CN108852740B - Pneumatic upper limb rehabilitation robot - Google Patents
Pneumatic upper limb rehabilitation robot Download PDFInfo
- Publication number
- CN108852740B CN108852740B CN201810132098.4A CN201810132098A CN108852740B CN 108852740 B CN108852740 B CN 108852740B CN 201810132098 A CN201810132098 A CN 201810132098A CN 108852740 B CN108852740 B CN 108852740B
- Authority
- CN
- China
- Prior art keywords
- gear
- arm
- cylinder
- incremental encoder
- rotating shaft
- 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.)
- Active
Links
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 54
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 52
- 230000033001 locomotion Effects 0.000 claims abstract description 31
- 238000012549 training Methods 0.000 claims abstract description 29
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 22
- 230000002146 bilateral effect Effects 0.000 claims abstract description 12
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 11
- 239000013589 supplement Substances 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 10
- 210000003414 extremity Anatomy 0.000 description 9
- 208000006011 Stroke Diseases 0.000 description 8
- 239000004677 Nylon Substances 0.000 description 5
- 230000008901 benefit Effects 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 5
- 229920001778 nylon Polymers 0.000 description 5
- 206010019468 Hemiplegia Diseases 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- 230000007659 motor function Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011281 clinical therapy Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
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
- A61H1/0277—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
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
Landscapes
- 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)
- Manipulator (AREA)
Abstract
The invention relates to the field of medical rehabilitation machinery, in particular to a pneumatic upper limb rehabilitation robot. Each upper limb training device is formed by connecting a first joint component, a second joint component, a third joint component, a fourth joint component and a fifth joint component in series, wherein the first joint component, the second joint component and the third joint component are used for shoulder joint movement of a user, the fourth joint component is used for elbow joint movement of the user, and the fifth joint component is used for wrist joint movement of the user. The device is a bilateral ten-degree-of-freedom pneumatic upper limb rehabilitation robot, and can assist rehabilitation training of shoulder joints, elbow joints and wrist joints of patients on both sides, and supplement or replace professional doctors.
Description
Technical Field
The invention relates to the field of medical rehabilitation machinery, in particular to a pneumatic upper limb rehabilitation robot.
Background
Stroke (Stroke), commonly known as Stroke, is a cerebrovascular disease with sudden onset and is also the most serious complication of cerebrovascular disease. Stroke is considered to be one of three major diseases threatening human health. According to statistics, as many as 200 million people in China have cerebral apoplexy diseases every year, 700 million people exist in cerebral apoplexy patients, wherein 450 ten thousand patients have hemiplegia or paralysis, the limbs lose mobility to different degrees, the life cannot be managed by oneself, and the disability rate is as high as 75%. Human upper limbs bear very important responsibility in daily life, various fine and complex activities are completed, and the motor dysfunction of the upper limbs seriously influences the daily life of people. Therefore, reconstruction of motor function of upper limbs of hemiplegia patients is an important topic in the field of rehabilitation medicine research. Clinical medical studies have shown that most stroke patients can restore limb mobility to some extent through extensive and repetitive task-type exercises.
At present, upper limb rehabilitation robots can be divided into a tail end traction type robot and an exoskeleton type robot according to mechanical structures. In the rehabilitation exercise of the tail end traction type rehabilitation robot, the tail end of the tail end traction type rehabilitation robot is usually fixedly connected with the wrist of a patient, the movement of the tail end actuator of the rehabilitation robot drives the affected limb to move, and the independent active or passive rehabilitation exercise of a certain joint in the upper limb of the patient is difficult to carry out. In addition, the rehabilitation robot is usually connected with the patient only through the wrist, and the reaction force of the rehabilitation robot can cause injury to the wrist of the patient or other parts of the limb of the patient during rehabilitation movement. The exoskeleton type rehabilitation robot can be directly worn on a human body, the degrees of freedom of the exoskeleton type rehabilitation robot are limited by the motion mode and the size of human body joints, so that the mechanism is complex, and the driving characteristics and the motion characteristics of the robot are influenced by the weight and the inertia of the robot and limbs of a patient due to the fact that the joints of the exoskeleton type rehabilitation robot are attached to the human body. However, the joint space of the exoskeleton rehabilitation robot is almost consistent with the joint space of the human body, the safety is high, and the calculation of space conversion is not needed in the trajectory control. In addition, in the rehabilitation exercise, the robot can perform active and passive rehabilitation exercise on the upper limbs of the patient, namely on a single joint, and can also perform active and passive rehabilitation exercise on multiple joints. Therefore, compared with the tail end traction type rehabilitation robot, the exoskeleton type rehabilitation robot can provide more flexible, safer and richer rehabilitation motions.
The upper limb rehabilitation training robot is produced by combining the technical field of robots with the medical field of rehabilitation therapy, is a new technology for supplementing or replacing professional doctors to finish the upper limb rehabilitation training of human bodies, opens up a new road for the rehabilitation therapy of upper limb hemiplegia patients, and makes up the defects of clinical therapy of the hemiplegia patients. The treatment method of the rehabilitation training robot is to connect the affected limb with the robot, and the limb of the patient is driven by the robot to complete various actions and stimulate the nerve control system of the upper limb joint and muscle of the human body, thereby achieving the purpose of recovering the limb motor function of the patient. The mode reduces the dependence on a treating physician, can help a medical doctor to complete heavy and repeated rehabilitation training tasks, and helps a patient to recover the limb motor function better.
