CN115317321A - Wearable upper limb rehabilitation robot - Google Patents
Wearable upper limb rehabilitation robot Download PDFInfo
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- CN115317321A CN115317321A CN202211166417.6A CN202211166417A CN115317321A CN 115317321 A CN115317321 A CN 115317321A CN 202211166417 A CN202211166417 A CN 202211166417A CN 115317321 A CN115317321 A CN 115317321A
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- abduction
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 181
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 55
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 37
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 31
- 210000000245 forearm Anatomy 0.000 claims description 71
- 210000000707 wrist Anatomy 0.000 claims description 52
- 230000001105 regulatory effect Effects 0.000 claims description 21
- 239000000725 suspension Substances 0.000 claims description 13
- 210000000513 rotator cuff Anatomy 0.000 claims description 3
- 230000008602 contraction Effects 0.000 abstract description 25
- 230000009471 action Effects 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 description 12
- 230000000694 effects Effects 0.000 description 5
- 208000006011 Stroke Diseases 0.000 description 3
- 210000002659 acromion Anatomy 0.000 description 3
- 206010050031 Muscle strain Diseases 0.000 description 2
- 230000032683 aging Effects 0.000 description 2
- 210000002421 cell wall Anatomy 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery 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
- A61H1/0218—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
- A61H2201/12—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
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
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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 wearable upper limb rehabilitation robot, which comprises a rack, shoulder joints, elbow joints and wrist joints, and relates to five degrees of freedom, wherein each shoulder joint comprises a large arm internal rotation and external rotation mechanism, a large arm internal contraction and external expansion mechanism, a large arm upper swing and lower swing mechanism and a large arm length adjusting mechanism; daily or complex arm actions can be completed in the rehabilitation training, the shoulder joint can be adducted and abducted, and the guided rehabilitation training that the shoulder joint is inwards and outwards unfolded is realized.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation instruments, in particular to a wearable upper limb rehabilitation robot.
Background
In recent years, the aging trend of the population in China is obvious, and the aging of the population is further accelerated along with the improvement of the average expected life. The stroke with high morbidity, high disability rate, high mortality, high recurrence rate and high economic burden is a high-incidence disease of the old people in China, can cause limb movement dysfunction of patients, can help the patients to recover limb movement functions through reasonable rehabilitation training, has an extremely important effect on the treatment of the stroke patients through the recovery of the upper limb functions, actively helps the patients to do rehabilitation training, and is favorable for improving the activity ability of the patients. But the traditional rehabilitation treatment means based on manual assistance has higher cost and lower efficiency, and is difficult to meet the rehabilitation requirements of stroke patients. The sight line of people starts to shift to the rehabilitation robot, so the rehabilitation robot becomes a new focus of the rehabilitation field.
If the publication date of the Chinese patent application No. CN201910490684.0 is 2019.08.16, the robot discloses a six-degree-of-freedom wearable flexible rope-driven exoskeleton-type upper limb rehabilitation training robot, a rope driving mode is adopted, the inertia of the device is small, the whole system has motion continuity and fluency, secondary damage to a patient is avoided, the degree of freedom required by a joint is not realized through a large mechanism such as a joint turntable, the space utilization rate is high, the wearing is more comfortable, and the robot is more suitable for the motion characteristics of arms of a person; however, the robot of this document can only realize the up-and-down swinging, internal rotation and external rotation movements of the arm of the rehabilitee, and for the shoulder joint part, only the movement during the up-and-down swinging of the arm can be performed, and the adduction-abduction rehabilitation training cannot be performed, and the shoulder joint is used as the key connection part of the upper limb, and the adduction-abduction of the shoulder joint can make the two arms perform the closing and unfolding training, so that the robot is very important for the upper limb training. Therefore, a wearable upper limb rehabilitation robot is provided.
Disclosure of Invention
The invention aims to provide a wearable upper limb rehabilitation robot which can complete daily or complex arm actions during rehabilitation training, can achieve shoulder joint adduction and abduction, achieve shoulder joint inward and outward expansion guiding rehabilitation training, effectively limit the arm adduction and abduction actions and prevent strain injuries.
In order to achieve the above object, a wearable upper limb rehabilitation robot for rehabilitation training of a person needing rehabilitation training comprises a frame, an elbow joint training mechanism, a wrist joint training mechanism, and a shoulder joint training mechanism, wherein the shoulder joint training mechanism comprises an upper arm internal rotation and external rotation mechanism, an upper arm internal contraction and external expansion mechanism, an upper arm upper swing and lower swing mechanism, and an upper arm length adjusting mechanism, the elbow joint training mechanism comprises a lower arm internal contraction and external expansion mechanism and a lower arm length adjusting mechanism, the wrist joint training mechanism comprises a wrist internal contraction and external expansion mechanism, one end of the shoulder joint training mechanism is connected with the frame, one end of the shoulder joint training mechanism is connected with the other end of the shoulder joint training mechanism, the wrist joint training mechanism is connected with the other end of the elbow joint training mechanism, and the upper arm internal rotation and external rotation mechanism is fixedly connected with the frame, one end of the big arm internal rotation and external rotation mechanism is rotatably connected with one end of the big arm internal contraction and external expansion mechanism, the other end of the big arm internal contraction and external expansion mechanism is rotatably connected with one end of the big arm upper swing and lower swing mechanism, the big arm length adjusting mechanism moves on the other end of the big arm upper swing and lower swing mechanism, the upper swing and lower swing mechanism is connected with one end of the small arm internal contraction and external expansion mechanism, the other end of the small arm internal contraction and external expansion mechanism is provided with a small arm length adjusting mechanism, the small arm length adjusting mechanism is connected with the wrist internal contraction and external expansion mechanism, the big arm internal contraction and external expansion mechanism is used for performing internal contraction and external expansion on the big arm of a person needing rehabilitation training in the chest direction, and the big arm internal contraction and external expansion mechanism is provided with a limiting structure for limiting the large arm internal contraction and external expansion rotation direction.
