CN105726260B - Interchangeable upper limb rehabilitation robot - Google Patents

Interchangeable upper limb rehabilitation robot Download PDF

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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
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CN
China
Prior art keywords
interchangeable
wrist
gear
driving
stretches
Prior art date
Application number
CN201610147488.XA
Other languages
Chinese (zh)
Other versions
CN105726260A (en
Inventor
付风生
乔晓芳
魏会民
倪沛宇
王宇
李�根
王华栋
邢彦君
杨传英
Original Assignee
安阳神方康复机器人有限公司
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Priority to CN201610147488.XA priority Critical patent/CN105726260B/en
Publication of CN105726260A publication Critical patent/CN105726260A/en
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Publication of CN105726260B publication Critical patent/CN105726260B/en

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277Elbow
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281Shoulder
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285Hand
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635Hand or arm, e.g. handle
    • A61H2201/1638Holding means therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • A61H2201/1659Free spatial automatic movement of interface within a working area, e.g. Robot

Abstract

The present invention relates to a kind of medical rehabilitation exercising device, specifically a kind of interchangeable upper limb rehabilitation robot, including may move bottom plate, switch board, column up-down post, interchangeable upper limb healing mechanism and adjustable height seat, switch board and column up-down post are fixedly installed on removable base plate rear end top, column up-down post bottom is fixedly installed in switch board, column up-down top end is fixed in the activity of interchangeable upper limb healing mechanism, the interchangeable upper limb healing mechanism includes shoulder joint Nei Shou abductions mechanism successively according to the order of connection, shoulder joint bends and stretches mechanism, the outer turning mechanism of shoulder internal rotator, elbow joint bends and stretches mechanism, the outer turning mechanism of forearm inward turning and wrist articulations digitorum manus extension means, the interchangeable upper limb rehabilitation robot of the present invention, it is full-featured, and component length is adjustable, strong adaptability, simultaneously can right-hand man exchange training, and active power-assisted is provided, reduce medical personnel's input.

Description

Interchangeable upper limb rehabilitation robot
Technical field
The present invention relates to a kind of medical rehabilitation exercising device, specifically a kind of interchangeable upper limb rehabilitation robot.
Background technology
For neurological injured patient, theory of medicine proves that such patient must carry out the limbs instruction of some strength Practice, this measure is, in order to avoid atrophy occurs for muscle, to cause the function permanent loss of some muscle, but such patient can not be only The exercise recovery of vertical completion limbs, it is desirable to have medical personnel are continual to carry out auxiliary implementation, the so number to medical personnel Amount and skill set requirements are all very high.At present, panoramic rehabilitation training equipment is also occurred in that on the market, but is all existed so , often there is function deficiency in such defect, practicality is not strong, it is impossible to which active training, comfort level is too poor, can only unilateral limbs Training, makes troubles to patient in actual use, such as a kind of rehabilitation training of upper limbs machine of Chinese patent 201010222010.1 Device people, function is turned up, wrist refers to flexion/extension, function including shoulder abduction/interior receipts, shoulder flexion/extension, elbow joint flexion/extension, forearm inward turning/ Do not include shoulder inward turning/function of turning up, and the inward turning/turn up required power when not providing passive exercise of forearm;It is Chinese special There is provided the adjustable upper limb healing machine of left and right side structure for a kind of sharp 201420837887.5 right-hand man's dual-purpose type upper limb rehabilitation robots People, wherein upper cross-beam rotate adjustment position using screw mandrel, and adjustment mode is inconvenient, and wherein end only provides wrist training, lacks The patient that the training function of finger and the mode without fixed palm, finger can only have grippage to hand less provides rehabilitation Training, it is and impracticable, therefore, develop a full-featured, comfortableness is good, is capable of the demand of the healing robot of active power-assisted It is urgently to be resolved hurrily.
The content of the invention
The goal of the invention of the present invention is to overcome current limbs restoring training apparatus structure function not enough, and practicality is not strong, it is impossible to Active training, the defect of comfortableness difference so that realize a kind of patient can left and right limbs exchange training, comfortableness degree is higher, And can the training of complete independently limbs, function phase is to comprehensive interchangeable upper limb rehabilitation robot.
For achieving the above object, the technical scheme is that:A kind of interchangeable upper limb rehabilitation robot, including can Movable base plate, switch board, column up-down post, interchangeable upper limb healing mechanism and adjustable height seat, the adjustable height seat are fixed Removable bottom plate upper front end is arranged at, switch board and column up-down post are fixedly installed on removable base plate rear end top, column Lifting column bottom is fixedly installed in switch board, and column up-down top end is fixed in the activity of interchangeable upper limb healing mechanism, described Interchangeable upper limb healing mechanism includes shoulder joint Nei Shou abductions mechanism, shoulder joint according to the order of connection and bends and stretches mechanism, shoulder joint successively The outer turning mechanism of section inward turning, elbow joint bend and stretch the outer turning mechanism of mechanism, forearm inward turning and wrist articulations digitorum manus extension means.
