CN111374863A - Hybrid driving type shoulder-elbow-wrist joint rehabilitation training device - Google Patents
Hybrid driving type shoulder-elbow-wrist joint rehabilitation training device Download PDFInfo
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- CN111374863A CN111374863A CN201811627704.6A CN201811627704A CN111374863A CN 111374863 A CN111374863 A CN 111374863A CN 201811627704 A CN201811627704 A CN 201811627704A CN 111374863 A CN111374863 A CN 111374863A
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- upper arm
- wrist
- forearm
- elbow
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Abstract
The invention relates to a hybrid driving type shoulder-elbow-wrist joint rehabilitation trainer, which comprises an arm fixing mechanism and an upper limb fixing unit connected with the arm fixing unit, wherein the upper limb fixing unit comprises an upper arm mechanism, a forearm mechanism and a wrist mechanism which are sequentially connected, a motor for driving the upper limb fixing unit to integrally rotate is arranged on the arm fixing mechanism, rotating shafts matched with each other are arranged between the upper arm mechanism and the forearm mechanism, an upper arm driving unit for driving the forearm mechanism to rotate around the rotating shafts is arranged on the upper arm mechanism, and a wrist driving unit for driving the wrist of a patient to rotate is arranged on the wrist mechanism. Compared with the prior art, the shoulder joint is driven by the motor, the requirement of high-power real-time motion is met, the elbow-wrist joint is driven by the pneumatic tendon, and the pneumatic tendon has good flexibility, simple structure and light weight, so that the safety is improved, and the weight of the device is greatly reduced.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation instruments, in particular to a hybrid driving type shoulder-elbow-wrist joint rehabilitation training device.
Background
In the last decade, the population of the elderly in China has increased year by year, and the health problems of the elderly are aggravated. The cardiovascular and cerebrovascular diseases are diseases threatening the health of human beings, especially the middle-aged and old people over fifty years old are threatened more greatly, the old people suffering from the cardiovascular and cerebrovascular diseases mostly have the cardiovascular and cerebrovascular diseases, the stroke caused by the cardiovascular diseases has irrecoverable influence on patients, the common sequela of the stroke is hemiplegia, the life disorder of the patients is caused, and great inconvenience is brought to the patients.
For limb rehabilitation of hemiplegic patients, professional rehabilitation doctors are required traditionally, but the method is high in cost and few in personnel. Nowadays, with the continuous development of rehabilitation medical instruments, the rehabilitation training robot assists or replaces doctors to perform rehabilitation training on patients, so that the treatment efficiency is greatly improved, and the treatment cost is reduced. Medical instruments for rehabilitation of the shoulder-elbow joint of the upper limb are also continuously developed, and at present, the medical instruments mainly comprise: the hand rehabilitation instrument developed by Ability One, a seven-degree-of-freedom motor-driven manipulator designed by Perry of Huasheng university and the like, a motor-driven steel wire rope transmission rehabilitation robot system designed by Wang enken of Beijing aerospace university and the like, a hand exoskeleton rehabilitation system driven by shape memory alloy designed by Zhang Guo of Shanghai traffic university and the like can realize the motion training of the shoulder-elbow-wrist joint of the upper limb.
Most of the rehabilitation devices are driven by a pure electric motor or controlled by pure air, and have complex structures, heavier devices and large occupied space; the rehabilitation devices driven by pneumatic tendons are few, and the control of shoulder joints requiring high power is extremely inconvenient. Therefore, the design of the hybrid driving type upper limb shoulder-elbow joint exercise rehabilitation training device which is light and convenient and meets the requirements of more patients is significant.
Disclosure of Invention
The present invention aims to overcome the defects of the prior art and provide a portable hybrid driving type shoulder-elbow-wrist joint rehabilitation training device which is suitable for a wide range of people.
