CN105997430B - A kind of direct drive the same as driving the upper limb rehabilitation robot being combined indirectly - Google Patents
A kind of direct drive the same as driving the upper limb rehabilitation robot being combined indirectly Download PDFInfo
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- CN105997430B CN105997430B CN201610455443.9A CN201610455443A CN105997430B CN 105997430 B CN105997430 B CN 105997430B CN 201610455443 A CN201610455443 A CN 201610455443A CN 105997430 B CN105997430 B CN 105997430B
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- shoulder
- flat
- vertical
- thin plate
- shoulder joint
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 16
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 121
- 210000000245 forearm Anatomy 0.000 claims abstract description 39
- 229910000831 Steel Inorganic materials 0.000 claims description 68
- 239000010959 steel Substances 0.000 claims description 68
- 238000006073 displacement reaction Methods 0.000 claims description 50
- 229920003023 plastic Polymers 0.000 claims description 24
- 239000004033 plastic Substances 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 2
- 230000033001 locomotion Effects 0.000 abstract description 26
- 210000002310 elbow joint Anatomy 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 8
- 230000035876 healing Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 244000258271 Galium odoratum Species 0.000 description 1
- 235000008526 Galium odoratum Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000011499 joint compound Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000004804 winding 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
- A61H1/0218—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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- 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
-
- 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
- A61H2205/062—Shoulders
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)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of direct drive with driving the upper limb rehabilitation robot being combined indirectly, it is characterised in that the robot includes upper shoulder joint assembly, flat shoulder joint component, vertical shoulder joint assembly, upper arm assembly, forearm component, frame and motor housing；The upper shoulder joint assembly is fixed in frame；The flat shoulder joint component is connected with upper shoulder joint assembly；The vertical shoulder joint assembly is connected with flat shoulder joint component；The upper arm assembly is connected with vertical shoulder joint assembly；The forearm component is connected with upper arm assembly；The motor housing and frame are rest on the ground.The robot combines direct drive and drives respective advantage indirectly, and the direct drive mode of partial joint is become and turns to indirect drive manner, mitigates the weight of mechanical arm, increases adjustable controllability, improve the flexibility of each joint motions.Patient's shoulder joint realize exhibition receive, be open and flat, interior outward turning, flexion and extension, elbow joint realizes flexion and extension, can be with single training, and can also link up training motion.
Description
Technical field
The invention belongs to healing robot field, specifically a kind of direct drive the same as driving the upper limb healing being combined indirectly
Robot.
Background technology
With the progress of social science and technology, healing robot is frequent all the more in the use of patient and convalescent home, to intellectuality
Healing robot demand also more and more higher.Shoulder joint and elbow joint are the bases of human upper limb function.But machine in the market
Device people is mostly the rehabilitation training to shoulder joint, and existing rehabilitation appliances are only limitted to bend and stretch, open up receipts, interior outward turning these three frees degree
Motion, it is impossible to complete the open and flat motion of shoulder and the flexion and extension of elbow joint.Traditional rope drive system distinguishes steel wire rope
It is fixed on driving wheel and driven pulley, the driving wheel being connected with motor drives steel wire rope, and steel wire rope drives driven pulley, driven
Band movable joint completes motion to wheel again.Need by middle joint in power transmitting procedure, therefore when joint motions, can also influence
To rope, there may be the motion coupled problem in joint.In addition, in order to increase, principal and subordinate wheel and steel wire cable are mutual to rub
Wipe, it is necessary to by steel wire cable on wheel around several circles, this structure can cause drive steel wire cable length change, motion coupling
Problem is not eliminated, and steel wire cable can be caused to be pulled off or fluff.
Moreover, another problem of robot is that each joint needs a motor driving in the market.It is this direct
Motor is rest directly upon on joint by type of drive, although direct drive efficiency is higher, healing robot is slow in one's movements, and
The driving force that motor provides is far longer than the driving force needed for mechanical arm；Next to that motor itself has weight, each joint adds one
Individual motor, from preceding shoulder joint to upper shoulder joint, then to shoulder joint, required motor is increasing, and the weight in each joint increases
Add.
The content of the invention
In view of the shortcomings of the prior art, the technical problem that the present invention intends to solve is to provide a kind of direct drive with driving indirectly
The dynamic upper limb rehabilitation robot being combined.The robot combines direct drive and drives respective advantage indirectly, by partial joint
Direct drive mode become turn to indirect drive manner, mitigate the weight of mechanical arm, increase adjustable controllability, improve each pass
Save the flexibility of motion.