The shoulder joint Nei Shou abductions mechanism includes lockable rotation disc mechanism, cantilever beam and sill, described lockable Rotation disc mechanism is fixedly connected with cantilever beam one end, and the cantilever beam other end is hinged fixation, and cantilever beam with sill end Abduction motor reducer is received with being coaxially arranged with the jointed shaft of sill in shoulder joint, the cantilever beam under external force may be used Rotated with lockable rotation disc mechanism, the sill hinged end is provided with sill position-limit mechanism, so as to realize shoulder joint The interior right-hand man for receiving abduction exercise exchanges;
The shoulder joint bends and stretches mechanism including outer riser, interior riser, rotating beam, outer riser fixation parallel with interior riser Set, described rotating beam one end is hingeably secured between inside and outside riser bottom, and shoulder is coaxially arranged with the rotating beam jointed shaft Motor reducer is bent and stretched in joint, and the side of the rotating beam hinged end is provided with Geneva mechanism, vertical outer riser and correspondence sheave The spacing handle of slip is provided with organizational boundaries, the spacing handle of push-and-pull can realize the mechanical position limitation of rotating beam rotation, so that Realize that the right-hand man of shoulder joint flexion and extension exchanges;
The wrist articulations digitorum manus extension means include driving box, wrist refer to driving leading screw, wrist refer to driving sliding block, wrist refer to drive rod, Wrist articulations digitorum manus is provided with TRAJECTORY CONTROL bar, metacarpophalangeal grasping member and thumb drives part, the driving box and stretches motor reducer, institute State and be provided with gear wheel on wrist articulations digitorum manus stretching, extension motor reducer output shaft, the wrist articulations digitorum manus stretches motor reducer both sides pair Claim to set wrist to refer to driving leading screw, the wrist refers to driving leading screw end and is provided with the little gear engaged with gear wheel, and wrist refers to driving and slided Block wrist refer to driving leading screw on slide, and wrist refer to driving sliding block sidepiece be coaxially hinged setting wrist refer to drive rod and TRAJECTORY CONTROL bar, The wrist, which refers to, is provided with linear arc-shaped engagement groove on drive rod, and driving box sidepiece is provided with track guiding post, rail in engagement groove The symmetrical slide hinged metacarpophalangeal grasping member both sides in driving box obliquely downward of the mark control-rod other end, driving is hinged setting on box end Have and connecting pole is provided with the intermediate track plate with middle groove, middle groove, connecting pole bottom is fixedly installed on metacarpophalangeal grasping On part, the thumb drives part, which is symmetrically hinged, is arranged at intermediate track plate both sides, and the inside end of thumb drives part is coaxially hinged In on connecting pole, wrist is provided with middle brace rod between referring to drive rod end, and the middle brace rod centre position is set on company Connect on post, to sum up, the wrist articulations digitorum manus extension means use symmetric design, so no matter tempering left hand or the right hand can fit With, realize wrist articulations digitorum manus right-hand man exchange take exercise.
The lockable rotation disc mechanism includes rotating base, rotary flange, elastic handle and rotating disk, the rotary process Orchid is located inside rotating base and is arranged concentrically, and the rotary flange inner ring is fixed with rotating disk inner ring bottom, and elastic handle leads to Screw thread cooperation is crossed to penetrate on compression rotary flange side wall in rotating base, the rotating base sidepiece of the lockable rotation disc mechanism Bulb plunger is additionally provided with, and the relevant position of the rotary flange lateral wall both sides respectively opens up angled groove, works as rotary flange Go to inside the bulb entry angle groove of respective angles bulb plunger end.
The sill position-limit mechanism includes duckbilled knob, cam pin, position limiting slide block and stopper slot, described sill one end Inner vertical sets limiting through hole, the vertical limiting through hole of cam pin and penetrates in sill, and the duckbilled knob is fixedly installed on Cam pin outboard end, the position limiting slide block is located in limiting through hole, and the stopper slot is opened in cantilever beam hinged end lower surface Relevant position, rotate duckbilled knob, duckbilled knob drive cam pin rotation, make to pass in and out stopper slot above and below position limiting slide block so that Realize the mechanical position limitation purpose of sill.
The interior riser sidepiece that the shoulder joint bends and stretches mechanism is provided with spring load reducing mechanism, and the spring load reducing mechanism includes Spring rotary shaft, spring, spring pendant, fixed column and spacing twist pin, the spring rotary shaft are fixedly connected with rotating beam jointed shaft, bullet Spring suspension member is slideably positioned in the chute opened up on interior riser, and spring pendant includes sliding shoe and support wing plate, the support wing Plate, which is symmetrically hinged, is arranged at sliding shoe both sides, and the spacing twist pin is fixedly installed on the inside of interior riser, pulls spacing twist pin support Wing plate is cancelled spacing, and fixed column is fixedly installed on interior riser chute both sides, and the spring is fixedly installed on sliding shoe and spring Between rotating shaft.
