CN106109183B - 双臂扶持康复训练机器人及其操作方法 - Google Patents
双臂扶持康复训练机器人及其操作方法 Download PDFInfo
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- CN106109183B CN106109183B CN201610564443.2A CN201610564443A CN106109183B CN 106109183 B CN106109183 B CN 106109183B CN 201610564443 A CN201610564443 A CN 201610564443A CN 106109183 B CN106109183 B CN 106109183B
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- 238000011084 recovery Methods 0.000 title claims abstract description 10
- 238000011017 operating method Methods 0.000 title abstract description 5
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 51
- 238000012549 training Methods 0.000 claims abstract description 32
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 28
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 24
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 11
- 230000003028 elevating effect Effects 0.000 claims abstract description 10
- 210000000245 forearm Anatomy 0.000 claims description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 210000000707 wrist Anatomy 0.000 claims description 6
- 230000005021 gait Effects 0.000 abstract description 17
- 210000001624 hip Anatomy 0.000 abstract description 11
- 238000004088 simulation Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 210000001981 hip bone Anatomy 0.000 abstract description 3
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 210000001503 joint Anatomy 0.000 abstract 1
- 210000003857 wrist joint Anatomy 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 208000020442 loss of weight Diseases 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035479 physiological effects, processes and functions Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010017585 Gait spastic Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 208000011644 Neurologic Gait disease Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
-
- 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- 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
-
- 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
- A61H2205/08—Trunk
- A61H2205/088—Hip
Abstract
Description
Claims (1)
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610564443.2A CN106109183B (zh) | 2016-07-18 | 2016-07-18 | 双臂扶持康复训练机器人及其操作方法 |
PCT/CN2017/075083 WO2018014558A1 (zh) | 2016-07-18 | 2017-02-28 | 扶持康复训练机器人及其操作方法 |
JP2018539912A JP6555790B2 (ja) | 2016-07-18 | 2017-02-28 | 支援リハビリテーショントレーニングロボット |
US16/074,199 US11160715B2 (en) | 2016-07-18 | 2017-02-28 | Support rehabilitation training robot and operation method thereof |
EP17830206.3A EP3398579B1 (en) | 2016-07-18 | 2017-02-28 | Physical therapy support robot and operation method therefor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610564443.2A CN106109183B (zh) | 2016-07-18 | 2016-07-18 | 双臂扶持康复训练机器人及其操作方法 |
Publications (2)
Publication Number | Publication Date |
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CN106109183A CN106109183A (zh) | 2016-11-16 |
CN106109183B true CN106109183B (zh) | 2018-10-19 |
Family
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Family Applications (1)
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CN201610564443.2A Active CN106109183B (zh) | 2016-07-18 | 2016-07-18 | 双臂扶持康复训练机器人及其操作方法 |
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CN (1) | CN106109183B (zh) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11160715B2 (en) | 2016-07-18 | 2021-11-02 | Chunbao WANG | Support rehabilitation training robot and operation method thereof |
CN109178355B (zh) * | 2018-08-07 | 2020-05-15 | 北京空间技术研制试验中心 | 舱外多功能操作平台 |
CN109498371B (zh) * | 2018-12-27 | 2023-06-02 | 长春工业大学 | 下肢康复训练设备 |
CN109893398A (zh) * | 2019-04-04 | 2019-06-18 | 广东铭凯医疗机器人有限公司 | 一种仿生康复机器人 |
CN111558934B (zh) * | 2020-05-21 | 2021-02-19 | 江苏凌步智能科技有限公司 | 一种机器人模拟人体四肢肌肉主动力学状态的方法 |
CN112043549A (zh) * | 2020-09-29 | 2020-12-08 | 深圳市艾利特医疗科技有限公司 | 一种上下肢运动康复装置及其控制系统 |
CN112894792A (zh) * | 2021-01-29 | 2021-06-04 | 王安平 | 9轴双臂机器人 |
CN114454194B (zh) * | 2022-03-21 | 2024-01-12 | 深圳市普渡科技有限公司 | 一种服务机器人、机器人手爪控制方法、系统及存储介质 |
Citations (6)
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CN104146851A (zh) * | 2014-03-11 | 2014-11-19 | 鲁兵 | 主动型起立蹲坐行走多功能康复器 |
CN204394934U (zh) * | 2014-12-25 | 2015-06-17 | 哈尔滨工程大学 | 一种外骨骼式手臂康复训练装置 |
CN104905940A (zh) * | 2015-06-08 | 2015-09-16 | 江苏龙昌智能科技有限公司 | 一种多功能肢体智能康复机及其计算机辅助控制方法 |
CN105232293A (zh) * | 2015-10-12 | 2016-01-13 | 哈尔滨工程大学 | 一种移动式腰部随动装置 |
CN105392461A (zh) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | 用于自动行走训练的设备 |
CN105662782A (zh) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | 一种外骨骼式上肢康复训练机器人 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1998000087A1 (fr) * | 1996-06-28 | 1998-01-08 | Hitachi, Ltd. | Dispositif d'assistance au corps humain |
DE602006014414D1 (de) * | 2006-10-12 | 2010-07-01 | Univ Twente | Orthese |
CA2696781C (en) * | 2007-08-03 | 2016-01-19 | Grzegorz Lyszczarz | A three-point adjustment multi-purpose exercise machine |
US9358173B2 (en) * | 2008-05-09 | 2016-06-07 | National Taiwan University | Rehabilitation and training apparatus and method of controlling the same |
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2016
- 2016-07-18 CN CN201610564443.2A patent/CN106109183B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN105392461A (zh) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | 用于自动行走训练的设备 |
CN104146851A (zh) * | 2014-03-11 | 2014-11-19 | 鲁兵 | 主动型起立蹲坐行走多功能康复器 |
CN204394934U (zh) * | 2014-12-25 | 2015-06-17 | 哈尔滨工程大学 | 一种外骨骼式手臂康复训练装置 |
CN104905940A (zh) * | 2015-06-08 | 2015-09-16 | 江苏龙昌智能科技有限公司 | 一种多功能肢体智能康复机及其计算机辅助控制方法 |
CN105232293A (zh) * | 2015-10-12 | 2016-01-13 | 哈尔滨工程大学 | 一种移动式腰部随动装置 |
CN105662782A (zh) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | 一种外骨骼式上肢康复训练机器人 |
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Inventor after: Wang Chunbao Inventor after: Wang Yulong Inventor after: Long Jianjun Inventor after: Sun Tongyang Inventor after: Wei Chengdong Inventor after: Lu Zhixiang Inventor after: Hou Anxin Inventor after: Chen Pengfang Inventor after: Chen Haoqiu Inventor after: Duan Lihong Inventor after: Liu Quanquan Inventor after: Shi Qing Inventor after: Shen Yajing Inventor after: Lin Chaohua Inventor after: Zhang Lixin Inventor after: Wei Jianjun Inventor after: Li Weiguang Inventor before: Wang Chunbao Inventor before: Lu Zhixiang Inventor before: Hou Anxin Inventor before: Chen Pengfang Inventor before: Chen Haoqiu Inventor before: Shen Yajing Inventor before: Duan Lihong Inventor before: Zhang Lixin Inventor before: Wei Jianjun Inventor before: Li Weiguang Inventor before: Wang Yulong Inventor before: Long Jianjun Inventor before: Sun Tongyang Inventor before: Wei Chengdong |
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Effective date of registration: 20161230 Address after: Guangdong Province, Shenzhen City, Futian District Fu Shennan Avenue street 1006 Shenzhen International Innovation Center building C 1903 Applicant after: GUANGDONG MINGKAI MEDICAL ROBOT CO., LTD. Applicant before: Guangxi Ying Rui Intelligent Machinery Co., Ltd. |
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Effective date of registration: 20180726 Address after: 518035, room 823, Yinhua building, No. 3002, Sungang West Road, Futian District, Guangdong, Shenzhen Applicant after: Wang Chunbao Address before: 518000, Guangdong, Shenzhen province Futian District Hua Fu Street Shennan Road, 1006, Shenzhen International Innovation Center, building C, 1903 Applicant before: GUANGDONG MINGKAI MEDICAL ROBOT CO., LTD. |
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Effective date of registration: 20211018 Address after: 518000 401, building B, huahaotai Industrial Zone, No. 12, Longguan Road, Yucui community, Longhua street, Longhua District, Shenzhen City, Guangdong Province Patentee after: GUANGDONG MINGKAI MEDICAL ROBOT Co.,Ltd. Address before: 518035 room 823, Yinhua mansion, 3002 Sungang West Road, Futian District, Shenzhen, Guangdong. Patentee before: Wang Chunbao |