CN106730642A - A kind of upper limbs exoskeleton rehabilitation arm - Google Patents
A kind of upper limbs exoskeleton rehabilitation arm Download PDFInfo
- Publication number
- CN106730642A CN106730642A CN201710031938.3A CN201710031938A CN106730642A CN 106730642 A CN106730642 A CN 106730642A CN 201710031938 A CN201710031938 A CN 201710031938A CN 106730642 A CN106730642 A CN 106730642A
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- arm
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 19
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 20
- 210000000245 forearm Anatomy 0.000 claims description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 abstract description 12
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 abstract description 2
- 239000011664 nicotinic acid Substances 0.000 abstract 1
- 210000003414 extremity Anatomy 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000013139 quantization Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 208000028389 Nerve injury Diseases 0.000 description 1
- 208000001738 Nervous System Trauma Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 201000001880 Sexual dysfunction Diseases 0.000 description 1
- 208000030886 Traumatic Brain injury Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 208000028412 nervous system injury Diseases 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 231100000872 sexual dysfunction Toxicity 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000001032 spinal nerve Anatomy 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/20—Distances or displacements
- A63B2220/24—Angular displacement
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of upper limbs exoskeleton rehabilitation arm, including elbow joint motion module, upper arm adjustment module, shoulder joint kinesitherapy module and electronic controlled height adjustment, the elbow joint motion module is connected with upper arm adjustment module, and the shoulder joint kinesitherapy module connects upper arm adjustment module and electronic controlled height adjustment respectively;The shoulder joint kinesitherapy module includes L-type tumbler, wobble drive part, bends and stretches actuator;The L-type tumbler has two orthogonal first L-squares and the second L-square, the wobble drive part is arranged on the first L-square, the wobble drive part drives upper arm adjustment module, the actuator that bends and stretches is arranged on the second L-square, and the actuator that bends and stretches drives L-type tumbler to be rotated around the second L-square.Each joint motions free degree of the invention maintains coaxial substantially with the human body joint motion free degree, and Bionic Design enhances the comfortableness and reliability of machine, is relatively beneficial to robot assisted rehabilitation training.
Description
Technical field
The present invention relates to a kind of medical rehabilitation exercising device, more particularly to a kind of upper limbs exoskeleton rehabilitation arm.
Background technology
The limbs of patient are carried out with the motor function that the auxiliary patient that rehabilitation training can be effective recaptures paralyzed limbs.Traditional
Exercise rehabilitation training is carried out by therapist's manpower assistance patient.Treated using robot assisted, not only make up conventional motion rehabilitation
The shortcomings of training effectiveness is low, dull in content, evaluation index is not accurate enough, and assistant analysis suffering limb every kinematic parameter, with
Promote the improvement of rehabilitation training pattern, for medical science of recovery therapy provides brand-new treatment means.
Robot is suitable to repetitive work, and this causes that robot rehabilitation training program is preferably implemented, and so sets
Count mainly for helping the patient of nerve damage to recover its motion function.By in feature disability caused by nervous system injury most
Influence patient's function is the functional disorder of upper limbs system, and disability caused by upper limbs systemic-function sexual dysfunction is given birth to patient
The influence of independence and quality living is very significant, the recovery of the rehabilitation to patient motion function, especially upper extremity function, quilt
It is considered one of most important target in brain trauma and Patients of Spinal nerve rehabilitation training.Existing equipment complex structure, hand
Portion's joint motion is not comprehensive.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of upper limbs exoskeleton rehabilitation arm, in realization
Limb shoulder joint is bent and stretched, the training of the three degree of freedom for bending and stretching of receipts and elbow joint in outer pendulum.
The present invention is achieved by the following technical solutions, the present invention include elbow joint motion module, upper arm adjustment module,
Shoulder joint kinesitherapy module and electronic controlled height adjustment, the elbow joint motion module are connected with upper arm adjustment module, the shoulder joint
Motion module connects upper arm adjustment module and electronic controlled height adjustment respectively;The shoulder joint kinesitherapy module includes L-type tumbler, pendulum
Move actuator, bend and stretch actuator;The L-type tumbler has two orthogonal first L-squares and the second L-square, institute
State wobble drive part to be arranged on the first L-square, the wobble drive part drives upper arm adjustment module, described to bend and stretch actuator
It is arranged on the second L-square, the actuator that bends and stretches drives L-type tumbler to be rotated around the second L-square.
The elbow joint motion module includes forearm pallet and hand steered part;The head end of the forearm pallet connects hand steered part,
End and upper arm adjustment module are hinged, and the hinged place is provided with elbow joint actuator.The flexion and extension of elbow joint can be realized.
The both sides of the end of the forearm pallet are hinged in upper arm adjustment module by connecting bolt respectively.By connection
Bolt is realized being hinged.
The side of the end of the forearm pallet connects elbow joint actuator by L-type connecting key.L-type connecting key is simply square
Just, the connected mode of actuator and elbow joint can be simplified, deadweight is reduced.
The upper arm adjustment module includes large arm pallet, Telescopic handle, chute, shoulder terminal pad;The chute is along big fupport arm
The length direction of disk is set, and the chute is fixed on the both sides of large arm pallet, and the head end of the Telescopic handle is set in the chute
Interior, end is hinged elbow joint motion module, the top connection shoulder terminal pad of the large arm pallet, the shoulder terminal pad connection
Wobble drive part.By length adjustment come the arm length with the use of person.
Multiple connection through holes, the corresponding connection on the chute and Telescopic handle are opened up on the chute and Telescopic handle respectively
Through hole is connected by adjusting screw.
The electronic controlled height adjustment includes handle nut, pedestal, regulation screw mandrel;The head end of the regulation screw mandrel is set in base
In seat, the handle nut is connected to the top of regulation screw mandrel, and actuator is bent and stretched in the pedestal connection.Adjust high using screw mandrel
Degree, disclosure satisfy that the crowd of different heights.
The end of the regulation screw mandrel is provided with fixed seat.Can be easy to integrally position rehabilitation arm or solid using fixed seat
It is fixed.
The elbow joint motion module is identical with the actuator structure in shoulder joint kinesitherapy module, the actuator include according to
The motor of secondary connection, shaft coupling and branch sleeve.The rotation for realizing three degree of freedom is driven by motor.
Angular displacement sensor is respectively equipped with the end of the forearm pallet, the first L-square and the second L-square.By passing
Sensor collects the movable information in each joint, there is provided the training data of quantization is analyzed for therapist.
The present invention has advantages below compared to existing technology:Simple structure of the present invention is easy to use, with three degree of freedom,
Auxiliary patient carries out the flexion/extension of upper limbs shoulder joint, outer pendulum/interior receipts, the flexion/extension of elbow joint;Three freedoms of motion simultaneously, coordinate
The active movement training for carrying out.And each joint motions free degree maintained substantially with the human body joint motion free degree it is coaxial, imitate
Raw design enhances the comfortableness and reliability of machine, is relatively beneficial to robot assisted rehabilitation training.Applicable crowd extensively, drops
The complexity of low structure.
Brief description of the drawings
Fig. 1 is structural representation of the invention;
Fig. 2 is the structural representation of elbow joint motion module;
Fig. 3 is the structural representation of upper arm adjustment module;
Fig. 4 is the structural representation of shoulder joint kinesitherapy module;
Fig. 5 is the structural representation of electronic controlled height adjustment.
Specific embodiment
Embodiments of the invention are elaborated below, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed implementation method and specific operating process, but protection scope of the present invention is not limited to following implementations
Example.
As shown in Fig. 1~5, the present embodiment includes elbow joint motion module 1, upper arm adjustment module 2, shoulder joint kinesitherapy module
3 and electronic controlled height adjustment 4, the elbow joint motion module 1 is connected with upper arm adjustment module 2,3 points of the shoulder joint kinesitherapy module
Lian Jie not upper arm adjustment module 2 and electronic controlled height adjustment 4.
The shoulder joint kinesitherapy module 3 includes L-type tumbler 31, wobble drive part 32, bends and stretches actuator 33;The L-type
Tumbler 31 has two orthogonal first L-squares and the second L-square, and it is straight that the wobble drive part 32 is arranged on first
On gusset, the wobble drive part 32 drives upper arm adjustment module 2, and the actuator 33 that bends and stretches is arranged on the second L-square,
The actuator 33 that bends and stretches drives L-type tumbler 31 to be rotated around the second L-square.
The elbow joint motion module 1 includes forearm pallet 11 and hand steered part 12;The head end connection of the forearm pallet 11
Hand steered part 12, end and upper arm adjustment module 2 are hinged, and the hinged place is provided with elbow joint actuator 13.Elbow joint can be realized
Flexion and extension.
The two ends of hand steered part 12 are connected to the head end both sides of forearm pallet 11 by fixing bolt 16, and hand steered part 12 can revolve
Turn, be easy to hold.
The both sides of the end of the forearm pallet 11 are hinged in upper arm adjustment module 2 by connecting bolt 14 respectively.It is logical
Connecting bolt 14 is crossed to realize being hinged.Connection 14 near the side of elbow joint actuator 13 is blind bolt.