The course of work of the spring load reducing mechanism:When needing right-hand man to exchange, pull spacing twist pin rotating beam upward Somewhat rotate, spacing wing plate is rotated up and to centre gathering, and rotating beam rotation is sagging, and spring pendant is along under interior riser chute Sliding, when rotating rising, spacing wing plate is withstood in fixed column again, and spacing twist pin plays the position-limiting action of spacing wing plate, is completed The right-hand man that shoulder joint bends and stretches mechanism exchanges power-assisted.
The outer turning mechanism of the shoulder internal rotator includes shell body, feed rod, synchronous pulley, timing belt, C-shaped ring, liner and beam Band, described feed rod one end is fixedly connected with shell body, and the feed rod other end is fixed with rotating beam, and described shell body one end sidepiece is set Shoulder internal rotator turns up motor reducer, and the shoulder internal rotator motor reducer that turns up drives timing belt to rotate by synchronous pulley, The C-shaped ring two ends are fixed by timing belt compact heap, and set Limit Bearing to fix C-shaped ring movement locus, institute around C-shaped ring State timing belt drawing C-shaped ring to move back and forth, set liner and band to carry out fixing human inside C-shaped ring.
The outer turning mechanism of the shoulder internal rotator also includes the short governor motion of length of upper extremity, and the short governor motion of length of upper extremity includes Screw mandrel, feed screw nut and handwheel, the feed screw nut that screw mandrel one end is set with rotation beam end coordinate, and the other end is located at shell body It is interior, and the screw mandrel end being located in shell body sets setting adjustment gear on adjustment gear, the hand wheel shaft of handwheel, adjustment gear phase Mutually engagement, rotation hand wheel is manually adjustable upper limbs length.
The elbow joint bend and stretch mechanism including gear-box, elbow joint bend and stretch motor reducer, driving gear, driven gear, Power output shaft and ancon connecting plate, the elbow joint bend and stretch the end side that motor reducer is fixedly installed on gear-box, elbow Joint bend and stretch motor reducer by drive sprocket axle drive driving gear rotate, driving gear by set idler gear drive from Moving gear rotates, and power output shaft is fixedly installed in driven gear center, and power output shaft drives the rotation of ancon connecting plate, and ancon connects Fishplate bar is fixedly connected with C-shaped ring end.
The limited block rotated jointly with drive sprocket axle is fixedly installed on the top drive sprocket axle of the driving gear, it is described The length of limited block be more than drive sprocket axle edge to gear-box distance, contacted by limited block with gear chamber interior wall reach it is spacing Purpose.
The outer turning mechanism of the forearm inward turning includes shell body, feed rod, synchronous pulley, timing belt, C-shaped ring, liner and band, Described feed rod one end is fixedly connected with shell body, and described shell body one end sidepiece sets forearm inward turning to turn up motor reducer, preceding Arm inward turning turns up motor reducer by synchronous pulley drive timing belt rotation, and the C-shaped ring two ends pass through timing belt compact heap It is fixed, and set Limit Bearing to fix C-shaped ring movement locus around C-shaped ring, the timing belt drawing C-shaped ring is moved back and forth, c-type Liner and band is set to carry out fixing human inside ring.
The beneficial effect of the interchangeable upper limb rehabilitation robot of the present invention:
1. the present invention interchangeable upper limb rehabilitation robot, including shoulder joint Nei Shou abductions mechanism, shoulder joint bend and stretch mechanism, The outer turning mechanism of shoulder internal rotator, elbow joint bend and stretch the outer turning mechanism of mechanism, forearm inward turning and wrist articulations digitorum manus extension means, can be achieved to suffer from The reconditioning of person's corresponding site, function is very comprehensive, is adapted to all kinds of upper extremity exercise disorder patients and uses.
2. the interchangeable upper limb rehabilitation robot of the present invention, is provided with column up-down post, the short governor motion of length of upper extremity, forearm The outer turning mechanism of inward turning and wrist articulations digitorum manus extension means, it is possible to achieve interchangeable upper limb healing mechanism height is adjusted, length of upper extremity minor Section, the function such as forearm length minor section and finger length regulation, can meet demand of the different patients in terms of sick limb size.
3. the interchangeable upper limb rehabilitation robot of the present invention a, it is possible to achieve robot is replaced to patient's left hand and the right hand Change recovery to take exercise, the reconditioning of unilateral sick limb can only be realized by overcoming current healing robot, greatly save treatment cost, And the applicability of healing robot is improved, it is very reasonable to design.
