standing platform, on the left of frame, rear side, the crossbeam on right side is vertically provided with Pneumatic artificial muscle support unit respectively, the Pneumatic artificial muscle support unit top in left side is connected on the horizontal brace rod that healing waistband extends out left, the Pneumatic artificial muscle support unit top on right side is connected on the horizontal brace rod that healing waistband extends out to the right, the Pneumatic artificial muscle support unit top of rear side is connected on the horizontal brace rod that healing waistband extends back out, healing waistband is suspended from above standing platform, described frame upper junction plate bottom surface is provided with many group Wire driven robot unit, many groups Wire driven robot unit is annularly evenly distributed on frame upper junction plate bottom surface, each Wire driven robot unit comprises the drive motors support being fixed on frame upper junction plate bottom surface, in drive motors support, drive motors is installed, drive motors output shaft is horizontally disposed with, and drive motors output shaft is provided with reel, reel is wound with flexible cable, corresponding each drive motors support position, frame upper junction plate bottom surface is also separately installed with pulley pedestal, directional sliding wheels are rotatablely equipped with respectively in pulley pedestal, each flexible cable one end is wound on be wound around reel, the other end passes from the Wire driven robot unit side of correspondence respectively, walk around again corresponding directional sliding wheels backward under be connected on standing platform.

Described a kind of six-freedom parallel waist rehabilitation training devices, is characterized in that: described directional sliding wheels are rotatably installed in pulley pedestal by split pin and bearing pin.

Described a kind of six-freedom parallel waist rehabilitation training devices, it is characterized in that: described Pneumatic artificial muscle support unit comprises the vertical shaft-like Pneumatic artificial muscle arranged, Pneumatic artificial muscle top cover has support unit upper bush, Pneumatic artificial muscle bottom cover has support unit lower sleeve, on support unit, the spring be enclosed within Pneumatic artificial muscle is connected with between lower sleeve, described support unit upper bush top is provided with support unit spherical hinge, support unit base is installed bottom support unit lower sleeve, Pneumatic artificial muscle top is connected with support unit spherical hinge at support unit upper bush top by Pneumatic artificial muscle upper connector, Pneumatic artificial muscle bottom is connected with support unit base bottom support unit lower sleeve by connector under Pneumatic artificial muscle, and under Pneumatic artificial muscle, connector is provided with and the air inlet be communicated with in Pneumatic artificial muscle, in Pneumatic artificial muscle support unit, support unit base is fixed on the left of frame, rear side, on the crossbeam on right side, support unit spherical hinge connects with corresponding connecting rod.

Described a kind of six-freedom parallel waist rehabilitation training devices, it is characterized in that: described healing waistband comprises two semicircular healing waistband frameworks, wherein first healing waistband framework, three connecting rods that stretch out are connected with Pneumatic artificial muscle support unit respectively, and first healing waistband framework one end is provided with hinged seat, second healing waistband framework one end is provided with articulated joint, second healing waistband framework docks as run-track shaped with first healing waistband framework, and healing waistband framework joint hinged seat, clamping screw is passed through in articulated joint, locking nut connects, hinged seat, lock washer is provided with between the face that articulated joint contacts with each other, two healing waistband frame inner walls are also provided with can to being combined into run-track shaped sponge.

In the present invention, contraction and the elongation of muscle is realized by inflating Pneumatic artificial muscle, exitting, change the length of Pneumatic artificial muscle support unit, thus change the angle of waist relative to standing platform of healing waistband and rehabilitation patient, complete the actions such as waist is bent over, swung back, swing.

In the present invention, Wire driven robot unit changes the length of flexible cable by drive motors band movable reel, thus changes height and the pose of standing platform, and four Wire driven robot parts cooperatively interact and drive human body lower limbs relative to the left and right of waist, front and back translation and rotation.