The technical scheme that the present invention solves the technical problem is to provide a kind of directly drive with driving what is be combined indirectly
Upper limb rehabilitation robot, it is characterised in that the robot include upper shoulder joint assembly, flat shoulder joint component, vertical shoulder joint assembly,
Upper arm assembly, forearm component, frame and motor housing；The upper shoulder joint assembly is fixed in frame；The flat shoulder joint component
It is connected with upper shoulder joint assembly；The vertical shoulder joint assembly is connected with flat shoulder joint component；The upper arm assembly and vertical shoulder joint
Component connects；The forearm component is connected with upper arm assembly；The motor housing and frame are rest on the ground；
The upper shoulder joint assembly includes shoulder driven sprocket, the first axle sleeve, main shaft, upper shoulder joint rectangular box, second
Axle sleeve, upper fillet contact ball bearing, upper shoulder T-shaped plastics plate, main shaft sleeve, long duct bar, upper shoulder angle displacement sensor, on
Shoulder chain, upper shoulder line card and upper shoulder steel wire rope；First axle sleeve and the second axle sleeve are fixed in frame；The upper fillet contact
Ball bearing is two, is clamped on respectively by the first axle sleeve and the second axle sleeve in frame；The main shaft passes through the through hole of frame, peace
Loaded between two upper fillet contact ball bearings；The upper shoulder driven sprocket be arranged on main shaft one end, the other end of main shaft with
The axle center connection of upper shoulder angle displacement sensor；The outer surface of upper shoulder angle displacement sensor is fixedly connected with frame；On described
Shoulder driven sprocket is engaged with upper shoulder chain, and the end of upper shoulder chain is connected by upper shoulder line card with one end of upper shoulder steel wire rope；On
The other end of shoulder steel wire rope passes through upper shoulder T-shaped plastics plate and the motor connection in motor housing；In the upper shoulder joint rectangular box
Between there is through hole, main shaft is connected through the through hole of upper shoulder joint rectangular box with upper shoulder joint rectangular box；The main shaft sleeve installation
On main shaft, main shaft sleeve lower end contacts with upper shoulder joint rectangular box, upper end and the upper fillet contact ball bearing in the first axle sleeve
Inner ring contacts；One end of the long duct bar is connected with upper shoulder joint rectangular box；
The flat shoulder joint component includes flat shoulder driven sprocket, flat shoulder chain, flat shoulder line card, flat shoulder steel wire rope, flat shoulder T-shaped
Plastic plate, flat shoulder joint axle, the long thin plate of flat shoulder rectangle, flat shoulder bearing rectangular box, flat fillet contact ball bearing, flat shoulder axle sleeve,
One ring flange, flat shoulder long plates of rectangular shape block, flat shoulder axial end snap ring peace shoulder angle displacement sensor；The long duct bar other end
It is connected by first flange disk with flat shoulder bearing rectangular box；Two flat fillet contacts are installed inside the flat shoulder bearing rectangular box
Ball bearing；The flat shoulder joint axle is installed between two flat fillet contact ball bearings；The flat shoulder rectangle is grown thin piece and is fixed on
In flat shoulder bearing rectangular box；The flat shoulder rectangle, which is grown, is provided with flat shoulder T-shaped plastics plate on thin piece；The one of the flat shoulder joint axle
End is provided with flat shoulder driven sprocket；The flat shoulder driven sprocket engages with flat shoulder chain, and the end of flat shoulder chain passes through flat shoulder line
Card is connected with one end of flat shoulder steel wire rope；The other end of the flat shoulder steel wire rope is passed through in flat shoulder T-shaped plastics plate and motor housing
Motor connection；The flat shoulder axial end snap ring is fixed on flat shoulder long plates of rectangular shape block；The other end of flat shoulder joint axle passes through flat
Shoulder long plates of rectangular shape block peace shoulder axial end snap ring is connected with the axle center of flat shoulder angle displacement sensor；Flat shoulder angle displacement sensor
Outer surface be fixedly connected with flat shoulder bearing rectangular box；
The vertical shoulder joint assembly includes vertical shoulder angle displacement sensor, Z-shaped long thin plate, vertical shoulder joint nodal axisn, vertical shoulder bearing
It is rectangular box, vertical fillet contact ball bearing, the long thin plate of vertical shoulder rectangle, vertical shoulder axial end snap ring, vertical shoulder axle sleeve, second flange disk, short
Catheter shaft, the 3rd ring flange, vertical shoulder driven sprocket, vertical shoulder chain, vertical shoulder line card, vertical shoulder steel wire rope and vertical shoulder T-shaped plastics plate；
The other end of the flat shoulder long plates of rectangular shape block is connected by the 3rd ring flange with short-range missile tube rod；The other end of the short-range missile tube rod leads to
Second flange disk is crossed to be connected with vertical shoulder bearing rectangular box；Two vertical shoulder angular contact ball axles are installed inside vertical shoulder bearing rectangular box
Hold；The vertical shoulder axle sleeve is arranged on the outside of each self-support fillet contact ball bearing, and oppose fillet contact ball bearing axial restraint；Vertical shoulder
Joint shaft is installed between two vertical fillet contact ball bearings；The vertical long thin plate of shoulder rectangle is fixed on vertical shoulder bearing rectangular box
On；The vertical shoulder T-shaped plastics plate is arranged on the long thin plate of vertical shoulder rectangle；One end of vertical shoulder joint nodal axisn passes through vertical shoulder rectangle length thin