The upper limb exoskeleton rehabilitation robot is a rehabilitation medical device which is in direct contact with the body of a hemiplegic patient, the safety and flexibility of the upper limb exoskeleton rehabilitation robot are very important, and in addition, the rehabilitation movement is required to be smooth and natural, and the stability and the flexibility are mainly dependent on an actuator of the rehabilitation robot. At present, most of rehabilitation robots are driven by motors, and other types of actuators are mainly artificial pneumatic muscles, air cylinders, hydraulic artificial muscles and the like. The hydraulic drive has limitations in clinical application, the motor drive mainly depends on series or parallel connection of elastic actuators to increase the flexibility of the exoskeleton, the exoskeleton driven by pneumatic muscles has limitations in layout, the double upper limb exoskeleton rehabilitation robot driven by cylinders is still fresh at present, the cylinder drive has obvious advantages in flexibility and safety problems, and the cylinder drive has great potential in application to the exoskeleton.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a pneumatic upper limb rehabilitation robot. Each upper limb training device is formed by connecting a first joint component, a second joint component, a third joint component, a fourth joint component and a fifth joint component in series, wherein the first joint component, the second joint component and the third joint component are used for shoulder joint movement of a user, the fourth joint component is used for elbow joint movement of the user, and the fifth joint component is used for wrist joint movement of the user. The device is a bilateral ten-degree-of-freedom pneumatic upper limb rehabilitation robot, and can assist rehabilitation training of shoulder joints, elbow joints and wrist joints of patients on both sides, and supplement or replace professional doctors.
The technical scheme of the invention is as follows: the utility model provides a recovered robot of pneumatic upper limbs, includes back support, upper limbs trainer, and two upper limbs trainings device symmetries set up on the back support, and two upper limbs trainings device structures are the same, its characterized in that: the back support comprises a back support beam, air cylinder supports, a support outer sleeve, a positioning bolt, a support inner sleeve, a clamping support and a supporting plate, the two air cylinder supports are welded in a guide groove of the back support beam, the back support beam is sleeved on the support outer sleeve, the support outer sleeve is sleeved on the support inner sleeve, the positioning bolt is arranged on the support inner sleeve, and the clamping support and the supporting plate are arranged on the support outer sleeve; each upper limb training device is formed by connecting a first joint component, a second joint component, a third joint component, a fourth joint component and a fifth joint component in series, wherein the first joint component, the second joint component and the third joint component are used for shoulder joint movement of a user, the fourth joint component is used for elbow joint movement of the user, and the fifth joint component is used for wrist joint movement of the user.
The pneumatic upper limb rehabilitation robot is characterized in that: the first joint assembly comprises a first cylinder assembly and a first shoulder joint rotating arm, a first connecting rotating shaft is arranged in the aperture of the back support beam, a first rotating shaft gear is fixed on the first connecting rotating shaft, and the first connecting rotating shaft is connected with the first shoulder joint rotating arm through a first self-lubricating bearing; the first incremental encoder gear is meshed with the first Hall sensor gear which is connected with a first Hall sensor, and the first incremental encoder and the first Hall sensor are installed on the first shoulder joint rotating arm; an output shaft of the first air cylinder body is connected with a first pull pressure sensor, one end of the first air cylinder body is provided with a first I-shaped connector, the first air cylinder body is connected onto the air cylinder support through a first fixing bolt and the first I-shaped connector, and the other end of the first air cylinder body is connected to the second connecting rotating shaft through a first air cylinder base.
The pneumatic upper limb rehabilitation robot is characterized in that: the second joint assembly comprises a second air cylinder assembly and a second shoulder joint rotating arm, a second connecting rotating shaft is fixed in the aperture of the first shoulder joint rotating arm, a second rotating shaft gear is fixed on the second connecting rotating shaft, and the second connecting rotating shaft is connected to the second shoulder joint rotating arm through a second self-lubricating bearing; the second rotating shaft gear is meshed with a second incremental encoder gear, the second incremental encoder gear is connected with a second incremental encoder, the second incremental encoder gear is meshed with a second Hall sensor gear, the second Hall sensor gear is connected with a second Hall sensor, and the second incremental encoder and the second Hall sensor are fixed on the first shoulder joint rotating arm; the output shaft of second cylinder block sets up the second and draws pressure sensor, and second cylinder block one end sets up second I type connector, connects the second cylinder block on the crank through second I type connector and fixing bolt, and the crank is fixed on second shoulder joint rocking arm, and the other end of second cylinder block sets up second cylinder base, through second cylinder base with second cylinder block fixed connection in first connection pivot.
The pneumatic upper limb rehabilitation robot is characterized in that: the third joint component comprises a third air cylinder component and a large-arm rotating arm component, the large-arm rotating arm component comprises a first large-arm rotating arm and a second large-arm rotating arm, a third connecting rotating shaft is fixed in the aperture of the first large-arm rotating arm, a third rotating shaft gear is fixed on the third connecting rotating shaft, the third connecting rotating shaft is connected with the first large-arm rotating arm through a bilateral third self-lubricating bearing, and the first large-arm rotating arm is connected with the second large-arm rotating arm through a double-end adjusting screw rod; the third rotating shaft gear is meshed with a third incremental encoder gear, the third incremental encoder gear is connected with a third incremental encoder, the third incremental encoder gear is meshed with a third Hall sensor gear, the third Hall sensor gear is connected with a third Hall sensor, and the third incremental encoder and the third Hall sensor are installed on the first large arm rotating arm through screws; the output shaft of the third cylinder body is connected with a third pull pressure sensor, one end of the third cylinder body is provided with a third I-shaped connector, the third cylinder body is connected onto a third cylinder support through the third I-shaped connector and a fixing bolt, the third cylinder support is welded on a first big arm rotating arm, the other end of the third cylinder body is connected with a third cylinder base, and the third cylinder body is connected onto a second shoulder joint rotating arm through the third cylinder base and a cylinder support shaft.
The pneumatic upper limb rehabilitation robot is characterized in that: the fourth joint assembly comprises a fourth cylinder assembly and a small arm rotating arm assembly, the small arm rotating arm assembly comprises a first small arm rotating arm and a second small arm rotating arm, a fourth connecting rotating shaft is fixed in the aperture of the first small arm rotating arm, a fourth rotating shaft gear is fixed on a fourth connecting rotating shaft, the fourth connecting rotating shaft is connected to the second large arm rotating arm through a double-sided fourth self-lubricating bearing, the first small arm rotating arm is connected with the second small arm rotating arm through a double-head adjusting screw, the fourth rotating shaft gear is meshed with a fourth incremental encoder gear, the fourth incremental encoder gear is connected with a fourth incremental encoder, the fourth incremental encoder gear is meshed with a fourth Hall sensor gear, the fourth Hall sensor gear is connected with a fourth Hall sensor, and the fourth incremental encoder and the fourth Hall sensor are installed on the second large arm rotating arm; the output shaft of the fourth cylinder body is connected with a fourth pull pressure sensor, one end of the fourth cylinder body is provided with a fourth I-shaped connector, the fourth cylinder body is connected onto a fourth cylinder support through the fourth I-shaped connector and a fixing bolt, the fourth cylinder support is welded onto a second large arm rotating arm, the other end of the fourth cylinder body is provided with a fourth cylinder base, and the fourth cylinder body is connected onto a second small arm rotating arm through the fourth cylinder base and the fourth cylinder support.