The side of the end of the forearm pallet 11 connects elbow joint actuator 13 by L-type connecting key 15.L-type connecting key
15 is simple and convenient, can simplify the connected mode of actuator and elbow joint, reduces deadweight.
The upper arm adjustment module 2 includes large arm pallet 21, Telescopic handle 22, chute 23, shoulder terminal pad 24;The chute
23 are set along the length direction of large arm pallet 21, and the chute 23 is fixed on the both sides of large arm pallet 21, the Telescopic handle 22
Head end is set in the chute 23, and end is hinged elbow joint motion module 1, and the top connection shoulder of the large arm pallet 21 connects
Connect disk 24, the connection wobble drive of shoulder terminal pad 24 part 32.By length adjustment come the arm length with the use of person.
Multiple connection through holes are opened up on the chute 23 and Telescopic handle 22 respectively, it is right on the chute 23 and Telescopic handle 22
The connection through hole answered is connected by adjusting screw 25.
The electronic controlled height adjustment 4 includes handle nut 41, pedestal 42, regulation screw mandrel 43;The head of the regulation screw mandrel 43
End is set in pedestal 42, and the handle nut 41 is connected to the top of regulation screw mandrel 43, and driving is bent and stretched in the connection of the pedestal 42
Part 33.Height is adjusted using screw mandrel, the crowd of different heights is disclosure satisfy that.
The end of the regulation screw mandrel 43 is provided with fixed seat 44.Can be easy to integrally position rehabilitation arm using fixed seat 44
Or it is fixed.
The elbow joint motion module 1 is identical with the actuator structure in shoulder joint kinesitherapy module 3, and the actuator includes
Motor 50, shaft coupling 51 and the branch sleeve 52 being sequentially connected.The rotation for realizing three degree of freedom is driven by motor.
Angular displacement sensor is respectively equipped with the end of the forearm pallet 11, the first L-square and the second L-square.By
Sensor collects the movable information in each joint, there is provided the training data of quantization is analyzed for therapist.
Dc source is set simultaneously to sensor power, data collecting card is set and is connected with sensor and is transmitted the anglec of rotation
Degree information.
Patient is seated at the correct position of seat, and regulation height makes the shoulder joint of human body be pointed to robot shoulder joint not
Moving point (two intersection points of rotary shaft).Wearing exoskeleton robot, regulation upper arm, forearm and the corresponding robot position of wrist
Length is to suitable dimension, you can carry out training
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of upper limbs exoskeleton rehabilitation arm, it is characterised in that including elbow joint motion module, upper arm adjustment module, shoulder joint
Motion module and electronic controlled height adjustment, the elbow joint motion module are connected with upper arm adjustment module, the shoulder joint kinesitherapy mould
Block connects upper arm adjustment module and electronic controlled height adjustment respectively;The shoulder joint kinesitherapy module includes L-type tumbler, wobble drive
Part, bend and stretch actuator;The L-type tumbler has two orthogonal first L-squares and the second L-square, the swing
Actuator is arranged on the first L-square, and the wobble drive part drives upper arm adjustment module, and the actuator that bends and stretches is arranged on
On second L-square, the actuator that bends and stretches drives L-type tumbler to be rotated around the second L-square.
2. a kind of upper limbs exoskeleton rehabilitation arm according to claim 1, it is characterised in that the elbow joint motion module bag
Include forearm pallet and hand steered part;The head end of the forearm pallet connects hand steered part, and end and upper arm adjustment module are hinged, the hinge
The place of connecing is provided with elbow joint actuator.
3. a kind of upper limbs exoskeleton rehabilitation arm according to claim 1, it is characterised in that the end of the forearm pallet
Both sides are hinged in upper arm adjustment module by connecting bolt respectively.
4. a kind of upper limbs exoskeleton rehabilitation arm according to claim 3, it is characterised in that the end of the forearm pallet
Side connects elbow joint actuator by L-type connecting key.
5. a kind of upper limbs exoskeleton rehabilitation arm according to claim 1, it is characterised in that the upper arm adjustment module includes
Large arm pallet, Telescopic handle, chute, shoulder terminal pad;The chute is set along the length direction of large arm pallet, and the chute is fixed
In the both sides of large arm pallet, the head end of the Telescopic handle is set in the chute, and end is hinged elbow joint motion module, described
The top connection shoulder terminal pad of large arm pallet, the shoulder terminal pad connects wobble drive part.
6. a kind of upper limbs exoskeleton rehabilitation arm according to claim 5, it is characterised in that on the chute and Telescopic handle point
Multiple connection through holes are not opened up, and the corresponding connection through hole on the chute and Telescopic handle is connected by adjusting screw.
