CN104224494B - 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 PDFInfo
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- CN104224494B CN104224494B CN201410491844.0A CN201410491844A CN104224494B CN 104224494 B CN104224494 B CN 104224494B CN 201410491844 A CN201410491844 A CN 201410491844A CN 104224494 B CN104224494 B CN 104224494B
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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
Technical field
The present invention relates to medical rehabilitation exercising device field, specifically a kind of six-freedom parallel waist rehabilitation training cartridge
Put.
Background technology
Due to the number of patients of waist movement obstacle caused by social senilization and other accidental causes it is in rising trend, because
This has further requirement to improving the waist rehabilitation level of training and efficiency.But traditional rehabilitation depends on therapist
Experience and hand operation technology, training effectiveness is low, and workload is big, and human cost is high.The generation of device for healing and training is effective
Solve problem above, drive limbs to do the motion of thousands of repeatability by machine, not only by therapist from heavy
Physical work in free, the quantization of rehabilitation means is effectively guaranteed the quality of rehabilitation.
Device for healing and training is typically rotated by Wire driven robot waist under existing technical conditions, but Wire driven robot turns
Dynamic effect be not it is obvious that in this process waist rotate angle it is extremely limited, it is difficult to adapt to bending over for larger angle
And swing, and rehabilitation training is less efficient.Other device for healing and training drive such as cylinder, Motor drive using rigidity, by
It is considered as poor safety performance in compliance is lacked.And the maximum problem of existing device is that it sets according to specific supplemental characteristic
Meter, structure fixes non-adjustable, causes device for healing and training controllability and bad adaptability, it is impossible to enough individualities according to rehabilitation patient
Difference adjustment structure, causes practicality not high.
The content of the invention is it is an object of the invention to provide a kind of six-freedom parallel waist rehabilitation training devicess, existing to solve
With the presence of the problem of technology.
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 devicess, including organic frame, the frame is by multiple vertically arranged
Frame while, be connected to multiple frames while at the top of frame upper junction plate and be connected to multiple frame sides bottom frame lower connecting plate constitute,
And frame left side two frames between bottom, two frame of right side while bottom between, respectively level connection joint has between the frame side bottom of rear side two
Crossbeam, it is characterised in that：It is provided with standing platform on the frame lower connecting plate, frame left side, rear side, on the crossbeam on right side point
Pneumatic artificial muscle support unit is not vertically installed, the Pneumatic artificial muscle support unit top in left side is connected to healing waistband
On the horizontal brace rod for extending out to the left, the Pneumatic artificial muscle support unit top on right side is connected to healing waistband and prolongs to the right
On the horizontal brace rod stretched, the Pneumatic artificial muscle support unit top of rear side is connected to healing waistband and extends back out
Horizontal brace rod on, healing waistband is suspended from standing platform top, and the frame upper junction plate bottom surface is provided with multigroup flexible cable and drives
Moving cell, multigroup Wire driven robot unit is evenly distributed on frame upper junction plate bottom surface along annular, and each Wire driven robot unit includes
The motor support of frame upper junction plate bottom surface is fixed on, motor is installed in motor support, motor is defeated
Shaft is horizontally disposed with, and reel is provided with driving motor output shaft, and flexible cable, frame upper junction plate bottom surface pair are wound with reel
Answer each motor support position to be also separately installed with pulley pedestal, be rotatablely equipped with orientation in pulley pedestal respectively and slide
Wheel group, each flexible cable one end is wound on wound reel, and the other end is passed through respectively from corresponding Wire driven robot unit side,
Further around excessively it is corresponding orientation assembly pulley it is backward under be connected on standing platform.
A kind of described six-freedom parallel waist rehabilitation training devicess, it is characterised in that：The orientation assembly pulley passes through
Split pin and bearing pin are rotatably installed in pulley pedestal.
