CN106473896A - Wearable wrist exoskeleton rehabilitation device - Google Patents
Wearable wrist exoskeleton rehabilitation device Download PDFInfo
- Publication number
- CN106473896A CN106473896A CN201610892707.7A CN201610892707A CN106473896A CN 106473896 A CN106473896 A CN 106473896A CN 201610892707 A CN201610892707 A CN 201610892707A CN 106473896 A CN106473896 A CN 106473896A
- Authority
- CN
- China
- Prior art keywords
- bearing
- connecting rod
- transverse axis
- vertical pivot
- hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 210000000245 forearm Anatomy 0.000 claims abstract description 23
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 230000006378 damage Effects 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 210000001364 upper extremity Anatomy 0.000 description 3
- 210000003857 wrist joint Anatomy 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 208000034657 Convalescence Diseases 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000003010 carpal bone Anatomy 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 210000000236 metacarpal bone Anatomy 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 210000000623 ulna Anatomy 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape 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
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2001/0207—Nutating movement of a body part around its articulation
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Vascular Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Nursing (AREA)
- Rehabilitation Tools (AREA)
Abstract
Wearable wrist exoskeleton rehabilitation device, belongs to wrist ESD field.The present invention includes the back of the hand mechanism, connecting rod one, connecting rod two, front arm mechanism：Described the back of the hand mechanism, including clamping plate, bolt one, bolt two, the back of the hand fixed seat, bearing one, vertical pivot one, transverse axis one, bearing two and bearing three, described front arm mechanism, including slide plate, forearm fixed seat, bearing four, vertical pivot two, transverse axis two, bearing five and bearing six：Described connecting rod one is connected by bearing with transverse axis one and transverse axis two respectively with connecting rod two, and described transverse axis one, transverse axis two are connected by bearing with vertical pivot one and vertical pivot two respectively, and described vertical pivot one is connected by bearing with the back of the hand fixed seat and slide plate respectively with vertical pivot two：Described slide plate is connected with forearm fixed seat.The present invention ensures that the number of degrees of freedom, of man-machine closed chain is always two, avoids the hidden danger that secondary injury occurs from theory of mechanisms angle.This device simplifies the design of wrist ectoskeletal mechanism, easy to use, occupancy small volume, low cost of manufacture.
Description
Technical field
The invention belongs to wrist ESD field is and in particular to a kind of serial mechanism based on spatial six-bar mechanism.
Background technology
Wrist is one of human upper limb joint, is responsible for flexibly changing position and the direction of staff.Utilizing ESD
It is often necessary to focus on to design around human body wrist during carrying out upper limb healing.Eight pieces of carpal bones, Cheng Yuan is contained in wrist joint
Nearly two rows are distributed in metacarpal bone and scratch between bone, ulna, can complete to bend and stretch, take down the exhibits and circumduction etc..
In prior art, wrist exoskeleton rehabilitation device is typically integrated in upper limb ESD, with elbow joint, shoulder joint
Section etc. carries out rehabilitation training in the lump.In order to simplify device, part designer proposes the device for healing and training individually for wrist.
In these devices, in terms of theory of mechanisms angle, parallel connection type and tandem type two big class can be roughly divided into.Wherein, outside parallel connection type wrist
Skeleton can assist wrist to complete most of motion, such as " Ricewrist ", " CRAMER " etc..Tandem type wrist ESD phase
To simply lightly, the design of its configuration is also relatively various, such as " MIT-MANUS ", " W-EXOS " and " MARSE-4 " etc..
Content of the invention
The technical problem to be solved in the present invention is to provide a kind of motion needs that can adapt to wrist joint completely, device
The institution freedom number of degrees and wrist joint number of degrees of freedom, match, easy to use, occupancy small volume, the handss based on spatial six-bar mechanism
Wrist ESD.In the apparatus, using hinge connecting rod and chute sliding bar mechanism, form two degrees of freedom sky with the back of the hand and forearm
Between six-bar mechanism.
The present invention solves the scheme that adopted of technical problem：
A kind of Wearable wrist ESD it is characterised in that：Including the back of the hand mechanism (1), connecting rod one (2-1), connecting rod
Two (2-2) and front arm mechanism (3)：Described the back of the hand mechanism (1) passes through connecting rod one (2-1) and connecting rod two (2-2) and front arm mechanism (3)
Connect.
