CN109907935B - Upper limb rehabilitation equipment - Google Patents
Upper limb rehabilitation equipment Download PDFInfo
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- CN109907935B CN109907935B CN201711320250.3A CN201711320250A CN109907935B CN 109907935 B CN109907935 B CN 109907935B CN 201711320250 A CN201711320250 A CN 201711320250A CN 109907935 B CN109907935 B CN 109907935B
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Abstract
An upper limb rehabilitation device comprises a base unit, a supporting unit, an upper arm unit and a forearm unit. The first driving piece of base unit can drive the supporting unit centers on first axis rotating, the supporting unit has bracing piece and positioning seat, the second driving piece of positioning seat can drive the main arm pole of upper arm unit centers on the second axis rotating, the third driving piece of positioning seat can drive the linkage of upper arm unit, and the interlock brake axle rotates, forearm unit include the rigid coupling in the forearm group of brake axle, can the rotating and install in the seat of gripping of forearm group, and with the seat of striding of gripping the seat connection, grip the seat and receive the fourth driving piece drive can center on the fourth axis rotating, grip the seat with stride the seat and supply human hand and forearm to place the location respectively, borrow this, carry out the action record after the last limb is strong the action again to can reach the purpose of automatic reappearing the action.
Description
Technical Field
The invention relates to human body rehabilitation auxiliary equipment, in particular to upper limb rehabilitation equipment.
Background
There is an upper limb rehabilitation device (US9017271B 2), in which an upper beam extending horizontally is fixed on a wall, a first motor is installed at the end of the upper beam, the first motor can drive a cross bar to rotate along a horizontal plane with a first axis as a rotation center, the end of the cross bar is pivoted with a hinge piece which can rotate moderately and extend vertically, a second motor is installed at the bottom of the hinge piece, the second motor can drive a support piece to rotate with a second axis as a rotation center and perpendicular to the horizontal plane, and a slide block can slide along the length direction of the support piece, and has a third motor which can drive a C-shaped frame to rotate, the C-shaped frame is pivoted with a forearm positioning piece, and a fourth motor can drive the forearm positioning piece to rotate. Although this upper limb rehabilitation apparatus can achieve rehabilitation with a high degree of freedom (6 or more), when the rehabilitee is performing rehabilitation operations, the upper beam, the cross bar, the hinge and other members are disposed above the scapula, the humerus and the shoulder joint of the rehabilitee, and therefore, the range of motion of the upper limb of the rehabilitee interferes with the members during rehabilitation. In addition, the rehabilitation device needs to be accurately positioned and adjusted by a human-machine aiming at different body types of rehabilitation people.
Another type of upper limb rehabilitation device (WO2013186705a 2) is known which is worn like a backpack on the torso of a user and uses a motor to drive a cable to actuate a multi-link mechanism that simulates the shoulder joint. Although the upper limb rehabilitation device can achieve the rehabilitation purpose with four degrees of freedom, the arm length cannot be adjusted for different body types of the rehabilitators, and the shoulder joint degrees of freedom are complex in structure and difficult to shift left and right.
There is still another existing upper limb rehabilitation device (WO2015048688a 1), in which a motor is used to drive a horizontal shaft extending horizontally to rotate on a fixed base, and another motor is used to drive a vertical shaft to swing up and down on the horizontal shaft, the vertical shaft is connected to an inner link, and the inner link is pivoted to an outer link. Although the upper limb rehabilitation device can also achieve the rehabilitation purpose with three degrees of freedom, the mechanical arm needs to be large in size because the distance between the mechanical rotation center and the shoulder joint rotation center point of the human body is long. Furthermore, the outer connecting rod has a fixed grip, the end of which has two degrees of freedom, and the actual position of the limb segment of the rehabilitative person cannot be determined.
Disclosure of Invention
The invention aims to provide upper limb rehabilitation equipment which is suitable for rehabilitation people with different body types, does not need accurate man-machine positioning and does not generate interference during operation.
The invention relates to upper limb rehabilitation equipment, which is suitable for upper limb rehabilitation operation of a human body and comprises a base unit, a supporting unit, an upper arm unit and a forearm unit. The base unit comprises a first driving piece arranged along a first axis, the supporting unit is driven by the first driving piece to rotate around the first axis and relative to the base unit and is provided with a supporting rod pivoted to the base unit and a positioning seat connected to the supporting rod, the positioning seat is positioned above the base unit and is provided with a second driving piece and a third driving piece arranged on one side of the second driving piece, the upper arm unit comprises a main arm rod axially arranged on the positioning seat and a connecting rod group axially arranged on the positioning seat and positioned on one side of the main arm rod, the main arm rod is provided with a braked end driven by the second driving piece and capable of rotating around a second axis vertical to the first axis and a linkage end opposite to the braked end, the linkage end is provided with a braked shaft, and the connecting rod group is pivoted between the positioning seat and the linkage end, the linkage receives the drive of third driving piece and can the interlock the detent axle is for the interlock end rotates, the forearm unit receives the linkage of linkage can for upper arm unit rotating, and include the rigid coupling in the forearm group, the rotatable of detent axle and install in the seat of gripping of forearm group, and locate forearm group one side and with the seat of striding that the seat is connected grips, the forearm group has fourth drive piece, grip the seat receive fourth drive piece drive can center on the perpendicular to first axis with the fourth axis rotating of second axis, grip the seat with stride the seat and supply human hand and forearm respectively and place the location.
According to the upper limb rehabilitation device, the base unit further comprises a lifting piece which can drive the first driving piece, the supporting unit, the upper arm unit and the forearm unit to lift along the first axis.
According to the upper limb rehabilitation device, the connecting rod group of the upper arm unit is provided with a pivoting plate which is axially arranged on the positioning seat and can rotate around a second axis, a first connecting rod which is pivoted on the pivoting plate, a second connecting rod which is pivoted on the first connecting rod, a third connecting rod which is pivoted between the second connecting rod and the linkage end, and a fourth connecting rod which is pivoted between the first connecting rod and the linkage end, wherein the third connecting rod is fixedly connected with the braking shaft, and the braking shaft extends along a third axis which is parallel to the second axis.
The forearm group of the forearm unit is also provided with a main rod piece fixedly connected to the braking shaft, a front section piece which can rotate and is pivoted to the main rod piece, and at least one locking piece which can enable the front section piece to be positioned relative to the main rod piece, wherein the front section piece can rotate 180 degrees relative to the main rod piece around a fifth axis parallel to the fourth axis, and the locking piece can enable the front section piece to be positioned relative to the main rod piece after rotating.
The front section piece of the forearm unit is provided with a transverse rod piece, a straight rod piece connected to one end of the transverse rod piece, a rotating joint arranged on the straight rod piece, the forearm unit further comprises an adapter connected between the straight rod piece and the holding seat, and an elastic piece pivoted between the adapter and the straight rod piece, wherein the adapter is parallel to the straight rod piece and is axially arranged on the rotating joint and can rotate around a sixth axis parallel to a third axis, and the elastic piece provides buffering when the adapter pivots relative to the straight rod piece and generates restoring elastic force after pivoting.
According to the upper limb rehabilitation device, the straight rod piece of the forearm group of the forearm unit is provided with the long groove and the guide block capable of sliding along the long direction of the long groove, and one end of the elastic piece is pivoted to the guide block.
The adapter of the forearm unit is provided with a main base body, a plurality of outer roll shafts axially arranged on the main base body, a plurality of inner roll shafts which are respectively opposite to the outer roll shafts and are arranged at intervals, and an arc-shaped track formed between the outer roll shafts and the inner roll shafts, wherein the holding base is provided with a C-shaped sliding frame which can rotate and is sleeved in the track, and a holding piece which is connected with the sliding frame and can be used for positioning hands of a human body, and the fourth driving piece can stop the sliding frame to rotate by taking a fourth axis as a rotation center.
According to the upper limb rehabilitation device, the fourth driving part is provided with a motor arranged on the adapter, a belt pulley driven by the motor, two idle wheels arranged on one side of the outer roller shaft in a shaft mode, and a toothed belt fixed on the sliding frame and wound on the belt pulley and the idle wheels.
In the upper limb rehabilitation apparatus of the present invention, the pivot center of the grip of the forearm unit is located on the extension line of the sixth axis.
According to the upper limb rehabilitation device, the supporting rod of the supporting unit is provided with the positioning plate arranged on one side of the positioning seat and the positioning button which can be detached and penetrates through the positioning seat, the positioning plate is provided with the first clamping hole and the second clamping hole, the positioning button can be embedded and clamped with one of the first clamping hole and the second clamping hole, the positioning seat can rotate between the first position and the second position relative to the supporting rod, and the positioning seat can be positioned after rotating relative to the supporting rod.
The invention has the beneficial effects that: by utilizing the matching of the base unit, the supporting unit, the upper arm unit and the forearm unit, the rehabilitation robot can adapt to rehabilitation people with various hand lengths to perform rehabilitation without adjustment and accurate man-machine positioning, and can achieve the purpose of optimal rehabilitation without interference during operation.
Drawings
Fig. 1 is a perspective external view of an embodiment of the upper limb rehabilitation apparatus of the present invention;
FIG. 2 is a fragmentary perspective assembly view of the embodiment illustrating a support unit, an upper arm unit and a forearm unit;
fig. 3 is a fragmentary exploded perspective view of the embodiment, illustrating a positioning seat of the support unit, the upper arm unit and a main bar member of the forearm unit;
FIG. 4 is a fragmentary exploded perspective view of the embodiment illustrating a forearm set of the forearm unit;
FIG. 5 is a fragmentary side elevational schematic view of the embodiment;
FIG. 6 is a fragmentary top schematic view of the embodiment;
FIG. 7 is a sectional view taken along line VII-VII in FIG. 6;
FIG. 8 is an operational schematic diagram of the embodiment;
FIG. 9 is an operational schematic diagram of the embodiment;
FIG. 10 is a schematic view of an operation of the embodiment and an operation angle conversion formula;
FIG. 11 is a right-handed operational illustration of the embodiment;
FIG. 12 is an operational schematic of the embodiment for left-hand use;
fig. 13 is a schematic view of the embodiment being retrofitted with another grip.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1 and 2, an embodiment of the upper limb rehabilitation apparatus of the present invention is suitable for upper limb rehabilitation operations of a human body, and the upper limb rehabilitation apparatus includes a base unit 1, a support unit 2, an upper arm unit 3, and a forearm unit 4.
The base unit 1 includes a base 101, a plurality of rollers 102 mounted at the bottom of the base 101, a first driving member 103 mounted on the base 101 and disposed along a first axis L1, and a lifting member 104 mounted on the base 101 and capable of driving the first driving member 103 to lift along the first axis L1, wherein the first driving member 103 can be a servo motor, and the lifting member 104 can be an oil hydraulic cylinder.
The supporting unit 2 is driven by the first driving member 103 to rotate around the first axis L1 and relative to the base unit 1, and has a supporting rod 201 bent in an L shape and capable of pivoting relative to the base 101, and a positioning seat 202 connected to the top of the supporting rod 201, the positioning seat 202 is located above and outside the base unit 1, the positioning seat 202 has a second driving member 203, a third driving member 204 disposed in parallel on one side of the second driving member 203, and a pair of driving shafts 205 (see fig. 3), 205 'disposed along a second axis L2 perpendicular to the first axis L1, the second driving member 203 and the third driving member 204 can adopt servo motors, and can respectively drive the driving shafts 205, 205' to rotate independently. In addition, the supporting rod 201 has a positioning plate 206 axially disposed on the positioning seat 202, and a positioning button 207 detachably disposed in the positioning seat 202 in a penetrating manner, the positioning plate 206 has a first fastening hole 206 ', and a second fastening hole 206 ″ spaced from the first fastening hole 206', the positioning button 207 can be engaged with the first fastening hole 206 'or the second fastening hole 206', the positioning seat 202 can rotate between a first position and a second position relative to the supporting rod 201, and the positioning seat 202 can be positioned after rotating relative to the supporting rod 201.
Referring to fig. 3 and 5, the upper arm unit 3 includes a main arm rod 31 pivotally disposed on one driving shaft 205 of the positioning seat 202, and a connecting rod group 32 pivotally disposed on the other driving shaft 205' of the positioning seat 202 and located at one side of the main arm rod 31. The main arm lever 31 has a caught end 311 driven by the second driving member 203 and capable of rotating around the second axis L2, and a linking end 312 opposite to the caught end 311, the caught end 311 moves together with one of the driving shafts 205, and the linking end 312 is axially provided with a catching shaft 313 extending along a third axis L3 parallel to the second axis L2. The linkage 32 is pivotally connected between the other driving shaft 205' of the positioning socket and the linking end 312, and the linkage 32 is driven by the third driving member 204 and can link the braking shaft 313 to rotate relative to the linking end 312 by taking the third axis L3 as a rotation center. The linkage 32 has a pivot plate 321 fixed to the driving shaft 205' and capable of rotating around the second axis L2, a first link 322 pivoted to the pivot plate 321, a second link 323 pivoted to the first link 322, a third link 324 pivoted between the second link 323 and the linking end 312, and a fourth link 325 pivoted between the first link 322 and the linking end 312, wherein the third link 324 is fixed to the braking shaft 313.
Referring to fig. 3, 4 and 6, the forearm unit 4 is linked by the linkage 32 and can rotate relative to the upper arm unit 3, and includes a forearm set 10 fixed to the braking shaft 313, an adapter 20, a grip base 30 capable of rotating around a fourth axis L4 perpendicular to the first axis L1 and the second axis L2 and mounted on the adapter 20, a fourth driving member 40 mounted on the adapter 20, and a straddle base 50 mounted on one side of the forearm set 10 and connected to the adapter 20.
The forearm assembly 10 has a main rod 11 fixed to the braking shaft 313, a front section 12 rotatable and pivotally connected to the main rod 11, and two locking members 13, 13 ' for positioning the front section 12 with respect to the main rod 11, wherein the front section 12 is rotatable 180 degrees with respect to the main rod 11 about a fifth axis L5 parallel to the fourth axis L4, and the locking members 13, 13 ' are capable of positioning the front section 12 after rotating with respect to the main rod 11, in this embodiment, one of the locking members 13 is a locking button, and the other locking member 13 ' is a bolt. The front section 12 has a cross bar member 121 perpendicular to the fifth axis L5, a straight bar member 122 perpendicularly connected to one end of the cross bar member 121, and a rotating joint 123 disposed on the straight bar member 122. The straight rod 122 has a long groove 124, and a guide block 125 capable of sliding along the long direction of the long groove 124. The forearm unit 4 further includes an elastic member 60 pivotally connected between the adaptor 20 and the straight rod member 122.
Referring to fig. 7, the adaptor 20 is parallel to the straight rod 122 and is axially disposed on the rotating joint 123, and can rotate around a sixth axis L6 parallel to the third axis L3. The adapter 20 has a main base 21, a plurality of outer rollers 22 axially disposed on the main base 21, a plurality of inner rollers 23 respectively opposite to the outer rollers 22 and spaced apart from each other, and a circular arc track 24 disposed between the outer rollers 22 and the inner rollers 23.
Referring to fig. 7, the holding base 30 is for holding (or holding) and positioning a hand of a human body, and includes a C-shaped sliding frame 301 rotatably sleeved in the rail 24, and a holding member 302 connected to the sliding frame 301 and capable of positioning the hand of the human body, wherein the sliding frame 301 includes an inner side 304 defining a penetrating portion 303, and an outer side 305 opposite to the inner side 304 and having an outwardly protruding arc surface, the holding member 302 of the present embodiment is rod-shaped and pivotally connected to two opposite ends of the sliding frame 301. As shown in fig. 6 and 7, the pivot center of the handle 302 is located on the extension line of the sixth axis L6.
Referring to fig. 7, the fourth driving member 40 has a motor 41 installed on the adaptor 20, a belt pulley 42 driven by the motor 41, two idler pulleys 43 axially disposed on one side of the outer roller 22, and a toothed belt 44 fixed on the outer side 305 of the sliding frame 301 and capable of winding around the belt pulley 42 and the idler pulleys 43, and the holding base 30 is driven by the fourth driving member 40 to rotate around the fourth axis L4.
The straddling seat 50 is connected to the adapter 20 and aligned with the penetrating portion 303 of the sliding frame 301, and the straddling seat 50 has a plurality of buckles 51 capable of binding and fixing the arms of the rehabilitative person.
The elastic member 60 is pivotally connected between the adaptor 20 and the guide block 125, and the elastic member 60 can be an extension spring or a high-strength adhesive, and can provide a buffer when the adaptor 20 pivots relative to the straight rod 122 and a return elastic force after pivoting.
As shown in fig. 1 and 11, when the entire assembly of the upper limb rehabilitation apparatus of the present invention is completed and the rehabilitee is seated and positioned by using a chair or a wheelchair, the rehabilitee can adjust the position of the upper limb rehabilitation apparatus according to the affected side of the rehabilitee, as shown in fig. 1 and 11, the side to be trained of the rehabilitee is the right upper limb, and after the rehabilitee turns on the power supply and inputs the physiological parameters of the rehabilitee, the driving members of the upper limb rehabilitation apparatus can generate origin rehabilitation. The upper limb rehabilitation device is pushed to the side of the rehabilitation person to be trained, the lifting piece 104 is adjusted to enable the height of the positioning seat 202 to approximately correspond to the shoulder joint of the rehabilitation person, the forearm of the rehabilitation person is sleeved on the straddle seat 50, the forearm is tied and positioned by the buckle 51, and the hand of the rehabilitation person is held on the holding piece 302.
At this time, the rehabilitation teacher drives the upper limb of the rehabilitee to perform the exercise to be performed, and a control unit (not a key point of the present invention, not described herein, and not shown) of the upper limb rehabilitation device immediately performs the action record. When the rehabilitation operator activates a training start key (not shown), the driving members of the upper limb rehabilitation apparatus resume the recorded movements (training start), and continue to operate according to a preset time interval until the training is finished, and the driving members of the upper limb rehabilitation apparatus return to the original point again. Finally, the rehabilitation technician only needs to unfasten the buckle 51 to complete the operation of upper limb rehabilitation.
The above-mentioned training operation is described in detail below, and as shown in fig. 1, 2, and 5, the original point is shown in a return state, in which the upper arm unit 3 is substantially parallel to the first axis L1 and is upright, and the forearm unit 4 extends substantially horizontally and is vertical to the upper arm unit 3.
When training begins, the upper limb rehabilitation device can reproduce the recorded actions as follows:
the first driving member 103 controls the upper arm unit 3 to extend and retract along the horizontal direction: as shown in fig. 1 and fig. 6, the first driving member 103 can drive the whole structure of the supporting unit 2, the upper arm unit 3 and the forearm unit 4 to rotate around the first axis L1 as a rotation center.
The second driving member 203 controls the upper arm unit 3 to perform forward-drive backward-extension: as shown in fig. 5 to 9, when the second driving member 203 drives the driving shaft 205 to rotate, the linking end 312 of the main arm rod 31 rotates around the second axis L2 as a rotation center, so that the upper arm of the rehabilitation person swings forward (or backward) around the shoulder joint as a rotation center.
The third driving member 204 controls the forearm unit 4 to extend forward and backward: when the third driving member 204 drives the driving shaft 205' to rotate, the pivotal plate 321 of the connecting rod set 32 is driven and rotates about the second axis L2 as a rotation center, and further drives the first connecting rod 322, the first connecting rod 322 then drives the second connecting rod 323, the third connecting rod 324 and the fourth connecting rod 325 to pivot relative to the connecting end 312, and the third connecting rod 324 simultaneously drives the braking shaft 313 to rotate about the third axis L3 as a rotation center, so as to drive the forearm unit 4 to pivot relative to the upper arm unit 3, such that the forearm of the rehabilitee generates an upward (or downward) swinging motion about the elbow joint as a rotation center.
The fourth driver 41 controls the front arm unit 4 to twist inside and outside: as shown in fig. 7, when the fourth driving member 41 is activated, the motor 41 drives the belt pulley 42 to rotate, which will pull the toothed belt 44, and the toothed belt 44 drives the holding base 30 to rotate around the fourth axis L4, which can drive the forearm to twist inside and outside.
In addition, as shown in fig. 6 and 7, the integral structure of the adaptor 20, the grip holder 30 and the straddle holder 50 can rotate relative to the forearm set 10 with the sixth axis L6 as the rotation center, so as to achieve the purpose of swinging the wrist joint, and the elastic element 60 is pivoted between the adaptor 20 and the straight rod element 122, so as to generate the buffering elasticity. Furthermore, the pivoting center of the grip 302 is located on the extension line of the sixth axis L6, which is consistent with the movement engineering of the wrist joint.
As shown in fig. 11, the positioning button 207 is inserted into the first locking hole 206' to position the positioning base 202 relative to the supporting rod 201 for the right upper limb of the user to perform rehabilitation. As shown in fig. 12, when the positioning button 207 is pulled up, the positioning base 202 rotates relative to the supporting rod 201, and the positioning button 207 can be inserted into the second locking hole 206 ″ again, so as to be suitable for the rehabilitation person to perform rehabilitation on the left upper limb. At the same time, when the side position is switched, the locking member 13, 13' is also operated to switch the front section 12 to the rear position with respect to the main bar 11.
It should be noted that, as shown in fig. 13, in accordance with different rehabilitation requirements, the sliding frame 301 of the grip holder 30 can be assembled with different types of grip members 302 ', the grip members 302 ' have a grip portion 306 ' with a U-shaped cross section, and two straps 307 ' mounted on the grip portion 306 ' and capable of restraining and positioning the palm of the rehabilitee.
Therefore, the following summarizes the effects of the present invention:
firstly, the base unit 1, the supporting unit 2, the upper arm unit 3 and the forearm unit 4 are integrally matched, so that the upper limb can generate three-dimensional rehabilitation action.
Second, as shown in fig. 10, user codes of different body types for R and H are defined, wherein when the distance between the driving shaft 205 and the grip 302 of the upper limb rehabilitation apparatus is the same (R)2＝H2)，H0Representing the length of the upper arm of the user H1Represents the forearm length of the user H. R0Represents the length of the upper arm of the user R1Represents the forearm length of the user. It can be known from the formula of fig. 10 that the physiological parameters of users with different body types can be fit into the formula to generate the angle θ between the upper arm and the forearm of the user with different body types as shown in fig. 8 and 9H2Or thetaR2Therefore, the device can be suitable for rehabilitation people with various hand lengths to perform rehabilitation without adjustment, and accurate man-machine positioning is not needed.
And thirdly, the rehabilitee can not interfere with the equipment during the rehabilitation operation, and the assisting operation of the rehabilitee can not be hindered, thereby achieving the purpose of optimized rehabilitation.
Fourthly, the side-position rehabilitation device is suitable for rehabilitation operations of different side positions, and the operation and the positioning of side position conversion are quite easy.
In summary, the upper limb rehabilitation device of the invention is suitable for rehabilitation people with different body types, does not need precise man-machine positioning, does not generate interference during operation, and can really achieve the purpose of the invention.
Claims (9)
1. The utility model provides an upper limbs equipment of restoreing in good health, the operation is restoreed to suitable human upper limbs, upper limbs equipment of restoreing in good health contains base unit, support unit, upper arm unit and forearm unit, the upper limbs is restoreed the characterized in that of equipment:
the base unit comprises a first driving piece arranged along a first axis;
the supporting unit is driven by the first driving piece to rotate around a first axis and relative to the base unit, and is provided with a supporting rod pivoted to the base unit and a positioning seat connected to the supporting rod, the positioning seat is positioned above the base unit, and the positioning seat is provided with a second driving piece and a third driving piece arranged on one side of the second driving piece;
the upper arm unit comprises a main arm rod which is axially arranged on the positioning seat, and a connecting rod group which is axially arranged on the positioning seat and is positioned on one side of the main arm rod, wherein the main arm rod is provided with a braked end which is driven by the second driving piece and can rotate around a second axis which is vertical to the first axis, and a linkage end which is opposite to the braked end, the linkage end shaft is provided with a braked shaft, the connecting rod group is pivoted between the positioning seat and the linkage end, the connecting rod group is driven by the third driving piece and can link the braked shaft to rotate relative to the linkage end, the connecting rod group of the upper arm unit is provided with a pivoting plate which is axially arranged on the positioning seat and can rotate around the second axis, a first connecting rod which is pivoted on the pivoting plate, a second connecting rod which is pivoted on the first connecting rod, and a third connecting rod which is pivoted between the second connecting rod and the linkage end, the fourth connecting rod is pivoted between the first connecting rod and the linkage end, the third connecting rod is fixedly connected with the braking shaft, and the braking shaft extends along a third axis parallel to the second axis;
the forearm unit receives the linkage can for upper arm unit rotating, and include the rigid coupling in the forearm group of pulling axis, can rotate and install in the seat of gripping of forearm group, and locate forearm group one side and with the seat of striding that the seat is connected grips, the forearm group has the fourth drive piece, the seat of gripping receives the fourth drive piece drive can center on the perpendicular to first axis with the fourth axis rotating of second axis, grip the seat with stride the seat and supply human hand and forearm respectively to place the location.
2. The upper extremity rehabilitation device according to claim 1, characterized in that: the base unit further comprises a lifting piece which can drive the first driving piece, the supporting unit, the upper arm unit and the forearm unit to lift along a first axis.
3. The upper extremity rehabilitation device according to claim 1, characterized in that: the forearm group of the forearm unit is further provided with a main rod piece fixedly connected to the braking shaft, a front section piece which can rotate and is pivoted to the main rod piece, and at least one locking piece which can enable the front section piece to be positioned relative to the main rod piece, the front section piece can rotate 180 degrees relative to the main rod piece around a fifth axis parallel to the fourth axis, and the locking piece can enable the front section piece to be positioned relative to the main rod piece after rotating.
4. The upper extremity rehabilitation device according to claim 3, characterized in that: the anterior segment spare of forearm unit have the horizontal pole piece, connect in the straight pole piece of horizontal pole piece one end, set up in the rotation of straight pole piece connects, just forearm unit still including connect in straight pole piece with grip the adapter between the seat, and the pin joint in the adapter with elastic component between the straight pole piece, the adapter is on a parallel with straight pole piece and axle are located the rotation connects, and can be around being on a parallel with the sixth axis rotating of third axis, the elastic component provides the adapter for buffering during the pivot of straight pole piece to and the elasticity that produces the reply after the pivot.
5. The upper extremity rehabilitation device according to claim 4, characterized in that: the straight rod piece of the forearm group of the forearm unit is provided with a long groove and a guide block capable of sliding along the long direction of the long groove, and one end of the elastic piece is pivoted with the guide block.
6. The upper extremity rehabilitation device according to claim 4, characterized in that: the adapter of forearm unit has main pedestal, several axle to locate the outer roller, the several of main pedestal respectively with the outer roller is relative and the interval set up the interior roller, and form in outer roller with convex track between the interior roller, the seat of gripping has can rotate and the cover is located in the track and be the smooth frame of C shape, and connect in smooth frame just can supply the gripping member of human hand location, the fourth drive piece can be stopped smooth frame with the fourth axis is the rotation center rotating.
7. The upper extremity rehabilitation device according to claim 6, characterized in that: the fourth driving part is provided with a motor arranged on the adapter, a belt pulley driven by the motor, an idler pulley with two shafts arranged on one side of the outer roller shaft, and a toothed belt fixed on the sliding frame and wound on the belt pulley and the idler pulley.
8. The upper extremity rehabilitation device according to claim 6, characterized in that: the pivot center of the grip of the forearm unit is located on the extension line of the sixth axis.
9. The upper extremity rehabilitation device according to claim 1, characterized in that: the supporting rod of the supporting unit is provided with a positioning plate arranged on one side of the positioning seat and a positioning button which can be detached and penetrates through the positioning seat, the positioning plate is provided with a first clamping hole and a second clamping hole, the positioning button can be embedded into one of the first clamping hole and the second clamping hole in a clamping manner, the positioning seat can rotate between a first position and a second position relative to the supporting rod, and the positioning seat can be positioned relative to the supporting rod after rotating.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711320250.3A CN109907935B (en) | 2017-12-12 | 2017-12-12 | Upper limb rehabilitation equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711320250.3A CN109907935B (en) | 2017-12-12 | 2017-12-12 | Upper limb rehabilitation equipment |
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| CN109907935A CN109907935A (en) | 2019-06-21 |
| CN109907935B true CN109907935B (en) | 2021-07-13 |
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| CN201711320250.3A Active CN109907935B (en) | 2017-12-12 | 2017-12-12 | Upper limb rehabilitation equipment |
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| PL444337A1 (en) * | 2023-04-06 | 2024-10-07 | Politechnika Rzeszowska im. Ignacego Łukasiewicza | Device for the rehabilitation of upper limbs, especially hands |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4903536A (en) * | 1988-04-21 | 1990-02-27 | Massachusetts Institute Of Technology | Compact cable transmission with cable differential |
| US20030115954A1 (en) * | 2001-12-07 | 2003-06-26 | Vladimir Zemlyakov | Upper extremity exoskeleton structure and method |
| US20080009771A1 (en) * | 2006-03-29 | 2008-01-10 | Joel Perry | Exoskeleton |
| US9358173B2 (en) * | 2008-05-09 | 2016-06-07 | National Taiwan University | Rehabilitation and training apparatus and method of controlling the same |
| TWI554262B (en) * | 2013-05-13 | 2016-10-21 | Univ Nat Taiwan | Limb rehabilitation and training system |
| CN104523401B (en) * | 2014-12-28 | 2016-09-07 | 上海电机学院 | A kind of upper limb healing device |
| US10667938B2 (en) * | 2015-10-07 | 2020-06-02 | Bonutti Research, Inc. | Orthosis for range of motion |
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