CN108721058A - Exercising apparatus for recovery of upper limb and recovery training method - Google Patents
Exercising apparatus for recovery of upper limb and recovery training method Download PDFInfo
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- CN108721058A CN108721058A CN201810686757.9A CN201810686757A CN108721058A CN 108721058 A CN108721058 A CN 108721058A CN 201810686757 A CN201810686757 A CN 201810686757A CN 108721058 A CN108721058 A CN 108721058A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 37
- 238000012549 training Methods 0.000 title claims abstract description 36
- 238000011084 recovery Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 51
- 210000000245 forearm Anatomy 0.000 claims description 22
- 210000003857 wrist joint Anatomy 0.000 claims description 12
- 210000002310 elbow joint Anatomy 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 4
- 210000003414 extremity Anatomy 0.000 claims description 3
- 230000003387 muscular Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 2
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004088 simulation 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
- A61H1/0274—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
- 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
-
- 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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of exercising apparatus for recovery of upper limb, including there is at least one joint, each joint to be connected with driving motor for six shaft mechanical arms and the control unit that is connect with six shaft mechanical arm signals, mechanical arm, and driving motor is electrically connected with control unit.Mechanical arm according to running orbit during driving patient's upper extremity exercise, non-jitter operates steadily, fluent movements, preset angle can accurately be reached, the equal controllable precise of movement velocity, angle, it will not cause extra action, high degree of automation, the ratio of manpower intervention are low, the problem of avoiding artificial error.Also disclose a kind of recovery training method using the device, it can drive the arbitrary upper limb joint of the patient of 0 grade of muscular strength or more, repetition training is carried out with desired guiding trajectory, speed, its control accuracy is high during the motion, the movement locus of mechanical arm can be set according to the actual demand of patient, and editable is changed, and trained specific aim and accuracy are improved, training effectiveness is high, rehabilitation efficacy is good.
Description
Technical field
The invention belongs to rehabilitation medical instrument technical field, it is related to a kind of rehabilitation training equipment and training method, specifically
It says and is related to a kind of exercising apparatus for recovery of upper limb and training method.
Background technology
In recent years, the cerebrovascular disease incidence of disease such as headstroke have the tendency that rising year by year, these diseases have caused patient
The decline or forfeiture of extremity motor function.Upper limb is the important component of human motion system, has degree of freedom height, movement model
The features such as big, utilization rate is high in daily life is enclosed, once it is impaired, rehabilitation training is such as carried out not in time, it is likely that can cause to transport
Dynamic obstacle, the activity of daily living of extreme influence patient
Method of rehabilitation in traditional medical field for the impaired disease of the limb motions such as hemiplegia, which depends greatly on, to be controlled
Doctor is treated to the one-to-one physiotherapy of patient, movement of patient is driven by therapist, this is a kind of process that labour concentrates, can
Duration is poor, time-consuming and laborious, also lack quantization and objective appraisal, robot technology development and its with clinical rehabilitation medicine
The research for being combined into healing robot provides a good opportunity, using robot and the relevant technologies to rehabilitation training
It is monitored and objective evaluation, improves the specific aim and science of hemiparalysis recovery training, while can be by therapist from heavy
Manual labor frees, and better rehabilitation scheme is formulated for patient, to improve rehabilitation probability.
It is at present still relatively simple instrument for the robot device of rehabilitation training of upper limbs, once to 3 grades of muscular strengths
Patient hardly results in abundant exercise, and movable range is small, cannot adequately take exercise.Existing upper limb training system on the market
The training system AmeoPower of system such as Hocoma companies exploitation has the function of trained track record and reduction, but it can only
Movement locus is set by extraneous simulation learning, specific method is first to allow mechanical arm that can be freely rotated, then by artificial
Manipulator motion is driven, while recording the track of operation, during artificially driving manipulator motion, can cause to shake
Greatly, unstable, not smooth, cannot accurately reach required angle, and movement velocity is uncontrollable, is susceptible to extra dynamic
Make, artificial error factor is excessive, in addition, the problem of can not being changed again there is also movement locus.
Invention content
For this purpose, the present invention exactly will solve above-mentioned technical problem, to propose that non-jitter in a kind of training process, operation are flat
Surely, fluent movements, accuracy are high, can design movement locus according to the actual demand of different sufferers.
