CN106726353B - It is a kind of based on adaptive wrist joint rehabilitation training device in parallel - Google Patents
It is a kind of based on adaptive wrist joint rehabilitation training device in parallel Download PDFInfo
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- CN106726353B CN106726353B CN201710011695.7A CN201710011695A CN106726353B CN 106726353 B CN106726353 B CN 106726353B CN 201710011695 A CN201710011695 A CN 201710011695A CN 106726353 B CN106726353 B CN 106726353B
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 34
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 9
- 210000000245 forearm Anatomy 0.000 claims abstract description 22
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 2
- 230000033001 locomotion Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 4
- 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 4
- 210000001364 upper extremity Anatomy 0.000 description 2
- 206010019468 Hemiplegia Diseases 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
- 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
- 230000001771 impaired effect Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
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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
- A61H1/0218—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
It is a kind of that rehabilitation medical instrument field is related to based on adaptive wrist joint rehabilitation training device in parallel.The device uses parallel-connection structure form, and there are two rotational freedoms for tool after human body wearing.The device is by hand support frame, top-support, side supports, the first branch, the second branch, forearm supports, forearm support composition.The device itself has there are six freedom degree, after being clothed to human body, since the rotational freedom of two broad sense of wrist joint limits four freedom degrees of mechanism, so that entire mechanism is clothed to after human body only carpal two broad sense rotational freedoms, its center of rotation is overlapped with human body wrist joint center of rotation always during the motion for entire mechanism after human body wearing, solve man-machine consistency problem, preferable comfort.The device can avoid unnecessary interference in the training process, can not only fully meet wrist joint rehabilitation exercise needs, and have that structure is simple, compact, easy to use, and driving is steady, the low advantage of manufacturing cost.
Description
Technical field
The present invention relates to rehabilitation medical instrument fields, and in particular to a kind of adaptive rehabilitation in parallel of auxiliary wrist joint rehabilitation
Training device.
Background technique
Wrist joint is most complicated one of the joint of human body, and wrist joint is located at human upper limb, and wrist joint is propped up in human upper limb
Support, push-and-pull etc. subject very big load in motion processes, thus in daily life with it is easily impaired in sports.In day
Often play an important role in activity.With natural calamity take place frequently and the injures and deaths of contingency, carpal fracture
Disease incidence also increases therewith, and furthermore the aggravation of social senilization is so 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
One-to-one training is carried out, this treatment is not only expensive, expends duration, but also 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, wrist joint rehabilitation institution is used in wrist joint rehabilitation training, not only
The workload that rehabilitation training efficiency can be promoted, expensive expense is reduced, mitigate physiatrician, and can be by recording in real time
Training parameter preferably feeds back the rehabilitation efficacy of patient.
Human body wrist joint healing robot is mostly that human body wrist joint model is regarded as to axis to fix and intersect universal at present
Save joint.And according to human anatomy: wrist joint is one of the joint that structure is most complicated in human synovial, wrist joints sporting
Not only simple ruler/oar partially, flexion/extension movement, that is to say, that wrist joint do ruler/oar partially, flexion/extension movement axis be in sky
Interior movement.It immobilizes if still that ruler/oar is inclined, flexion/extension movement center of rotation is regarded as when designing convalescence device,
It must cause incompatible between man-machine in rehabilitation training, may result in carpal secondary damage 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.
Summary of the invention
The technical problem to be solved by the present invention is to inventing one kind, to be able to satisfy wrist joint rehabilitation exercise demand (i.e. carpal
Ruler partially/oar is inclined, anteflexion/to extend back movement), and during rehabilitation adaptive 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 branch, and second
Chain, forearm supports, forearm support composition.The device itself has there are six freedom degree, after being clothed to human body, since wrist closes
The rotational freedom for saving two broad sense limits four freedom degrees of mechanism, so that entire mechanism is clothed to only wrist after human body and closes
Two broad sense rotational freedoms of section, human body after dressing close with human body wrist always during the motion for entire mechanism by its center of rotation
It saves center of rotation to be overlapped, therefore the present invention preferably resolves man-machine consistency problem, makes one to feel in rehabilitation training
To preferable comfort.