The purpose of the invention can be realized by the following technical scheme: the utility model provides a hybrid drive formula shoulder-elbow-wrist joint rehabilitation training ware, this rehabilitation training ware include arm fixed establishment and the upper limbs fixed unit of being connected with arm fixed unit, the upper limbs fixed unit is including the upper arm mechanism, forearm mechanism and the wrist mechanism that connect gradually, be equipped with on the arm fixed establishment and be used for driving the whole pivoted motor of upper limbs fixed unit, be equipped with the pivot of mutual matching between upper arm mechanism and the forearm mechanism, just be equipped with in the upper arm mechanism and be used for driving forearm mechanism round this pivot pivoted upper arm drive unit, wrist mechanism is equipped with and is used for driving patient's wrist pivoted wrist drive unit. The upper arm mechanism, the forearm mechanism and the wrist mechanism are respectively fixed with the upper arm, the forearm and the wrist of a patient, then the upper limb fixing unit is driven to rotate by the motor, so that the rehabilitation training of the shoulder joint is realized, the forearm mechanism is driven to rotate by the upper arm driving unit, the rehabilitation training of the elbow joint is realized, the rehabilitation training of the wrist is realized by the wrist driving unit, the rehabilitation effect is diversified, and the application range of people is wider.
The arm fixing mechanism comprises a base, a base supporting rod and an upper arm connecting rod, wherein the base supporting rod is fixedly arranged on the base and vertically arranged, the upper arm connecting rod is rotatably connected with the top of the base supporting rod, and a motor used for driving the upper arm connecting rod to rotate is arranged at the top of the base supporting rod. The base can be connected to the wheelchair or the seat and the like, and can be selected by the patient according to the requirement.
The upper arm mechanism comprises an upper arm exoskeleton, at least two upper arm binding bands arranged on the upper arm exoskeleton, two pairs of upper arm driving units respectively arranged on two sides of the upper arm exoskeleton and an elbow joint rotating shaft arranged at one end of the upper arm exoskeleton and connected with the forearm mechanism, wherein the elbow joint rotating shaft is connected with the upper arm driving units.
The upper arm exoskeleton comprises two parallel upper arm supporting plates and an arc-shaped upper arm supporting plate fixed at the bottoms of the two upper arm supporting plates and used for supporting the upper arm of a patient, the two ends of an upper arm binding band are fixed with the two upper arm supporting plates respectively, the upper arm exoskeleton and the upper arm of the patient can be fixed by adjusting the length of the upper arm binding band, a pair of upper arm driving units are fixed on the outer side of each upper arm supporting plate, elbow joint rotating shafts are arranged at the lower ends of the two upper arm supporting plates, and the inner wall of one upper arm supporting plate is fixedly connected with an upper arm.
The pneumatic tendon mounting bracket in the outside of upper arm backup pad is fixed including two pneumatic tendons of upper arm and two to the upper arm drive unit, two the upper end of the pneumatic tendon of upper arm is fixed with a pneumatic tendon mounting bracket, is equipped with two pneumatic tendon guide rails on another pneumatic tendon mounting bracket, every the lower extreme of the pneumatic tendon of upper arm is equipped with pneumatic tendon motion slider, two pneumatic tendon motion slider slides and sets up on two pneumatic tendon guide rails, and even has wire rope between two pneumatic tendon motion sliders, wire rope winds in the elbow joint pivot. Two upper arm pneumatic tendons in each pair of upper arm driving units are in a contraction state, one upper arm pneumatic tendon is in a natural state, when an elbow joint needs to be trained, the upper arm pneumatic tendon in the contraction state extends, and the upper arm pneumatic tendon in the natural state contracts, so that the two pneumatic tendon movement sliding blocks are subjected to diastrophism, namely, the steel wire rope and the elbow joint rotating shaft are subjected to displacement, the elbow joint rotating shaft is enabled to rotate, the forearm mechanism and the wrist mechanism are driven to integrally rotate, and the forearm mechanism and the wrist mechanism are respectively fixed with a forearm and a wrist of a patient, so that the forearm and the wrist of the patient rotate, namely, the elbow joint is trained.
The forearm mechanism comprises a forearm exoskeleton and at least two forearm straps arranged on the forearm exoskeleton, a forearm rotating shaft is arranged at the rear end of the forearm exoskeleton, and the forearm rotating shaft is matched with the elbow joint rotating shaft and rotates together with the elbow joint rotating shaft.
The forearm exoskeleton comprises two forearm supporting plates and a circular arc-shaped forearm supporting plate fixed at the bottoms of the two forearm supporting plates and used for supporting the forearm of a patient, two ends of a forearm bandage are fixed with the two forearm supporting plates respectively, the length of the forearm bandage can be adjusted to fix the forearm exoskeleton and the forearm of the patient, and a groove used for fixing a wrist mechanism is arranged in the forearm supporting plate positioned at the front end of the forearm supporting plate.