Compared with prior art the present invention has the following advantages:

1, in apparatus of the present invention, structure has 6 degree of freedom, Wire driven robot unit can assist rehabilitation patient to complete rotation in waist X, Y, the translation of Z-direction and Z-direction, namely assists rehabilitation patient to complete all around, the upward-downward translation of waist and the action that sways one's hips; Pneumatic artificial muscle support unit assists rehabilitation patient to complete the movement of rotation in X, Y-direction and Z-direction, namely assists rehabilitation patient to complete to bend over, swings back, swings and upper and lower translation;

2, the mode that in apparatus of the present invention, type of drive uses Pneumatic artificial muscle to combine with flexible cable, fully takes into account respective feature: Pneumatic artificial muscle profile is submissive, and action is level and smooth, and response is fast, and its motion is closer to natural biological motion; Wire driven robot technology has that structure is simple, inertia is little, quality is light, safety is high and degree of modularity advantages of higher, by two kinds of type of drive efficient combination, apparatus of the present invention are made to have the feature of two kinds of type of drive concurrently and have the features such as the degree of modularity is high, structure is adjustable;

3, apparatus of the present invention make this contrive equipment can do corresponding structural adjustment according to the human body difference of rehabilitation patient by the design of healing waistband and structure, add the adaptability of apparatus of the present invention.And pass through the modularity of Pneumatic artificial muscle support unit and Wire driven robot unit, two driver elements can be worked simultaneously also can work independently the waist rehabilitation training of patient, whether the operation of each unit is controlled by the startup of unit and stop button, rehabilitation patient according to self needing the adjustment making corresponding exercise intensity and amplitude, thus can reach better rehabilitation training effect.

Accompanying drawing explanation

Fig. 1 is the overall structure schematic diagram of rehabilitation training shunting means.

Fig. 2 is Pneumatic artificial muscle support unit schematic diagram.

Fig. 3 is the sectional view of Pneumatic artificial muscle support unit.

Fig. 4 is Wire driven robot cell schematics.

Fig. 5 is directional sliding wheel group structure partial schematic diagram.

Fig. 6 is healing waistband partial structurtes schematic diagrams.

Detailed description of the invention

As Fig. 1, Fig. 4, shown in Fig. 5, a kind of six-freedom parallel waist rehabilitation training devices, include frame 2, frame 2 is by the edge of multiple vertical setting, the frame upper junction plate 19 and the frame lower connecting plate be connected to bottom multiple edge that are connected to multiple edge top are formed, and on the left of frame 2 between two edge bottoms, between two edge bottoms, right side, between rear side two edge bottoms, level connection joint has crossbeam respectively, frame 2 lower connecting plate is provided with standing platform 5, on the left of frame 2, rear side, the crossbeam on right side is vertically provided with Pneumatic artificial muscle support unit 4 respectively, the Pneumatic artificial muscle support unit top in left side is connected on the horizontal brace rod that healing waistband extends out left, the Pneumatic artificial muscle support unit top on right side is connected on the horizontal brace rod that healing waistband extends out to the right, the Pneumatic artificial muscle support unit top of rear side is connected on the horizontal brace rod that healing waistband extends back out, and healing waistband 3 is suspended from above standing platform 5, frame upper junction plate 19 bottom surface is provided with many group Wire driven robot unit 1, many groups Wire driven robot unit 1 is annularly evenly distributed on frame upper junction plate 19 bottom surface, each Wire driven robot unit 1 comprises the drive motors support 14 being fixed on frame upper junction plate 19 bottom surface, drive motors 15 is installed in drive motors support 14, drive motors 15 output shaft is horizontally disposed with, and drive motors 15 output shaft is provided with reel 16, reel 16 is wound with flexible cable 17, corresponding each drive motors support 14 position, frame upper junction plate 19 bottom surface is also separately installed with pulley pedestal 22, directional sliding wheels 18 are rotatablely equipped with respectively in pulley pedestal 22, each flexible cable 17 one end is wound on be wound around reel 16, the other end passes from Wire driven robot unit 1 side of correspondence respectively, walk around again corresponding directional sliding wheels 18 backward under be connected on standing platform 5.

Directional sliding wheels 18 are rotatably installed in pulley pedestal 22 by split pin 20 and bearing pin 23.

As Fig. 2, shown in Fig. 3, Pneumatic artificial muscle support unit 4 comprises the vertical shaft-like Pneumatic artificial muscle 12 arranged, Pneumatic artificial muscle 12 top cover has support unit upper bush 9, Pneumatic artificial muscle 12 bottom cover has support unit lower sleeve 7, on support unit, lower sleeve 9, the spring 11 be enclosed within Pneumatic artificial muscle 12 is connected with between 7, support unit upper bush 9 top is provided with support unit spherical hinge 8, support unit base 6 is installed bottom support unit lower sleeve 7, Pneumatic artificial muscle 12 top is connected with support unit spherical hinge 8 at support unit upper bush 9 top by Pneumatic artificial muscle upper connector 10, Pneumatic artificial muscle 12 bottom is connected with support unit base 6 bottom support unit lower sleeve 7 by connector under Pneumatic artificial muscle 13, and under Pneumatic artificial muscle, connector 13 is provided with and the air inlet be communicated with in Pneumatic artificial muscle 12, in Pneumatic artificial muscle support unit 4, support unit base 6 is fixed on the left of frame 2, rear side, on the crossbeam on right side, support unit spherical hinge 8 connects with corresponding connecting rod.