The solution adopted by the present invention to solve the technical problem is that:
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 branch (4), the second branch (5), forearm supports (6), forearm support (7).
Further, the first threaded hole (11), the second threaded hole (12), hand bondage are opened up on the hand supports (1)
Hole (13).
Further, the first threaded hole of top-support (21), the second spiral shell of top-support are offered on the top-support (2)
Pit (23)；The first threaded hole of side supports (31), the second threaded hole of side supports (33) are offered in side supports (3).
Further, the top-support (2) is connect with hand supports (1) by top-support fastening screw (22)；Side
Face bracket (3) is connect with hand supports (1) by side supports fastening screw (32).
Further, first branch (4) includes the first fastening screw (41), the first branch S subcomponent one (42), the
One branch S subcomponent two (43), the first branch S subcomponent three (44), S slave connecting rod one (45), first straight line motor (46), U pair
Connecting rod one (47), the first branch U subcomponent one (48), the first branch U subcomponent two (49).
Further, the first branch S subcomponent one (42) connects by the way that the first fastening screw (41) and top-support (2) are fixed
It connects, the first branch S subcomponent one (42), the first branch S subcomponent two (43), the first branch S subcomponent three (44) organize balling-up pair
It is connect with S slave connecting rod one (45), the first branch U subcomponent one (48), the first branch U subcomponent two (49) composition Hooke pair and U
Slave connecting rod one (47) connection, wherein connects first straight line motor (46) between S slave connecting rod one (45), U slave connecting rod one (47).
Further, second branch (5) includes the second fastening screw (51), the second branch S subcomponent one (52), the
Two branch S subcomponents two (53), the second branch S subcomponent three (54), S slave connecting rod two (55), second straight line motor (56), U pair
Connecting rod two (57), the second branch U subcomponent one (58), the second branch U subcomponent two (59).
Further, the second branch S subcomponent one (52) connects by the way that the first fastening screw (51) and side supports (3) are fixed
It connects, the second branch S subcomponent one (52), the second branch S subcomponent two (53), the second branch S subcomponent three (54) organize balling-up pair
It is connect with S slave connecting rod two (55), the second branch U subcomponent one (58), the second branch U subcomponent two (59) composition Hooke pair and U
Slave connecting rod two (57) connection, wherein connects second straight line motor (56) between S slave connecting rod two (55), U slave connecting rod two (57).
Further, forearm bondage hole (61), the first threaded hole of preceding arm support are offered on the forearm supports (6)
(62), arm support second bearing hole (65) before preceding arm support first bearing hole (63), the second threaded hole of preceding arm support (64).
Further, the first rolling bearing (103), the first branch U are placed in the preceding arm support first bearing hole (63)
Subcomponent two (49) is fixed on forearm supports (6) by first bearing end cap (101), preceding arm support second bearing hole
(65) the second rolling bearing (111), the second branch U subcomponent two (59) are placed in, are fixed on by second bearing end cap (115)
On forearm supports (6).
Further, first bearing end cap threaded hole (104) is offered on the first bearing end cap (101), passes through
One bearing (ball) cover fastening screw (105) is fixed at preceding the first threaded hole of arm support (62), on the second bearing end cap (112)
First bearing end cap threaded hole (115) is offered, preceding arm support second is fixed to by second bearing end cap fastening screw (117)
At threaded hole (63).
Further, the first branch U subcomponent one (48) and the first branch U subcomponent two (49) are tight with U pair first
Gu screw (107) passes through U pair first assembly threaded hole one (106), secondary second component threaded hole two (102) connection of U, the second branch
U subcomponent one (58) and the first branch U subcomponent two (59) use secondary second fastening screw (114) of U to pass through U pair first assembly screw thread
Hole three (113), secondary second component threaded hole four (116) connection of U.
