CN109199791A - A kind of upper limb rehabilitation robot of various dimensions - Google Patents
A kind of upper limb rehabilitation robot of various dimensions Download PDFInfo
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- CN109199791A CN109199791A CN201811258277.9A CN201811258277A CN109199791A CN 109199791 A CN109199791 A CN 109199791A CN 201811258277 A CN201811258277 A CN 201811258277A CN 109199791 A CN109199791 A CN 109199791A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 66
- 238000012549 training Methods 0.000 claims abstract description 27
- 230000000694 effects Effects 0.000 claims abstract description 12
- 230000003993 interaction Effects 0.000 claims abstract description 6
- 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 claims description 15
- 210000000323 shoulder joint Anatomy 0.000 claims description 10
- 210000002310 elbow joint Anatomy 0.000 claims description 8
- 210000000245 forearm Anatomy 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims description 5
- 238000003786 synthesis reaction Methods 0.000 claims description 5
- 210000003414 extremity Anatomy 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 9
- 238000013461 design Methods 0.000 abstract description 6
- 230000035876 healing Effects 0.000 abstract description 5
- 208000006011 Stroke Diseases 0.000 description 7
- 206010008190 Cerebrovascular accident Diseases 0.000 description 5
- 230000002490 cerebral effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 208000014644 Brain disease Diseases 0.000 description 1
- 206010010904 Convulsion Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000018199 S phase Effects 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000005013 brain tissue Anatomy 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
Landscapes
- Health & Medical Sciences (AREA)
- 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)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of upper limb rehabilitation robots of various dimensions, are related to healing robot field, including upper limb robotic arm apparatus, APP terminal, screen and cloud；The upper limb robotic arm apparatus is connect by radio connection with the APP terminal, and row information of going forward side by side mutually passes；The APP terminal is connect with cloud, and the APP terminal is for upload user data to the cloud, and the cloud is for issuing rehabilitation programme to the APP terminal；The APP terminal is connect with the screen, and the APP terminal sends virtual scene interaction solutions to the screen, and the screen shows virtual scene.The present invention can be met the training requirement of user's various dimensions movement, suitable for the fixed form of plurality of application scenes, can be promoted the engagement of user, improve rehabilitation training effect by modularized design, personalized virtual scene interaction solutions design.
Description
Technical field
The present invention relates to healing robot field more particularly to a kind of upper limb rehabilitation robots of various dimensions.
Background technique
Nowadays social population's aging aggravates, and the number of the hemiplegia due to caused by the diseases such as cerebral apoplexy is more and more huger.Brain
Stroke is also known as apoplexy, is a kind of acute cerebrovascular diseases, is since cerebral vessels rupture suddenly or because angiemphraxis leads to blood
It cannot flow into brain and cause a kind of disease of brain tissue impairment.There is upper limb disorder in the patient of post-stroke 80%,
In only patient's hemiplegic upper limb of one third can restore function.A large amount of clinical tests prove, the training of high duplication
The locomitivity that patients with cerebral apoplexy upper limb can be effectively improved, as upper limb rehabilitation robot is added to the health of patients with cerebral apoplexy
During refreshment is practiced, patient can be made to carry out the autokinetic movement of high duplication early stage, to promote motor function recovery.Traditional upper limb
Healing robot is used for medical institutions, and volume is big, with high costs, is only applicable to possess the hospital rehabilitation of large space.And rehabilitation by
" hospital-community-family " three-level Rehabilitation System is constituted, and traditional upper limb rehabilitation robot is unable to satisfy the need of long-term rehabilitation at home
It asks.
Patients with cerebral apoplexy carries out upper limb healing and needs various dimensions, is trained with multi-angle to different joint motions, there is shoulder
Joint raises, reduces, the inward turning of shoulder joint, outward turning, stretching, extension, buckling of elbow joint etc..Traditional bedside humanoid robot, only
General single joint motions, recovery effects are limited, and precisely controllable rehabilitation training of upper limbs can not be carried out to patient, and patient restores
Effect is limited.Traditional upper limb rehabilitation robot is only capable of being fixed on a region, and machine can only be deacclimatized by patient, and cannot basis
Different patient demands deacclimatize patient.And existing upper limb healing equipment is interacted without artificial scene, and user's training is uninteresting to be easy
It gives up halfway or loses trained power, influence rehabilitation training effect.
Therefore, those skilled in the art is dedicated to developing a kind of upper limb rehabilitation robot of various dimensions, can meet user
Various dimensions movement, different gestures angle training demand, adapt to the rehabilitation demands of several scenes, promote the engagement of user.