4. the interchangeable upper limb rehabilitation robot of the present invention, each moving cell is both provided with independent decelerating through motor Machine, can aid in driving the limbs of correspondent section to carry out reconditioning, carry out exercise of accompanying and attending to without being further added by medical personnel, both saved The human input for the treatment of, again alleviates psychology of the patient during treating and pain physiologically.
Brief description of the drawings
Fig. 1 is one of structural representation of interchangeable upper limb rehabilitation robot;
Fig. 2 is the two of the structural representation of interchangeable upper limb rehabilitation robot;
Fig. 3 is the structural representation of shoulder joint Nei Shou abductions mechanism;
Fig. 4 is the structural representation of the lockable rotation disc mechanism of shoulder joint Nei Shou abductions mechanism;
Fig. 5 is the structural representation of sill position-limit mechanism;
Fig. 6 is the structural representation that shoulder joint bends and stretches mechanism;
Fig. 7 is the cross section structure diagram that shoulder joint bends and stretches mechanism;
Fig. 8 is the structural representation that spring load reducing mechanism exchanges state one;
Fig. 9 is the structural representation that spring load reducing mechanism exchanges state two;
Figure 10 is the three-dimensional component home structural representation of spring load reducing mechanism;
Figure 11 is the structural representation of the outer turning mechanism of shoulder internal rotator;
Figure 12 is the structural representation that elbow joint bends and stretches mechanism;
Figure 13 is the structural representation of the outer turning mechanism of forearm inward turning;
Figure 14 is one of structural representation of wrist articulations digitorum manus extension means;
Figure 15 is the two of the structural representation of wrist articulations digitorum manus extension means.
Referring to Fig. 1-15:1- may move bottom plate, 2- switch boards, 3- column up-down posts, the interchangeable upper limb healing mechanisms of 4-, 5- Adjustable height seat, 6- shoulder joint Nei Shou abductions mechanism, the lockable rotation disc mechanisms of 601-, 602- cantilever beams, 603- sills, 604- sill position-limit mechanisms, 611- rotating bases, 612- rotary flanges, the elastic handles of 613-, 614- rotating disks, 615- bulbs Plunger, 641- duckbilled knobs, 642- cam pins, 643- position limiting slide blocks, 644- stopper slots, 645- limiting through hole, 7- shoulder joint is bent Riser in mechanism, the outer risers of 701-, 702- is stretched, 703- rotating beams, 704- Geneva mechanisms, the spacing handles of 705-, 706- springs subtract Negative mechanism, 761- spring rotary shafts, 762- springs, 763- spring pendants, 764- fixed columns, the spacing twist pins of 765-, 766- chutes, 7631- sliding shoes, 7632- support wing plates, the outer turning mechanism of 8- shoulder internal rotators, 801- shell bodies, 802- feed rods, 803- timing belts Wheel, 804- timing belts, 805-C type rings, 806- liners, 807- bands, 808- timing belt compact heaps, 809- Limit Bearings, 810- The short governor motion of length of upper extremity, 811- screw mandrels, 812- feed screw nut, 813- handwheels, 814- adjustment gears, 9- elbow joints bend and stretch machine Structure, 901- gear-boxes, 902- elbow joints bend and stretch motor reducer, 903- driving gears, 904- driven gears, 905- power outputs Axle, 906- ancon connecting plates, 907- idler gears, 908- drive sprocket axles, 909- limited blocks, the outer turning mechanism of 10- forearms inward turning, 11- wrist articulations digitorum manus extension means, 111- driving boxes, 112- wrists refer to driving leading screw, and 113- wrists refer to driving sliding block, and 114- wrists refer to driving Bar, 115- TRAJECTORY CONTROL bars, 116- metacarpophalangeal grasping members, 117- thumb drives parts, 118- gear wheels, 119- little gears, 110- rails Mark guide posts, 1111- intermediate track plates, 1112- connecting poles, 1113- middle brace rods, 12- motor reducers.
Embodiment
The interchangeable upper limb rehabilitation robot of the present invention is done more below in conjunction with the accompanying drawings and by specific embodiment Detailed description.
Embodiment:
The interchangeable upper limb rehabilitation robot of the present invention, including removable bottom plate 1, switch board 2, column up-down post 3, can be mutual Limb rehabilitation institution 4 and adjustable height seat 5 are changed, the adjustable height seat 5 is fixedly installed on the removable upper front end of bottom plate 1, controlled Cabinet 2 and column up-down post 3 processed are fixedly installed on the removable upper rear end of bottom plate 1, and the bottom of column up-down post 3 is fixedly installed on control In cabinet 2, the top of column up-down post 3 is fixed in the interchangeable activity of upper limb healing mechanism 4, and the interchangeable upper limb healing mechanism 4 is pressed Include successively according to the order of connection shoulder joint Nei Shou abductions mechanism 6, shoulder joint bend and stretch mechanism 7, turning mechanism 8, elbow outside shoulder internal rotator Bend and stretch the outer turning mechanism 10 of mechanism 9, forearm inward turning and wrist articulations digitorum manus extension means 11 in joint.
