CN106618958A - 一种体感控制的上肢外骨骼镜像康复机器人 - Google Patents
一种体感控制的上肢外骨骼镜像康复机器人 Download PDFInfo
- Publication number
- CN106618958A CN106618958A CN201611169357.8A CN201611169357A CN106618958A CN 106618958 A CN106618958 A CN 106618958A CN 201611169357 A CN201611169357 A CN 201611169357A CN 106618958 A CN106618958 A CN 106618958A
- Authority
- CN
- China
- Prior art keywords
- shoulder
- abduction
- anteflexion
- stretch
- joint
- 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
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 41
- 230000001953 sensory effect Effects 0.000 title abstract 4
- 230000000392 somatic effect Effects 0.000 title abstract 4
- 230000033001 locomotion Effects 0.000 claims abstract description 63
- 210000003414 extremity Anatomy 0.000 claims abstract description 36
- 210000000323 shoulder joint Anatomy 0.000 claims description 21
- 210000000245 forearm Anatomy 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 18
- 230000009471 action Effects 0.000 claims description 15
- 230000035876 healing Effects 0.000 claims description 13
- 210000002310 elbow joint Anatomy 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 7
- 210000001624 hip Anatomy 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims description 5
- 210000003857 wrist joint Anatomy 0.000 claims description 5
- 241001269238 Data Species 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000012549 training Methods 0.000 abstract description 23
- 230000036541 health Effects 0.000 abstract description 5
- 230000002146 bilateral effect Effects 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006872 improvement Effects 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001769 paralizing effect Effects 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 206010029260 Neuroblastoma Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000002569 neuron Anatomy 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000003716 rejuvenation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003238 somatosensory effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000007704 transition Effects 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
- A61H1/0274—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
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611169357.8A CN106618958B (zh) | 2016-12-16 | 2016-12-16 | 一种体感控制的上肢外骨骼镜像康复机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611169357.8A CN106618958B (zh) | 2016-12-16 | 2016-12-16 | 一种体感控制的上肢外骨骼镜像康复机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106618958A true CN106618958A (zh) | 2017-05-10 |
CN106618958B CN106618958B (zh) | 2019-07-02 |
Family
ID=58823233
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611169357.8A Active CN106618958B (zh) | 2016-12-16 | 2016-12-16 | 一种体感控制的上肢外骨骼镜像康复机器人 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106618958B (zh) |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108814894A (zh) * | 2018-04-12 | 2018-11-16 | 山东大学 | 基于视觉人体位姿检测的上肢康复机器人系统及使用方法 |
CN109108970A (zh) * | 2018-08-22 | 2019-01-01 | 南通大学 | 一种基于骨骼节点信息的交互式机械臂控制方法 |
CN109172282A (zh) * | 2018-10-17 | 2019-01-11 | 苏州帝维达生物科技有限公司 | 一种七自由度的上肢康复机器人 |
CN109223441A (zh) * | 2018-09-13 | 2019-01-18 | 华南理工大学 | 一种基于Kinect传感器的人体上肢康复训练及动作辅助系统 |
