CN105726260B - Interchangeable upper limb rehabilitation robot - Google Patents
Interchangeable upper limb rehabilitation robot Download PDFInfo
- Publication number
- CN105726260B CN105726260B CN201610147488.XA CN201610147488A CN105726260B CN 105726260 B CN105726260 B CN 105726260B CN 201610147488 A CN201610147488 A CN 201610147488A CN 105726260 B CN105726260 B CN 105726260B
- Authority
- CN
- China
- Prior art keywords
- interchangeable
- wrist
- gear
- driving
- stretches
- Prior art date
Links
- 210000001364 Upper Extremity Anatomy 0.000 title claims abstract description 54
- 210000000707 Wrist Anatomy 0.000 claims abstract description 63
- 210000000323 Shoulder Joint Anatomy 0.000 claims abstract description 39
- 241000905957 Channa melasoma Species 0.000 claims abstract description 25
- 210000002310 Elbow Joint Anatomy 0.000 claims abstract description 19
- 210000000245 Forearm Anatomy 0.000 claims abstract description 19
- 230000035876 healing Effects 0.000 claims abstract description 15
- 230000000694 effects Effects 0.000 claims abstract description 5
- 239000003638 reducing agent Substances 0.000 claims description 36
- 210000003414 Extremities Anatomy 0.000 claims description 11
- 230000001360 synchronised Effects 0.000 claims description 11
- 210000003813 Thumb Anatomy 0.000 claims description 10
- 210000001513 Elbow Anatomy 0.000 claims description 2
- 210000003811 Fingers Anatomy 0.000 description 3
- 210000003205 Muscles Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010003694 Atrophy Diseases 0.000 description 1
- 241000233855 Orchidaceae Species 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 230000000926 neurological Effects 0.000 description 1
- 230000000630 rising Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000005496 tempering Methods 0.000 description 1
Classifications
-
- 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
- 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
- A61H1/0281—Shoulder
-
- 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
- A61H1/0285—Hand
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610147488.XA CN105726260B (en) | 2016-03-16 | 2016-03-16 | Interchangeable upper limb rehabilitation robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610147488.XA CN105726260B (en) | 2016-03-16 | 2016-03-16 | Interchangeable upper limb rehabilitation robot |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105726260A CN105726260A (en) | 2016-07-06 |
CN105726260B true CN105726260B (en) | 2017-10-27 |
Family
ID=56250565
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201610147488.XA CN105726260B (en) | 2016-03-16 | 2016-03-16 | Interchangeable upper limb rehabilitation robot |
Country Status (1)
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CN (1) | CN105726260B (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110123582A (en) * | 2019-05-31 | 2019-08-16 | 北京工业大学 | A kind of robot for shoulder blade rehabilitation |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105963103A (en) * | 2016-06-08 | 2016-09-28 | 上海电气集团股份有限公司 | Portable and wearable exoskeleton upper limb robot |
CN106176133B (en) * | 2016-07-07 | 2019-02-01 | 庞林琳 | One kind is for recovery bracket after mammary cancer chemotherapy |
CN106078712B (en) * | 2016-07-18 | 2018-08-21 | 广州万粤知识产权运营有限公司 | A kind of robot for being equipped with fixed rotation angle and executing end |
CN108113844A (en) * | 2016-11-29 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of upper limb training device |
CN106691786B (en) * | 2017-01-12 | 2019-01-01 | 北京大学 | A kind of wearable dynamic knee joint based on continuous variable series connection flexible drive |
CN106691779B (en) * | 2017-01-22 | 2019-07-26 | 北京协同创新研究院 | A kind of overhung construction dynamic knee joint rehabilitation platform |
CN107019621A (en) * | 2017-05-19 | 2017-08-08 | 山东建筑大学 | Upper limb rehabilitation robot |
CN109620631A (en) * | 2017-10-09 | 2019-04-16 | 李卫国 | A kind of bionical automatic control rehabilitation arm |
CN107898595A (en) * | 2017-11-26 | 2018-04-13 | 宁波工程学院 | Upper-limb recovery training device |
CN108836731B (en) * | 2018-04-08 | 2020-05-05 | 苏州好博医疗器械有限公司 | Household cable-controlled mechanical arm for upper limb rehabilitation training |
CN108721058A (en) * | 2018-06-28 | 2018-11-02 | 广州康医疗设备实业有限公司 | Exercising apparatus for recovery of upper limb and recovery training method |
CN108814902B (en) * | 2018-06-29 | 2020-01-10 | 华中科技大学 | Upper limb exoskeleton rehabilitation device capable of matching human-computer motion and exchanging on opposite side |
CN109259979A (en) * | 2018-08-22 | 2019-01-25 | 上海电气集团股份有限公司 | The interchangeable upper limb rehabilitation robot of right-hand man and its control method |
CN109350446A (en) * | 2018-10-18 | 2019-02-19 | 航天科工智能机器人有限责任公司 | Master based on electromyography signal passively combines upper-limbs rehabilitation training robot system |
CN109363889A (en) * | 2018-11-15 | 2019-02-22 | 上海理工大学 | A kind of upper limb exoskeleton robot right-hand man's device for interchanging |
CN109223447B (en) * | 2018-11-23 | 2020-11-03 | 上海理工大学 | Upper limb rehabilitation and activity auxiliary device capable of realizing left-right interchange |
CN109730891B (en) * | 2019-01-25 | 2021-02-02 | 电子科技大学 | Shoulder horizontal movement joint structure with upper limb exoskeleton capable of changing hands and limiting position |
CN110393655A (en) * | 2019-09-03 | 2019-11-01 | 南京工业大学 | A kind of wearable upper limb rehabilitation robot that motor is mixed with pneumatic muscles |
CN110960395B (en) * | 2019-12-12 | 2021-01-29 | 中国科学院自动化研究所 | Exoskeleton type upper limb rehabilitation robot |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102961235A (en) * | 2012-12-07 | 2013-03-13 | 付风生 | Upper-limb rehabilitation training robot |
CN204293444U (en) * | 2014-10-24 | 2015-04-29 | 青岛世纪杰创医疗科技有限公司 | A kind of exoskeleton-type shoulder girdle and upper limbs work in coordination with healing robot |
WO2015099858A2 (en) * | 2013-09-30 | 2015-07-02 | Board Of Regents, The University Of Texas System | Upper-body robotic exoskeleton |
CN105250116A (en) * | 2015-10-10 | 2016-01-20 | 付风生 | Upper limb rehabilitation training robot manipulator |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IT1401979B1 (en) * | 2010-09-28 | 2013-08-28 | C N R Consiglio Naz Ricerche | Biomedical device for the robotic rehabilitation of the human upper limb, particularly for the neuromotor rehabilitation of the shoulder and elbow joint. |
-
2016
- 2016-03-16 CN CN201610147488.XA patent/CN105726260B/en active IP Right Grant
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102961235A (en) * | 2012-12-07 | 2013-03-13 | 付风生 | Upper-limb rehabilitation training robot |
WO2015099858A2 (en) * | 2013-09-30 | 2015-07-02 | Board Of Regents, The University Of Texas System | Upper-body robotic exoskeleton |
CN204293444U (en) * | 2014-10-24 | 2015-04-29 | 青岛世纪杰创医疗科技有限公司 | A kind of exoskeleton-type shoulder girdle and upper limbs work in coordination with healing robot |
CN105250116A (en) * | 2015-10-10 | 2016-01-20 | 付风生 | Upper limb rehabilitation training robot manipulator |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110123582A (en) * | 2019-05-31 | 2019-08-16 | 北京工业大学 | A kind of robot for shoulder blade rehabilitation |
Also Published As
Publication number | Publication date |
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CN105726260A (en) | 2016-07-06 |
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CB03 | Change of inventor or designer information |
Inventor after: Fu Fengsheng Inventor after: Qiao Xiaofang Inventor after: Wei Huimin Inventor after: Ni Peiyu Inventor after: Wang Yu Inventor after: Li Gen Inventor after: Wang Huadong Inventor after: Xing Yanjun Inventor after: Yang Chuanying Inventor before: Fu Fengsheng Inventor before: Wei Huimin Inventor before: Ni Peiyu Inventor before: Wang Yu Inventor before: Li Gen Inventor before: Wang Huadong Inventor before: Xing Yanjun Inventor before: Yang Chuanying |
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Address after: 455000 Second Floor of No.6 Building of Torch Pioneer Park, West Section of Yangtze River Avenue, Anyang High-tech Zone, Henan Province Patentee after: Henan Huibo Shenfang Intelligent Rehabilitation Equipment Co., Ltd. Address before: 455000 No. 6 Factory Building of Torch Pioneer Park, West Section of Yangtze River Avenue, Anyang High-tech Zone, Henan Province Patentee before: Anyang Shenfang Rehabilitation Robot Co., Ltd. |
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CP03 | Change of name, title or address |