CN109846673A - A kind of co-melting type both arms recovery exercising robot - Google Patents
A kind of co-melting type both arms recovery exercising robot Download PDFInfo
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- CN109846673A CN109846673A CN201910178842.9A CN201910178842A CN109846673A CN 109846673 A CN109846673 A CN 109846673A CN 201910178842 A CN201910178842 A CN 201910178842A CN 109846673 A CN109846673 A CN 109846673A
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Abstract
The invention discloses a kind of co-melting type both arms recovery exercising robots, including supporting mechanism；Cooperate mechanical arm, and first end is installed on supporting mechanism；Control system, to control the movement of cooperation mechanical arm；End effector mechanism, including interconnecting piece, hand grip portion and limit switch, interconnecting piece is installed on the second end of cooperation mechanical arm, hand grip portion connect with interconnecting piece magnetism and can be separated from each other, limit switch is electrically connected to the control system, when hand grip portion and coupling part from when, control system can obtain the inductive signal of limit switch and control cooperation mechanical arm stopping movement.The co-melting type both arms recovery exercising robot of the present invention can help patient to carry out the exercise rehabilitation training based on large joint, can help reactivating and the significant clinical problems such as the reconstruction of kinaesthesis network for the brain motor cortex for solving the postoperative rehabilitation of clinically nerve transposition.
Description
Technical field
The present invention relates to recovery exercising robot technical fields, more particularly to a kind of co-melting type both arms rehabilitation training machine
People.
Background technique
The curative effect bottleneck that limb function restores after breakthrough peripheral nerve injury is global problem.Peripheral nerve injury can be with
Cause side upper limb to paralyse completely, although present treatment method is greatly developed, but many patients still left it is serious residual
Disease.So rehabilitation is the key that upper extremity function restores after peripheral nerve injury is repaired, personalized, targetedly rehabilitation
Control of the patient to limbs can be effectively facilitated.
In the prior art, mainly by mechanical arm in a manner of ectoskeleton in conjunction with the upper limb of patient, realize the recovery of upper limb
Training.But on the one hand this structure has the following disadvantages:, need for multiple structures such as large arm, forearm to be installed on upper limb,
Installation and removal are inconvenient；On the other hand, higher to the sensitivity requirement of mechanical arm, thus higher cost, otherwise it is easy to patient
Cause secondary injury.
Therefore, how to provide that a kind of structure is simple, easy to use, cost is relatively low and highly-safe both arms rehabilitation trainer
Device people is those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
That the object of the present invention is to provide a kind of structures is simple, easy to use, cost is relatively low and highly-safe co-melting type is double
Arm recovery exercising robot helps peripheral nerve injury patient to carry out rehabilitation training, facilitates patient clinical epineural transposition
The reconstruction of the brain motor cortex of rehabilitation reactivated with kinaesthesis network afterwards.
To achieve the above object, the present invention provides following schemes:
The invention discloses a kind of co-melting type both arms recovery exercising robots, comprising:
Supporting mechanism；
Cooperate mechanical arm, and the first end of the cooperation mechanical arm is installed on the supporting mechanism；
Control system, to control the movement of the cooperation mechanical arm；
End effector mechanism, including interconnecting piece, hand grip portion and limit switch, it is mechanical that the interconnecting piece is installed on the cooperation
The second end of arm, the hand grip portion connect and can be separated from each other with the interconnecting piece magnetism, the limit switch and the control
System processed electrical connection, when the hand grip portion and the coupling part from when, the control system can obtain the limit switch
Inductive signal and control cooperation mechanical arm stopping movement.
Preferably, the hand grip portion includes the hand fixing plate and two to connect the hand fixing plate phases of U-shaped
To the bar of shaking hands of part.
Preferably, the interconnecting piece is connected by iron block with electromagnetism ferromagnetism with the hand grip portion, and the iron block is fixed on
On the hand grip portion, the iron block be it is round table-like, the interconnecting piece includes fixed plate, flange connector and electromagnet cover board, institute
It states electromagnet to be set in the flange connector, one end inner wall of the flange connector is to the side with the iron block
The other end of the closing structure that activity abuts, the flange connector is sealed by the electromagnet cover board, the electromagnet
Both ends limited respectively by the closing structure and the electromagnet cover board, the electromagnet cover board is embedded in the fixation
The side of plate, the fixed plate are fixedly connected with the flange connector, and the fixed plate is fixed on the cooperation mechanical arm
The second end.
