CN112545836B - Wearable shoulder joint autonomous rehabilitation training mechanism - Google Patents
Wearable shoulder joint autonomous rehabilitation training mechanism Download PDFInfo
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- CN112545836B CN112545836B CN202011448526.8A CN202011448526A CN112545836B CN 112545836 B CN112545836 B CN 112545836B CN 202011448526 A CN202011448526 A CN 202011448526A CN 112545836 B CN112545836 B CN 112545836B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 57
- 238000012549 training Methods 0.000 title claims abstract description 50
- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 48
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 21
- 239000007787 solid Substances 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1269—Passive exercise driven by movement of healthy limbs
- A61H2201/1276—Passive exercise driven by movement of healthy limbs by the other leg or arm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a wearable shoulder joint autonomous rehabilitation training mechanism, which comprises a back plate, a sliding rail vertically fixed on the back plate, a rocker sliding block mechanism matched with the sliding rail, and an arm fixing component hinged with the rocker sliding block mechanism, wherein the arm fixing component comprises a first arm fixing component and a second arm fixing component; the rocker-slider mechanism comprises a slider, a connecting rod and a rocker, the connecting rod and the rocker are symmetrically arranged on the sliding rail shaft, the rocker is of a telescopic structure, and the other end of the rocker is hinged with the arm fixing component; the back plate extends forwards, and the extending part of the back plate is rotatably connected with a connecting rotating arm; the arm fixing component is hinged with the lower end of the corresponding connecting rotating arm. The invention has simple structure and low cost; the invention simplifies the rehabilitation training method of the patient, can select sitting posture or standing posture training, and is convenient to wear.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation training instruments, in particular to a wearable shoulder joint autonomous rehabilitation training mechanism.
Background
Stroke is a disease with a high disability rate. Of the stroke surviving patients, most are associated with varying degrees of disability, with greater than 70% developing varying degrees of dysfunction, with severe disability reaching 40%.
Aiming at the problem of upper limb movement dysfunction after stroke, a plurality of scholars research and explore a plurality of rehabilitation measures. With the application and development of the robot technology in the rehabilitation field, the reduction of the burden of medical care personnel through the assistance of the robot has become a trend of the development of the rehabilitation field.
The shoulder joint is the most important key part in daily life, not only controls shoulder movement, but also regulates arm movement and coordinated movement among joints. The shoulder joint is the most flexible ball-and-socket joint of the whole body of a human body and can do flexion, extension, contraction, extension, rotation and rotation motions, so the shoulder joint is an essential part of the human body.
The specification with the publication number CN 103976851B discloses a shoulder joint self-rehabilitation training device, which comprises a base, a seat, a fork-shaped or U-shaped suspension beam, a square upright post and a shoulder joint rehabilitation movement mechanism, wherein the height of the fork-shaped or U-shaped suspension beam is adjustable, the rehabilitation movement mechanism actively moves from one side of the upper arm of a patient to the other side of the upper arm of the patient and adopts gear and belt transmission, when the upper arm at one side of the patient swings up and down, the up-and-down swinging directions of the two sides of the patient are consistent through the gear and belt transmission, and when the upper arm at one side of the patient swings left and right, the left-and-right swinging directions of the upper arms at the two sides of the patient are opposite through the gear and belt transmission. The invention has heavier integral mass and complex mechanism, can only carry out sitting posture training and is inconvenient to carry.
The specification with the publication number of CN 110339534A discloses a multi-functional medical shoulder joint rehabilitation training device, including the waistband, the belt buckle, first pull rod, first solid fixed ring, first pull ring, the baldric, the back of the body pad, the solid fixed ring of second, second pull rod and second pull ring, the waistband laminating is at patient's waist, and one end is equipped with the belt buckle, the waistband bilateral symmetry is equipped with longitudinal motion's first pull rod, first pull rod is established respectively through the symmetry and is fixed on the waistband at the first solid fixed ring of waistband both sides, the symmetry is equipped with two shoulder belts that are used for wearing the device on patient's body on the waistband, be equipped with the back of the body pad that is used for connecting the baldric in the position that the baldric is located patient's back, be equipped with the second pull rod of vertical motion on the back of the pad, the second pull rod is fixed on the back of the body pad through establishing the solid fixed ring of the second of back pad intermediate position. The invention has simple structure, but is only suitable for the patients with shoulder joint damage, and the patients with severe disability can not carry out rehabilitation training by the invention.
