CN106420256A - 基于套索驱动的可穿戴式柔性上肢康复机器人及工作方法 - Google Patents
基于套索驱动的可穿戴式柔性上肢康复机器人及工作方法 Download PDFInfo
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- CN106420256A CN106420256A CN201610800996.3A CN201610800996A CN106420256A CN 106420256 A CN106420256 A CN 106420256A CN 201610800996 A CN201610800996 A CN 201610800996A CN 106420256 A CN106420256 A CN 106420256A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—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
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1281—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles primarily by articulating the elbow joint
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
-
- 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
- A61H2201/5061—Force 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5084—Acceleration 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
- A61H2205/065—Hands
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Rehabilitation Tools (AREA)
Abstract
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CN201610800996.3A CN106420256B (zh) | 2016-09-05 | 2016-09-05 | 基于套索驱动的可穿戴式柔性上肢康复机器人 |
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CN201610800996.3A CN106420256B (zh) | 2016-09-05 | 2016-09-05 | 基于套索驱动的可穿戴式柔性上肢康复机器人 |
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Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107049704A (zh) * | 2017-04-24 | 2017-08-18 | 杭州众禾自动化设备有限公司 | 一种辅助动力柔性上肢外骨骼 |
CN107080310A (zh) * | 2017-06-22 | 2017-08-22 | 东北大学 | 一种便携式穿戴助力手套 |
CN107928990A (zh) * | 2017-12-22 | 2018-04-20 | 洛阳理工学院 | 一种用于上肢的康复性训练机器人 |
CN108553266A (zh) * | 2018-04-12 | 2018-09-21 | 昆山市科洛克机器人科技有限公司 | 一种用于肩关节半脱位患者手臂康复训练柔性外骨骼 |
CN108939396A (zh) * | 2018-09-26 | 2018-12-07 | 东南大学 | 一种绳索驱动可穿戴式上肢康复训练机器人及其使用方法 |
CN109044726A (zh) * | 2018-07-24 | 2018-12-21 | 北京交通大学 | 一种串并混联的可穿戴上肢康复外骨骼 |
CN109260669A (zh) * | 2018-09-26 | 2019-01-25 | 东南大学 | 一种绳索驱动外骨骼式上肢康复训练机器人 |
CN109260668A (zh) * | 2018-09-26 | 2019-01-25 | 东南大学 | 基于虚拟现实的绳索驱动上肢康复训练机器人系统及其使用方法 |
CN109303668A (zh) * | 2017-07-28 | 2019-02-05 | 松下知识产权经营株式会社 | 辅助装置以及辅助方法 |
CN109363892A (zh) * | 2018-11-23 | 2019-02-22 | 山东大学 | 一种绳索驱动的并联式柔性上肢康复机器人 |
CN109693223A (zh) * | 2017-10-20 | 2019-04-30 | 中国科学院沈阳自动化研究所 | 一种穿戴式上肢仿生柔性外骨骼机器人及其助力方法 |
CN109730890A (zh) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | 一种上肢外骨骼运动补偿把手滑块机构 |
CN110101546A (zh) * | 2019-06-06 | 2019-08-09 | 长春工业大学 | 一种可穿戴便携式柔性绳驱上肢康复训练机器人 |
CN110420107A (zh) * | 2019-07-24 | 2019-11-08 | 东南大学 | 一种绳索驱动三自由度的训练机器人 |
CN111660297A (zh) * | 2020-06-16 | 2020-09-15 | 南京航空航天大学 | 一种套索驱动的可穿戴协作机器人 |
CN113397904A (zh) * | 2021-02-08 | 2021-09-17 | 长春工业大学 | 一种柔性并联绳驱动前臂及腕关节康复装置 |
WO2021238293A1 (zh) * | 2020-05-25 | 2021-12-02 | 南京航空航天大学 | 可穿戴式绳驱动机械臂系统 |
CN114081704A (zh) * | 2021-11-02 | 2022-02-25 | 临沂大学 | 一种运动医学用腿部关节支撑装置 |
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WO2005002797A1 (en) * | 2003-06-20 | 2005-01-13 | Matteucci, Francesco | Gripping device with flexible elements |
US7364555B1 (en) * | 2004-12-03 | 2008-04-29 | John Davidson | Self-assisted shoulder passive range of motion apparatus |
CN101332603A (zh) * | 2008-07-24 | 2008-12-31 | 东南大学 | 套索传动机械手 |
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CN103817704A (zh) * | 2014-03-12 | 2014-05-28 | 东南大学 | 一种套索驱动的柔顺末端执行器 |
