CN104546379B - Limb rehabilitation training machine - Google Patents
Limb rehabilitation training machine Download PDFInfo
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- CN104546379B CN104546379B CN201410814280.XA CN201410814280A CN104546379B CN 104546379 B CN104546379 B CN 104546379B CN 201410814280 A CN201410814280 A CN 201410814280A CN 104546379 B CN104546379 B CN 104546379B
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Abstract
The invention provides a limb rehabilitation training machine which comprises a support, a driving mechanism fixedly arranged on the support and a limb fixing device connected with the driving mechanism, wherein the driving mechanism is a parallel mechanism, the support plays the role in supporting the driving mechanism and the limb fixing device, the limb fixing device is used for fixing arms or legs of a person, is driven by the driving device, drives the arms or the legs to move and uses a parallel structure, and the parallel structure can be defined by the fact that a movable platform and a fixed platform are connected through at least two independent movable chains, and the mechanism has two or at least two freedom degrees and is a closed loop structure driven in a parallel mode. Due to the structure, the two movable chains are independent, the adjusting precision of the rehabilitation training equipment is greatly improved, and the accumulated error is reduced.
Description
Technical field
A kind of the present invention relates to rehabilitation training equipment technical field, more particularly, it relates to extremity recovery training appliance for recovery.
Background technology
In today's society, apoplexy is seriously to threaten the healthy disease of middle-aged and elderly people, sickness rate to have what is risen year by year
Trend.This disease has caused the forfeiture of limbs of patient motor function and related complication.The especially funeral of upper extremity exercise function
Lose, greatly have impact on the ability of patient's daily life.
The development of roboticses and its healing robot research that is combined into of clinical rehabilitation medicine provide one very well
Opportunity.Objective monitoring and evaluation is carried out to training process using robot and its correlation technique, improves hemiparalysis recovery training
Specific aim and science, while make therapist free from heavy physical work kind, be that patient formulates more preferable rehabilitation
Scheme, further improves the efficiency of rehabilitation.
For current upper-limb recovery training device technology both domestic and external, upper-limb recovery training device can be simply divided on manual type
Two kinds of limbs rehabilitation training device and electrodynamic type upper-limb recovery training device.Wherein, manual type upper-limb recovery training device is that comparison is traditional
Training method, its unfavorable problem for carrying out rehabilitation training presence to patient's upper limb is：Depend on therapist man-to-man to patient
Naturopathy, needs substantial amounts of artificial auxiliary.Such method wastes time and energy, and operates more difficulty, also lacks and quantifies and visitor
The evaluation of sight.It is little to the scope of patient's upper extremity exercise, single function, lack in training assessment, had both been unfavorable for patient and had been unfavorable for doctor
Institute therapist.
Compared with above-mentioned manual type upper-limb recovery training device, electrodynamic type upper-limb recovery training device is current rehabilitation field development
Trend, DYN dynamic training aidss can realize simple rehabilitation training of upper limbs automatization, intellectuality；In the prior art, it is domestic
Outer electrodynamic type upper-limb recovery training device is mostly using the training aidss of symmetrical rotary formula and series connection exoskeleton-type training aidss；For symmetrical rotation
Rotatable upper limb trainer, its unfavorable problem is：Upper extremity exercise scope is little, and movement locus are simple, do not meet human upper limb locomotion
Rule, is unfavorable for that patient recovers normal upper extremity function.And for series connection dermaskeleton type upper limb training aidss, though can be very good mould
Plan arm joint motion, but its manufacturing cost is high, and mechanism is relative complex, immobilized patients trouble, and wears skeleton outside connecting mostly
Formula upper limb trainer is in the research and development stage, and technology is not mature enough.Especially insoluble problem is that series-mode frame has
Multiple driver part tandem drives, meeting accumulated error, degree of regulation are relatively low.
Therefore, how to improve the degree of regulation of rehabilitation training equipment, reduce cumulative error, be current those skilled in the art
Problem demanding prompt solution.
The content of the invention
In view of this, the invention provides a kind of extremity recovery training appliance for recovery, to realize improving the regulation of rehabilitation training equipment
Precision, reduction cumulative error.
