CN105411815B - A kind of wearable two degrees of freedom ancon device for healing and training - Google Patents
A kind of wearable two degrees of freedom ancon device for healing and training Download PDFInfo
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- CN105411815B CN105411815B CN201610052219.5A CN201610052219A CN105411815B CN 105411815 B CN105411815 B CN 105411815B CN 201610052219 A CN201610052219 A CN 201610052219A CN 105411815 B CN105411815 B CN 105411815B
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- 238000012549 training Methods 0.000 title claims abstract description 15
- 230000035876 healing Effects 0.000 title claims abstract description 14
- 210000000245 forearm Anatomy 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims description 5
- 210000002310 elbow joint Anatomy 0.000 abstract description 11
- 208000034657 Convalescence Diseases 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 5
- 210000001364 upper extremity Anatomy 0.000 description 5
- 210000000707 wrist Anatomy 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 210000000323 shoulder joint Anatomy 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 210000000784 arm bone Anatomy 0.000 description 1
- 230000002917 arthritic effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000005923 long-lasting effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 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
Landscapes
- 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 kind of wearable two degrees of freedom ancon device for healing and training, it is related to a kind of ancon device for healing and training, and in particular to a kind of wearable two degrees of freedom ancon device for healing and training.The present invention is and complicated in order to solve the addition that existing ancon convalescence device inconvenience drives for elbow joint, precision and less efficient, the problem of bad adaptability.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 and the rotation axis connection of the first motor, the other end of connecting plate is connected by one end of link assembly and large arm, and the rotary shaft of the second motor is connected with link assembly.Belong to medical instruments field.
Description
Technical field
The present invention relates to a kind of ancon device for healing and training, and in particular to a kind of wearable two degrees of freedom ancon rehabilitation instruction
Practice device, belong to medical instruments field.
Background technology
Exoskeleton robot is a kind of technology of complicated man-computer cooperation, and it has merged machinery, sensing, control, information, electricity
Numerous scientific domain knowledge such as sub- technology and artificial intelligence, one is incorporated in by the mechanical energy of the intelligence of people and mechanical driver unit
Rise, power and motion are transmitted to realize the functions such as action auxiliary and attitude detection by man-machine physical contact, while rely on sensor
Information exchange is realized with wearer.
By the development of more than 40 years, ectoskeleton had more and more common application in many fields.Such as in military affairs,
The auxiliary of ectoskeleton can make the endurance enhancing that army fights in the wild, and ectoskeleton is that soldier provides energy, bearing with soldier
Weight is undertaken by ectoskeleton, greatly improves capacity for individual action；On civilian.Ectoskeleton can be used for carrying thing, in large-scale work
In journey construction or in material transport operation, labourer's endurance can be made more longlasting；Medically, exoskeleton robot can be wide
General to apply in medical science of recovery therapy, patient can not only carry out effective function rehabilitation training by dressing exoskeleton robot, and
And can be controlled by itself electromyographic signal and help Rehabilitation muscle, promote cental system to recover.With social modernization, work
Industry process is further goed deep into, and the application of mechanical exoskeleton will be related to the various aspects of human lives' production, can be pre-
See, the prospect of mechanical exoskeleton is very vast.
In ectoskeleton design aspect, it is its key property that structure, which personalizes, and the guarantor of security and comfortableness
Barrier.Human upper limb mainly includes 3 shoulder, ancon and wrist physiological joints, and it can complete extremely complex fine motion, such as
Fruit thinks intactly to reappear the motion, and upper limbs exoskeleton robot needs intactly to reappear the motion, and upper limbs exoskeleton robot needs
The numerous free degree is wanted, but this can cause the problems such as mechanism cumbersome is with redundancy is controlled.Therefore, it is necessary to analyze human upper limb life
Reason forms of motion simultaneously makees appropriate simplification, obtains ectoskeleton and designs available kinematics model, while ensures good man-machine motion
Chain compatibility.Existing upper limbs exoskeleton robot uses seven freedom serial kinematic model mostly, i.e. shoulder flexion/extension is (preceding
Put afterwards), interior receipts/abduction (left and right pendulum), internal/external rotations (large arm rotation)；Ancon flexion/extension；Wrist internal/external rotations, interior receipts/outer
Exhibition, flexion/extension.Because the shoulder internal/external rotations free degree had both been considered as completing to regard as in shoulder joint completing in elbow joint,
So shoulder joint and elbow joint generally have two kinds of arrangement methods, one kind is that the complete free degree of shoulder joint three adds elbow joint list
The free degree, one kind are shoulder joint flexion/extensions, and interior receipts/abduction free degree adds elbow joint flexion/extension, free around large arm internal/external rotations
Degree, arranges more to meet organization of human body for second, but because elbow joint around the rotating shaft of the internal/external rotations free degree of large arm is to be located at
Human body large arm bone center line, so more difficult in structure design.Existing structure is mainly following two：The first
Be to be realized by guide rail slide block, i.e., arc-shaped slide rail be set in forearm and large arm junction, during wrist internal/external rotations, forearm with it is big
The rotary shaft that to realize relative motion, also ensure that internal/external rotations is slided in arm arc-shaped slide rail by sliding block between arm
Center.Second is realized by gyroscope wheel, and human arm directly passes through from gyroscope wheel, during wrist internal/external rotations, gyroscope wheel
Between relatively rotate, so as to realize in elbow joint internal/external rotations, ensure that the centre of gyration and human arm center superposition.But
The all inconvenient addition for elbow joint driving of both modes, and structure is more complicated, precision and efficiency all than relatively low,
Adaptability is smaller.
