CN105411815A - Wearable DOF (dual degrees of freedom) elbow rehabilitation training device - Google Patents
Wearable DOF (dual degrees of freedom) elbow rehabilitation training device Download PDFInfo
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- CN105411815A CN105411815A CN201610052219.5A CN201610052219A CN105411815A CN 105411815 A CN105411815 A CN 105411815A CN 201610052219 A CN201610052219 A CN 201610052219A CN 105411815 A CN105411815 A CN 105411815A
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- connecting rod
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- 230000009977 dual effect Effects 0.000 title abstract 2
- 210000000245 forearm Anatomy 0.000 claims abstract description 25
- 230000035876 healing Effects 0.000 claims description 13
- 210000002310 elbow joint Anatomy 0.000 abstract description 11
- 210000001364 upper extremity Anatomy 0.000 description 5
- 210000000707 wrist Anatomy 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 210000000323 shoulder joint Anatomy 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 208000034657 Convalescence Diseases 0.000 description 1
- 230000002917 arthritic effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A wearable DOF (dual degrees of freedom) elbow rehabilitation training device relates to elbow rehabilitation training devices and in particular relates to the wearable DOF elbow rehabilitation training device. The wearable DOF elbow rehabilitation training device is used for solving the problem that the existing elbow rehabilitation devices inconveniently improve elbow joint drive and are complicated in structure, relatively low in accuracy and efficiency and poor in adaptability. The wearable DOF elbow rehabilitation training device comprises a forearm, an upper arm, a link assembly, a first motor, a second motor and a connecting plate, wherein the first motor is mounted at one end of the forearm, one end of the connecting plate is connected with a rotating shaft of the first motor, the other end of the connecting plate is connected with one end of the upper arm through the link assembly, and a rotating shaft of the second motor is connected with the link assembly. The invention belongs to the field of medical apparatus and instruments.
Description
Technical field
The present invention relates to a kind of ancon device for healing and training, be specifically related to a kind of wearable two degrees of freedom ancon device for healing and training, belong to medical instruments field.
Background technology
Exoskeleton robot is a kind of technology of man-computer cooperation of complexity, it has merged numerous scientific domain knowledge such as machinery, sensing, control, information, electronic technology and artificial intelligence, the intelligence of people and the mechanical energy of mechanical driver unit are combined, transmit force and motion by man-machine physical contact and realize the functions such as the auxiliary and attitude detection of action, rely on sensor and wearer to realize information interaction simultaneously.
Through the development of more than 40 years, ectoskeleton had more and more general application in a lot of field.Such as, in military affairs, endurance that ectoskeletal auxiliary Hui Shi army fights in the wild strengthens, and ectoskeleton provides energy for soldier, and soldier's heavy burden is with it born by ectoskeleton, and capacity for individual action is improved greatly; On civilian.Ectoskeleton can be used for carrying thing, in heavy construction construction or in material handling operation, labourer's endurance can be made more lasting; Medically, exoskeleton robot can be widely used in rehabilitation medicine, patient not only can carry out effective function rehabilitation training by dressing exoskeleton robot, and can control to help Rehabilitation muscle by self electromyographic signal, promotes that cental system recovers.Along with social modernization, the further of process of industrialization go deep into, the application of mechanical exoskeleton will relate to the various aspects of human lives's production, and can predict, the prospect of mechanical exoskeleton is very vast.
At ectoskeleton design aspect, it is its key property that structure personalizes, and is also the guarantee of safety and comfortableness.Human upper limb mainly comprises shoulder, ancon and wrist 3 physiological joint, it can complete extremely complicated meticulous motion, if think intactly to reappear this motion, upper limb exoskeleton robot needs intactly to reappear this motion, upper limb exoskeleton robot needs numerous degree of freedom, but this can cause mechanism cumbersome and control the problems such as redundancy.Therefore, Water demand human upper limb physiological movement form also does appropriateness simplification, obtains ectoskeleton and designs available kinematics model, ensure the good man-machine kinematic chain compatibility simultaneously.Existing upper limb exoskeleton robot adopts seven freedom serial kinematic model mostly, i.e. shoulder flexion/extension (front and back pendulum), adduction/abduction (left and right pendulum), internal/external rotations (large arm rotation); Ancon flexion/extension; Wrist internal/external rotations, adduction/abduction, flexion/extension.Both can regard as to complete also can regard as in shoulder joint due to shoulder internal/external rotations degree of freedom and complete at elbow joint, so, shoulder joint and elbow joint have two kinds of layout ways usually, one is that shoulder joint three complete degree of freedom add elbow joint single-degree-of-freedom, one is shoulder joint flexion/extension, adduction/abduction degree of freedom adds elbow joint flexion/extension, around large arm internal/external rotations degree of freedom, the second arrangement more meets organization of human body, but because elbow joint is be positioned at human body large arm skeleton centrage around the rotating shaft of the internal/external rotations degree of freedom of large arm, so have more difficulty in structural design.Mainly below two kinds, existing structure: the first is realized by guide rail slide block, namely arc-shaped slide rail is set at forearm and large arm junction, during wrist internal/external rotations; slide to realize relative motion in arc-shaped slide rail by slide block between forearm and large arm, also ensure that the rotating shaft of internal/external rotations is at arm center.The second is realized by gyroscope wheel, and human arm is directly passed from gyroscope wheel, during wrist internal/external rotations, relatively rotates between gyroscope wheel, thus realizes when elbow joint internal/external rotations, ensure that the centre of gyration and human arm center superposition.But all inconvenient interpolation driven for elbow joint of these two kinds of modes, and complicated structure, precision and efficiency are all lower, and adaptability is smaller.
