CN108524187A - 一种六自由度的上肢康复机器人控制系统 - Google Patents
一种六自由度的上肢康复机器人控制系统 Download PDFInfo
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- CN108524187A CN108524187A CN201810173731.4A CN201810173731A CN108524187A CN 108524187 A CN108524187 A CN 108524187A CN 201810173731 A CN201810173731 A CN 201810173731A CN 108524187 A CN108524187 A CN 108524187A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—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
- A61H1/0214—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
- A61H1/0277—Elbow
-
- 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
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
-
- 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
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0107—Constructive details modular
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B2023/006—Exercising apparatus specially adapted for particular parts of the body for stretching exercises
Abstract
Description
Claims (12)
Priority Applications (1)
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CN201810173731.4A CN108524187B (zh) | 2018-03-02 | 2018-03-02 | 一种六自由度的上肢康复机器人控制系统 |
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CN201810173731.4A CN108524187B (zh) | 2018-03-02 | 2018-03-02 | 一种六自由度的上肢康复机器人控制系统 |
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109529274A (zh) * | 2018-11-13 | 2019-03-29 | 南京邮电大学 | 基于冗余机械臂上肢关节主动康复系统及其训练方法 |
CN110384601A (zh) * | 2019-07-25 | 2019-10-29 | 吉林农业科技学院 | 仿步行膝关节康复治疗机器人及其控制系统 |
CN110801239A (zh) * | 2019-11-20 | 2020-02-18 | 上海交通大学 | 一种上肢多关节等速训练测试装置 |
CN111388269A (zh) * | 2020-03-10 | 2020-07-10 | 上海电气集团股份有限公司 | 基于can总线的上肢康复机器人及其控制系统 |
CN111481888A (zh) * | 2020-04-21 | 2020-08-04 | 福州大学 | 一种肌力训练动力头控制方法及装置 |
CN111558202A (zh) * | 2019-02-14 | 2020-08-21 | 上银科技股份有限公司 | 上肢训练系统及控制方法 |
CN112716750A (zh) * | 2020-12-24 | 2021-04-30 | 湖北英特搏智能机器有限公司 | 基于三维力传感器的康复机器人力交互控制方法 |
US11123608B2 (en) | 2019-03-05 | 2021-09-21 | Hiwin Technologies Corp. | Upper limb training system and control method thereof |
CN114129392A (zh) * | 2021-12-07 | 2022-03-04 | 山东大学 | 可调控末端指尖力的自适应冗余驱动外骨骼康复机器人 |
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CN102862161A (zh) * | 2012-09-10 | 2013-01-09 | 王伟栋 | 一种基于现场总线的pac工业机器人控制系统 |
CN103522290A (zh) * | 2013-10-14 | 2014-01-22 | 上海胖熊信息技术有限公司 | 基于现场总线的分布式机器人控制系统 |
CN104027218A (zh) * | 2014-06-05 | 2014-09-10 | 电子科技大学 | 一种康复机器人控制系统和方法 |
CN104731107A (zh) * | 2015-03-26 | 2015-06-24 | 北京特种机械研究所 | 一种电动六自由度运动平台高精度控制系统及控制方法 |
CN204431264U (zh) * | 2014-12-05 | 2015-07-01 | 杭州新松机器人自动化有限公司 | 基于EtherCAT的智能工业机器人总线模块 |
CN106602940A (zh) * | 2016-11-25 | 2017-04-26 | 安阳工学院 | 上肢康复机器人用无刷直流电机控制器 |
CN106974795A (zh) * | 2017-03-24 | 2017-07-25 | 华中科技大学 | 一种欠驱动上肢康复机器人控制系统 |
CN107334600A (zh) * | 2017-07-06 | 2017-11-10 | 哈工大机器人(合肥)国际创新研究院 | 一种多通道混合信号采集系统 |
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CN102862161A (zh) * | 2012-09-10 | 2013-01-09 | 王伟栋 | 一种基于现场总线的pac工业机器人控制系统 |
CN103522290A (zh) * | 2013-10-14 | 2014-01-22 | 上海胖熊信息技术有限公司 | 基于现场总线的分布式机器人控制系统 |
CN104027218A (zh) * | 2014-06-05 | 2014-09-10 | 电子科技大学 | 一种康复机器人控制系统和方法 |
CN204431264U (zh) * | 2014-12-05 | 2015-07-01 | 杭州新松机器人自动化有限公司 | 基于EtherCAT的智能工业机器人总线模块 |
CN104731107A (zh) * | 2015-03-26 | 2015-06-24 | 北京特种机械研究所 | 一种电动六自由度运动平台高精度控制系统及控制方法 |
CN106602940A (zh) * | 2016-11-25 | 2017-04-26 | 安阳工学院 | 上肢康复机器人用无刷直流电机控制器 |
CN106974795A (zh) * | 2017-03-24 | 2017-07-25 | 华中科技大学 | 一种欠驱动上肢康复机器人控制系统 |
CN107334600A (zh) * | 2017-07-06 | 2017-11-10 | 哈工大机器人(合肥)国际创新研究院 | 一种多通道混合信号采集系统 |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109529274A (zh) * | 2018-11-13 | 2019-03-29 | 南京邮电大学 | 基于冗余机械臂上肢关节主动康复系统及其训练方法 |
CN109529274B (zh) * | 2018-11-13 | 2021-01-26 | 南京邮电大学 | 基于冗余机械臂上肢关节主动康复系统及其训练方法 |
CN111558202A (zh) * | 2019-02-14 | 2020-08-21 | 上银科技股份有限公司 | 上肢训练系统及控制方法 |
CN111558202B (zh) * | 2019-02-14 | 2021-06-29 | 上银科技股份有限公司 | 上肢训练系统及控制方法 |
US11123608B2 (en) | 2019-03-05 | 2021-09-21 | Hiwin Technologies Corp. | Upper limb training system and control method thereof |
CN110384601A (zh) * | 2019-07-25 | 2019-10-29 | 吉林农业科技学院 | 仿步行膝关节康复治疗机器人及其控制系统 |
CN110801239A (zh) * | 2019-11-20 | 2020-02-18 | 上海交通大学 | 一种上肢多关节等速训练测试装置 |
CN110801239B (zh) * | 2019-11-20 | 2022-06-17 | 上海交通大学 | 一种上肢多关节等速训练测试装置 |
CN111388269A (zh) * | 2020-03-10 | 2020-07-10 | 上海电气集团股份有限公司 | 基于can总线的上肢康复机器人及其控制系统 |
CN111481888A (zh) * | 2020-04-21 | 2020-08-04 | 福州大学 | 一种肌力训练动力头控制方法及装置 |
CN112716750A (zh) * | 2020-12-24 | 2021-04-30 | 湖北英特搏智能机器有限公司 | 基于三维力传感器的康复机器人力交互控制方法 |
CN112716750B (zh) * | 2020-12-24 | 2022-09-16 | 湖北英特搏智能机器有限公司 | 基于三维力传感器的康复机器人力交互控制方法 |
CN114129392A (zh) * | 2021-12-07 | 2022-03-04 | 山东大学 | 可调控末端指尖力的自适应冗余驱动外骨骼康复机器人 |
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