The pneumatic upper limb rehabilitation robot is characterized in that: the fifth joint component comprises a fifth air cylinder component and a wrist joint component, the second forearm rotating arm is connected with the wrist joint crank through a fixed bolt, a fifth rotating shaft gear is fixed on a fifth connecting rotating shaft, a fifth rotating shaft gear on the fifth connecting rotating shaft is meshed with a fifth incremental encoder gear through a transition gear, the fifth incremental encoder gear is connected with a fifth incremental encoder, the fifth incremental encoder gear is meshed with a fifth Hall sensor gear, the fifth Hall sensor gear is connected with a fifth Hall sensor, the fifth incremental encoder and the fifth Hall sensor are arranged on the second forearm rotating arm, a six-axis force (moment) sensor is arranged on the wrist joint crank, a handle is connected on the six-axis force (moment) sensor, the fifth incremental encoder and the fifth Hall sensor are driven to rotate through rotation, a fifth air cylinder body is connected with the wrist joint crank through a fifth I-shaped connector and a fixed bolt, the fifth cylinder block is provided with a fifth cylinder base, and the fifth cylinder block is connected to the first forearm rotating arm through the fifth cylinder base and a fifth cylinder supporting shaft.
The pneumatic upper limb rehabilitation robot is characterized in that: the first cylinder block, the second cylinder block, the third cylinder block, the fourth cylinder block and the fifth cylinder block are controlled by servo valves.
The invention has the beneficial effects that:
1. the pneumatic driving rehabilitation robot comprises a wearable exoskeleton design driven by two sides, can enable a patient to carry out rehabilitation training in a sitting posture, a standing posture or a free moving state, can develop more rehabilitation training modes by driving the two sides, and has scientific evidence to prove that the factors are very helpful to the rehabilitation effect;
2. compared with motor drive, hydraulic drive and pneumatic muscle drive, the cylinder drive has obvious advantages in flexibility and safety, meanwhile, the design overcomes the layout limitation caused by the physical size of the cylinder, and the related sensors are adopted to make up for the defect of pure cylinder control performance;
3. the swing arm is designed into a thin-wall structure by adopting a light and compact structural design, adopting a cylinder driving joint and utilizing the light characteristic of the cylinder, so that the overall structure shows the light characteristic; the sensor is arranged in the swing arm of the rehabilitation robot, so that the structure is more compact, the thin-wall light self-lubricating bearing is adopted to replace a conventional ball bearing, and the problems of quality, volume and friction force are considered.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic perspective view of a pneumatic rehabilitation robot according to a preferred embodiment of the present invention;
FIG. 2 is a schematic perspective view of a pneumatic rehabilitation robot according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of a back support structure of a pneumatically driven rehabilitation robot according to the present invention;
FIG. 4 is a schematic perspective view of a first shoulder joint of a pneumatically driven rehabilitation robot according to the present invention;
FIG. 5 is a schematic diagram of the explosion structure of a first shoulder joint and a second shoulder joint of the pneumatic driving rehabilitation robot;
FIG. 6 is a schematic perspective view of a second shoulder joint of the pneumatically driven rehabilitation robot of the present invention;
FIG. 7 is a schematic perspective view of a third shoulder joint of a pneumatically driven rehabilitation robot according to the present invention;
FIG. 8 is a schematic diagram of an exploded structure of a shoulder joint III of the pneumatically driven rehabilitation robot according to the present invention;
FIG. 9 is a schematic perspective view of an elbow joint of a pneumatically driven rehabilitation robot according to the present invention;
fig. 10 is an exploded view of an elbow joint of a pneumatically driven rehabilitation robot according to the present invention;
FIG. 11 is a schematic perspective view of a pneumatically driven rehabilitation robot wrist joint according to the present invention;
fig. 12 is an exploded view of a wrist joint of a pneumatically driven rehabilitation robot according to the present invention.
Description of reference numerals: comprises a back support 1, an upper limb training device 2, a first joint component 3, a second joint component 4, a third joint component 5, a fourth joint component 6, a fifth joint component 7, a back support beam 11, a cylinder support 12, a support outer sleeve 13, a positioning bolt 14, a support inner sleeve 15, a clamping support 16, a supporting plate 17, a first cylinder component 31, a first shoulder joint rotating arm 32, a first connecting rotating shaft 33, a first rotating shaft gear 331, a first self-lubricating bearing 34, a first incremental encoder gear 35, a first incremental encoder 36, a first Hall sensor gear 37, a first Hall sensor 38, a first I-shaped connector 311, a first cylinder body 314, a first pull pressure sensor 313, a first cylinder base 315, a second cylinder component 41, a second shoulder joint rotating arm 42, a fixing bolt 412, a second connecting rotating shaft 43, a second rotating shaft gear 431, a first connecting rod, a second connecting rod component, a third connecting rod component 7, a third connecting rod component 32, a second self-lubricating bearing 44, a second incremental encoder gear 45, a second incremental encoder 46, a second hall sensor gear 47, a second hall sensor 48, a second I-type connector 411, a second pull pressure sensor 413, a second cylinder block 414, a second I-type connector 411, a crank head 421, a second cylinder base 415, a third joint component 5, a third cylinder component 51, a boom swivel component 52, a third connecting swivel shaft 53, a third swivel shaft gear 531, a third self-lubricating bearing 54, a first boom swivel arm 521, a second boom swivel arm 522, a double-headed adjusting screw 59, a third incremental encoder gear 55, a third incremental encoder 56, a third hall sensor gear 57, a third hall sensor 58, a third cylinder block 514, a third pull pressure sensor 513, a third I-type connector 511, a fixing bolt 512, a third cylinder support 517, a third cylinder base 515, a third cylinder base, a third hall sensor gear 57, a third hall sensor 58, a third pull pressure sensor, Cylinder support shaft 516, fourth cylinder assembly 61, small arm rotating arm assembly 62, first small arm rotating arm 621, fourth connecting rotating shaft 63, fourth rotating shaft gear 631, fourth self-lubricating bearing 64, double-head adjusting screw 69, second small arm rotating arm 622, fourth incremental encoder gear 65, fourth incremental encoder 66, fourth hall sensor gear 67, fourth hall sensor 68, fourth cylinder block 614, fourth tension and pressure sensor 613, fourth I-shaped connector 611, fixing bolt 612, fourth cylinder base 615, fourth cylinder support 617, fourth cylinder support 618, fixing bolt 726, fifth rotating shaft gear 731, transition gear 733, wrist joint crank 723, six-axis force (moment) sensor 724, handle 725, fifth cylinder block 714, fifth I-shaped connector 711, fifth cylinder base 715, fifth cylinder support shaft 716, fifth incremental encoder gear 75, fifth cylinder support shaft 75, fourth cylinder support shaft 68, fourth cylinder block gear, fourth cylinder support gear 613, fourth cylinder support shaft gear, second cylinder block, fourth cylinder block gear, fourth cylinder support gear, fixing bolt, a fifth incremental encoder 76, a fifth hall sensor gear 77, and a fifth hall sensor 78.