Wrist mechanism includes two parallel arrangement and is annular back wrist mounting and preceding wrist mounting, connects wrist drive unit between back wrist mounting and preceding wrist mounting and detains through connecting rod and the fixed wrist of the type of falling U of back wrist connecting piece, wrist drive unit includes the pneumatic tendon of many wrists, the wrist is detained and is set up between back wrist mounting and preceding wrist mounting for fixed patient's wrist, just the trailing flank that the wrist was detained is equipped with recess assorted arch.
The number of the pneumatic tendons of the wrist is 4, and the pneumatic tendons of the wrist are uniformly fixed between the rear wrist fixing piece and the front wrist fixing piece.
Compared with the prior art, the beneficial effects of the invention are embodied in the following aspects:
(1) the shoulder joints are driven by motors, the wrist joints are driven by pneumatic tendons, and each joint moves by independent pneumatic tendon drive, so that the control is accurate;
(2) meanwhile, the rigid structure and the flexible structure are combined, and the advantages of the rigid structure and the flexible structure are integrated; the pneumatic tendon structure improves the safety, lightens the weight of the mechanism and also reduces the production cost.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic structural view of an arm fixing mechanism according to the present invention;
FIG. 3 is a schematic structural view of an upper arm mechanism of the present invention;
FIG. 4 is a schematic structural diagram of a forearm mechanism of the invention;
FIG. 5 is a schematic view of the wrist mechanism of the present invention.
The wrist fixing device comprises an arm fixing mechanism 1, a base 101, a base support rod 102, a motor 103, an upper arm connecting rod 104, an upper arm mechanism 2, an elbow joint rotating shaft 201, an upper arm bandage 202, a pneumatic tendon guide 203, a pneumatic tendon mounting rack 204, an upper arm pneumatic tendon 205, a pneumatic tendon motion slider 206, an upper arm exoskeleton 207, an upper arm support plate 208, an upper arm support plate 209, a forearm mechanism 3, a forearm bandage 301, a forearm exoskeleton 302, a forearm rotating shaft 303, a forearm support plate 304, a forearm support plate 305, a groove 306, a wrist mechanism 4, a front wrist fixing member 401, a pneumatic wrist tendon 402, a rear wrist fixing member 403, a connecting rod 404, a wrist buckle 405 and a protrusion 406.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Example 1
A hybrid driving type upper limb shoulder-elbow-wrist joint movement rehabilitation training device is shown in figure 1 and comprises an arm fixing mechanism 1, an upper arm mechanism 2, a forearm mechanism 3 and a wrist mechanism 4, wherein the hybrid driving type upper limb shoulder-elbow-wrist joint movement rehabilitation training device can be arranged on a wheelchair or a seat and other places, and is very convenient for a patient to carry out rehabilitation training in space.
Structure of arm fixing mechanism referring to fig. 2, a base 101 is at the lowest part of the arm fixing mechanism for supporting and fixing the whole trainer; the base supporting rod 102 is arranged above the base 101, the motor 103 and the upper arm connecting rod 104 are connected with the upper end of the base supporting rod 102, and the base supporting rod 102 is arranged between the motor 103 and the upper arm connecting rod 104; because the upper arm connecting rod 104 is fixed with the upper arm mechanism, the rotation of the motor 103 can drive the upper arm connecting rod 104 to rotate up and down, and further control the motion of the whole upper arm mechanism.
The structure of the upper arm mechanism is shown in fig. 3, and comprises two upper arm straps 202, wherein the upper arm straps 202 are arranged at the upper part of an upper arm exoskeleton 207, the upper arm exoskeleton 207 comprises two upper arm supporting plates 208 and two upper arm supporting plates 209, and the upper arm of a patient is fixed through the upper arm supporting plates 208, the upper arm supporting plates 209 and the upper arm straps 202; two upper arm supporting plates 208 of the upper arm exoskeleton 207 are fixedly provided with two upper arm driving units with the same structure, which are as follows: two pneumatic tendon mounting frames 204 are mounted on an upper arm supporting plate 208, an upper arm pneumatic tendon 205 is mounted between the two pneumatic tendon mounting frames 204, two pneumatic tendon motion sliders 206 are respectively movably connected with two pneumatic tendon guide rails 203 arranged on the pneumatic tendon mounting frames 204, in an initial state, one upper arm pneumatic tendon 205 is in a contraction state, the other upper arm pneumatic tendon 205 is in a natural state (non-contraction), and a steel wire rope is connected with the two pneumatic tendon sliders 206 and wound on the elbow joint rotating shaft 201; because the upper arm driving units arranged on the two upper arm supporting plates 208 move synchronously, the upper arm pneumatic tendons 205 work simultaneously, and the design can reduce the load of the upper arm pneumatic tendons 205; when the pneumatic tendon 205 of the upper arm works, the steel wire rope drives the elbow joint rotating shaft 201 to move, and the elbow joint rotating shaft 201 is connected with the forearm mechanism, so that the forearm mechanism is driven to move.
The structure of the forearm mechanism is shown in fig. 4, and comprises two forearm straps 301 and a forearm exoskeleton 302, wherein the forearm straps 301 are arranged above two forearm supporting plates 304 of the forearm exoskeleton 302, a forearm supporting plate 305 is arranged below the forearm supporting plates 304, and the forearm of a patient is fixed through the forearm supporting plates 304, the forearm supporting plate 305 and the forearm straps 301; the forearm pivot 303 is connected to the elbow joint pivot and will drive the entire forearm to move when the pneumatic tendons are activated. In addition, a recess 306 is provided on the forearm support plate 305 located forward (i.e., at the left end in fig. 4) of the forearm support plate 304.
The structure of wrist mechanism refers to fig. 5, including two parallel arrangement and be annular back wrist mounting 403 and preceding wrist mounting 401, connect wrist drive unit between back wrist mounting 403 and preceding wrist mounting 401 and buckle 405 through the fixed wrist of the type of falling U of connecting rod 404 and back wrist connecting piece 403, wrist drive unit includes 4 evenly distributed's the pneumatic tendon 402 of wrist, four pneumatic tendons are in space evenly distributed, the independent shrink of different pneumatic tendons can make whole hand to shrink direction skew motion, can realize the diversified rehabilitation training of hand. The wrist buckle 405 is arranged between the fixing piece 403 for fixing the wrist of the patient and the fixing piece for fixing the wrist of the front wrist 401, and the back side of the wrist buckle 405 is provided with a protrusion 406 matched with the groove.
Claims (9)
1. The utility model provides a hybrid drive formula shoulder-elbow-wrist joint rehabilitation training ware, its characterized in that, this rehabilitation training ware include arm fixed establishment (1) and the upper limbs fixed unit of being connected with arm fixed unit, the upper limbs fixed unit is including the upper arm mechanism (2), forearm mechanism (3) and the wrist mechanism (4) that connect gradually, be equipped with on arm fixed establishment (1) and be used for driving the whole pivoted motor (103) of upper limbs fixed unit, be equipped with the pivot of mutual matching between upper arm mechanism (2) and forearm mechanism (3), just be equipped with on upper arm mechanism (2) and be used for driving forearm mechanism (3) round this pivot pivoted upper arm drive unit, wrist mechanism (4) are equipped with and are used for driving patient's wrist pivoted wrist drive unit.
2. The hybrid driving type shoulder-elbow-wrist joint rehabilitation training device according to claim 1, wherein the arm fixing mechanism (1) comprises a base (101), a base supporting rod (102) fixedly arranged on the base (101) and vertically arranged, and an upper arm connecting rod (104) rotatably connected with the top of the base supporting rod (102), and the top of the base supporting rod (102) is provided with a motor (103) for driving the upper arm connecting rod (104) to rotate.
3. The hybrid driving type shoulder-elbow-wrist joint rehabilitation trainer according to claim 2, wherein the upper arm mechanism (2) comprises an upper arm exoskeleton (207), at least two upper arm straps (202) arranged on the upper arm exoskeleton (207), two pairs of upper arm driving units respectively arranged on two sides of the upper arm exoskeleton (207), and an elbow joint rotating shaft (201) arranged at one end of the upper arm exoskeleton (207) and connected with the forearm mechanism (3), wherein the elbow joint rotating shaft (201) is connected with the upper arm driving units.