The specification with the publication number CN 104622668B discloses a bionic rehabilitation training device for shoulder joint movement, which can realize all movements of shoulder joints in all directions by adopting a bionic joint, but only can perform single-arm training, cannot realize simultaneous training of two arms, adopts motor drive control, needs to perform programming control, is difficult to ensure stability and safety, is complex in mechanism, can perform sitting posture training only, and is inconvenient to carry.
Disclosure of Invention
The invention aims to provide a wearable shoulder joint autonomous rehabilitation training mechanism which can realize the autonomous training of the healthy and affected side of a patient at the same time, has the advantages of no motor drive, simple structure, low cost and convenient use.
The wearable autonomous rehabilitation training mechanism for the shoulder joints comprises a back plate, a sliding rail vertically fixed on the back plate, a rocker sliding block mechanism matched with the sliding rail and an arm fixing assembly hinged with the rocker sliding block mechanism; the rocker-slider mechanism comprises a slider, a connecting rod and a rocker, the connecting rod and the rocker are symmetrically arranged on the sliding rail shaft, the rocker is of a telescopic structure, and the other end of the rocker is hinged with the arm fixing component; the upper part of the back plate extends forwards, and the extending part of the back plate is rotationally connected with a connecting rotating arm; the lower end of the connecting rotating arm is hinged with the arm fixing component.
The arm fixing assembly comprises a left arm fixing assembly and a right arm fixing assembly; the left arm fixing component and the right arm fixing component are respectively hinged with the corresponding connecting rotating arm.
The patient's healthy side arm reciprocates to make forward and backward movements, the healthy side arm is fixed on the left arm fixing component or the right arm fixing component, and the movement of the healthy side arm can drive the left arm fixing component or the right arm fixing component to swing up and down; the left arm fixing component and the right arm fixing component are respectively hinged with the lower ends of the corresponding connecting rotating arms, so that the arm fixing components and the rocking rods are relatively fixed in the forward-flexion and backward-extension directions of the shoulder joints, the rocking rods swing reversely along with the up-down swing of the arm fixing components, the other ends of the rocking rods are connected with the connecting rods, the other ends of the connecting rods are hinged with the sliding blocks, and the sliding blocks linearly reciprocate on the sliding rails. According to the transmission principle of the symmetrical rocker-slider mechanism, when the slider slides on the slide rail, the slider can drive the connecting rod and the rocker connected with the right arm fixing plate or the left arm fixing plate to move, so that the right arm fixing assembly or the left arm fixing assembly swings up and down, the affected side and the healthy side do symmetrical movement, and the purpose of autonomous training of a patient is achieved.
The upper end of the rotating shaft is respectively fixed with a group of gears which are meshed with each other, and the lower end of the rotating shaft is fixed with the connecting rotating arm.
Through the meshing transmission of the gears, the patient can finish the symmetrical reciprocating abduction and adduction actions of the healthy side arm and the affected side arm. The side-exercising arm is fixed on the left arm fixing component or the right arm fixing component, and the arm fixing component and the connecting rotating arm are fixed in the outward-extending and inward-contracting directions, so that the connecting rotating arm rotates synchronously with the hand arm fixing component; the connecting rotating arm is fixedly connected with a group of gears through two rotating shafts respectively, when the connecting rotating arm on one side rotates, the gears also rotate synchronously, the gears are meshed for transmission and then drive the right arm fixing component or the left arm fixing component to rotate, and then the affected side and the healthy side do symmetrical movement, so that the purpose of autonomous training of a patient is achieved.
The extension part of the back plate is rotatably connected with the rotating shaft through a bearing.
The transmission ratio of the group of gears is 1:1, so that the affected side and the healthy side are ensured to do symmetric abduction-adduction movement, and the affected side is prevented from being pulled due to improper rotation angle.
Preferably, the gears are all fan-shaped, and the tooth shapes of the gears are uniformly distributed on the circular arc surface of the fan-shaped. The sector structure of the gear reduces the overall space occupancy of the mechanism.
Preferably, the gear is made of light wear-resistant materials, such as carbon fibers, and the total mass of the mechanism can be reduced and the portability of the mechanism can be improved by making the gear of light materials.
The arm fixing assembly is hinged to the rocker in a U-shaped joint mode, and an opening of the U-shaped joint is hinged to the upper direction and the lower direction of the rocker. The U-shaped joint can ensure the relative rotation between the arm fixing component and the rocker in the abduction-adduction direction of the shoulder joint and also ensure the relative fixation between the arm fixing component and the rocker in the forward-flexion-backward-extension direction of the shoulder joint.
The rocker comprises a fixed loop bar and an inner bar, and the inner bar is a cylindrical bar. The flexible chamber of fixed loop bar is the round chamber, the internal diameter in flexible chamber slightly is greater than the external diameter of interior pole, guarantees at flexible in-process fixed loop bar can center on interior pole is minor rotation to eliminate mechanism's dead point.
Due to the continuity of the mechanism, the shoulder joint can perform the compound training of abduction-adduction or abduction-adduction while performing the training of flexion-extension or abduction-adduction.
The contact surface of the back plate and the back of the human body is set to be an S-shaped curved surface in consideration of the human engineering and the comfort of the patient.
The back plate is also provided with two braces, the braces are arranged at the S-shaped curved surface of the back plate, a waistband is fixed between the two braces, and the waistband is provided with an adjustable opening and closing buckle; the opening and closing buckle is arranged on the belt, so that the patient can wear and take off the shoulder joint self-rehabilitation training mechanism.
Compared with the prior art, the wearable autonomous rehabilitation training mechanism for the shoulder joint has the advantages that:
1. the rehabilitation training method for the patient is simple and convenient, can adopt sitting posture or standing posture training, is convenient and fast to wear, and is convenient to operate.
2. The invention can realize the autonomous rehabilitation training of arms at both sides, does not need the accompanying of personnel and can reduce the burden of medical personnel.
3. The invention adopts the principle of connecting rod transmission, and fully ensures the consistency of symmetrical motion of mechanisms at two sides by combining a telescopic rod structure and a rocker-slider mechanism.
4. Compared with other shoulder joint rehabilitation training robots, the shoulder joint rehabilitation training robot is simpler in structure, easier to assemble, lower in cost and more beneficial to popularization.
Drawings
FIG. 1 is a schematic structural diagram of a wearable shoulder joint autonomous rehabilitation training mechanism according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a side-rear plan view of the wearable shoulder joint rehabilitation training mechanism shown in FIG. 1;
FIG. 3 is a side-front elevational view of the wearable shoulder joint rehabilitation training mechanism of FIG. 1;
FIG. 4 is a schematic diagram of the wearable autonomous rehabilitation training mechanism for shoulder joints shown in FIG. 1 in use with flexion and extension of the shoulder joints;
fig. 5 is a schematic view of the wearable shoulder joint automatic rehabilitation training mechanism shown in fig. 1 in use of abduction and adduction of the shoulder joint.
Detailed Description
As shown in fig. 1, the wearable shoulder joint autonomous rehabilitation training mechanism comprises a back plate 1, a sliding rail 2 vertically fixed on the back plate 1, a rocker-slider mechanism 3 matched with the sliding rail 2, and an arm fixing component 4 hinged to the rocker-slider mechanism 3. The rocker-slider mechanism 3 comprises a slider 31, a connecting rod 32 and a rocker 33 which are arranged in axial symmetry with the slide rail 2, the rocker 33 is of a telescopic structure, and the other end of the rocker 33 is hinged with the arm fixing component 4; the upper part of the back plate 1 extends forwards, and the back plate extending part 11 is rotatably connected with a connecting rotating arm 5; the lower end of the connecting rotating arm 5 is hinged with the arm fixing component 4.
As shown in fig. 1 and 2, the arm fixing assembly 4 is hinged to the rocker 33 by a U-joint, and an opening of the U-joint is hinged to the rocker 33 in the up-down direction. The U-shaped joint can ensure the relative rotation between the arm fixing component 4 and the rocker 33 in the abduction and adduction directions of the shoulder joint and can also ensure the relative fixation between the arm fixing component 4 and the rocker 33 in the forward flexion and backward extension directions of the shoulder joint.
The rocker 33 comprises a fixed sleeve rod 332 and an inner rod 331, the inner rod 331 being a cylindrical rod. The telescopic cavity of the fixed loop bar 332 is a round cavity, and the inner diameter of the telescopic cavity is slightly larger than the outer diameter of the inner bar 331, so that the fixed loop bar 332 can rotate slightly around the inner bar 331 in the telescopic process, and the dead point of the mechanism is eliminated.
As shown in fig. 1 and 3, two rotating shafts 12 are inserted into the back plate extension 11 through bearings, the upper ends of the rotating shafts 12 are fixed to two gears 13 engaged with each other, and the lower ends are fixed to the connecting rotating arm 5.
The transmission ratio of the two gears 13 is 1:1, so that the affected side and the healthy side can do symmetric abduction and adduction movement, and the pull injury of the affected side caused by improper rotation angle is prevented.
The gears 13 are all fan-shaped, the tooth shapes of the gears are uniformly distributed on the fan-shaped arc surface, and carbon fibers are adopted for preparation. The design of the shape and the material of the gear 13 reduces the total mass of the mechanism, reduces the space occupancy rate of the mechanism and improves the portability of the mechanism.