Detailed Description
The noun explains: six-axis force (moment) sensor: a six-axis force sensor or a six-axis torque sensor is shown.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
In order to facilitate understanding of the above-described technical aspects of the present invention, the above-described technical aspects of the present invention will be described in detail below in terms of specific usage.
As shown in fig. 1 to 3, in a specific use, the bilateral ten-degree-of-freedom pneumatic upper limb rehabilitation robot comprises a back support 1 and upper limb training devices 2, wherein the two upper limb training devices 2 are symmetrically arranged on the back support 1, and the two upper limb training devices 2 have the same structure. The upper limb training device 2 is arranged on the back support 1 via a back support cross member 11.
As shown in fig. 3, the back support 1 includes a back support beam 11, cylinder supports 12, a support outer sleeve 13, a positioning pin 14, a support inner sleeve 15, a clamping support 16, and a supporting plate 17, the two cylinder supports 12 are welded in a guide groove of the back support beam 11, the back support beam 11 is sleeved on the support outer sleeve 13, the support outer sleeve 13 is sleeved on the support inner sleeve 15, the positioning pin 14 is arranged on the support inner sleeve 15, the length of the support inner sleeve 15 nested in the support outer sleeve 13 is adjusted by the positioning pin 14, so as to adjust the total length of the support outer sleeve 13 and the support inner sleeve 15. The supporting outer sleeve 15 is provided with a clamping support 16 and a supporting plate 17 fixed by screws, and the supporting plate 17 realizes the bearing function through a binding band.
In this embodiment, as shown in fig. 1 and 2, each upper limb training device 2 is an exoskeleton mechanical arm formed by connecting single-side 5 rotational joint assemblies in series, and each upper limb training device 2 includes a first joint assembly 3 for realizing shoulder joint movement of a user, a second joint assembly 4 connected to the first joint assembly 3 for realizing shoulder joint movement of the user, a third joint assembly 5 connected to the second joint assembly 4 for realizing shoulder joint movement of the user, a fourth joint assembly 6 connected to the third joint assembly 5 for realizing elbow joint movement of the user, and a fifth joint assembly 7 connected to the fourth joint assembly 6 for realizing wrist joint movement of the user.
In this embodiment, as shown in fig. 4 and 5, the first joint assembly 3 includes a first cylinder assembly 31 and a first shoulder joint rotating arm 32, a first connecting rotating shaft 33 is installed in the aperture of the back support beam 11, a first rotating shaft gear 331 made of nylon is fixed on the first connecting rotating shaft 33 through a set screw, and the first connecting rotating shaft 33 is connected with the first shoulder joint rotating arm 32 through a first self-lubricating bearing 34; the first rotating shaft gear 331 is meshed with the first incremental encoder gear 35, the first incremental encoder gear 35 is connected with the first incremental encoder 36, the first incremental encoder gear 35 is meshed with the first hall sensor gear 37, the first hall sensor gear 37 is connected with the first hall sensor 38, and the first incremental encoder 36 and the first hall sensor 38 are mounted on the first shoulder joint rotating arm 32 through screws. Thus, rotation of the first arm 32 causes the first incremental encoder 36 and the first hall sensor 38 to rotate, while recording the state of motion of the first arm 32. The output shaft of the first cylinder 314 is connected to a first pull pressure sensor 313, one end of the first cylinder 314 is provided with a first I-shaped connector 311, the first cylinder 314 is connected to the cylinder support 12 through a first fixing bolt and the first I-shaped connector 311, and the other end of the first cylinder 314 is connected to the second connecting rotating shaft 43 through a first cylinder base 315. The air cylinder drives the rotation of the first shoulder joint rotating arm 32, and the rotation of the first shoulder joint rotating arm 32 drives the rotation of the first incremental encoder 36 and the first hall sensor 38, and simultaneously records the motion state of the first shoulder joint rotating arm 32.
In this embodiment, as shown in fig. 5 and 6, the second joint assembly 4 includes a second cylinder assembly 41 and a second shoulder joint rotating arm 42, a second connecting rotating shaft 43 is fixed in the bore of the first shoulder joint rotating arm 32 by a set screw, a second rotating shaft gear 431 made of nylon is fixed on the second connecting rotating shaft 43 by a set screw, and the second connecting rotating shaft 43 is connected to the second shoulder joint rotating arm 42 by a second self-lubricating bearing 44; the second rotating shaft gear 431 is meshed with the second incremental encoder gear 45, the second incremental encoder gear 45 is connected with the second incremental encoder 46, the second incremental encoder gear 45 is meshed with the second hall sensor gear 47, the second hall sensor gear 47 is connected with the second hall sensor 48, and the second incremental encoder 46 and the second hall sensor 48 are fixedly mounted on the first shoulder joint rotating arm 32 through screws. The rotation of the second shoulder joint rotating arm 42 drives the second incremental encoder 46 and the second hall sensor 48 to rotate, and simultaneously records the motion state of the second shoulder joint rotating arm 42; the output shaft of the second cylinder block 414 is provided with a second pull pressure sensor 413, one end of the second cylinder block 414 is provided with a second I-shaped connector 411, the second cylinder block 414 is connected to a crank head 421 through the second I-shaped connector 411 and a fixing bolt 412, the crank head 421 is fixed on the second shoulder joint rotating arm 42 in a welding manner, the other end of the second cylinder block 414 is provided with a second cylinder base 415, and the second cylinder block 414 is fixedly connected to the first connecting rotating shaft 33 through the second cylinder base 415.