As shown in Figure 6.Healing waistband comprises two healing waistband frameworks, wherein first healing waistband framework, three connecting rods that stretch out are connected with Pneumatic artificial muscle support unit respectively, and first healing waistband framework 25 one end is provided with hinged seat, second healing waistband framework 28 one end is provided with articulated joint, second healing waistband framework 28 docks as run-track shaped with first healing waistband framework 25, and two healing waistband framework joint hinged seats, articulated joint is by clamping screw 24, locking nut 27 connects, hinged seat, lock washer 26 is provided with between the face that articulated joint contacts with each other, two healing waistband frame inner walls are also provided with can to being combined into run-track shaped sponge.

In the present invention, as shown in Figure 1, a kind of waist rehabilitation training devices in parallel of 6DOF, comprise frame 2, Wire driven robot unit 1, Pneumatic artificial muscle support unit 4, standing platform 5 and healing waistband 3, described standing platform 5 is stood for rehabilitation patient and is connected by flexible cable with equally distributed four Wire driven robot unit 1, described standing platform 5 can be elevated by the length of flexible cable 17, thus regulate the distance of described standing platform 5 and described healing waistband 3, and described healing waistband 3 is provided with retaining mechanism, three groups of described Pneumatic artificial muscle support units 4 are respectively installed to left and right sides and the rear side of described frame 2, and be connected with described healing waistband 3, described frame 2 is made up of framework and the connecting plate that is welded on the upper and lower two ends of framework, described frame lower connecting plate is positioned at rehabilitation patient front and is also provided with human body handrail.

As Fig. 2, shown in 3, each Pneumatic artificial muscle support unit 4 comprises Pneumatic artificial muscle 12, Pneumatic artificial muscle upper end is connected with support unit spherical hinge 8 by Pneumatic artificial muscle upper connector 10, support unit spherical hinge 8 is arranged on support unit upper bush 9 end by bolt-connection, Pneumatic artificial muscle 12 lower end is connected with support unit base 6 by connector under Pneumatic artificial muscle 13, under Pneumatic artificial muscle, connector 13 is bolted and is arranged on support unit lower sleeve 7 end, on support unit, lower sleeve 9, the spring 11 be enclosed within outside Pneumatic artificial muscle 12 is connected with between 7, described support unit spherical hinge 8 is fixed on healing waistband 3 bottom surface, support unit base 6 is bolted and is fixed in frame 2.

As shown in Figure 4, each Wire driven robot unit 1 comprises Wire driven robot unit pedestal 14, drive motors 15, reel 16, directional sliding wheels 18 and flexible cable 17, described drive motors output shaft is coaxially connected with the axle of reel, described flexible cable 17 one end is wound on described reel 16, the other end passes from the open slot of Wire driven robot unit pedestal 14 side, be connected with described standing platform 5 after walking around directional sliding wheels 18, described fixed pulley group 18 is uniformly distributed and is threaded connection on described frame upper junction plate, described drive motors 15 is arranged on electric motor stand 14 and is welded on described frame upper junction plate.

As shown in Figure 5, described directional sliding wheels 18 comprise the pulley pedestal 22 be bolted in frame upper junction plate 19 bottom surface, and described pulley 21 is arranged in pulley pedestal 22 by split pin 20 and bearing pin 23.

As shown in Figure 6, described healing waistband 3 comprises first healing waistband framework 25, healing waistband locking device and second healing waistband framework 28, healing waistband locking device by clamping screw 24, locking nut 27 lock two healing waistband frameworks, between described first healing waistband framework 25 and second healing waistband framework 28, two mating surfaces are respectively fitted with lock washer 26, and two healing waistband frameworks is inside soft sponge, can meet the rehabilitation patient of various build.

Rehabilitation patient can regulate the position of healing waistband second healing waistband framework 28 by the clamping screw 24 rotating healing waistband 3 according to the stature of oneself.

Wire driven robot unit can assist rehabilitation patient to complete rotation in waist X, Y, the translation of Z-direction and Z-direction, namely assists rehabilitation patient to complete all around, the upward-downward translation of waist and the action that sways one's hips.When after the start button pressing drive motors 15 in control four Wire driven robot unit 1 simultaneously, four equally distributed flexible cables 17 elongate or shorten simultaneously, complete the lifting of standing platform 5, regulate the distance between standing platform 5 and healing waistband 3 according to the height of rehabilitation patient, the lifting also by controlling standing platform 5 completes the movement in z-direction of rehabilitation patient's waist.It is similar that Wire driven robot unit drives waist completes other action ways of realization, below to realize the translation to the right of rehabilitation patient's waist, after pressing the reversion start button of drive motors 15 in two Wire driven robot unit 1 in the rotating forward start button of drive motors 15 in two Wire driven robot unit 1 on right side, left side simultaneously, two flexible cables 17 on right side are extended simultaneously, two flexible cables 17 in left side shorten simultaneously, drive standing platform 5 and rehabilitation patient's lower limb to move to the left, namely realize the relative translation to the right of waist.Make standing platform 5 produce different poses according to the cooperation between four Wire driven robot unit thus make rehabilitation patient's waist complete different actions.

After pressing Pneumatic artificial muscle support unit 4 start button, control pneumatic circuit carry out inflating to Pneumatic artificial muscle 12 and exit the contraction and elongation that realize muscle, thus drive Pneumatic artificial muscle support unit 4 to stretch, and then drive healing waistband 3 by spherical hinge 8.Three groups of Pneumatic artificial muscle support units 4 assist rehabilitation patient to complete the movement of rotation in X, Y-direction and Z-direction, namely assist rehabilitation patient to complete to bend over, swing back, swing and upper and lower translation.Action of bending over is completed to assist rehabilitation patient, after pressing Pneumatic artificial muscle 12 start button on rear side of rehabilitation patient, control pneumatic circuit to inflate Pneumatic artificial muscle, thus drive Pneumatic artificial muscle support unit 4 to extend, make healing waistband 3 take same rehabilitation patient's waist to turn forward, namely assist rehabilitation patient to complete action of bending over.

Two driver elements can work the waist rehabilitation training that also can work independently patient simultaneously, whether the operation of each unit is controlled by the startup of unit and stop button, and rehabilitation patient according to self needing the adjustment making corresponding exercise intensity and amplitude, thus can reach better rehabilitation training effect.

Claims (4)

1. a six-freedom parallel waist rehabilitation training devices, include frame, described frame is by the edge of multiple vertical setting, the frame upper junction plate and the frame lower connecting plate be connected to bottom multiple edge that are connected to multiple edge top are formed, and on the left of frame between two edge bottoms, between two edge bottoms, right side, between rear side two edge bottoms, level connection joint has crossbeam respectively, it is characterized in that: described frame lower connecting plate is provided with standing platform, on the left of frame, rear side, the crossbeam on right side is vertically provided with Pneumatic artificial muscle support unit respectively, the Pneumatic artificial muscle support unit top in left side is connected on the horizontal brace rod that healing waistband extends out left, the Pneumatic artificial muscle support unit top on right side is connected on the horizontal brace rod that healing waistband extends out to the right, the Pneumatic artificial muscle support unit top of rear side is connected on the horizontal brace rod that healing waistband extends back out, healing waistband is suspended from above standing platform, described frame upper junction plate bottom surface is provided with many group Wire driven robot unit, many groups Wire driven robot unit is annularly evenly distributed on frame upper junction plate bottom surface, each Wire driven robot unit comprises the drive motors support being fixed on frame upper junction plate bottom surface, in drive motors support, drive motors is installed, drive motors output shaft is horizontally disposed with, and drive motors output shaft is provided with reel, reel is wound with flexible cable, corresponding each drive motors support position, frame upper junction plate bottom surface is also separately installed with pulley pedestal, directional sliding wheels are rotatablely equipped with respectively in pulley pedestal, each flexible cable one end is wound on be wound around reel, the other end passes from the Wire driven robot unit side of correspondence respectively, walk around again corresponding directional sliding wheels backward under be connected on standing platform.
2. a kind of six-freedom parallel waist rehabilitation training devices according to claim 1, is characterized in that: described directional sliding wheels are rotatably installed in pulley pedestal by split pin and bearing pin.
3. a kind of six-freedom parallel waist rehabilitation training devices according to claim 1, it is characterized in that: described Pneumatic artificial muscle support unit comprises the vertical shaft-like Pneumatic artificial muscle arranged, Pneumatic artificial muscle top cover has support unit upper bush, Pneumatic artificial muscle bottom cover has support unit lower sleeve, on support unit, the spring be enclosed within Pneumatic artificial muscle is connected with between lower sleeve, described support unit upper bush top is provided with support unit spherical hinge, support unit base is installed bottom support unit lower sleeve, Pneumatic artificial muscle top is connected with support unit spherical hinge at support unit upper bush top by Pneumatic artificial muscle upper connector, Pneumatic artificial muscle bottom is connected with support unit base bottom support unit lower sleeve by connector under Pneumatic artificial muscle, and under Pneumatic artificial muscle, connector is provided with and the air inlet be communicated with in Pneumatic artificial muscle, in Pneumatic artificial muscle support unit, support unit base is fixed on the left of frame, rear side, on the crossbeam on right side, support unit spherical hinge connects with corresponding connecting rod.
4. a kind of six-freedom parallel waist rehabilitation training devices according to claim 1, it is characterized in that: described healing waistband comprises two semicircular healing waistband frameworks, wherein first healing waistband framework, three connecting rods that stretch out are connected with Pneumatic artificial muscle support unit respectively, and first healing waistband framework one end is provided with hinged seat, second healing waistband framework one end is provided with articulated joint, second healing waistband framework docks as run-track shaped with first healing waistband framework, and two healing waistband framework joint hinged seats, clamping screw is passed through in articulated joint, locking nut connects, hinged seat, lock washer is provided with between the face that articulated joint contacts with each other, two healing waistband frame inner walls are also provided with can to being combined into run-track shaped sponge.
CN201410491844.0A 2014-09-23 2014-09-23 Six-DOF (Degree of Freedom) in-parallel waist rehabilitation training device CN104224494B (en)