The through hole of plate, its end are provided with vertical shoulder driven sprocket；The vertical shoulder driven sprocket engages with vertical shoulder chain, stands the end of shoulder chain
End is connected by vertical shoulder line card with one end of vertical shoulder steel wire rope；The other end of the vertical shoulder steel wire rope passes through vertical shoulder T-shaped plastic plate
Block and the motor connection in motor housing；The vertical shoulder axial end snap ring is connected with Z-shaped long thin plate；The other end of vertical shoulder joint nodal axisn with
Z-shaped long thin plate connection；The other end of vertical shoulder joint nodal axisn sequentially passes through Z-shaped long thin plate and vertical shoulder axial end snap ring and vertical fillet degree position
The axle center connection of displacement sensor；The outer surface of vertical shoulder angle displacement sensor is fixedly connected with vertical shoulder bearing rectangular box；
Upper arm assembly includes the thin annulus of wedge, annulus outer ring, ball, annulus inner ring, rack circle, Z-shaped short thin plate, T-shaped
Thin plate, upper arm motor, hook-shaped thin plate, small Knucle-gear and upper arm angle displacement sensor；The other end and T of the Z-shaped long thin plate
Shape thin plate connects；The T-shaped thin plate is connected with annulus outer ring；There is boss on the inside of the annulus outer ring；Outside the annulus inner ring
Side is fixed with the thin annulus of wedge；There is gap between the annulus outer ring and annulus inner ring, ball adapts to annulus outer ring and annulus
In gap between inner ring；The annulus inner ring lower end is fixed with rack circle, and rack circle engages with small Knucle-gear；The hook
One end of shape thin plate is connected with annulus outer ring, and the other end is fixedly connected with the outer surface of upper arm angle displacement sensor；On described
Arm motor is arranged on hook-shaped thin plate, and its power transmission shaft is connected through hook-shaped thin plate with the core wheel of small Knucle-gear；The upper arm motor
Transmission shaft end be connected with the axle center of upper arm angle displacement sensor；
The forearm component include forearm motor, small boss, forearm angle displacement sensor, long thin plate block, elliptical ring and
Handle；Described long thin plate block one end is connected with Z-shaped short thin plate, and the other end is connected by bolt with elliptical ring；The forearm motor
It is connected with Z-shaped short thin plate；The output shaft of forearm motor sequentially passes through Z-shaped short thin plate and the through hole of long thin plate block connects with small boss
Connect, while small boss is fixed on long thin plate block；The handle is installed on the side of elliptical ring；The output shaft end of forearm motor
It is connected with the axle center of forearm angle displacement sensor；Fix and connect with Z-shaped short thin plate on the outer surface of forearm angle displacement sensor
Connect；
The motor box assembly include active motor sprocket wheel, active motor chain, active motor steel wire rope, active motor,
Wall of computer case, rectangular small block, active motor line card and active motor steel wire rope spool；The active motor line card is fixed on cabinet
On plate；The active motor is fixed on wall of computer case, and the hole of its output end axle through wall of computer case is connected with active motor sprocket wheel, main
Dynamic motor sprocket engages with active motor chain, active motor chain connection active motor steel wire rope；Active motor steel wire rope leads to
Active motor line card is crossed to fix；The one side of the rectangular small block is fixed on wall of computer case, and countersunk head is provided with rectangular small block
Hole；The active motor steel wire penetrating active motor steel wire rope spool respectively with upper shoulder steel wire rope, flat shoulder steel wire rope and vertical shoulder
Steel wire rope connects.
Compared with prior art, beneficial effect of the present invention is：
1st, the robot combines direct drive and drives respective advantage indirectly, and the direct drive mode of partial joint is become
Indirect drive manner is turned to, mitigates the weight of mechanical arm, increases adjustable controllability, improves the flexibility of each joint motions.
2nd, the advantage fast using the easy for installation of direct drive and driving of the invention, is closed on component and upper arm assembly in forearm
Use direct drive.Driving uses lasso trick flexible transmission system by structure optimization of traditional wirerope-winding on wheel for chain indirectly
Wheel and chain pull construction of wire rope, and principal and subordinate's movable sprocket is mutually nibbled with motor shaft and joint axis connection, sprocket wheel and chain respectively
Close, steel wire rope and chain are by the way that together with snapping connection, its operation principle is similar to brake cable, in upper shoulder joint assembly, flat shoulder
Driving indirectly is used on joint assembly and vertical shoulder joint assembly.
3rd, driving has power size than high, good trackability indirectly, flexible, working space is big, without transition machine
The advantages such as structure；Driving can cause mechanical arm to be easier to pack indirectly, mitigate fuselage pts wt, and required driving force diminishes, and makes pass
Section motor selection can diminish, and disperse fuselage weight, avoid fuselage weight from excessively concentrating, facilitate mechanical handing and adjusting training position
Deng.
4th, shoulder joint can realize exhibition receive, be open and flat, interior outward turning, flexion and extension, and elbow joint can realize flexion and extension, lead to
Single training can be realized by crossing control, can also realize coherent training motion, the angle displacement sensor of each component can
To feed back the range of movement of robot, reasonable employment healing robot, patient is recovered displacement function as far as possible, reach raw
The purpose living taken care of oneself.
