CN107224385A - Active/passive both arms upper limb rehabilitation robot - Google Patents
Active/passive both arms upper limb rehabilitation robot Download PDFInfo
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- CN107224385A CN107224385A CN201710355054.3A CN201710355054A CN107224385A CN 107224385 A CN107224385 A CN 107224385A CN 201710355054 A CN201710355054 A CN 201710355054A CN 107224385 A CN107224385 A CN 107224385A
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- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 99
- 210000000245 forearm Anatomy 0.000 claims abstract description 60
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 58
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 30
- 238000012549 training Methods 0.000 claims abstract description 22
- 230000000930 thermomechanical effect Effects 0.000 claims description 47
- 230000000452 restraining effect Effects 0.000 claims description 30
- 238000006073 displacement reaction Methods 0.000 claims description 26
- 238000005452 bending Methods 0.000 claims description 10
- 235000004443 Ricinus communis Nutrition 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 34
- 238000011084 recovery Methods 0.000 abstract description 4
- 210000001503 joint Anatomy 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000007659 motor function Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 235000012364 Peperomia pellucida Nutrition 0.000 description 1
- 240000007711 Peperomia pellucida Species 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000006931 brain damage Effects 0.000 description 1
- 231100000874 brain damage Toxicity 0.000 description 1
- 208000029028 brain injury Diseases 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000000926 neurological effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002560 therapeutic procedure Methods 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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- 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
- A63B23/0355—A single apparatus used for either upper or lower limbs, i.e. with a set of support elements driven either by the upper or the lower limb or limbs
-
- 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
- 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
- A63B23/1245—Primarily by articulating the shoulder joint
-
- 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
- A63B23/1281—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 primarily by articulating the elbow joint
-
- 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
- A63B23/14—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 for wrist joints
-
- 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
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1269—Passive exercise driven by movement of healthy limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of active/passive both arms upper limb rehabilitation robot, belong to recovery exercising robot field.The active/passive both arms upper limb rehabilitation robot includes upper limbs active training device, upper limbs passive exercise device, overarm arm and base, and upper limbs active training device and upper limbs passive exercise device are fixed on base by arm of hanging oneself from a beam；Upper limbs active training device includes active shoulder abduction, interior receipts component, and active shoulder joint bends and stretches component, the inside and outside rotation component of active upper arm, and active elbow bends and stretches component, and the inside and outside rotation component of active forearm, active wrist joint bends and stretches component；Upper limbs passive exercise device includes passive shoulder abduction, interior receipts component, and passive shoulder joint bends and stretches component, the passive inside and outside rotation component of upper arm, and passive elbow bends and stretches component, and the passive inside and outside rotation component of forearm, passive wrist joint bends and stretches component.The present invention can realize the motion of multiple dimensions in multiple joints, again patient can be helped to be moved according to the wish of oneself.
Description
Technical field
The present invention relates to recovery exercising robot field, a kind of active/passive both arms upper limb rehabilitation robot is particularly related to.
Background technology
With the fast development of medical technology, cerebral apoplexy is no longer the disease of life threatening, but caused by brain damage partially
The dyskinesias such as paralysis bring white elephant to the family and society of patient.Correctly, the rehabilitation training of science is to limbs
Very important effect is played in the recovery and raising of motor function.Neurological rehabilitation treatment process is an arduous job, at present
Rely primarily on physiatrician to be estimated limbs of patient the man-to-man manual operations of patient's progress and subjective clinical experience, limit
The raising of rehabilitation outcome is made, the combination of medical science of recovery therapy and robot technology improves the efficiency of rehabilitation training and ensure that action
The intensity of training, new approach is opened for the new rehabilitation technique of research.
But, current upper limb rehabilitation robot both domestic and external is used to treat upper extremity motor function disorder patient and health
There are a variety of deficiencies when practicing in refreshment：(1) motor function is single, only supports single joint or partial joint；(2) it can only realize one-dimensional
Or two dimensional motion, it is impossible to the function of rehabilitation training is realized well；(3) single armed passive movement, it is impossible to enter according to the wish of patient
Row motion, it is impossible to the problems such as exciting the interest and enthusiasm of patient's training.
The content of the invention
The present invention provides a kind of active/passive both arms upper limb rehabilitation robot, and it can realize multiple dimensions in multiple joints
Motion, again patient can be helped to be moved according to the wish of oneself.
In order to solve the above technical problems, present invention offer technical scheme is as follows：
A kind of active/passive both arms upper limb rehabilitation robot, including upper limbs active training device 3, upper limbs passive exercise device
4th, overarm arm 2 and base 1, wherein：
Upper limbs active training device 3 and upper limbs the passive exercise device 4 is fixed on the base by the overarm arm 2
On 1；
The upper limbs active training device 3 includes active shoulder abduction, interior receipts component, and active shoulder joint bends and stretches component,
The inside and outside rotation component of active upper arm, active elbow bends and stretches component, and the inside and outside rotation component of active forearm, active wrist joint bends and stretches component；
The upper limbs passive exercise device 4 includes passive shoulder abduction, interior receipts component, and passive shoulder joint bends and stretches component,
The inside and outside rotation component of passive upper arm, passive elbow bends and stretches component, and the passive inside and outside rotation component of forearm, passive wrist joint bends and stretches component.