CN109620631A (zh) * | 2017-10-09 | 2019-04-16 | 李卫国 | 一种仿生自动控制康复手臂 |
CN109875843A (zh) * | 2019-03-28 | 2019-06-14 | 昆明桑达科技有限公司 | 下肢辅助外骨骼机器人的传动方法 |
CN110013419A (zh) * | 2019-05-14 | 2019-07-16 | 上海大学 | 一种双臂康复机器人及训练方法 |
CN110652423A (zh) * | 2019-10-12 | 2020-01-07 | 东南大学 | 带有精确力控制的可穿戴式上肢康复训练机器人 |
CN111283678A (zh) * | 2020-01-19 | 2020-06-16 | 路邦科技授权有限公司 | 一种机器人镜像编程控制系统及其控制方法 |
CN111631905A (zh) * | 2020-05-28 | 2020-09-08 | 湖北工业大学 | 一种fmri环境下的单侧上肢康复机器人 |
CN111631726A (zh) * | 2020-06-01 | 2020-09-08 | 深圳华鹊景医疗科技有限公司 | 上肢功能评估装置与方法及上肢康复训练系统与方法 |
CN111759659A (zh) * | 2020-05-18 | 2020-10-13 | 广州九坪科技有限公司 | 一种便携的可穿戴式上肢康复机器人 |
CN112245224A (zh) * | 2020-10-21 | 2021-01-22 | 中国科学院宁波材料技术与工程研究所慈溪生物医学工程研究所 | 一种肘关节镜像康复训练装置 |
CN112370299A (zh) * | 2020-10-13 | 2021-02-19 | 深圳华鹊景医疗科技有限公司 | 上肢外骨骼肩关节中心补偿方法、装置及系统 |
CN112617810A (zh) * | 2021-01-04 | 2021-04-09 | 重庆大学 | 一种抑制上肢肩肘康复代偿的虚拟场景参数自适应方法 |
CN113509352A (zh) * | 2021-05-24 | 2021-10-19 | 东南大学 | 一种绳索康复机器人运动学参数标定和解算方法及系统 |
CN114712170A (zh) * | 2022-03-17 | 2022-07-08 | 浙大宁波理工学院 | 一种调控上肢摆动的步态修正系统及方法 |
CN115969667A (zh) * | 2022-12-21 | 2023-04-18 | 力之医疗科技(广州)有限公司 | 一种基于多模态感知的双侧协同康复系统 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102309393A (zh) * | 2010-07-06 | 2012-01-11 | 赵奇 | 外骨骼式上肢康复机器人 |
CN102727362A (zh) * | 2012-07-20 | 2012-10-17 | 上海海事大学 | 基于体感外设手臂运动追踪的康复训练系统及其训练方法 |
US20140172166A1 (en) * | 2012-08-30 | 2014-06-19 | Snu R&Db Foundation | Treatment device for hemiplegia |
CN104666047A (zh) * | 2013-11-28 | 2015-06-03 | 中国科学院沈阳自动化研究所 | 基于生物信息感知的双侧镜像康复系统 |
CN105640733A (zh) * | 2014-11-11 | 2016-06-08 | 深圳宝葫芦机器人有限公司 | 一种上肢康复机器人及其控制方法 |
-
2016
- 2016-12-16 CN CN201611169357.8A patent/CN106618958B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102309393A (zh) * | 2010-07-06 | 2012-01-11 | 赵奇 | 外骨骼式上肢康复机器人 |
CN102727362A (zh) * | 2012-07-20 | 2012-10-17 | 上海海事大学 | 基于体感外设手臂运动追踪的康复训练系统及其训练方法 |
US20140172166A1 (en) * | 2012-08-30 | 2014-06-19 | Snu R&Db Foundation | Treatment device for hemiplegia |
CN104666047A (zh) * | 2013-11-28 | 2015-06-03 | 中国科学院沈阳自动化研究所 | 基于生物信息感知的双侧镜像康复系统 |
CN105640733A (zh) * | 2014-11-11 | 2016-06-08 | 深圳宝葫芦机器人有限公司 | 一种上肢康复机器人及其控制方法 |
Cited By (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109620631A (zh) * | 2017-10-09 | 2019-04-16 | 李卫国 | 一种仿生自动控制康复手臂 |
CN108814894A (zh) * | 2018-04-12 | 2018-11-16 | 山东大学 | 基于视觉人体位姿检测的上肢康复机器人系统及使用方法 |
CN109108970A (zh) * | 2018-08-22 | 2019-01-01 | 南通大学 | 一种基于骨骼节点信息的交互式机械臂控制方法 |
CN109108970B (zh) * | 2018-08-22 | 2021-11-09 | 南通大学 | 一种基于骨骼节点信息的交互式机械臂控制方法 |
CN109223441A (zh) * | 2018-09-13 | 2019-01-18 | 华南理工大学 | 一种基于Kinect传感器的人体上肢康复训练及动作辅助系统 |
CN109172282A (zh) * | 2018-10-17 | 2019-01-11 | 苏州帝维达生物科技有限公司 | 一种七自由度的上肢康复机器人 |
CN109875843A (zh) * | 2019-03-28 | 2019-06-14 | 昆明桑达科技有限公司 | 下肢辅助外骨骼机器人的传动方法 |
CN110013419A (zh) * | 2019-05-14 | 2019-07-16 | 上海大学 | 一种双臂康复机器人及训练方法 |
CN110652423A (zh) * | 2019-10-12 | 2020-01-07 | 东南大学 | 带有精确力控制的可穿戴式上肢康复训练机器人 |
CN111283678A (zh) * | 2020-01-19 | 2020-06-16 | 路邦科技授权有限公司 | 一种机器人镜像编程控制系统及其控制方法 |
CN111759659A (zh) * | 2020-05-18 | 2020-10-13 | 广州九坪科技有限公司 | 一种便携的可穿戴式上肢康复机器人 |
CN111759659B (zh) * | 2020-05-18 | 2022-07-19 | 力之医疗科技(广州)有限公司 | 一种便携的可穿戴式上肢康复机器人 |
