CN113101138A - Motor direct-drive wrist training mechanism for upper limb rehabilitation robot - Google Patents
Motor direct-drive wrist training mechanism for upper limb rehabilitation robot Download PDFInfo
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- CN113101138A CN113101138A CN202110387124.XA CN202110387124A CN113101138A CN 113101138 A CN113101138 A CN 113101138A CN 202110387124 A CN202110387124 A CN 202110387124A CN 113101138 A CN113101138 A CN 113101138A
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 116
- 238000012549 training Methods 0.000 title claims abstract description 40
- 230000007246 mechanism Effects 0.000 title claims abstract description 22
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 21
- 210000000245 forearm Anatomy 0.000 claims abstract description 50
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000009471 action Effects 0.000 description 7
- 238000005452 bending Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 210000003857 wrist joint Anatomy 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000023178 Musculoskeletal disease Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000025966 Neurological disease Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000926 neurological effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 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
- A61H1/0214—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
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic 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 motor direct-drive wrist training mechanism for an upper limb rehabilitation robot, which comprises: the wrist rotating module, the wrist swinging module, the wrist reversing module and the forearm module; the wrist reversing module is connected with the forearm module and used for driving the wrist of the human body to reverse; the wrist swinging module is connected with the wrist reversing module and used for driving the wrist of the human body to swing; the wrist rotating module is connected with the wrist swinging module and used for driving the wrist of the human body to rotate. The wrist rotation module, the wrist swinging module and the wrist reversing module are integrated, and the combined motion of the three modules is utilized to realize the rehabilitation training of three degrees of freedom of internal and external rotation, palm flexion/dorsiflexion and ulnar flexion/radial flexion of the wrist of a human body.
Description
Technical Field
The invention relates to a mechanical mechanism for upper limb rehabilitation, in particular to a motor direct-drive wrist training mechanism for an upper limb rehabilitation robot.
Background
With the global population aging and the increasing number of patients with neurological and musculoskeletal diseases, the need for upper limb rehabilitation therapy is rapidly increasing, and the health care work for the elderly and patients is gradually replaced by upper limb rehabilitation robots. As one of important upper limb rehabilitation training tools, researchers are more and more common in the field of upper limb rehabilitation training, but most of the upper limb rehabilitation training tools focus on rehabilitation training of shoulder joints and elbow joints of upper limbs, and the research on wrist rehabilitation training is not many, which may be caused by that the movement of the wrist is not obvious in the whole process of upper limb movement, and the rotation movement of the wrist joint is difficult to coincide with the rotation center of a mechanical structure design process mechanism. Therefore, in a common upper limb rehabilitation robot, the wrist is usually in an active training mode, and a part of mechanisms with wrist passive training abandon the action of ulnar/eccentric of the wrist in design, so that the mechanism with three degrees of freedom of the wrist can be combined to obtain a number of fingers, but the problem of too large mechanism still exists, and the negative effect of the self weight of the mechanical arm on the training process is ignored.
Disclosure of Invention
The invention aims to increase a wrist training mechanism at the forearm position of a rehabilitation robot, realize wrist rehabilitation of different patients and improve the comfort level in the upper limb rehabilitation training process.
The invention provides a wrist training mechanism, which is applied to an upper limb rehabilitation robot and comprises: the wrist reversing module is connected with the forearm module and used for driving the wrist of a human body to reverse; the wrist swinging module is connected with the wrist reversing module and used for driving the wrist of the human body to swing; the wrist rotating module is connected with the wrist swinging module and used for driving the wrist of the human body to rotate.
In one possible implementation, the wrist reversing module includes: the reversing rod, the spring limiting pin, the connecting block and the positioning round cover are arranged on the outer side of the spring limiting pin; one end of the reversing rod is fixed on the forearm module, the other end of the reversing rod is connected with the wrist swinging module through the positioning round cover, and the bottom of the reversing rod is fixed in the direction through the spring limiting pin.
In one possible solution, the wrist swing module comprises: the wrist rotating rod is connected with the connecting block; the near-end motor fixing block is fixedly connected to the connecting block, the direct current motor is fixed to the near-end motor fixing block, and the connecting block connects the wrist rotating rod with a motor output shaft of the direct current motor.
In one possible approach, the wrist rotation module comprises: the wrist rotation device comprises a handle, a forearm rotation handle, a far-end motor fixing block, an angle adjustment motor, a wrist rotation rod and a direct current motor; the handle sets up on the forearm rotation handle, the forearm rotate the handle with the distal end motor fixed block is fixed on one end of wrist dwang, the angle adjustment motor is fixed on distal end motor fixed block, the other end of wrist dwang is fixed on the wrist swing module.
In a feasible scheme, forearm adjusting module has forearm pole, tighrening ring, locking screw and forearm telescopic link to constitute, and the one end of forearm pole is equipped with the general interface that is used for external upper limbs rehabilitation robot, and the other end passes through the tighrening ring and sets up holding screw on the tighrening ring is connected forearm telescopic link and forearm pole, the forearm telescopic link is equipped with flexible slide rail, holding screw is spacing in the flexible slide rail, be used for through holding screw is right the length of stretching out of forearm telescopic link adjusts the compensation, the other end of forearm telescopic link with wrist switching-over module is connected.
The invention has the beneficial effects that: the invention realizes the rehabilitation training of single joint of the wrist joint of the patient and can be connected with the upper limb rehabilitation mechanical arm through the universal interface of the forearm rod, thereby realizing the comprehensive rehabilitation training of the upper limb of the patient. The rehabilitation training actions of three degrees of freedom, namely palm flexion/dorsiflexion, ulnar flexion/radial flexion and internal rotation/external rotation of the wrist joint of the patient are realized through the combination of the single wrist rotation module and the wrist swinging module, and in addition, the requirement of performing the rehabilitation training of the left hand and the right hand on the same mechanism can be realized through the function of the wrist reversing module. The mode that adopts the motor directly to drive has realized the optimization to mechanical structure, has lightened the terminal weight of mechanism, also can avoid appearing heavy outward appearance, and the whole seems more harmonious, compact and practical.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of the overall module structure of the present invention;
FIG. 2 is a schematic view of a wrist rotation module according to the present invention;
FIG. 3 is a schematic diagram of a wrist swing module according to the present invention;
FIG. 4 is a schematic structural diagram of a wrist reversing module according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the indicated orientations and positional relationships based on the drawings for convenience in describing and simplifying the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection or communication connection; either directly or indirectly through intervening media, either internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Example (b):
as shown in fig. 1 to 4, the motor direct-drive wrist training mechanism for an upper limb rehabilitation robot of the present invention specifically includes the following: the forearm pole 10, the tighrening ring 20, locking screw 21, forearm telescopic link 30, flexible slide rail 31, location dome 40, handle 50, forearm rotation handle 60, handle locating pin 61, distal end motor fixed block 70, angle adjustment motor 80, wrist dwang 90, preceding set screw 91, wrist dwang 90, set screw 92, near-end motor fixed block 100, direct current motor 110, connecting block 120, connecting screw 121, spring limit pin 130, reversing lever 140, locating screw hole 141, transmission shaft 150, axis of rotation screw 151, axis of rotation fitting surface 152, thin-walled bearing 160.
The wrist rotation module fixes the forearm rotation handle 60 and the far-end motor fixing block 70 on one end of the wrist rotation rod 90 through screw connection, the direct current motor 110 and the angle adjusting motor 80 are fixed on the far-end motor fixing block 70 through screws, and the other end of the wrist rotation rod 90 is fixed on the wrist swing module through screw connection; the wrist swinging module consists of a connecting block 120, a direct current motor 110, a near-end motor fixing block 100 and a wrist rotating rod 90, the near-end motor fixing block 100 is fixedly connected to the upper surface of the connecting block 120 through screws, the direct current motor 110 is fixed to the near-end motor fixing block 100, the wrist rotating rod 90 is connected with a motor output shaft through the connecting block 120, and the swinging action of the wrist can be directly realized; the wrist reversing module consists of a reversing rod 140, a spring limiting pin 130, a connecting block 120 and a positioning round cap 40, one end of the reversing rod 140 is fixed on the telescopic rod of the forearm adjusting module through a rectangular groove, the other end of the reversing rod 140 is connected with the connecting block 120 of the wrist swinging module through the positioning round cap 40, and the bottom of the reversing rod is fixed in direction through the spring limiting pin 130; the forearm adjusting module is composed of a forearm rod 10, a fastening ring 20, a locking screw 21 and a forearm telescopic rod 30, a universal interface is reserved at one end of the forearm rod 10, the other end of the forearm telescopic rod 30 is connected with the forearm rod 10 through the fastening ring 20 and a set screw, the other end of the forearm rod 10 is connected with a wrist reversing module, and the forearm compensation of a patient is realized by controlling the length of a telescopic sliding rail 31 through the set screw.
When the wrist internal and external rotation rehabilitation training device is used for wrist internal and external rotation rehabilitation training, the forearm rotating handle 60 rotates under the action of the far-end direct current motor 110 module, the movement range is limited within the application range of a human body, the spring limiting pin 130 fixes the position of the connecting block 120, the wrist rotating rod 90 keeps a static state, the near-end direct current motor 110 module does not work, and the wrist internal and external rotation rehabilitation training is realized.
When the wrist rotation rod 90 is used for wrist palm bending/dorsiflexion rehabilitation training, the forearm rotation handle 60 is kept in a vertical state with a horizontal plane, the far-end direct current motor 110 module does not work, the spring limiting pin 130 fixes the position of the connecting block 120, and the wrist rotation rod 90 swings left and right within a certain movement angle range under the action of the near-end direct current motor 110 module, so that the wrist palm bending/dorsiflexion rehabilitation training is realized.
When the wrist rotation rod 90 is used for wrist ulnar bending/radial bending rehabilitation training, the forearm rotation handle 60 is kept in a parallel state with a horizontal plane, the far-end direct current motor 110 module does not work, the spring limiting pin 130 fixes the position of the connecting block 120, and the wrist rotation rod 90 swings left and right within a certain movement angle range under the action of the near-end direct current motor 110 module, so that the wrist ulnar bending/radial bending rehabilitation training is realized.
As shown in fig. 4, in the wrist direction changing process, the spring positioning pin 130 is manually pulled out, the connecting block 120 is manually rotated by 180 degrees, and then the spring limiting pin 130 is reset and fixed, so that the function of changing the left and right hand training modes of the wrist rehabilitation training mechanism is realized.
The mechanism can simultaneously realize active and passive rehabilitation training of three degrees of freedom of palmar flexion/dorsiflexion, internal rotation/external rotation and ulnar radius/partial radius of the wrist through the control combination of the two driving motors, and further, the portable mechanism design lightens the psychological burden of the training of a patient. The rotation center of the armrest ring of the wrist rotation module is designed to be approximately coincident with the rotation center of the human arm, the wrist rotation module and the wrist swing module are combined, and the standard wrist training initial condition is created to realize the training action according with the physiological motion of the wrist of the human body, so that the comfort level of a patient in the training process is improved.
In the present invention, unless otherwise explicitly specified or limited, the first feature "on" or "under" the second feature may be directly contacting the first feature and the second feature or indirectly contacting the first feature and the second feature through an intermediate.
Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly above or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lower level than the second feature.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The utility model provides a wrist training mechanism, is applied to upper limbs rehabilitation robot, its characterized in that includes: the wrist rotating module, the wrist swinging module, the wrist reversing module and the forearm module;
the wrist reversing module is connected with the forearm module and used for driving the wrist of the human body to reverse;
the wrist swinging module is connected with the wrist reversing module and used for driving the wrist of the human body to swing;
the wrist rotating module is connected with the wrist swinging module and used for driving the wrist of the human body to rotate.
2. The wrist training mechanism of claim 1, wherein: wrist switching-over module includes: the reversing rod, the spring limiting pin, the connecting block and the positioning round cover are arranged on the outer side of the spring limiting pin;
one end of the reversing rod is fixed on the forearm module, the other end of the reversing rod is connected with the wrist swinging module through the positioning round cover, and the bottom of the reversing rod is fixed in the direction through the spring limiting pin.
3. The wrist training mechanism of claim 1, wherein: the wrist swing module includes: the wrist rotating rod is connected with the connecting block;
the near-end motor fixing block is fixedly connected to the connecting block, the direct current motor is fixed to the near-end motor fixing block, and the connecting block connects the wrist rotating rod with a motor output shaft of the direct current motor.
4. The wrist training mechanism of claim 1, wherein: the wrist rotation module includes: the wrist rotation device comprises a handle, a forearm rotation handle, a far-end motor fixing block, an angle adjustment motor, a wrist rotation rod and a direct current motor;
the handle sets up on the forearm rotation handle, the forearm rotate the handle with the distal end motor fixed block is fixed on one end of wrist dwang, the angle adjustment motor is fixed on distal end motor fixed block, the other end of wrist dwang is fixed on the wrist swing module.
5. The wrist training mechanism of claim 1, wherein: (forearm) forearm adjusting module has forearm pole, tighrening ring, locking screw and forearm telescopic link to constitute, and the one end of forearm pole is equipped with the general interface that is used for external upper limbs rehabilitation robot, and the other end is in through tighrening ring and setting holding screw on the tighrening ring is connected forearm telescopic link and forearm pole, the forearm telescopic link is equipped with flexible slide rail, holding screw is spacing in flexible slide rail, be used for passing through holding screw is right the length of stretching out of forearm telescopic link adjusts the compensation, the other end of forearm telescopic link with wrist switching-over module is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110387124.XA CN113101138A (en) | 2021-04-06 | 2021-04-06 | Motor direct-drive wrist training mechanism for upper limb rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110387124.XA CN113101138A (en) | 2021-04-06 | 2021-04-06 | Motor direct-drive wrist training mechanism for upper limb rehabilitation robot |
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| CN113101138A true CN113101138A (en) | 2021-07-13 |
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| CN202110387124.XA Pending CN113101138A (en) | 2021-04-06 | 2021-04-06 | Motor direct-drive wrist training mechanism for upper limb rehabilitation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113975093A (en) * | 2021-11-02 | 2022-01-28 | 洛阳轴承研究所有限公司 | Wrist rotation rehabilitation device and upper limb rehabilitation exoskeleton |
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| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| CN105476809A (en) * | 2015-12-16 | 2016-04-13 | 宁波瑞泽西医疗科技有限公司 | Multifunctional portable upper limb rehabilitation device and method for rehabilitation training by virtue of device |
| CN109620648A (en) * | 2019-02-01 | 2019-04-16 | 上海理工大学 | A kind of right-hand man's interchange mechanism for rope driving upper-limb recovery training device |
| CN110302035A (en) * | 2019-07-09 | 2019-10-08 | 上海理工大学 | A kind of rope drive multi-purpose type wrist recovery training institution |
| CN110327179A (en) * | 2019-04-21 | 2019-10-15 | 上海健康医学院 | It is a kind of for hand grasp and wrist two-freedom rehabilitation training mechanism |
| US20200129365A1 (en) * | 2017-06-30 | 2020-04-30 | Neofect Co., Ltd. | Robot for upper-limb rehabilitation |
| CN111249686A (en) * | 2019-12-24 | 2020-06-09 | 苏州好博医疗器械有限公司 | Wrist training mechanism for tail end guiding upper limb rehabilitation robot |
-
2021
- 2021-04-06 CN CN202110387124.XA patent/CN113101138A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| CN105476809A (en) * | 2015-12-16 | 2016-04-13 | 宁波瑞泽西医疗科技有限公司 | Multifunctional portable upper limb rehabilitation device and method for rehabilitation training by virtue of device |
| US20200129365A1 (en) * | 2017-06-30 | 2020-04-30 | Neofect Co., Ltd. | Robot for upper-limb rehabilitation |
| CN109620648A (en) * | 2019-02-01 | 2019-04-16 | 上海理工大学 | A kind of right-hand man's interchange mechanism for rope driving upper-limb recovery training device |
| CN110327179A (en) * | 2019-04-21 | 2019-10-15 | 上海健康医学院 | It is a kind of for hand grasp and wrist two-freedom rehabilitation training mechanism |
| CN110302035A (en) * | 2019-07-09 | 2019-10-08 | 上海理工大学 | A kind of rope drive multi-purpose type wrist recovery training institution |
| CN111249686A (en) * | 2019-12-24 | 2020-06-09 | 苏州好博医疗器械有限公司 | Wrist training mechanism for tail end guiding upper limb rehabilitation robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113975093A (en) * | 2021-11-02 | 2022-01-28 | 洛阳轴承研究所有限公司 | Wrist rotation rehabilitation device and upper limb rehabilitation exoskeleton |
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Application publication date: 20210713 |