Further, described the back of the hand mechanism (1) inclusion clamping plate (4), bolt one (5-1), bolt two (5-2), the back of the hand are fixed
Seat (6), bearing one (7-1), vertical pivot one (8-1), transverse axis one (9-1), bearing two (7-2) and bearing three (7-3)：Described clamping plate
(4) pass through bolt one (5-1) and bolt two (5-2) is connected with the back of the hand fixed seat (6), described the back of the hand fixed seat (6) passes through bearing
One (7-1) is connected with vertical pivot one (8-1), and described vertical pivot one (8-1) passes through bearing two (7-2) and bearing three (7-3) and transverse axis one
(8-1) connect, described transverse axis one (8-1) pass through bearing two (7-2) and bearing three (7-3) respectively with connecting rod one (2-1), connecting rod two
(2-2) connect：Described transverse axis one (8-1) constitutes wrist with connecting rod one (2-1) and connecting rod two (2-2) respectively and horizontally rotates secondary one
(R1-1) and wrist horizontally rotates secondary two (R1-2), described the back of the hand fixed seat (6) and vertical pivot one (8-1) constitute wrist straight rotation
Secondary (R2).
Further, described front arm mechanism (3) includes slide plate (10), forearm fixed seat (11), bearing four (7-4), vertical pivot
Two (8-2), transverse axis two (9-2), bearing five (7-5) and bearing six (7-6)：Described forearm fixed seat (11) is with slide plate (10) even
Connect, described slide plate (10) is connected with vertical pivot two (8-2) by bearing four (7-4), described vertical pivot two (8-2) passes through bearing five (7-
5) it is connected with transverse axis two (9-2) with bearing six (7-6), described transverse axis two (9-2) passes through bearing five (7-5) and bearing six (7-6)
Respectively with connecting rod one (2-1), connecting rod two (2-2) connects：Described forearm fixed seat (11) constitutes moving sets (P1) with slide plate (10),
Described transverse axis two (9-2) respectively with connecting rod one (2-1), connecting rod two (2-2) constitutes forearm and horizontally rotates secondary one (R4-1) and forearm
Horizontally rotate secondary two (R4-2), described slide plate (10) constitutes forearm vertical rotation pair (R3) with vertical pivot two (8-2).
The present invention due to using above technical scheme, achievable wrist ESD after wearing, no matter human synovial
Axis how to change, the number of degrees of freedom, of man-machine closed chain is always two it is ensured that the range of motion of wrist, from theory of mechanisms angle
Degree avoids the hidden danger that secondary injury occurs.This device simplifies the design of hand ectoskeletal mechanism, easy to use, occupancy volume
Little, low cost of manufacture, can be applicable to the field such as wrist convalescence device and list action seizure.
Below in conjunction with the accompanying drawings the Wearable wrist exoskeleton rehabilitation device of the present invention is described further.
Brief description
Fig. 1 is the population structure schematic three dimensional views of Wearable wrist exoskeleton rehabilitation device of the present invention；
Fig. 2 is the back of the hand mechanism decomposing schematic representation of Wearable wrist exoskeleton rehabilitation device of the present invention；
Fig. 3 is the front arm mechanism decomposing schematic representation of Wearable wrist exoskeleton rehabilitation device of the present invention；
In figure：1 the back of the hand mechanism；2-1 connecting rod one；2-2 connecting rod two；Arm mechanism before 3；4 clamping plate；5-1 spiral shell
Bolt one；5-2 bolt two；6 the back of the hand fixed seats；7-1 bearing one；7-2 bearing two；7-3 bearing three；7-4 bearing
Four；7-5 bearing five；7-6 bearing six；8-1 vertical pivot one；8-2 vertical pivot two；9-1 transverse axis one；9-2 transverse axis two；
10 slide plates；11 forearm fixed seats.
Specific embodiment
As shown in Figure 1-Figure 3, Wearable wrist exoskeleton rehabilitation device, including inclusion the back of the hand mechanism (1), connecting rod one (2-
1), connecting rod two (2-2) and front arm mechanism (3)：Described the back of the hand mechanism (1) passes through connecting rod one (2-1) and connecting rod two (2-2) and forearm
Mechanism (3) connects.