A kind of described six-freedom parallel waist rehabilitation training devicess, it is characterised in that：The Pneumatic artificial muscle
Support unit includes vertically arranged shaft-like Pneumatic artificial muscle, and Pneumatic artificial muscle top is cased with support unit upper bush, pneumatic
Artificial-muscle bottom is cased with support unit lower sleeve, is connected between the upper and lower sleeve of support unit and is enclosed within Pneumatic artificial muscle
Spring, support unit upper bush top is provided with support unit spherical hinge, and support unit lower sleeve bottom is provided with
Support unit base, Pneumatic artificial muscle top by Pneumatic artificial muscle upper connector at the top of support unit upper bush with support
Unit spherical hinge connects, Pneumatic artificial muscle bottom by connector under Pneumatic artificial muscle support unit lower sleeve bottom with
Support unit base connects, and is provided with the air inlet connected with Pneumatic artificial muscle under Pneumatic artificial muscle on connector,
In Pneumatic artificial muscle support unit, support unit base is fixed on frame left side, rear side, on the crossbeam on right side, support unit
Spherical hinge connects with corresponding connecting rod.
A kind of described six-freedom parallel waist rehabilitation training devicess, it is characterised in that：The healing waistband includes two
Individual semicircular healing waistband framework, wherein first healing waistband framework stretches out three connecting rods respectively with artificial pneumatic flesh
Meat support unit connects, and first healing waistband framework one end is provided with hinged seat, and second healing waistband framework one end sets
Articulated joint is equipped with, second healing waistband framework is run-track shaped to being connected in first healing waistband framework, and healing waistband frame
Frame joint hinged seat, articulated joint are connected by clamping screw, locking nut, between the face that hinged seat, articulated joint contact with each other
Lock washer is provided with, two healing waistband frame inner walls are additionally provided with can be to being combined into run-track shaped sponge.
In the present invention, the contraction and elongation of muscle is realized by inflating to Pneumatic artificial muscle, deflating, change artificial pneumatic
The length of muscle support unit, it is complete so as to change the angle of the waist relative to standing platform of healing waistband and rehabilitation patient
The action such as bend over into waist, swing back, swinging.
In the present invention, Wire driven robot unit changes the length of flexible cable by motor with movable reel, so as to change standing
The height and pose of platform, four Wire driven robot parts cooperate and drive human body lower limbs relative to the left and right, in front and back of waist
Translation and rotation.
Compared with prior art the present invention has advantages below：
1st, structure has 6 degree of freedom in apparatus of the present invention, and Wire driven robot unit can assist rehabilitation patient to complete waist
Rotation in X, Y, the translation of Z-direction and Z-direction, that is, assist rehabilitation patient complete around waist, upward-downward translation with
And the action that sways one's hips；Pneumatic artificial muscle support unit assists rehabilitation patient to complete the rotation in X, Y-direction and the shifting of Z-direction
It is dynamic, that is, assist rehabilitation patient to complete to bend over, swing back, swing and upper and lower translation；
2nd, mode of the type of drive using Pneumatic artificial muscle in combination with flexible cable in apparatus of the present invention, fully takes into account each
From the characteristics of：Pneumatic artificial muscle profile is submissive, and action is smoothed, and response is fast, and its motion is closer to natural biological motion；It is soft
Rope actuation techniques have the advantages that little simple structure, inertia, light weight, the safe and degree of modularity are high, by two kinds of drives
Flowing mode efficient combination so that the characteristics of apparatus of the present invention have two kinds of type of drive concurrently and with the degree of modularity is high, structure
Adjustable the features such as；
3rd, apparatus of the present invention pass through the design of healing waistband and structure so that the invention device can be according to rehabilitation patient's
Human body difference makees corresponding structural adjustment, increased the adaptability of apparatus of the present invention.And support single by Pneumatic artificial muscle
Unit and the modularity of Wire driven robot unit so that two driver elements can simultaneously work and can also work independently to complete patient
Waist rehabilitation training, the operation of each unit can be controlled by the startup of unit and stop button whether, rehabilitation disease
People can according to their needs make the adjustment of corresponding exercise intensity and amplitude, so as to reach more preferable rehabilitation training effect.
Description of the drawings
Fig. 1 is the overall structure 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 orientation pulley block structure partial schematic diagram.
