CN113018108A - Five-degree-of-freedom upper limb exoskeleton rehabilitation robot - Google Patents
Five-degree-of-freedom upper limb exoskeleton rehabilitation robot Download PDFInfo
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- CN113018108A CN113018108A CN202110409921.3A CN202110409921A CN113018108A CN 113018108 A CN113018108 A CN 113018108A CN 202110409921 A CN202110409921 A CN 202110409921A CN 113018108 A CN113018108 A CN 113018108A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 32
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 21
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 13
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 13
- 230000001360 synchronised effect Effects 0.000 claims description 15
- 210000000245 forearm Anatomy 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 abstract description 11
- 230000006870 function Effects 0.000 abstract description 2
- 230000001771 impaired effect Effects 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 abstract description 2
- 210000000707 wrist Anatomy 0.000 abstract description 2
- 238000005452 bending Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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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
- 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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
-
- 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
-
- 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
-
- 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
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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 provides a five-degree-of-freedom upper limb exoskeleton rehabilitation robot which can be used for carrying out rehabilitation training on a patient with impaired motion functions of three joints of a shoulder, an elbow and a wrist of an upper limb of a human body. The composition comprises: a base; a shoulder joint rehabilitation training part; an elbow joint rehabilitation training part; a wrist joint rehabilitation training part. The device can realize the rehabilitation forms of three freedom degrees of motion of the shoulder joint, namely anteflexion/retroflexion, adduction/abduction and rotation in/out; a rehabilitation modality for flexion/extension freedom of the elbow joint; the rehabilitation form of wrist joint radial/ulnar bending freedom degree. The three-freedom-degree rotation center of the shoulder is handed over to one point of the shoulder joint, so that when the robot performs adduction/abduction training of the shoulder joint, a plurality of movements are not needed to be matched for completion, the movement can be directly completed, the interference between the device and a human body is reduced, the space utilization rate is improved, and the whole structure is more convenient and faster. The telescopic push rod of the upper arm can adjust the size of the upper arm, so that the robot is suitable for patients with different sizes of the upper arm to use.
Description
Technical Field
The invention relates to the field of rehabilitation robots, in particular to a five-degree-of-freedom upper limb exoskeleton rehabilitation robot.
Background
With the increasing aging of the population, the pace of life of people is accelerated, and stroke is an important cause of death of Chinese people. Has the characteristics of high morbidity, high recurrence rate, high disability rate and high mortality rate. Most patients with upper limb dysfunction can not effectively control own upper limbs, which not only causes great harm to the mind and body of the patients, but also has great influence on families and daily life. Patients with upper limb dysfunction usually require repeated rehabilitation training to play a crucial role in recovering human motor functions. At present, the traditional rehabilitation training has the defects of low treatment efficiency, monotonous rehabilitation process, high human resource consumption and higher treatment cost, so that a rehabilitation robot for assisting upper limb treatment is urgently needed to solve the problems.
At present, most of existing upper limb rehabilitation robots have three degrees of freedom motions of forward flexion/backward extension, adduction/abduction and inward/outward rotation on the rehabilitation training of shoulder joints, but when the robot performs adduction/abduction motion, the existing upper limb rehabilitation robots can perform the motion only by unfolding arms, the rehabilitation efficiency and the use comfort of patients are influenced, and the existing upper limb rehabilitation robots also have the defects of large weight, low space utilization rate and difficulty in moving, and are not beneficial to the rehabilitation training of the patients.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a five-degree-of-freedom upper limb exoskeleton rehabilitation robot which can be used for carrying out rehabilitation training on a patient with impaired motion functions of three joints of the shoulder, the elbow and the wrist of the upper limb of the human body, and solves the problems that the existing upper limb rehabilitation robot is heavy and cannot move. Meanwhile, the patient can directly complete the shoulder joint adduction/abduction freedom degree, the whole structure is more convenient, the space utilization rate is improved, the patient rehabilitation comfort level is improved, and the rehabilitation efficiency is also improved.
In order to achieve the aim, the invention provides a five-degree-of-freedom upper limb exoskeleton rehabilitation robot which comprises a base (1), a shoulder joint rehabilitation training part (2), an elbow joint rehabilitation training part (3) and a wrist joint rehabilitation training part (4).
Further, the base (1) comprises casters (101), a disc base (102), a first vertical support (103), a second vertical support (104), a horizontal support (105), a long bolt (106) and a nut (107). Wherein three truckles (101) link to each other with disc base (102), and vertical support frame (103) link to each other with disc base (102), and vertical support frame two (104) link to each other with vertical support frame one (103), and horizontal support frame (105) link to each other with vertical support frame two (104), and vertical support frame one (103) and vertical support frame two (104) are connected through the pilot hole on vertical support frame one (103) and vertical support frame two (104) in long bolt (106).
Furthermore, the shoulder joint rehabilitation training part (2) comprises a vertical connecting rod (201), a telescopic push rod (202), a parallel connecting rod (203), a synchronous pulley (204), a synchronous belt (205), a transmission shaft (206), a motor I (207), a motor supporting frame (208), an outer shell (209), a motor II (210), a beam rod (211), an L-shaped connecting rod (212), a bevel gear I (213), a bevel gear II (214), a motor III (215), a gear box (216) and a long supporting frame (217). Wherein the tail end (202) of a telescopic push rod is connected with a vertical connecting rod (201), the telescopic push rod (202) is connected with the tail end of a parallel connecting rod (203), a transmission shaft (206) is connected with an outer shell (209) through an assembly hole on the outer shell (209), a synchronous pulley (204) is fixed on the transmission shaft (206), a synchronous belt (205) is connected with the synchronous pulley (204) in a matching way, a motor I (207) is fixed on a motor supporting frame (208) through the transmission shaft (206), the motor supporting frame (208) is fixed on the outer shell (209), one end of a beam rod (211) is connected with the outer shell (209), a motor II (210) is connected with the beam rod (211) through an output shaft, the beam rod (211) is fixedly connected with an L-shaped connecting rod (212), a bevel gear I (213) is connected with the L-shaped connecting rod (212), a bevel gear II (214) is connected with a bevel gear I (213), and a bevel gear, an output shaft of the motor III (215) is connected with the bevel gear II (214), and the gear box (216) is fixed on the long support frame (217).
Further, the L-shaped connecting rod (312) realizes rehabilitation training of shoulder adduction and abduction through rotary motion; the crossbeam rod (311) realizes the rehabilitation training of the shoulder joint rotating inwards and outwards through rotation; the parallel connecting rods (203) realize the rehabilitation training of the shoulder joint for flexion and extension through rotation.
Further, the long supporting rod (217) is connected with the horizontal supporting frame (105).
Furthermore, the elbow joint rehabilitation training part (3) comprises a semi-arc forearm connecting rod (301), a semi-arc upper arm connecting rod (302) and a short connecting rod (303). Wherein the semi-arc upper arm connecting rod (302) is hinged with the semi-arc forearm connecting rod (301), and the semi-arc upper arm connecting rod (302) is fixedly connected with the short connecting rod (303). The anterior flexion and the posterior extension of the elbow joint are realized.
Furthermore, the elbow joint rehabilitation training part (3) is fixedly connected with the shoulder joint rehabilitation training part (2) through a short connecting rod (303).
Further, the wrist joint rehabilitation training part (4) comprises a hand-holding device (401), a hand supporting plate (402) and a forearm supporting plate (403). Wherein, the hand holding device (401) is connected with the hand of the human body, the hand holding device (402) is fixed on the hand supporting plate (402), and the hand supporting plate (402) is hinged with the forearm supporting plate (403). Realizing the radial flexion and the ulnar flexion of the wrist joint.
Further, the arm supporting plate (402) is fixedly connected with the semi-arc forearm connecting rod (301).
Compared with the prior art, the invention has the beneficial effects that:
the invention adopts the design of three-degree-of-freedom shoulder joint to realize adduction and abduction, anterior flexion and posterior extension and internal rotation and external rotation of the shoulder joint; realizing flexion and extension movement of the elbow joint; realize the radial flexion and the ulnar flexion of the wrist joint. The problem of shoulder joint can be direct more effectual going on when carrying out adduction abduction motion is solved, holistic structure is more convenient simultaneously, increases rehabilitation therapy's comfort level and rehabilitation efficiency.
The foregoing is a summary of the present invention, and in order to provide a clear understanding of the technical means of the present invention and to be implemented in accordance with the present specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of the general structure of a five-degree-of-freedom upper limb exoskeleton rehabilitation robot;
fig. 2 is a schematic structural diagram of a base in a five-degree-of-freedom upper limb exoskeleton rehabilitation robot;
fig. 3 is a schematic structural diagram of a shoulder joint in a five-degree-of-freedom upper limb exoskeleton rehabilitation robot;
fig. 4 is another perspective view of a shoulder joint structure in a five-degree-of-freedom upper limb exoskeleton rehabilitation robot;
fig. 5 is a schematic structural diagram of elbow joints and wrist joints in a five-degree-of-freedom upper limb exoskeleton rehabilitation robot.
Detailed description of the preferred embodiments
With reference to fig. 1, the invention provides a five-degree-of-freedom upper limb exoskeleton rehabilitation robot, which comprises a base 1, a shoulder joint rehabilitation training part 2, an elbow joint rehabilitation training part 3 and a wrist joint rehabilitation training part 4. The device is characterized in that a base 1 is connected with the rear part of a large arm in a shoulder rehabilitation training part 2, the front part of the large arm in the shoulder rehabilitation training part 2 is connected with the rear part of a small arm in an elbow rehabilitation training part 3, the front part of the small arm in the elbow rehabilitation training part 3 is connected with a wrist joint rehabilitation training part 4, and a hand-held device in the elbow rehabilitation training part 3 is connected with an upper limb of a human body.
Referring to fig. 2, the base includes casters 101, a disk base 102, a first vertical support 103, a second vertical support 104, a horizontal support 105, a long bolt 106, and a nut 107. The three casters 101 are connected with the disc base 102, the first vertical support frame 103 is connected with the disc base 102, the second vertical support frame 104 is connected with the first vertical support frame 103, the horizontal support frame 105 is connected with the second vertical support frame 104, and the long bolt 106 is connected with the first vertical support frame 103 and the second vertical support frame 104 through assembly holes in the first vertical support frame 103 and the second vertical support frame 104.
Referring to fig. 3 and 4, the shoulder joint rehabilitation training part 2 comprises a vertical connecting rod 201, a telescopic push rod 202, a parallel connecting rod 203, a synchronous pulley 204, a synchronous belt 205, a transmission shaft 206, a first motor 207, a motor support frame 208, an outer shell 209, a second motor 210, a beam rod 211, an L-shaped connecting rod 212, a first bevel gear 213, a second bevel gear 214, a third motor 215, a gear box 216 and a long support frame 217. The tail end 202 of the telescopic push rod is connected with the vertical connecting rod 201, the telescopic push rod 202 is connected with the tail end of the parallel connecting rod 203, the transmission shaft 206 is connected with the outer shell 209 through an assembly hole in the outer shell 209, the synchronous pulley 204 is fixed on the transmission shaft 206, the synchronous belt 205 is connected with the synchronous pulley 204 in a matched mode, the motor I207 is fixed on the motor supporting frame 208 through the transmission shaft 206, the motor supporting frame 208 is fixed on the outer shell 209, one end of the beam rod 211 is connected with the outer shell 209, the motor II 210 is connected with the beam rod 211 through an output shaft, the beam rod 211 is fixedly connected with the L-shaped connecting rod 212, the bevel gear I213 is connected with the L-shaped connecting rod 212, the bevel gear II 214 is connected with the bevel gear I213, the bevel gear II 214 is.
Referring to fig. 5, the elbow joint rehabilitation training section 3 includes a semi-arc forearm link 301, a semi-arc upper arm link 302, and a short link 303. Wherein, the semi-circular upper arm connecting rod 302 is hinged with the semi-circular forearm connecting rod 301, and the semi-circular upper arm connecting rod 302 is fixedly connected with the short connecting rod 303. The wrist joint rehabilitation training part 4 comprises a hand grip 401, a hand support plate 402 and a forearm support plate 403. Wherein, the hand-held device 401 is connected with the hand of the human body, the hand-held device 402 is fixed on the hand support plate 402, and the hand support plate 402 is hinged with the forearm support plate 403.
Claims (8)
1. A five-degree-of-freedom upper limb exoskeleton rehabilitation robot consists of a base (1), a shoulder joint rehabilitation training part (2), an elbow joint rehabilitation training part (3) and a wrist joint rehabilitation training part (4); the multifunctional elbow rehabilitation training device is characterized in that the base (1) is connected with the rear part of a large arm in the shoulder rehabilitation training part (2), the front part of the large arm in the shoulder rehabilitation training part (2) is connected with the rear part of a small arm in the elbow rehabilitation training part (3), the front part of the small arm in the elbow rehabilitation training part (3) is connected with the wrist joint rehabilitation training part (4), and the hand-held device in the elbow rehabilitation training part (3) is connected with the upper limb of a human body.
2. The five-degree-of-freedom upper limb exoskeleton rehabilitation robot as claimed in claim 1, wherein the base is composed of casters (101), a disc base (102), a first vertical support (103), a second vertical support (104), a horizontal support (105), a long bolt (106) and a nut (107); wherein three truckles (101) link to each other with disc base (102), and vertical support frame (103) link to each other with disc base (102), and vertical support frame two (104) link to each other with vertical support frame one (103), and horizontal support frame (105) link to each other with vertical support frame two (104), and vertical support frame one (103) and vertical support frame two (104) are connected in long bolt (106).
