CN107374912A - A kind of upper-limbs rehabilitation training robot - Google Patents

A kind of upper-limbs rehabilitation training robot Download PDF

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Publication number
CN107374912A
CN107374912A CN201710753798.0A CN201710753798A CN107374912A CN 107374912 A CN107374912 A CN 107374912A CN 201710753798 A CN201710753798 A CN 201710753798A CN 107374912 A CN107374912 A CN 107374912A
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CN
China
Prior art keywords
upper limbs
shaft
screw
guide rail
stepper motor
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
CN201710753798.0A
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Chinese (zh)
Inventor
王沫楠
耿慧玉
冉耕
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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Filing date
Publication date
Application filed by Harbin University of Science and Technology filed Critical Harbin University of Science and Technology
Priority to CN201710753798.0A priority Critical patent/CN107374912A/en
Publication of CN107374912A publication Critical patent/CN107374912A/en
Pending legal-status Critical Current

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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
    • A61H1/0274—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
    • A63B23/12—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
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/062—Shoulders

Landscapes

  • Health & Medical Sciences (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)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

It is a kind of upper-limbs rehabilitation training robot the present invention relates to a kind of device in medical rehabilitation instrument field, is made up of spherical pair motion, rectangular coordinate system three-shaft linkage system and upper limbs support system.Rectangular coordinate system three-shaft linkage system provides three one-movement-freedom-degrees, and the multiple degrees of freedom passive exercise of shoulder joint can be achieved；Upper limbs support system and rectangular coordinate system three-shaft linkage system are connected by sphere vice mechanism, spherical pair motion provides three rotational freedoms, shoulder joint is in the case of being provided tractive force by rectangular coordinate system three-shaft linkage system and carrying out passive exercise, patient can independently rotate training, and then the rotation that can increase upper limbs large arm stimulates；Stepper motor on the big arm support of upper limbs drives upper limbs forearm bracket to rotate by travelling gear and power transmission shaft, and small bending and stretching of the arms can be achieved and rotate training, it is achieved thereby that shoulder joint and elbow joint do multiple degrees of freedom complexity rehabilitation training；The mechanism stable is reliable, and motion is flexible, and cost is cheap, simple and practical.