In this embodiment, as shown in fig. 7 and 8, the third joint assembly 5 includes a third cylinder assembly 51 and a large arm swivel assembly 52, the large arm swivel assembly 52 includes a first large arm swivel arm 521 and a second large arm swivel arm 522, a third connecting swivel shaft 53 is fixed in a through hole at the other end of the second shoulder joint swivel arm (42) by a set screw, a third swivel shaft gear 531 made of nylon is fixed on the third connecting swivel shaft 53 by a set screw, the third connecting swivel shaft 53 is disposed at one end of the first large arm swivel arm 521 by a double-sided third self-lubricating bearing 54, the first large arm swivel arm 521 is connected to the second large arm swivel arm 522 by a double-headed adjusting screw 59, and the double-headed adjusting screw 59 adjusts the first large arm swivel arm 521 and the second large arm swivel arm 522 by a loosening round nut, thereby achieving the length adjustment of the whole large arm swivel assembly 52. The third rotating shaft gear 531 is meshed with the third incremental encoder gear 55, the third incremental encoder gear 55 is connected with the third incremental encoder 56, the third incremental encoder gear 55 is meshed with the third hall sensor gear 57, the third hall sensor gear 57 is connected with the third hall sensor 58, and the third incremental encoder 56 and the third hall sensor 58 are mounted on the first large arm rotating arm 521 through screws. Rotation of the first boom swivel arm 521 rotates the third incremental encoder 56 and the third hall sensor 58 while recording the motion status of the boom swivel arm assembly 52. An output shaft of the third cylinder block 514 is connected with a third pull pressure sensor 513, one end of the third cylinder block 514 is provided with a third I-shaped connecting joint 511, the third cylinder block 514 is connected to a third cylinder support through the third I-shaped connecting joint 511 and a fixing bolt 512, the third cylinder support is welded and fixed on the first big arm rotating arm 521, the other end of the third cylinder block 514 is connected with a third cylinder base 515, and the third cylinder block 514 is connected to the second joint rotating arm 42 through the third cylinder base 515 and a cylinder support shaft 516.
In this embodiment, as shown in fig. 9 and 10, the fourth joint assembly 6 includes a fourth cylinder assembly and a small arm rotating arm assembly 62, the small arm rotating arm assembly 62 includes a first small arm rotating arm 621 and a second small arm rotating arm 622, the fourth connecting rotating shaft 63 is fixed in the aperture of the first small arm rotating arm 621 through a set screw, a fourth rotating shaft gear 631 made of nylon is fixed on the fourth connecting rotating shaft 63 through a set screw, the fourth connecting rotating shaft 63 is connected on the second large arm rotating arm 522 through a double-sided fourth self-lubricating bearing 64, the first small arm rotating arm 621 is connected with the second small arm 622 through a double-head adjusting screw 69, the double-head adjusting screw 69 is adjusted by a loose round nut to have the first small arm rotating arm 621 and the second small arm rotating arm 622, thereby adjusting the length of the whole small arm rotating arm assembly 62. The fourth rotating shaft gear 631 is meshed with the fourth incremental encoder gear 65, the fourth incremental encoder gear 65 is connected with the fourth incremental encoder 66, the fourth incremental encoder gear 65 is meshed with the fourth hall sensor gear 67, the fourth hall sensor gear 67 is connected with the fourth hall sensor 68, and the fourth incremental encoder 66 and the fourth hall sensor 68 are mounted on the second large arm rotating arm 522 through screws. Rotation of the arm rocker assembly 62 causes rotation of the fourth incremental encoder 66 and the fourth hall sensor 68, while recording the state of motion of the arm rocker assembly 62. An output shaft of the fourth cylinder block 614 is connected with a fourth tension and pressure sensor 613, one end of the fourth cylinder block 614 is provided with a fourth I-shaped connector 611, the fourth cylinder block 614 is connected to a fourth cylinder support 617 through the fourth I-shaped connector 611 and a fixing bolt 612, the fourth cylinder support 617 is welded on the second large arm rotating arm 522, the other end of the fourth cylinder block 614 is provided with a fourth cylinder base 615, the fourth cylinder block 614 is connected to the second small arm rotating arm 622 through the fourth cylinder base 615 and the fourth cylinder support 618, and the length of the fourth cylinder support 618 is adjusted through an adjusting hole in the second small arm rotating arm 622.
In this embodiment, as shown in fig. 11 and 12, the fifth joint assembly 7 includes a fifth cylinder assembly and a wrist joint assembly, the second small arm rotating arm 622 is connected to a wrist joint crank 723 through a fixing bolt 726, a fifth rotating shaft gear 731 made of nylon is fixed to a fifth connecting rotating shaft through a set screw, the fifth rotating shaft gear 731 on the fifth connecting rotating shaft is meshed with a fifth incremental encoder gear 75 through a transition gear 733, the fifth incremental encoder gear 75 is connected to the fifth incremental encoder 76, the fifth incremental encoder gear 75 is meshed with a fifth hall sensor gear 77, the fifth hall sensor gear 77 is connected to a fifth hall sensor 78, the fifth incremental encoder 76 and the fifth hall sensor 78 are mounted on the second small arm rotating arm 622 by screws, the wrist joint crank 723 is mounted with a six-axis force (moment) sensor 724, the six-axis force (moment) sensor 724 is connected to a handle 725, the rotation of the wrist joint assembly drives the fifth incremental encoder 76 and the fifth hall sensor 78 to rotate, and simultaneously records the motion state of the wrist joint assembly; one end of the fifth cylinder block 714 is provided with a fifth I-shaped connector 711, the fifth cylinder block 714 is connected to a wrist joint crank 723 through the fifth I-shaped connector 711 and a fixed bolt, the fifth cylinder block 714 is provided with a fifth cylinder base 715, and the fifth cylinder block 714 is connected to the first lower arm rotating arm 621 through the fifth cylinder base 715 and a fifth cylinder supporting shaft 716.