3. The five-degree-of-freedom upper limb exoskeleton rehabilitation robot as claimed in claim 1, wherein the shoulder joint rehabilitation training part (2) is composed of a vertical connecting rod (201), a telescopic push rod (202), a parallel connecting rod (203), a synchronous pulley (204), a synchronous belt (205), a transmission shaft (206), a motor I (207), a motor support frame (208), an outer shell (209), a motor II (210), a beam rod (211), an L-shaped connecting rod (212), a bevel gear I (213), a bevel gear II (214), a motor III (215), a gear box (216) and a long support frame (217); wherein the tail end (202) of a telescopic push rod is connected with a vertical connecting rod (201), the telescopic push rod (202) is connected with the tail end of a parallel connecting rod (203), a transmission shaft (206) is connected with an outer shell (209) through an assembly hole on the outer shell (209), a synchronous pulley (204) is fixed on the transmission shaft (206), a synchronous belt (205) is connected with the synchronous pulley (204) in a matching way, a motor I (207) is fixed on a motor supporting frame (208) through the transmission shaft (206), the motor supporting frame (208) is fixed on the outer shell (209), one end of a beam rod (211) is connected with the outer shell (209), a motor II (210) is connected with the beam rod (211) through an output shaft, the beam rod (211) is fixedly connected with an L-shaped connecting rod (212), a bevel gear I (213) is connected with the L-shaped connecting rod (212), a bevel gear II (214) is connected with a bevel gear I (213), and a bevel gear, an output shaft of the motor III (215) is connected with the bevel gear II (214), and the gear box (216) is fixed on the long support frame (217).
4. The five-degree-of-freedom upper limb exoskeleton rehabilitation robot as claimed in claim 1, wherein the elbow joint rehabilitation training part (3) is composed of a semi-arc forearm connecting rod (301), a semi-arc upper arm connecting rod (302) and a short connecting rod (303); wherein the semi-arc upper arm connecting rod (302) is hinged with the semi-arc forearm connecting rod (301), and the semi-arc upper arm connecting rod (302) is fixedly connected with the short connecting rod (303).
5. The five-degree-of-freedom upper limb exoskeleton rehabilitation robot as claimed in claim 1, wherein the wrist joint rehabilitation training part (4) is composed of a hand holding device (401), a hand supporting plate (402) and a forearm supporting plate (403); wherein, the hand holding device (401) is connected with the hand of the human body, the hand holding device (402) is fixed on the hand supporting plate (402), and the hand supporting plate (402) is hinged with the forearm supporting plate (403).
6. The five-degree-of-freedom upper limb exoskeleton rehabilitation robot according to claim 1, wherein the hand support plate (402) is fixedly connected with the semi-arc forearm link (301).
7. The five-degree-of-freedom upper limb exoskeleton rehabilitation robot as claimed in claim 1, wherein the elbow joint rehabilitation training part (3) and the shoulder joint rehabilitation training part (2) are fixedly connected through a short connecting rod (303).
8. The five-degree-of-freedom upper limb exoskeleton rehabilitation robot as claimed in claim 1, wherein the long support frame (217) is connected with the horizontal support frame (105).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110409921.3A CN113018108A (en) | 2021-04-16 | 2021-04-16 | Five-degree-of-freedom upper limb exoskeleton rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110409921.3A CN113018108A (en) | 2021-04-16 | 2021-04-16 | Five-degree-of-freedom upper limb exoskeleton rehabilitation robot |
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| CN202110409921.3A Pending CN113018108A (en) | 2021-04-16 | 2021-04-16 | Five-degree-of-freedom upper limb exoskeleton rehabilitation robot |
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Cited By (2)
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| CN113827445A (en) * | 2021-10-29 | 2021-12-24 | 长春工业大学 | Seven-degree-of-freedom serial-parallel upper limb exoskeleton rehabilitation robot |
| CN114533496A (en) * | 2022-03-07 | 2022-05-27 | 山东建筑大学 | Shoulder rehabilitation exoskeleton robot |
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|---|---|---|---|---|
| CN113827445A (en) * | 2021-10-29 | 2021-12-24 | 长春工业大学 | Seven-degree-of-freedom serial-parallel upper limb exoskeleton rehabilitation robot |
| CN113827445B (en) * | 2021-10-29 | 2023-12-22 | 长春工业大学 | Seven-degree-of-freedom serial-parallel upper limb exoskeleton rehabilitation robot |
| CN114533496A (en) * | 2022-03-07 | 2022-05-27 | 山东建筑大学 | Shoulder rehabilitation exoskeleton robot |
| CN114533496B (en) * | 2022-03-07 | 2023-09-15 | 山东建筑大学 | Shoulder rehabilitation exoskeleton robot |
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Application publication date: 20210625 |