The shoulder joint Nei Shou abductions mechanism 6 includes lockable rotation disc mechanism 601, cantilever beam 602 and sill 603, The lockable rotation disc mechanism 601 is fixedly connected with the one end of cantilever beam 602, the other end of cantilever beam 602 and sill 603 End, which is hinged in fixation, and the jointed shaft of cantilever beam 602 and sill 603 to be coaxially arranged with shoulder joint, receives abduction decelerating through motor Machine, the cantilever beam 602 can be rotated with lockable rotation disc mechanism 601 under external force, and the hinged end of sill 603 is set Sill position-limit mechanism 604 is equipped with, so as to realize that the right-hand man of the interior receipts abduction exercise of shoulder joint exchanges;
The shoulder joint, which bends and stretches mechanism 7, includes outer riser 701, interior riser 702, rotating beam 703, the outer He of riser 701 Interior riser 702 is parallel to be fixedly installed, described one end of rotating beam 703 be hingeably secured to interior riser 702 and the bottom of outer riser 701 it Between, shoulder joint is coaxially arranged with the jointed shaft of rotating beam 703 and bends and stretches motor reducer, the hinged end of rotating beam 703 Side has been wholely set Geneva mechanism 704, vertical outer riser 701 and correspondingly the boundary of Geneva mechanism 704 is provided with the limit of slip Position handle 705, the spacing handle 705 of push-and-pull can realize the mechanical position limitation that rotating beam 703 rotates, so as to realize that shoulder joint bends and stretches fortune Dynamic right-hand man exchanges;
The wrist articulations digitorum manus extension means 11 include driving box 111, wrist refer to driving leading screw 112, wrist refer to driving sliding block 113, Wrist refers to be set in drive rod 114, TRAJECTORY CONTROL bar 115, metacarpophalangeal grasping member 116 and thumb drives part 117, the driving box 111 There is wrist articulations digitorum manus to stretch motor reducer, the wrist articulations digitorum manus stretches is provided with gear wheel 118, institute on motor reducer output shaft State wrist articulations digitorum manus and stretch motor reducer both sides and be symmetrical arranged wrist and refer to driving leading screw 112, the wrist refers to driving leading screw 112 end and set The little gear 119 engaged with gear wheel 118 is equipped with, wrist refers to driving sliding block 113 and refers to slip on driving leading screw 112 in wrist, and wrist refers to The driving sidepiece of sliding block 113 is coaxially hinged setting wrist and refers to drive rod 114 and TRAJECTORY CONTROL bar 115, and the wrist refers to be set on drive rod 114 It is equipped with the driving sidepiece of box 111 in linear arc-shaped engagement groove, and engagement groove and is provided with track guiding post 110, TRAJECTORY CONTROL bar 115 is another The symmetrical slide hinged both sides of metacarpophalangeal grasping member 116 in driving box 111 obliquely downward in one end, driving is hinged setting on the end of box 111 Have and connecting pole 1112 is provided with the intermediate track plate 1111 with middle groove, middle groove, the bottom of connecting pole 1112 is fixed and set It is placed on metacarpophalangeal grasping member 116, the thumb drives part 117 is symmetrically hinged and is arranged at the both sides of intermediate track plate 1111, and thumb The inside end of actuator 117 is coaxially articulated with connecting pole 1112, and wrist is provided with middle brace rod between referring to the end of drive rod 114 1113, the centre position of middle brace rod 1113 is set on connecting pole 1111, and the wrist articulations digitorum manus extension means 11 are used Symmetric design, so no matter exercise left hand or the right hand are applicable, realizes that the right-hand man of wrist articulations digitorum manus exchanges and takes exercise.
The lockable rotation disc mechanism 601 includes rotating base 611, rotary flange 612, elastic handle 613 and rotation Disk 614, the rotary flange 612 is located at the inside of rotating base 611 and is arranged concentrically, the inner ring of rotary flange 612 and rotation The inner ring bottom of disk 614 is fixed, and elastic handle 613 coordinates to penetrate by screw thread compresses the side of rotary flange 612 in rotating base 611 Bulb plunger 615, and the rotary process are additionally provided with wall, the sidepiece of rotating base 611 of the lockable rotation disc mechanism 601 The relevant position of blue 612 lateral wall both sides respectively opens up angled groove, when rotary flange 612 goes to respective angles bulb plunger 615 Inside the bulb entry angle groove of end.