Summary of the invention
In view of the above drawbacks of the prior art, the technical problem to be solved by the present invention is to by various dimensions modularization,
Rotatable bracket design meets the training demand of the movement of user's various dimensions, different gestures angle；By being suitable for several scenes
Support Design meets user in the rehabilitation demands of more scenes；The engagement of user is promoted by the interaction based on artificial scene.
To achieve the above object, the present invention provides a kind of upper limb rehabilitation robots of various dimensions, which is characterized in that including
Upper limb robotic arm apparatus, APP terminal, screen and cloud；The upper limb robotic arm apparatus passes through radio connection and the APP
Terminal connection, row information of going forward side by side mutually pass；The APP terminal is connect with cloud, and the APP terminal is for upload user data to institute
Cloud is stated, the cloud is for issuing rehabilitation programme to the APP terminal；The APP terminal is connect with the screen, described
APP terminal sends virtual scene interaction solutions to the screen, and the screen shows virtual scene；The upper limb robotic arm apparatus
Including pluggable pedestal, supporting support, first motor, the second motor, third motor, handle, connecting rod, control box and hand-held
Emergency stop device；The pluggable pedestal is connect with the supporting support lower end；The supporting support upper end and the connecting rod connect
It connects；Described connecting rod one end is connect with described first motor one end；The first motor other end and second motor one end
Connection；The second motor other end is connect with third motor one end；The third motor other end and the handle connect
It connects；The control box is mounted on the pluggable pedestal；Upper limb machine described in the hand-held emergency stop device remote control emergent stopping
Tool equipment.
Further, the upper limb robotic arm apparatus is fixed by the pluggable pedestal and the supporting support.
Further, the upper limb robotic arm apparatus is adjusted with respect to user's height by the supporting support, the upper limb
Robotic arm apparatus is adjusted with respect to user perspective by the connecting rod installation site.
Further, it is connected between the pluggable pedestal and the supporting support for plug type.
Further, when training is raised and reduced to the first motor for shoulder joint, the first motor rotational angle
Range is to be lifted to positive 180 ° upwards, is lowered downward to minus 30 °.
Further, second motor is for training forearm inward turning and outward turning.
Further, the third motor is for training elbow joint buckling and stretching, extension.
Further, the handle is used to grasp the direction instruction of positioning and the outward turning of forearm inward turning.
Further, the control box controls the movable amplitude and activity point of view of the upper limb robotic arm apparatus, control essence
Degree is 1 °.
It further, further include millstone device and track-type facilities；Second motor and the third motor installation approach
For removable pattern；After the third motor is removed, the track-type facilities are connect with second motor, for upper limb push-and-pull
Comprehensive upper limb training, the rotational angle range of the first motor are 0 °~360 °；Second motor and the third motor
After dismounting, the millstone device is connect with the first motor, bends and stretches the synthesis with receipts outside exhibition in shoulder joint for elbow joint
Limb training.
The invention can meet the training requirement of user's various dimensions movement by modular detachable and interchangeable component；Pass through
Rotatable bracket can meet user's different gestures angle exercise demand；By being suitable for the bracket of several scenes, meet user
On bedside, chair or in more scene rehabilitation demands such as wall side；Interactive scene based on artificial scene can promote the throwing of user
In-degree improves rehabilitation training effect.
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Detailed description of the invention
Fig. 1 is a kind of upper limb rehabilitation robot system composition figure of various dimensions of a preferred embodiment of the invention；
Fig. 2 is the system flow chart of another preferred embodiment of the invention；
Fig. 3 is the upper limb robotic arm apparatus composition figure of another preferred embodiment of the invention；
Fig. 4 is the wall fixed solution schematic diagram of another preferred embodiment of the invention；
Fig. 5 is the chair side fixed solution schematic diagram of another preferred embodiment of the invention；
Fig. 6 is the bedside fixed solution schematic diagram of another preferred embodiment of the invention；
Fig. 7 is the detachable module schematic diagram of another preferred embodiment of the invention.
Wherein, 1- upper limb robotic arm apparatus, 2-APP terminal, 3- screen, the cloud 4-, the pluggable pedestal of 11-, 12- support branch
Frame, 13- first motor, the second motor of 14-, 15- third motor, 16- handle, 17- connecting rod, 18- control box, 19- hand-held
Emergency stop device.
Specific embodiment
Multiple preferred embodiments of the invention are introduced below with reference to Figure of description, keep its technology contents more clear and just
In understanding.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention not only limits
The embodiment that Yu Wenzhong is mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.Apparent in order to make to illustrate, some places suitably exaggerate the thickness of component in attached drawing.
Embodiment one
As shown in Figure 1, a kind of upper limb rehabilitation robot of various dimensions provided by the invention, by upper limb robotic arm apparatus 1,
APP terminal 2, screen 3 and cloud 4 are constituted.
As shown in Fig. 2, user opens the APP software in the APP terminal 2, radio connection is inputted in APP software
Account and password are completed the upper limb robotic arm apparatus 1 by radio connection and are connect with the APP terminal 2；The upper limb
Robotic arm apparatus 1 is by the exercise data of mechanical arm, as described in being transferred to the position of user movement, torque, angle, speed information
APP software in APP terminal 2, the APP software in the APP terminal 2 will can control accordingly data distributing to the upper limb
Robotic arm apparatus 1；Ipsilateral hand is worn by the upper limb robotic arm apparatus 1 by user, first assesses current joint maximum activity degree,
As shoulder joint is raised or reduced, elbow joint is bent and stretched, forearm inward turning or outward turning；By the APP software in the APP terminal 2 by user
Assessment data upload to cloud 4, cloud 4 combine the historical data of user and background information issue personalized rehabilitation programme to
The APP terminal 2；Rehabilitation programme is fed as input to the scene that virtual scene forms a set of personalization by the APP terminal 2
Interaction solutions instruct user to implement training by the screen 3 output.The APP terminal can pass through wireless connection, You Xianlian
The mode connect is connect or integral with screen with screen.
Embodiment two
As shown in figure 3, the upper limb robotic arm apparatus includes pluggable pedestal 11, supporting support 12, first motor 13,
Two motors 14, third motor 15, handle 16, connecting rod 17, control box 18 and hand-held emergency stop device 19；The pluggable pedestal
11 connect with the 12 lower end plug type of supporting support；12 upper end of supporting support connect 17 with the connecting rod；It is described
17 one end of connecting rod is connect with described 13 one end of first motor；13 other end of first motor and described second motor, 14 one end
Connection；Second motor, 14 other end is connect with described 15 one end of third motor；15 other end of third motor with it is described
Handle 16 connects；The control box 18 is mounted on the pluggable pedestal 11；The hand-held emergency stop device 19 is remotely controlled promptly
Stop the upper limb mechanical equipment 1.
The first motor 13 can drive the shoulder joint of user, the training raised, reduced, from being lifted to just upwards
180 °, to being lowered downward to minus 30 °, meet the requirement of human body shoulder joint whole show range；Second motor 14, can band
It employs family and carries out the inward turning of forearm, outward turning training；The third motor 15 can drive user to carry out elbow joint buckling, stretching, extension
Training；The supporting support 12 can carry out personalized adjusting according to the different heights of user；The handle 16, for using
Family grasps positioning, while being also the direction instruction that user carries out the outward turning of forearm inward turning；The connecting rod 17, adjustable user's phase
For the angle of the upper limb robotic arm apparatus 1, suitable for the user of different spaces environment, while can carry out left hand training with
And the exchange of right hand training, meet the different rehabilitation demands of user；The control box 18, can accurately control the activity of mechanical arm
Amplitude and activity point of view can be as accurate as 1 ° of deviation positive and negative 5%；The hand-held emergency stop device 19, when user is in burst convulsion
Under contraction state, user's healthy side hand arm is controlled by emergency stop, prevents the upper limb robotic arm apparatus 1 from damaging to it, Huo Zhe
In the state that customer responsiveness is blunt, side is not accompanied or the hand-holdable emergency stop device of caregiver controls the upper limb robotic arm apparatus 1
Stop immediately, guarantees user security to the full extent.
It as shown in Figure 4, Figure 5 and Figure 6, can be in bed by the pluggable pedestal 11 and the supporting support 12, user
Side can be trained in wall side, different indoor scenes on chair, meet the individual character of different indoor design conditions
Change demand.
As shown in fig. 7, the upper limb robotic arm apparatus 1 be it is modular, the fast assembling-disassembling of disparate modules can satisfy
The demand of the different expansions movement of limb rehabilitation.13 or less the first motor is all removed, is installed using the first motor 13
Millstone device can meet the synthesis upper limb training that user's elbow joint bends and stretches with receives outside exhibition in shoulder joint.By second motor
14 or less all remove, and install track-type facilities using second motor 14, can carry out the synthesis upper limb training of upper limb push-and-pull
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of upper limb rehabilitation robot of various dimensions, which is characterized in that including upper limb robotic arm apparatus, APP terminal, screen and
Cloud；The upper limb robotic arm apparatus is connect by radio connection with the APP terminal, and row information of going forward side by side mutually passes；It is described
APP terminal is connect with cloud, and the APP terminal is for upload user data to the cloud, and the cloud is for issuing rehabilitation
Plan to the APP terminal；The APP terminal is connect with the screen, the APP terminal send virtual scene interaction solutions to
The screen, the screen show virtual scene；The upper limb robotic arm apparatus includes pluggable pedestal, supporting support, first
Motor, the second motor, third motor, handle, connecting rod, control box and hand-held emergency stop device；The pluggable pedestal and institute
State the connection of supporting support lower end；The supporting support upper end is connect with the connecting rod；Described connecting rod one end and described first
The connection of motor one end；The first motor other end is connect with second motor one end；The second motor other end and institute
State the connection of third motor one end；The third motor other end is connect with the handle；The control box can be inserted described in being mounted on
It pulls out on pedestal；Upper limb mechanical equipment described in the hand-held emergency stop device remote control emergent stopping.
2. the upper limb rehabilitation robot of various dimensions as described in claim 1, which is characterized in that the upper limb robotic arm apparatus is logical
It crosses the pluggable pedestal and the supporting support is fixed.
3. the upper limb rehabilitation robot of various dimensions as described in claim 1, which is characterized in that the upper limb robotic arm apparatus phase
User's height is adjusted by the supporting support, the upper limb robotic arm apparatus is pacified with respect to user perspective by the connecting rod
Holding position is adjusted.
4. the upper limb rehabilitation robot of various dimensions as described in claim 1, which is characterized in that the pluggable pedestal with it is described
It is connected between supporting support for plug type.
5. the upper limb rehabilitation robot of various dimensions as described in claim 1, which is characterized in that the first motor is used for shoulder joint
When training is raised and reduced to section, the first motor rotational angle range is to be lifted to positive 180 ° upwards, is lowered downward to negative
30°。
6. the upper limb rehabilitation robot of various dimensions as described in claim 1, which is characterized in that second motor is for training
Forearm inward turning and outward turning.
7. the upper limb rehabilitation robot of various dimensions as described in claim 1, which is characterized in that the third motor is for training
Elbow joint buckling and stretching, extension.
8. the upper limb rehabilitation robot of various dimensions as described in claim 1, which is characterized in that the handle is for grasping positioning
With the direction instruction of forearm inward turning outward turning.
9. the upper limb rehabilitation robot of various dimensions as described in claim 1, which is characterized in that on the control box control is described
The movable amplitude and activity point of view of limb robotic arm apparatus, control precision are 1 °.
10. the upper limb rehabilitation robot of various dimensions as described in claim 1, which is characterized in that further include millstone device and leading
Rail device；Second motor and the third motor installation approach are removable pattern；It is described after the third motor is removed
Track-type facilities are connect with second motor, for the synthesis upper limb training of upper limb push-and-pull, the rotational angle of the first motor
Range is 0 °~360 °；After second motor and the third motor are removed, the millstone device and the first motor connect
It connects, bends and stretches for elbow joint and trained with the synthesis upper limb received outside exhibition in shoulder joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811258277.9A CN109199791A (en) | 2018-10-26 | 2018-10-26 | A kind of upper limb rehabilitation robot of various dimensions |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811258277.9A CN109199791A (en) | 2018-10-26 | 2018-10-26 | A kind of upper limb rehabilitation robot of various dimensions |
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| CN109199791A true CN109199791A (en) | 2019-01-15 |
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| CN201811258277.9A Pending CN109199791A (en) | 2018-10-26 | 2018-10-26 | A kind of upper limb rehabilitation robot of various dimensions |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116308949A (en) * | 2023-02-21 | 2023-06-23 | 京大(北京)技术有限公司 | Community home-type rehabilitation training robot |
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| CN104317196A (en) * | 2014-09-29 | 2015-01-28 | 华南理工大学 | Virtual reality-based upper limb rehabilitation training robot control method |
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| CN106389072A (en) * | 2016-11-28 | 2017-02-15 | 东北大学 | Virtual reality interactive system and method of five-degree-of-freedom upper limb rehabilitation robot |
| CN207979965U (en) * | 2017-06-21 | 2018-10-19 | 上海寰晟新能源科技有限公司 | Upper limb rehabilitation robot and its system |
| CN107261417A (en) * | 2017-07-07 | 2017-10-20 | 广州康医疗设备实业有限公司 | Man-machine interactive system for rehabilitation training of upper limbs |
| CN108433940A (en) * | 2018-04-02 | 2018-08-24 | 上海理工大学 | Upper limb exoskeleton robot based on wheel-chair |
| CN209984539U (en) * | 2018-10-26 | 2020-01-24 | 上海伟赛智能科技有限公司 | Multi-dimensional upper limb rehabilitation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116308949A (en) * | 2023-02-21 | 2023-06-23 | 京大(北京)技术有限公司 | Community home-type rehabilitation training robot |
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