Preferably, the control system includes the motion capture mechanism being fixed on the supporting mechanism, computer, control
Device and display, arm motion image of the motion capture mechanism to acquire patient, the output of the motion capture mechanism
End is electrically connected with the input terminal of the computer, the output end of the computer respectively with the display and the controller
Input terminal electrical connection, the output end of the controller are electrically connected with the input terminal of the cooperation mechanical arm, the limit switch
Output end is electrically connected with the input terminal of the input terminal of the computer or the controller.
Preferably, the supporting mechanism includes frame mechanism and shell, and the frame mechanism includes upper frame mechanism, bottom
Plate, traveling wheel, aluminum section bar frame, control cabinet interlayer board, controller fixed plate and computer fixed plate, the traveling wheel are set to
On the bottom plate, the aluminum section bar frame is fixed on the bottom plate, and the control cabinet interlayer board is to be spaced apart above and below multiple
Level board and be fixed on the aluminum section bar frame, the control cabinet interlayer board is to support the controller, the control
The edge of device is fixed in the controller fixed plate, and the controller fixed plate is fixed on the aluminum section bar frame, described
Computer is fixed in the computer fixed plate, and the computer fixed plate is fixed on the aluminum section bar frame, it is described on
Frame mechanism is fixed on the aluminum section bar frame, and the motion capture mechanism and the display are fixed on the upper bare bones
On structure, the jacket is set on the outside of the aluminum section bar frame.
It preferably, further include seat, the height of the seat can be adjusted.
Preferably, the cooperation mechanical arm is fixed on the aluminum section bar frame by c-type fixed plate and mechanical arm restraining board
On, the c-type fixed plate includes the vertical plate of two level boards of two level boards being oppositely arranged and connection, the machinery
Arm restraining board is the vertical fixed plate with edge in level and horizontal lower edge, and the vertical plate is fixed on the aluminum section bar frame
On, the horizontal upper edge and the horizontal lower edge are individually fixed on two level boards, and the cooperation mechanical arm is fixed on
On the machinery arm restraining board, the level board positioned at downside is connected by C-shaped support with the aluminum section bar frame.
Preferably, the upper frame mechanism includes ceiling lamp, bent stand tube, aluminum pipe frame, interchanger fixed plate, exchange
Connecting plate, elbow couplings and frame head plate, the aluminum pipe frame after connecting plate, swan-neck before machine, display fixed plate, swan-neck
Frame is fixed in the bent stand tube by the elbow couplings, and the bent stand tube is fixed on swan-neck fixed plate
On, the swan-neck fixed plate is fixed on the aluminum section bar frame, and the interchanger fixed plate is fixed on the aluminum pipe frame
On, the interchanger is fixed in the interchanger fixed plate, and the computer is electrically connected by the interchanger with external network
It connects, the frame head plate is fixed on the aluminum pipe frame, and the ceiling lamp is fixed in the frame head plate, the display
It is fixed in the display fixed plate, the display fixed plate is fixed on the bending before the swan-neck on connecting plate
Connecting plate is fixed on connecting plate middle part after the swan-neck before managing, and two bent stand tubes after the swan-neck by connecting
Plate is fixedly connected.
Preferably, the motion capture mechanism includes camera fixed frame and camera, and the camera fixed frame is fixed on described
On aluminum pipe frame, the camera is fixed on the camera fixed frame.