Description

A kind of upper-limbs rehabilitation training robot
Technical field
It is a kind of upper-limbs rehabilitation training robot the present invention relates to a kind of device in medical rehabilitation instrument field.
Background technology
Due to hemiparalysis sequela caused by apoplexy rehabilitation the problem of be medical expert and patient and health care workers And family members to be faced, it is in the urgent need to address the problem of.Although have corresponding healing robot, energy both at home and abroad at present Realize that how free the robot mechanism of upper limbs shoulder joint, elbow joint while rotary rehabilitation training be complicated, somewhat expensive, and function Nor too complete, this causes the use of healing robot to be limited by very large.Intended herein based on 26S Proteasome Structure and Function aspect Design is a kind of simple in construction, multiple functional, can realize upper limbs shoulder joint passive exercise and active training simultaneously while carry out, and realizes Shoulder joint and elbow joint do multiple degrees of freedom rehabilitation training.
The content of the invention
In order to overcome the shortcomings of above-described healing robot at present, the present invention proposes a kind of simple in construction multiple functional Upper limb rehabilitation robot.
The present invention concrete technical scheme be：
The rehabilitation supplemental training robot that can realize that human upper limb multiple degrees of freedom rotates includes：Spherical pair fitness machine Structure, rectangular coordinate system three-shaft linkage system, upper limbs support system.
Feed screw nut's motion that the rectangular coordinate system three-shaft linkage system includes moving in the X-axis direction, along Y-axis side Feed screw nut's motion to motion and the feed screw nut's motion moved along Z-direction；
The feed screw nut's motion moved in the X-axis direction includes：Lead screw shaft (106), nut assembly (107), guide rail (105), guide rail slide block component (111), pedestal (104), screw mandrel fixing end (110), screw mandrel support end (101), angular contact ball axle Hold (102), stepper motor (108) and shaft coupling (109)；Pedestal (104) and stepper motor (108) are fixed on base (103), Screw mandrel fixing end (110) and screw mandrel support end (101) are fixed on pedestal (104) both ends, and angular contact ball bearing (102) is fixed on silk Bar support end (101), guide rail (105) are tightened on pedestal (104) by screw group, and guide rail slide block component (111), which is nested in, leads It is connected on rail (105) and with nut assembly (107), stepper motor (108) connects lead screw shaft (106) simultaneously by shaft coupling (109) Drive it to be rotated, realize that nut assembly (107) moves on guide rail (105)；
The feed screw nut's motion moved along Y direction includes：Lead screw shaft (208), nut assembly (207), guide rail (202), guide rail slide block component (206), pedestal (201), screw mandrel fixing end (205), screw mandrel support end (209), angular contact ball axle Hold (210), stepper motor (203) and shaft coupling (204)；Pedestal (201) is fastened on nut assembly (107), and screw mandrel is solid Fixed end (205) and screw mandrel support end (209) are fixed on pedestal (201) both ends, and angular contact ball bearing (210) is fixed on screw mandrel support Hold (209), guide rail (202) is tightened on pedestal (201) by screw group, and guide rail slide block component (206) is nested in guide rail (202) Above and with nut assembly (207) it is connected, stepper motor (203) connects lead screw shaft (208) by shaft coupling (204) and drives it to enter Row rotates, and realizes that nut assembly (207) moves on guide rail (202)；
The feed screw nut's motion moved along Z-direction：Lead screw shaft (301), nut assembly (303), polished rod (302), Stepper motor (306), shaft coupling (304) and mobile station (305)；Stepper motor (306) is fastened in mobile station (305), Mobile station (305) is fastened on nut assembly (207), and polished rod (302) is parallel with screw axis (301) to be fixed on mobile station (305) on, stepper motor (306) drives lead screw shaft (301) to be moved along Z-direction by shaft coupling (304)；
The spherical pair motion：Episphere surface member (401), lower semisphere surface member (402), club member (403) With connector (404)；Club member (403) is connected to the big arm support of upper limbs (501) by connector (404)；
The upper limbs support system includes：The big arm support of upper limbs (501), stepper motor (502), upper limbs forearm bracket (503), travelling gear (504), power transmission shaft (505) and travelling gear (506)；Power transmission shaft (505) connects upper limbs by screw thread pair Forearm bracket (503), upper limbs forearm bracket (503) form revolute pair, stepper motor with the big arm support of upper limbs (501) by be hinged (502) upper limbs forearm is driven to bend and stretch rotation training by travelling gear (504), travelling gear (506) and power transmission shaft (505)；
The rectangular coordinate system three-shaft linkage system provides three one-movement-freedom-degrees, realizes that the multiple degrees of freedom of shoulder joint is passive Training, upper limbs support system realize that elbow joint bends and stretches passive exercise.