The content of the invention
The present invention is solves the addition that existing ancon convalescence device inconvenience drives for elbow joint, and complicated, essence
Degree and less efficient, the problem of bad adaptability, and then proposes a kind of wearable two degrees of freedom ancon device for healing and training.
The present invention adopts the technical scheme that to solve the above problems：The present invention includes forearm, large arm, link assembly, the
One motor, the second motor and connecting plate, the first motor are arranged on one end of forearm, one end of connecting plate and the rotation of the first motor
Axis connection, the other end of connecting plate are connected by one end of link assembly and large arm, the rotary shaft and link assembly of the second motor
Connection.
Further, link assembly includes first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod and the
Six-bar linkage, one end of first connecting rod and one end of second connecting rod connect, and the other end of second connecting rod and one end of fourth link connect
Connecing, the other end of fourth link is connected with one end of six-bar linkage, and the other end of six-bar linkage is connected with one end of the 5th connecting rod,
The other end of 5th connecting rod and one end of third connecting rod connect, the other end connection of the other end first connecting rod of third connecting rod, and
The rotary shaft of one end connection of the junction and large arm of third connecting rod and first connecting rod, the other end of first connecting rod and the second motor
Connection, the middle part of six-bar linkage and the other end of connecting plate are connected, and the middle part and the middle part of six-bar linkage of fourth link are hinged.
Further, present invention additionally comprises the first bandage, the second bandage, the 3rd bandage and the 4th bandage, the first bandage and
Second bandage is 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 beneficial effects of the invention are as follows：1st, the present invention realizes the interior of wrist using a kind of brand-new double parallel quadrangular mechanism
Rotation or outward turning action, mechanism is simple, stability is good, precision is high, is easy to dress；2nd, present invention decreases arthritic volume, weight and
Complexity；3rd, more matched with organization of human body the invention enables elbow joint, inward turning or outward turning, the coincidence for bending and stretching degree-of-freedom rotating shaft
Property it is more preferable, wearing it is more comfortable, do not have interference.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention, and Fig. 2 is the dimensional structure diagram of the present invention, and Fig. 3 is of the invention
Mathematical principle figure.
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1 and Fig. 2, it is a kind of wearable described in present embodiment
Two degrees of freedom ancon device for healing and training includes forearm 1, large arm 2, link assembly 3, the first motor 4, the second motor 5 and connecting plate
6, the first motor 4 is arranged on one end of forearm 1, the rotation axis connection of one end of connecting plate 6 and the first motor 4, connecting plate 6 it is another
One end is connected by link assembly 3 with one end of large arm 2, and the rotary shaft of the second motor 5 is connected with link assembly 3.