Fig. 6 is healing waistband partial structural diagram.
Specific embodiment
As shown in Figure 1, Figure 4, Figure 5, a kind of six-freedom parallel waist rehabilitation training devicess, including organic frame 2, frame 2
By multiple vertically arranged frames while, be connected to multiple frames while at the top of frame upper junction plate 19 and be connected to multiple frame sides bottom
Frame lower connecting plate is constituted, and two frames of the left side of frame 2 between bottom, two frame of right side while bottom between, the frame side bottom of rear side two
Between respectively level connection joint have crossbeam, standing platform 5, the left side of frame 2, rear side, the horizontal stroke on right side are provided with the lower connecting plate of frame 2
Pneumatic artificial muscle support unit 4 is vertically installed respectively, the Pneumatic artificial muscle support unit top in left side is connected on beam
On the horizontal brace rod that healing waistband extends out to the left, the Pneumatic artificial muscle support unit top on right side is connected to rehabilitation waist
On the horizontal brace rod that band extends out to the right, the Pneumatic artificial muscle support unit top of rear side is connected to healing waistband backward
On the horizontal brace rod for extending out, and healing waistband 3 is suspended from the top of standing platform 5, and the bottom surface of frame upper junction plate 19 is provided with
Multigroup Wire driven robot unit 1, multigroup Wire driven robot unit 1 is evenly distributed on the bottom surface of frame upper junction plate 19 along annular, and each is soft
Rope driver element 1 includes being fixed on the motor support 14 of the bottom surface of frame upper junction plate 19, installs in motor support 14
There is motor 15, the output shaft of motor 15 is horizontally disposed with, and reel 16, reel 16 are provided with the output shaft of motor 15
On be wound with flexible cable 17, the bottom surface of frame upper junction plate 19 each position of motor support 14 of correspondence is also separately installed with cunning
Wheel pedestal 22, is rotatablely equipped with respectively orientation assembly pulley 18 in pulley pedestal 22, each one end of flexible cable 17 is wound on what is wound
On reel 16, the other end is passed through respectively from the corresponding side of Wire driven robot unit 1, backward further around excessively corresponding orientation assembly pulley 18
Under be connected on standing platform 5.
Orientation assembly pulley 18 is rotatably installed in pulley pedestal 22 by split pin 20 and bearing pin 23.
As shown in Figure 2 and Figure 3, Pneumatic artificial muscle support unit 4 includes vertically arranged shaft-like Pneumatic artificial muscle 12,
The top of Pneumatic artificial muscle 12 is cased with support unit upper bush 9, and the bottom of Pneumatic artificial muscle 12 is cased with support unit lower sleeve 7,
The spring 11 being enclosed within Pneumatic artificial muscle 12 is connected between the upper and lower sleeve 9,7 of support unit, support unit upper bush 9 is pushed up
Portion is provided with support unit spherical hinge 8, and the bottom of support unit lower sleeve 7 is provided with support unit base 6, Pneumatic artificial muscle 12
Top is connected at the top of support unit upper bush 9 by Pneumatic artificial muscle upper connector 10 with support unit spherical hinge 8, pneumatic
The bottom of artificial-muscle 12 is by connector 13 under Pneumatic artificial muscle in the bottom of support unit lower sleeve 7 and support unit base 6
Connection, and be provided with connector 13 under Pneumatic artificial muscle and the air inlet connected in Pneumatic artificial muscle 12, artificial pneumatic
In muscle support unit 4, support unit base 6 is fixed on the left side of frame 2, rear side, on the crossbeam on right side, support unit spherical hinge
8 connect with corresponding connecting rod.
As shown in Figure 6.Healing waistband includes two healing waistband frameworks, wherein first healing waistband framework stretches out
Three connecting rods are connected respectively with Pneumatic artificial muscle support unit, and first one end of healing waistband framework 25 is provided with and is hinged
Seat, second one end of healing waistband framework 28 is provided with articulated joint, second healing waistband framework 28 and first healing waistband
Framework 25 pairs be connected in it is run-track shaped, and two healing waistband framework joint hinged seats, articulated joint pass through clamping screw 24, locking screw
Female 27 connect, and lock washer 26 is provided between the face that hinged seat, articulated joint contact with each other, and two healing waistband frame inner walls also set
Being equipped with can be to being combined into run-track shaped sponge.