The sill position-limit mechanism 604 includes duckbilled knob 641, cam pin 642, position limiting slide block 643 and stopper slot 644, one end inner vertical of the sill 603 sets limiting through hole 645, the vertical limiting through hole 645 of cam pin 642 and penetrates down In crossbeam 603, the duckbilled knob 641 is fixedly installed on the outboard end of cam pin 642, and the position limiting slide block 643 is located at spacing In through hole 645, the stopper slot 644 is opened in the relevant position of the hinged end lower surface of cantilever beam 602, rotates duckbilled knob 641, Duckbilled knob 641 drives cam pin 642 to rotate, and position limiting slide block is passed in and out stopper slot 644 about 643, so as to realize sill 603 Mechanical position limitation purpose.
The sidepiece of interior riser 702 that the shoulder joint bends and stretches mechanism 7 is provided with spring load reducing mechanism 706, the spring Reduction of Students' Study Load Mechanism 706 includes spring rotary shaft 761, spring 762, spring pendant 763, fixed column 764 and spacing twist pin 765, and the spring turns Axle 761 is fixedly connected with the jointed shaft of rotating beam 703, and spring pendant 763 is slideably positioned in the chute 766 opened up on interior riser 702 Interior, spring pendant 763 includes sliding shoe 7631 and support wing plate 7632, and the support wing plate 7632, which is symmetrically hinged, is arranged at slip The both sides of block 7631, the spacing twist pin 765 is fixedly installed on the interior inner side of riser 702, pulls the spacing support wing of twist pin 765 plate 7632 It is cancelled spacing, fixed column 764 is fixedly installed on the interior both sides of riser chute 766, and the spring 762 is fixedly installed on sliding shoe Between 7631 and spring rotary shaft 761.
The outer turning mechanism 8 of the shoulder internal rotator includes shell body 801, feed rod 802, synchronous pulley 803, timing belt 804, C Type ring 805, liner 806 and band 807, described one end of feed rod 802 are fixedly connected with shell body 801, the other end of feed rod 802 and rotation Turn beam 703 to fix, one end sidepiece of the shell body 801 sets shoulder internal rotator to turn up motor reducer, shoulder internal rotator turns up Motor reducer drives timing belt 804 to rotate by synchronous pulley 803, and the two ends of C-shaped ring 805 pass through timing belt compact heap 808 fix, and the surrounding of C-shaped ring 805 sets Limit Bearing 809 to fix the movement locus of C-shaped ring 805, and the timing belt 804 pulls C Type ring 805 is moved back and forth, and the inside of C-shaped ring 805 sets liner 806 and band 807 to carry out fixing human.
The outer turning mechanism 8 of the shoulder internal rotator also includes the short governor motion 810 of length of upper extremity, the short governor motion of length of upper extremity 810 include screw mandrel 811, feed screw nut 812 and handwheel 813, the feed screw nut that the one end of screw mandrel 811 is set with the end of rotating beam 703 812 coordinate, and the other end is located in shell body 801, and the end of screw mandrel 811 in shell body 801 sets adjustment gear 814, Adjustment gear 814 is set on the hand wheel shaft of handwheel 813, and adjustment gear 814 is intermeshed, and rotation hand wheel 813 is i.e. manually adjustable Upper limbs length.
The elbow joint bend and stretch mechanism 9 including gear-box 901, elbow joint bend and stretch motor reducer 902, driving gear 903, Driven gear 904, power output shaft 905 and ancon connecting plate 906, the elbow joint bend and stretch motor reducer 902 and are fixedly installed In the end side of gear-box 901, elbow joint bends and stretches motor reducer 902 and drives driving gear 903 to rotate by drive sprocket axle, Driving gear 903 is by setting idler gear 907 to drive driven gear 904 to rotate, and power is fixedly installed in the center of driven gear 904 Output shaft 905, power output shaft 905 drives ancon connecting plate 906 to rotate, and ancon connecting plate 906 is fixed with the end of C-shaped ring 805 Connection.
The limit rotated jointly with drive sprocket axle 908 is fixedly installed on the top drive sprocket axle 908 of the driving gear 903 Position block 909, the length of the limited block 909 is more than the edge of drive sprocket axle 908 to the distance of gear-box 901, passes through limited block 909 Contacted with the inwall of gear-box 901 and reach spacing purpose.
The outer turning mechanism 10 of the forearm inward turning includes shell body 801, feed rod 802, synchronous pulley 803, timing belt 804, c-type Ring 805, liner 806 and band 807, described one end of feed rod 802 are fixedly connected with shell body 801, the side of shell body 801 1 Portion sets forearm inward turning to turn up motor reducer, and the forearm inward turning motor reducer that turns up passes through synchronous pulley 803 and drives timing belt 804 rotations, the two ends of C-shaped ring 805 are fixed by timing belt compact heap 808, and the surrounding of C-shaped ring 805 sets Limit Bearing 809 The fixed movement locus of C-shaped ring 805, the drawing of timing belt 804 C-shaped ring 805 is moved back and forth, and the inside of C-shaped ring 805 sets liner 806 and band 807 carry out fixing human.