Brief description of the drawings
Fig. 1 is present invention direct drive with a kind of entirety for the embodiment for driving the upper limb rehabilitation robot being combined indirectly
Structural representation；
Fig. 2 is present invention direct drive with a kind of upper shoulder for the embodiment for driving the upper limb rehabilitation robot being combined indirectly
Joint assembly installation diagram；
Fig. 3 is the flat shoulder joint of the invention directly driven with driving a kind of embodiment of upper limb rehabilitation robot being combined indirectly
Save component installation diagram；
Fig. 4 is the vertical shoulder joint of the invention directly driven with driving a kind of embodiment of upper limb rehabilitation robot being combined indirectly
Save component installation diagram；
Fig. 5 is the upper arm group of the invention directly driven with driving a kind of embodiment of upper limb rehabilitation robot being combined indirectly
Part installation diagram；
Fig. 6 is the forearm group of the invention directly driven with driving a kind of embodiment of upper limb rehabilitation robot being combined indirectly
Part installation diagram；
Fig. 7 is present invention direct drive with driving a kind of motor housing of embodiment of upper limb rehabilitation robot being combined indirectly
Equipment figure；
Embodiment
Clear, complete description will be carried out to the technical scheme in the embodiment of the present invention below, it is clear that described implementation
Example is the part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the common skill in this area
The every other embodiment that art personnel are obtained on the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
The invention provides a kind of direct drive with driving the upper limb rehabilitation robot (referring to Fig. 1-7) being combined indirectly,
Including upper shoulder joint assembly 1, flat shoulder joint component 2, vertical shoulder joint assembly 3, upper arm assembly 4, forearm component 5, frame 6 and motor
Case 7；The upper shoulder joint assembly 1 is fixed in frame 6；The flat shoulder joint component 2 is connected with upper shoulder joint assembly 1；It is described
Vertical shoulder joint assembly 3 is connected with flat shoulder joint component 2；The upper arm assembly 4 is connected with vertical shoulder joint assembly 3；The forearm group
Part 5 is connected with upper arm assembly 4；The motor housing 7 and frame 6 are rest on the ground；
The upper shoulder joint assembly 1 includes shoulder driven sprocket 11, the first axle sleeve 12, main shaft 13, upper shoulder joint rectangle
Box 14, the second axle sleeve 15, upper fillet contact ball bearing 16, upper shoulder T-shaped plastics plate 17, main shaft sleeve 18, long duct bar 19, on
Shoulder angle displacement sensor 110, upper shoulder chain 111, upper shoulder line card 112 and upper shoulder steel wire rope 113；First axle sleeve 12 and
Two axle sleeves 15 are fixed in frame 6；The upper fillet contact ball bearing 16 is two, passes through the first axle sleeve 12 and the second axle respectively
Set 15 is clamped in frame 6；The main shaft 13 passes through the through hole of frame 6, is installed between two upper fillet contact ball bearings 16；
The upper shoulder driven sprocket 11 is arranged on one end of main shaft 13, the other end of main shaft 13 and upper shoulder angle displacement sensor 110
Axle center connects；The outer surface of upper shoulder angle displacement sensor 110 is fixedly connected with frame 6, when upper shoulder angle displacement sensor 110
During measurement, its axle center rotates with main shaft 13, measures；The upper shoulder driven sprocket 11 engages with upper shoulder chain 111, upper shoulder chain
The end of bar 111 is connected by upper shoulder line card 112 with one end of upper shoulder steel wire rope 113；The other end of upper shoulder steel wire rope 113 passes through
Upper shoulder T-shaped plastics plate 17 and the motor connection in motor housing 7；There is through hole, main shaft among the upper shoulder joint rectangular box 14
13 pass through the through hole of upper shoulder joint rectangular box 14, and are connected main shaft 13 with upper shoulder joint rectangular box 14 by woodruff key, to master
Axle 13 plays radially fixed effect；The main shaft sleeve 18 is arranged on main shaft 13, the lower end of main shaft sleeve 18 and upper shoulder joint
Rectangular box 14 is contacted, and upper end is contacted with the upper inner ring of fillet contact ball bearing 16 in the first axle sleeve 12, and joint rectangular box 14 is risen
To the effect of axial restraint；One end of the long duct bar 19 is connected by screw with upper shoulder joint rectangular box 14；Upper shoulder joint
Component 1 can realize the open and flat motion of shoulder, and open and flat motion is that above shoulder joint is that main shaft 13 is rotary shaft, makes whole piece horn in water
Open and flat motion is done in plane.
The flat shoulder joint component 2 includes flat shoulder driven sprocket 21, flat shoulder chain 22, flat shoulder line card 23, flat shoulder steel wire rope
24th, flat shoulder T-shaped plastic plate 25, flat shoulder joint axle 26, the long thin plate 27 of flat shoulder rectangle, flat shoulder bearing rectangular box 28, the contact of flat fillet
Ball bearing 29, flat shoulder axle sleeve 210, first flange disk 211, flat shoulder long plates of rectangular shape block 212, flat 213 peaceful shoulder of shoulder axial end snap ring
Angle displacement sensor 214；The other end of long duct bar 19 is connected by first flange disk 211 and flat shoulder bearing rectangular box 28
Connect, realize the connection of upper shoulder joint assembly 1 and flat shoulder joint component 2；Two are provided with inside the flat shoulder bearing rectangular box 28
Flat fillet contact ball bearing 29；The flat shoulder joint axle 26 is installed between two flat fillet contact ball bearings 29；The flat shoulder
Rectangle is grown thin piece 27 and is fixed by screws in flat shoulder bearing rectangular box 28；The flat shoulder rectangle, which is grown, is provided with flat shoulder on thin piece 27
T-shaped plastics plate 25；One end of the flat shoulder joint axle 26 is provided with flat shoulder driven sprocket 21；The flat shoulder driven sprocket 21 with
Flat shoulder chain 22 is engaged, and the end of flat shoulder chain 22 is connected by flat shoulder line card 23 with one end of flat shoulder steel wire rope 24；It is described flat
The other end of shoulder steel wire rope 24 passes through flat shoulder T-shaped plastics plate 25 and the motor connection in motor housing 7；The flat shoulder axial end card
Ring 213 is fixed on flat shoulder long plates of rectangular shape block 212, relative with flat shoulder long plates of rectangular shape block 212 for fixing flat shoulder joint axle 26
Position；The other end of flat shoulder joint axle 26 passes through the peaceful shoulder axial end snap ring 213 of flat shoulder long plates of rectangular shape block 212 and flat fillet degree position
The axle center connection of displacement sensor 214；The outer surface of flat shoulder angle displacement sensor 214 is fixed with flat shoulder bearing rectangular box 28 to be connected
Connect, when flat shoulder angle displacement sensor 214 measures, its axle center rotates with flat shoulder joint axle 26, measures；Flat shoulder joint group
Part 2, which can be realized, receives motion in shoulder abduction, outreach adduction campaign is for rotary shaft with flat shoulder joint axle 26, can make arm perpendicular
Straight plane does telescopic motion.