In order to achieve the above object, the present invention provides following technical scheme：
A kind of extremity recovery training appliance for recovery, including：Support；Drive mechanism, is fixed on the support；Fixing device for extremity,
It is connected with the drive mechanism；Characterized in that, the drive mechanism is parallel institution, the drive mechanism includes：Fixed mount,
It is affixed with the support；The fixed mount include circle central panel and be uniformly distributed in the border of the central panel, along described
Radially outer three cantilever plates of central panel, the lower wall surface of the cantilever plate are connected with the motor rack for fixing motor；At least
Motor described in two groups, is connected on the fixed mount；At least two groups drive mechanisms, the rotating shaft difference with motor at least described in two groups
Connection；The drive mechanism be linkage, the lower beam that the linkage is included upper boom and is hinged with the upper boom lower end, institute
The rotating shaft of motor is stated along the tangentially-arranged of the circumference that is located of outward flange of the fixed mount, and the radial direction along the upper boom upper end with
The upper boom is affixed；End movement part, while with least described in two groups, the end of drive mechanism is connected.
Preferably, in above-mentioned extremity recovery training appliance for recovery, the end movement part includes the middle part maneuvering board of circle and
The even border for being distributed in the middle part maneuvering board, along the radially outer three movement parts cantilever plates of the middle part maneuvering board, it is described
Lower beam is parallel to each other two piece, and the two lower end is hinged with the both sides of the movement parts cantilever plate respectively.
Preferably, in above-mentioned extremity recovery training appliance for recovery, the upper end of the fixing device for extremity is provided with vertical regulation
Bar, the adjusting rod side carry vertically arranged draw-in groove, are provided with and the adjusting rod in the middle part of the middle part maneuvering board
The blocked hole of simultaneously clamping can be adjusted up and down, be provided with and adjust passing through for shank diameter with diameter greater than described in the middle part of the central panel
Hole.
Preferably, in above-mentioned extremity recovery training appliance for recovery, the lower end of the adjusting rod is connected with use by rotating connector
In the fixed seat of fixed limb, the rotating connector is rotated by axle of the adjusting rod.
Preferably, in above-mentioned extremity recovery training appliance for recovery, the upper end of the rotating connector is provided with three-axis sensor.
Preferably, in above-mentioned extremity recovery training appliance for recovery, the fixed seat includes being fixed in the rotating connector lower end
Semicircle outer sleeve and the inner sleeve in the outer sleeve is rotatablely connected with by semicircle slide rail, the inner sleeve
Lower end is provided with fixed bandage.
Preferably, in above-mentioned extremity recovery training appliance for recovery, the front end of the outer sleeve is rotatably connected to what is can swung
Handle, the handle are vertically arranged, and are arranged at the convenient position held in front end of the inner sleeve.
Preferably, in above-mentioned extremity recovery training appliance for recovery, on the handle, it is provided with holding power transducer.
A kind of extremity recovery training appliance for recovery provided by the present invention, including：Support；Drive mechanism, is fixed on support；Limbs
Fixing device, is connected with drive mechanism；Drive mechanism is parallel institution, including：Fixed mount, it is affixed with support；At least two groups electric
Machine, is connected on fixed mount；At least two groups drive mechanisms, the rotating shaft with least two groups of motors are connected respectively；End movement part, together
When be connected with the end of at least two groups of drive mechanisms.Support serves the effect of support driving mechanism and fixing device for extremity, limb
Body fixing device is used for fixing the arm or lower limb of people, and which is driven the driving of device, drives arm or lower limb motion, which employs
Parallel mechanism.Parallel institution can be defined as moving platform and is connected by least two independent kinematic chains with fixed platform,
The mechanism has two or more degree of freedom, and is a kind of close loop mechanism driven with parallel way.Motor is driving machine
The power part of structure, after starting motor, its axis of rotation can drive connected drive mechanism motion, and drive mechanism will
Motion passes to end movement part, so as to drive connected fixing device for extremity motion.As a result of this structure, two
Individual kinematic chain is separate, considerably improves the degree of regulation of rehabilitation training equipment, reduces cumulative error.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the drive mechanism schematic diagram of extremity rehabilitation trainer provided by the present invention；
Fig. 2 is the fixing device for extremity schematic diagram of extremity rehabilitation trainer provided by the present invention；
Fig. 3 is the drive mechanism and fixing device for extremity assembling schematic diagram of extremity rehabilitation trainer provided by the present invention；
Fig. 4 is the support schematic diagram of extremity rehabilitation trainer provided by the present invention；
Fig. 5 is the structural representation of extremity rehabilitation trainer provided by the present invention；
In upper figure：1 is fixed mount, 2 is motor, 3 is linkage, 31 is upper boom, 32 is lower beam, 4 is end movement part,
5 is adjusting rod, 6 is three-axis sensor, 7 is fixed bandage, 8 is handle, 9 is support.