In the present invention, as shown in figure 1, a kind of waist rehabilitation training devicess in parallel of 6DOF, including frame 2, flexible cable drive
Moving cell 1, Pneumatic artificial muscle support unit 4, standing platform 5 and healing waistband 3, described standing platform 5 is used for rehabilitation
Patient is stood and is connected by flexible cable with equally distributed four Wire driven robot units 1, and described standing platform 5 can pass through
The length lifting of flexible cable 17, so as to adjust the distance of the standing platform 5 and described healing waistband 3, and described rehabilitation
Belt 3 is provided with retaining mechanism, and three groups of described Pneumatic artificial muscle support units 4 are respectively installed to the left and right sides of the frame 2
And rear side, and be connected with described healing waistband 3, described frame 2 is by framework and is welded on framework upper and lower ends
Connecting plate is constituted, and rehabilitation patient front is located on described frame lower connecting plate and is additionally provided with human body handrail.
As shown in Figure 2,3, each Pneumatic artificial muscle support unit 4 includes Pneumatic artificial muscle 12, Pneumatic artificial muscle
Upper end is connected by Pneumatic artificial muscle upper connector 10 with support unit spherical hinge 8, and support unit spherical hinge 8 is joined by bolt
Connect installed in the end of support unit upper bush 9, the lower end of Pneumatic artificial muscle 12 is by connector 13 under Pneumatic artificial muscle and props up
Support unit base 6 connects, and connector 13 is bolted installed in the end of support unit lower sleeve 7 under Pneumatic artificial muscle,
The spring 11 being enclosed within outside Pneumatic artificial muscle 12, the support unit spherical hinge are connected between the upper and lower sleeve 9,7 of support unit
8 are fixed on the bottom surface of healing waistband 3, and support unit base 6 is bolted and is fixed in frame 2.
As shown in figure 4, each Wire driven robot unit 1 include Wire driven robot unit pedestal 14, motor 15, reel 16,
Orientation assembly pulley 18 and flexible cable 17, coaxially connected with the axle of reel, the described flexible cable 17 1 of described driving motor output shaft
End is wound on described reel 16, and the other end is passed through from the open slot of the side of Wire driven robot unit pedestal 14, is bypassed orientation and is slided
It is connected with described standing platform 5 after wheel group 18, described fixed pulley group 18 is uniformly distributed and is threadedly attached in described machine
On frame upper junction plate, described motor 15 is arranged on electric motor stand 14 and is welded on described frame upper junction plate.
As shown in figure 5, described orientation assembly pulley 18 includes being bolted the cunning in the bottom surface of frame upper junction plate 19
Wheel pedestal 22, described pulley 21 is arranged in pulley pedestal 22 by split pin 20 and bearing pin 23.
As shown in fig. 6, described healing waistband 3 include first healing waistband framework 25, healing waistband locking device with
And second healing waistband framework 28, healing waistband locking device locks two by clamping screw 24, locking nut 27
Individual healing waistband framework, two mating surfaces point between first healing waistband framework 25 and second healing waistband framework 28
It is not equipped with lock washer 26, and two healing waistband frameworks is inside soft sponge, can meet the rehabilitation of various builds
Patient.
Rehabilitation patient can adjust healing waistband second according to the stature of oneself by the clamping screw 24 of rotation healing waistband 3
The position of individual healing waistband framework 28.