The vertical shoulder joint assembly 3 includes vertical shoulder angle displacement sensor 31, Z-shaped long thin plate 32, founds shoulder joint nodal axisn 33, be vertical
Shoulder bearing rectangular box 34, vertical fillet contact ball bearing 35, the long thin plate 36 of vertical shoulder rectangle, vertical shoulder axial end snap ring 37, vertical shoulder axle sleeve
38th, second flange disk 39, short-range missile tube rod 310, the 3rd ring flange 311, vertical shoulder driven sprocket 312, vertical shoulder chain 313, vertical shoulder line
Card 314, vertical shoulder steel wire rope 315 and vertical shoulder T-shaped plastics plate 316；The other end of the flat shoulder long plates of rectangular shape block 212 passes through the 3rd
Ring flange 311 is connected with short-range missile tube rod 310, realizes the connection of flat shoulder joint component 2 and vertical shoulder joint assembly 3；The tubulature
The other end of bar 310 is connected by second flange disk 39 with vertical shoulder bearing rectangular box 34；Install the vertical inside of shoulder bearing rectangular box 34
There are two vertical fillet contact ball bearings 35；The vertical shoulder axle sleeve 38 is arranged on each outside of self-support fillet contact ball bearing 35, opposition
The axial restraint of fillet contact ball bearing 35；Vertical shoulder joint nodal axisn 33 is installed between two vertical fillet contact ball bearings 35；It is described vertical
The long thin plate 36 of shoulder rectangle is fixed by screws in vertical shoulder bearing rectangular box 34；The vertical shoulder T-shaped plastics plate 316 is arranged on vertical
On the long thin plate 36 of shoulder rectangle；One end of vertical shoulder joint nodal axisn 33 passes through the through hole of the long thin plate 36 of vertical shoulder rectangle, and its end is provided with vertical
Shoulder driven sprocket 312；The vertical shoulder driven sprocket 312 engages with vertical shoulder chain 313, stands the end of shoulder chain 313 by founding shoulder
Line card 314 is connected with one end of vertical shoulder steel wire rope 315；The other end of the vertical shoulder steel wire rope 315 passes through vertical shoulder T-shaped plastics plate
316 with motor housing 7 in motor connection；The vertical shoulder axial end snap ring 37 is connected with Z-shaped long thin plate 32, founds shoulder axial end snap ring
37 are used for the position of the Z-shaped long thin plate 32 of axial restraint；The other end of vertical shoulder joint nodal axisn 33 is connected with Z-shaped long thin plate 32, and Z-shaped length is thin
Plate 32 rotates with vertical shoulder joint nodal axisn 33；The other end of vertical shoulder joint nodal axisn 33 sequentially passes through Z-shaped long thin plate 32 and vertical shoulder axial end card
Ring 37 is connected with the axle center of vertical shoulder angle displacement sensor 31；The outer surface of vertical shoulder angle displacement sensor 31 and vertical shoulder bearing square
Shape box 34 is fixedly connected, and when vertical shoulder angle displacement sensor 31 measures, its axle center rotates with vertical shoulder joint nodal axisn 33, is surveyed
Amount；Vertical shoulder joint assembly 3 realizes that shoulder does anterior flexion and rear stretching motion by the vertical rotary motion of shoulder joint nodal axisn 33；
Upper arm assembly 4 includes the thin annulus 41 of wedge, annulus outer ring 42, ball 43, annulus inner ring 44, rack circle 45, Z-shaped
Short thin plate 46, T-shaped thin plate 47, upper arm motor 48, hook-shaped thin plate 49, small Knucle-gear 410 and upper arm angle displacement sensor 411；
The other end of the Z-shaped long thin plate 32 is connected with T-shaped thin plate 47, realizes the connection of vertical shoulder joint assembly 3 and upper arm assembly 4；Institute
T-shaped thin plate 47 is stated to be connected with annulus outer ring 42；The inner side of annulus outer ring 42 has boss, for installation ball 43 to be placed in
In boss；The outside of annulus inner ring 44 is fixed with the thin annulus 41 of wedge, for fixing the relative position of ball 43；The annulus
There is gap between outer ring 42 and annulus inner ring 44, ball 43 is adapted in the gap between annulus outer ring 42 and annulus inner ring 44,
The relative motion of annulus inner ring 44 and annulus outer ring 42 can be realized；The lower end of annulus inner ring 44 is fixed with circle by screw
Rack 45, rack circle 45 engage with small Knucle-gear 410；One end of the hook-shaped thin plate 49 is connected with annulus outer ring 42, another
End is fixedly connected with the outer surface of upper arm angle displacement sensor 411；The upper arm motor 48 is arranged on hook-shaped thin plate 49, its
Power transmission shaft is connected through hook-shaped thin plate 49 with the core wheel of small Knucle-gear 410, and upper arm motor 48 drives small Knucle-gear 410 to move, and makes
Obtain annulus inner ring 44 and relative motion occurs with annulus outer ring 42, realize outward turning campaign in upper arm assembly 4；The upper arm motor 48
Transmission shaft end is connected with the axle center of upper arm angle displacement sensor 411.The rotation of upper arm motor 48, drive small Knucle-gear 410
Rotation, the engagement of gear cause upper arm assembly 4 to realize outward turning campaign in upper arm.