Specific embodiment
The invention provides a kind of extremity recovery training appliance for recovery, improves the degree of regulation of rehabilitation training equipment, reduces accumulation
Error.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiments of the invention, the every other reality obtained under the premise of creative work is not made by those of ordinary skill in the art
Example is applied, the scope of protection of the invention is belonged to.
Fig. 1 is the drive mechanism schematic diagram of extremity rehabilitation trainer provided by the present invention；Fig. 2 is provided by the present invention
The fixing device for extremity schematic diagram of extremity rehabilitation trainer；Fig. 3 is the driving machine of extremity rehabilitation trainer provided by the present invention
Structure and fixing device for extremity assembling schematic diagram；Fig. 4 is the support schematic diagram of extremity rehabilitation trainer provided by the present invention；Fig. 5
For the structural representation of extremity rehabilitation trainer provided by the present invention.
The extremity recovery training appliance for recovery that the present invention is provided, including：Support 9；Drive mechanism, is fixed on the support 9；Limbs
Fixing device, is connected with the drive mechanism；The drive mechanism is parallel institution, including：Fixed mount 1, it is solid with the support 9
Connect；At least two groups motors 2, are connected on the fixed mount 1；At least two groups drive mechanisms, with least described in two groups motor 2 turn
Axle connects respectively；End movement part 4, while with least described in two groups, the end of drive mechanism is connected.Support 9 serves support and drives
The effect of motivation structure and fixing device for extremity, fixing device for extremity are used for fixing the arm or lower limb of people, and which is driven device
Drive, drive arm or lower limb motion, which employs parallel institution.Parallel institution can be defined as moving platform and fixed platform by extremely
Few two independent kinematic chains are connected, and the mechanism has two or more degree of freedom, and are driven with parallel way
A kind of close loop mechanism.Motor 2 is the power part of drive mechanism, and after starting motor 2, its axis of rotation can drive and connect with which
The drive mechanism motion for connecing, drive mechanism pass motion to end movement part 4, so as to drive connected limbs to fix dress
Put motion.As a result of this structure, two kinematic chains are separate, considerably improve the regulation essence of rehabilitation training equipment
Spend, reduce cumulative error.At present, parallel institution is widely used in the industrial robot of industrial circle, and the present invention is first
It is secondary that parallel institution is applied to medical rehabilitation field.
In a specific embodiment of the invention, fixed mount 1 includes the central panel of circle and is uniformly distributed in the week of central panel
Circle, three radially outside cantilever plates, the lower wall surface of cantilever plate are connected with the motor rack for fixing motor 2.Driving machine
Structure adopts parallel way, and drive mechanism group number in parallel refers at least two groups, is the Ke Yifang than more preferably using three groups of parallel connections
Just the movement for realizing three translational degree of freedom, but also occur in practical situation four groups, five groups or six groups it is in parallel.The present embodiment
There is provided a kind of preferred fixed mount 1, as a result of the form of cantilever plate, three groups of drive mechanisms of the correspondence which can be good are simultaneously
The situation of connection.
In a specific embodiment of the invention, the drive mechanism be linkage 3, including upper boom 31 and with the upper boom
The lower beam 32 that 31 lower ends are hinged, the rotating shaft of the motor 2 are tangentially-arranged along the circumference that is located of outward flange of the fixed mount 1,
And the radial direction along 31 upper end of the upper boom is affixed with which.The drive mechanism of parallel institution can adopt link rod structure, chain-type
Structure or slide rail type structure.The present embodiment employs link rod structure, and the connecting rod of the structure point upper boom 31 and lower beam 32
Two parts, junction further improve the motility of connecting rod using being hinged.Rotating shaft is vertical with upper boom 31, and axis of rotation can
To drive upper boom 31 to swing.The motor 2 can specifically adopt servomotor, it would however also be possible to employ other can realize setting for similar functions
It is standby to replace motor 2.