Through the arrangement, the shoulder joint is provided with the large arm internal rotation and external rotation mechanism, the adduction and abduction mechanism, the upper swing and lower swing mechanism and the large arm length adjusting mechanism, so that three degrees of freedom of the shoulder joint, namely the large arm internal rotation and external rotation, the large arm adduction and abduction, the large arm upper swing and lower swing, can be realized; the forearm adduction and abduction mechanism and the forearm length adjusting mechanism are arranged at the elbow joint, so that one degree of freedom of the elbow joint forearm adduction and abduction is realized; through setting up wrist adduction and abduction mechanism in elbow joint department, thereby realize wrist joint wrist adduction and the degree of freedom of abduction, thereby can guide recovered person conveniently to carry out multi-mode rehabilitation training, increase simultaneously and realize that big arm is adducted and abducted to chest adduction and abduction mechanism, thereby make big arm can train in the aspect of including receiving and abduction, prevent to lead to the strain condition to take place owing to excessive rotation through setting up limit structure in big arm adduction and abduction rotation direction simultaneously, ensure the security.
Further, the big arm internal rotation and external rotation mechanism comprises a shoulder block, a shoulder block left fixing piece, a shoulder block right fixing piece, a frame connecting piece, a big arm internal rotation and external rotation steering wheel and a big arm internal rotation and external rotation motor, one end of the frame connecting piece is fixedly connected with the frame, the other end of the frame connecting piece is connected with one end of the shoulder block right fixing piece, the big arm internal rotation and external rotation motor is positioned below the frame connecting piece and fixedly arranged on the right side of the shoulder block right fixing piece, the other end of the shoulder block right fixing piece is connected with the shoulder block left fixing piece, the output shaft of the big arm internal rotation and external rotation motor is connected with one end of the big arm internal rotation and external rotation steering wheel, the other end of the big arm internal rotation and external rotation steering wheel is arranged on the shoulder block and connected with the shoulder block, the shoulder block is arranged in a groove of the shoulder block left fixing piece, and the shoulder block rotates in the groove.
According to the arrangement, the shoulder block is connected with the shoulder block left fixing piece by arranging the groove on the shoulder block left fixing piece, so that the shoulder block can be supported and prevented from shaking in the rehabilitation process; through setting up big arm internal rotation and external rotation motor, the output shaft of big arm internal rotation and external rotation motor is connected with big arm internal rotation and external rotation rudder disc, thereby the rotation of motor realizes big arm internal rotation and external rotation motion.
Furthermore, the big arm adduction and abduction mechanism of the shoulder joint comprises a shoulder, a big arm adduction and abduction motor, a big arm adduction and abduction steering wheel and a shoulder sleeve, one end of the shoulder is fixedly connected with the shoulder block through screwing, the big arm adduction and abduction motor is arranged on the upper surface of the other end of the shoulder, the limiting mechanism comprises a first step surface and a second step surface which are arranged on the bottom surface of the shoulder, the first step surface and the second step surface are respectively parallel to the upper surface of the shoulder, the distance between the second step surface and the upper surface of the shoulder is smaller than the distance between the first step surface and the upper surface of the shoulder, the big arm adduction and abduction steering wheel is arranged at the second step surface and is connected with an output shaft end of the motor, a containing groove with a circular cross section shape is arranged at the position close to the second step surface and is used for placing and fixing the big arm adduction and abduction steering wheel, and a fixing groove for fixing the big arm up-swing and down mechanism is arranged at the lower end of the shoulder sleeve.
Above setting, through the acromion with big arm adduction and abduction steering wheel link open circular recess, and form the limit structure of echelonment through first ladder face and second ladder face, when lightening acromion weight, big arm adduction and abduction steering wheel can be hidden to circular recess, the limit structure of echelonment matches with the up end of raglan sleeve, thereby when rotating in the limit structure, and big arm adduction and abduction motor rotate and realize big arm adduction and abduction motion, can receive the step face restriction when the raglan sleeve rotates, prevent that the wearer from causing muscle strain, reach protection wearer's effect.
Furthermore, the big arm up-swing and down-swing mechanism comprises a big arm and a big arm up-swing and down-swing motor, the big arm up-swing and down-swing motor is arranged on the rotator cuff, the output ends of the big arm up-swing and down-swing motor are rotatably connected with one end of the big arm, and the big arm is provided with a hollow groove.
Through the arrangement, the big arm upper swing and the lower swing motor are in rotating connection with the big arm, so that the big arm up-and-down swing exercise training is realized.
Further, big arm length adjustment mechanism includes on big arm regulating block, the fixed block, under the fixed block and adjusts the dog, and the lower extreme and the fixed block of big arm regulating block are connected down, are connected on the upper end of big arm regulating block and the fixed block, big arm regulating block sliding connection is on the hollow groove of big arm, adjusts dog and big arm other end fixed connection.
Above setting, through setting up the big arm regulating block and sliding between the hollow groove both ends of big arm, the one end in hollow groove and the one end coincidence of adjusting the dog prevent big arm regulating block roll-off, after confirming suitable big arm length, big arm and big arm regulating block fixed connection realize the regulation of big arm length.
Furthermore, forearm adduction and abduction mechanism includes elbow joint connecting block, forearm adduction and abduction motor and forearm regulating block, and the one end and the big arm regulating block fixed connection of elbow joint connecting block, the other end and the forearm adduction of elbow joint connecting block and the stiff end of abduction motor are connected, and the output and the forearm regulating block rotation of forearm adduction and abduction motor are connected.
The arrangement is that the forearm adduction and abduction motor is rotationally connected with the forearm adjusting block, so that the motor rotates to realize the adduction and abduction of the forearm of the elbow joint.
Furthermore, forearm length adjustment mechanism includes forearm and forearm fixed block, and forearm fixed block and forearm regulating block fixed connection form the cavity, and forearm one end is fixed in the cavity after sliding with the embedded cavity of forearm fixed block, and the forearm other end is connected with wrist adduction and abduction mechanism fixed connection.
Through the arrangement, the small arm slides on the small arm adjusting block, and after the proper small arm length is determined, the small arm is fixedly connected with the small arm fixing block, so that the length of the small arm can be adjusted.
Further, wrist adduction and abduction mechanism includes motor mount, wrist joint splint, wrist connecting piece, wrist adduction and abduction motor, wrist adduction and abduction steering wheel, a handle, the wrist connecting piece is connected with wrist joint splint, motor mount and wrist connecting piece fixed connection, wrist adduction and abduction motor installation sets up on the motor mount, the output and the wrist adduction of wrist adduction and abduction motor are connected with wrist adduction and abduction steering wheel, wrist adduction and abduction steering wheel and handle fixed connection.
Above setting is through setting up wrist adduction and abduction motor on the wrist connecting piece for wrist adduction and abduction motor rotate and drive wrist adduction and abduction steering wheel and rotate, thereby realize wrist joint wrist adduction and abduction motion.
Further, the frame includes the suspension, frame lifter, frame lift dead lever, crossbeam, supporting leg, truckle, and the suspension is fixed in both ends about the frame lifter, and the frame lifter can be dismantled with frame lift dead lever and be connected, and the crossbeam is fixed in both ends about the frame lift dead lever, and the supporting leg is connected with frame lift dead lever, truckle and supporting leg end-to-end connection.
Above setting is through setting up the frame for shoulder joint and frame fixed connection can support the complete machine, and simultaneously through adjusting the frame lifter, can realize altitude mixture control, with the demand that satisfies not co-altitude crowd.
Further, the shoulder sleeve includes first shoulder sleeve board and second shoulder sleeve board, the one end of first shoulder sleeve board and second shoulder sleeve board links to each other, first shoulder sleeve board level sets up, second shoulder sleeve board sets up perpendicularly, the fixed slot sets up on the second shoulder sleeve board, and first shoulder sleeve board and big arm adduction and abduction motor department of linking to each other are greater than big arm adduction and abduction motor and storage tank department of linking to each other and locate to the distance that the second step face is close to first step face one end, and the groove depth of storage tank is greater than the distance of the bottom surface of first shoulder sleeve board apart from the storage tank bottom.
Above setting, when big arm adduction and abduction steering wheel rotated the one end that the second step face is close to first step face, because the first raglan sleeve board of one end that first raglan sleeve board is close to the second step face is good at the first raglan sleeve board salient setting of cell wall that the storage tank is close to the one end of second step face and storage tank, thereby make first step face and the one end that the second step face links to each other department can block first raglan sleeve board, can receive the step face restriction when the raglan sleeve rotates, prevent that the wearing person from causing the muscle to pull, reach protection wearing person's effect, and simple structure simultaneously.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the shoulder joint forearm internal rotation and external rotation mechanism of the invention.
Fig. 3 is a schematic structural view of the shoulder joint forearm adduction and abduction mechanism of the present invention.
Fig. 4 is a schematic structural view of the shoulder joint upper arm swing and lower arm swing mechanism of the present invention.
Figure 5 is a schematic diagram of the elbow joint forearm adduction and abduction mechanisms of the present invention.
FIG. 6 is a schematic diagram of the wrist adduction and abduction mechanism of the wrist joint of the present invention.
Fig. 7 is a schematic structural view of the rack structure of the present invention.
Fig. 8 is a schematic view of the arm rotation of a person needing rehabilitation training in the invention.
FIG. 9 is a schematic view of the connection between the left shoulder fixing element and the groove of the present invention.
Reference numerals are as follows: 1. shoulder joint big arm internal rotation and external rotation mechanisms; 2. a shoulder joint big arm adduction and abduction mechanism; 3. the shoulder joint big arm upper swing and lower swing mechanism; 4. a large arm length adjusting mechanism; 5. an elbow joint forearm adduction and abduction mechanism; 6. a forearm length adjustment mechanism; 7. a wrist adduction and abduction mechanism for a wrist joint; 8. a frame; 11. a shoulder block; 12. a shoulder block left securing member; 13. a shoulder block right fixing piece; 14. a frame connecting member; 15. a rudder wheel; 16. a motor; 21. acromion; 22. a motor; 23. a rudder wheel; 24. a rotator cuff; 25. a first step surface; 26. a first step surface; 31. a motor; 32. a large arm; 33. a hollow groove; 41. a large arm adjusting block; 42. a fixed block; 43. a fixed block is arranged below the base; 44. adjusting the stop block; 51. an elbow joint connecting block; 52. a motor; 53. a small arm adjusting block; 61. a small arm fixing block; 62. a small arm; 63. connecting blocks; 71. a wrist joint splint; 72. a wrist connector; 73. a motor fixing frame; 74. a motor; 75. a rudder wheel; 76. a handle; 78. a first cavity; 77. a second cavity; 81. a suspension; 82. a frame lifter; 83. a rack lifting fixing rod; 84. a cross beam; 85. a supporting foot rest; 86. a caster wheel; 811. a suspension plate; 812. extending the long side; 813. a rack connecting piece mounting groove; 814. the frame is connected with the mounting hole; 231. a first shoulder-sleeve panel; 232. a second shoulder sleeve plate.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and the detailed description.
As shown in fig. 1, an embodiment of the present invention provides a wearable upper limb rehabilitation robot, which is used for performing rehabilitation training on a person needing rehabilitation training, and includes a frame 8, a shoulder joint training mechanism, an elbow joint training mechanism, and a wrist joint training mechanism, where the shoulder joint training mechanism includes a large arm internal rotation and external rotation mechanism 1, a large arm joint internal contraction and external expansion mechanism 2, a large arm upper swing and lower swing mechanism 3, and a large arm length adjustment mechanism 4, and realizes control of three degrees of freedom; the elbow joint training mechanism comprises a forearm adduction and abduction mechanism 5 and a forearm length adjusting mechanism 6, and one degree of freedom is controlled; the wrist joint includes a wrist adduction and abduction mechanism 7 that controls one of the degrees of freedom.
The big arm internal rotation and external rotation mechanism 1 is fixedly connected with the rack, one end of the big arm internal rotation and external rotation mechanism 1 is rotatably connected with one end of the big arm internal contraction and external expansion mechanism 2, the other end of the big arm internal contraction and external expansion mechanism 2 is rotatably connected with one end of the big arm upper swing and lower swing mechanism 3, the big arm length adjusting mechanism 4 moves on the other end of the big arm upper swing and lower swing mechanism 3, the upper swing and lower swing mechanism 3 is connected with one end of the small arm internal contraction and external expansion mechanism 5, the other end of the small arm internal contraction and external expansion mechanism 5 is provided with a small arm length adjusting mechanism 6, the small arm length adjusting mechanism 6 is connected with the wrist internal contraction and external expansion mechanism 7, the big arm internal contraction and external expansion mechanism 7 is used for performing internal contraction and external expansion to the big arm of a person needing rehabilitation training in the chest direction, and the big arm internal contraction and external expansion mechanism is provided with a limit structure for limiting the large arm internal contraction and external expansion rotation direction.
In this embodiment, as shown in fig. 2, the shoulder joint forearm internal rotation and external rotation mechanism 1 includes a shoulder block 11, a shoulder block left fixing member 12, a shoulder block right fixing member 13, a frame connecting member 14, a forearm internal rotation and external rotation steering wheel 15 and a forearm internal rotation and external rotation motor 16, the frame connecting member 14 is fixedly connected to a suspension 81 of the frame 8 through a bolt, the shoulder block right fixing member 13 is connected to the frame connecting member 14, the forearm internal rotation and external rotation motor 16 is fixedly mounted on a right side surface of the shoulder block right fixing member 13, the shoulder block right fixing member 13 is fixedly connected to the shoulder block left fixing member 12 through a bolt, a groove is provided on the shoulder block left fixing member 12, the shoulder block 11 is disposed in the groove of the shoulder block left fixing member 12, and the shoulder block 11 rotates in the groove, in this embodiment, as shown in fig. 9, a groove bottom of the groove is provided in an arc shape matching with bottoms of the forearm internal rotation and external rotation steering wheel 15, so as to support the shoulder block 11 and prevent the shoulder block 11 from swinging during rehabilitation, and in this embodiment, a space is provided on a side wall of the groove, which is adjacent to the two side walls of the shoulder block internal rotation motor 16. The one end that shoulder piece 11 is close to the recess is provided with circular recess for place and fixed steering wheel 15, and big arm internal rotation and external rotation motor 16's output shaft end is connected with steering wheel 15's one end, and steering wheel 15's other end installation sets up in shoulder piece 11's circular recess, thereby rotates through big arm internal rotation and external rotation motor 16 and drives shoulder piece 11 at the recess internal rotation through steering wheel 15, thereby realizes shoulder joint big arm internal rotation and external rotation rehabilitation training motion.
In this embodiment, as shown in fig. 3, the shoulder joint big arm adduction and abduction mechanism 2 includes a shoulder 21, a big arm adduction and abduction motor 22, a big arm adduction and abduction steering wheel 23, and a shoulder sleeve 24, one end of the shoulder 21 is fixedly connected with the shoulder block 11 by screwing, the big arm adduction and abduction motor 22 is arranged on the upper surface of the other end of the shoulder 21, the limiting mechanism includes a first step surface 25 and a second step surface 26 arranged on the bottom surface of the shoulder 21, the first step surface 25 and the second step surface 26 are respectively parallel to the upper surface of the shoulder 21, the distance between the second step surface 26 and the upper surface of the shoulder 21 is smaller than the distance between the first step surface 25 and the upper surface of the shoulder 21, the big arm adduction and abduction steering wheel 23 is arranged on the second step surface 26, the big arm adduction and abduction steering wheel 23 is connected with the output end of the motor 22, a receiving groove with a circular cross section is arranged on the shoulder sleeve 24 near the second step surface 26, the lower end of the shoulder sleeve 24 is provided with a fixing groove for fixing the big arm up-swing and down-swing mechanism 3, in the embodiment, the shoulder sleeve 24 comprises a first shoulder sleeve plate 231 and a second shoulder sleeve plate 232, one end of the first shoulder sleeve plate 231 is connected with one end of the second shoulder sleeve plate 232, the first shoulder sleeve plate 231 is horizontally arranged, the second shoulder sleeve plate 232 is vertically arranged, the fixing groove is arranged on the second shoulder sleeve plate 232, the distance from the connecting part of the first shoulder sleeve plate 231, the big arm in-swing and out-swing motor 22 to the edge of the first shoulder sleeve plate 231 is greater than the distance from the connecting part of the big arm in-swing and out-swing motor 22 to the end of the second step surface 26 close to the first step surface 25, the groove depth of the accommodating groove is greater than the distance from the bottom surface of the first shoulder sleeve plate 231 to the bottom of the accommodating groove, one end of the accommodating groove far away from the second step surface 26 is provided with an opening, rotation through big arm adduction and abduction motor 22 drives big arm adduction and abduction steering wheel 23 and rotates, big arm adduction and abduction steering wheel 23 drive and rotate at shoulder sleeve 24, realize shoulder joint big arm adduction and abduction motion, when big arm adduction and abduction steering wheel 23 rotate the one end that second step face 26 is close to first step face 25, because first shoulder arm board 231 is close to the one end of second step face 26 and is good at the first shoulder arm board 231 salient setting of cell wall that the storage tank is close to the one end of second step face 26, thereby make first step face 25 and second step face 26 department of connecting can block the one end of first shoulder arm board 231, can receive the step face restriction when shoulder sleeve 24 rotates, prevent that the wearing person from causing the muscle strain, reach the effect of protection wearing person.
In this embodiment, as shown in fig. 4, the shoulder joint upper arm swinging and lower arm swinging mechanism 3 includes an upper arm swinging and lower arm swinging motor 31 and an upper arm 32, a hollow groove 33 is provided in the middle of the side surface of the upper arm 32, the hollow groove 33 is parallel to the bottom surface of the upper arm 32, the upper arm swinging and lower arm swinging motor 31 is fixedly connected to the shoulder sleeve 24 through a bolt, the output end of the upper arm swinging and lower arm swinging motor 31 is rotatably connected to one end of the upper arm 32, and the upper arm swinging and lower arm swinging movement of the shoulder joint is realized through the rotation of the motor.
In this embodiment, the large arm length adjusting mechanism 4 includes a large arm adjusting block 41, an upper fixing block 42, a lower fixing block 43, and an adjusting stopper 44, the upper end of the large arm adjusting block 41 is fixedly connected to the upper surface of the upper fixing block 42 through a bolt, the lower end of the large arm adjusting block 41 is fixedly connected to the bottom surface of the lower fixing block 43 through a bolt, the large arm adjusting block 41 can slide in the range of the hollow groove of the large arm 32, the adjusting stopper 44 is fixedly connected to the other end of the large arm 32 through a bolt, so that the large arm adjusting block 41 can be prevented from sliding out of the small arm 32, when the length of the large arm 32 needs to be adjusted, the bolt at the fixing position of the upper fixing block 42 and the large arm adjusting block 41 is removed, the bolt at the fixing position of the lower fixing block 43 and the large arm adjusting block 41 is removed, then the position of the large arm adjusting block 41 on the large arm 32 is moved to adjust the length of the large arm 32, and the large arm 32 is fixedly connected to the large arm adjusting block 41.
In this embodiment, as shown in fig. 5, the elbow joint forearm adduction and abduction mechanism 5 includes an elbow joint connecting block 51, a forearm adduction and abduction motor 52 and a forearm adjusting block 53, one end of the elbow joint connecting block 51 is fixedly connected with the upper arm adjusting block 41 through a screw, the other end of the elbow joint connecting block 51 is fixedly connected with the forearm adduction and abduction motor 52 through a screw, an output shaft end of the forearm adduction and abduction motor 52 is rotatably connected with the lower arm adjusting block 53, and the elbow joint forearm adduction and abduction are realized through the rotation of the motor. The axes of the upper swing motor and the lower swing motor of the big arm are perpendicular to the axes of the inward-folding motor and the outward-unfolding motor of the small arm, so that the interference between the mechanical arm and the arm is reduced, and the daily or complex rehabilitation action is more easily completed.
In this embodiment, the forearm length adjusting mechanism 6 includes forearm fixed block 61, forearm 62 and connecting block 63, connecting block 63 is fixed on forearm 62, forearm fixed block 61 passes through bolt fixed connection with forearm regulating block 53, forearm fixed block 61 is connected with forearm regulating block 53 and forms the cavity, forearm 62 passes the cavity, can slide in the cavity and fix in the cavity, be equipped with more than two regulation holes and fixed orifices on forearm fixed block 61, the fixed orifices are located the both sides of forearm fixed block 61, the regulation hole sets up between the fixed orifices of forearm fixed block 61, in this embodiment, the fixed orifices has 6, the regulation hole has 2, when the length of forearm 62 needs to be adjusted, dismantle the regulation hole, make the forearm remove in the cavity, after confirming forearm 62 length, be provided with the screw in the regulation hole and with forearm 62 and forearm regulating block 53 fixed connection, thereby carry out the regulation of forearm length.
In this embodiment, as shown in fig. 6, the wrist joint and wrist adduction and abduction mechanism 7 includes a wrist joint splint 71, a wrist connector 72, a motor fixing frame 73, a wrist adduction and abduction motor 74, a wrist adduction and abduction steering wheel 75, and a handle 76, a protrusion 711 is disposed on an upper surface of the wrist joint splint 71, a bottom surface of the wrist connector 72 is connected to an upper surface of the protrusion 711, a first cavity 78 and a second cavity 77 are formed between the wrist connector 72 and the wrist joint splint 71, the other end of the forearm 62 is embedded into the first cavity 78 and is fixedly connected to the wrist joint splint 71 and the wrist connector 72 by a screw, the motor fixing frame 73 is fixedly connected to the upper surface of the wrist connector 72 by a screw, the wrist adduction and abduction motor 74 is mounted on the motor fixing frame 73, an output of the motor 74 passes through the wrist joint splint 71 and is rotatably connected to one end of the wrist adduction and abduction steering wheel 75, the wrist adduction and abduction motor 75 is rotatably connected to the wrist joint splint 76, and the wrist adduction steering wheel 75 is rotatably connected to the wrist joint splint and abduction training, and the wrist joint rotation training is further performed by a rotation of the wrist joint splint 76 and the wrist adduction training.
In this embodiment, as shown in fig. 7, the rack 8 includes a suspension 81, a rack lifting rod 82, a rack lifting fixing rod 83, a cross beam 84, a supporting foot rest 85, and a caster 86, the suspension 81 is fixedly connected to the left and right ends of the rack lifting rod 82 through bolts, the rack lifting rod 82 is detachably connected to the rack lifting fixing rod 83, in this embodiment, two or more mounting holes are provided on the rack lifting fixing rod 83 along the length direction of the rack lifting fixing rod 83, an adjusting hole is also provided on the rack lifting rod 82, the adjustment of the vertical height of the rack can be realized by fixing the mounting holes and the adjusting holes through bolts, the adjustment is suitable for people with different heights, the cross beam 84 is located in the middle of the rack lifting rod 82, the left and right ends of the cross beam 84 are respectively fixedly connected to the rack lifting fixing rod 83, the foot rest 85 is connected to the rack lifting fixing rod 38, the caster 86 is rotatably connected to the end of the supporting foot rest 85, the rack moves on the ground according to the needs of a rehabilitee, the suspension 81 includes a suspension plate 811, the suspension plate is provided with extending edges 812 extending outwards along the two sides of the width direction of the rack, the extension plate and the mounting groove 811 is connected to the rack via a mounting hole 813, and the mounting groove 813 is provided on the rack connecting piece connected to the rack via a screw 14.
As shown in fig. 1 to 8, the frame connecting piece 14 of the shoulder joint inner rotation and outer rotation mechanism 1 and the suspension 81 of the frame 8 are connected by a screw, the shoulder block 11 of the shoulder joint inner rotation and outer rotation mechanism 1 and the shoulder peak 21 of the shoulder joint inner contraction and outer expansion mechanism 2 are connected by a screw, the shoulder sleeve 24 of the shoulder joint inner contraction and outer expansion mechanism 2 and the arm upper swing and lower swing mechanism 3 motor 31 of the shoulder joint are connected by a screw, the arm length adjusting block 41 of the shoulder joint arm length adjusting mechanism 4 is sleeved on the arm upper swing and lower swing mechanism 3 and the arm 32 of the shoulder joint, the arm length adjusting block 41 of the shoulder joint arm length adjusting mechanism 4 and the arm connecting block 51 of the elbow joint adduction and outer expansion mechanism 5 are connected by a screw, the arm adduction and outer expansion mechanism 5 and arm adduction adjusting block 53 of the elbow joint mechanism 5 and the arm extension adjusting block 61 of the elbow joint arm extension mechanism 5 and the arm extension adjusting mechanism 7 of the wrist joint fixing mechanism 7 and the arm extension adjusting mechanism 71 are connected by a wrist joint connecting block 71 and a wrist joint fixing mechanism 7 and a wrist joint fixing block 71.