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CN104188786A (zh) * | 2014-09-11 | 2014-12-10 | 东南大学 | 一种基于套索传动的膝关节助力康复装置 |
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WO2005002797A1 (en) * | 2003-06-20 | 2005-01-13 | Matteucci, Francesco | Gripping device with flexible elements |
US7364555B1 (en) * | 2004-12-03 | 2008-04-29 | John Davidson | Self-assisted shoulder passive range of motion apparatus |
CN101332603A (zh) * | 2008-07-24 | 2008-12-31 | 东南大学 | 套索传动机械手 |
US20100160986A1 (en) * | 2008-12-23 | 2010-06-24 | Randy Simmons | Upper extremity muscle therapy system |
GB2515584A (en) * | 2013-09-10 | 2014-12-31 | Steven Wakefield | Gain Entry Tool |
CN103845184A (zh) * | 2014-01-26 | 2014-06-11 | 清华大学 | 一种绳索驱动的外骨骼式上肢康复机器人系统 |
CN103817704A (zh) * | 2014-03-12 | 2014-05-28 | 东南大学 | 一种套索驱动的柔顺末端执行器 |
CN104068985A (zh) * | 2014-06-20 | 2014-10-01 | 东南大学 | 一种用于外骨骼机器人的双套索驱动柔顺关节 |
CN104188786A (zh) * | 2014-09-11 | 2014-12-10 | 东南大学 | 一种基于套索传动的膝关节助力康复装置 |
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Cited By (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107049704A (zh) * | 2017-04-24 | 2017-08-18 | 杭州众禾自动化设备有限公司 | 一种辅助动力柔性上肢外骨骼 |
CN107080310A (zh) * | 2017-06-22 | 2017-08-22 | 东北大学 | 一种便携式穿戴助力手套 |
CN109303668A (zh) * | 2017-07-28 | 2019-02-05 | 松下知识产权经营株式会社 | 辅助装置以及辅助方法 |
CN109303668B (zh) * | 2017-07-28 | 2022-01-11 | 松下知识产权经营株式会社 | 辅助装置以及辅助方法 |
CN109693223A (zh) * | 2017-10-20 | 2019-04-30 | 中国科学院沈阳自动化研究所 | 一种穿戴式上肢仿生柔性外骨骼机器人及其助力方法 |
CN109693223B (zh) * | 2017-10-20 | 2024-03-26 | 中国科学院沈阳自动化研究所 | 一种穿戴式上肢仿生柔性外骨骼机器人及其助力方法 |
CN107928990A (zh) * | 2017-12-22 | 2018-04-20 | 洛阳理工学院 | 一种用于上肢的康复性训练机器人 |
CN107928990B (zh) * | 2017-12-22 | 2024-01-19 | 洛阳理工学院 | 一种用于上肢的康复性训练机器人 |
CN108553266A (zh) * | 2018-04-12 | 2018-09-21 | 昆山市科洛克机器人科技有限公司 | 一种用于肩关节半脱位患者手臂康复训练柔性外骨骼 |
CN109044726A (zh) * | 2018-07-24 | 2018-12-21 | 北京交通大学 | 一种串并混联的可穿戴上肢康复外骨骼 |
CN109260669A (zh) * | 2018-09-26 | 2019-01-25 | 东南大学 | 一种绳索驱动外骨骼式上肢康复训练机器人 |
CN109260668A (zh) * | 2018-09-26 | 2019-01-25 | 东南大学 | 基于虚拟现实的绳索驱动上肢康复训练机器人系统及其使用方法 |
CN108939396A (zh) * | 2018-09-26 | 2018-12-07 | 东南大学 | 一种绳索驱动可穿戴式上肢康复训练机器人及其使用方法 |
CN109363892B (zh) * | 2018-11-23 | 2024-04-05 | 山东大学 | 一种绳索驱动的并联式柔性上肢康复机器人 |
CN109363892A (zh) * | 2018-11-23 | 2019-02-22 | 山东大学 | 一种绳索驱动的并联式柔性上肢康复机器人 |
CN109730890B (zh) * | 2019-01-25 | 2021-02-02 | 电子科技大学 | 一种上肢外骨骼运动补偿把手滑块机构 |
CN109730890A (zh) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | 一种上肢外骨骼运动补偿把手滑块机构 |
CN110101546A (zh) * | 2019-06-06 | 2019-08-09 | 长春工业大学 | 一种可穿戴便携式柔性绳驱上肢康复训练机器人 |
CN110101546B (zh) * | 2019-06-06 | 2024-04-09 | 长春工业大学 | 一种可穿戴便携式柔性绳驱上肢康复训练机器人 |
CN110420107A (zh) * | 2019-07-24 | 2019-11-08 | 东南大学 | 一种绳索驱动三自由度的训练机器人 |
CN110420107B (zh) * | 2019-07-24 | 2022-03-08 | 东南大学 | 一种绳索驱动三自由度的训练机器人 |
WO2021238293A1 (zh) * | 2020-05-25 | 2021-12-02 | 南京航空航天大学 | 可穿戴式绳驱动机械臂系统 |
CN111660297A (zh) * | 2020-06-16 | 2020-09-15 | 南京航空航天大学 | 一种套索驱动的可穿戴协作机器人 |
CN113397904B (zh) * | 2021-02-08 | 2022-05-03 | 长春工业大学 | 一种柔性并联绳驱动前臂及腕关节康复装置 |
CN113397904A (zh) * | 2021-02-08 | 2021-09-17 | 长春工业大学 | 一种柔性并联绳驱动前臂及腕关节康复装置 |
CN114081704A (zh) * | 2021-11-02 | 2022-02-25 | 临沂大学 | 一种运动医学用腿部关节支撑装置 |
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