The present invention achieves following technical effect compared with the existing technology:
The co-melting type both arms recovery exercising robot of the present invention can help patient to carry out the athletic rehabilitation based on large joint
Training, can help the function reactivated with kinaesthesis network for solving the brain motor cortex of the postoperative rehabilitation of clinically nerve transposition
The significant clinical problems such as energy reconstruction；Since the hand grip portion of end effector mechanism is connect with interconnecting piece magnetism and can be separated from each other,
Pulling force suffered by arm controls when can pull mechanical arm to arm or be pulled by mechanical arm, when the pulling force is greater than a certain threshold value
When hand grip portion be automatically separated with interconnecting piece, while cooperate mechanical arm stopping movement, arm injury is avoided, to improve safety.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the overall structure diagram of the co-melting type both arms recovery exercising robot of the present invention；
Fig. 2 is the structural schematic diagram of display fixed form；
Fig. 3 is the structural schematic diagram of part frame mechanism；
Fig. 4 is the structural schematic diagram at another visual angle Fig. 3；
Fig. 5 is the structural schematic diagram of end effector mechanism；
Fig. 6 is cross-sectional view of the Fig. 5 along the direction A-A；
Description of symbols: 1 frame mechanism；2 motion capture mechanisms；3 cooperation mechanical arms；4 end effector mechanisms；5 shells；
6 displays；7 computers；8 controllers；9 seats；Frame mechanism on 11；12 bottom plates；13 traveling wheels；14 aluminum section bar frames；15C type
Fixed plate；16 mechanical arm restraining boards；17O type bracket；18C type bracket；19 swan-neck fixed plates；141 control cabinet interlayer boards；142
Controller fixed plate；143 electric appliance fixed plates；144 computer fixed plates；110 ceiling lamps；111 bent stand tubes；112 aluminum pipe frames
Frame；113 interchanger fixed plates；114 interchangers；115 display fixed plates；Connecting plate before 116 swan-necks；Connect after 117 swan-necks
Fishplate bar；118 bending pipe connections；119 frame head plates；21 cameras；22 camera fixed frames；41 fixed plates；42 flange connectors；43
Iron block；44 hand fixing plates；45 shake hands bar；46 limit switches；47 electromagnet；48 electromagnet cover boards.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
That the object of the present invention is to provide a kind of structures is simple, easy to use, cost is relatively low and highly-safe co-melting type is double
Arm recovery exercising robot helps peripheral nerve injury patient to carry out rehabilitation training, facilitates patient clinical epineural transposition
The reconstruction of the brain motor cortex of rehabilitation reactivated with kinaesthesis network afterwards.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in figures 1 to 6, the present embodiment provides a kind of co-melting type both arms recovery exercising robots, including supporting mechanism, association
Make mechanical arm 3, control system and end effector mechanism 4.
Wherein, the first end of cooperation mechanical arm 3 is installed on supporting mechanism；Control system is to control cooperation mechanical arm 3
Movement；End effector mechanism 4 includes interconnecting piece, hand grip portion and limit switch 46, and interconnecting piece is installed on the of cooperation mechanical arm 3
Two ends, hand grip portion connect with interconnecting piece magnetism and can be separated from each other, and limit switch 46 is electrically connected to the control system, and works as hand grip portion
With coupling part from when, control system can obtain the inductive signal of limit switch 46 and control cooperation 3 stopping of mechanical arm movement.
In the present embodiment, cooperation mechanical arm 3 is two, and those skilled in the art can also be set as needed as other quantity.
In use, the hand of patient holds the hand grip portion of end effector mechanism 4, cooperation mechanical arm 3 is driven by control system
Movement, and the arm action of patient is driven, passive recovery training can be carried out；The arm of patient voluntarily drives writing mechanical arm dynamic
Make, can carry out actively resuming training.Since hand grip portion is connect with interconnecting piece magnetism and can be separated from each other, arm can be pulled
Mechanical arm or pulling force suffered by arm is controlled when being pulled by mechanical arm, hand grip portion and company when the pulling force is greater than a certain threshold value
Socket part is automatically separated, while 3 stopping of the mechanical arm movement that cooperates, and arm injury is avoided, to improve safety.
In order to facilitate grasping, the hand grip portion of the present embodiment includes the hand fixing plate 44 of U-shaped and fixes to connect hand
The bar 45 of shaking hands of two opposite segments of plate 44.
The magnetic connection type of interconnecting piece and hand grip portion, which can be, to be connect by common magnet with magnetic material magnetic, can also
Being connected by 47 magnetic material magnetic of electromagnet.In the present embodiment, interconnecting piece and hand grip portion pass through iron block 43 and electromagnet
47 magnetic connections can adjust electromagnet 47 by modes such as coil turn, the size of current of change electromagnet 47 and divide with iron block 43
From when pulling force size, so as to adjust rehabilitation training intensity.
The iron block 43 of the present embodiment is fixed on hand grip portion, and iron block 43 is round table-like.Interconnecting piece includes fixed plate 41, flange
Connector 42 and electromagnet cover board 48, electromagnet 47 are set in flange connector 42.One end inner wall of flange connector 42 is
To the closing structure that the side activity with iron block 43 abuts, the other end of flange connector 42 passes through 48 envelope of electromagnet cover board
Mouthful, the both ends of electromagnet 47 pass through closing structure respectively and electromagnet cover board 48 limits.Electromagnet cover board 48 is embedded in fixation
The side of plate 41, fixed plate 41 are fixedly connected with flange connector 42, and fixed plate 41 is fixed on the second end of cooperation mechanical arm 3.
Since one end inner wall of flange connector 42 is the closing structure abutted to the side activity with iron block 43, when
It is convenient for electromagnet 47 and iron block 43 when electromagnet 47 is powered to just.
It records and analyzes in time in order to the rehabilitation situation to patient, also for making the robot be able to carry out mirror image health
Refreshment is practiced, and the control system of the present embodiment includes the motion capture mechanism 2 being fixed on supporting mechanism, computer 7, controller 8
With display 6, arm motion image of the motion capture mechanism 2 to acquire patient.The output end of motion capture mechanism 2 and calculating
The input terminal of machine 7 is electrically connected, and the output end of computer 7 is electrically connected with the input terminal of display 6 and controller 8 respectively, controller 8
Output end be electrically connected with the input terminal of cooperation mechanical arm 3, the output end of limit switch 46 and the input terminal of computer 7 or control
The input terminal of device 8 is electrically connected.
Computer 7 can carry out storage and analytical calculation to the image information that motion capture mechanism 2 obtains, according to analysis
The next step movement of the result control cooperation mechanical arm 3 of calculating.For example, when carrying out initiative rehabilitation training, by being caught to movement
It catches the image information that mechanism 2 obtains and carries out whether the available a certain movement of analytical calculation is finished, to control cooperation machine
Tool arm 3 carries out next step movement；When carrying out mirror image training, after healthy side hand arm makes a certain movement, motion capture mechanism 2 can
The information for capturing the movement controls Ipsilateral arm by the analytical calculation of computer 7 and completes mirror image movement, to enable the patient to
Voluntarily controlled training process.
Supporting mechanism has diversified forms, as long as being able to achieve support function.In the present embodiment, supporting mechanism includes frame
Frame mechanism 1 and shell 5, frame mechanism 1 include upper frame mechanism 11, bottom plate 12, traveling wheel 13, aluminum section bar frame 14, control cabinet
Interlayer board 141, controller fixed plate 142, electric appliance fixed plate 143 and computer fixed plate 144.Wherein, traveling wheel 13 is set to
On bottom plate 12, the quantity of traveling wheel 13 is that N number of (N >=5) aluminum section bar frame 14 is fixed on bottom plate 12, inside aluminum section bar frame 14
It is provided with the O-shaped bracket 17 to improve its support strength.Control cabinet interlayer board 141 is multiple level boards being spaced apart up and down
And be fixed on aluminum section bar frame 14, control cabinet interlayer board 141 is to support and control device 8.The edge of controller 8 is fixed on control
In device fixed plate 142, controller fixed plate 142 is fixed on aluminum section bar frame 14.Computer 7 is fixed on computer fixed plate
On 144, computer fixed plate 144 is fixed on aluminum section bar frame 14.Upper frame mechanism 11 is fixed on aluminum section bar frame 14, is moved
Make to capture mechanism 2 and display 6 is fixed on frame mechanism 11.Electric appliance fixed plate 143 is to install its in addition to controller 8
Its electric appliance, electric appliance fixed plate 143 are fixed on side opposite with controller fixed plate 142 on aluminum section bar frame 14.Shell 5 is provide with
In the outside of aluminum section bar frame 14, for beautiful and dustproof and waterproof.
In order to improve safety and the comfort of rehabilitation training, the co-melting type both arms rehabilitation training machine of the present embodiment
People further includes seat 9, enables the patient to be trained with the posture of sitting.The seat 9 is preferably capable adjusting the seat of height
9, to adapt to the needs of different height crowds.
In the present embodiment, cooperation mechanical arm 3 is fixed on aluminum section bar frame by c-type fixed plate 15 and mechanical arm restraining board 16
On 14.Specifically, c-type fixed plate 15 includes the vertical plate of two level boards of two level boards being oppositely arranged and connection, it is mechanical
Arm restraining board 16 is the vertical fixed plate with edge in level and horizontal lower edge, and vertical plate is fixed on aluminum section bar frame 14, water
Flat upper edge and horizontal lower edge are individually fixed on two level boards, and cooperation mechanical arm 3 is fixed on mechanical arm restraining board 16, are located at
The level board of downside is connected by C-shaped support 18 with aluminum section bar frame 14.
In the present embodiment, upper frame mechanism 11 includes ceiling lamp 110, bent stand tube 111, aluminum pipe frame 112, interchanger
Connecting plate 117 after connecting plate 116, swan-neck, bending before fixed plate 113, interchanger 114, display fixed plate 115, swan-neck
Pipe connections 118 and frame head plate 119.Aluminum pipe frame 112 is fixed in bent stand tube 111 by being bent pipe connections 118,
The quantity for being bent pipe connections 118 is M (M >=4), and bent stand tube 111 is fixed in swan-neck fixed plate 19, and swan-neck is solid
Fixed board 19 is fixed on aluminum section bar frame 14.Interchanger fixed plate 113 is fixed on aluminum pipe frame 112, and interchanger 114 is fixed on
In interchanger fixed plate 113, computer 7 is electrically connected by interchanger 114 with external network.Frame head plate 119 is fixed on aluminum pipe
On frame 112, ceiling lamp 110 is fixed in frame head plate 119.Display 6 is fixed in display fixed plate 115, display
Fixed plate 115 is fixed on before swan-neck on connecting plate 116, and connecting plate 116 is fixed on after swan-neck in connecting plate 117 before swan-neck
Portion, two bent stand tubes 111 are fixedly connected by connecting plate 117 after swan-neck.
In the present embodiment, the quantity of motion capture mechanism 2 is n (n >=6), and motion capture mechanism 2 includes camera fixed plate
22 and camera 21, camera fixed plate 22 be fixed on aluminum pipe frame 112, camera 21 is fixed in camera fixed plate 22.
Apply that a specific example illustrates the principle and implementation of the invention in this specification, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (9)
1. a kind of co-melting type both arms recovery exercising robot characterized by comprising
Supporting mechanism；
Cooperate mechanical arm, and the first end of the cooperation mechanical arm is installed on the supporting mechanism；
Control system, to control the movement of the cooperation mechanical arm；
End effector mechanism, including interconnecting piece, hand grip portion and limit switch, the interconnecting piece are installed on the cooperation mechanical arm
Second end, the hand grip portion connect and can be separated from each other with the interconnecting piece magnetism, and the limit switch and the control are
System electrical connection, when the hand grip portion and the coupling part from when, the control system can obtain the sense of the limit switch
Induction signal simultaneously controls the cooperation mechanical arm stopping movement.
2. co-melting type both arms recovery exercising robot according to claim 1, which is characterized in that the hand grip portion includes U
The bar of shaking hands of the hand fixing plate of shape and two to connect the hand fixing plate opposite segments.
3. co-melting type both arms recovery exercising robot according to claim 2, which is characterized in that the interconnecting piece and described
Hand grip portion is connected by iron block with electromagnetism ferromagnetism, and the iron block is fixed on the hand grip portion, and the iron block is round table-like, institute
Stating interconnecting piece includes fixed plate, flange connector and electromagnet cover board, and the electromagnet is set in the flange connector, institute
One end inner wall for stating flange connector is the closing structure abutted to the side activity with the iron block, the flanged joint
The other end of part is sealed by the electromagnet cover board, and the both ends of the electromagnet are respectively by the closing structure and described
The limit of electromagnet cover board, the electromagnet cover board are embedded in the side of the fixed plate, the fixed plate and the flanged joint
Part is fixedly connected, and the fixed plate is fixed on the second end of the cooperation mechanical arm.
4. co-melting type both arms recovery exercising robot according to claim 1, which is characterized in that the control system includes
Motion capture mechanism, computer, controller and the display being fixed on the supporting mechanism, the motion capture mechanism to
The arm motion image of patient is acquired, the output end of the motion capture mechanism is electrically connected with the input terminal of the computer, institute
The output end for stating computer is electrically connected with the input terminal of the display and the controller respectively, the output end of the controller
It is electrically connected with the input terminal of the cooperation mechanical arm, the input terminal of the output end of the limit switch and the computer or described
The input terminal of controller is electrically connected.
5. co-melting type both arms recovery exercising robot according to claim 4, which is characterized in that the supporting mechanism includes
Frame mechanism and shell, the frame mechanism include upper frame mechanism, bottom plate, traveling wheel, aluminum section bar frame, control cabinet interlayer
Plate, controller fixed plate and computer fixed plate, the traveling wheel are set on the bottom plate, and the aluminum section bar frame is fixed on
On the bottom plate, the control cabinet interlayer board is multiple level boards being spaced apart up and down and is fixed on the aluminum section bar frame
On, for the control cabinet interlayer board to support the controller, the edge of the controller is fixed on the controller fixed plate
On, the controller fixed plate is fixed on the aluminum section bar frame, and the computer is fixed in the computer fixed plate,
The computer fixed plate is fixed on the aluminum section bar frame, and the upper frame mechanism is fixed on the aluminum section bar frame,
The motion capture mechanism and the display are fixed on the upper frame mechanism, and the jacket is set to the aluminum section frame
On the outside of frame.
6. co-melting type both arms recovery exercising robot according to claim 5, which is characterized in that it further include seat, it is described
The height of seat can be adjusted.
7. co-melting type both arms recovery exercising robot according to claim 5, which is characterized in that the cooperation mechanical arm is logical
It crosses c-type fixed plate and mechanical arm restraining board is fixed on the aluminum section bar frame, the c-type fixed plate includes two and is oppositely arranged
Level board and connection two level boards vertical plate, it is described machinery arm restraining board be with edge in level and horizontal lower edge
Vertical fixed plate, the vertical plate is fixed on the aluminum section bar frame, the horizontal upper edge and the horizontal lower edge difference
It is fixed on two level boards, the cooperation mechanical arm is fixed on the mechanical arm restraining board, described in downside
Level board is connected by C-shaped support with the aluminum section bar frame.
8. co-melting type both arms recovery exercising robot according to claim 5, which is characterized in that the upper frame mechanism packet
Include connecting plate before ceiling lamp, bent stand tube, aluminum pipe frame, interchanger fixed plate, interchanger, display fixed plate, swan-neck,
Connecting plate, elbow couplings and frame head plate after swan-neck, the aluminum pipe frame are fixed on described by the elbow couplings
In bent stand tube, the bent stand tube is fixed in swan-neck fixed plate, and the swan-neck fixed plate is fixed on the aluminium
On section material framework, the interchanger fixed plate is fixed on the aluminum pipe frame, and it is solid that the interchanger is fixed on the interchanger
On fixed board, the computer is electrically connected by the interchanger with external network, and the frame head plate is fixed on the aluminum pipe frame
On frame, the ceiling lamp is fixed in the frame head plate, and the display is fixed in the display fixed plate, described aobvious
Show that connecting plate connects after being fixed on the swan-neck before the swan-neck before device fixed plate is fixed on the swan-neck on connecting plate
In the middle part of plate, two bent stand tubes are fixedly connected by connecting plate after the swan-neck.
9. co-melting type both arms recovery exercising robot according to claim 8, which is characterized in that the motion capture mechanism
Including camera fixed frame and camera, the camera fixed frame is fixed on the aluminum pipe frame, and the camera is fixed on the phase
On machine fixed frame.
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| CN108186279A (en) * | 2017-12-27 | 2018-06-22 | 北京工业大学 | A kind of medial rotation for rehabilitation exoskeleton mechanism revolves extrinsic articulation |
| 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 |
| CN108742976A (en) * | 2018-05-07 | 2018-11-06 | 青岛海泰新光科技股份有限公司 | Lumbar vertebrae cervical traction system |
| CN109124985A (en) * | 2018-08-20 | 2019-01-04 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot system based on path planning |
| CN109363888A (en) * | 2018-11-14 | 2019-02-22 | 华南理工大学 | A kind of immersion rehabilitation training of upper limbs system |
| CN109330825A (en) * | 2018-12-11 | 2019-02-15 | 上海大学 | A kind of hand rehabilitation mirror image image training robot |
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