The forearm component 5 include forearm motor 51, small boss 52, forearm angle displacement sensor 53, long thin plate block 54,
Elliptical ring 55 and handle 56；Described long one end of thin plate block 54 is connected with Z-shaped short thin plate 46, and the other end passes through bolt and elliptical ring 55
Connection；The forearm motor 51 is connected with Z-shaped short thin plate 46；The output shaft of forearm motor 51 sequentially passes through the Z-shaped He of short thin plate 46
The through hole of long thin plate block 54 is connected with small boss 52, while small boss 52 is fixed by screws on long thin plate block 54；The hand
Handle 56 is installed on the side of elliptical ring 55, available for holding；The output shaft end of forearm motor 51 senses with forearm angle displacement
The axle center connection of device 53；It is fixedly connected on the outer surface of forearm angle displacement sensor 53 with Z-shaped short thin plate 46；Forearm motor 51
Rotation drive long thin plate block 54 to swing up and down；Forearm component 5 is allowd to realize that arm elbow joint does flexion and extension.
The height adjustable of the frame 6；The component of motor housing 7 include active motor sprocket wheel 71, active motor chain 72,
Active motor steel wire rope 73, active motor 74, wall of computer case 75, rectangular small block 76, active motor line card 77 and active motor steel
Cord spool 78；The active motor line card 77 is fixed on wall of computer case 75；The active motor 74 is fixed on wall of computer case 75,
The hole of its output end axle through wall of computer case 75 is connected with active motor sprocket wheel 71, active motor sprocket wheel 71 and active motor chain 72
Engagement, active motor chain 72 connect active motor steel wire rope 73；Active motor steel wire rope 73 is solid by active motor line card 77
It is fixed, ensure that active motor steel wire rope 73 is in tensioned state；The one side of the rectangular small block 76 is fixed on wall of computer case 75,
Counter sink is provided with rectangular small block 76, for fixing active motor steel wire rope spool 78；The active motor steel wire rope 73 is worn
Active motor steel wire rope spool 78 is crossed to be connected with upper shoulder steel wire rope 113, flat shoulder steel wire rope 24 and vertical shoulder steel wire rope 315 respectively.
The present invention operation principle and workflow be：
(1) patient dresses：Before patient carries out rehabilitation training, first according to patient's stance or sitting position height, frame 6 is adjusted
Highly.The height of long duct bar 19 and flat shoulder joint component 2 is adjusted, makes the axis of flat shoulder joint component 2 and patient's shoulder joint big
Alignment is caused, now the axis of vertical shoulder joint assembly 3 also should be substantially aligned with patient's shoulder joint.Further according to the length for protecting suffering limb upper arm
Degree, adjust Z-shaped long thin plate 32 and the relative position of T-shaped thin plate 47, make the elbow joint of patient with the axis of robot forearm component 5 substantially
Alignment.Patient's upper arm is stretched into annulus inner ring 44, and forearm is stretched into elliptical ring 55.
(2) patient trains：Proceed by rehabilitation training.Active motor 74 drives upper shoulder driven by upper shoulder steel wire rope 113
Sprocket wheel 11 rotates, and upper shoulder steel wire rope 113 pulls shoulder driven sprocket 11 to move back and forth, completes the open and flat motion of shoulder；Active motor
74 drive flat shoulder driven sprocket 21 to rotate by flat shoulder steel wire rope 24, complete shoulder telescopic motion；Active motor 74 is by founding shoulder
Steel wire rope 315 drives vertical shoulder driven sprocket 312 to rotate, and completes the motion of shoulder anterior flexion and rear stretching；Upper arm motor 48 drives small Knucle-gear
410 rotations, by meshed transmission gear to annulus inner ring 44, complete outward turning campaign in upper arm；Forearm motor 51 drives long thin plate
Block rotates about 54, completes the flexion and extension of ancon.Can be selected according to the rehabilitation state of patient single joint training mode or
Multi-joint compound motion training mode.
The present invention does not address part and is applied to prior art.
