CN106726353A - A kind of wrist joint rehabilitation training device in parallel based on self adaptation - Google Patents
A kind of wrist joint rehabilitation training device in parallel based on self adaptation Download PDFInfo
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- CN106726353A CN106726353A CN201710011695.7A CN201710011695A CN106726353A CN 106726353 A CN106726353 A CN 106726353A CN 201710011695 A CN201710011695 A CN 201710011695A CN 106726353 A CN106726353 A CN 106726353A
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- side chain
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- supports
- connecting rods
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- 230000006978 adaptation Effects 0.000 title claims abstract description 9
- 210000003857 wrist joint Anatomy 0.000 title abstract description 33
- 210000000245 forearm Anatomy 0.000 claims abstract description 25
- 238000005096 rolling process Methods 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims 2
- 238000000429 assembly Methods 0.000 claims 2
- 238000011084 recovery Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 208000034657 Convalescence Diseases 0.000 description 8
- 230000035876 healing Effects 0.000 description 7
- 210000000707 wrist Anatomy 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 210000001364 upper extremity Anatomy 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 235000012364 Peperomia pellucida Nutrition 0.000 description 1
- 240000007711 Peperomia pellucida Species 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000001225 therapeutic effect 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
- A61H1/0218—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
- A61H1/0285—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
- 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
- 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
- A61H2205/065—Hands
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
A kind of wrist joint rehabilitation training device in parallel based on self adaptation is related to rehabilitation medical instrument field.The device uses parallel-connection structure form, has two rotational freedoms after human body is dressed.The device is by hand support frame, top-support, side supports, the first side chain, the second side chain, forearm supports, forearm bearing composition.The device has six-freedom degree in itself, after human body is clothed to, four frees degree of mechanism are limited due to the rotational freedom of two broad sense of wrist joint, so that whole mechanism only has carpal two broad sense rotational freedoms after being clothed to human body, whole mechanism its center of rotation in motion process overlaps with human body wrist joint center of rotation all the time after human body wearing, solve man-machine consistency problem, preferable comfortableness.The device can avoid unnecessary interference in the training process, can not only fully meet wrist joint rehabilitation exercise needs, and have simple structure, compact, easy to use, drive steady, the advantage of low cost of manufacture.
Description
Technical field
The present invention relates to rehabilitation medical instrument field, and in particular to a kind of self adaptation parallel connection rehabilitation of auxiliary wrist joint rehabilitation
Trainer.
Background technology
Wrist joint is one of most complicated joint of human body, and wrist joint is located at human upper limb, and wrist joint is propped up in human upper limb
Very big load is subject in the motion processes such as support, push-and-pull, thus it is easily impaired with sports in daily life.In day
Often played an important role in activity.With natural calamity take place frequently and contingency injures and deaths, carpal fracture
The incidence of disease also increases therewith, and the aggravation of social senilization in addition causes that the number of hemiplegia increases so that wrist joint loses work
Kinetic force.Therefore treatment carpal for human body is particularly important.Traditional therapeutic modality is rehabilitation therapist to patient
Man-to-man training is carried out, this treatment is not only expensive, expend duration, and can neither essence during rehabilitation training
True controlled training parameter and record real-time training data can not feedback training parameter and index, if treating physician passes through
Deficiency is tested, or even causes secondary damage.Therefore, the use wrist joint rehabilitation institution in wrist joint rehabilitation training, not only
Rehabilitation training efficiency, the workload for reducing expensive expense, mitigating physiatrician can be lifted, and can be by real time record
Training parameter preferably feeds back the rehabilitation efficacy of patient.
Current human body wrist joint healing robot be mostly by human body wrist joint model regard that axis fixes and intersect as it is universal
Section joint.And it can be seen from human anatomy：Wrist joint is one of most complicated joint of structure, wrist joints sporting in human synovial
Not exclusively simple chi/oar partially, flexion/extension motion, that is to say, that wrist joint do chi/oar partially, flexion/extension motion axis be in sky
Interior motion.If the center of rotation of still chi/oar is inclined, flexion/extension motion is regarded as and immobilized when convalescence device is designed,
Must cause in rehabilitation training it is man-machine between it is incompatible, carpal secondary damage is may result in when serious.Cause
This, design one can not only preferably resolve man-machine consistency problem, and make one in rehabilitation training more
Comfortable wrist joint healing robot is significantly.