The arm fixing component 4 comprises a left arm fixing component 42 and a right arm fixing component 41; the left arm fixing component 42 and the right arm fixing component 41 are respectively hinged with the corresponding connecting rotating arm 5.
The contact surface of the backboard 1 and the back of the human body is an S-shaped curved surface in consideration of the human engineering and the comfort of the patient.
The back plate 1 is further provided with two braces 6, the braces 6 are installed at the S-shaped curved surface of the back plate 1, a waistband 7 is fixed between the two braces 6, and the waistband 7 is provided with an adjustable opening and closing buckle 8. The opening and closing buckle 8 is arranged on the waistband 7, so that the patient can wear and take off the training mechanism and adjust the shoulder joint for self rehabilitation.
The shoulder joint rehabilitation training mechanism is worn on the back of a patient, the patient can adopt a sitting posture or a standing posture, and forearms and upper arms of left and right arms are fixed at the left arm fixing component 42 and the right arm fixing component 41 through binding bands respectively. The harness 6 is adjusted to the comfortable position of the patient by means of an adjustable opening and closing buckle 8.
As shown in fig. 2 and 4, when the shoulder joint needs to be trained in forward flexion and backward extension, the healthy arm of the patient reciprocates to perform forward flexion and backward extension, and the movement of the healthy arm drives the left arm fixing component 42 or the right arm fixing component 41 to swing up and down; the left arm fixing component 42 and the right arm fixing component 41 are respectively hinged with the lower ends of the corresponding connecting rotating arms 5, so that the arm fixing component 4 and the rocker 33 are relatively fixed in the forward and backward extending directions of the shoulder joint, and the rocker 33 swings reversely along with the up-and-down swinging of the arm fixing component 4; the other end of the rocker 33 is connected with the connecting rod 32, the other end of the connecting rod 32 is hinged with the sliding block 31, and the sliding block 31 makes linear reciprocating sliding on the sliding rail 2. The distance and position of the rocker 33 from the link 32 vary, so the rocker 33 is designed to be a telescopic rod. According to the transmission principle of the symmetrical rocker-slider mechanism, when the slider 31 slides on the slide rail 2, the slider 31 drives the connecting rod 32 and the rocker 33 connected with the right arm fixing component 41 or the left arm fixing component 42 to move, so that the right arm fixing component 41 or the left arm fixing component 42 swings up and down, the affected side and the healthy side do symmetrical movement, and the purpose of autonomous training of a patient is achieved.
As shown in fig. 3 and 5, when the shoulder joint abduction and adduction training is required, the healthy side arm of the patient reciprocates to abduct and adduct, and the arm fixing component 4 and the connecting rotating arm 5 are relatively fixed in the abduction and adduction directions, so that the connecting rotating arm 5 rotates synchronously with the arm fixing component 4; the connecting rotating arm 5 is respectively fixedly connected with two gears 13 through two rotating shafts 12, when the connecting rotating arm 5 rotates, the gears 13 also synchronously rotate, the distance and the position between the right arm fixing component 41 or the left arm fixing component 42 and the connecting rod 32 can change, the arm fixing component 4 is hinged with the rocker 33 in a U-shaped joint mode, the U-shaped joint ensures the relative rotation between the arm fixing component 4 and the rocker 33 in the shoulder joint abduction and adduction direction, and the rocker 33 is a telescopic mechanism, so that the dead point of the mechanism is eliminated while the continuity and the integrity of the mechanism are ensured. After the two gears 13 are engaged, the right arm fixing component 41 or the left arm fixing component 42 is driven to rotate, and then the affected side and the healthy side are driven to do symmetrical movement, so that the purpose of autonomous training of the patient is achieved.
Due to the continuity of the mechanism, the shoulder joint can perform the compound training of abduction-adduction or abduction-adduction while performing the training of flexion-extension or abduction-adduction.
Claims (8)
1. Wearable shoulder joint is rehabilitation training mechanism independently, its characterized in that: the device comprises a back plate (1), a slide rail (2) vertically fixed on the back plate (1), a rocker slide block mechanism (3) matched with the slide rail (2), and an arm fixing component (4) hinged with the rocker slide block mechanism (3); the rocker sliding block mechanism (3) comprises a sliding block (31), a connecting rod (32) and a rocker (33) which are arranged in an axisymmetric manner by using the sliding rail (2), the rocker (33) is of a telescopic structure, and the other end of the rocker (33) is hinged with the arm fixing component (4); the upper part of the back plate (1) extends forwards, and the extending part (11) of the back plate is rotatably connected with a connecting rotating arm (5); the lower end of the connecting rotating arm (5) is hinged with the arm fixing component (4).
2. The wearable shoulder joint autonomous rehabilitation training mechanism according to claim 1, characterized in that: the back plate is characterized in that two rotating shafts (12) penetrate through the extending part (11) of the back plate through bearings, the upper ends of the rotating shafts (12) are respectively fixed with a group of gears (13) which are meshed with each other, and the lower ends of the rotating shafts are fixed with the connecting rotating arm (5).
3. The wearable shoulder joint autonomous rehabilitation training mechanism of claim 2, wherein: the transmission ratio of the group of gears (13) is 1: 1.
4. The wearable shoulder joint autonomous rehabilitation training mechanism of claim 3, wherein: the gears (13) are all fan-shaped, and the tooth shapes of the gears are uniformly distributed on the fan-shaped arc surface.
5. The wearable shoulder joint autonomous rehabilitation training mechanism of claim 1, wherein: the arm fixing component (4) is hinged to the rocker (33) in a U-shaped joint mode, and an opening of the U-shaped joint is hinged to the rocker (33) in the up-down direction.
6. The wearable shoulder joint autonomous rehabilitation training mechanism of claim 1, wherein: the rocker (33) comprises a fixed loop bar (332) and an inner bar (331), and the inner bar (331) is a cylindrical bar.
7. The wearable shoulder joint autonomous rehabilitation training mechanism of claim 1, wherein: the contact surface of the back plate (1) and the back of the human body is set to be an S-shaped curved surface.
8. The wearable shoulder joint autonomous rehabilitation training mechanism of claim 1, wherein: the novel back plate is characterized in that the back plate (1) is further provided with two straps (6), the straps (6) are installed on the S-shaped curved surface of the back plate (1), a waistband (7) is fixed between the two straps (6), and the waistband (7) is provided with an adjustable opening and closing buckle (8).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011448526.8A CN112545836B (en) | 2020-12-09 | 2020-12-09 | Wearable shoulder joint autonomous rehabilitation training mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011448526.8A CN112545836B (en) | 2020-12-09 | 2020-12-09 | Wearable shoulder joint autonomous rehabilitation training mechanism |
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| CN112545836A CN112545836A (en) | 2021-03-26 |
| CN112545836B true CN112545836B (en) | 2022-08-30 |
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| CN113018105B (en) * | 2021-03-31 | 2022-08-23 | 马兴顺 | Department of neurology shoulder neck pain adjunctie therapy device |
| CN113018106B (en) * | 2021-03-31 | 2022-11-01 | 李建军 | Shoulder neck massage appearance for department of neurology |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105662783A (en) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | Exoskeletal rehabilitation robot for upper limbs |
| CN106943713A (en) * | 2016-01-05 | 2017-07-14 | 蓝兆杰 | Shoulder joint rehabilitation assistive device |
| CN107854813A (en) * | 2017-11-30 | 2018-03-30 | 湖南妙手机器人有限公司 | A kind of upper limb rehabilitation robot |
| CN110340870A (en) * | 2019-07-08 | 2019-10-18 | 华中科技大学 | A kind of shoulder joint keeps ectoskeleton and its application |
| CN110787027A (en) * | 2019-11-29 | 2020-02-14 | 东莞理工学院 | Exoskeleton robot for upper limb rehabilitation training |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT1401979B1 (en) * | 2010-09-28 | 2013-08-28 | C N R Consiglio Naz Ricerche | BIOMEDICAL DEVICE FOR ROBOTIZED REHABILITATION OF THE HUMAN UPPER BODY, PARTICULARLY FOR THE NEUROMOTORY REHABILITATION OF THE ARTICULATION OF THE SHOULDER AND OF THE ELBOW. |
| IT201700081177A1 (en) * | 2017-07-18 | 2019-01-18 | Iuvo S R L | "Operator assistance assistance system" |
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2020
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106943713A (en) * | 2016-01-05 | 2017-07-14 | 蓝兆杰 | Shoulder joint rehabilitation assistive device |
| CN105662783A (en) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | Exoskeletal rehabilitation robot for upper limbs |
| CN107854813A (en) * | 2017-11-30 | 2018-03-30 | 湖南妙手机器人有限公司 | A kind of upper limb rehabilitation robot |
| CN110340870A (en) * | 2019-07-08 | 2019-10-18 | 华中科技大学 | A kind of shoulder joint keeps ectoskeleton and its application |
| CN110787027A (en) * | 2019-11-29 | 2020-02-14 | 东莞理工学院 | Exoskeleton robot for upper limb rehabilitation training |
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