Claims (1)
1. a kind of direct drive the same as driving the upper limb rehabilitation robot being combined indirectly, it is characterised in that the robot includes upper shoulder
Joint assembly, flat shoulder joint component, vertical shoulder joint assembly, upper arm assembly, forearm component, frame and motor housing；The upper shoulder joint
Section component is fixed in frame；The flat shoulder joint component is connected with upper shoulder joint assembly；The vertical shoulder joint assembly and flat shoulder
Joint assembly connects；The upper arm assembly is connected with vertical shoulder joint assembly；The forearm component is connected with upper arm assembly；The electricity
Cabinet and frame are rest on the ground；
The upper shoulder joint assembly include shoulder driven sprocket, the first axle sleeve, main shaft, upper shoulder joint rectangular box, the second axle sleeve,
Upper fillet contact ball bearing, upper shoulder T-shaped plastics plate, main shaft sleeve, long duct bar, upper shoulder angle displacement sensor, upper shoulder chain
Bar, upper shoulder line card and upper shoulder steel wire rope；First axle sleeve and the second axle sleeve are fixed in frame；The upper shoulder angular contact ball axle
Hold as two, be clamped on respectively by the first axle sleeve and the second axle sleeve in frame；The main shaft passes through the through hole of frame, is installed on
Between two upper fillet contact ball bearings；The upper shoulder driven sprocket is arranged on one end of main shaft, the other end of main shaft and upper shoulder
The axle center connection of angle displacement sensor；The outer surface of upper shoulder angle displacement sensor is fixedly connected with frame；The upper shoulder from
Movable sprocket is engaged with upper shoulder chain, and the end of upper shoulder chain is connected by upper shoulder line card with one end of upper shoulder steel wire rope；Upper shoulder steel
The other end of cord passes through upper shoulder T-shaped plastics plate and the motor connection in motor housing；Have among the upper shoulder joint rectangular box
There is through hole, main shaft is connected through the through hole of upper shoulder joint rectangular box with upper shoulder joint rectangular box；The main shaft sleeve is arranged on master
On axle, main shaft sleeve lower end contacts with upper shoulder joint rectangular box, upper end and the upper shoulder angular contact ball bearing inner ring in the first axle sleeve
Contact；One end of the long duct bar is connected with upper shoulder joint rectangular box；
The flat shoulder joint component includes flat shoulder driven sprocket, flat shoulder chain, flat shoulder line card, flat shoulder steel wire rope, flat shoulder T-shaped plastics
Plate, flat shoulder joint axle, the long thin plate of flat shoulder rectangle, flat shoulder bearing rectangular box, flat fillet contact ball bearing, flat shoulder axle sleeve, the first method
Blue disk, flat shoulder long plates of rectangular shape block, flat shoulder axial end snap ring peace shoulder angle displacement sensor；The long duct bar other end passes through
First flange disk is connected with flat shoulder bearing rectangular box；Two flat shoulder angular contact ball axles are installed inside the flat shoulder bearing rectangular box
Hold；The flat shoulder joint axle is installed between two flat fillet contact ball bearings；The flat shoulder rectangle grows thin piece and is fixed on flat shoulder
In bearing rectangular box；The flat shoulder rectangle, which is grown, is provided with flat shoulder T-shaped plastics plate on thin piece；One end peace of the flat shoulder joint axle
Equipped with flat shoulder driven sprocket；The flat shoulder driven sprocket engages with flat shoulder chain, the end of flat shoulder chain by flat shoulder line card with
One end connection of flat shoulder steel wire rope；The other end of the flat shoulder steel wire rope passes through flat shoulder T-shaped plastics plate and the electricity in motor housing
Machine connects；The flat shoulder axial end snap ring is fixed on flat shoulder long plates of rectangular shape block；The other end of flat shoulder joint axle passes through flat shoulder square
The long plate peace shoulder axial end snap ring of shape is connected with the axle center of flat shoulder angle displacement sensor；Outside flat shoulder angle displacement sensor
Surface is fixedly connected with flat shoulder bearing rectangular box；
The vertical shoulder joint assembly includes vertical shoulder angle displacement sensor, Z-shaped long thin plate, vertical shoulder joint nodal axisn, vertical shoulder bearing rectangle
Box, vertical fillet contact ball bearing, the long thin plate of vertical shoulder rectangle, vertical shoulder axial end snap ring, vertical shoulder axle sleeve, second flange disk, tubulature
Bar, the 3rd ring flange, vertical shoulder driven sprocket, vertical shoulder chain, vertical shoulder line card, vertical shoulder steel wire rope and vertical shoulder T-shaped plastics plate；It is described
The other end of flat shoulder long plates of rectangular shape block is connected by the 3rd ring flange with short-range missile tube rod；The other end of the short-range missile tube rod passes through
Two ring flanges are connected with vertical shoulder bearing rectangular box；Two vertical fillet contact ball bearings are installed inside vertical shoulder bearing rectangular box；Institute
Vertical shoulder axle sleeve is stated on the outside of each self-support fillet contact ball bearing, oppose fillet contact ball bearing axial restraint；Vertical shoulder joint
Axle is installed between two vertical fillet contact ball bearings；The vertical long thin plate of shoulder rectangle is fixed in vertical shoulder bearing rectangular box；Institute
Vertical shoulder T-shaped plastics plate is stated to be arranged on the long thin plate of vertical shoulder rectangle；One end of vertical shoulder joint nodal axisn passes through the long thin plate of vertical shoulder rectangle
Through hole, its end are provided with vertical shoulder driven sprocket；The vertical shoulder driven sprocket engages with vertical shoulder chain, and the end of vertical shoulder chain leads to
Vertical shoulder line card is crossed to be connected with one end of vertical shoulder steel wire rope；The other end of the vertical shoulder steel wire rope pass through vertical shoulder T-shaped plastics plate with