4. The hybrid driving type shoulder-elbow-wrist joint rehabilitation training device according to claim 3, wherein the upper arm exoskeleton (207) comprises two parallel upper arm support plates (208) and an arc-shaped upper arm supporting plate (209) fixed at the bottom of the two upper arm support plates (208) for supporting the upper arm of the patient, two ends of the upper arm strap (202) are respectively fixed with the two upper arm support plates (208), the upper arm exoskeleton (207) can be fixed with the upper arm of the patient by adjusting the length of the upper arm strap (202), a pair of upper arm driving units are fixed on the outer side of each upper arm support plate (208), the lower ends of the two upper arm support plates (208) are respectively provided with an elbow joint rotating shaft (201), and the inner wall of one upper arm support plate (208) is fixedly connected with the upper arm connecting rod (104).
5. The hybrid driving type shoulder-elbow-wrist joint rehabilitation trainer according to claim 4, wherein the upper arm driving unit comprises two upper arm pneumatic tendons (205) and two pneumatic tendon mounting frames (204) fixed outside an upper arm supporting plate (208), two upper ends of the upper arm pneumatic tendons (205) are fixed with one pneumatic tendon mounting frame (204), two pneumatic tendon guide rails (203) are arranged on the other pneumatic tendon mounting frame (204), each pneumatic tendon guide rail (205) is provided with a pneumatic tendon motion slider (206), two pneumatic tendon motion sliders (206) are arranged on the two pneumatic tendon guide rails (203) in a sliding manner, a steel wire rope is connected between the two pneumatic tendon motion sliders (206), and the steel wire rope is wound on an elbow joint rotating shaft (201).
6. The hybrid driving type shoulder-elbow-wrist joint rehabilitation trainer according to claim 4, wherein the forearm mechanism (3) comprises a forearm exoskeleton (302) and at least two forearm straps (301) arranged on the forearm exoskeleton (302), the rear end of the forearm exoskeleton (302) is provided with a forearm rotating shaft (303), and the forearm rotating shaft (303) is matched with the elbow joint rotating shaft (201) and rotates together with the elbow joint rotating shaft (201).
7. The hybrid driving type shoulder-elbow-wrist joint rehabilitation training device as claimed in claim 6, wherein the forearm exoskeleton (302) comprises two forearm support plates (304) and a circular arc shaped forearm support plate (305) fixed at the bottom of the two forearm support plates (304) for supporting the forearm of the patient, the two ends of the forearm strap (301) are respectively fixed with the two forearm support plates (304), the forearm exoskeleton (302) can be fixed with the forearm of the patient by adjusting the length of the forearm strap (301), and a groove (306) for fixing the wrist mechanism (4) is arranged in the forearm support plate (305) at the front end of the forearm support plate (304).
8. The hybrid driving type shoulder-elbow-wrist joint rehabilitation training device according to claim 7, characterized in that the wrist mechanism (4) comprises two rear wrist fixing member (403) and a front wrist fixing member (401) which are arranged in parallel and in a ring shape, a wrist driving unit connected between the rear wrist fixing member (403) and the front wrist fixing member (401), and an inverted U-shaped wrist buckle (404) fixed with the rear wrist connecting member (403) through a connecting rod (404), wherein the wrist driving unit comprises a plurality of pneumatic wrist tendons (402), the wrist buckle (404) is arranged between the rear wrist fixing member (403) and the front wrist fixing member (401) for fixing the wrist of the patient, and the rear side surface of the wrist buckle (404) is provided with a protrusion (406) matching with the groove (306).
9. The hybrid driving type shoulder-elbow-wrist rehabilitation trainer according to claim 8, wherein the number of the pneumatic tendons (402) of the wrist is 4, and the tendons are uniformly fixed between the rear wrist fixing member (403) and the front wrist fixing member (401).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811627704.6A CN111374863B (en) | 2018-12-28 | 2018-12-28 | Hybrid driving type shoulder-elbow-wrist joint rehabilitation training device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811627704.6A CN111374863B (en) | 2018-12-28 | 2018-12-28 | Hybrid driving type shoulder-elbow-wrist joint rehabilitation training device |
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| CN111374863A true CN111374863A (en) | 2020-07-07 |
| CN111374863B CN111374863B (en) | 2022-04-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113693885A (en) * | 2021-09-06 | 2021-11-26 | 西安交通大学 | Exoskeleton wearable upper limb rehabilitation training mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113693885A (en) * | 2021-09-06 | 2021-11-26 | 西安交通大学 | Exoskeleton wearable upper limb rehabilitation training mechanism |
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| CN111374863B (en) | 2022-04-29 |
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