CN111631905A (zh) * | 2020-05-28 | 2020-09-08 | 湖北工业大学 | 一种fmri环境下的单侧上肢康复机器人 |
CN111631726A (zh) * | 2020-06-01 | 2020-09-08 | 深圳华鹊景医疗科技有限公司 | 上肢功能评估装置与方法及上肢康复训练系统与方法 |
CN112370299A (zh) * | 2020-10-13 | 2021-02-19 | 深圳华鹊景医疗科技有限公司 | 上肢外骨骼肩关节中心补偿方法、装置及系统 |
CN112370299B (zh) * | 2020-10-13 | 2023-04-25 | 深圳华鹊景医疗科技有限公司 | 上肢外骨骼肩关节中心补偿方法、装置及系统 |
CN112245224A (zh) * | 2020-10-21 | 2021-01-22 | 中国科学院宁波材料技术与工程研究所慈溪生物医学工程研究所 | 一种肘关节镜像康复训练装置 |
CN112617810A (zh) * | 2021-01-04 | 2021-04-09 | 重庆大学 | 一种抑制上肢肩肘康复代偿的虚拟场景参数自适应方法 |
CN113509352A (zh) * | 2021-05-24 | 2021-10-19 | 东南大学 | 一种绳索康复机器人运动学参数标定和解算方法及系统 |
CN113509352B (zh) * | 2021-05-24 | 2022-09-30 | 东南大学 | 一种绳索康复机器人运动学参数标定和解算方法及系统 |
CN114712170A (zh) * | 2022-03-17 | 2022-07-08 | 浙大宁波理工学院 | 一种调控上肢摆动的步态修正系统及方法 |
CN114712170B (zh) * | 2022-03-17 | 2023-10-17 | 浙大宁波理工学院 | 一种调控上肢摆动的步态修正系统及方法 |
CN115969667A (zh) * | 2022-12-21 | 2023-04-18 | 力之医疗科技(广州)有限公司 | 一种基于多模态感知的双侧协同康复系统 |
Also Published As
Publication number | Publication date |
---|---|
CN106618958B (zh) | 2019-07-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106618958A (zh) | 一种体感控制的上肢外骨骼镜像康复机器人 | |
CN106618957B (zh) | 一种上肢康复机器人 | |
CN108888473A (zh) | 基于穿戴式助行外骨骼的下肢关节运动复现方法 | |
CN104027218B (zh) | 一种康复机器人控制系统和方法 | |
CN104825258B (zh) | 肩部可穿戴功能辅助机械臂 | |
CN206151794U (zh) | 基于可变柔性关节的康复外骨骼机器人 | |
CN103735389B (zh) | 一种手指间协调性训练康复装置 | |
CN110742775A (zh) | 基于力反馈技术的上肢主被动康复训练机器人系统 | |
CN107714398A (zh) | 一种双臂康复训练机器人系统 | |
CN106420256A (zh) | 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 | |
CN105287166B (zh) | 穿戴式肘关节康复训练机器人 | |
CN201422989Y (zh) | 一种三自由度踝关节辅助运动外骨骼 | |
CN104887457B (zh) | 一种康复训练装置及其训练支架 | |
CN104317196A (zh) | 一种基于虚拟现实的上肢康复训练机器人控制方法 | |
CN101596139A (zh) | 三自由度踝关节辅助运动外骨骼 | |
CN106389068A (zh) | 用于上肢单侧偏瘫患者自主康复训练的设备和控制方法 | |
CN106038173A (zh) | 基于可变柔性关节的康复外骨骼机器人 | |
CN109692104B (zh) | 医疗康复外骨骼交互式同步控制系统及方法 | |
CN107457766A (zh) | 重生动力机械骨骼系统 | |
Bouteraa et al. | Exoskeleton robots for upper-limb rehabilitation | |
Cheng et al. | Design of an upper limb rehabilitation robot based on medical theory | |
Xiao et al. | AI-driven rehabilitation and assistive robotic system with intelligent PID controller based on RBF neural networks | |
CN113101140B (zh) | 基于数字孪生的柔性下肢外骨骼康复单元构建方法及系统 | |
Zhu et al. | Underactuated rehabilitation robotics for hand function | |
Babaiasl et al. | Mechanical design, simulation and nonlinear control of a new exoskeleton robot for use in upper-limb rehabilitation after stroke |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210618 Address after: 226019 No.205, building 6, Nantong University, No.9, Siyuan Road, Nantong City, Jiangsu Province Patentee after: Center for technology transfer, Nantong University Address before: 226000 No. 9 Siyuan Road, Chongchuan District, Nantong City, Jiangsu Province Patentee before: NANTONG University |
|
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20170510 Assignee: Jiangsu Guochen Medical Technology Co.,Ltd. Assignor: Center for technology transfer, Nantong University Contract record no.: X2022320000384 Denomination of invention: A somatosensory controlled upper limb exoskeleton mirror rehabilitation robot Granted publication date: 20190702 License type: Common License Record date: 20230104 |