CN109719708A - A kind of simple joint power-assisted convalescence device of servo driving - Google Patents
A kind of simple joint power-assisted convalescence device of servo driving Download PDFInfo
- Publication number
- CN109719708A CN109719708A CN201910148533.7A CN201910148533A CN109719708A CN 109719708 A CN109719708 A CN 109719708A CN 201910148533 A CN201910148533 A CN 201910148533A CN 109719708 A CN109719708 A CN 109719708A
- Authority
- CN
- China
- Prior art keywords
- elbow
- forearm
- large arm
- internal gear
- gear wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention discloses a kind of simple joint power-assisted convalescence devices of servo driving, wherein, including large arm fixing piece, large arm motion module, conveyer belt, elbow joint motion module, forearm telescopic device, the fixed device of forearm and forearm fixing piece, elbow joint motion module includes elbow pedestal, elbow upper cover, elbow outer drive gears and elbow internal gear wheel, elbow upper cover can cover conjunction on elbow pedestal, elbow outer drive gears and elbow internal gear wheel are coaxially connected, and elbow outer drive gears and elbow internal gear wheel are installed in rotation on elbow pedestal or elbow on lid, elbow outer drive gears and large arm transmission gear are sequentially connected by conveyer belt, elbow internal gear wheel is fixedly connected with one end of forearm telescopic device, when elbow internal gear wheel rotates, forearm telescopic device can be driven around elbow internal gear wheel axis rotation.The advantages of present invention has structure simple, and exquisite, cost is relatively low, and with servo driving, noise is small, and flexibility ratio is high, wearing daily conducive to patient.
Description
Technical field
The invention belongs to the technical fields of medical instrument, it particularly relates to a kind of simple joint power-assisted health of servo driving
Apparatus for coating.
Background technique
Joint assistance convalescence device is a kind of wearable mechanical system on the outside of patient, it is by being mounted on joint
Driver, is aided with angular displacement sensor and torque sensor, and auxiliary patient and power-assisted convalescence device carry out the coordinated movement of various economic factors, realize
Power-assisted, the function of walk help and recovering aid treatment.
The motor function that rehabilitation training can effectively assist disability patient to recapture limbs is carried out to the limbs of patient.Tradition
Rehabilitation training by therapist's manpower assist complete.It is assisted in the treatment of using power-assisted convalescence device, not only makes up conventional motion rehabilitation
The disadvantages of training labor intensive cost is big, dull in content, evaluation criterion is fuzzy, and it is capable of the items of assistant analysis limbs of patient
Kinematic parameter provides completely new medical procedure to promote the improvement of rehabilitation training mode for the rehabilitation of sufferer.
The dysfunction of human upper limb system leads to disability, and the Quality of Life to people is very significantly, to pass through pass
Section power-assisted convalescence device assists Rehabilitation training, has very important significance.
There are following several respects in existing joint assistance convalescence device:
1, mechanism is complicated, and to the flexibility ratio of the high request limitation system of power, mechanism integrally mostly uses greatly hydraulic system or motor
The design of folded retarder, it is very heavy, it is unfavorable for the daily wearing of patient.
2, traditional joint assistance convalescence device is made of all-metal material, and reducer structure is also extremely complex, weight greatly,
Noise is big, the daily life of wearer is influenced very big.
3, traditional joint auxiliary rehabilitation device average physique is huge, involves great expense, common people do not consume, and are chiefly used in medical treatment
Mechanism, popularity be not high.
Summary of the invention
The technical problem to be solved by the present invention is to solve the above shortcomings of the prior art and to provide a kind of lists of servo driving
Joint assistance convalescence device.
In order to solve the above technical problems, the technical solution adopted by the present invention are as follows:
A kind of simple joint power-assisted convalescence device of servo driving, wherein including large arm fixing piece, large arm motion module, conveyer belt,
The fixed device of elbow joint motion module, forearm telescopic device, forearm and forearm fixing piece, large arm fixing piece, large arm move mould
Block and elbow joint motion module are rigidly connected by hard connecting rod, and the fixed device of forearm is fixed on forearm telescopic device, large arm
Fixing piece is for being fixed on patient's large arm, and the fixed device of forearm is for being fixed in the middle part of patient's forearm, elbow joint motion module
It is connect by forearm telescopic device with forearm fixing piece, for forearm fixing piece for fixing with patient's forearm front, large arm moves mould
Block includes large arm motion module frame and large arm transmission gear, and steering engine can be mounted on large arm motion module frame and and large arm
Transmission gear transmission connection, large arm transmission gear are installed in rotation on large arm motion module frame, elbow joint motion module
Including elbow pedestal, elbow upper cover, elbow outer drive gears and elbow internal gear wheel, elbow upper cover can cover conjunction on elbow pedestal, elbow unofficial biography
Moving gear and elbow internal gear wheel are coaxially connected, and elbow outer drive gears and elbow internal gear wheel are installed in rotation on elbow bottom
On seat or elbow on lid, elbow outer drive gears and large arm transmission gear are sequentially connected by conveyer belt, elbow internal gear wheel and forearm
One end of telescopic device is fixedly connected, and when elbow internal gear wheel rotates, forearm telescopic device can be driven around elbow internal gear wheel shaft
Heart rotation.
To optimize above-mentioned technical proposal, the concrete measure taken further include:
The wheel shaft of above-mentioned elbow outer drive gears and elbow internal gear wheel passes through elbow upper cover, elbow internal gear wheel be located at elbow pedestal or
Between elbow upper cover, elbow pedestal top is equipped with bracket bearing, and bracket bearing is connected with the axis of elbow internal gear wheel, thus to passing in elbow
The axis of moving gear limits.
Above-mentioned elbow pedestal top is provided with half arc-shaped limit plate along elbow base edge, and forearm telescopic device passes through half arc
The opening of shape limit plate is fixedly connected with elbow internal gear wheel, the rotation of the opening limitation forearm telescopic device of half arc-shaped limit plate
Angle.
The steering engine mounting groove for installing steering engine is provided on above-mentioned large arm motion module frame.
Above-mentioned forearm telescopic device includes plate, frid, inserted link and channel bar, and plate can be inserted into frid and in frid
Middle sliding, plate are connect with inserted link, and frid is fixedly connected with channel bar, and inserted link can be inserted into channel bar and slide, and card is provided on inserted link
It is convex, several card slots of a row are offered on channel bar, when inserted link is inserted into channel bar, card convex can be caught in one of card slot, make to insert
Plate is mutually fixed with frid, and plate is fixedly connected with elbow internal gear wheel, and frid is fixedly connected with forearm fixing piece.
The square hole slot for being fixedly connected with hard connecting rod is provided on above-mentioned large arm motion module frame.
Pin hole is offered on above-mentioned arc-shaped limit plate, pin passes through pin hole and elbow upper cover consolidates elbow pedestal and elbow upper cover
It is set to one.
Above-mentioned plate is connect with inserted link by a plate bearing, and plate bearing is fixed on plate, and inserted link passes through plate
Bearing and the rotatable cooperation of plate.
The present invention provides a kind of simple joint power-assisted convalescence devices of servo driving, including large arm fixing piece, large arm to move
The fixed device of module, conveyer belt, elbow joint motion module, forearm telescopic device, forearm and forearm fixing piece, large arm are fixed
Part, large arm motion module and elbow joint motion module are rigidly connected by hard connecting rod, are fixed with the large arm of patient, elbow joint fortune
Dynamic model block is connect by forearm telescopic device with forearm fixing piece, and forearm telescopic device and forearm fixing piece and patient's forearm connect
It connects, so that simple joint power-assisted convalescence device is fixed on the arm of patient, when finger portion bending sensor gives steering engine signal, driving
Steering engine rotation, can rotate upwardly and downwardly with forearm telescopic device with forearm fixing piece using elbow joint motion module as axis, to reach
The limbs of patient are carried out with the purpose of rehabilitation training, the configuration of the present invention is simple, exquisite, cost is relatively low, with servo driving, noise
Small, flexibility ratio is high, is conducive to the daily wearing of patient.Device is integrated at three and patient's arm fixation, and it is very firm to connect, and is not easy to take off
It falls.
Detailed description of the invention
Fig. 1 is axonometric drawing of the invention；
Fig. 2 is forearm telescopic device figure；
Fig. 3 is forearm telescopic device middle (center) bearing perspective view；
Fig. 4 is forearm telescopic device middle (center) bearing front view；
Fig. 5 is elbow joint motion module base figure；
Fig. 6 is elbow joint motion module map；
Fig. 7 is large arm motion module top view；
Fig. 8 is large arm motion module figure.
Appended drawing reference therein are as follows: large arm fixing piece 1, large arm motion module 2, large arm motion module frame 21, steering engine peace
Tankage 21a, large arm transmission gear 22, square hole slot 23, conveyer belt 3, elbow joint motion module 4, elbow pedestal 41, elbow upper cover 42, elbow
Outer drive gears 43, elbow internal gear wheel 44, bracket bearing 45, half arc-shaped limit plate 46, pin hole 47, forearm telescopic device 5, plate
51, the fixed device 6 of frid 52, inserted link 53, channel bar 54, card convex 55, card slot 56, plate bearing 57, forearm, forearm fixing piece 7, hard
Matter connecting rod 8.
Specific embodiment
It elaborates with reference to the accompanying drawing to technical solution of the present invention.
The simple joint power-assisted convalescence device of a kind of servo driving of the invention, wherein transported including large arm fixing piece 1, large arm
The fixed device 6 of dynamic model block 2, conveyer belt 3, elbow joint motion module 4, forearm telescopic device 5, forearm and forearm fixing piece 7, greatly
Arm fixing piece 1, large arm motion module 2 and elbow joint motion module 4 are rigidly connected by hard connecting rod 8, and the fixed device 6 of forearm is solid
It is scheduled on forearm telescopic device 5, large arm fixing piece 1 is for being fixed on patient's large arm, and the fixed device 6 of forearm is for being fixed on trouble
In the middle part of person's forearm, elbow joint motion module 4 is connect by forearm telescopic device 5 with forearm fixing piece 7, and forearm fixing piece 7 is used for
It is fixed with patient's forearm front, large arm motion module 2 includes large arm motion module frame 21 and large arm transmission gear 22, steering engine
It can be mounted on large arm motion module frame 21 and be sequentially connected with large arm transmission gear 22, large arm transmission gear 22 is rotationally
It is mounted on large arm motion module frame 21, elbow joint motion module 4 includes elbow pedestal 41, elbow upper cover 42, elbow outer drive gears
43 and elbow internal gear wheel 44, elbow upper cover 42 can cover conjunction on elbow pedestal 41, elbow outer drive gears 43 and elbow internal gear wheel
44 is coaxially connected, and elbow outer drive gears 43 and elbow internal gear wheel 44 are installed in rotation on elbow pedestal 41 or elbow upper cover 42
On, elbow outer drive gears 43 are sequentially connected with large arm transmission gear 22 by conveyer belt 3, and elbow internal gear wheel 44 and forearm are flexible
One end of device 5 is fixedly connected, and when elbow internal gear wheel 44 rotates, forearm telescopic device 5 can be driven around elbow internal gear wheel 44
Axis rotation.
In embodiment, the wheel shaft of elbow outer drive gears 43 and elbow internal gear wheel 44 passes through elbow upper cover 42, elbow internal gear
For wheel 44 between elbow pedestal 41 or elbow upper cover 42,41 top of elbow pedestal is equipped with bracket bearing 45, transmission in bracket bearing 45 and elbow
The axis of gear 44 is connected, so that the axis to elbow internal gear wheel 44 limits.
In embodiment, 41 top of elbow pedestal is provided with half arc-shaped limit plate 46, the flexible dress of forearm along 41 edge of elbow pedestal
It sets the opening that 5 pass through half arc-shaped limit plate 46 to be fixedly connected with elbow internal gear wheel 44, the opening limitation of half arc-shaped limit plate 46
The rotational angle of forearm telescopic device 5.
In embodiment, the steering engine mounting groove 21a for installing steering engine is provided on large arm motion module frame 21.
In embodiment, forearm telescopic device 5 includes plate 51, frid 52, inserted link 53 and channel bar 54, and plate 51 can be inserted into
It is slided in frid 52 and in frid 52, plate 51 is connect with inserted link 53, and frid 52 is fixedly connected with channel bar 54, and inserted link 53 can be inserted
Enter and slided in channel bar 54, card convex 55 is provided on inserted link 53, several card slots 56 of a row are offered on channel bar 54, inserted link 53 is inserted into
When in channel bar 54, card convex 55 can be caught in one of card slot 56, fix plate 51 with 52 phase of frid, be passed in plate 51 and elbow
Moving gear 44 is fixedly connected, and frid 52 is fixedly connected with forearm fixing piece 7.
In embodiment, the square hole slot 23 for being fixedly connected with hard connecting rod 8 is provided on large arm motion module frame 21.
In embodiment, pin hole 47 is offered on arc-shaped limit plate 46, pin passes through pin hole 47 and elbow upper cover 42 for elbow bottom
Seat 41 and elbow upper cover 42 are fixed as one.
In embodiment, plate 51 is connect with inserted link 53 by a plate bearing 57, and plate bearing 57 is fixed on plate 51,
Inserted link 53 passes through plate bearing 57 and the rotatable cooperation of plate 51.
The working principle of the invention:
The present apparatus is worn on the arm of patient, large arm fixing piece 1 is fixedly connected with the large arm of patient, elbow joint motion mould
Block 4 is located on the outside of patient's ancon, adjusts the length of forearm telescopic device 5, makes forearm lengths phase of the forearm telescopic device 5 with patient
It adapts to, regulative mode are as follows: by plug inserted link 53, it is stuck in the card convex 55 of inserted link 53 in some card slot 56 of channel bar 54, when
Plate 51 is inserted into being of convenient length for frid 52, if inserted link 53 is inserted into channel bar 54 relatively deeply, the length of forearm telescopic device 5 is short,
If inserted link 53 is inserted into, channel bar 54 is shallower, and the length of forearm telescopic device 5 is long, after the length for regulating forearm telescopic device 5,
The fixed device 6 of forearm and forearm fixing piece 7 are fixedly connected with patient's forearm, in the steering engine mounting groove 21a of large arm motion module 2
Upper installation steering engine, the rocker arm and large arm transmission gear 22 of steering engine are sequentially connected, and the controller of steering engine is finger portion bending sensor (figure
It is middle without display), patient's use refer to portion's bending sensor control steering engine running, when steering engine rotate, steering engine rocker arm drive large arm be driven
Gear 22 rotates, and the elbow outer drive gears 43 of ancon motion module 4, elbow outer drive gears are passed motion to by conveyer belt 3
43 drive elbow internal gear wheel 44 to rotate, and elbow internal gear wheel 44 drives forearm telescopic device 5 to rotate, to make the forearm of patient
Rotation is followed, realizes the function of exercise, the elbow pedestal 41 with half arc-shaped limit plate 46 limits arm movements range.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (8)
1. a kind of simple joint power-assisted convalescence device of servo driving, which is characterized in that moved including large arm fixing piece (1), large arm
Module (2), conveyer belt (3), elbow joint motion module (4), forearm telescopic device (5), forearm fixed device (6) and forearm are solid
Determine part (7), the large arm fixing piece (1), large arm motion module (2) and elbow joint motion module (4) pass through hard connecting rod (8)
Rigid connection, forearm fixed device (6) are fixed on forearm telescopic device (5), and the large arm fixing piece (1) is for being fixed on
In patient's large arm, for being fixed in the middle part of patient's forearm, the elbow joint motion module (4) passes through forearm fixed device (6)
Forearm telescopic device (5) is connect with forearm fixing piece (7), and the forearm fixing piece (7) is used to fix with patient's forearm front,
The large arm motion module (2) includes that large arm motion module frame (21) and large arm transmission gear (22), steering engine can be installed
It is sequentially connected on large arm motion module frame (21) and with large arm transmission gear (22), the large arm transmission gear (22) can
It is rotatably mounted on large arm motion module frame (21), the elbow joint motion module (4) includes elbow pedestal (41), on elbow
(42), elbow outer drive gears (43) and elbow internal gear wheel (44) are covered, the elbow upper cover (42) can cover conjunction in elbow pedestal
(41) on, the elbow outer drive gears (43) and elbow internal gear wheel (44) are coaxially connected, and elbow outer drive gears (43) with
Elbow internal gear wheel (44) is installed in rotation in elbow pedestal (41) or elbow upper cover (42), the elbow outer drive gears
(43) it is sequentially connected with large arm transmission gear (22) by conveyer belt (3), the elbow internal gear wheel (44) and forearm are flexible
One end of device (5) is fixedly connected, and when elbow internal gear wheel (44) rotates, forearm telescopic device (5) can be driven to be driven in elbow
Gear (44) axis rotation.
2. a kind of simple joint power-assisted convalescence device of servo driving according to claim 1, which is characterized in that the elbow
The wheel shaft of outer drive gears (43) and elbow internal gear wheel (44) passes through elbow upper cover (42), and elbow internal gear wheel (44) is located at elbow bottom
Between seat (41) or elbow upper cover (42), described elbow pedestal (41) top is equipped with bracket bearing (45), the bracket bearing (45)
It is connected with the axis of elbow internal gear wheel (44), so that the axis to elbow internal gear wheel (44) limits.
3. a kind of simple joint power-assisted convalescence device of servo driving according to claim 2, which is characterized in that the elbow
Pedestal (41) top is provided with half arc-shaped limit plate (46) along elbow pedestal (41) edge, and the forearm telescopic device (5) is worn
The opening of more than half arc-shaped limit plates (46) is fixedly connected with elbow internal gear wheel (44), and half arc-shaped limit plate (46) are opened
The rotational angle of mouth limitation forearm telescopic device (5).
4. a kind of simple joint power-assisted convalescence device of servo driving according to claim 3, which is characterized in that described is big
The steering engine mounting groove (21a) for installing steering engine is provided on arm motion module frame (21).
5. a kind of simple joint power-assisted convalescence device of servo driving according to claim 4, which is characterized in that before described
Arm telescopic device (5) includes plate (51), frid (52), inserted link (53) and channel bar (54), and the plate (51) can be inserted into
Sliding, the plate (51) are connect with inserted link (53) in frid (52) and in frid (52), frid (52) and channel bar (54)
It is fixedly connected, the inserted link (53) can be inserted into sliding in channel bar (54), be provided with card convex (55), institute on the inserted link (53)
Several card slots (56) of a row are offered on the channel bar (54) stated, when the inserted link (53) is inserted into channel bar (54), card convex
(55) it can be caught in one of card slot (56), fix plate (51) mutually with frid (52), in the plate (51) and elbow
Transmission gear (44) is fixedly connected, and frid (52) is fixedly connected with forearm fixing piece (7).
6. a kind of simple joint power-assisted convalescence device of servo driving according to claim 5, which is characterized in that described is big
The square hole slot (23) for being fixedly connected with hard connecting rod (8) is provided on arm motion module frame (21).
7. a kind of simple joint power-assisted convalescence device of servo driving according to claim 6, which is characterized in that the arc
It is offered on shape limit plate (46) pin hole (47), pin passes through pin hole (47) and elbow upper cover (42) will be on elbow pedestal (41) and elbow
Lid (42) is fixed as one.
8. a kind of simple joint power-assisted convalescence device of servo driving according to claim 7, which is characterized in that described inserts
Plate (51) is connect with inserted link (53) by a plate bearing (57), and the plate bearing (57) is fixed on plate (51), institute
The inserted link (53) stated passes through plate bearing (57) and plate (51) rotatable cooperation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910148533.7A CN109719708A (en) | 2019-02-28 | 2019-02-28 | A kind of simple joint power-assisted convalescence device of servo driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910148533.7A CN109719708A (en) | 2019-02-28 | 2019-02-28 | A kind of simple joint power-assisted convalescence device of servo driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109719708A true CN109719708A (en) | 2019-05-07 |
Family
ID=66300851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910148533.7A Pending CN109719708A (en) | 2019-02-28 | 2019-02-28 | A kind of simple joint power-assisted convalescence device of servo driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109719708A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104887458A (en) * | 2015-06-23 | 2015-09-09 | 天津科技大学 | Human body upper limb function automatic auxiliary recovery apparatus |
| TWI552743B (en) * | 2013-12-19 | 2016-10-11 | Hiwin Tech Corp | Inductive force feedback mechanism |
| CN205795993U (en) * | 2016-04-18 | 2016-12-14 | 常熟理工学院 | Healing robot |
| CN206543258U (en) * | 2016-11-02 | 2017-10-10 | 孙彩霞 | A kind of Neurology lower limb muscles training rehabilitation device |
| CN107307974A (en) * | 2017-07-20 | 2017-11-03 | 上海理工大学 | A kind of Wearable healing and training elbow joint and life assistant apparatus |
| CN206950324U (en) * | 2016-11-15 | 2018-02-02 | 合肥工业大学 | A kind of CPM limbs restoring training apparatus |
| CN108113848A (en) * | 2018-01-31 | 2018-06-05 | 力迈德医疗（广州）有限公司 | Upper limb and head recovery exercising robot |
| CN207979968U (en) * | 2017-11-24 | 2018-10-19 | 杨德利 | A kind of medical nerve internal medicine device for healing and training |
| CN209682183U (en) * | 2019-02-28 | 2019-11-26 | 南京工程学院 | A kind of simple joint power-assisted convalescence device of servo driving |
-
2019
- 2019-02-28 CN CN201910148533.7A patent/CN109719708A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI552743B (en) * | 2013-12-19 | 2016-10-11 | Hiwin Tech Corp | Inductive force feedback mechanism |
| CN104887458A (en) * | 2015-06-23 | 2015-09-09 | 天津科技大学 | Human body upper limb function automatic auxiliary recovery apparatus |
| CN205795993U (en) * | 2016-04-18 | 2016-12-14 | 常熟理工学院 | Healing robot |
| CN206543258U (en) * | 2016-11-02 | 2017-10-10 | 孙彩霞 | A kind of Neurology lower limb muscles training rehabilitation device |
| CN206950324U (en) * | 2016-11-15 | 2018-02-02 | 合肥工业大学 | A kind of CPM limbs restoring training apparatus |
| CN107307974A (en) * | 2017-07-20 | 2017-11-03 | 上海理工大学 | A kind of Wearable healing and training elbow joint and life assistant apparatus |
| CN207979968U (en) * | 2017-11-24 | 2018-10-19 | 杨德利 | A kind of medical nerve internal medicine device for healing and training |
| CN108113848A (en) * | 2018-01-31 | 2018-06-05 | 力迈德医疗（广州）有限公司 | Upper limb and head recovery exercising robot |
| CN209682183U (en) * | 2019-02-28 | 2019-11-26 | 南京工程学院 | A kind of simple joint power-assisted convalescence device of servo driving |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101357097B (en) | Five freedom degree ectoskeleton type upper limb rehabilitation robot | |
| CN106943279B (en) | Hand exoskeleton and two-hand follow-up rehabilitation device | |
| CN107374907B (en) | Wearable upper limb exoskeleton rehabilitation device | |
| CN108144264A (en) | Mechanical arm for rehabilitation training and healing robot | |
| CN104367405B (en) | A kind of apery myoelectricity artificial hand | |
| CN207980313U (en) | Mechanical arm for rehabilitation training and healing robot | |
| CN104840334A (en) | Finger movement function rehabilitation training device | |
| CN107233190B (en) | A kind of multiple degrees of freedom thumb device for healing and training for hemiplegic patient | |
| CN107928990B (en) | Rehabilitation training robot for upper limbs | |
| CN209682183U (en) | A kind of simple joint power-assisted convalescence device of servo driving | |
| CN104921907B (en) | Finger movement mechanism used for hemiplegic patient rehabilitation training and rehabilitation training device | |
| CN207983402U (en) | Healing robot joint arrangement | |
| CN108161983A (en) | Healing robot joint arrangement | |
| CN208048976U (en) | A kind of wearable lower limb movement exoskeleton robot | |
| CN109719708A (en) | A kind of simple joint power-assisted convalescence device of servo driving | |
| CN210021028U (en) | Joint surgery postoperative rehabilitation training device | |
| CN209019852U (en) | A kind of healing and training elbow joint equipment of multi-angle regulation | |
| CN208693729U (en) | A kind of recovery training robot for upper limb | |
| CN2239830Y (en) | Multi-functional bedside limb joint exercising apparatus | |
| CN206631097U (en) | A kind of upper limbs exoskeleton rehabilitation arm | |
| CN208598778U (en) | Massage robot | |
| WO2020038012A1 (en) | Personalized robot for upper limb rehabilitation training | |
| CN105287121B (en) | The elbow of electric wheelchair moves device | |
| CN218129791U (en) | Lower limb rehabilitation training device | |
| CN219646177U (en) | Rigid-flexible coupling adjustable hand rehabilitation mechanism |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190507 |
|
| RJ01 | Rejection of invention patent application after publication |