As shown in Fig. 2 the back of the hand mechanism decomposing schematic representation, described the back of the hand mechanism (1) includes clamping plate (4), bolt one (5-1), spiral shell
Bolt two (5-2), the back of the hand fixed seat (6), bearing one (7-1), vertical pivot one (8-1), transverse axis one (9-1), bearing two (7-2) and bearing
Three (7-3)：Described clamping plate (4) passes through bolt one (5-1) and bolt two (5-2) is connected with the back of the hand fixed seat (6), and described the back of the hand is solid
Reservation (6) is connected with vertical pivot one (8-1) by bearing one (7-1), and described vertical pivot one (8-1) passes through bearing two (7-2) and bearing
Three (7-3) are connected with transverse axis one (8-1), described transverse axis one (8-1) pass through bearing two (7-2) and bearing three (7-3) respectively with company
Bar one (2-1), connecting rod two (2-2) connects：Described transverse axis one (8-1) constitutes handss with connecting rod one (2-1) and connecting rod two (2-2) respectively
The back of the body horizontally rotates secondary one (R1-1) and the back of the hand horizontally rotates secondary two (R1-2), described the back of the hand fixed seat (6) and vertical pivot one (8-1) structure
Become the back of the hand vertical rotation pair (R2).
As shown in arm mechanism decomposing schematic representation before Fig. 3, described front arm mechanism (3) includes slide plate (10), forearm fixed seat
(11), bearing four (7-4), vertical pivot two (8-2), transverse axis two (9-2), bearing five (7-5) and bearing six (7-6)：Described forearm is solid
Reservation (11) is connected with slide plate (10), and described slide plate (10) is connected with vertical pivot two (8-2) by bearing four (7-4), described vertical pivot
Two (8-2) pass through bearing five (7-5) and bearing six (7-6) is connected with transverse axis two (9-2), and described transverse axis two (9-2) passes through bearing
Five (7-5) and bearing six (7-6) respectively with connecting rod one (2-1), connecting rod two (2-2) connects：Described forearm fixed seat (11) and cunning
Plate (10) constitute moving sets (P1), described transverse axis two (9-2) respectively with connecting rod one (2-1), connecting rod two (2-2) constitute forearm level
Rotate secondary one (R4-1) and forearm horizontally rotates secondary two (R4-2), described slide plate (10) is vertical with vertical pivot two (8-2) composition forearm
Rotate secondary (R3).
Claims (1)
1. a kind of Wearable wrist ESD it is characterised in that：Including the back of the hand mechanism (1), connecting rod one (2-1), connecting rod two
(2-2) with front arm mechanism (3)；
Described the back of the hand mechanism (1) passes through connecting rod one (2-1) and connecting rod two (2-2) is connected with front arm mechanism (3)；
Described the back of the hand mechanism (1) includes clamping plate (4), bolt one (5-1), bolt two (5-2), the back of the hand fixed seat (6), bearing one
(7-1), vertical pivot one (8-1), transverse axis one (9-1), bearing two (7-2) and bearing three (7-3)：Described clamping plate (4) passes through bolt one
(5-1) it is connected with the back of the hand fixed seat (6) with bolt two (5-2), described the back of the hand fixed seat (6) passes through bearing one (7-1) and vertical pivot
One (8-1) connects, and described vertical pivot one (8-1) passes through bearing two (7-2) and bearing three (7-3) is connected with transverse axis one (8-1), described
Transverse axis one (8-1) pass through bearing two (7-2) and bearing three (7-3) respectively with connecting rod one (2-1), connecting rod two (2-2) connection；
Described transverse axis one (8-1) constitute with connecting rod one (2-1) and connecting rod two (2-2) respectively the back of the hand horizontally rotate secondary one (R1-1) and
The back of the hand horizontally rotates secondary two (R1-2), and described the back of the hand fixed seat (6) and vertical pivot one (8-1) constitute the back of the hand vertical rotation pair (R2)；
Described front arm mechanism (3) includes slide plate (10), forearm fixed seat (11), bearing four (7-4), vertical pivot two (8-2), transverse axis two
(9-2), bearing five (7-5) and bearing six (7-6)：Described forearm fixed seat (11) is connected with slide plate (10), described slide plate (10)
It is connected with vertical pivot two (8-2) by bearing four (7-4), described vertical pivot two (8-2) passes through bearing five (7-5) and bearing six (7-6)
Be connected with transverse axis two (9-2), described transverse axis two (9-2) pass through bearing five (7-5) and bearing six (7-6) respectively with connecting rod one (2-
1), connecting rod two (2-2) connects；
Described forearm fixed seat (11) and slide plate (10) constitute moving sets (P1), described transverse axis two (9-2) respectively with connecting rod one (2-
1), connecting rod two (2-2) composition forearm horizontally rotates secondary one (R4-1) and forearm horizontally rotates secondary two (R4-2), described slide plate (10)
Constitute forearm vertical rotation pair (R3) with vertical pivot two (8-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610892707.7A CN106473896B (en) | 2016-10-12 | 2016-10-12 | Wearable wrist exoskeleton rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610892707.7A CN106473896B (en) | 2016-10-12 | 2016-10-12 | Wearable wrist exoskeleton rehabilitation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106473896A true CN106473896A (en) | 2017-03-08 |
| CN106473896B CN106473896B (en) | 2019-04-05 |
Family
ID=58269305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610892707.7A Expired - Fee Related CN106473896B (en) | 2016-10-12 | 2016-10-12 | Wearable wrist exoskeleton rehabilitation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106473896B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110074946A (en) * | 2019-06-17 | 2019-08-02 | 山东海天智能工程有限公司 | A kind of wrist function rehabilitation training device |
| CN113499215A (en) * | 2021-06-18 | 2021-10-15 | 西安交通大学 | Three-degree-of-freedom wrist rehabilitation robot based on continuous multi-section structure |
| EP3936104A1 (en) | 2020-06-28 | 2022-01-12 | Vysoká Skola Bánská - Technická Univerzita Ostrava | Joint with two degrees of freedom for use in exoskeletons and rehabilitation facilities |
| CN114191256A (en) * | 2021-12-23 | 2022-03-18 | 燕山大学 | Wearable double-ball hinge wrist rehabilitation training robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201743884U (en) * | 2010-06-07 | 2011-02-16 | 付风生 | Robot for rehabilitating and training upper limb |
| KR20120086996A (en) * | 2011-01-27 | 2012-08-06 | 근로복지공단 | Auxiliary apparatus for assisting muscular strength of arms |
| CN203736485U (en) * | 2013-12-11 | 2014-07-30 | 广州一康医疗设备实业有限公司 | Rehabilitating mechanical hand |
| CN105250116A (en) * | 2015-10-10 | 2016-01-20 | 付风生 | Upper limb rehabilitation training robot manipulator |
-
2016
- 2016-10-12 CN CN201610892707.7A patent/CN106473896B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201743884U (en) * | 2010-06-07 | 2011-02-16 | 付风生 | Robot for rehabilitating and training upper limb |
| KR20120086996A (en) * | 2011-01-27 | 2012-08-06 | 근로복지공단 | Auxiliary apparatus for assisting muscular strength of arms |
| CN203736485U (en) * | 2013-12-11 | 2014-07-30 | 广州一康医疗设备实业有限公司 | Rehabilitating mechanical hand |
| CN105250116A (en) * | 2015-10-10 | 2016-01-20 | 付风生 | Upper limb rehabilitation training robot manipulator |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110074946A (en) * | 2019-06-17 | 2019-08-02 | 山东海天智能工程有限公司 | A kind of wrist function rehabilitation training device |
| CN110074946B (en) * | 2019-06-17 | 2021-02-09 | 山东海天智能工程有限公司 | Wrist function rehabilitation training device |
| EP3936104A1 (en) | 2020-06-28 | 2022-01-12 | Vysoká Skola Bánská - Technická Univerzita Ostrava | Joint with two degrees of freedom for use in exoskeletons and rehabilitation facilities |
| CN113499215A (en) * | 2021-06-18 | 2021-10-15 | 西安交通大学 | Three-degree-of-freedom wrist rehabilitation robot based on continuous multi-section structure |
| CN114191256A (en) * | 2021-12-23 | 2022-03-18 | 燕山大学 | Wearable double-ball hinge wrist rehabilitation training robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106473896B (en) | 2019-04-05 |
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