First connecting rod 3-1, second connecting rod 3-2, third connecting rod 3-3, fourth link 3-4, the 5th connecting rod in present embodiment
AO, AB, OD, BF, DE, EF six roots of sensation connecting rod that 3-5, six-bar linkage 3-6 are corresponded respectively in Fig. 3, G point first connecting rod 3-1 and
The intersection point of six-bar linkage 3-6 extended lines.Forearm 1 and six-bar linkage 3-6 is linked together by connecting plate 6, large arm 2 and first connecting rod
3-1 is connected, and first connecting rod 3-1 is hinged with third connecting rod 3-3, second connecting rod 3-2 respectively, and the 5th connecting rod 3-5 connects with the 6th respectively
Bar 3-6, third connecting rod 3-3 are hinged, and fourth link 3-4 is cut with scissors with second connecting rod 3-2, third connecting rod 3-3, six-bar linkage 3-6 respectively
Connect, so, first connecting rod 3-1, second connecting rod 3-2, third connecting rod 3-3, fourth link 3-4, the 5th connecting rod 3-5, six-bar linkage
3-6 just constitutes two parallel-crank mechanisms.From foregoing mathematics general principle, if large arm 2 is seen into what is fixed,
Six-bar linkage 3-6 will rotate around G points excessively and perpendicular to the axis (dotted line in Fig. 2) of linkage place plane,
The axis is the center line of wearer's upper arm, i.e., the axis that upper arm rotates around itself, and six-bar linkage 3-6 drives forearm 1 again.Institute
So that as long as ectoskeleton is reasonable in design, it is ensured that G points can fall on the center line of human body large arm, the rotary shaft for crossing G points is
It is the center line of human body large arm bone, so that ectoskeleton forearm can be internal/external rotations around the center line of large arm
Embodiment two：Illustrate present embodiment with reference to Fig. 1 and Fig. 2, it is a kind of wearable described in present embodiment
Two degrees of freedom ancon device for healing and training, it is characterised in that：Link assembly 3 includes first connecting rod 3-1, second connecting rod 3-2, the 3rd
Connecting rod 3-3, fourth link 3-4, the 5th connecting rod 3-5 and six-bar linkage 3-6, first connecting rod 3-1 one end are with second connecting rod 3-2's
One end is connected, and the second connecting rod 3-2 other end is connected with fourth link 3-4 one end, the fourth link 3-4 other end and the 6th
Connecting rod 3-6 one end connection, the six-bar linkage 3-6 other end are connected with the 5th connecting rod 3-5 one end, and the 5th connecting rod 3-5's is another
One end is connected with third connecting rod 3-3 one end, third connecting rod 3-3 other end first connecting rod 3-1 other end connection, and the 3rd
Connecting rod 3-3 is connected with first connecting rod 3-1 junction with one end of large arm 2, the first connecting rod 3-1 other end and the second motor 4
Rotation axis connection, six-bar linkage 3-6 middle part is connected with the other end of connecting plate 6, and fourth link 3-4 middle part connects with the 6th
Bar 3-6 middle part is hinged.Other compositions and annexation are identical with embodiment one.
Embodiment three：Illustrate present embodiment with reference to Fig. 1 and Fig. 2, it is a kind of wearable described in present embodiment
Two degrees of freedom ancon device for healing and training also includes the first bandage 7, the second bandage 8, the 3rd bandage 9 and the 4th bandage 10, and first
The bandage 8 of bandage 7 and second is 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 large arm 2
Inner side.Other compositions and annexation are identical with embodiment one.
Operation principle
It is attached between the large arm 2 and forearm 1 of ectoskeleton by link assembly 3, first connecting rod 3-1 is connected in large arm 2
On, six-bar linkage is connected on forearm 1, and first connecting rod 3-1 and six-bar linkage 3-6 intersection point G is that forearm 1 rotates around large arm 2
The centre of gyration.First bandage 7, the second bandage 8, the 3rd bandage 9, the 4th bandage 10 make one to put on wearable two degrees of freedom elbow
After portion's device for healing and training, the big forearm of human body is fixed on the big forearm of bone.When ectoskeleton acts, ectoskeleton
Forearm 1 carries out internal/external rotations around G points excessively and perpendicular to the axis of plane where linkage, and G points fall in human body large arm
On heart line, when so ensuring that the forearm of ectoskeleton around large arm internal/external rotations and human body synchronism.First motor 4 rotates
When, forearm 1 is done flexion/extension motion around elbow joint.When second motor 5 rotates, forearm 1 is set to do internal/external rotations fortune around large arm 2
It is dynamic.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as be without departing from technical solution of the present invention content, according to the technical spirit of the present invention,
Within the spirit and principles in the present invention, any simple modification, equivalent substitution and improvement for being made to above example etc., still
Belong within the protection domain of technical solution of the present invention.
Claims (2)
1. a kind of wearable two degrees of freedom ancon device for healing and training, it include forearm (1), large arm (2), link assembly (3),
First motor (4), the second motor (5) and connecting plate (6), the first motor (4) are arranged on one end of forearm (1), connecting plate (6)
One end and the rotation axis connection of the first motor (4), the other end of connecting plate (6) pass through link assembly (3) and one end of large arm (2)
Connection, the rotary shaft of the second motor (5) are connected with link assembly (3)；It is characterized in that：Link assembly (3) includes first connecting rod
(3-1), second connecting rod (3-2), third connecting rod (3-3), fourth link (3-4), the 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 and fourth link of second connecting rod (3-2)
One end connection of (3-4), the other end of fourth link (3-4) are connected with one end of six-bar linkage (3-6), six-bar linkage (3-6)
The other end be connected with one end of the 5th connecting rod (3-5), the other end of the 5th connecting rod (3-5) and one end of third connecting rod (3-3)
Connection, the other end connection of the other end first connecting rod (3-1) of third connecting rod (3-3), and third connecting rod (3-3) and first connecting rod
The junction of (3-1) is connected with the one end of large arm (2), and the other end of first connecting rod (3-1) and the rotary shaft of the second motor (4) connect
Connect, the middle part of six-bar linkage (3-6) is connected with the other end of connecting plate (6), middle part and the six-bar linkage of fourth link (3-4)
The middle part of (3-6) is hinged；Forearm (1) is linked together with six-bar linkage (3-6) by connecting plate (6), and large arm (2) connects with first
Bar (3-1) is connected, and first connecting rod (3-1) is be hinged with third connecting rod (3-3), second connecting rod (3-2) respectively, the 5th connecting rod (3-5)
Be hinged with six-bar linkage (3-6), third connecting rod (3-3) respectively, fourth link (3-4) connects with second connecting rod (3-2), the 3rd respectively
Bar (3-3), six-bar linkage (3-6) are be hinged, first connecting rod (3-1), second connecting rod (3-2), third connecting rod (3-3), fourth link
(3-4), the 5th connecting rod (3-5), six-bar linkage (3-6) just constitute two parallel-crank mechanisms.
A kind of 2. wearable two degrees of freedom ancon device for healing and training according to claim 1, it is characterised in that：Described one
Kind wearable two degrees of freedom ancon device for healing and training also include the first bandage (7), the second bandage (8), the 3rd bandage (9) and
4th bandage (10), the first bandage (7) and the second bandage (8) are disposed side by side on the inner side of forearm (1), the 3rd bandage (9) and
Four bandages (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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN105411815A CN105411815A (en) | 2016-03-23 |
| CN105411815B true CN105411815B (en) | 2017-11-14 |
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| CN201610052219.5A Active 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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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| WO2019050929A1 (en) * | 2017-09-05 | 2019-03-14 | Aesclepius Corporation | Systems, devices, and methods for therapeutic loading of a joint |
| 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 |
| CN109620646B (en) * | 2019-02-01 | 2020-11-03 | 上海理工大学 | Forearm internal/external rotation mechanism for upper limb rehabilitation trainer |
| 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 |
| CN112545834B (en) * | 2020-12-10 | 2023-01-24 | 山东中医药大学 | Shoulder joint assembly for upper limb rehabilitation |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3410515C2 (en) * | 1984-03-22 | 1986-10-02 | Friedhelm 4390 Gladbeck Schwarz | Manipulator with an articulated arm for generating straight movements |
| JP2003089090A (en) * | 2001-09-17 | 2003-03-25 | Rikogaku Shinkokai | Articulated arm mechanism |
| CN2693436Y (en) * | 2003-12-16 | 2005-04-20 | 广东工业大学 | Bi-free degree mobile flat surface parallel mechanism |
| CN101219541B (en) * | 2008-01-28 | 2010-07-21 | 哈尔滨工业大学 | Exoskeleton mechanism based on parallelogram link lever |
| CN101455609B (en) * | 2008-12-29 | 2011-01-19 | 哈尔滨工业大学 | Exoskeleton mechanism based on parallelogram connection-rod and wire rope |
| CN202027877U (en) * | 2011-03-29 | 2011-11-09 | 浙江大学 | Wearable upper limb motion rehabilitation training exoskeleton with seven degrees of freedom |
| CN102119902B (en) * | 2011-03-29 | 2012-08-29 | 浙江大学 | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton |
| CN202654370U (en) * | 2012-05-04 | 2013-01-09 | 浙江科惠医疗器械有限公司 | Multi-joint linkage limb rehabilitation device |
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