Motor connection in motor housing；The vertical shoulder axial end snap ring is connected with Z-shaped long thin plate；The other end of vertical shoulder joint nodal axisn with it is Z-shaped
Long thin plate connection；The other end of vertical shoulder joint nodal axisn sequentially passes through Z-shaped long thin plate and vertical shoulder axial end snap ring and vertical shoulder angle displacement
The axle center connection of sensor；The outer surface of vertical shoulder angle displacement sensor is fixedly connected with vertical shoulder bearing rectangular box；
Upper arm assembly include the thin annulus of wedge, annulus outer ring, ball, annulus inner ring, rack circle, Z-shaped short thin plate, T-shaped thin plate,
Upper arm motor, hook-shaped thin plate, small Knucle-gear and upper arm angle displacement sensor；The other end of the Z-shaped long thin plate and T-shaped thin plate
Connection；The T-shaped thin plate is connected with annulus outer ring；There is boss on the inside of the annulus outer ring；It is fixed on the outside of the annulus inner ring
There is the thin annulus of wedge；Have gap between the annulus outer ring and annulus inner ring, ball adapt to annulus outer ring and annulus inner ring it
Between gap in；The annulus inner ring lower end is fixed with rack circle, and rack circle engages with small Knucle-gear；The hook-shaped thin plate
One end be connected with annulus outer ring, the other end is fixedly connected with the outer surface of upper arm angle displacement sensor；The upper arm motor
On hook-shaped thin plate, its power transmission shaft is connected through hook-shaped thin plate with the core wheel of small Knucle-gear；The transmission of the upper arm motor
Shaft end is connected with the axle center of upper arm angle displacement sensor；
The forearm component includes forearm motor, small boss, forearm angle displacement sensor, long thin plate block, elliptical ring and handle；
Described long thin plate block one end is connected with Z-shaped short thin plate, and the other end is connected by bolt with elliptical ring；The forearm motor with it is Z-shaped
Short thin plate connection；The output shaft of forearm motor sequentially passes through Z-shaped short thin plate and the through hole of long thin plate block is connected with small boss, simultaneously
Small boss is fixed on long thin plate block；The handle is installed on the side of elliptical ring；The output shaft end and forearm of forearm motor
The axle center connection of angle displacement sensor；It is fixedly connected on the outer surface of forearm angle displacement sensor with Z-shaped short thin plate；
The motor box assembly includes active motor sprocket wheel, active motor chain, active motor steel wire rope, active motor, cabinet
Plate, rectangular small block, active motor line card and active motor steel wire rope spool；The active motor line card is fixed on wall of computer case
On；The active motor is fixed on wall of computer case, and the hole of its output end axle through wall of computer case is connected with active motor sprocket wheel, actively
Motor sprocket engages with active motor chain, active motor chain connection active motor steel wire rope；Active motor steel wire rope passes through
Active motor line card is fixed；The one side of the rectangular small block is fixed on wall of computer case, and counter sink is provided with rectangular small block；
The active motor steel wire penetrating active motor steel wire rope spool respectively with upper shoulder steel wire rope, flat shoulder steel wire rope and vertical shoulder steel wire
Rope connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610455443.9A CN105997430B (en) | 2016-06-19 | 2016-06-19 | A kind of direct drive the same as driving the upper limb rehabilitation robot being combined indirectly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610455443.9A CN105997430B (en) | 2016-06-19 | 2016-06-19 | A kind of direct drive the same as driving the upper limb rehabilitation robot being combined indirectly |
Publications (2)
| Publication Number | Publication Date |
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| CN105997430A CN105997430A (en) | 2016-10-12 |
| CN105997430B true CN105997430B (en) | 2017-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610455443.9A Expired - Fee Related CN105997430B (en) | 2016-06-19 | 2016-06-19 | A kind of direct drive the same as driving the upper limb rehabilitation robot being combined indirectly |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106691778B (en) * | 2017-01-16 | 2019-01-08 | 河北工业大学 | A kind of wearable ectoskeleton upper limb rehabilitation robot |
| CN112402136B (en) * | 2020-12-23 | 2021-08-06 | 黑龙江省医院 | Nursing rehabilitation exercise device |
| CN113545957A (en) * | 2021-07-02 | 2021-10-26 | 中国科学院长春光学精密机械与物理研究所 | Indirect drive module and shoulder joint rehabilitation robot |
| CN115177490B (en) * | 2021-11-26 | 2024-03-08 | 安徽大学 | Device for detecting man-machine interaction force of lower limb exoskeleton |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0655264B1 (en) * | 1993-11-30 | 1997-09-10 | Fritz Gegauf Ag Bernina-Nähmaschinenfabrik | Force resp. muscle exercise machine |
| US7303517B2 (en) * | 2004-09-27 | 2007-12-04 | Raffaele Martini Pandozy | Motorized inversion gravity machine for the body |
| CN102309393A (en) * | 2010-07-06 | 2012-01-11 | 赵奇 | Exoskeleton type upper limb rehabilitation robot |
| JP6210364B2 (en) * | 2013-05-24 | 2017-10-11 | 株式会社安川電機 | Training equipment |
| KR20150122927A (en) * | 2014-04-24 | 2015-11-03 | 주식회사 셈앤텍 | Control method for upper limb rehabilitation robot with visual feedback |
| CN104287942A (en) * | 2014-10-09 | 2015-01-21 | 上海理工大学 | Wearable elbow joint rehabilitation robot device |
| CN104287944B (en) * | 2014-10-22 | 2016-06-08 | 河北工业大学 | A kind of upper limb rehabilitation robot |
| CN104666050B (en) * | 2015-02-02 | 2017-05-03 | 江苏大学 | Cantilever gravity support device system of upper limb rehabilitation robot |
| CN104873360B (en) * | 2015-04-17 | 2016-11-09 | 东南大学 | A kind of upper limb healing exoskeleton robot driving based on lasso trick |
| CN105252522B (en) * | 2015-11-20 | 2017-03-29 | 哈尔滨工业大学 | A kind of Flexible Transmission upper limb exoskeleton robot for wearing |
| CN105662782B (en) * | 2016-03-21 | 2024-02-06 | 上海卓道医疗科技有限公司 | Exoskeleton type upper limb rehabilitation training robot |
| CN105597280B (en) * | 2016-03-21 | 2018-03-13 | 哈尔滨工业大学 | The main passive mixing rehabilitation training of upper limbs ectoskeleton of one kind |
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