The invention has the advantages that：
The active/passive both arms upper limb rehabilitation robot of the present invention includes upper limbs active training device (i.e. principal arm) and upper limbs
Passive exercise device (i.e. from arm), in use, principal arm is used as into control device, be connected with the healthy arm of user, will from arm and
The handicapped arm connection of user, the arm motion for driving user handicapped, principal arm receives the action command of user's arm,
For controlling from arm, it can also receive the control signal in addition to principal arm by controller from arm, drive user handicapped
Arm motion, meets the motion requirement of patient, improves the science of rehabilitation exercise.The active/passive both arms upper limb healing of the present invention
Robot can realize shoulder abduction, interior receipts, bend and stretch, and the inside and outside rotation of upper arm, elbow is bent and stretched, and the inside and outside rotation of forearm, wrist joint is bent and stretched
The motion of six-freedom degree, supports the motion of multiple multiple dimensions in joint, can individually carry out can also each joint coordination match somebody with somebody
Close and complete normal motion, the present invention is driven from arm by principal arm and moved, and patient can be helped to be moved according to the wish of oneself,
The interest and enthusiasm that patient can be excited to train, with stronger practicality, and can be adjusted for the patient of different times
The rehabilitation exercise of whole patient, function is very comprehensive.
Brief description of the drawings
Fig. 1 is the overall structure figure of the active/passive both arms upper limb rehabilitation robot of the present invention；
Fig. 2 is the active training device installation diagram of the active/passive both arms upper limb rehabilitation robot of the present invention；
Fig. 3 is the passive exercise device installation diagram of the active/passive both arms upper limb rehabilitation robot of the present invention；
Fig. 4 assembles for the shoulder joint component of the active training device of the active/passive both arms upper limb rehabilitation robot of the present invention
Figure；
Fig. 5 is the forearm of active training device of the active/passive both arms upper limb rehabilitation robot of the present invention and carpal
Component installation diagram；
Fig. 6 assembles for the shoulder joint component of the passive exercise device of the active/passive both arms upper limb rehabilitation robot of the present invention
Figure；
Fig. 7 assembles for the upper arm assembly of the passive exercise device of the active/passive both arms upper limb rehabilitation robot of the present invention
Figure；
Fig. 8 assembles for the forearm component of the passive exercise device of the active/passive both arms upper limb rehabilitation robot of the present invention
Figure；
Fig. 9 is the installation diagram of the base of the active/passive both arms upper limb rehabilitation robot of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
The present invention provides a kind of active/passive both arms upper limb rehabilitation robot, as shown in Fig. 1~Fig. 9, including upper limbs is actively
Trainer 3, upper limbs passive exercise device 4, overarm arm 2 and base 1, wherein：
Upper limbs active training device 3 and upper limbs passive exercise device 4 are fixed on base 1 by arm 2 of hanging oneself from a beam；
Upper limbs active training device 3 includes active shoulder abduction, interior receipts component, and active shoulder joint bends and stretches component, actively
The inside and outside rotation component of upper arm, active elbow bends and stretches component, and the inside and outside rotation component of active forearm, active wrist joint bends and stretches component；
Upper limbs passive exercise device 4 includes passive shoulder abduction, interior receipts component, and passive shoulder joint bends and stretches component, passively
The inside and outside rotation component of upper arm, passive elbow bends and stretches component, and the passive inside and outside rotation component of forearm, passive wrist joint bends and stretches component.
The active/passive both arms upper limb rehabilitation robot of the present invention includes upper limbs active training device (i.e. principal arm) and upper limbs
Passive exercise device (i.e. from arm), in use, principal arm is used as into control device, be connected with the healthy arm of user, will from arm and
The handicapped arm connection of user, the arm motion for driving user handicapped, principal arm receives the action command of user's arm,
For controlling from arm, it can also receive the control signal in addition to principal arm by controller from arm, drive user handicapped
Arm motion, meets the motion requirement of patient, improves the science of rehabilitation exercise.The active/passive both arms upper limb healing of the present invention
Robot can realize shoulder abduction, interior receipts, bend and stretch, and the inside and outside rotation of upper arm, elbow is bent and stretched, and the inside and outside rotation of forearm, wrist joint is bent and stretched
The motion of six-freedom degree, supports the motion of multiple multiple dimensions in joint, can individually carry out can also each joint coordination match somebody with somebody
Close and complete normal motion, the present invention is driven from arm by principal arm and moved, and patient can be helped to be moved according to the wish of oneself,
The interest and enthusiasm that patient can be excited to train, with stronger practicality, and can be adjusted for the patient of different times
The rehabilitation exercise of whole patient, function is very comprehensive.