Upper limbs support system and rectangular coordinate system three-shaft linkage system, spherical pair motion are connected by sphere vice mechanism Three rotational freedoms are provided, shoulder joint is providing tractive force progress passive exercise situation by rectangular coordinate system three-shaft linkage system Under, patient can independently rotate training, add the rotation of shoulder joint and stimulate.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the embodiment of the present invention.
Fig. 2 is rectangular coordinate system three-shaft linkage system schematic of the present invention.
Fig. 3 is spherical pair motion schematic diagram of the present invention.
Fig. 4 is upper limbs support system schematic of the present invention.
Label in figure：101st, screw mandrel support end；102nd, angular contact ball bearing；103rd, base；104th, pedestal；105th, guide rail； 106th, screw axis；107th, nut assembly；108th, stepper motor；109th, shaft coupling；110th, screw mandrel fixing end；111st, guide rail slide block group Part；201st, pedestal；202nd, guide rail；203rd, stepper motor；204th, shaft coupling；205th, screw mandrel fixing end；206th, guide rail slide block component； 207th, nut assembly；208th, screw axis；209th, screw mandrel support end；210th, angular contact ball bearing；301st, screw axis；302nd, polished rod； 303rd, nut assembly；304th, shaft coupling；305th, mobile station；306th, stepper motor；401st, lower semisphere surface member；402nd, upper half sphere Component；403rd, club member；404th, connector；501st, the big arm support of upper limbs；502nd, stepper motor；503rd, upper limbs forearm bracket； 504th, travelling gear；505th, power transmission shaft；506 travelling gears
Embodiment
With reference to specific embodiment, the present invention is described in detail.
As depicted in figs. 1 and 2, the feed screw nut's motion moved in the X-axis direction includes：Lead screw shaft 106, nut assembly 107th, guide rail 105, guide rail slide block component 111, pedestal 104, screw mandrel fixing end 110, screw mandrel support end 101, angular contact ball bearing 102nd, stepper motor 108 and shaft coupling 109；Pedestal 104 and stepper motor 108 are fixed on base 103, screw mandrel fixing end 110 The both ends of pedestal 104 are fixed on screw mandrel support end 101, angular contact ball bearing 102 is fixed on screw mandrel support end 101, and guide rail 105 is logical Cross screw group to be tightened on pedestal 104, guide rail slide block component 111 is nested on guide rail 105 and is connected with nut assembly 107, step Stepper motor 108 connects lead screw shaft 106 by shaft coupling 109 and drives it to be rotated, and realizes nut assembly 107 in guide rail 105 On move；The feed screw nut's motion moved along Y direction includes：Lead screw shaft 208, nut assembly 207, guide rail 202, Guide rail slide block component 206, pedestal 201, screw mandrel fixing end 205, screw mandrel support end 209, angular contact ball bearing 210, stepper motor 203 and shaft coupling 204；Pedestal 201 is fastened on nut assembly 107, and screw mandrel fixing end 205 and screw mandrel support end 209 are solid The both ends of pedestal 201 are scheduled on, angular contact ball bearing 210 is fixed on screw mandrel support end 209, and guide rail 202 is tightened in base by screw group On seat 201, guide rail slide block component 206 is nested on guide rail 202 and is connected with nut assembly 207, and stepper motor 203 passes through shaft coupling Device 204 connects lead screw shaft 208 and drives it to be rotated, and realizes that nut assembly 207 moves on guide rail 202；Along Z axis side To feed screw nut's motion of motion：Lead screw shaft 301, nut assembly 303, polished rod 302, stepper motor 306, shaft coupling 304 With mobile station 305；Stepper motor 306 is fastened in mobile station 305, and mobile station 305 is fastened on nut assembly 207 On, polished rod 302 is parallel with screw axis 301 to be fixed in mobile station 305, and stepper motor 306 drives lead screw shaft by shaft coupling 304 301 move along Z-direction.
The rectangular coordinate system three-shaft linkage system provides three one-movement-freedom-degrees, realizes that the multiple degrees of freedom of shoulder joint is passive Training.
As shown in figures 1 and 3, spherical pair motion includes：Episphere surface member 401, lower semisphere surface member 402, ball Bar component 403 and connector 404；Club member 403 is connected to the big arm support 501 of upper limbs by connector 404；Sphere secondary motion Mechanism provides three rotational freedoms, and shoulder joint is providing tractive force progress passive exercise by rectangular coordinate system three-shaft linkage system In the case of, patient can independently rotate training, add the rotation of shoulder joint and stimulate.
As shown in figure 4, upper limbs support system includes：The big arm support 501 of upper limbs, stepper motor 502, upper limbs forearm bracket 503rd, travelling gear 504, power transmission shaft 505 and travelling gear 506；Power transmission shaft 505 connects upper limbs forearm bracket by screw thread pair 503, upper limbs forearm bracket 503 forms revolute pair with the big arm support 501 of upper limbs by be hinged, and stepper motor 502 passes through driving cog Wheel 504, travelling gear 506 and power transmission shaft 505 drive upper limbs forearm to bend and stretch rotation training.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow Ring the substantive content of the present invention.

Claims (3)

  1. A kind of 1. robot that can realize human upper limb rehabilitation training, by spherical pair motion, rectangular coordinate system three-shaft linkage System and upper limbs support system composition, it is characterised in that
    Feed screw nut's motion that the rectangular coordinate system three-shaft linkage system includes moving in the X-axis direction, transport along Y direction Dynamic feed screw nut's motion and the feed screw nut's motion moved along Z-direction；
    The feed screw nut's motion moved in the X-axis direction includes：Lead screw shaft (106), nut assembly (107), guide rail (105), Guide rail slide block component (111), pedestal (104), screw mandrel fixing end (110), screw mandrel support end (101), angular contact ball bearing (102), stepper motor (108) and shaft coupling (109)；Pedestal (104) and stepper motor (108) are fixed on base (103), silk Bar fixing end (110) and screw mandrel support end (101) are fixed on pedestal (104) both ends, and angular contact ball bearing (102) is fixed on screw mandrel Support end (101), guide rail (105) are tightened on pedestal (104) by screw group, and guide rail slide block component (111) is nested in guide rail (105) it is connected on and with nut assembly (107), stepper motor (108) connects lead screw shaft (106) by shaft coupling (109) and driven Move it to be rotated, realize that nut assembly (107) moves on guide rail (105)；
    The feed screw nut's motion moved along Y direction includes：Lead screw shaft (208), nut assembly (207), guide rail (202), Guide rail slide block component (206), pedestal (201), screw mandrel fixing end (205), screw mandrel support end (209), angular contact ball bearing (210), stepper motor (203) and shaft coupling (204)；Pedestal (201) is fastened on nut assembly (107), and screw mandrel is fixed End (205) and screw mandrel support end (209) are fixed on pedestal (201) both ends, and angular contact ball bearing (210) is fixed on screw mandrel support end (209), guide rail (202) is tightened on pedestal (201) by screw group, and guide rail slide block component (206) is nested on guide rail (202) And be connected with nut assembly (207), stepper motor (203) connects lead screw shaft (208) by shaft coupling (204) and drives its progress Rotate, realize that nut assembly (207) moves on guide rail (202)；
    The feed screw nut's motion moved along Z-direction：Lead screw shaft (301), nut assembly (303), polished rod (302), stepping Motor (306), shaft coupling (304) and mobile station (305)；Stepper motor (306) is fastened in mobile station (305), mobile Platform (305) is fastened on nut assembly (207), and polished rod (302) is parallel with screw axis (301) to be fixed on mobile station (305) On, stepper motor (306) drives lead screw shaft (301) to be moved along Z-direction by shaft coupling (304)；
    The spherical pair motion：Episphere surface member (401), lower semisphere surface member (402), club member (403) and company Fitting (404)；Club member (403) is connected to the big arm support of upper limbs (501) by connector (404)；
    The upper limbs support system includes：The big arm support of upper limbs (501), stepper motor (502), upper limbs forearm bracket (503), biography Moving gear (504), power transmission shaft (505) and travelling gear (506)；Power transmission shaft (505) is connected upper limbs forearm by screw thread pair Support (503), upper limbs forearm bracket (503) form revolute pair, stepper motor with the big arm support of upper limbs (501) by be hinged (502) upper limbs forearm is driven to bend and stretch rotation training by travelling gear (504), travelling gear (506) and power transmission shaft (505).
  2. 2. upper-limbs rehabilitation training robot according to claim 1, it is characterised in that the rectangular coordinate system three-shaft linkage Screw axis (301), screw axis (208) and screw axis (106) in system are orthogonal two-by-two in space, there is provided three movements The free degree, realizes the multiple degrees of freedom passive exercise of shoulder joint, the big arm support of upper limbs (501) and upper limbs forearm in upper limbs support system Support (503) forms revolute pair by be hinged, and power transmission shaft (505) is tightened against turning for forearm bracket (503) by screw thread pair connection Dynamic vice division chief, you can to realize that elbow joint bends and stretches passive exercise simultaneously.
  3. 3. upper-limbs rehabilitation training robot according to claim 1, it is characterised in that sphere vice mechanism passes through upper half sphere Component (401) connects rectangular coordinate system three-shaft linkage system, and upper limbs support system, spherical pair are connected to by connector (404) Motion provides three rotational freedoms, it is possible to achieve shoulder joint is providing tractive force by rectangular coordinate system three-shaft linkage system In the case of carrying out passive exercise, patient can independently rotate training, increase the rotation of shoulder joint and stimulate.
CN201710753798.0A 2017-08-28 2017-08-28 A kind of upper-limbs rehabilitation training robot Pending CN107374912A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109646252A (en) * 2019-02-28 2019-04-19 王兆会 A kind of Neurology upper limb healing therapeutic equipment
CN112274381A (en) * 2020-11-02 2021-01-29 西安电子科技大学 Ankle rehabilitation auxiliary training system with six degrees of freedom, ankle rehabilitation auxiliary training method and application
CN113545958A (en) * 2021-07-02 2021-10-26 中国科学院长春光学精密机械与物理研究所 Shoulder joint rehabilitation robot
WO2022260338A1 (en) * 2021-06-09 2022-12-15 삼성전자주식회사 Exercise assistance device including slider in which balls are accommodated
CN116059078A (en) * 2022-12-27 2023-05-05 力之医疗科技(广州)有限公司 Shoulder exoskeleton for upper limb auxiliary rehabilitation