According to the invention, the first cylinder block 314, the second cylinder block 414, the third cylinder block 514, the fourth cylinder block 614 and the fifth cylinder block 714 can be controlled by servo valves, and when every two adjacent joints move, the change of the included angle can be real-time and accurate, so that the flexibility and the safety of the whole device are improved through the control of the cylinders.
The third joint assembly 5 and the fourth joint assembly 6 of the present invention are adjustable in length, which allows the device of the present invention to be adapted to different users. According to the invention, two adjacent joint components relatively rotate, and the movement distance is the length of the output shaft of the corresponding cylinder body, so that the longest movement distance of the related joint is ensured from the mechanical structure.
The joint assembly overcomes the layout limitation caused by the physical size of the cylinder, and the deficiency of the pure cylinder control performance is made up by adopting the incremental encoder and the Hall sensor; the incremental encoder and the Hall sensor are arranged in the swing arm of the rehabilitation robot, so that the structure is more compact, the thin-wall light self-lubricating bearing is adopted to replace a conventional ball bearing, and the problems of quality, volume and friction force are considered. Meanwhile, due to the stroke of the cylinder, mechanical hard limit is not needed, so that the structure is simplified.
The invention relates to a bilateral ten-degree-of-freedom pneumatic upper limb rehabilitation robot which can assist rehabilitation training of shoulder joints, elbow joints and wrist joints of a patient on both sides and supplement or replace professional doctors. The whole rehabilitation robot is shown in figures 1 and 2 and has a left-right mirror symmetry structure.
The pneumatic driving rehabilitation robot has the advantages that the pneumatic driving rehabilitation robot can realize more diversified rehabilitation strategies through the upper limb exoskeleton design on both sides, can assist hemiplegic patients or patients with paralyzed upper limbs, can also guide the other side to perform rehabilitation training or bilateral coordination rehabilitation training and the like on one side, and improves the rehabilitation efficiency. Wearable design makes recovered patient can realize carrying out the rehabilitation training under position of sitting, the appearance of standing or the mobile state, and its recovered effect can obviously promote. The wearable bilateral ten-degree-of-freedom upper limb rehabilitation robot overcomes the limitation of the physical size of the air cylinder on the layout, also utilizes the advantage of light weight of the air cylinder, designs the wearable bilateral ten-degree-of-freedom upper limb rehabilitation robot, can realize the rehabilitation training of shoulder joints, elbow joints and wrist joints, and is very helpful for improving the rehabilitation effect and optimizing the rehabilitation mode in a wearable mode and a bilateral training mode; the rehabilitation robot with dynamic moment feedback that the cylinder drives swings the joint: the cylinder drives the robot joint to realize passive rehabilitation training of a rehabilitation patient, assist the patient to perform active rehabilitation training, and perform force compensation or force simulation on the patient in the rehabilitation process, so that the robot joint has great benefits in terms of flexibility and safety; light compact structural design: in the design of the invention, each swing arm adopts a thin-wall structure, so that the weight is reduced, and the incremental encoder and the Hall sensor are ingeniously arranged in the thin-wall structure by using gear transmission, so that the detection aim is realized, and the structure is more compact; and (3) manual position adjustment design of the stud bolts: the invention adopts the design of manual stud position adjustment in order to adapt to the length adjustment of the large arm and the small arm, has light structure and can carry out stepless distance adjustment.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (4)
1. The utility model provides a recovered robot of pneumatic upper limbs, includes back support (1), upper limbs trainer (2), and two upper limbs trainer (2) bilateral symmetry set up on back support (1), and two upper limbs trainer (2) the structure is the same, its characterized in that: the back support (1) comprises a back support cross beam (11), cylinder supports (12), a support outer sleeve (13), a positioning pin (14), a support inner sleeve (15), a clamping support (16) and a supporting plate (17), wherein the two cylinder supports (12) are welded in a guide groove of the back support cross beam (11) in bilateral symmetry, the back support cross beam (11) is sleeved on the support outer sleeve (13), the support outer sleeve (13) is sleeved on the support inner sleeve (15), the positioning pin (14) is arranged on the support inner sleeve (15), and the clamping support (16) and the supporting plate (17) are arranged on the support inner sleeve (15); each upper limb training device (2) is formed by connecting a first joint component (3), a second joint component (4), a third joint component (5), a fourth joint component (6) and a fifth joint component in series, wherein the first joint component (3), the second joint component (4) and the third joint component (5) are used for shoulder joint movement of a user, the fourth joint component (6) is used for realizing elbow joint movement of the user, and the fifth joint component (7) is used for realizing wrist joint movement of the user; the first joint assembly (3) comprises a first cylinder assembly (31) and a first shoulder joint rotating arm (32), a first connecting rotating shaft (33) is installed in a through hole in the end part of the back support cross beam (11), a first rotating shaft gear (331) is fixed on the first connecting rotating shaft (33), and the first connecting rotating shaft (33) is arranged at one end of the first shoulder joint rotating arm (32) through a first self-lubricating bearing (34); the first rotating shaft gear (331) is meshed with the first incremental encoder gear (35), the first incremental encoder gear (35) is connected with the first incremental encoder (36), the first incremental encoder gear (35) is meshed with the first Hall sensor gear (37), the first Hall sensor gear (37) is connected with the first Hall sensor (38), and the first rotating shaft gear (331), the first incremental encoder gear (35), the first Hall sensor gear (37), the first incremental encoder (36) and the first Hall sensor (38) are installed on the first shoulder joint rotating arm (32); an output shaft of a first air cylinder body (314) of the first air cylinder assembly (31) is connected with a first pulling and pressing force sensor (313), one end of the output shaft of the first air cylinder body (314) is provided with a first I-shaped connector (311), the first air cylinder body (314) is connected to one of the air cylinder supports (12) through a first fixing bolt and the first I-shaped connector (311), and the other end of the first air cylinder body (314) is connected to a second connecting rotating shaft (43) of the second joint assembly (4) through a first air cylinder base (315).