Wire driven robot unit can assist rehabilitation patient to complete the rotation in waist X, Y, the translation of Z-direction and Z-direction,
Assist rehabilitation patient to complete around waist, upward-downward translation and the action that sways one's hips.Four flexible cables are controlled when pressing simultaneously
In driver element 1 after the start button of motor 15, four equally distributed flexible cables 17 are elongated or shortened simultaneously, complete to stand
The lifting of platform 5, according to the height of rehabilitation patient the distance between standing platform 5 and healing waistband 3 are adjusted, also can be by control
The lifting of standing platform 5 completes the movement to rehabilitation patient's waist in z-direction.Wire driven robot unit drives waist to complete other
Action way of realization is similar, below to realize the translation to the right of rehabilitation patient's waist as a example by, while press right side two flexible cables drive
The reversion of motor 15 is opened in two Wire driven robot units 1 in the rotating forward start button of motor 15, left side in moving cell 1
After dynamic button, two flexible cables 17 on right side extend simultaneously, and two flexible cables 17 in left side shorten simultaneously, drive standing platform 5 and health
Patient's lower limb side shifting to the left is answered, that is, realizes the translation to the right relatively of waist.According to the cooperation between four Wire driven robot units
Standing platform 5 is set to produce different poses so that rehabilitation patient's waist completes different actions.
After Pneumatic artificial muscle 4 start button of support unit is pressed, control pneumatic circuit enters to Pneumatic artificial muscle 12
The contraction and elongation of muscle is realized in row inflation with deflation, so as to drive Pneumatic artificial muscle support unit 4 to stretch, and then by ball
Hinge 8 drives healing waistband 3.Three groups of Pneumatic artificial muscle support units 4 assist rehabilitation patient to complete the rotation in X, Y-direction with
And the movement of Z-direction, that is, assist rehabilitation patient to complete to bend over, swing back, swing and upper and lower translation.To assist rehabilitation disease
People completes to bend over as a example by action, after pressing the start button of Pneumatic artificial muscle 12 on rear side of rehabilitation patient, controls pneumatic circuit pair
Pneumatic artificial muscle is inflated, so as to drive Pneumatic artificial muscle support unit 4 to extend so that healing waistband 3 takes same rehabilitation
Patient's waist turns forward, that is, assist rehabilitation patient to complete action of bending over.
Two driver elements waist rehabilitation that can also work independently to complete patient that can work simultaneously is trained, and can be passed through
The startup of unit and stop button come control each unit operation whether, and rehabilitation patient can be according to their needs
Make the adjustment of corresponding exercise intensity and amplitude, so as to reach more preferable rehabilitation training effect.
Claims (1)
1. a kind of six-freedom parallel waist rehabilitation training devicess, including organic frame, the frame is by multiple vertically arranged frames
While, be connected to multiple frames while at the top of frame upper junction plate and be connected to multiple frame sides bottom frame lower connecting plate constitute, and
Frame left side two frames between bottom, two frame of right side while bottom between, respectively level connection joint has horizontal stroke between the frame side bottom of rear side two
Beam, it is characterised in that：Be provided with standing platform on the frame lower connecting plate, frame left side, rear side, on the crossbeam on right side respectively
Pneumatic artificial muscle support unit is vertically installed, the Pneumatic artificial muscle support unit top in left side be connected to healing waistband to
On the horizontal brace rod that a left side extends out, the Pneumatic artificial muscle support unit top on right side is connected to healing waistband and extends to the right
On horizontal brace rod out, the Pneumatic artificial muscle support unit top of rear side is connected to what healing waistband extended back out
On horizontal brace rod, healing waistband is suspended from standing platform top, and the frame upper junction plate bottom surface is provided with multigroup Wire driven robot
Unit, multigroup Wire driven robot unit is evenly distributed on frame upper junction plate bottom surface along annular, and each Wire driven robot unit includes solid
The motor support of frame upper junction plate bottom surface is scheduled on, motor, motor output are installed in motor support