In order to solve the above technical problems, the technical scheme is that：
The present invention provides a kind of exercising apparatus for recovery of upper limb comprising six shaft mechanical arms and with the six shaft mechanicals arm signal
The control unit of connection, the six shaft mechanicals arm have at least one joint, and each joint is connected with driving motor, described
Driving motor is electrically connected with described control unit.
Preferably, the six shaft mechanicals arm includes crossbeam arm connected in sequence, horizontal rotating arm, shoulder vertical arm, postbrachium
And forearm, the postbrachium bend and stretch device by elbow joint with forearm and connect, the forearm is also associated with wrist joint rocking handle, the wrist
Joint rocking handle is connected with grip air bag.
Preferably, the crossbeam arm is connect with the horizontal rotating arm by the first live bearing, for driving outside shoulder
Exhibition, interior receipts；The shoulder vertical arm is connect with the postbrachium by the second live bearing, for driving shoulder to bend and stretch.
It is connect by bending track with the forearm preferably, the elbow joint bends and stretches device, for driving elbow to bend and stretch with before
Arm inward turning is turned up.
Preferably, the horizontal boom is connected with first servo motor, the shoulder vertical arm is connected with the second servo electricity
Machine, the postbrachium are connected with third servo motor, and the forearm is connected with the 4th servo motor and the 5th servo motor, and described
Five servo motors are connect with the wrist joint rocking handle simultaneously.
Preferably, the mechanical arm is connect with described control unit by serial ports or less radio-frequency.
The present invention also provides a kind of methods carrying out rehabilitation training using the exercising apparatus for recovery of upper limb comprising such as
Lower step：
S1, predetermined movement track parameter；
S2, trajectory parameters are sent to mechanical arm；
S3, mechanical arm receive the trajectory parameters and are parsed；
S4, mechanical arm control motor operating according to trajectory parameters, and motor driving each joint connected to it, which drives, suffers from
Person's upper extremity exercise；
S5, control machinery arm shut down, and complete training.
Preferably, the step S1 specifically comprises the following steps：
S101, the joint for needing training, joint motions speed, movement angle parameter are added according to execution sequence；
S102, the preset kinematic parameters of step S101 are preserved.
Preferably, the step S3 specifically comprises the following steps：
S301, preset movement track parameters are received；
S302, analytic parameter data, and judge whether parameter is reasonable, step S4 is carried out if rationally, it is such as unreasonable, then it returns
Return step S1.
Preferably, the movement velocity that the motor controls each joint is 50-1300rpm, movement angle is 0-180 °.
The above technical solution of the present invention has the following advantages over the prior art：
(1) exercising apparatus for recovery of upper limb of the present invention, including six shaft mechanical arms and with the six shaft mechanicals arm signal
The control unit of connection, the six shaft mechanicals arm have at least one joint, and each joint is connected with driving motor, described
Driving motor is electrically connected with described control unit.Mechanical arm according to running orbit during driving patient's upper extremity exercise, nothing
It shakes, operate steadily, fluent movements, can accurately reach preset angle, the equal controllable precise of movement velocity, angle will not
Extra action is caused, high degree of automation, the ratio of manpower intervention are low, the problem of avoiding artificial error.
(2) rehabilitation training of upper limbs method of the present invention, this method can drive the arbitrary upper limb of the patient of 0 grade of muscular strength or more
Joint carries out repetition training with desired guiding trajectory, speed, its control accuracy is high during the motion, the movement locus of mechanical arm
It can be set according to the actual demand of patient, and editable is changed, improve trained specific aim and accuracy, training effectiveness height, health
Multiple effect is good.
Description of the drawings
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail, wherein
Fig. 1 is the structural schematic diagram of the exercising apparatus for recovery of upper limb described in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of six shaft mechanical arms in exercising apparatus for recovery of upper limb described in the embodiment of the present invention；
Fig. 3 is the flow chart of the rehabilitation training of upper limbs method described in the embodiment of the present invention；
Fig. 4 is the sub-step flow chart of step S1 in rehabilitation training of upper limbs method described in the embodiment of the present invention；
Fig. 5 is the sub-step flow chart of step S3 in rehabilitation training of upper limbs method described in the embodiment of the present invention.
Reference numeral is expressed as in figure：1- pedestals；2- crossbeam arms；3- horizontal rotating arms；4- shoulder vertical arm；41- adjusts spiral shell
Swing arm；5- postbrachiums；51- postbrachium bending tracks；6- forearms；61- forearm bending tracks；The vertical linking arms of 7-；8- wrist joint rocking handles；9- grip gas
Capsule；10- elbow joints bend and stretch device.
Specific implementation mode
Embodiment 1
The present embodiment provides a kind of exercising apparatus for recovery of upper limb comprising six shaft mechanical arms and with the six shaft mechanicals arm believe
Number connection control unit.The mechanical arm has the controller for receiving and executing control signal；Described control unit can
Think the terminal with control software or other human-computer interaction interfaces, passes through with the controller of six shaft mechanical arms
Serial ports or twireless radio-frequency communication connection.The six shaft mechanicals arm has several joints corresponding to human upper limb structure, Mei Gesuo
It states joint and is respectively connected with driving motor, the driving motor driving joint is moved according to desired guiding trajectory to drive upper extremity exercise,
The driving motor is electrically connected and then is electrically connected with control unit with the controller.
The concrete structure of the exercising apparatus for recovery of upper limb is as shown in Figure 1 comprising six shaft mechanical arms and for installing
The pedestal 1 for stating six shaft mechanical arms, for ease of carrying, 1 bottom of the pedestal is additionally provided with idler wheel.The six shaft mechanicals arm includes suitable
Crossbeam arm 2, horizontal rotating arm 3, shoulder vertical arm 4, postbrachium 5 and the forearm 6 of secondary connection, wherein the crossbeam arm 2 with it by hanging down
Straight vertical linking arm 7 is connect with the pedestal 1.The forearm 6 is also associated with wrist joint rocking handle 8, and the wrist joint rocking handle 8 connects
It is connected to a grip air bag 9.
The junction of above-mentioned each mechanical arm unit corresponds to each joint of human upper limb, specifically：The crossbeam arm 2 and institute
It states horizontal rotating arm 3 to be hinged by the first live bearing, the relative rotation for passing through the two drives shoulders of human body joint to carry out abduction
Interior receipts movement, the shoulder vertical arm 4 is hinged by the second live bearing with the postbrachium 5, is driven by the relative motion of the two
Shoulder joints carry out flexion and extension, and the postbrachium 5 bends and stretches device 10 by elbow joint with the forearm 6 and connect, the elbow joint
It bends and stretches device 10 and is connected with a bending track, elbow flexion and extension and forearm inward turning are driven by its movement, turned up, the forearm 6 and wrist
Joint rocking handle 8 connects, and corresponds to wrist bend and stretch joint, and the grip air bag 9 grabs me for hand, forms grip device.
Further, in order to drive each mechanical arm unit motion to drive each joint motion of upper limb, the horizontal rotation
The rigid connection of arm 3 has a first servo motor, and the horizontal rotating arm 3 is connected to the movable end of first servo motor, and described the
The fixing end of one servo motor is connected to the crossbeam arm 2, and the rotation driving of first servo motor has driven in shoulder abduction
It receives, movement.The shoulder vertical arm 4 is connected with the adjusting screw rod 41 of one perpendicular (being arranged in the horizontal direction), can be by changing
Become to adjust screw rod 41 and go deep into the depth of the shoulder vertical arm 41 and comes the position of adjusting mechanical arm elbow joint.The adjusting screw rod
41 are rigidly connected in the movable end of the second servo motor, and the fixing end of second servo motor is connected to the shoulder vertical arm 4,
The rotation of second servo motor drives, and has driven shoulder joint flexion and extension.The postbrachium 5 is rigidly connected in third servo motor
The movable end of fixing end, the third servo motor is connect by transmission belt with the postbrachium bending track 51 for being connected to postbrachium 5.Before described
Arm 6 is rigidly connected in the fixing end of the 4th servo motor, the movable end of the 4th servo motor by conveyer belt be connected to
The forearm bending track 61 of the forearm 6 connects, to drive elbow bend and stretch joint and forearm inward turning, joint motions of turning up.The forearm 6
It is also rigidly connected in the fixing end of the 5th servo motor simultaneously, the movable end of the 5th servo motor is connected to wrist joint rocking handle
8, composition wrist bend and stretch joint drives wrist to make flexion and extension.The wrist joint rocking handle 8 is carried out with the grip air bag 9 by screw
Rigid connection forms grip device.
Embodiment 2
The present embodiment provides a kind of sides carrying out rehabilitation training using exercising apparatus for recovery of upper limb as described in Example 1
Method, as in Figure 3-5 comprising following steps：
S1, default or selection movement track parameters：
S101, it can be set according to training demand editor's movement locus, editing interface on computer software or human-computer interaction interface
Set two list boxes, one of them be track name, another be trajectory parameters, when choosing track name list box, track ginseng
Ordered series of numbers bezel, cluster can reality currently choose the profile parameter information of track, the trajectory parameters include training joint entry execute it is suitable
Sequence, joint of mechanical arm number, joint motions speed, movement angle, wherein different joints can be arranged is performed simultaneously movement side by side
Or movement is sequentially executed, same joint can only sequentially repeat movement and may be used also simultaneously for new patient
Establish new user information such as patient's name, gender, age, muscular strength grade, number etc..
S102, the step S101 movement locus set is preserved to control unit, it is repeatable when follow-up repetition training to make
Also movement locus can be reseted according to recovery situation with preset trace information, the movement locus editted is only stored in current use
Under name in an account book.
S2, the controller that preset movement track parameters are sent to six shaft mechanical arms.
S3, six shaft mechanical arms receive the trajectory parameters and are parsed：
The preset trajectory parameters of controller reception of S301, the six shaft mechanicals arm；
S302, the mechanical arm controller trajectory parameters are parsed, and judge whether the parameter reasonable, if rationally into
Row in next step, is such as determined as unreasonable, then return to step S1 is checked or reset trajectory parameters.
S4, six shaft mechanical arms controller control motor operating according to trajectory parameters, motor driving is connected to it
Each joint drives patient's upper extremity exercise, carries out rehabilitation training.
S5, after the completion of training, described control unit control machinery arm shuts down.
Motor operating can drive each joint with the speed of 50-1300rpm, 0-180 ° of angular movement, and then play drive
Upper limb is with the effect of certain frequency and angular movement.
In the present embodiment, kinematic parameter is arranged according to table 1：
Table 1
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. a kind of exercising apparatus for recovery of upper limb, which is characterized in that connect including six shaft mechanical arms and with the six shaft mechanicals arm signal
There is at least one joint, each joint to be connected with driving motor, the drive for the control unit connect, the six shaft mechanicals arm
Dynamic motor is electrically connected with described control unit.
2. exercising apparatus for recovery of upper limb according to claim 1, which is characterized in that the six shaft mechanicals arm includes sequentially connecting
Crossbeam arm, horizontal rotating arm, shoulder vertical arm, postbrachium and the forearm connect, the postbrachium bend and stretch device by elbow joint with forearm and connect
It connects, the forearm is also associated with wrist joint rocking handle, and the wrist joint rocking handle is connected with grip air bag.
3. exercising apparatus for recovery of upper limb according to claim 2, which is characterized in that the crossbeam arm and the horizontal rotation
Arm is connected by the first live bearing, for driving shoulder abduction, interior receipts；The shoulder vertical arm passes through the second activity with the postbrachium
Bearing connects, for driving shoulder to bend and stretch.
4. exercising apparatus for recovery of upper limb according to claim 3, which is characterized in that the elbow joint bend and stretch device with it is described
Forearm is connected by bending track, for drive elbow bend and stretch with forearm inward turning, turn up.
5. exercising apparatus for recovery of upper limb according to claim 4, which is characterized in that the horizontal boom is connected with first and watches
Motor is taken, the shoulder vertical arm is connected with the second servo motor, and the postbrachium is connected with third servo motor, the forearm connection
There are the 4th servo motor and the 5th servo motor, the 5th servo motor to be connect simultaneously with the wrist joint rocking handle.
6. exercising apparatus for recovery of upper limb according to claim 5, which is characterized in that the mechanical arm and described control unit
It is connected by serial ports or less radio-frequency.
7. a kind of method carrying out rehabilitation training using exercising apparatus for recovery of upper limb as claimed in any one of claims 1 to 6,
It is characterized in that, includes the following steps：
S1, predetermined movement track parameter；
S2, trajectory parameters are sent to mechanical arm；
S3, mechanical arm receive the trajectory parameters and are parsed；
S4, mechanical arm control motor operating according to trajectory parameters, and motor driving each joint connected to it drives on patient
Limb moves；
S5, control machinery arm shut down, and complete training.
8. recovery training method according to claim 7, which is characterized in that the step S1 specifically comprises the following steps：
S101, the joint for needing training, joint motions speed, movement angle parameter are added according to execution sequence；
S102, the preset kinematic parameters of step S101 are preserved.
9. recovery training method according to claim 8, which is characterized in that the step S3 specifically comprises the following steps：
S301, preset movement track parameters are received；
S302, analytic parameter data, and judge whether parameter is reasonable, step S4 is carried out if rationally, it is such as unreasonable, then return to step
Rapid S1.
10. recovery training method according to claim 9, which is characterized in that the motor controls the movement speed in each joint
Degree is 50-1300rpm, and movement angle is 0-180 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810686757.9A CN108721058A (en) | 2018-06-28 | 2018-06-28 | Exercising apparatus for recovery of upper limb and recovery training method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810686757.9A CN108721058A (en) | 2018-06-28 | 2018-06-28 | Exercising apparatus for recovery of upper limb and recovery training method |
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| CN108721058A true CN108721058A (en) | 2018-11-02 |
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| CN201810686757.9A Pending CN108721058A (en) | 2018-06-28 | 2018-06-28 | Exercising apparatus for recovery of upper limb and recovery training method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112068434A (en) * | 2020-09-09 | 2020-12-11 | 北京航空航天大学 | Iterative learning control method for rehabilitation mechanical device based on extended state observer |
| CN112757273A (en) * | 2020-12-28 | 2021-05-07 | 广州一康医疗设备实业有限公司 | Method, system and device for editing and visualizing track of mechanical arm and storage medium |
| CN112936264A (en) * | 2021-01-28 | 2021-06-11 | 华中科技大学 | Anthropomorphic motion planning method and system for arm-hand artificial limb |
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| CN204293444U (en) * | 2014-10-24 | 2015-04-29 | 青岛世纪杰创医疗科技有限公司 | A kind of exoskeleton-type shoulder girdle and upper limbs work in coordination with healing robot |
| US9358173B2 (en) * | 2008-05-09 | 2016-06-07 | National Taiwan University | Rehabilitation and training apparatus and method of controlling the same |
| CN105726260A (en) * | 2016-03-16 | 2016-07-06 | 安阳神方康复机器人有限公司 | Interchangeable upper limb rehabilitation robot |
| CN205964401U (en) * | 2016-05-03 | 2017-02-22 | 广州一康医疗设备实业有限公司 | Robot used for upper limb rehabilitation |
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2018
- 2018-06-28 CN CN201810686757.9A patent/CN108721058A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9358173B2 (en) * | 2008-05-09 | 2016-06-07 | National Taiwan University | Rehabilitation and training apparatus and method of controlling the same |
| CN204293444U (en) * | 2014-10-24 | 2015-04-29 | 青岛世纪杰创医疗科技有限公司 | A kind of exoskeleton-type shoulder girdle and upper limbs work in coordination with healing robot |
| CN105726260A (en) * | 2016-03-16 | 2016-07-06 | 安阳神方康复机器人有限公司 | Interchangeable upper limb rehabilitation robot |
| CN205964401U (en) * | 2016-05-03 | 2017-02-22 | 广州一康医疗设备实业有限公司 | Robot used for upper limb rehabilitation |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112068434A (en) * | 2020-09-09 | 2020-12-11 | 北京航空航天大学 | Iterative learning control method for rehabilitation mechanical device based on extended state observer |
| CN112068434B (en) * | 2020-09-09 | 2021-09-21 | 北京航空航天大学 | Iterative learning control method for rehabilitation mechanical device based on extended state observer |
| CN112757273A (en) * | 2020-12-28 | 2021-05-07 | 广州一康医疗设备实业有限公司 | Method, system and device for editing and visualizing track of mechanical arm and storage medium |
| CN112936264A (en) * | 2021-01-28 | 2021-06-11 | 华中科技大学 | Anthropomorphic motion planning method and system for arm-hand artificial limb |
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