In a specific embodiment of the invention, during end movement part 4 includes the middle part maneuvering board of circle and is uniformly distributed in
The border of portion's maneuvering board, three radially outside movement parts cantilever plates, lower beam are parallel to each other two piece, and the two lower end is divided
It is not hinged with the both sides of movement parts cantilever plate.End movement part 4 is the part for driving fixing device for extremity motion.Which adopts similar
In the structure of fixed mount 1, and circular sheet border arranges three outwardly directed plates as fixing end, and lower beam is set to two
Bar parallel to each other, spacing are close to the width of movement parts cantilever plate, are conveniently articulated with its both sides.General, end movement part 4
It is more smaller than fixed mount 1, can so be more convenient drive mechanism and flexibly move.
In a specific embodiment of the invention, the upper end of fixing device for extremity is provided with vertical adjusting rod 5, its side band
There is vertically arranged draw-in groove, in the middle part of the maneuvering board of middle part, be provided with the blocked hole that can adjust simultaneously clamping with adjusting rod 5 up and down, in
It is provided with the middle part of portion's plate with diameter greater than 5 diameter of adjusting rod by hole.By adjusting the up and down motion of adjusting rod 5, the limb is made
Body rehabilitation trainer can be adapted to the user of different heights, and when adjusting rod 5 is moved, sometimes, fixed mount 1 can be touched in its upper end,
In order to avoid such case, the upper end of fixed mount 1 is arranged by hole with 5 corresponding position of adjusting rod, is passed through for which.In clamping
When, typically adopt screw clamping.
In a specific embodiment of the invention, the lower end of adjusting rod 5 is connected with for fixed limb by rotating connector
Fixed seat, rotating connector with adjusting rod as axle rotate.Connected by rotating connector between fixing device for extremity and adjusting rod 5
Connect, realize the degree of freedom that arm swings.Rotating connector typically adopts shaft bearing.
In a specific embodiment of the invention, rotating connector upper end is provided with three-axis sensor 6.Arm fixing end is in fortune
Torque state during dynamic, can be detected by three-axis sensor 6, and be fed back in training system.
In a specific embodiment of the invention, fixed seat include being fixed in the semicircle outer sleeve of rotating connector lower end and
The inner sleeve being rotatablely connected with by semicircle slide rail in outer sleeve, the lower end of inner sleeve are provided with fixed bandage 7.Inner sleeve
Cylinder and the cooperation of outer sleeve, realize the degree of freedom rolled over.
In a specific embodiment of the invention, the front end of outer sleeve is rotatably connected to the handle 8 that can be swung, handle 8
It is vertically arranged, is arranged at the convenient position held in front end of inner sleeve.Handss can easily hold handle 8, and be exerted oneself with wrist,
Swing.
In a specific embodiment of the invention, on handle 8, holding power transducer is provided with.In swing process, grip data are held
Force transducer is collected, and is fed back in training system.
The present invention adopts three servomotors, is distributed on fixed mount 1 with 120 degree of angles respectively, by three groups of connecting rod machines
Structure 3 constitutes Three-dimensional Parallel linkage, drives end movement part 4.In this parallel drive mechanism, with fixed mount 1 as fixed platform,
With end movement part 4 as moving platform, this is dynamic flat to remove driving end movement part 4 by the rotation for controlling three servomotors simultaneously
Platform, so as to the control for realizing moving end movement part 4 in the X, Y, Z direction.Fixing device for extremity is connected with rotating connector
The adjusting rod 5 of its upper end, torque state of the fixing device for extremity in motor process can be detected by three-axis sensor 6, and
Feed back in training system, while being provided with holding power transducer on the handle 8 of fixing device for extremity end, palm grip can also
It is detected, so as to be accurately obtained patient's arm MSR in the training process.Limbs below rotating connector are fixed
Device has three active movement degree of freedom, corresponds to elbow swing activity respectively, roll over activity and wrist swinging activity；Pass through
Fixed bandage 7 is fixed on the wrist of patient in the arm fixing end of limb rehabilitation training device, to guarantee that patient's training has
Complete freedom of movement；Fixing device for extremity is connected by adjusting rod 5 with end movement part 4；It is universal equipped with 4 on support 9
Wheel, formula driving structure is combined with support 9 in parallel, can effectively reduce the occupation of land space of training aidss, while facilitating machine
Transfer.
The present invention passes through three servosystem and three groups of independence connecting rods set up the closed loop system that a parallel institution drives, knot
Three-axis sensor 6 is closed, a set of limb rehabilitation training device for possessing six-freedom motion is designed；With motion algorithm real-time Simulation
The characteristics of motion of human upper limb, build one can Intelligence Feedback motion three dimensions, tied by mechanical hand on moving platform
The arm of structure immobilized patients, can carry out arbitrary trajectory motion, or the handss of traction patient in three dimensions in this three dimensions
A series of rehabilitation action is carried out, and can realize that arm carries out active training and passive instruction in the state of heavy burden or loss of weight
Practice, and high-quality assessment feedback of the information is provided, track the rehabilitation degree after patient's training.
The invention has the advantages that：1st, multifreedom motion, can carry out arbitrary trajectory motion in three dimensions, and end is born
Carry response speed fast；2nd, teaching training function is realized by motion algorithm, only needs the arm of therapist control patient to move one
Action or continuous action, a period of time that this training aids can be in the case where connecing are carried out continuously this teaching action, and the manner is greatly
The work efficiency that improve hospitalize teacher is, the working time for saving therapist；3rd, just only need one bandage of fixing arm
Patient can be fixed, quick and easy immobilized patients are realized, the work efficiency of hospital is improved；4th, possess active exercise training and quilt
Dynamic training function, can quickly realize the main passive conversion training of intelligence；5th, built-in holding power transducer and three-axis sensor, realize quick
Training feedback and locomotion evaluation；6th, driven using parallel institution, without cumulative error, precision is higher；7th, motion parts are lightweight, instead
Answer speed fast；8th, possess quick locomotive function, facilitate patient's branch problem.
In this specification, each embodiment is described by the way of progressive, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.To the upper of the disclosed embodiments
State bright, professional and technical personnel in the field is realized or using the present invention.To various modifications of these embodiments to ability
Will be apparent for the professional and technical personnel in domain, generic principles defined herein can be without departing from the present invention's
In the case of spirit or scope, realize in other embodiments.Therefore, the present invention be not intended to be limited to it is shown in this article these
Embodiment, and it is to fit to the most wide scope consistent with principles disclosed herein and features of novelty.
Claims (8)
1. a kind of extremity recovery training appliance for recovery, including：
Support (9)；
Drive mechanism, is fixed on the support (9)；
Fixing device for extremity, is connected with the drive mechanism；
Characterized in that, the drive mechanism is parallel institution, the drive mechanism includes：
Fixed mount (1), it is affixed with the support (9)；Described fixed mount (1) includes circular central panel and is uniformly distributed in described
The border of central panel, along radially outer three cantilever plates of the central panel, the lower wall surface of the cantilever plate is connected with for solid
Determine the motor rack of motor (2)；
Motor (2) at least described in two groups, are connected on the fixed mount (1)；
At least two groups drive mechanisms, the rotating shaft with motor (2) at least described in two groups are connected respectively；The drive mechanism is connecting rod machine
Structure (3), described linkage (3) include upper boom (31) and the lower beam (32) being hinged with the upper boom (31) lower end, the motor
(2) rotating shaft is tangentially-arranged along the circumference at the outward flange place of the fixed mount (1), and along the footpath of the upper boom (31) upper end
To affixed with the upper boom (31)；
End movement part (4), while with least described in two groups, the end of drive mechanism is connected.
2. extremity recovery training appliance for recovery as claimed in claim 1, it is characterised in that described end movement part (4) include circular
Middle part maneuvering board and be uniformly distributed in the middle part maneuvering board border, along the middle part maneuvering board radially outer three move
Part cantilever plate, the lower beam are parallel to each other two piece, and the two lower end is hinged with the both sides of the movement parts cantilever plate respectively.
3. extremity recovery training appliance for recovery as claimed in claim 2, it is characterised in that the upper end of the fixing device for extremity is provided with
Vertical adjusting rod (5), adjusting rod (5) side carry vertically arranged draw-in groove, set in the middle part of the middle part maneuvering board
The blocked hole that can adjust simultaneously clamping with the adjusting rod (5) up and down is equipped with, is provided with the middle part of the central panel with diameter greater than institute
State adjusting rod (5) diameter by hole.
4. extremity recovery training appliance for recovery as claimed in claim 3, it is characterised in that the lower end of adjusting rod (5) is by rotating
Connector is connected with the fixed seat for fixed limb, and the rotating connector is rotated by axle of the adjusting rod.
5. extremity recovery training appliance for recovery as claimed in claim 4, it is characterised in that the upper end of the rotating connector is provided with three
Axle sensor (6).
6. extremity recovery training appliance for recovery as claimed in claim 5, it is characterised in that the fixed seat includes being fixed in the rotation
The semicircle outer sleeve of connector lower end and the inner sleeve in the outer sleeve, institute are rotatablely connected with by semicircle slide rail
The lower end for stating inner sleeve is provided with fixed bandage (7).
7. extremity recovery training appliance for recovery as claimed in claim 6, it is characterised in that the front end of the outer sleeve is rotatably connected to can
The handle (8) for swinging, handle (8) are vertically arranged, and are arranged at the convenient position held in front end of the inner sleeve.
8. extremity recovery training appliance for recovery as claimed in claim 7, it is characterised in that be provided with grip sensing on handle (8)
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410814280.XA CN104546379B (en) | 2014-12-19 | 2014-12-19 | Limb rehabilitation training machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410814280.XA CN104546379B (en) | 2014-12-19 | 2014-12-19 | Limb rehabilitation training machine |
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| Publication Number | Publication Date |
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| CN104546379A CN104546379A (en) | 2015-04-29 |
| CN104546379B true CN104546379B (en) | 2017-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410814280.XA Active CN104546379B (en) | 2014-12-19 | 2014-12-19 | Limb rehabilitation training machine |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105853150A (en) * | 2016-06-03 | 2016-08-17 | 上海电气集团股份有限公司 | Rehabilitation training demonstration method and upper limb rehabilitation training device |
| CN107822646A (en) * | 2016-09-15 | 2018-03-23 | 天津思博科科技发展有限公司 | Using the intelligent rehabilitation device of internet of things sensors |
| CN109173140B (en) * | 2018-10-12 | 2021-03-23 | 文山学院 | Spring barbell |
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|---|---|---|---|---|
| CN101474120A (en) * | 2009-01-20 | 2009-07-08 | 东南大学 | Combined mechanical arm for rehabilitation training of upper limbs |
| CN202027877U (en) * | 2011-03-29 | 2011-11-09 | 浙江大学 | Wearable upper limb motion rehabilitation training exoskeleton with seven degrees of freedom |
| CN202342398U (en) * | 2011-11-08 | 2012-07-25 | 武汉理工大学 | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training |
| CN204364365U (en) * | 2014-12-19 | 2015-06-03 | 上海璟和技创机器人有限公司 | Extremity recovery training appliance for recovery |
-
2014
- 2014-12-19 CN CN201410814280.XA patent/CN104546379B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101474120A (en) * | 2009-01-20 | 2009-07-08 | 东南大学 | Combined mechanical arm for rehabilitation training of upper limbs |
| CN202027877U (en) * | 2011-03-29 | 2011-11-09 | 浙江大学 | Wearable upper limb motion rehabilitation training exoskeleton with seven degrees of freedom |
| CN202342398U (en) * | 2011-11-08 | 2012-07-25 | 武汉理工大学 | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training |
| CN204364365U (en) * | 2014-12-19 | 2015-06-03 | 上海璟和技创机器人有限公司 | Extremity recovery training appliance for recovery |
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Effective date of registration: 20160715 Address after: Shanghai city 201203 Bibo Road, Pudong New Area Zhangjiang hi tech Park No. 500 Room 102 Applicant after: JINHO ROBOT (SHANGHAI) CO., LTD. Address before: Shanghai city 201203 Bibo Road, Pudong New Area Zhangjiang hi tech Park No. 500 Room 102 Applicant before: JINHO ROBOT (SHANGHAI) CO., LTD. Applicant before: Xu Zhenhua Applicant before: Gu Jie |
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