Axle is horizontally disposed with, and reel is provided with driving motor output shaft, and flexible cable, frame upper junction plate bottom surface correspondence are wound with reel
Each motor support position is also separately installed with pulley pedestal, is rotatablely equipped with orientation pulley in pulley pedestal respectively
Group, each flexible cable one end is wound on wound reel, and the other end is passed through respectively from corresponding Wire driven robot unit side, then
Bypass it is corresponding orientation assembly pulley it is backward under be connected on standing platform；
The orientation assembly pulley is rotatably installed in pulley pedestal by split pin and bearing pin；
The Pneumatic artificial muscle support unit includes vertically arranged shaft-like Pneumatic artificial muscle, Pneumatic artificial muscle top set
There is support unit upper bush, Pneumatic artificial muscle bottom is cased with support unit lower sleeve, connect between the upper and lower sleeve of support unit
There is the spring being enclosed within Pneumatic artificial muscle, the support unit upper bush top is provided with support unit spherical hinge, supports single
First lower sleeve bottom is provided with support unit base, and Pneumatic artificial muscle top is being supported by Pneumatic artificial muscle upper connector
Unit upper bush top is connected with support unit spherical hinge, and Pneumatic artificial muscle bottom is existed by connector under Pneumatic artificial muscle
Support unit lower sleeve bottom is connected with support unit base, and is provided with connector and artificial pneumatic under Pneumatic artificial muscle
The air inlet of intramuscular connection, in Pneumatic artificial muscle support unit, support unit base is fixed on frame left side, rear side, the right side
On the crossbeam of side, support unit spherical hinge connects with corresponding connecting rod；
The healing waistband includes two semicircular healing waistband frameworks, wherein first healing waistband framework stretches out three
Connecting rod is connected respectively with Pneumatic artificial muscle support unit, and first healing waistband framework one end is provided with hinged seat, the
Two healing waistband framework one end are provided with articulated joint, and second healing waistband framework is with first healing waistband framework to being connected in
It is run-track shaped, and two healing waistband framework joint hinged seats, articulated joint by clamping screw, locking nut connect, hinged seat,
Lock washer is provided between the face that articulated joint contacts with each other, two healing waistband frame inner walls are additionally provided with can be to being combined into track type
The sponge of shape.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410491844.0A CN104224494B (en) | 2014-09-23 | 2014-09-23 | Six-DOF (Degree of Freedom) in-parallel waist rehabilitation training device |
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| CN201410491844.0A CN104224494B (en) | 2014-09-23 | 2014-09-23 | Six-DOF (Degree of Freedom) in-parallel waist rehabilitation training device |
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| CN104224494B true CN104224494B (en) | 2017-05-03 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104800040B (en) * | 2015-03-06 | 2016-08-24 | 合肥工业大学 | A kind of waist rehabilitation training devices's dynamic characteristic detection apparatus and method in parallel |
| CN104739618B (en) * | 2015-04-21 | 2017-05-17 | 合肥工业大学 | Waist rehabilitation training connecting device and control 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 |
| CN105287162B (en) * | 2015-10-10 | 2018-06-12 | 合肥工业大学 | The wearable bionical waist rehabilitation device of Wire driven robot |
| CN106492423B (en) * | 2016-12-30 | 2018-09-18 | 中国医科大学附属盛京医院 | A kind of balance training equipment and its application method |
| CN107928988B (en) * | 2017-12-18 | 2021-02-26 | 合肥工业大学 | Transmission mechanism suitable for waist rehabilitation robot and control method |
| CN109009863B (en) * | 2018-05-23 | 2020-10-13 | 合肥工业大学 | Waist rehabilitation training device |
| 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 |
| CN110833493B (en) * | 2019-11-04 | 2021-09-03 | 湖南大学 | Leg rehabilitation mechanism device based on cable driving |
| CN112999585A (en) * | 2021-03-30 | 2021-06-22 | 郑州铁路职业技术学院 | Auxiliary device for human lumbar vertebra recovery |
| CN113367935B (en) * | 2021-06-04 | 2022-11-01 | 北方民族大学 | Flexible driving knee joint rehabilitation robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070129653A1 (en) * | 2003-04-24 | 2007-06-07 | Thomas Sugar | Spring-over-muscle actuator |
| JP2010279689A (en) * | 2009-05-07 | 2010-12-16 | Hisao Ishimura | Artificial muscle using compressed gas |
| CN102068363B (en) * | 2011-01-25 | 2013-10-30 | 南京航空航天大学 | Rope-driven waist rehabilitation robot |
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