Summary of the invention
The present invention solves the inconvenient interpolation driven for elbow joint of existing ancon convalescence device, and complex structure, precision and efficiency lower, the problem of bad adaptability, and then propose a kind of wearable two degrees of freedom ancon device for healing and training.
The present invention is the technical scheme taked that solves the problem: the present invention includes forearm, large arm, link assembly, the first motor, the second motor and connecting plate, first motor is arranged on one end of forearm, one end of connecting plate is connected with the turning cylinder of the first motor, the other end of connecting plate is connected with one end of large arm by link assembly, and the turning cylinder of the second motor is connected with link assembly.
Further, link assembly comprises first connecting rod, second connecting rod, third connecting rod, double leval jib, 5th connecting rod and six-bar linkage, one end of first connecting rod is connected with one end of second connecting rod, the other end of second connecting rod is connected with one end of double leval jib, the other end of double leval jib is connected with one end of six-bar linkage, the other end of six-bar linkage is connected with one end of the 5th connecting rod, the other end of the 5th connecting rod is connected with one end of third connecting rod, the other end of the other end first connecting rod of third connecting rod connects, and third connecting rod is connected with one end of large arm with the junction of first connecting rod, the other end of first connecting rod is connected with the turning cylinder of the second motor, the middle part of six-bar linkage is connected with the other end of connecting plate, the middle part of double leval jib and the middle part of six-bar linkage hinged.
Further, the present invention also comprises the first bandage, the second bandage, the 3rd bandage and the 4th bandage, and the first bandage and the second bandage are disposed side by side on the inner side of forearm, and the 3rd bandage and the 4th bandage are disposed side by side on the inner side of large arm.
The invention has the beneficial effects as follows: 1, the present invention utilizes a kind of two parallel-crank mechanisms completely newly to realize inward turning or the outward turning action of wrist, mechanism is simple, good stability, precision are high, be convenient to dress; 2, present invention decreases arthritic volume, weight and complexity; 3, the invention enables elbow joint more to mate with organization of human body, inward turning or outward turning, the repeatability of bending and stretching degree-of-freedom rotating shaft are better, dress more comfortable, do not have interference.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention, and Fig. 2 is perspective view of the present invention, and Fig. 3 is mathematical principle figure of the present invention.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 and Fig. 2 illustrate present embodiment, described in present embodiment, a kind of wearable two degrees of freedom ancon device for healing and training comprises forearm 1, large arm 2, link assembly 3, first motor 4, second motor 5 and connecting plate 6, first motor 4 is arranged on one end of forearm 1, one end of connecting plate 6 is connected with the turning cylinder of the first motor 4, the other end of connecting plate 6 is connected with one end of large arm 2 by link assembly 3, and the turning cylinder of the second motor 5 is connected with link assembly 3.