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CN104800040A (en) * 2015-03-06 2015-07-29 合肥工业大学 Device and method for detecting dynamic property of parallel waist recovery training device
CN105147493A (en) * 2015-06-24 2015-12-16 合肥工业大学 Lower limb automatic regulating platform for waist rehabilitation training and training method
CN105287162A (en) * 2015-10-10 2016-02-03 合肥工业大学 Wearable wire-driven bionic waist rehabilitation device
CN106492423A (en) * 2016-12-30 2017-03-15 中国医科大学附属盛京医院 A kind of balance training equipment and using method thereof
CN107928988A (en) * 2017-12-18 2018-04-20 合肥工业大学 Suitable for the transmission mechanism and control method of waist rehabilitation robot
CN109009863A (en) * 2018-05-23 2018-12-18 合肥工业大学 A kind of waist rehabilitation training device and detection method
CN109176570A (en) * 2018-10-17 2019-01-11 上海交通大学 The serial-parallel mirror finger and hand of artificial winding fiber driving

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104800040A (en) * 2015-03-06 2015-07-29 合肥工业大学 Device and method for detecting dynamic property of parallel waist recovery training device
CN104739618A (en) * 2015-04-21 2015-07-01 合肥工业大学 Waist rehabilitation training connecting device and control method
CN105147493A (en) * 2015-06-24 2015-12-16 合肥工业大学 Lower limb automatic regulating platform for waist rehabilitation training and training method
WO2016206175A1 (en) * 2015-06-24 2016-12-29 訾斌 Automatic lower limb adjustment platform for lumbar rehabilitation training, and training method
CN105147493B (en) * 2015-06-24 2017-03-29 合肥工业大学 Platform and training method are automatically adjusted for the lower limb in waist rehabilitation training
CN105287162A (en) * 2015-10-10 2016-02-03 合肥工业大学 Wearable wire-driven bionic waist rehabilitation device
CN106492423A (en) * 2016-12-30 2017-03-15 中国医科大学附属盛京医院 A kind of balance training equipment and using method thereof
CN107928988A (en) * 2017-12-18 2018-04-20 合肥工业大学 Suitable for the transmission mechanism and control method of waist rehabilitation robot
CN109009863A (en) * 2018-05-23 2018-12-18 合肥工业大学 A kind of waist rehabilitation training device and detection method
CN109009863B (en) * 2018-05-23 2020-10-13 合肥工业大学 Waist rehabilitation training device
CN109176570A (en) * 2018-10-17 2019-01-11 上海交通大学 The serial-parallel mirror finger and hand of artificial winding fiber driving
CN109176570B (en) * 2018-10-17 2020-09-15 上海交通大学 Series-parallel connection finger and hand driven by manually wound fibers

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