2. The pneumatic upper limb rehabilitation robot of claim 1, wherein: the second joint assembly (4) comprises a second air cylinder assembly (41) and a second shoulder joint rotating arm (42), a second connecting rotating shaft (43) is fixed in a through hole at the other end of the first shoulder joint rotating arm (32), a second rotating shaft gear (431) is fixed on the second connecting rotating shaft (43), and the second connecting rotating shaft (43) is arranged at one end of the second shoulder joint rotating arm (42) through a second self-lubricating bearing (44); the second rotating shaft gear (431) is meshed with the second incremental encoder gear (45), the second incremental encoder gear (45) is connected with the second incremental encoder (46), the second incremental encoder gear (45) is meshed with the second Hall sensor gear (47), the second Hall sensor gear (47) is connected with the second Hall sensor (48), and the second rotating shaft gear (431), the second incremental encoder gear (45), the second Hall sensor gear (47), the second incremental encoder (46) and the second Hall sensor (48) are installed on the first shoulder joint rotating arm (32); the output shaft of the second cylinder block (414) of the second cylinder assembly (41) is provided with a second pull pressure sensor (413), one end of the output shaft of the second cylinder block (414) is provided with a second I-shaped connecting head (411), the second cylinder block (414) is connected to a crank head (421) through the second I-shaped connecting head (411) and a fixing bolt, the crank head (421) is fixed to a second shoulder joint rotating arm (42), the other end of the second cylinder block (414) is provided with a second cylinder base (415), and the second cylinder block (414) is fixedly connected to the first connecting rotating shaft (33) through the second cylinder base (415).
3. The pneumatic upper limb rehabilitation robot of claim 2, wherein: the third joint assembly (5) comprises a third air cylinder assembly (51) and a large arm rotating arm assembly (52), the large arm rotating arm assembly (52) comprises a first large arm rotating arm (521) and a second large arm rotating arm (522), a third connecting rotating shaft (53) is fixed in a through hole at the other end of the second shoulder joint rotating arm (42), a third rotating shaft gear (531) is fixed on the third connecting rotating shaft (53), the third connecting rotating shaft (53) is arranged at one end of the first large arm rotating arm (521) through a bilateral third self-lubricating bearing (54), and the other end of the first large arm rotating arm (521) is connected with one end of the second large arm rotating arm (522) through a double-head adjusting screw (59); the third rotating shaft gear (531) is meshed with the third incremental encoder gear (55), the third incremental encoder gear (55) is connected with the third incremental encoder (56), the third incremental encoder gear (55) is meshed with the third Hall sensor gear (57), the third Hall sensor gear (57) is connected with the third Hall sensor (58), and the third rotating shaft gear (531), the third incremental encoder gear (55), the third Hall sensor gear (57), the third incremental encoder (56) and the third Hall sensor (58) are arranged on the first large arm rotating arm (521); an output shaft of a third cylinder body (514) of the third cylinder assembly (51) is connected with a third pull pressure sensor (513), one end of the output shaft of the third cylinder body (514) is provided with a third I-shaped connector (511), the third cylinder body (514) is connected onto a third cylinder support through the third I-shaped connector (511) and a fixing bolt, the third cylinder support is welded on a first big arm rotating arm (521), the other end of the third cylinder body (514) is connected with a third cylinder base (515), and the third cylinder body (514) is connected onto a second shoulder joint rotating arm (42) through the third cylinder base (515) and a cylinder support shaft (516).
4. The pneumatic upper limb rehabilitation robot of claim 3, wherein: the fourth joint component (6) comprises a fourth cylinder component and a small arm rotating arm component (62), the small arm rotating arm component (62) comprises a first small arm rotating arm (621) and a second small arm rotating arm (622), a fourth connecting rotating shaft (63) is fixed in a through hole at one end of the first small arm rotating arm (621), a fourth rotating shaft gear (631) is fixed on the fourth connecting rotating shaft (63), the fourth connecting rotating shaft (63) is arranged at the other end of the second large arm rotating arm (522) through a double-sided fourth self-lubricating bearing (64), the other end of the first small arm rotating arm (621) is connected with one end of the second small arm rotating arm (622) through a double-head adjusting screw rod (69), the fourth rotating shaft gear (631) is meshed with a fourth incremental encoder gear (65), the fourth incremental encoder gear (65) is connected with a fourth incremental encoder (66), and the fourth incremental encoder gear (65) is meshed with a fourth Hall sensor gear (67), the fourth Hall sensor gear (67) is connected with a fourth Hall sensor (68), and the fourth rotating shaft gear (631), the fourth incremental encoder gear (65), the fourth Hall sensor gear (67), the fourth incremental encoder (66) and the fourth Hall sensor (68) are arranged on the second large arm rotating arm (522); an output shaft of a fourth cylinder body (614) of the fourth cylinder assembly is connected with a fourth pull pressure sensor (613), one end of an output shaft of the fourth cylinder body (614) is provided with a fourth I-shaped connecting head (611), the fourth cylinder body (614) is connected to a fourth cylinder support (617) through the fourth I-shaped connecting head (611) and a fixing bolt, the fourth cylinder support (617) is welded to the second large arm rotating arm (522), the other end of the fourth cylinder body (614) is provided with a fourth cylinder base (615), and the fourth cylinder body (614) is connected to the second small arm rotating arm (622) through the fourth cylinder base (615) and the fourth cylinder support (618).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810132098.4A CN108852740B (en) | 2018-02-09 | 2018-02-09 | Pneumatic upper limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810132098.4A CN108852740B (en) | 2018-02-09 | 2018-02-09 | Pneumatic upper limb rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108852740A CN108852740A (en) | 2018-11-23 |
| CN108852740B true CN108852740B (en) | 2020-08-07 |
Family
ID=64325969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810132098.4A Active CN108852740B (en) | 2018-02-09 | 2018-02-09 | Pneumatic upper limb rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108852740B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109453014A (en) * | 2018-12-21 | 2019-03-12 | 上海市第十人民医院 | A kind of device for healing and training elbow joint |
| TWI705806B (en) * | 2019-05-16 | 2020-10-01 | 國立中山大學 | Adjustable exoskeleton apparatus |
| CN110435926A (en) * | 2019-09-04 | 2019-11-12 | 西北工业大学 | A kind of bionic flapping-wing propulsion trial platform |
| CN110802578B (en) * | 2019-11-13 | 2022-08-30 | 吉林大学 | Maximum safe operation range detection method for upper limb of wearable robot |
| CN110916982B (en) * | 2019-12-24 | 2021-07-27 | 天水师范学院 | Disabled person shoulder joint rehabilitation training device |
| CN111449911B (en) * | 2020-04-26 | 2021-11-12 | 郑州大学 | Recovered device of taking exercise of cerebral apoplexy patient arm |
| CN112057298B (en) * | 2020-09-22 | 2023-03-14 | 岳池县人民医院 | Arm fracture postoperative rehabilitation device |
| CN114367092B (en) * | 2022-01-17 | 2022-10-25 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Auxiliary chest-expanding exercise cardiopulmonary rehabilitation training device |
| CN114469644B (en) * | 2022-01-24 | 2023-08-25 | 四川大学华西医院 | Rehabilitation device for preventing hemiplegia and shoulder joint subluxation |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101579282A (en) * | 2009-06-12 | 2009-11-18 | 东华大学 | Pneumatic drive mode of limbs joint rehabilitation training and pneumatic type upper limbs rehabilitation training device |
| CN103393524A (en) * | 2013-08-12 | 2013-11-20 | 王子豪 | Traction rehabilitation machine for waist, back and two arms |
| CN104116613A (en) * | 2014-07-17 | 2014-10-29 | 蒋文庆 | Intelligent upper limb auxiliary motion device |
| CN104287944A (en) * | 2014-10-22 | 2015-01-21 | 河北工业大学 | Upper limb rehabilitation robot |
| CN104887456A (en) * | 2015-05-29 | 2015-09-09 | 上海大学 | Wearable rehabilitation training device for upper limbs driven by pneumatic artificial muscles |
| CN105050774A (en) * | 2012-12-11 | 2015-11-11 | 悬浮技术公司 | Adaptive arm support systems and methods for use |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101546882B1 (en) * | 2013-09-06 | 2015-08-24 | 동의대학교 산학협력단 | Wearable excercise device for upper limb rehabilitation |
| CN104669249B (en) * | 2015-02-01 | 2016-05-04 | 襄阳新火炬科技有限公司 | One hydraulic drive type robot |
| CN106112968B (en) * | 2016-07-12 | 2018-03-02 | 北京诚联信科技有限责任公司 | A kind of logistics robot palletizer |
-
2018
- 2018-02-09 CN CN201810132098.4A patent/CN108852740B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101579282A (en) * | 2009-06-12 | 2009-11-18 | 东华大学 | Pneumatic drive mode of limbs joint rehabilitation training and pneumatic type upper limbs rehabilitation training device |
| CN105050774A (en) * | 2012-12-11 | 2015-11-11 | 悬浮技术公司 | Adaptive arm support systems and methods for use |
| CN103393524A (en) * | 2013-08-12 | 2013-11-20 | 王子豪 | Traction rehabilitation machine for waist, back and two arms |
| CN104116613A (en) * | 2014-07-17 | 2014-10-29 | 蒋文庆 | Intelligent upper limb auxiliary motion device |
| CN104287944A (en) * | 2014-10-22 | 2015-01-21 | 河北工业大学 | Upper limb rehabilitation robot |
| CN104887456A (en) * | 2015-05-29 | 2015-09-09 | 上海大学 | Wearable rehabilitation training device for upper limbs driven by pneumatic artificial muscles |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108852740A (en) | 2018-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108852740B (en) | Pneumatic upper limb rehabilitation robot | |
| CN108144264B (en) | Rehabilitation training mechanical arm and rehabilitation robot | |
| CN111281741B (en) | Reconfigurable exoskeleton upper limb rehabilitation robot for different body types | |
| CN106726363B (en) | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device | |
| US20180360685A1 (en) | Connecting rod type lower limb exoskeleton rehabilitation robot | |
| WO2018233322A1 (en) | Lower limb training rehabilitation apparatus | |
| CN110859731A (en) | Six-degree-of-freedom exoskeleton type upper limb rehabilitation robot | |
| CN107822829A (en) | A kind of upper limb rehabilitation robot | |
| CN110037890B (en) | Hand function rehabilitation exoskeleton robot based on double four-bar mechanism | |
| CN108852739B (en) | Steel wire rope transmission upper limb rehabilitation arm with self-tensioning function | |
| CN102772900A (en) | Pneumatic-muscles-based robot hind limb simulating cheetah | |
| CN112773661B (en) | Exoskeleton forefinger function rehabilitation robot | |
| CN112057292A (en) | Six-degree-of-freedom series-parallel upper limb rehabilitation robot | |
| CN112022618B (en) | Rigid-flexible coupling wearable walking assisting exoskeleton system | |
| CN101829003A (en) | Exoskeleton-type upper limb rehabilitation robot | |
| CN110897834A (en) | Adjustable lower limb exoskeleton device suitable for gait training of cerebral palsy children | |
| CN206597136U (en) | A kind of gait rehabilitation robot for realizing walking foot pose | |
| CN108721047B (en) | Wearable upper limbs rehabilitation training device | |
| CN211356566U (en) | Six-freedom-degree series-parallel upper limb rehabilitation robot | |
| CN110538015B (en) | Mechanical artificial limb arm | |
| CN201389291Y (en) | Passive exercises fitness equipment | |
| CN213218751U (en) | Recovered ectoskeleton robot | |
| CN111281739A (en) | Recovered ectoskeleton robot | |
| CN212466518U (en) | Multi-degree-of-freedom upper limb rehabilitation device | |
| CN108852747A (en) | A kind of driving ectoskeleton upper limb rehabilitation robot indirectly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |