CN113967151B - Active upper limb rehabilitation device based on gravity compensation - Google Patents
Active upper limb rehabilitation device based on gravity compensation Download PDFInfo
- Publication number
- CN113967151B CN113967151B CN202110475721.8A CN202110475721A CN113967151B CN 113967151 B CN113967151 B CN 113967151B CN 202110475721 A CN202110475721 A CN 202110475721A CN 113967151 B CN113967151 B CN 113967151B
- Authority
- CN
- China
- Prior art keywords
- shaft
- fixedly connected
- pulley
- sliding block
- mounting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 34
- 230000005484 gravity Effects 0.000 title claims abstract description 22
- 210000003205 muscle Anatomy 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000008878 coupling Effects 0.000 claims abstract description 19
- 238000010168 coupling process Methods 0.000 claims abstract description 19
- 238000005859 coupling reaction Methods 0.000 claims abstract description 19
- 229910000831 Steel Inorganic materials 0.000 claims description 23
- 239000010959 steel Substances 0.000 claims description 23
- 210000000245 forearm Anatomy 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000012549 training Methods 0.000 abstract description 23
- 230000033001 locomotion Effects 0.000 abstract description 20
- 230000000694 effects Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 11
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 210000002310 elbow joint Anatomy 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004118 muscle contraction Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- 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
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Landscapes
- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an active upper limb rehabilitation device based on gravity compensation, which comprises a frame component, a large arm supporting component, a spring component, a belt coupling connecting rod mechanism, a pneumatic artificial muscle driving component and a small arm supporting plate, wherein the components are assembled and installed together, and the pneumatic artificial muscle is used as a driver to balance the gravity of the upper limb of a human body and the gravity of each part in a movement mechanism. The invention can realize the purpose of rehabilitation training of the upper limb of a patient in a gravity-free environment, and has the advantages of small volume, light weight, good rehabilitation effect, good adaptability and good flexibility.
Description
Technical Field
The invention relates to a medical rehabilitation training device, in particular to an active upper limb rehabilitation device based on gravity compensation.
Background
Muscle training is an important component of rehabilitation programs for patients with upper limb hemiplegia. In order to apply an appropriate training program to patients with different degrees of injury, the muscle strength of the patient needs to be estimated in advance by a Manual Muscle Test (MMT), from which it is divided into six different classes. Level 0 is defined as no measurable muscle contraction; level 1 (miniature) is defined as slightly contracted, but not capable of causing full range of motion of the joint; level 2 (difference) enables full range motion of the joint in the reduced weight state; level 3 (yet possible) resists full range motion of the gravity joint but not resistance; level 4 (good) can resist gravity and certain resistance movement; the grade (normal) resists gravity and full resistance movement.
Of these six levels, MMT level 2 patient rehabilitation requires the use of a very unique training method that requires the patient to provide "assistance. Such assistance force, which is typically provided by a physiotherapist, can bear the weight of the patient's upper limb during muscle training. In particular, in order to train the MMT level 2 patient in the most efficient way, the assisting force should always perfectly compensate for the action of gravity, i.e. in any posture the assisting force should not exceed or be less than the weight of the upper limb, this way assisting to a lesser extent, mainly in rehabilitation training, where the patient's own movements are the main active movements.
At present, most upper limb rehabilitation devices on the market mainly perform passive training, the upper limb rehabilitation device can provide larger auxiliary force for patients, the patients can perform rehabilitation training under the assistance of the rehabilitation device without self-body limb effort, but the passive upper limb rehabilitation device only has better rehabilitation training effect for patients below MMT level 2, and has very little effect for patients below MMT level 2.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an active upper limb rehabilitation device based on gravity compensation, which takes pneumatic artificial muscles as drivers to balance the gravity of the upper limb of a human body and the gravity of each part in a movement mechanism, so as to realize the purpose of rehabilitation training of the upper limb of a patient in a gravity-free environment, and has the advantages of small volume, light weight, good rehabilitation effect, good adaptability and good flexibility.
An active upper limb rehabilitation device based on gravity compensation comprises a frame component, a large arm supporting component, a spring component, a belt coupling connecting rod mechanism, a pneumatic artificial muscle driving component and a small arm supporting plate;
the frame assembly comprises a round chassis, a first angle code, a second angle code, a guide rail, a first mounting plate, a second mounting plate, a longitudinal sliding block and a transverse sliding block, wherein the round chassis is fixedly connected with the guide rail through the first angle code and the second angle code, two first angle codes are arranged on two symmetrical planes at the bottom of the guide rail, two second angle codes are arranged on the other two symmetrical planes at the bottom of the guide rail, the first mounting plate, the second mounting plate and the longitudinal sliding block are all arranged on the guide rail and can longitudinally slide and are locked through T-shaped screws, the transverse sliding block is arranged on a longitudinal sliding block and can transversely slide on the longitudinal sliding block and are locked through bolts;
the large arm support assembly comprises a first shaft and a large arm support baffle, one end of the first shaft is fixedly connected with the transverse sliding block, and the other end of the first shaft is fixedly connected with the upper end of the large arm support baffle;
the spring assembly comprises an extension spring, a connector and a first steel wire rope, one end of the extension spring is fixedly connected with the transverse sliding block, the other end of the extension spring is connected with the connector, the other end of the connector is connected with the first steel wire rope, and the other end of the steel wire rope is wound on the first belt wheel;
the belt coupling connecting rod mechanism assembly comprises a second shaft, a first belt pulley, a first rod, a second belt pulley, a second rod, a third belt pulley, a first transmission belt, a fourth belt pulley, a third rod, a third shaft and a fastening nut, wherein one end of the second shaft is fixedly connected with the first mounting plate through threaded connection, the other end of the second shaft is fixedly connected with the lower end of the large arm supporting baffle through pin connection, the second belt pulley is hinged with the second shaft and connected with an extension spring through a first steel wire rope, one end of the first rod is hinged with the second shaft and fixedly connected with the first belt pulley through threaded connection, the second belt pulley is fixedly connected with the second shaft through key connection, the second rod is hinged with the second shaft and fixedly connected with the third belt pulley through threaded connection, the third shaft is hinged with the first rod and the other end of the second rod, the fourth belt pulley is fixedly connected with the third shaft through the first transmission belt, the third rod is fixedly connected with the third shaft, and the fastening nut is fixedly connected with the third shaft through threaded connection;
the pneumatic artificial muscle assembly comprises pneumatic artificial muscles, a double-ear ring and a second steel wire rope, one end of each pneumatic artificial muscle is fixedly connected with the second mounting plate through threaded connection, the double-ear ring is fixedly connected with each pneumatic artificial muscle through threaded connection, one end of each second steel wire rope is fixedly connected with the corresponding double-ear ring, and the other end of each second steel wire rope is wound on the corresponding third belt wheel;
the forearm support plate is hinged to a third bar in the belt-coupled linkage assembly.
Further, the longitudinal slide slides over the first and second mounting plates.
Further, a circular arc-shaped baffle plate is arranged below the large arm supporting baffle plate.
Further, the lock nut is spaced from the first rod by a gap.
Further, a hole-shaped structure is arranged on the forearm supporting plate.
The invention has the beneficial effects that:
1. according to the invention, the pneumatic artificial muscle is used as a driver, and the weight of the upper limb of the patient, the weight of parts of the movement mechanism and the spring force are balanced by the pneumatic artificial muscle so as to realize rehabilitation training of the affected limb of the patient in a gravity-free environment, so that the pneumatic artificial muscle rehabilitation training device is well suitable for the patient with MMT level 2 to perform active rehabilitation training and has a good rehabilitation training effect.
2. The pneumatic artificial muscle adopted by the invention is a novel pneumatic actuator, has the advantages of simple structure, light weight, good interchangeability, no harm to human body and the like, and can be widely applied to a rehabilitation device. The pneumatic artificial muscle is a flexible execution device, so that the impact between a person and the rehabilitation device in the flexible control of the upper limb rehabilitation device can be reduced.
3. The invention has the adjusting function, and the pneumatic artificial muscle outputs different forces by adjusting the air pressure of the pneumatic artificial muscle so as to balance the weights of the upper limbs of different patients, thereby having certain universality.
4. The invention adopts the belt coupling link mechanism as the rehabilitation actuating mechanism, is a single-degree-of-freedom mechanism, and only needs pneumatic artificial muscles as a single power input element in the rehabilitation process, thereby realizing the regular movement of the whole mechanism.
5. According to the invention, the longitudinal sliding block, the first mounting plate and the second mounting plate can slide on the guide rail to adjust the position of the rehabilitation device, and after the position is adjusted, the rehabilitation device can be locked by the bolts to adapt to patients with different heights and body types, and the stability of the rehabilitation device is ensured.
6. The invention can improve the efficiency of rehabilitation training, one physical therapist can monitor the movements of a plurality of rehabilitation devices in real time, and simultaneously perform rehabilitation training on a plurality of patients, thereby reducing the number of physical therapists and the labor cost.
7. The invention can repeat the complicated training action for a long time, and lighten the heavy physical labor of physical therapists.
8. The invention can be partially or completely separated from the physical therapist under the guidance of the physical therapist after the later stage of rehabilitation and the patient returns home, thereby enjoying the similar treatment effect of the physical therapist.
Drawings
FIG. 1 is a schematic illustration of the overall structure of the present invention;
FIG. 2 is a rear view from FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a schematic view of the belt coupling linkage assembly of the present invention;
FIG. 5 is a schematic view of the use of the present invention;
the marks in the figure: 1-frame assembly, 2-spring assembly, 3-pneumatic artificial muscle drive assembly, 4-forearm support assembly, 5-belt coupling linkage, 6-forearm support plate, 101-circular chassis, 102-first horn, 103-second horn, 104-rail, 105-first mounting plate, 106-second mounting plate, 107-longitudinal slide, 108-lateral slide, 201-extension spring, 202-connector, 203-first wire rope, 301-pneumatic artificial muscle, 302-double earring, 303-second wire rope, 401-first shaft, 402-forearm support baffle, 501-second shaft, 502-first pulley, 503-first lever, 504-second pulley, 505-second lever, 506-third pulley, 507-first belt, 508-fourth pulley, 509-third lever, 5010-third shaft, 5011-fastening nut.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 4, an active upper limb rehabilitation device based on gravity compensation comprises a frame component 1, a big arm supporting component 4, a spring component 2, a belt coupling link mechanism 5, a pneumatic artificial muscle driving component 3 and a small arm supporting board 6;
the frame assembly 1 comprises a round chassis 101, a first angle code 102, a second angle code 103, a guide rail 104, a first mounting plate 105, a second mounting plate 106, a longitudinal sliding block 107 and a transverse sliding block 108, wherein the round chassis 101 is fixedly connected with the guide rail 104 through the first angle code 102 and the second angle code 103, two first angle codes 102 are arranged on two symmetrical planes at the bottom of the guide rail 104, two second angle codes 103 are arranged on the other two symmetrical planes at the bottom of the guide rail 104, the first mounting plate 105, the second mounting plate 106 and the longitudinal sliding block 107 are all arranged on the guide rail 104 and can longitudinally slide to adjust the position of a rehabilitation device, the rehabilitation device is locked by T-shaped screws to adapt to patients with different heights and ensure the stability of the device, the transverse sliding block 108 is arranged on the longitudinal sliding block 107 and can transversely slide on the longitudinal sliding block 107 and is locked by bolts;
the large arm support assembly 4 comprises a first shaft 401 and a large arm support baffle 402, wherein one end of the first shaft 401 is fixedly connected with the transverse sliding block 108, and the other end of the first shaft is fixedly connected with the upper end of the large arm support baffle 402 and is used for supporting and stabilizing a large arm;
the spring assembly 2 comprises an extension spring 201, a connector 202 and a first steel wire rope 203, wherein one end of the extension spring 201 is fixedly connected with the transverse sliding block 108, the other end of the extension spring is connected with the connector 202, the other end of the connector 202 is connected with the first steel wire rope 203, and the other end of the steel wire rope 203 is wound on a first belt wheel 502;