The working principle of the invention is as follows: when the wrist rehabilitation training device is used, a person needing rehabilitation training puts a shoulder joint part into a position where a shoulder joint big arm inward-rotation and outward-rotation mechanism 1 is connected with a shoulder joint big arm inward-contraction and outward-expansion mechanism 2, attaches a big arm to a shoulder joint big arm upward-swing and downward-swing mechanism 3, adjusts the length of a big arm length adjusting mechanism 4 according to the length of the big arm of the person needing rehabilitation training and then fixes the big arm length adjusting mechanism 4, then adjusts the length of a small arm length adjusting mechanism 6 according to the length of the small arm of the person needing rehabilitation training and then fixes the small arm length adjusting mechanism 6, then a palm part holds a handle 76, when the shoulder joint big arm inward-rotation and outward-rotation mechanism 6 needs to perform shoulder joint inward-rotation and outward-rotation, the shoulder joint big arm inward-rotation and outward-rotation mechanism 1 enables the shoulder joint to perform actions along the direction A in the figure 8 or the direction opposite to the A direction, when the shoulder joint big arm inward-contraction and outward-expansion mechanism 2 enables the shoulder joint to perform shoulder joint inward-contraction and outward-expansion along the B direction in the figure 8 or the elbow direction, and outward-contraction and outward-expansion mechanism performs wrist joint outward-expansion mechanism 5 when the wrist joint 5 needs to perform wrist joint outward-expansion mechanism, and the wrist joint outward-expansion mechanism 7, and abduction mechanism performs wrist joint abduction mechanism.
Claims (10)
1. The utility model provides a wearable upper limbs rehabilitation robot for carry out the rehabilitation training personnel to needs and carry out the rehabilitation training, including frame, elbow joint training mechanism and wrist joint training mechanism, its characterized in that: the shoulder joint training mechanism comprises a big arm internal rotation and external rotation mechanism, a big arm adduction and abduction mechanism, a big arm upper swing and lower swing mechanism and a big arm length adjusting mechanism, the elbow joint training mechanism comprises a small arm adduction and abduction mechanism and a small arm length adjusting mechanism, the wrist joint training mechanism comprises a wrist adduction and abduction mechanism, one end of the shoulder joint training mechanism is connected with the rack, one end of the elbow joint training mechanism is connected with the other end of the shoulder joint training mechanism, the wrist joint training mechanism is connected with the other end of the elbow joint training mechanism, the big arm internal rotation and external rotation mechanism is fixedly connected with the rack, one end of the big arm internal rotation and external rotation mechanism is rotatably connected with one end of the big arm adduction and abduction mechanism, the other end of the big arm adduction and abduction mechanism is rotatably connected with one end of the big arm upper swing and lower swing mechanism, the big arm length adjusting mechanism moves on the other end of the big arm upper swing and lower swing mechanism, the other end of the big arm upper swing and lower swing mechanism is connected with one end of the big arm upper swing and lower swing and the small arm adduction mechanism, the small arm adduction mechanism is connected with the small arm adduction mechanism, the small arm adduction mechanism and abduction mechanism is used for limiting mechanism for extending the chest adduction mechanism, and the big arm adduction mechanism are used for limiting mechanism for limiting the abduction mechanism.
2. The wearable upper limb rehabilitation robot according to claim 1, characterized in that: the large arm internal rotation and external rotation mechanism comprises a shoulder block, a shoulder block left fixing piece, a shoulder block right fixing piece, a rack connecting piece, a large arm internal rotation and external rotation steering wheel and a large arm internal rotation and external rotation motor, one end of the rack connecting piece is fixedly connected with the rack, the other end of the rack connecting piece is connected with one end of the shoulder block right fixing piece, the large arm internal rotation and external rotation motor is positioned below the rack connecting piece and fixedly arranged on the right side of the shoulder block right fixing piece, the other end of the shoulder block right fixing piece is connected with the shoulder block left fixing piece, the output shaft of the large arm internal rotation and external rotation motor is connected with one end of the large arm internal rotation and external rotation steering wheel, the other end of the large arm internal rotation and external rotation steering wheel is arranged on the shoulder block and connected with the shoulder block, the shoulder block is arranged in a groove of the shoulder block left fixing piece, and rotates in the groove.