The content of the invention
The technical problem to be solved in the present invention is that it is (i.e. carpal that invention one kind can meet wrist joint rehabilitation exercise demand
Chi partially/oar partially, it is anteflexion/after stretch motion), and during rehabilitation self adaptation wrist joint axis movement so that patient is in health
It is more comfortable in multiple process, natural.The device is by hand supports, top-support, side supports, the first side chain, second
Chain, forearm supports, forearm bearing composition.The device has six-freedom degree in itself, after human body is clothed to, because wrist is closed
The rotational freedom for saving two broad sense limits four frees degree of mechanism so that only wrist is closed after whole mechanism is clothed to human body
Two broad sense rotational freedoms of section, whole mechanism its center of rotation in motion process is closed with human body wrist all the time after human body wearing
Section center of rotation overlaps, therefore the present invention preferably resolves man-machine consistency problem, makes one to feel in rehabilitation training
To preferable comfortableness.
The present invention solves the scheme that is used of technical problem：
A kind of wrist joint rehabilitation training device, it is characterised in that：Including hand supports (1), top-support (2), lateral bolster
Frame (3), the first side chain (4), the second side chain (5), forearm supports (6), forearm bearing (7).
Further, the first screwed hole (11), the second screwed hole (12), hand bondage are opened up on the hand supports (1)
Hole (13).
Further, the screwed hole of top-support first (21), the spiral shell of top-support second are offered on the top-support (2)
Pit (23)；The screwed hole of side supports first (31), the screwed hole of side supports second (33) are offered in side supports (3).
Further, the top-support (2) is connected with hand supports (1) by top-support trip bolt (22)；Side
Face support (3) is connected with hand supports (1) by side supports trip bolt (32).
Further, first side chain (4) includes the first trip bolt (41), the first side chain S subcomponents one (42),
One side chain S subcomponents two (43), the first side chain S subcomponents three (44), S slave connecting rods one (45), first straight line motor (46), U pairs
Connecting rod one (47), the first side chain U subcomponents one (48), the first side chain U subcomponents two (49).
Further, the first side chain S subcomponents one (42) connect by the way that the first trip bolt (41) and top-support (2) are fixed
Connect, the first side chain S subcomponents one (42), the first side chain S subcomponents two (43), the composition ball pair of the first side chain S subcomponents three (44)
It is connected with S slave connecting rods one (45), the first side chain U subcomponents one (48), the composition Hooke pair of the first side chain U subcomponents two (49) and U
Slave connecting rod one (47) is connected, and first straight line motor (46) is connected wherein between S slave connecting rods one (45), U slave connecting rods one (47).
Further, second side chain (5) includes the second trip bolt (51), the second side chain S subcomponents one (52),
Two side chain S subcomponents two (53), the second side chain S subcomponents three (54), S slave connecting rods two (55), second straight line motor (56), U pairs
Connecting rod two (57), the second side chain U subcomponents one (58), the second side chain U subcomponents two (59).
Further, the second side chain S subcomponents one (52) connect by the way that the first trip bolt (51) and side supports (3) are fixed
Connect, the second side chain S subcomponents one (52), the second side chain S subcomponents two (53), the composition ball pair of the second side chain S subcomponents three (54)
It is connected with S slave connecting rods two (55), the second side chain U subcomponents one (58), the composition Hooke pair of the second side chain U subcomponents two (59) and U
Slave connecting rod two (57) is connected, and second straight line motor (56) is connected wherein between S slave connecting rods two (55), U slave connecting rods two (57).
Further, forearm bondage hole (61), the screwed hole of preceding arm support first are offered on the forearm supports (6)
(62), arm support second bearing hole (65) before preceding arm support clutch shaft bearing hole (63), the screwed hole of preceding arm support second (64).