7. a kind of upper limbs exoskeleton rehabilitation arm according to claim 1, it is characterised in that the electronic controlled height adjustment includes
Handle nut, pedestal, regulation screw mandrel;The head end of the regulation screw mandrel is set in pedestal, and the handle nut is connected to regulation
Actuator is bent and stretched in the top of screw mandrel, the pedestal connection.
8. a kind of upper limbs exoskeleton rehabilitation arm according to claim 7, it is characterised in that the end of the regulation screw mandrel sets
There is fixed seat.
9. a kind of upper limbs exoskeleton rehabilitation arm according to claim 1, it is characterised in that the elbow joint motion module and
Actuator structure in shoulder joint kinesitherapy module is identical, and the actuator includes the motor, shaft coupling and the company that are sequentially connected
Female connector cylinder.
10. a kind of upper limbs exoskeleton rehabilitation arm according to claim 2, it is characterised in that the end of the forearm pallet,
Angular displacement sensor is respectively equipped with first L-square and the second L-square.
Priority Applications (1)
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CN201710031938.3A CN106730642A (en) | 2017-01-17 | 2017-01-17 | A kind of upper limbs exoskeleton rehabilitation arm |
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CN201710031938.3A CN106730642A (en) | 2017-01-17 | 2017-01-17 | A kind of upper limbs exoskeleton rehabilitation arm |
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Family
ID=58947178
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CN201710031938.3A Pending CN106730642A (en) | 2017-01-17 | 2017-01-17 | A kind of upper limbs exoskeleton rehabilitation arm |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107320910A (en) * | 2017-06-29 | 2017-11-07 | 浙江大学 | A kind of submissive rehabilitation ectoskeleton of upper limbs |
CN107932478A (en) * | 2017-11-15 | 2018-04-20 | 北京林业大学 | A kind of upper limb picking auxiliary ectoskeleton |
CN109259982A (en) * | 2018-11-05 | 2019-01-25 | 郭海峰 | A kind of Neurology auxiliary resuscitation training device |
CN111973951A (en) * | 2019-05-21 | 2020-11-24 | 兰州大学第一医院 | Elbow joint rehabilitation training device |
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CN101357097A (en) * | 2008-07-08 | 2009-02-04 | 哈尔滨工业大学 | Five degree of freedom ectoskeleton type upper limb rehabilitation robot |
CN102258849A (en) * | 2011-04-22 | 2011-11-30 | 上海交通大学 | Upper limb hemiplegia rehabilitation robot |
CN104116608A (en) * | 2014-07-31 | 2014-10-29 | 安阳工学院 | Big arm up-and-down swinging rehabilitation training device |
CN106031669A (en) * | 2015-03-09 | 2016-10-19 | 山东建筑大学 | A seven-degree-of-freedom upper limb assisting exoskeleton robot |
CN206631097U (en) * | 2017-01-17 | 2017-11-14 | 上海交通大学医学院附属第九人民医院 | A kind of upper limbs exoskeleton rehabilitation arm |
-
2017
- 2017-01-17 CN CN201710031938.3A patent/CN106730642A/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101357097A (en) * | 2008-07-08 | 2009-02-04 | 哈尔滨工业大学 | Five degree of freedom ectoskeleton type upper limb rehabilitation robot |
CN102258849A (en) * | 2011-04-22 | 2011-11-30 | 上海交通大学 | Upper limb hemiplegia rehabilitation robot |
CN104116608A (en) * | 2014-07-31 | 2014-10-29 | 安阳工学院 | Big arm up-and-down swinging rehabilitation training device |
CN106031669A (en) * | 2015-03-09 | 2016-10-19 | 山东建筑大学 | A seven-degree-of-freedom upper limb assisting exoskeleton robot |
CN206631097U (en) * | 2017-01-17 | 2017-11-14 | 上海交通大学医学院附属第九人民医院 | A kind of upper limbs exoskeleton rehabilitation arm |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107320910A (en) * | 2017-06-29 | 2017-11-07 | 浙江大学 | A kind of submissive rehabilitation ectoskeleton of upper limbs |
CN107932478A (en) * | 2017-11-15 | 2018-04-20 | 北京林业大学 | A kind of upper limb picking auxiliary ectoskeleton |
CN107932478B (en) * | 2017-11-15 | 2019-10-08 | 北京林业大学 | A kind of upper limb picking auxiliary ectoskeleton |
CN109259982A (en) * | 2018-11-05 | 2019-01-25 | 郭海峰 | A kind of Neurology auxiliary resuscitation training device |
CN111973951A (en) * | 2019-05-21 | 2020-11-24 | 兰州大学第一医院 | Elbow joint rehabilitation training device |
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