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Publication number Priority date Publication date Assignee Title
CN102727360A (en) * 2012-06-06 2012-10-17 常州汉迪机器人科技有限公司 Human upper limb rehabilitation robot
CN104382723A (en) * 2014-11-24 2015-03-04 江苏大学 Wrist joint rehabilitation robot
CN204352119U (en) * 2014-11-21 2015-05-27 广西大学 A kind of scapulohumeral periarthritis prevention and rehabilitation medical device
CN104758035A (en) * 2015-03-30 2015-07-08 北京航空航天大学 Six-degree-of-freedom series- reduction robot for fracture of pelvis
CN105520820A (en) * 2016-01-11 2016-04-27 上海交通大学 Three-freedom-degree wrist function rehabilitation robot
CN106393071A (en) * 2016-11-14 2017-02-15 北京工业大学 9-freedom-degree wearable self-adaptive upper limb rehabilitation exoskeleton mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102727360A (en) * 2012-06-06 2012-10-17 常州汉迪机器人科技有限公司 Human upper limb rehabilitation robot
CN204352119U (en) * 2014-11-21 2015-05-27 广西大学 A kind of scapulohumeral periarthritis prevention and rehabilitation medical device
CN104382723A (en) * 2014-11-24 2015-03-04 江苏大学 Wrist joint rehabilitation robot
CN104758035A (en) * 2015-03-30 2015-07-08 北京航空航天大学 Six-degree-of-freedom series- reduction robot for fracture of pelvis
CN105520820A (en) * 2016-01-11 2016-04-27 上海交通大学 Three-freedom-degree wrist function rehabilitation robot
CN106393071A (en) * 2016-11-14 2017-02-15 北京工业大学 9-freedom-degree wearable self-adaptive upper limb rehabilitation exoskeleton mechanism

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109646252A (en) * 2019-02-28 2019-04-19 王兆会 A kind of Neurology upper limb healing therapeutic equipment
CN109646252B (en) * 2019-02-28 2021-01-22 王兆会 Department of neurology upper limbs rehabilitation equipment
CN112274381A (en) * 2020-11-02 2021-01-29 西安电子科技大学 Ankle rehabilitation auxiliary training system with six degrees of freedom, ankle rehabilitation auxiliary training method and application
WO2022260338A1 (en) * 2021-06-09 2022-12-15 삼성전자주식회사 Exercise assistance device including slider in which balls are accommodated
CN113545958A (en) * 2021-07-02 2021-10-26 中国科学院长春光学精密机械与物理研究所 Shoulder joint rehabilitation robot
CN116059078A (en) * 2022-12-27 2023-05-05 力之医疗科技(广州)有限公司 Shoulder exoskeleton for upper limb auxiliary rehabilitation
CN116059078B (en) * 2022-12-27 2024-09-20 力之医疗科技(广州)有限公司 Shoulder exoskeleton for upper limb auxiliary rehabilitation

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