Further, the first rolling bearing (103), the first side chain U are laid in the preceding arm support clutch shaft bearing hole (63)
Subcomponent two (49), is fixed on forearm supports (6) by clutch shaft bearing end cap (101), preceding arm support second bearing hole
(65) the second rolling bearing (111), the second side chain U subcomponents two (59) are laid in, is fixed on by second bearing end cap (115)
On forearm supports (6).
Further, clutch shaft bearing end cap screwed hole (104) is offered on the clutch shaft bearing end cap (101), by
One bearing (ball) cover trip bolt (105) is fixed to preceding arm support first screwed hole (62) place, on the second bearing end cap (112)
Clutch shaft bearing end cap screwed hole (115) is offered, preceding arm support second is fixed to by second bearing end cap trip bolt (117)
Screwed hole (63) place.
Further, the first side chain U subcomponents one (48) are tight with U secondary first with the first side chain U subcomponents two (49)
Gu screw (107) is connected by U pair first assembly screwed hole one (106), U pair the second component screwed holes two (102), the second side chain
U subcomponents one (58) are with the first side chain U subcomponents two (59) with U the second trip bolt of pairs (114) by U pair first assembly screw threads
Hole three (113), U pair the second component screwed hole four (116) is connected.
The present invention uses above technical scheme, and innovative design has gone out a kind of wrist joint healing robot in parallel of self adaptation.
The device can not only fully meet wrist joint rehabilitation exercise needs, and have simple structure, install compact, easy to use, driving
Steadily, the advantage of low cost of manufacture.Additionally, after human body wearing whole mechanism in motion process its center of rotation all the time with human body
Wrist joint center of rotation overlaps, and preferably resolves man-machine consistency problem, because the convalescence device employs parallel institution,
There are preferable rigidity and kinematics performance compared with the wrist convalescence device of series connection.
A kind of wrist joint healing robot in parallel based on self adaptation of the present invention is described further below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is wrist joint human movement model schematic diagram；
Fig. 2 is a kind of overall construction drawing of wrist joint healing robot of the invention；
Fig. 3 is a kind of connection diagram of the hand supports module of wrist joint convalescence device of the invention；
Fig. 4 is a kind of the first side chain of wrist joint convalescence device of the invention, the second side chain connection diagram；
Fig. 5 is a kind of connection diagram of the forearm supports module of wrist joint convalescence device of the invention；
Fig. 6 is a kind of forearm seat structure schematic diagram of wrist joint convalescence device of the invention；
In Fig. 1-Fig. 5：J1- chis partially/oar off-axis line, J2- flexion/extension axis, 1- hand supports, the 11-the first screwed hole,
12-the second screwed hole, 13- hand bondages hole, 2-top-support, the screwed hole of 21-top-support first, 22-top-support
Trip bolt, the screwed hole of 23-top-support second, 24-S the first trip bolts of pair, 3-side supports, 31-side supports
Second screwed hole, 32- side supports trip bolts, the screwed hole of 33-side supports second, 34-S the second trip bolts of pair, 4-
First side chain, the 41-the first trip bolt, the 42-the first side chain S subcomponents one, the 43-the first side chain S subcomponents two, 44-the
One side chain S subcomponents three, 45-S slave connecting rods one, 46- first straight line motors, 47- the first side chain U slave connecting rods one, the side chains of 48- first
U subcomponents one, 49- the first side chain U subcomponents two, the side chains of 5- second, the trip bolts of 51- second, the 52-the second side chain S subcomponents
One, the 53-the second side chain S subcomponents two, the 54-the second side chain S subcomponents three, 55-S slave connecting rods two, 56- second straight line motors,
57-U slave connecting rods two, 58- the second side chain U subcomponents one, 59- the second side chain U subcomponents two, 6- forearm supports, 61- forearms are tied up
Hole is tied up, the screwed hole of arm support first before 62-, arm support clutch shaft bearing hole before 63-, the screwed hole of arm support second before 64-, before 65-
Arm support second bearing hole, 7- forearm bearings, 101- clutch shaft bearing end caps, the U deputy threads holes one of 102- the, 103- first is rolled
Bearing, 104- clutch shaft bearing end cap screwed holes, 105- clutch shaft bearing end cap trip bolts, the U deputy threads holes two of 106- the, 107-
U the first trip bolts of pair, the rolling bearings of 111- second, 112- second bearing end caps, the U deputy threads holes one of 113- the 2nd, 114-U pairs
Second trip bolt, 115- second bearing end cap screwed holes, the U deputy threads holes two of 116- the 2nd, the fastening of 117- second bearings end cap
Screw.
Specific embodiment
As Figure 1-Figure 5, the present invention is based on the wrist joint healing robot in parallel of self adaptation for a kind, with two
Individual rotational freedom, using structure type in parallel：I.e. using two parallel institutions of driving side chain UPS.The device is mainly wrapped
Include hand supports (1), top-support (2), side supports (3), the first side chain (4), the second side chain (5) forearm supports (6), preceding
Arm bearing (7).In rehabilitation training is carried out, the forearm of patient is tied up with preceding arm support (6) with elastic bands first
Tie up, the hand of patient and hand supports (1) carried out into bondage, then arm is placed on forearm bearing (7), carry out bondage it
Before to adjust the pose of patient forearm and palm as far as possible, prevent it is man-machine between there is larger displacement, make during rehabilitation
Patient does not feel well, and causes secondary damage.
After convalescence device and human body bondage, forearm is placed in just can carry out rehabilitation training on preceding arm support (7), to two
The individual linear electric motors (46,56) driven on side chain (4,5) are driven the rotation fortune that the device just can be made to carry out both direction
It is dynamic, that is, realize rotation of the device around J1, J2 axis；Because the mechanism can constantly keep wrist during rehabilitation exercise
The pivot center in joint overlaps with the dynamic of mechanism axis of rotation, so preferably resolving man-machine consistency problem, makes one
Feel more comfortable in rehabilitation training.
In summary, this wrist joint healing robot can realize that the chi/oar of the rotation around J1, J2 axis, i.e. wrist is inclined,
Flexion/extension is moved, due to ensure that dynamic coincidence of carpal center of rotation and mechanism's center of rotation.So wrist joint rehabilitation machines
Device people can effectively realize carpal rehabilitation training.
Claims (1)
1. a kind of recovery exercising robot based on self adaptation, it is characterised in that use parallel-connection structure form, including hand supports,
Top-support, side supports, the first side chain, the second side chain, preceding arm support, forearm bearing；
The first screwed hole (11), the second screwed hole (12), hand bondage hole (13) are opened up in hand supports (1)；
The screwed hole of top-support first (21), the screwed hole of top-support second (23), top-support are offered on top-support (2)
(2) it is connected by top-support trip bolt (22) with hand supports (1)；
The screwed hole of side supports first (31), the screwed hole of side supports second (33), side supports are offered in side supports (3)
(3) it is connected by side supports trip bolt (32) with hand supports (1)；
First side chain (4) includes the first trip bolt (41), the first side chain S subcomponents one (42), the first side chain S subcomponents two
(43), the first side chain S subcomponents three (44), S slave connecting rods one (45), first straight line motor (46), U slave connecting rods one (47), first
Side chain U subcomponents one (48), the first side chain U subcomponents two (49)；
First side chain S subcomponents one (42) are fixedly connected by the first trip bolt (41) with top-support (2), the first side chain S
Subcomponent one (42), the first side chain S subcomponents two (43), the composition ball pair of the first side chain S subcomponents three (44) and S slave connecting rods one
(45) connect, the first side chain U subcomponents one (48), the composition Hooke pair of the first side chain U subcomponents two (49) and U slave connecting rods one (47)
Connection, connects first straight line motor (46), the first side chain U subcomponents wherein between S slave connecting rods one (45), U slave connecting rods one (47)
One (48) uses U the first trip bolt of pairs (107) by U pair first assemblies screwed hole one with the first side chain U subcomponents two (49)
(106), U pairs the second component screwed hole two (102) is connected；
Second side chain (5) includes the second trip bolt (51), the second side chain S subcomponents one (52), the second side chain S subcomponents two
(53), the second side chain S subcomponents three (54), S slave connecting rods two (55), second straight line motor (56), U slave connecting rods two (57), second
Side chain U subcomponents one (58), the second side chain U subcomponents two (59)；
Second side chain S subcomponents one (52) are fixedly connected by the first trip bolt (51) with side supports (3), the second side chain S
Subcomponent one (52), the second side chain S subcomponents two (53), the composition ball pair of the second side chain S subcomponents three (54) and S slave connecting rods two
(55) connect, the second side chain U subcomponents one (58), the composition Hooke pair of the second side chain U subcomponents two (59) and U slave connecting rods two (57)
Connection, connects second straight line motor (56), the second side chain U subcomponents wherein between S slave connecting rods two (55), U slave connecting rods two (57)
One (58) uses U the second trip bolt of pairs (114) by U pair first assemblies screwed hole three with the first side chain U subcomponents two (59)
(113), U pairs the second component screwed hole four (116) is connected；
Forearm bondage hole (61), the screwed hole of preceding arm support first (62), preceding arm support first axle are offered on forearm supports (6)
Arm support second bearing hole (65) before bearing bore (63), the screwed hole of preceding arm support second (64)；
Also include laying the first rolling bearing (103) and the first side chain U subcomponents two in preceding arm support clutch shaft bearing hole (33)
(49), it is fixed on forearm supports (6) by clutch shaft bearing end cap (101), is laid in preceding arm support second bearing hole (65)
Second rolling bearing (111) and the second side chain U subcomponents two (59), are fixed on forearm and support by second bearing end cap (112)
On frame (6)；
Also include offering clutch shaft bearing end cap screwed hole (104) on clutch shaft bearing end cap (101), it is tight by clutch shaft bearing end cap
Gu screw (105) is fixed to preceding arm support first screwed hole (62) place, second bearing end cap offers first axle socket end on (112)
Lid screwed hole (115), preceding arm support second screwed hole (63) place is fixed to by second bearing end cap trip bolt (117).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710011695.7A CN106726353B (en) | 2017-01-08 | 2017-01-08 | It is a kind of based on adaptive wrist joint rehabilitation training device in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710011695.7A CN106726353B (en) | 2017-01-08 | 2017-01-08 | It is a kind of based on adaptive wrist joint rehabilitation training device in parallel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106726353A true CN106726353A (en) | 2017-05-31 |
| CN106726353B CN106726353B (en) | 2019-04-12 |
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|---|---|---|---|
| CN201710011695.7A Expired - Fee Related CN106726353B (en) | 2017-01-08 | 2017-01-08 | It is a kind of based on adaptive wrist joint rehabilitation training device in parallel |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107806837A (en) * | 2017-10-29 | 2018-03-16 | 北京工业大学 | A kind of non-intrusion type wrist joint axis motion model measuring method |
| CN108836732A (en) * | 2018-04-20 | 2018-11-20 | 北京工业大学 | A kind of rehabilitation training of upper limbs exoskeleton mechanism with people-machine motion compatibility and passive gravitational equilibrium characteristic |
| CN109048988A (en) * | 2018-09-25 | 2018-12-21 | 电子科技大学 | A kind of mechanical wrist constructional device |
| CN109223432A (en) * | 2018-08-01 | 2019-01-18 | 广州中医药大学(广州中医药研究院) | wrist joint rehabilitation intelligent robot |
| CN109394477A (en) * | 2018-12-10 | 2019-03-01 | 北京工业大学 | A kind of 2-SPU/RR pneumatic wrist convalescence device in parallel |
| CN109907940A (en) * | 2019-03-29 | 2019-06-21 | 东莞广州中医药大学中医药数理工程研究院 | A kind of upper limb healing system and method based on wrist joint and restoring gloves |
| 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 |
| CN113397904A (en) * | 2021-02-08 | 2021-09-17 | 长春工业大学 | Flexible parallel rope driven forearm and wrist joint rehabilitation device |
| CN114191256A (en) * | 2021-12-23 | 2022-03-18 | 燕山大学 | Wearable double-ball hinge wrist rehabilitation training robot |
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