The invention adopts the above technical scheme, and innovative design has gone out a kind of adaptive wrist joint healing robot in parallel.
The device can not only fully meet wrist joint rehabilitation exercise needs, and have simple structure, install compact, easy to use, driving
Steadily, the low advantage of manufacturing cost.In addition, after human body wearing entire mechanism during the motion its center of rotation always with human body
Wrist joint center of rotation is overlapped, and preferably resolves man-machine consistency problem, since the convalescence device uses parallel institution,
There are preferable rigidity and kinematics performance compared with concatenated wrist convalescence device.
It is a kind of to the present invention with reference to the accompanying drawing to be described further based on adaptive wrist joint healing robot in parallel.
Detailed description of the invention
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 present invention；
Fig. 3 is a kind of connection schematic diagram of the hand supports module of wrist joint convalescence device of the present invention；
Fig. 4 is a kind of first branch of wrist joint convalescence device of the present invention, the second branch connection schematic diagram；
Fig. 5 is a kind of connection schematic diagram of the forearm supports module of wrist joint convalescence device of the present invention；
Fig. 6 is a kind of forearm bearing structure illustration of wrist joint convalescence device of the present invention；
In Fig. 1-Fig. 5: J1- ruler partially/oar off-axis line, J2- flexion/extension axis, 1- hand supports, the 11-the first threaded hole,
12-the second threaded hole, 13- hand bondage hole, 2-top-supports, 21-the first threaded holes of top-support, 22-top-supports
Fastening screw, 23-the second threaded holes of top-support, 24-S the first fastening screw of pair, 3-side supports, 31-side supports
Second threaded hole, 32- side supports fastening screw, 33-the second threaded holes of side supports, 34-S the second fastening screw of pair, 4-
First branch, the 41-the first fastening screw, the 42-the first branch S subcomponent one, the 43-the first branch S subcomponent two, 44-the
One branch S subcomponent three, 45-S slave connecting rod one, 46- first straight line motor, 47- the first branch U slave connecting rod one, the first branch of 48-
U subcomponent one, 49- the first branch U subcomponent two, the second branch of 5-, the second fastening screw of 51-, the 52-the second branch S subcomponent
One, the 53-the second branch S subcomponent two, the 54-the second branch S subcomponent three, 55-S slave connecting rod two, 56- second straight line motor,
57-U slave connecting rod two, 58- the second branch U subcomponent one, 59- the second branch U subcomponent two, 6- forearm supports, 61- forearm is tied up
Hole is tied up, the first threaded hole of arm support before 62-, arm support first bearing hole before 63-, the second threaded hole of arm support before 64-, before 65-
Arm support second bearing hole, 7- forearm support, 101- first bearing end cap, the first U deputy thread hole one 102-, 103- first are rolled
Bearing, 104- first bearing end cap threaded hole, 105- first bearing end cap fastening screw, the first U deputy thread hole two 106-, 107-
U the first fastening screw of pair, the second rolling bearing of 111-, 112- second bearing end cap, the 2nd U deputy thread hole one 113-, 114-U pair
Second fastening screw, 115- second bearing end cap threaded hole, the 2nd U deputy thread hole two 116-, the fastening of 117- second bearing end cap
Screw.
Specific embodiment
As Figure 1-Figure 5, the present invention is a kind based on adaptive wrist joint healing robot in parallel, has two
A rotational freedom, using structure type in parallel: i.e. using the parallel institution of two driving branch UPS.The device mainly wraps
Include hand supports (1), top-support (2), side supports (3), the first branch (4), the second branch (5) forearm supports (6), preceding
Arm support (7).In carrying out rehabilitation training, the forearm of patient and preceding arm support (6) are tied up with elastic bands first
Tie up, the hand of patient and hand supports (1) be subjected to bondage, then arm is placed on forearm support (7), carry out bondage it
Before to adjust the pose of patient forearm and palm as far as possible, prevent occurring larger displacement between man-machine, make during rehabilitation
Patient does not feel good, and causes secondary damage.
After convalescence device and human body bondage, forearm, which is placed on preceding arm support (7), can carry out rehabilitation training, to two
Linear motor (46,56) on a driving branch (4,5) carries out driving can be so that the rotation that the device carries out both direction be transported
It is dynamic, that is, the device is realized around the rotation of J1, J2 axis；Since the mechanism can keep wrist constantly during rehabilitation exercise
The pivot center in joint is overlapped with the dynamic of mechanism axis of rotation, so preferably resolving man-machine consistency problem, is made one
Feel more comfortable in rehabilitation training.
In summary, the rotation around J1, J2 axis may be implemented in this wrist joint healing robot, i.e. ruler/oar of wrist is inclined,
Flexion/extension movement, due to ensure that carpal center of rotation is overlapped with the dynamic of mechanism center of rotation.So wrist joint rehabilitation machines
Device people can effectively realize carpal rehabilitation training.
Claims (1)
1. a kind of based on adaptive wrist joint rehabilitation training device in parallel, it is characterised in that parallel-connection structure form is used, including
Hand supports, top-support, side supports, the first branch, the second branch, preceding arm support, forearm support；
The first threaded hole (11), the second threaded hole (12), hand bondage hole (13) are opened up in hand supports (1)；Wherein the first spiral shell
Pit (11) is located at the upside of hand supports (1), and the second threaded hole (12) is located at the right side of hand supports (1)；
The first threaded hole of top-support (21), the second threaded hole of top-support (23), top-support are offered on top-support (2)
(2) pass through top-support fastening screw (22), the first threaded hole of the first threaded hole (11) and top-support with hand supports (1)
(21) it connects；
The first threaded hole of side supports (31), the second threaded hole of side supports (33), side supports are offered in side supports (3)
(3) pass through side supports fastening screw (32), the first threaded hole of the second threaded hole (12) and side supports with hand supports (1)
(31) it connects；
First branch (4) includes the first fastening screw (41), the first branch S subcomponent one (42), the first branch S subcomponent two
(43), the first branch S subcomponent three (44), S slave connecting rod one (45), first straight line motor (46), U slave connecting rod one (47), first
Branch U subcomponent one (48), the first branch U subcomponent two (49)；
First branch S subcomponent one (42) passes through the first fastening screw (41) and the second threaded hole of top-support (23) and top branch
Frame (2) is fixedly connected, the first branch S subcomponent one (42), the first branch S subcomponent two (43), the first branch S subcomponent three
(44) group balling-up pair is connect with S slave connecting rod one (45), the first branch U subcomponent one (48), two (49) group of the first branch U subcomponent
It is connect at Hooke pair with U slave connecting rod one (47), first straight line electricity is wherein connected between S slave connecting rod one (45), U slave connecting rod one (47)
Machine (46), the first branch U subcomponent one (48) are passed through with the first branch U subcomponent two (49) with secondary first fastening screw (107) of U
Secondary second component threaded hole two (102) connection of U pair first assembly threaded hole one (106), U；
Second branch (5) includes the second fastening screw (51), the second branch S subcomponent one (52), the second branch S subcomponent two
(53), the second branch S subcomponent three (54), S slave connecting rod two (55), second straight line motor (56), U slave connecting rod two (57), second
Branch U subcomponent one (58), the second branch U subcomponent two (59)；
Second branch S subcomponent one (52) passes through the second fastening screw (51) and the second threaded hole of side supports (33) and lateral bolster
Frame (3) is fixedly connected, the second branch S subcomponent one (52), the second branch S subcomponent two (53), the second branch S subcomponent three
(54) group balling-up pair is connect with S slave connecting rod two (55), the second branch U subcomponent one (58), two (59) group of the second branch U subcomponent
It is connect at Hooke pair with U slave connecting rod two (57), second straight line electricity is wherein connected between S slave connecting rod two (55), U slave connecting rod two (57)
Machine (56), the second branch U subcomponent one (58) are passed through with the second branch U subcomponent two (59) with secondary second fastening screw (114) of U
Secondary second component threaded hole four (116) connection of U pair first assembly threaded hole three (113), U；
Forearm bondage hole (61), the first threaded hole of preceding arm support (62), preceding arm support first bearing are offered on preceding arm support (6)
Hole (63), the second threaded hole of preceding arm support (64) and preceding arm support second bearing hole (65)；
Wherein preceding the first threaded hole of arm support (62), preceding arm support first bearing hole (63), the second threaded hole of preceding arm support (64)
The one end of preceding arm support (6) close to patient's ancon, and preceding arm support first are respectively positioned on preceding arm support second bearing hole (65)
Threaded hole (62), preceding arm support first bearing hole (63) are located at the upside of preceding arm support (6)；Preceding the second threaded hole of arm support (64)
It is located at the right side of preceding arm support (6) with preceding arm support second bearing hole (65)；
The first rolling bearing (103) and the first branch U subcomponent two (49) placed in preceding arm support first bearing hole (63) lead to
It crosses first bearing end cap (101) to be fixed on preceding arm support (6), the second rotation placed in preceding arm support second bearing hole (65)
Bearing (111) and the second branch U subcomponent two (59), are fixed on preceding arm support (6) by second bearing end cap (112)；
First bearing end cap threaded hole (104) is offered on first bearing end cap (101), passes through first bearing end cap fastening screw
(105) it is fixed at preceding the first threaded hole of arm support (62), second bearing end cap screw thread is offered on second bearing end cap (112)
Hole (115) is fixed at preceding the second threaded hole of arm support (63) by second bearing end cap fastening screw (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 |
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| Publication Number | Publication Date |
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| CN106726353A CN106726353A (en) | 2017-05-31 |
| CN106726353B true CN106726353B (en) | 2019-04-12 |
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| CN107806837B (en) * | 2017-10-29 | 2020-03-13 | 北京工业大学 | Non-invasive wrist joint axis motion model measuring method |
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| CN109223432B (en) * | 2018-08-01 | 2021-03-26 | 广州中医药大学(广州中医药研究院) | Intelligent robot for wrist joint rehabilitation |
| CN109048988A (en) * | 2018-09-25 | 2018-12-21 | 电子科技大学 | A kind of mechanical wrist constructional device |
| CN109394477B (en) * | 2018-12-10 | 2021-03-16 | 北京工业大学 | 2-SPU/RR parallel pneumatic wrist rehabilitation device |
| CN109907940B (en) * | 2019-03-29 | 2024-04-26 | 东莞广州中医药大学中医药数理工程研究院 | Upper limb rehabilitation system and method based on wrist joints and rehabilitation gloves |
| 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 |
| CN113397904B (en) * | 2021-02-08 | 2022-05-03 | 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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| US5738636A (en) * | 1995-11-20 | 1998-04-14 | Orthologic Corporation | Continuous passive motion devices for joints |
| CA2679505A1 (en) * | 2009-09-21 | 2011-03-21 | Carlo Menon | Exoskeleton robot |
| JP5706991B1 (en) * | 2014-07-25 | 2015-04-22 | 有限会社影 | Massage machine |
| CN104308842A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Novel plane-symmetric dual-rotation parallel mechanism |
| CN204235547U (en) * | 2014-10-24 | 2015-04-01 | 天津大学 | A kind of novel bicyclic shape guide rail two one-rotation parallel mechanism |
| CN105476819A (en) * | 2016-01-16 | 2016-04-13 | 北京工业大学 | Ankle joint rehabilitation mechanism with driving branch chains arranged obliquely |
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| CN106726353A (en) | 2017-05-31 |
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