It is preferred that, as shown in figure 4, active shoulder abduction, interior receipts component can include active shoulder joint rotary shaft 301,
Active shoulder joint stopping means 302, active shoulder abduction, interior receipts angular displacement sensor 303 and crossbeam 304, active shoulder joint
Bending and stretching component can bend and stretch before swing including vertical arm 307, active shoulder joint under vertical arm 305, active shoulder joint in active shoulder joint
Arm 309, active shoulder joint bend and stretch swing postbrachium 310, active shoulder joint bends and stretches angular displacement sensor 312 and active shoulder joint is bent and stretched
Stopping means 308, wherein：
Active shoulder joint rotary shaft 301 is vertically arranged, and the upper end of active shoulder joint rotary shaft 301 is bolted on outstanding
On beam arm 2, the lower end of active shoulder joint rotary shaft 301 is connected with one end of crossbeam 304, outside active shoulder joint rotary shaft 301
Side is arranged with active shoulder joint stopping means 302, and active shoulder abduction, interior receipts angular displacement sensor 303 are bolted
On active shoulder joint stopping means 302, the spin data of collection active shoulder joint rotary shaft 301 is simultaneously fed back.
The upper end of vertical arm 305 is connected with the other end of crossbeam 304 in active shoulder joint, vertical arm 305 in active shoulder joint
Lower end is vertical with the upper end of vertical arm 307 under active shoulder joint to be fixed, vertical arm under vertical arm 305 and active shoulder joint in active shoulder joint
Be provided with 307 active shoulder joint bend and stretch regulation height devices 306 (be specifically as follows leading screw adjusting means, pass through rotating device
In button, carry out height regulation, or other regulative modes that those skilled in the art are readily apparent that, do not influence this
The implementation of inventive technique scheme), bend and stretch regulation height devices 306 to adjust vertical arm in active shoulder joint by active shoulder joint
305 and active shoulder joint under vertical arm 307 height, to adapt to the lower end of vertical arm 307 and master under different crowds, active shoulder joint
Dynamic shoulder joint bends and stretches one end connection for swinging forearm 309, and active shoulder joint bends and stretches the other end and active shoulder joint for swinging forearm 309
Section bends and stretches the swing parallel fixation of postbrachium 310, and active shoulder joint is bent and stretched and is provided with active shoulder joint on swing postbrachium 310 and bends and stretches regulation
Length device 311 (is specifically as follows leading screw adjusting means, by rotation, swing postbrachium 310 is bent and stretched to adjust active shoulder joint
Length, or other regulative modes that those skilled in the art are readily apparent that, does not influence the reality of technical solution of the present invention
Apply), active shoulder joint is bent and stretched angular displacement sensor 312 and is welded under active shoulder joint in vertical arm 307, and active shoulder joint bends and stretches limit
The both sides that position device 308 bends and stretches swing forearm 309 positioned at active shoulder joint respectively are bolted under active shoulder joint and erected
On arm 307, active shoulder joint is bent and stretched swing postbrachium 310 and is connected with the inside and outside rotation component of active upper arm.
In the present invention, portability, flexibility for robot, the adaptability of different crowd, shoulder joint use connecting rod knot
Structure, while abduction, interior receipts component and bending and stretching component using adjustment length device.
Further, as shown in figure 5, the inside and outside rotation component of active upper arm can include actively going up arm restraining board 313, upper arm
Connector 317 under curved rail fixture 413, upper crook of the arm rail 315, upper arm angular displacement sensor 314, upper arm upper connector 316, upper arm
With the inside and outside rotation stopping means 318 of active upper arm, active elbow, which bends and stretches component and can bend and stretch upper connector 321, elbow including elbow, to be bent and stretched down
Connector 319 and elbow bend and stretch angular displacement sensor 320, wherein：
Actively go up arm restraining board 313 component is bent and stretched with active shoulder joint by bolt and be connected, specifically, as shown in figure 5, main
Dynamic upper arm restraining board 313 can bend and stretch swing postbrachium 310 by bolt with active shoulder joint and be connected, upper crook of the arm rail fixture 413
It is bolted on and actively goes up on arm restraining board 313, upper crook of the arm rail 315 is fixed on crook of the arm rail fixture 413, the upper crook of the arm
Rail 315 can be rotated relative to upper crook of the arm rail fixture 413, and upper arm angular displacement sensor 314 is bolted on active upper arm
In fixed plate 313, one end of upper crook of the arm rail 315 is connected with upper arm upper connector 316, the other end and upper arm of upper crook of the arm rail 315
Lower connector 317 is connected, and the inside and outside rotation stopping means 318 of active upper arm, which is separately fixed under upper arm upper connector 316 and upper arm, to be connected
On fitting 317；
Elbow bends and stretches upper connector 321 and is hinged with upper arm upper connector 316, and elbow bends and stretches lower connector 319 with being connected under upper arm
Part 317 is hinged, and elbow bends and stretches angular displacement sensor 320 and is fixed under upper arm on connector 317, and elbow bends and stretches upper connector 321 and master
The dynamic inside and outside rotation component connection of forearm.
In the present invention, in order to ensure that equipment is fixed during the inside and outside rotation of upper arm, using curved rail structure, in motion process
Only upper crook of the arm rail 315 reduces motion and born a heavy burden, active elbow bends and stretches structure and uses articulated form relative to equipment relative motion, side
Just move, while angular displacement sensor can gather the movement angle information of relative axle, pass to from arm.
In the present invention, as shown in figure 5, the inside and outside rotation component of active forearm can include preceding arm restraining board 324, preceding crook of the arm rail
322nd, preceding crook of the arm rail fixture 413 ' and forearm angular displacement sensor 323, wherein：
Preceding arm restraining board 324 bends and stretches upper connector 321 with elbow and is connected, and one end and the elbow of preceding crook of the arm rail 322 bend and stretch connection
Part 321 is connected, and the other end and the elbow of preceding crook of the arm rail 322 bend and stretch lower connector 319 and be connected, and preceding crook of the arm rail 322 is fixed on the preceding crook of the arm
On rail fixture 413 ', preceding crook of the arm rail 322 can be rotated relative to preceding crook of the arm rail fixture 413 ', and preceding crook of the arm rail fixture 413 ' leads to
Cross before being bolted on arm restraining board 324, before forearm angular displacement sensor 323 is bolted on arm restraining board 324,
Preceding arm restraining board 324 bends and stretches component with active wrist joint and is connected.
In the present invention, in order to ensure that equipment is fixed during the inside and outside rotation of forearm, using curved rail structure, in motion process
Only preceding crook of the arm rail 322 reduces motion and born a heavy burden relative to equipment relative motion.
It is preferred that, as shown in figure 5, active wrist joint, which bends and stretches component, can include wrist joint connecting plate 325, wrist joint rotation
Axle 328 and wrist joint angular displacement sensor 327, wherein：
Wrist joint connecting plate 325 is welded on the inside and outside rotation component of active forearm, specifically, as shown in figure 5, wrist joint connects
Before fishplate bar 325 is welded on arm restraining board 324, one end of wrist joint rotary shaft 328 is connected with wrist joint connecting plate 325, and wrist is closed
The other end of section rotary shaft 328 is installed with the first in command 329, wrist joint rotary shaft 328 that to be provided with wrist joint long by bolt
Degree adjusting means 326 (can be specifically fixed by screw knob, compression, unclamp left and right adjusting length, or ability
Other regulative modes that field technique personnel are readily apparent that, do not influence the implementation of technical solution of the present invention), wrist joint angular displacement is passed
Sensor 327 is welded on wrist joint length adjustment device 326.
The present invention can adjust the active length of wrist by wrist joint length adjustment device 326, adapt to different crowd, together
When wrist joint angular displacement sensor 327 passed to by the rotation angle information of wrist joint rotary shaft 328 from arm, it is appropriate to carry out
Motion.
Further, as shown in fig. 6, passive shoulder abduction, interior receipts component can include the first decelerating through motor thermomechanical components
401st, rotating beam 404 and passive shoulder abduction, interior receipts stopping means 403, passive shoulder joint, which bends and stretches component, can include fixing
Part 405, the second decelerating through motor thermomechanical components 406, shoulder joint connector 408 and beam 409 is bent and stretched, wherein：
First decelerating through motor thermomechanical components 401 are vertically arranged, and one end of the first decelerating through motor thermomechanical components 401 is bolted
On overarm arm 2, the other end outer sheath of the first decelerating through motor thermomechanical components 401 is provided with reductor protective case 402, reductor protection
Set 402 is also bolted on overarm arm 2, and passive shoulder abduction, interior receipts stopping means 403 are welded on reductor protection
On set 402, one end of the output shaft drive connection rotating beam 404 of the first decelerating through motor thermomechanical components 401, the first decelerating through motor unit
The motor rotation of part 401 drives rotating beam 404 to move, and realizes shoulder abduction, the motion of interior receipts；
The upper end of fixture 405 is connected by bolt with the other end of rotating beam 404, the second decelerating through motor thermomechanical components 406
It is bolted in the lower end of fixture 405, the output shaft of the second decelerating through motor thermomechanical components 406 is connected with connector 408, bends
One end of beam 409 is installed on connector 408 by bolt, bends and stretches and leading screw length adjustment device 410 is installed with beam 409,
Passive shoulder joint is installed with the both sides for bending and stretching beam 409 on fixture 405 and bends and stretches stopping means 407, bend and stretch the other end of beam 409
It is connected with the inside and outside rotation component of passive upper arm, the motor rotation drive of the second decelerating through motor thermomechanical components 406 is bent and stretched beam 409 and moved, real
Existing shoulder joint flexion and extension.
The present invention can control head movement scope by receiving stopping means 403 in passive shoulder abduction, pass through control
Make the velocity of rotation of the first decelerating through motor thermomechanical components 401, it is possible to achieve the motion frequency of shoulder, the second decelerating through motor thermomechanical components 406
In motor rotating band follower link 408 move, connector 408 drives and bends and stretches beam 409 and move, and passes through leading screw length adjustment device
410 can adjust the length for bending and stretching beam 409, it is ensured that the adaptation length of different crowd, passive shoulder joint bends and stretches stopping means 407 can
To control the scope of activities for bending and stretching beam 409.
In the present invention, as shown in fig. 7, the inside and outside rotation component of passive upper arm can include passively upper arm restraining board the 412, the 3rd
Decelerating through motor thermomechanical components 411, curved rail assembly 414, upper arm protection shell 434, upper arm bandage component 420 (are specifically as follows fixation
The bandage of arm), upper arm upper junction plate 415 and upper arm lower connecting plate 418, passive elbow, which bends and stretches component, to be subtracted including the 4th motor
Fast thermomechanical components 419, elbow bend and stretch upper junction plate 421 and elbow bends and stretches lower connecting plate 422, wherein：
Passively upper arm restraining board 412 is bolted on shoulder joint and bent and stretched on component, specifically, as shown in fig. 7, passively
Upper arm restraining board 412 can be fixed on by bolt to be bent and stretched on beam 409, and the 3rd decelerating through motor thermomechanical components 411 are bolted
On passive on arm restraining board 412, the curved rail assembly 414 of output shaft drive connection of the 3rd decelerating through motor thermomechanical components 411, upper arm is protected
Shield shell 434 is installed on passively upper arm restraining board 412 by bolt, and upper arm bandage component 420 is installed in upper arm by bolt
Protect on shell 434, the upper end of curved rail assembly 414 is connected with one end of upper arm upper junction plate 415, the lower end of curved rail assembly 414
It is connected with one end of upper arm lower connecting plate 418, upper arm upper junction plate 415 on upper arm lower connecting plate 418 with being installed with passive upper arm
Interior outward turning stopping means 416, the motor rotation of the 3rd decelerating through motor thermomechanical components 411 drives curved rail assembly 414 to move, and realizes upper arm
Inside and outside rotation motion.
4th decelerating through motor thermomechanical components 419 are bolted to connection on upper arm upper junction plate 415, the 4th decelerating through motor
The output shaft drive connection elbow of thermomechanical components 419 bends and stretches one end of upper junction plate 421, elbow bend and stretch one end of lower connecting plate 422 with it is upper
Arm lower connecting plate 418 is hinged, elbow bends and stretches upper junction plate 421 and elbow bend and stretch the other end of lower connecting plate 422 respectively with passive forearm
Inside and outside rotation component connection, the motor rotation of the 4th decelerating through motor thermomechanical components 419 drives elbow to bend and stretch upper junction plate 421 and moves, realize
Elbow flexion and extension.
The present invention can control the range of movement of curved rail assembly 414 by outward turning stopping means 416 in passive upper arm, limit
The training degree of the inside and outside rotation of upper arm, elbow bends and stretches lower connecting plate 422 and is hinged with upper arm lower connecting plate 418, the 4th decelerating through motor unit
Part 419 drives elbow to bend and stretch upper junction plate 421 and moved, and small arm component can integrally be followed into motion.
It is preferred that, as shown in Figure 7 and Figure 8, the passive inside and outside rotation component of forearm can include preceding crook of the arm rail assembly the 423, the 5th
Fixed board 433, forearm protection shell 425 and forearm bandage component 424 are rotated with inside and outside decelerating through motor thermomechanical components 432, forearm, wherein：
The upper and lower ends of preceding crook of the arm rail assembly 423 bend and stretch upper junction plate 421 with elbow respectively by bolt and elbow bends and stretches lower company
Fishplate bar 422 is connected, and the 5th decelerating through motor thermomechanical components 432, which are bolted on inside and outside forearm, to be rotated with fixed board 433, the 5th motor
The middle part of crook of the arm rail assembly 423 before the output shaft drive connection of deceleration thermomechanical components 432, forearm protects shell 425 solid by bolt
It is located inside and outside forearm and is rotated with fixed board 433, forearm bandage component 424 is installed in forearm by bolt and protected on shell 425, forearm
Protection shell 425 is connected with preceding arm restraining board 433, fixed board 433 is rotated with inside and outside forearm bends and stretches component with passive wrist joint and be connected, the
The motor rotation of five decelerating through motor thermomechanical components 432 drives the curved rail assembly 423 of forearm to move, and realizes the inside and outside rotation motion of forearm.
Crook of the arm rail assembly 423 is moved before the present invention is driven by the 5th decelerating through motor thermomechanical components 432, it is ensured that remaining position is not
In the case of dynamic, the simply inside and outside rotation motion of the part of forearm.
Further, passive wrist joint, which bends and stretches component, can include wrist joint fixed plate 426, the 6th decelerating through motor thermomechanical components
428th, swingle 429, the second in command 430, passive wrist joint bend and stretch stopping means 427, wherein：
Wrist joint fixed plate 426 is bolted on the inside and outside rotation component of forearm, specifically, as shown in Figure 7 and Figure 8,
Wrist joint fixed plate 426 can be fixed on inside and outside forearm by bolt and is rotated with fixed board 433, the 6th decelerating through motor thermomechanical components 428
It is bolted in wrist joint fixed plate 426, the output shaft drive connection swingle of the 6th decelerating through motor thermomechanical components 428
429 one end, the other end of swingle 429 is connected by bolt with the second in command 430, in rotation in wrist joint fixed plate 426
The both sides of bar 429 are installed with passive wrist joint and bend and stretch stopping means 427, the motor rotation of the 6th decelerating through motor thermomechanical components 428 respectively
Turn to drive swingle 429 to move, realize wrist joint flexion and extension.
The present invention can bend and stretch the range of movement that stopping means 427 controls wrist component by passive wrist joint, realize wrist
Local joint flexion and extension.
In the present invention, as shown in figure 9, base 1 can include chassis 105, castor 103, seat 104, mainframe box 101 and rise
Post 102 drops, wherein：
Castor 103 is arranged on the bottom surface on chassis 105, and seat 104 is arranged on above chassis 105, and mainframe box 101 is arranged on
Lifting column 102 is additionally provided with above chassis 105 and on the rear of seat 104, chassis 105, overarm arm 2 is arranged on lifting
On post 102.
The present invention can carry out position movement by castor 103, while lifting column 102 can be fitted with the height of adjusting means
Answer different crowd.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of active/passive both arms upper limb rehabilitation robot, it is characterised in that including upper limbs active training device (3), upper limbs
Passive exercise device (4), overarm arm (2) and base (1), wherein：
The upper limbs active training device (3) and upper limbs passive exercise device (4) are fixed on the bottom by the overarm arm (2)
On seat (1)；
The upper limbs active training device (3) includes active shoulder abduction, interior receipts component, and active shoulder joint bends and stretches component, main
The inside and outside rotation component of dynamic upper arm, active elbow bends and stretches component, and the inside and outside rotation component of active forearm, active wrist joint bends and stretches component；
The upper limbs passive exercise device (4) includes passive shoulder abduction, interior receipts component, and passive shoulder joint bends and stretches component, quilt
The inside and outside rotation component of dynamic upper arm, passive elbow bends and stretches component, and the passive inside and outside rotation component of forearm, passive wrist joint bends and stretches component.
2. active/passive both arms upper limb rehabilitation robot according to claim 1, it is characterised in that the active shoulder joint
Abduction, interior receipts component include active shoulder joint rotary shaft (301), active shoulder joint stopping means (302), outside active shoulder joint
Exhibition, interior receipts angular displacement sensor (303) and crossbeam (304), the active shoulder joint bend and stretch component including being erected in active shoulder joint
Vertical arm (307), active shoulder joint bend and stretch swing forearm (309), active shoulder joint and bend and stretch swing under arm (305), active shoulder joint
Postbrachium (310), active shoulder joint bend and stretch angular displacement sensor (312) and active shoulder joint bends and stretches stopping means (308), wherein：
The active shoulder joint rotary shaft (301) is vertically arranged, and the upper end of the active shoulder joint rotary shaft (301) passes through bolt
It is fixed on the overarm arm (2), the lower end of the active shoulder joint rotary shaft (301) connects with one end of the crossbeam (304)
Connect, the outer sheath of the active shoulder joint rotary shaft (301) is provided with the active shoulder joint stopping means (302), the active
Shoulder abduction, interior receipts angular displacement sensor (303) are bolted on the active shoulder joint stopping means (302)；
The upper end of vertical arm (305) is connected with the other end of the crossbeam (304) in the active shoulder joint, the active shoulder joint
The lower end of upper vertical arm (305) is vertical with the upper end of vertical arm (307) under the active shoulder joint to be fixed, and is erected in the active shoulder joint
Active shoulder joint is provided with arm (305) and active shoulder joint in vertical arm (307) and bends and stretches regulation height devices (306), the master
The lower end of vertical arm (307) is connected with one end that the active shoulder joint bends and stretches swing forearm (309) under dynamic shoulder joint, the active
Shoulder joint, which is bent and stretched, to be swung the other end and the active shoulder joint of forearm (309) and bends and stretches and swing the parallel fixation of postbrachium (310), described
Active shoulder joint, which is bent and stretched, to be provided with active shoulder joint in swing postbrachium (310) and bends and stretches adjustment length device (311), the active shoulder
Joint is bent and stretched angular displacement sensor (312) and is welded under the active shoulder joint in vertical arm (307), and active shoulder joint bends and stretches spacing
The both sides that device (308) bends and stretches swing forearm (309) positioned at the active shoulder joint respectively are bolted on the active
Under shoulder joint in vertical arm (307), the active shoulder joint bends and stretches swing postbrachium (310) and the inside and outside rotation component of the active upper arm
Connection.
3. active/passive both arms upper limb rehabilitation robot according to claim 1, it is characterised in that the active upper arm
Inside and outside rotation component includes actively going up arm restraining board (313), upper crook of the arm rail fixture (413), upper crook of the arm rail (315), upper arm angle position
Connector (317) and the inside and outside rotation stopping means of active upper arm under displacement sensor (314), upper arm upper connector (316), upper arm
(318), the active elbow bends and stretches component and bends and stretches that upper connector (321), elbow bend and stretch lower connector (319) and elbow bends and stretches angle including elbow
Displacement transducer (320), wherein：
In the active arm restraining board (313) by bolt and the active shoulder joint bend and stretch component be connected the upper crook of the arm rail consolidate
Determine part (413) to be bolted in the active on arm restraining board (313), the upper crook of the arm rail (315) is fixed on described
On upper crook of the arm rail fixture (413), the upper crook of the arm rail (315) can rotate relative to the upper crook of the arm rail fixture (413), institute
State upper arm angular displacement sensor (314) to be bolted in the active on arm restraining board (313), the upper crook of the arm rail
(315) one end is connected with the upper arm upper connector (316), under the other end and the upper arm of the upper crook of the arm rail (315)
Connector (317) is connected, and the inside and outside rotation stopping means (318) of active upper arm is separately fixed at the upper arm upper connector
(316) and under the upper arm on connector (317)；
The elbow bends and stretches upper connector (321) and is hinged with the upper arm upper connector (316), and the elbow bends and stretches lower connector
(319) it is hinged with connector (317) under the upper arm, the elbow bends and stretches angular displacement sensor (320) and is fixed under the upper arm
On connector (317), the elbow bends and stretches upper connector (321) and is connected with the inside and outside rotation component of the active forearm.
4. active/passive both arms upper limb rehabilitation robot according to claim 3, it is characterised in that the active forearm
Inside and outside rotation component includes preceding arm restraining board (324), preceding crook of the arm rail (322), preceding crook of the arm rail fixture (413 ') and forearm angular displacement
Sensor (323), wherein：
The preceding arm restraining board (324) is bent and stretched upper connector (321) with the elbow and is connected, one end of the preceding crook of the arm rail (322)
Upper connector (321) is bent and stretched with the elbow to be connected, the other end and the elbow of the preceding crook of the arm rail (322) bend and stretch lower connector
(319) connect, the preceding crook of the arm rail (322) is fixed on the preceding crook of the arm rail fixture (413 '), the preceding crook of the arm rail (322)
It can be rotated relative to the preceding crook of the arm rail fixture (413 '), the preceding crook of the arm rail fixture (413 ') is bolted on institute
State on preceding arm restraining board (324), the forearm angular displacement sensor (323) is bolted on the preceding arm restraining board
(324) on, the preceding arm restraining board (324) is bent and stretched component with the active wrist joint and is connected.
5. active/passive both arms upper limb rehabilitation robot according to claim 1, it is characterised in that the active wrist joint
Bending and stretching component includes wrist joint connecting plate (325), wrist joint rotary shaft (328) and wrist joint angular displacement sensor (327), its
In：
The wrist joint connecting plate (325) is welded on the inside and outside rotation component of the active forearm, the wrist joint rotary shaft
(328) one end is connected with the wrist joint connecting plate (325), and the other end of the wrist joint rotary shaft (328) passes through bolt
It is installed with the first in command (329), the wrist joint rotary shaft (328) and is provided with wrist joint length adjustment device (326), it is described
Wrist joint angular displacement sensor (327) is welded on the wrist joint length adjustment device (326).
6. active/passive both arms upper limb rehabilitation robot according to claim 1, it is characterised in that the passive shoulder joint
It is spacing that abduction, interior receipts component include the first decelerating through motor thermomechanical components (401), rotating beam (404) and passive shoulder abduction, interior receipts
Device (403), the passive shoulder joint, which bends and stretches component, includes fixture (405), the second decelerating through motor thermomechanical components (406), shoulder joint
Save connector (408) and bend and stretch beam (409), wherein：
The first decelerating through motor thermomechanical components (401) are vertically arranged, and one end of the first decelerating through motor thermomechanical components (401) passes through
It is bolted on the overarm arm (2), the other end outer sheath of the first decelerating through motor thermomechanical components (401) is provided with reductor
Protective case (402), the reductor protective case (402) is also bolted on the overarm arm (2), the passive shoulder joint
Section abduction, interior receipts stopping means (403) are welded on the reductor protective case (402), the first decelerating through motor thermomechanical components
(401) one end of rotating beam (404) described in output shaft drive connection；
The upper end of the fixture (405) is connected by bolt with the other end of the rotating beam (404), and second motor subtracts
Fast thermomechanical components (406) are bolted in the lower end of the fixture (405), the second decelerating through motor thermomechanical components (406)
Output shaft be connected with the connector (408), described one end for bending and stretching beam (409) is installed in the connector by bolt
(408) on, described bend and stretch is installed with leading screw length adjustment device (410) on beam (409), described on the fixture (405)
The both sides for bending and stretching beam (409) are installed with passive shoulder joint and bend and stretch stopping means (407), the other end for bending and stretching beam (409) with
The inside and outside rotation component connection of passive upper arm.
7. active/passive both arms upper limb rehabilitation robot according to claim 1, it is characterised in that the passive upper arm
Inside and outside rotation component includes passively upper arm restraining board (412), the 3rd decelerating through motor thermomechanical components (411), curved rail assembly (414), upper arm
Shell (434), upper arm bandage component (420), upper arm upper junction plate (415) and upper arm lower connecting plate (418) are protected, it is described passive
Elbow bend and stretch component including the 4th decelerating through motor thermomechanical components (419), elbow bends and stretches upper junction plate (421) and elbow bends and stretches lower connecting plate
(422), wherein：
The passively upper arm restraining board (412) is bolted on the shoulder joint and bent and stretched on component, and the 3rd motor subtracts
Fast thermomechanical components (411) are bolted on the passively upper arm restraining board (412), the 3rd decelerating through motor thermomechanical components
(411) curved rail assembly (414) described in output shaft drive connection, the upper arm protection shell (434) is installed in institute by bolt
State on passively upper arm restraining board (412), the upper arm bandage component (420) is installed in the upper arm by bolt and protects shell
(434) on, the upper end of the curved rail assembly (414) is connected with one end of the upper arm upper junction plate (415), the curved rail assembly
(414) lower end is connected with one end of the upper arm lower connecting plate (418), the upper arm upper junction plate (415) and the upper arm
Outward turning stopping means (416) in passive upper arm are installed with lower connecting plate (418)；
The 4th decelerating through motor thermomechanical components (419) are bolted to connection on the upper arm upper junction plate (415), described
Elbow described in the output shaft drive connection of 4th decelerating through motor thermomechanical components (419) bends and stretches one end of upper junction plate (421), and the elbow is bent
The one end and the upper arm lower connecting plate (418) for stretching lower connecting plate (422) are hinged, and the elbow bends and stretches upper junction plate (421) and elbow
The other end for bending and stretching lower connecting plate (422) is connected with the passive inside and outside rotation component of forearm respectively.
8. active/passive both arms upper limb rehabilitation robot according to claim 7, it is characterised in that the passive forearm
Inside and outside rotation component inside and outside preceding crook of the arm rail assembly (423), the 5th decelerating through motor thermomechanical components (432), forearm including being rotated with fixed board
(433), forearm protection shell (425) and forearm bandage component (424), wherein：
The upper and lower ends of the preceding crook of the arm rail assembly (423) bend and stretch upper junction plate (421) and elbow with the elbow respectively by bolt
Lower connecting plate (422) connection is bent and stretched, the 5th decelerating through motor thermomechanical components (432) are bolted on outward turning in the forearm
In fixed plate (433), preceding crook of the arm rail assembly described in the output shaft drive connection of the 5th decelerating through motor thermomechanical components (432)
(423) middle part, the forearm protection shell (425) is installed in inside and outside the forearm by bolt to be rotated with fixed board (433), institute
State forearm bandage component (424) to be installed on the forearm protection shell (425) by bolt, the forearm protects shell
(425) it is connected with the preceding arm restraining board (433), fixed board (433) is rotated with inside and outside the forearm and is bent and stretched with the passive wrist joint
Component is connected.
9. active/passive both arms upper limb rehabilitation robot according to claim 1, it is characterised in that the wrist joint is bent and stretched
Component include wrist joint fixed plate (426), the 6th decelerating through motor thermomechanical components (428), swingle (429), the second in command (430),
Passive wrist joint bends and stretches stopping means (427), wherein：
The wrist joint fixed plate (426) is bolted on the inside and outside rotation component of the forearm, the 6th decelerating through motor unit
Part (428) is bolted on the wrist joint fixed plate (426), the 6th decelerating through motor thermomechanical components (428) it is defeated
One end of swingle (429) described in shaft drive connection, the other end of the swingle (429) by bolt with it is described second
Hand (430) is connected, and it is described passive to be installed with respectively in the both sides of the swingle (429) on the wrist joint fixed plate (426)
Wrist joint bends and stretches stopping means (427).
10. according to any described active/passive both arms upper limb rehabilitation robots of claim 1-9, it is characterised in that the bottom
Seat (1) includes chassis (105), castor (103), seat (104), mainframe box (101) and lifting column (102), wherein：
The castor (103) is arranged on the bottom surface of the chassis (105), and the seat (104) is arranged on the chassis (105)
Above, the mainframe box (101) is arranged on above the chassis (105) and positioned at the rear of the seat (104), the bottom
The lifting column (102) is additionally provided with disk (105), the overarm arm (2) is arranged on the lifting column (102).
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| CN201710355054.3A CN107224385B (en) | 2017-05-19 | 2017-05-19 | Active/passive both arms upper limb rehabilitation robot |
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|---|---|---|---|
| CN201710355054.3A CN107224385B (en) | 2017-05-19 | 2017-05-19 | Active/passive both arms upper limb rehabilitation robot |
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| US11612803B2 (en) | 2019-07-02 | 2023-03-28 | Southern University Of Science And Technology | Bilateral limb coordination training system and control method |
| CN111150603B (en) * | 2019-12-27 | 2021-09-14 | 中国人民解放军陆军军医大学第一附属医院 | Power-assisted rehabilitation training device |
| CN111150603A (en) * | 2019-12-27 | 2020-05-15 | 中国人民解放军陆军军医大学第一附属医院 | Power-assisted rehabilitation training device |
| CN112691000A (en) * | 2021-01-13 | 2021-04-23 | 上海理工大学 | Elbow joint rehabilitation exoskeleton with unpowered rotating forearms |
| CN113350750A (en) * | 2021-06-16 | 2021-09-07 | 浙江省肿瘤医院 | Nursing device suitable for breast cancer postoperative |
| CN115554091A (en) * | 2022-09-01 | 2023-01-03 | 燕山大学 | Elbow and wrist joint rehabilitation robot for joint dislocation compensation and compensation method thereof |
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| CN107224385B (en) | 2019-07-09 |
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