First connecting rod 3-1, second connecting rod 3-2 in present embodiment, third connecting rod 3-3, double leval jib 3-4, the 5th connecting rod 3-5, six-bar linkage 3-6 correspond respectively to AO, AB, OD, BF, DE, EF six roots of sensation connecting rod in Fig. 3, the intersection point of G point first connecting rod 3-1 and six-bar linkage 3-6 extended line.Forearm 1 and six-bar linkage 3-6 are linked together by connecting plate 6, large arm 2 and first connecting rod 3-1 are connected, first connecting rod 3-1 is hinged with third connecting rod 3-3, second connecting rod 3-2 respectively, 5th connecting rod 3-5 is hinged with six-bar linkage 3-6, third connecting rod 3-3 respectively, double leval jib 3-4 is hinged with second connecting rod 3-2, third connecting rod 3-3, six-bar linkage 3-6 respectively, like this, first connecting rod 3-1, second connecting rod 3-2, third connecting rod 3-3, double leval jib 3-4, the 5th connecting rod 3-5, six-bar linkage 3-6 just constitute two parallel-crank mechanisms.From aforesaid mathematics ultimate principle, fix if large arm 2 is seen, then six-bar linkage 3-6 will rotate by the axis (in Fig. 2 dotted line) around mistake G point and perpendicular to linkage place plane, this axis is the centrage of wearer upper arm, the i.e. axis that rotates around self of upper arm, six-bar linkage 3-6 drives again forearm 1.So as long as ectoskeleton reasonable in design, just can ensure that G point can drop on the centrage of human body large arm, namely the rotating shaft crossing G point is the centrage of human body large arm skeleton, thus makes ectoskeleton forearm can do internal/external rotations around the centrage of large arm.
Detailed description of the invention two: composition graphs 1 and Fig. 2 illustrate present embodiment, a kind of wearable two degrees of freedom ancon device for healing and training described in present embodiment, it is characterized in that: link assembly 3 comprises first connecting rod 3-1, second connecting rod 3-2, third connecting rod 3-3, double leval jib 3-4, 5th connecting rod 3-5 and six-bar linkage 3-6, one end of first connecting rod 3-1 is connected with one end of second connecting rod 3-2, the other end of second connecting rod 3-2 is connected with one end of double leval jib 3-4, the other end of double leval jib 3-4 is connected with one end of six-bar linkage 3-6, the other end of six-bar linkage 3-6 is connected with one end of the 5th connecting rod 3-5, the other end of the 5th connecting rod 3-5 is connected with one end of third connecting rod 3-3, the other end of the other end first connecting rod 3-1 of third connecting rod 3-3 connects, and third connecting rod 3-3 is connected with one end of large arm 2 with the junction of first connecting rod 3-1, the other end of first connecting rod 3-1 is connected with the turning cylinder of the second motor 4, the middle part of six-bar linkage 3-6 is connected with the other end of connecting plate 6, the middle part of double leval jib 3-4 and the middle part of six-bar linkage 3-6 hinged.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1 and Fig. 2 illustrate present embodiment, described in present embodiment, a kind of wearable two degrees of freedom ancon device for healing and training also comprises the first bandage 7, second bandage 8, the 3rd bandage 9 and the 4th bandage 10, first bandage 7 and the second bandage 8 are disposed side by side on the inner side of forearm 1, and the 3rd bandage 9 and the 4th bandage 10 are disposed side by side on the inner side of large arm 2.Other composition and annexation identical with detailed description of the invention one.
Operation principle
Ectoskeletal large arm 2 is connected by link assembly 3 with between forearm 1, and first connecting rod 3-1 is connected in large arm 2, and six-bar linkage is connected on forearm 1, and the intersection point G of first connecting rod 3-1 and six-bar linkage 3-6 is the centre of gyration that forearm 1 rotates around large arm 2.After first bandage 7, second bandage 8, the 3rd bandage 9, the 4th bandage 10 make people put on wearable two degrees of freedom ancon device for healing and training, the large forearm of human body is fixed on the large forearm of skeleton.When ectoskeleton action, the axis of ectoskeletal forearm 1 around mistake G point and perpendicular to linkage place plane carries out internal/external rotations, G point drops on human body large arm centrage, this ensures that theres ectoskeletal forearm when large arm internal/external rotations and the synchronicity of human body.When first motor 4 rotates, forearm 1 is made to do flexion/extension motion around elbow joint.When second motor 5 rotates, forearm 1 is made to do internal/external rotations motion around large arm 2.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to technical spirit of the present invention, within the spirit and principles in the present invention, to any simple amendment that above embodiment is done, equivalent replacement and improvement etc., within the protection domain all still belonging to technical solution of the present invention.
Claims (3)
1. a wearable two degrees of freedom ancon device for healing and training, it is characterized in that: described one wearable two degrees of freedom ancon device for healing and training comprises forearm (1), large arm (2), link assembly (3), first motor (4), second motor (5) and connecting plate (6), first motor (4) is arranged on one end of forearm (1), one end of connecting plate (6) is connected with the turning cylinder of the first motor (4), the other end of connecting plate (6) is connected with one end of large arm (2) by link assembly (3), the turning cylinder of the second motor (5) is connected with link assembly (3).
2. a kind of wearable two degrees of freedom ancon device for healing and training according to claim 1, it is characterized in that: link assembly (3) comprises first connecting rod (3-1), second connecting rod (3-2), third connecting rod (3-3), double leval jib (3-4), 5th connecting rod (3-5) and six-bar linkage (3-6), one end of first connecting rod (3-1) is connected with one end of second connecting rod (3-2), the other end of second connecting rod (3-2) is connected with one end of double leval jib (3-4), the other end of double leval jib (3-4) is connected with one end of six-bar linkage (3-6), the other end of six-bar linkage (3-6) is connected with one end of the 5th connecting rod (3-5), the other end of the 5th connecting rod (3-5) is connected with one end of third connecting rod (3-3), the other end of the other end first connecting rod (3-1) of third connecting rod (3-3) connects, and third connecting rod (3-3) is connected with one end of large arm (2) with the junction of first connecting rod (3-1), the other end of first connecting rod (3-1) is connected with the turning cylinder of the second motor (4), the middle part of six-bar linkage (3-6) is connected with the other end of connecting plate (6), the middle part of double leval jib (3-4) and the middle part of six-bar linkage (3-6) hinged.
3. a kind of wearable two degrees of freedom ancon device for healing and training according to claim 1, it is characterized in that: described one wearable two degrees of freedom ancon device for healing and training also comprises the first bandage (7), the second bandage (8), the 3rd bandage (9) and the 4th bandage (10), first bandage (7) and the second bandage (8) are disposed side by side on the inner side of forearm (1), and the 3rd bandage (9) and the 4th bandage (10) are disposed side by side on the inner side of large arm (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610052219.5A CN105411815B (en) | 2016-01-26 | 2016-01-26 | A kind of wearable two degrees of freedom ancon device for healing and training |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610052219.5A CN105411815B (en) | 2016-01-26 | 2016-01-26 | A kind of wearable two degrees of freedom ancon device for healing and training |
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| Publication Number | Publication Date |
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| CN105411815A true CN105411815A (en) | 2016-03-23 |
| CN105411815B CN105411815B (en) | 2017-11-14 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107297732A (en) * | 2017-07-27 | 2017-10-27 | 山东省科学院自动化研究所 | A kind of force booster type wearing robot shoulder mechanism and method |
| CN107307974A (en) * | 2017-07-20 | 2017-11-03 | 上海理工大学 | A kind of Wearable healing and training elbow joint and life assistant apparatus |
| WO2019050929A1 (en) * | 2017-09-05 | 2019-03-14 | Aesclepius Corporation | Systems, devices, and methods for therapeutic loading of a joint |
| CN109620646A (en) * | 2019-02-01 | 2019-04-16 | 上海理工大学 | A kind of forearm inside/outside rotation mechanism for upper-limb recovery training device |
| CN109953868A (en) * | 2017-12-22 | 2019-07-02 | 中国科学院沈阳自动化研究所 | A kind of wrist rocks power-assisted convalescence device |
| CN112220644A (en) * | 2020-09-23 | 2021-01-15 | 深圳华鹊景医疗科技有限公司 | Exoskeleton rotary joint and exoskeleton rehabilitation robot |
| CN112545834A (en) * | 2020-12-10 | 2021-03-26 | 山东中医药大学 | Shoulder joint assembly for upper limb rehabilitation |
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| CN107297732B (en) * | 2017-07-27 | 2023-09-08 | 山东省科学院自动化研究所 | Reinforcing type shoulder mechanism and method for wearable robot |
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| CN109953868A (en) * | 2017-12-22 | 2019-07-02 | 中国科学院沈阳自动化研究所 | A kind of wrist rocks power-assisted convalescence device |
| CN109953868B (en) * | 2017-12-22 | 2023-08-22 | 中国科学院沈阳自动化研究所 | Wrist torsional pendulum power-assisted rehabilitation device |
| CN109620646A (en) * | 2019-02-01 | 2019-04-16 | 上海理工大学 | A kind of forearm inside/outside rotation mechanism for upper-limb recovery training device |
| CN112220644A (en) * | 2020-09-23 | 2021-01-15 | 深圳华鹊景医疗科技有限公司 | Exoskeleton rotary joint and exoskeleton rehabilitation robot |
| CN112220644B (en) * | 2020-09-23 | 2024-04-02 | 深圳华鹊景医疗科技有限公司 | Exoskeleton rotary joint and exoskeleton rehabilitation robot |
| CN112545834A (en) * | 2020-12-10 | 2021-03-26 | 山东中医药大学 | Shoulder joint assembly for upper limb rehabilitation |
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| CN105411815B (en) | 2017-11-14 |
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