CN106730642A - A kind of upper limbs exoskeleton rehabilitation arm - Google Patents

A kind of upper limbs exoskeleton rehabilitation arm Download PDF

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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
Authority
CN
China
Prior art keywords
module
actuator
pallet
square
arm
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.)
Pending
Application number
CN201710031938.3A
Other languages
Chinese (zh)
Inventor
王金武
万克明
李勇
李嘉文
杨岚
叶燕语
戴尅戎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Jiaotong University
Ninth Peoples Hospital Shanghai Jiaotong University School of Medicine
Original Assignee
Shanghai Jiaotong University
Ninth Peoples Hospital Shanghai Jiaotong University School of Medicine
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Jiaotong University, Ninth Peoples Hospital Shanghai Jiaotong University School of Medicine filed Critical Shanghai Jiaotong University
Priority to CN201710031938.3A priority Critical patent/CN106730642A/en
Publication of CN106730642A publication Critical patent/CN106730642A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12Exercising 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
    • A63B23/1209Involving a bending of elbow and shoulder joints simultaneously
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0006Exoskeletons, i.e. resembling a human figure
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165Wearable interfaces
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00Measuring of physical parameters relating to sporting activity
    • A63B2220/20Distances or displacements
    • A63B2220/24Angular displacement

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  • 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

A kind of upper limbs exoskeleton rehabilitation arm
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.
CN201710031938.3A 2017-01-17 2017-01-17 A kind of upper limbs exoskeleton rehabilitation arm Pending CN106730642A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
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

Citations (5)

* Cited by examiner, † Cited by third party
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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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