3. The wearable upper limb rehabilitation robot according to claim 1, characterized in that: the shoulder joint big arm adduction and abduction mechanism comprises a shoulder peak, a big arm adduction and abduction motor, a big arm adduction and abduction steering wheel and a shoulder sleeve, one end of the shoulder peak is fixedly connected with a shoulder block through screwing, the big arm adduction and abduction motor is arranged on the upper surface of the other end of the shoulder peak, the limiting mechanism comprises a first step surface and a second step surface which are arranged on the bottom surface of the shoulder peak, the first step surface and the second step surface are respectively parallel to the upper surface of the shoulder peak, the distance between the second step surface and the upper surface of the shoulder peak is smaller than the distance between the first step surface and the upper surface of the shoulder peak, the big arm adduction and abduction steering wheel is arranged at the second step surface, the big arm adduction and abduction steering wheel is connected with the output of the motor, a containing groove with a circular cross section shape is arranged at the position of the shoulder sleeve close to the second step surface and used for placing and fixing the big arm adduction steering wheel, and abduction steering wheel is arranged at the lower end of a shaft end used for fixing the big arm up-and down-swing mechanism.
4. The wearable upper limb rehabilitation robot according to claim 1, characterized in that: the big arm upper swing and lower swing mechanism comprises a big arm, a big arm upper swing motor and a big arm lower swing motor, the big arm upper swing motor and the big arm lower swing motor are arranged on the rotator cuff, the output ends of the big arm upper swing motor and the big arm lower swing motor are rotatably connected with one end of the big arm, and the big arm is provided with a hollow groove.
5. The wearable upper limb rehabilitation robot according to claim 4, characterized in that: big arm length adjustment mechanism includes on big arm regulating block, the fixed block, under the fixed block and adjusts the dog, and the lower extreme and the fixed block of big arm regulating block are connected down, are connected on the upper end of big arm regulating block and the fixed block, big arm regulating block sliding connection is on the hollow groove of big arm, adjusts dog and big arm other end fixed connection.
6. The wearable upper limb rehabilitation robot according to claim 5, characterized in that: the forearm adduction and abduction mechanism includes elbow joint connecting block, forearm adduction and abduction motor and forearm regulating block, the one end and the big arm regulating block fixed connection of elbow joint connecting block, and the other end and the forearm adduction of elbow joint connecting block and the stiff end of abduction motor are connected, and the output and the forearm regulating block rotation of forearm adduction and abduction motor are connected.
7. The wearable upper limb rehabilitation robot according to claim 1, characterized in that: the forearm length adjusting mechanism comprises a forearm and a forearm fixing block, the forearm fixing block is fixedly connected with the forearm adjusting block to form a cavity, one end of the forearm is embedded in the cavity of the forearm fixing block and is fixed in the cavity after sliding in the cavity, and the other end of the forearm is fixedly connected with the wrist inward-retracting and outward-extending mechanism.
8. The wearable upper limb rehabilitation robot according to claim 1, characterized in that: the wrist adduction and abduction mechanism comprises a motor fixing frame, a wrist joint clamping plate, a wrist connecting piece, a wrist adduction and abduction motor, a wrist adduction and abduction steering wheel and a handle, the wrist connecting piece is connected with the wrist joint clamping plate, the motor fixing frame is fixedly connected with the wrist connecting piece, the wrist adduction and abduction motor is arranged on the motor fixing frame, the output end of the wrist adduction and abduction motor is connected with the wrist adduction and abduction steering wheel, and the wrist adduction and abduction steering wheel is fixedly connected with the handle.
9. The wearable upper limb rehabilitation robot according to claim 1, characterized in that: the frame comprises a suspension, a frame lifting rod, a frame lifting fixing rod, a cross beam, a supporting foot frame and trundles, wherein the suspension is fixed at the left end and the right end of the frame lifting rod, the frame lifting rod is detachably connected with the frame lifting fixing rod, the cross beam is fixed at the left end and the right end of the frame lifting fixing rod, the supporting foot frame is connected with the frame lifting fixing rod, and the trundles are connected with the tail end of the supporting foot frame.
10. The wearable upper limb rehabilitation robot according to claim 3, characterized in that: the shoulder sleeve includes first shoulder sleeve board and second shoulder sleeve board, the one end of first shoulder sleeve board and second shoulder sleeve board links to each other, first shoulder sleeve board level sets up, second shoulder sleeve board sets up perpendicularly, the fixed slot sets up on second shoulder sleeve board, and first shoulder sleeve board and big arm adduction and abduction motor department of linking to each other are greater than big arm adduction and abduction motor and storage tank department of linking to each other and are close to the distance that first step face one end is close to the second step face, and the groove depth of storage tank is greater than the distance of the bottom surface distance storage tank bottom of first shoulder sleeve board.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211166417.6A CN115317321A (en) | 2022-09-23 | 2022-09-23 | Wearable upper limb rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211166417.6A CN115317321A (en) | 2022-09-23 | 2022-09-23 | Wearable upper limb rehabilitation robot |
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| CN115317321A true CN115317321A (en) | 2022-11-11 |
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| CN202211166417.6A Pending CN115317321A (en) | 2022-09-23 | 2022-09-23 | Wearable upper limb rehabilitation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115944502A (en) * | 2023-02-16 | 2023-04-11 | 吉林大学 | Elbow-wrist joint rehabilitation training device |
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2022
- 2022-09-23 CN CN202211166417.6A patent/CN115317321A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115944502A (en) * | 2023-02-16 | 2023-04-11 | 吉林大学 | Elbow-wrist joint rehabilitation training device |
| CN115944502B (en) * | 2023-02-16 | 2024-04-30 | 吉林大学 | Elbow-wrist joint rehabilitation training device |
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