the belt coupling link mechanism assembly 5 comprises a second shaft 501, a first pulley 502, a first rod 503, a second pulley 504, a second rod 505, a third pulley 506, a first transmission belt 507, a fourth pulley 508, a third rod 509, a third shaft 5010 and a fastening nut 5011, wherein one end of the second shaft 501 is fixedly connected with the first mounting plate 105 through threaded connection, the other end of the second shaft is fixedly connected with the lower end of the large arm supporting baffle 402 through pin connection, the second pulley 502 is hinged with the second shaft 501 and is connected with the tension spring 201 through a first steel wire 203, one end of the first rod 503 is hinged with the second shaft 501 and is fixedly connected with the first pulley 502 through threaded connection, the second pulley 504 is fixedly connected with the second shaft 501 through key connection, the second rod 505 is hinged with the second shaft 501 and is fixedly connected with the third pulley 506 through threaded connection, the third pulley 501506 is hinged with the second shaft 501, the third shaft 5010 is hinged with the other end of the first rod 503 and the second rod 505, the fourth pulley 508 is fixedly connected with the third shaft 5010 through the first pulley 507 and the third shaft 509 is fixedly connected with the third shaft 506 through threaded connection, and the third shaft 5010 is fixedly connected with the fastening nut through threaded connection. The belt coupling link mechanism assembly 5 is used for transmitting the output power of pneumatic artificial muscles.
The pneumatic artificial muscle assembly 3 comprises a pneumatic artificial muscle 301, a double-lug ring 302 and a second steel wire rope 303, wherein one end of the pneumatic artificial muscle 301 is fixedly connected with the second mounting plate 106 through threaded connection, the double-lug ring 302 is fixedly connected with the pneumatic artificial muscle 301 through threaded connection, one end of the second steel wire rope 303 is fixedly connected with the double-lug ring 302, and the other end of the second steel wire rope is wound on the third belt wheel 506;
the forearm support plate 6 is hinged to the third rod 509 in the belt coupling linkage assembly 5, and when the forearm support plate 509 is matched with the arm of the patient, the forearm support plate 509 can be adjusted in angle along with the posture of the forearm of the patient, so that good man-machine interaction is achieved. In the whole rehabilitation training, the arm support plate drives the whole upper limb of the patient to move, so that the rehabilitation training is realized.
Further, the longitudinal slide 107 slides over the first mounting plate 105 and the second mounting plate 106.
Further, a circular arc-shaped baffle plate is arranged below the large arm support baffle plate 402, and is used for placing elbow joints of patients, so that the elbow joint support device has good ergonomic design.
Further, the lock nut 5011 is spaced from the first lever 503.
Further, the forearm support plate 6 is provided with a hole structure, and the bandage can be wound to fix the forearm of the patient, so that the forearm of the patient is prevented from falling off to cause secondary injury.
In order to better understand the working principle of the present invention, the working process of the present invention is described in one pass:
the preparation process of the rehabilitation training of the upper limb comprises the following steps: the positions of the first mounting plate 105, the second mounting plate 106, the longitudinal sliding block 107 and the transverse sliding block 108 are adjusted according to the body type data of the patient, and the parts are locked through corresponding locking bolts after the positions of the parts are adjusted. The operation can ensure that the position of the rehabilitation device is well adapted to patients, and can also ensure the structural stability of the rehabilitation device. After the adjustment, the physiotherapist slowly lifts the big arm of the patient and places the big arm on the big arm supporting baffle 402, then slowly lifts the small arm and places the small arm on the small arm supporting plate 6, the physiotherapist fixes the wrist joint part of the patient on the small arm supporting plate 6 through the bandage, and at the moment, the whole belt coupling link mechanism 5 is at the lowest position.