Schematical embodiment of the invention is the foregoing is only, the scope of the present invention is not limited to, it is any Equivalent variations and modification that those skilled in the art is made on the premise of present inventive concept and principle is not departed from, all should belong to In the scope of protection of the invention.

Claims (10)

1. a kind of interchangeable upper limb rehabilitation robot, including removable bottom plate, switch board, column up-down post, interchangeable upper limbs health Answer a pager's call structure and adjustable height seat, the adjustable height seat is fixedly installed on removable bottom plate upper front end, switch board and column liter Drop post is fixedly installed on removable base plate rear end top, and column up-down post bottom is fixedly installed in switch board, interchangeable upper limbs Column up-down top end is fixed in rehabilitation institution's activity, it is characterised in that:The interchangeable upper limb healing mechanism is suitable according to connecting Sequence bends and stretches the outer turning mechanism of mechanism, shoulder internal rotator, elbow joint including shoulder joint Nei Shou abductions mechanism, shoulder joint successively and bends and stretches machine The outer turning mechanism of structure, forearm inward turning and wrist articulations digitorum manus extension means;The shoulder joint Nei Shou abductions mechanism includes lockable rotating disk Mechanism, cantilever beam and sill, the lockable rotation disc mechanism are fixedly connected with cantilever beam one end, the cantilever beam other end It is hinged in fixation, and the jointed shaft of cantilever beam and sill to be coaxially arranged with shoulder joint with sill end and receives abduction motor and subtract Fast machine, the cantilever beam can be rotated with lockable rotation disc mechanism under external force, and the sill hinged end is provided with down Crossbeam position-limit mechanism, so as to realize that the right-hand man of the interior receipts abduction exercise of shoulder joint exchanges;The shoulder joint, which bends and stretches mechanism, to be included Outer riser, interior riser, rotating beam, the outer riser is parallel with interior riser to be fixedly installed, and described rotating beam one end is hingeably secured to Between inside and outside riser bottom, shoulder joint is coaxially arranged with the rotating beam jointed shaft and bends and stretches motor reducer, the rotating beam The side of hinged end is provided with Geneva mechanism, vertical outer riser and correspondingly Geneva mechanism boundary is provided with the spacing drawing of slip Hand, the spacing handle of push-and-pull can realize the mechanical position limitation purpose of rotating beam rotation, so as to realize the left and right of shoulder joint flexion and extension Hand is exchanged;The wrist articulations digitorum manus extension means include driving box, wrist and refer to driving leading screw, wrist and refer to driving sliding block, wrist to refer to drive rod, rail Wrist articulations digitorum manus is provided with mark control-rod, metacarpophalangeal grasping member and thumb drives part, the driving box and stretches motor reducer, it is described Wrist articulations digitorum manus, which stretches, is provided with gear wheel on motor reducer output shaft, it is symmetrical that the wrist articulations digitorum manus stretches motor reducer both sides Wrist is set to refer to driving leading screw, the wrist refers to driving leading screw end and is provided with the little gear engaged with gear wheel, and wrist refers to driving sliding block Wrist refer to driving leading screw on slide, and wrist refer to driving sliding block sidepiece be coaxially hinged setting wrist refer to drive rod and TRAJECTORY CONTROL bar, institute State wrist and refer to and linear arc-shaped engagement groove is provided with drive rod, and driving box sidepiece is provided with track guiding post, track in engagement groove It is hinged and is provided with the symmetrical slide hinged metacarpophalangeal grasping member both sides in driving box obliquely downward of the control-rod other end, driving box end Connecting pole is provided with intermediate track plate with middle groove, middle groove, connecting pole bottom is fixedly installed on metacarpophalangeal grasping member On, the thumb drives part, which is symmetrically hinged, is arranged at intermediate track plate both sides, and the inside end of thumb drives part is coaxially articulated with On connecting pole, wrist is provided with middle brace rod between referring to drive rod end, and the middle brace rod centre position is set on connection On post.
2. interchangeable upper limb rehabilitation robot according to claim 1, it is characterised in that:The lockable rotation disc mechanism Including rotating base, rotary flange, elastic handle and rotating disk, the rotary flange is located inside rotating base and set with one heart Put, the rotary flange inner ring is fixed with rotating disk inner ring bottom, elastic handle is coordinated by screw thread penetrates rotating base internal pressure Tight rotary flange side wall.
3. interchangeable upper limb rehabilitation robot according to claim 1, it is characterised in that:The sill position-limit mechanism bag Duckbilled knob, cam pin, position limiting slide block and stopper slot are included, described sill one end inner vertical sets limiting through hole, cam pin Vertical limiting through hole and penetrate in sill, the duckbilled knob is fixedly installed on cam pin outboard end, the position limiting slide block In limiting through hole, the stopper slot is opened in the relevant position of cantilever beam hinged end lower surface, rotates duckbilled knob, duckbilled Knob drives cam pin rotation, makes to pass in and out stopper slot above and below position limiting slide block, so as to realize the spacing purpose of sill.
4. interchangeable upper limb rehabilitation robot according to claim 2, it is characterised in that:The lockable rotation disc mechanism Rotating base sidepiece on be additionally provided with bulb plunger, and the relevant position of the rotary flange lateral wall both sides respectively offers angle Groove is spent, when rotary flange is gone to inside the bulb entry angle groove of respective angles bulb plunger end.
5. interchangeable upper limb rehabilitation robot according to claim 1, it is characterised in that:The shoulder joint bends and stretches mechanism Interior riser sidepiece is provided with spring load reducing mechanism, and the spring load reducing mechanism includes spring rotary shaft, spring, spring pendant, fixation Post and spacing twist pin, the spring rotary shaft are fixedly connected with rotating beam jointed shaft, and spring pendant is slideably positioned on interior riser and opened If chute in, spring pendant include sliding shoe and support wing plate, the support wing plate, which is symmetrically hinged, is arranged at sliding shoe both sides, The spacing twist pin is fixedly installed on the inside of interior riser, pulls spacing twist pin support wing plate to be cancelled spacing, fixed column is fixed and set Interior riser chute both sides are placed in, the spring is fixedly installed between sliding shoe and spring rotary shaft.
6. interchangeable upper limb rehabilitation robot according to claim 1, it is characterised in that:The shoulder internal rotator turns up machine Structure includes shell body, feed rod, synchronous pulley, timing belt, C-shaped ring, liner and band, and described feed rod one end is fixed with shell body to be connected Connect, the feed rod other end is fixed with rotating beam, described shell body one end sidepiece sets shoulder internal rotator to turn up motor reducer, shoulder joint Section inward turning turns up motor reducer by synchronous pulley drive timing belt rotation, and the C-shaped ring two ends pass through timing belt compact heap It is fixed, and set Limit Bearing to fix C-shaped ring movement locus around C-shaped ring, the timing belt drawing C-shaped ring is moved back and forth, c-type Liner and band is set to carry out fixing human inside ring.
7. interchangeable upper limb rehabilitation robot according to claim 1, it is characterised in that:The elbow joint bends and stretches mechanism bag Include gear-box, elbow joint and bend and stretch motor reducer, driving gear, driven gear, power output shaft and ancon connecting plate, the elbow The end side that motor reducer is fixedly installed on gear-box is bent and stretched in joint, and elbow joint bends and stretches motor reducer and passes through drive sprocket axle Driving gear rotation is driven, driving gear is by setting idler gear to drive driven gear to rotate, and driven gear center is fixed and set Power output shaft is put, power output shaft drives the rotation of ancon connecting plate, and ancon connecting plate is fixedly connected with C-shaped ring end.
8. interchangeable upper limb rehabilitation robot according to claim 1, it is characterised in that:The outer turning mechanism of the forearm inward turning Including shell body, feed rod, synchronous pulley, timing belt, C-shaped ring, liner and band, described feed rod one end is fixed with shell body to be connected Connect, described shell body one end sidepiece sets forearm inward turning to turn up motor reducer, forearm inward turning turn up motor reducer pass through it is same Walk belt wheel and drive timing belt rotation, the C-shaped ring two ends are fixed by timing belt compact heap, and limit shaft is set around C-shaped ring Fixed C-shaped ring movement locus is held, the timing belt drawing C-shaped ring moves back and forth, liner and band are set inside C-shaped ring to fix Human body.
9. interchangeable upper limb rehabilitation robot according to claim 6, it is characterised in that:The shoulder internal rotator turns up machine Structure also includes the short governor motion of length of upper extremity, and the short governor motion of length of upper extremity includes screw mandrel, feed screw nut and handwheel, screw mandrel one end The feed screw nut set with rotation beam end coordinates, and the other end is located in shell body, and the screw mandrel end in shell body is set Put and adjustment gear is set on adjustment gear, the hand wheel shaft of handwheel, adjustment gear intermeshing, rotation hand wheel is on manually adjustable Limb length.
10. interchangeable upper limb rehabilitation robot according to claim 7, it is characterised in that:The top of the driving gear The limited block rotated jointly with drive sprocket axle is fixedly installed on drive sprocket axle, the length of the limited block is more than drive sprocket axle side Edge is contacted with gear chamber interior wall by limited block to the distance of gear-box and reaches spacing purpose.
CN201610147488.XA 2016-03-16 2016-03-16 Interchangeable upper limb rehabilitation robot CN105726260B (en)

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