Rehabilitation process of upper limb rehabilitation training: the pneumatic artificial muscle 301 is inflated with air, and at this time, the pneumatic artificial muscle 301 contracts and pulls the third belt wheel 506 to rotate anticlockwise through the steel wire rope 303, so that the whole belt coupling link mechanism assembly 5 is driven to perform lifting motion, and the whole upper limb of the patient is driven to perform lifting motion. In the rehabilitation process, the invention balances the weight of the upper limb of a patient, the weight of parts of a movement mechanism and the load torque generated by the elasticity of an extension spring on the second shaft 501 through the output force of the pneumatic artificial muscle 301. It is known from the pre-calculation that the weight of the upper limb of the human body and the weight of each component in the movement mechanism continuously change to the torque generated by the second shaft 501, so the invention realizes the gravity balance in the whole rehabilitation process by controlling the air pressure input into the pneumatic artificial muscle 301 so as to control the pneumatic artificial muscle 301 to output the corresponding continuously-changed force. The whole process is an active training process because the patient exerts force on the muscle of the patient with the aid of the rehabilitation device.
The return process of the upper limb rehabilitation training comprises the following steps: the gravity balance is not needed to be realized in the return stroke process, at the moment, the pneumatic artificial muscle 301 is deflated and is in a relaxed state, the tension spring starts to shrink, the first belt wheel 502 is driven to rotate synchronously, the whole belt coupling link mechanism assembly 5 is driven to do descending motion, and therefore the whole upper limb of a patient is driven to do descending motion, and the patient stops when the patient arrives at an initial position.
Further, the motion principle of the belt coupling linkage assembly 5: in the rehabilitation process, the third belt pulley 506 is driven to rotate anticlockwise, the third belt pulley 506 drives the second rod 505 to rotate synchronously, the second belt pulley 504 and the fourth belt pulley 508 are coupled through the first transmission belt 507, and the second belt pulley 504 is fixedly connected with the second shaft 501, so that the fourth belt pulley 508 rotates anticlockwise, the fourth belt pulley 508 drives the third shaft 5010 to rotate synchronously, the third shaft 5010 drives the third rod 509 to rotate synchronously, the whole belt coupling link mechanism 5 is lifted slowly and stretches the stretching spring 201, and the forearm support plate 6 drives the wrist joint of a patient to move, so that the whole upper limb of the patient is driven to move. Similarly, in the return process, the pneumatic artificial muscle 301 is deflated, the pneumatic artificial muscle 301 is in a relaxed state, the first belt wheel 502 is reversely driven by the tension spring 201, and the whole belt coupling link mechanism 5 slowly descends to complete the return motion.
Of course, the present invention is capable of other various embodiments and its several details are capable of modification and variation in light of the present invention by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. An initiative upper limbs rehabilitation device based on gravity compensation, its characterized in that: comprises a frame component (1), a big arm supporting component (4), a spring component (2), a belt coupling link mechanism (5), a pneumatic artificial muscle driving component (3) and a small arm supporting board (6);
the frame assembly (1) comprises a round chassis (101), a first corner code (102), a second corner code (103), a guide rail (104), a first mounting plate (105), a second mounting plate (106), a longitudinal sliding block (107) and a transverse sliding block (108), wherein the round chassis (101) is fixedly connected with the guide rail (104) through the first corner code (102) and the second corner code (103), two first corner codes (102) are arranged on two symmetrical planes at the bottom of the guide rail (104), two second corner codes (103) are arranged on the other two symmetrical planes at the bottom of the guide rail (104), the first mounting plate (105), the second mounting plate (106) and the longitudinal sliding block (107) are all arranged on the guide rail (104) and can longitudinally slide and are locked through T-shaped screws, and the transverse sliding block (108) is arranged on the longitudinal sliding block (107)
The transverse sliding block (108) can transversely slide on the longitudinal sliding block (107) and is locked by a bolt;
the large arm support assembly (4) comprises a first shaft (401) and a large arm support baffle (402), one end of the first shaft (401) is fixedly connected with the transverse sliding block (108), and the other end of the first shaft is fixedly connected with the upper end of the large arm support baffle (402);
the spring assembly (2) comprises an extension spring (201), a connector (202) and a first steel wire rope (203), wherein one end of the extension spring (201) is fixedly connected with the transverse sliding block (108), the other end of the extension spring is connected with the connector (202), the other end of the connector (202) is connected with the first steel wire rope (203), and the other end of the first steel wire rope (203) is wound on the first belt wheel (502);
the belt coupling link mechanism (5) comprises a second shaft (501), a first pulley (502), a first rod (503), a second pulley (504), a second rod (505), a third pulley (506), a first transmission belt (507), a fourth pulley (508), a third rod (509), a third shaft (5010) and a fastening nut (5011), one end of the second shaft (501) is fixedly connected with the first mounting plate (105) through threaded connection, the other end of the second shaft is fixedly connected with the lower end of the large arm supporting baffle plate (402) through pin connection, the second pulley (504) is hinged with the second shaft (501) and connected with an extension spring (201) through a first steel wire rope (203), one end of the first rod (503) is hinged with the second shaft (501) and fixedly connected with the first pulley (502) through threaded connection, the second pulley (504) is fixedly connected with the second shaft (501) through key connection, the second rod (505) is hinged with the second shaft (501) and fixedly connected with the third pulley (506) through threaded connection, the third pulley (506) is hinged with the second shaft (508), the other end of the third pulley (503) is hinged with the third pulley (501) and fixedly connected with the third shaft (503) through a first steel wire rope (203), the fourth belt wheel (508) is connected with the second belt wheel (504) through a first transmission belt (507), the third rod (509) is fixedly connected with the third shaft (5010), and the fastening nut (5011) is fixedly connected with the third shaft (5010) through threaded connection;
the pneumatic artificial muscle assembly (3) comprises pneumatic artificial muscles (301), a double-lug ring (302) and a second steel wire rope (303), one end of the pneumatic artificial muscles (301) is fixedly connected with the second mounting plate (106) through threaded connection, the double-lug ring (302) is fixedly connected with the pneumatic artificial muscles (301) through threaded connection, one end of the second steel wire rope (303) is fixedly connected with the double-lug ring (302), and the other end of the second steel wire rope is wound on the third belt wheel (506);
the forearm support plate (6) is hinged to a third lever (509) in the belt coupling linkage (5).
2. The active upper limb rehabilitation device based on gravity compensation according to claim 1, wherein: the longitudinal slide (107) slides over the first mounting plate (105) and the second mounting plate (106).
3. The active upper limb rehabilitation device based on gravity compensation according to claim 1, wherein: and an arc-shaped baffle plate is arranged below the large arm supporting baffle plate (402).
4. The active upper limb rehabilitation device based on gravity compensation according to claim 1, wherein: the fastening nut (5011) has a certain clearance with the first lever (503).
5. The active upper limb rehabilitation device based on gravity compensation according to claim 1, wherein: the small arm support plate (6) is provided with a hole-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110475721.8A CN113967151B (en) | 2021-04-29 | 2021-04-29 | Active upper limb rehabilitation device based on gravity compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110475721.8A CN113967151B (en) | 2021-04-29 | 2021-04-29 | Active upper limb rehabilitation device based on gravity compensation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113967151A CN113967151A (en) | 2022-01-25 |
| CN113967151B true CN113967151B (en) | 2023-06-09 |
Family
ID=79586212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110475721.8A Active CN113967151B (en) | 2021-04-29 | 2021-04-29 | Active upper limb rehabilitation device based on gravity compensation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113967151B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114699734A (en) * | 2022-04-27 | 2022-07-05 | 北京航空航天大学 | Parameter-adjustable multi-task bedside upper limb rehabilitation training device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102764188A (en) * | 2012-07-16 | 2012-11-07 | 上海大学 | Controllable variable-stiffness flexible elbow joint rehabilitation robot |
| WO2015058249A1 (en) * | 2013-10-24 | 2015-04-30 | University Of Technology, Sydney | Robotic exoskeleton apparatus |
| CN104887456A (en) * | 2015-05-29 | 2015-09-09 | 上海大学 | Wearable rehabilitation training device for upper limbs driven by pneumatic artificial muscles |
| CN105263448A (en) * | 2013-05-31 | 2016-01-20 | 哈佛大学校长及研究员协会 | Soft exosuit for assistance with human motion |
| CN110393655A (en) * | 2019-09-03 | 2019-11-01 | 南京工业大学 | Motor and pneumatic muscle mixed wearable upper limb rehabilitation robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2346758A1 (en) * | 2001-05-09 | 2002-11-09 | Xsensor Technology Corporation | Leg stretching apparatus |
| WO2007095662A1 (en) * | 2006-02-24 | 2007-08-30 | Ferrobotics Compliant Robot Technology Gmbh | Robot arm |
-
2021
- 2021-04-29 CN CN202110475721.8A patent/CN113967151B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102764188A (en) * | 2012-07-16 | 2012-11-07 | 上海大学 | Controllable variable-stiffness flexible elbow joint rehabilitation robot |
| CN105263448A (en) * | 2013-05-31 | 2016-01-20 | 哈佛大学校长及研究员协会 | Soft exosuit for assistance with human motion |
| WO2015058249A1 (en) * | 2013-10-24 | 2015-04-30 | University Of Technology, Sydney | Robotic exoskeleton apparatus |
| CN104887456A (en) * | 2015-05-29 | 2015-09-09 | 上海大学 | Wearable rehabilitation training device for upper limbs driven by pneumatic artificial muscles |
| CN110393655A (en) * | 2019-09-03 | 2019-11-01 | 南京工业大学 | Motor and pneumatic muscle mixed wearable upper limb rehabilitation robot |
Non-Patent Citations (3)
| Title |
|---|
| 一种上肢康复机器人重力支撑装置的设计与试验研究;杨启志 等;机械设计;第33卷(第3期);全文 * |
| 基于混合驱动的上肢康复机器人的设计;马新坡;中国优秀硕士学位论文全文数据库;全文 * |
| 气动人工肌肉在康复器械中的应用现状;周彬滨 等;中国康复理论与实践;第26卷(第4期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113967151A (en) | 2022-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108245372B (en) | Pneumatic muscle combined flexible rope driven three-degree-of-freedom ankle rehabilitation robot | |
| CN108210242B (en) | Traction type ankle joint rehabilitation training device | |
| CN108095976B (en) | Bionic knee joint rehabilitation training device with passive rebound function | |
| CN108721050B (en) | Magneto-rheological force feedback type lower limb active and passive rehabilitation training device | |
| CN108852740B (en) | Pneumatic upper limb rehabilitation robot | |
| WO2016149891A1 (en) | Multi-pose lower-limb rehabilitation training robot | |
| Zanotto et al. | ALEX III: A novel robotic platform with 12 DOFs for human gait training | |
| Moltedo et al. | Mechanical design of a lightweight compliant and adaptable active ankle foot orthosis | |
| CN111888186B (en) | Three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and use method thereof | |
| CN110123584B (en) | Six-degree-of-freedom wearable flexible rope driven exoskeleton type upper limb rehabilitation training robot | |
| CN113967151B (en) | Active upper limb rehabilitation device based on gravity compensation | |
| CN102764188A (en) | Controllable variable-stiffness flexible elbow joint rehabilitation robot | |
| CN109512635A (en) | A kind of finger exoskeleton rehabilitation robot | |
| CN206950325U (en) | One kind rope driving elbow wrist healing robot | |
| CN112044030B (en) | Limb rehabilitation device for clinical nursing | |
| RU177032U1 (en) | SIMULATOR FOR FINGERS OF THE HAND | |
| CN112741756A (en) | Self-adjusting wrist rehabilitation robot | |
| CN115554091B (en) | Elbow and wrist joint rehabilitation robot for joint dislocation compensation and compensation method thereof | |
| CN214342839U (en) | Joint rehabilitation training device with multiple gears | |
| CN108818496B (en) | Unpowered exoskeleton auxiliary robot | |
| CN111281739A (en) | Recovered ectoskeleton robot | |
| CN216497307U (en) | A motion feedback device for low limbs training | |
| CN113730180B (en) | Lower limb exoskeleton robot | |
| CN113768740B (en) | Five-degree-of-freedom fault-tolerant mechanism and elbow joint rehabilitation robot | |
| CN109528446A (en) | A kind of mechanical equipment for healing and training elbow joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |