CN202515948U - Wrist joint rehabilitation training device - Google Patents
Wrist joint rehabilitation training device Download PDFInfo
- Publication number
- CN202515948U CN202515948U CN2012201301375U CN201220130137U CN202515948U CN 202515948 U CN202515948 U CN 202515948U CN 2012201301375 U CN2012201301375 U CN 2012201301375U CN 201220130137 U CN201220130137 U CN 201220130137U CN 202515948 U CN202515948 U CN 202515948U
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Abstract
The utility model provides a wrist joint rehabilitation training device which is characterized by comprising a rehabilitation training executive device. The rehabilitation training executive device comprises a base, a forearm slide groove provided with a slide block inside is fixed on the base, the slide block is connected with a forearm height adjusting rod connected with a forearm supporting board, and a wrist rotation slide rail is fixed on the front end of the base. A shaft of a wrist rotation motor is connected with a wrist rotation guide wheel and a wrist rotation angle sensor, a draw rope is winded on the wrist rotation guide wheel and is fixedly connected with the two ends of the a wrist rotation slide block, and the wrist rotation slide block is arranged on the wrist rotation guide wheel and is fixedly connected with a wrist rotation rod. A shaft of a wrist swing motor which is fixed on the wrist rotation rod is connected with a wrist swing angle sensor and a wrist swing rod, a shaft of a wrist deflection motor which is fixed on the wrist swing rod is connected with the wrist deflection angle sensor and a wrist deflection rod, and the wrist deflection rod is connected with a handle. The wrist joint rehabilitation training device can bring convenience to achieving of all rehabilitation actions of wrist joints.
Description
Technical field
This utility model relates to a kind of carpal joint device for healing and training.
Background technology
At present, medical domain is to because the nursing pay attention to day by day of paralysis that traffic accident, apoplexy and other diseases cause or limb activity imbalance.Traditional rehabilitation nursing is meant that patient under medical personnel's guidance and help, does the simple bending stretching, thereby recovers the mobility of limbs gradually.Yet this mode not only expends nursing staff's energy and muscle power in a large number, and meets accident unavoidably in the motor process.In recent years, the multifunctional recovery device of designing to recovering the limb motion ability emerges in an endless stream, and this has alleviated the nurse burden of medical personnel and families of patients to a certain extent, but therapeutic effect is unsatisfactory.The current rehabilitation device of selling on the market generally carries out athletic rehabilitation to the big joint of extremity, is difficult to make carpal joint to obtain sufficient rehabilitation campaign; And only carpal joint rehabilitation devices, or the rehabilitation that can realize action is single, or need to change different accessories; The multi-pass operation debugging could realize different rehabilitation actions, rehabilitation course is too bothered, in addition; This type of convalescence device is too complicated in the setting of rehabilitation action, safety is low, and the efficient of autonomous rehabilitation is lower.Limitation in this feature operation has had a strong impact on rehabilitation efficacy, even affects rehabilitation progress adversely and cause incalculable damage.In this case, develop a kind of autonomous device for healing and training that to realize multiple wrist rehabilitation action of once dressing, become the task of top priority.
Summary of the invention
The purpose of this utility model provides a kind of carpal joint device for healing and training that can conveniently realize carpal all rehabilitation actions.
In order to achieve the above object, this utility model provides a kind of carpal joint device for healing and training, it is characterized in that; Comprise the rehabilitation training actuating unit, described rehabilitation training actuating unit comprises base, is fixed with the forearm chute on the base; Be provided with the forearm slide block in the forearm chute, the forearm slide block connects the forearm height regulating rod, and the forearm height regulating rod connects arm-supporting splint; Described front end of base is fixed with wrist rotation slide rail; The wrist that each side is provided with of wrist rotation slide rail rotates guide wheel, and the axle of wrist electric rotating machine connects one of them wrist rotation guide wheel and wrist angular sensor, and the two ends that wrist rotation guide wheel and wrist rotary slider are walked around in the two ends of stay cord are fixed together; The wrist rotary slider is located on the wrist rotation slide rail and is fixedly connected the wrist swingle; Be fixed with wrist swing motor on the wrist swingle, the axle of wrist swing motor connects wrist pendulum angle pick off and wrist swing arm, is fixed with the wrist deflection motor on the wrist swing arm; The axle of wrist deflection motor connects wrist deflection angle pick off and wrist deflecting bar, and the wrist deflecting bar connects handle.
Preferably; Described carpal joint device for healing and training also comprises the autonomous input equipment of mirror image; The autonomous input equipment of described mirror image comprises base, is fixed with the forearm chute on the base, is provided with the forearm slide block in the forearm chute; The forearm slide block connects the forearm height regulating rod; The forearm height regulating rod connects arm-supporting splint, and described front end of base is fixed with wrist rotation slide rail, and front end of base connects wrist rotation guide wheel and wrist angular sensor through first rotating shaft; The two ends that wrist rotation guide wheel and wrist rotary slider are walked around in the two ends of stay cord are fixed together; The wrist rotary slider is located on the wrist rotation slide rail and is fixedly connected the wrist swingle, and the wrist swingle connects wrist pendulum angle pick off and wrist swing arm through second rotating shaft, connects wrist deflection angle pick off and wrist deflecting bar through the 3rd rotating shaft on the wrist swing arm; The wrist deflecting bar connects handle, and the signal that the wrist angular sensor of the autonomous input equipment of mirror image, wrist pendulum angle pick off and wrist deflection angle pick off are gathered is transported to wrist electric rotating machine, wrist swing motor and the wrist deflection motor of rehabilitation training actuating unit respectively through controlling platform.
More preferably, described wrist deflecting bar is provided with slot, and handle is fixed in the described slot through lock-screw.
More preferably, said arm-supporting splint is provided with flexible material.
Compared with prior art, the utility model has the advantages that:
This utility model comprises the 3DOF design of rotation, swing, deflection through employing; Can once dress and realize that carpal joint comprises that the back of the body is stretched, palmar flexion, chi is inclined to one side, oar is inclined to one side, the rehabilitation training of rotating everything and above-mentioned motion compound motion; In addition through the autonomous input equipment part of mirror image; Can make things convenient for rehabilitation teacher to control the rehabilitation training that patient's wrist carries out different amplitudes, speed, number of times, can realize that equally also the control of patient health wrist needs the rehabilitation wrist to carry out autonomous rehabilitation training.This utility model simplicity of design, dexterity, multiple degrees of freedom rehabilitation; Reduced rehabilitation's teacher labor intensity; Strengthened the autonomy of patient's rehabilitation, improved rehabilitation efficient, the application through this utility model can further realize the family oriented of armarium and the simplification of operation thereof.
Description of drawings
Fig. 1 is a rehabilitation training actuating unit structural representation;
Fig. 2 is the autonomous input device structure sketch map of mirror image;
Fig. 3 is the rear portion partial schematic diagram of rehabilitation training actuating unit and the autonomous input equipment of mirror image;
Fig. 4 is the anterior partial schematic diagram of rehabilitation training actuating unit;
Fig. 5 is the middle part partial schematic diagram of rehabilitation training actuating unit;
Fig. 6 is the rotary freedom sketch map of rehabilitation training actuating unit;
Fig. 7 is the swing degree of freedom sketch map of rehabilitation training actuating unit;
Fig. 8 is the deflection degree of freedom sketch map of rehabilitation training actuating unit.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used to the present invention is described and be not used in the restriction scope of the present invention.Should be understood that in addition those skilled in the art can do various changes or modification to the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Embodiment
A kind of carpal joint device for healing and training is made up of rehabilitation training actuating unit and the autonomous input equipment of mirror image.Described rehabilitation training actuating unit is divided into and is suitable for two types of devices of left and right wrist rehabilitation respectively, and these two types of device mirror images symmetries, and present embodiment is that example describes with the rehabilitation training actuating unit that is applicable to right wrist rehabilitation.
As shown in Figure 1; Be rehabilitation training actuating unit structural representation, described rehabilitation training actuating unit comprises base 1, forearm chute 2, forearm slide block 3, lock-screw 4, forearm height regulating rod 5, arm-supporting splint 6, wrist rotation slide rail 7, wrist rotary slider 8, wrist rotation guide wheel 9, carriage 10, wrist angular sensor 11, wrist electric rotating machine 12, stay cord 13, stay cord rope sling 14, wrist swingle 15, wrist swing arm 16, wrist pendulum angle pick off 17, wrist swing motor 18, wrist deflecting bar 19, wrist deflection angle pick off 20, wrist deflection motor 21 and handle 22.As shown in Figure 3, be fixed with forearm chute 2 on the base 1, be provided with forearm slide block 3 in the forearm chute 2; Forearm slide block 3 slides in forearm chute 2, and the lock-screw 4 that is used for fixing its position in forearm chute 2 is housed on the forearm slide block 3, and forearm height regulating rod 5 is articulated and connected through lock-screw 4 with forearm slide block 3; Forearm height regulating rod 5 connects arm-supporting splint 6, and arm-supporting splint 6 external application flexible materials are as shown in Figure 5; The front end of described base 1 be fixed with wrist rotation slide rail 7 with about two carriages 10 that mirror image distributes; The wrist that each side is provided with of wrist rotation slide rail 7 rotates guide wheel 9, and wrist electric rotating machine 12 is fixed on the carriage 10 with wrist angular sensor 11, and the axle of wrist electric rotating machine 12 connects one of them wrist rotation guide wheel 9 and wrist angular sensor 11; As shown in Figure 4; Wrist rotary slider 8 is located on the wrist rotation slide rail 7 and is fixedly connected wrist swingle 15, and wrist swing motor 18 is fixed on the wrist swingle 15, and wrist pendulum angle pick off 17 is enclosed within 18 in wrist swing motor and goes up and be fixed together with wrist swingle 15; Wrist swing arm 16 is through being enclosed within 18 in wrist swing motor and going up and wrist swingle 15 being articulated and connected; Wrist deflection motor 21 is fixed on the wrist swing arm 16, and wrist deflection angle pick off 20 is enclosed within 21 of wrist deflection motor and goes up and be fixed together with wrist swing arm 16, and wrist deflecting bar 19 is through being enclosed within 21 of wrist deflection motor and going up and wrist swing arm 16 being articulated and connected; Handle 22 can slide in the slot of wrist deflecting bar 19, and through lock-screw 4 fixed positions.Stay cord 13 around about on two wrists rotation guide wheels 9 and the wrist rotation slide rail 7, be fixed together with the two ends of wrist rotary slider 8, and pass wire guide and the stay cord rope sling 14 on the carriage 10, composition stay cord loop.
As shown in Figure 2; Be the autonomous input device structure sketch map of mirror image; The autonomous input equipment of described mirror image comprises base 1, is fixed with forearm chute 2 on the base 1, is provided with forearm slide block 3 in the forearm chute 2; Forearm slide block 3 connects forearm height regulating rod 5; Forearm height regulating rod 5 connects arm-supporting splint 6, and the front end of described base 1 is fixed with wrist rotation slide rail 7, and the front end of base 1 connects wrist rotation guide wheel 9 and wrist angular sensor 11 through first rotating shaft; The two ends that wrist rotation guide wheel 9 and wrist rotary slider 8 are walked around in the two ends of stay cord 13 are fixed together; Wrist rotary slider 8 is located on the wrist rotation slide rail 7 and is fixedly connected wrist swingle 15, and wrist swingle 15 connects wrist pendulum angle pick off 17 and wrist swing arm 16 through second rotating shaft, connects wrist deflection angle pick off 20 and wrist deflecting bar 19 through the 3rd rotating shaft on the wrist swing arm 16; Wrist deflecting bar 19 connects handle 22, and the signal that the wrist angular sensor 11 of the autonomous input equipment of mirror image, wrist pendulum angle pick off 17 and wrist deflection angle pick off 20 are gathered is transported to wrist electric rotating machine 12, wrist swing motor 18 and the wrist deflection motor 21 of rehabilitation training actuating unit respectively through controlling platform.The autonomous input equipment part of described mirror image is except that not containing the motor; All the other each members and type of attachment thereof and rehabilitation training actuating unit part mirror image symmetry, the input action mirror image symmetry of the autonomous input equipment part of rehabilitation exercise of being done during the rehabilitation of rehabilitation training actuating unit part and mirror image.
Before the beginning rehabilitation; Use the rehabilitation training actuating unit; Need the wrist of rehabilitation to belong to forearm the patient,, forearm is adjusted to the forearm centrage roughly rotates slide rail 7 central lines with wrist through regulating forearm height regulating rod 5 as on the arm-supporting splint 6; Can the forearm height be fixed through the lock-screw 4 at locking forearm height regulating rod 5 two ends after regulating.Through regulating forearm slide block 3, regulate the front and back position of forearm, so that carpal joint is roughly with the dead in line of wrist swingle 15 and the 16 hinged formation of wrist swing arm and make arm-supporting splint 6 centers place the forearm center in the position of forearm chute 2.Regulate handle 22 position in wrist deflecting bar 19 slots, make the patient need rehabilitation wrist one side hand to grip handle 22, can be through the lock-screw 4 on the lock handle 22 with handle 22 fixed-site.After forearm and hand position regulated, available elastic band fixed forearm and hand bondage.
The autonomous input equipment of mirror image can be dressed by rehabilitation teacher, and its wearing mode is identical with rehabilitation training actuating unit part.
Beginning is during rehabilitation, makes exercises by rehabilitation teacher through the wrist of oneself and drives the patient and need the rehabilitation wrist to do rehabilitation exercise.When rehabilitation's teacher wrist rotates; Wrist angular sensor 11 on the autonomous input equipment part of mirror image is measured the rotational angle of wrist rotation guide wheel, and angle signal is transported to the rehabilitation training actuating unit, makes wrist electric rotating machine 12 under the feedback effect of wrist angular sensor 11, turn over identical mirror image angle; Thereby wrist electric rotating machine 12 drives wrist rotation guide wheel 9; Wrist rotation guide wheel 9 drives stay cord 13, and stay cord 13 drives wrist rotary slider 8, accomplishes the rehabilitation training of wrist spinning movement.
Other rehabilitation actions of wrist realize that principle is identical with above-mentioned wrist spinning movement, repeat no more at this.
As shown in Figure 6, arrow is represented the rotary freedom of rehabilitation training actuating unit part among the figure, can realize the spinning movement of wrist.As shown in Figure 7, arrow is represented the swing degree of freedom of rehabilitation training actuating unit part among the figure, can realize that the back of the body of wrist is stretched, the palmar flexion action.As shown in Figure 8, arrow is represented the deflection degree of freedom of rehabilitation training actuating unit part among the figure, can realize that the chi of wrist is inclined to one side, oar moves partially.
After rehabilitation teacher finishes a cover rehabilitation action, can then set suitable rehabilitation number of times by control sequence with the rehabilitation action record according to patient's wrist situation, speed, making needs the rehabilitation wrist to carry out repeatedly rehabilitation training.
The autonomous input equipment of above-mentioned image also can be dressed by patient health one side upper limb, and rehabilitation training is accomplished in autonomous operation.
Claims (4)
1. a carpal joint device for healing and training is characterized in that, comprises the rehabilitation training actuating unit; Described rehabilitation training actuating unit comprises base (1), is fixed with forearm chute (2) on the base (1), is provided with forearm slide block (3) in the forearm chute (2); Forearm slide block (3) connects forearm height regulating rod (5); Forearm height regulating rod (5) connects arm-supporting splint (6), and the front end of described base (1) is fixed with wrist rotation slide rail (7), and the wrist that each side is provided with of wrist rotation slide rail (7) rotates guide wheel (9); The axle of wrist electric rotating machine (12) connects one of them wrist rotation guide wheel (9) and wrist angular sensor (11); The two ends that wrist rotation guide wheel (9) and wrist rotary slider (8) are walked around in the two ends of stay cord (13) are fixed together, and wrist rotary slider (8) is located at wrist rotation slide rail (7) and is gone up and be fixedly connected wrist swingle (15), is fixed with wrist swing motor (18) on the wrist swingle (15); The axle of wrist swing motor (18) connects wrist pendulum angle pick off (17) and wrist swing arm (16); Be fixed with wrist deflection motor (21) on the wrist swing arm (16), the axle of wrist deflection motor (21) connects wrist deflection angle pick off (20) and wrist deflecting bar (19), and wrist deflecting bar (19) connects handle (22).
2. carpal joint device for healing and training as claimed in claim 1; It is characterized in that; Also comprise the autonomous input equipment of mirror image; The autonomous input equipment of described mirror image comprises base (1), is fixed with forearm chute (2) on the base (1), is provided with forearm slide block (3) in the forearm chute (2); Forearm slide block (3) connects forearm height regulating rod (5); Forearm height regulating rod (5) connects arm-supporting splint (6), and the front end of described base (1) is fixed with wrist rotation slide rail (7), and the front end of base (1) connects wrist rotation guide wheel (9) and wrist angular sensor (11) through first rotating shaft; The two ends that wrist rotation guide wheel (9) and wrist rotary slider (8) are walked around in the two ends of stay cord (13) are fixed together; Wrist rotary slider (8) is located at wrist rotation slide rail (7) and is gone up and be fixedly connected wrist swingle (15), and wrist swingle (15) connects wrist pendulum angle pick off (17) and wrist swing arm (16) through second rotating shaft, and wrist swing arm (16) is gone up through the 3rd rotating shaft and connected wrist deflection angle pick off (20) and wrist deflecting bar (19); Wrist deflecting bar (19) connects handle (22), and the signal that the wrist angular sensor (11) of the autonomous input equipment of mirror image, wrist pendulum angle pick off (17) and wrist deflection angle pick off (20) are gathered is transported to wrist electric rotating machine (12), wrist swing motor (18) and the wrist deflection motor (21) of rehabilitation training actuating unit respectively through controlling platform.
3. according to claim 1 or claim 2 carpal joint device for healing and training is characterized in that described wrist deflecting bar (19) is provided with slot, and handle (22) is fixed in the described slot through lock-screw (4).
4. according to claim 1 or claim 2 carpal joint device for healing and training is characterized in that said arm-supporting splint (6) is provided with flexible material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201301375U CN202515948U (en) | 2012-03-30 | 2012-03-30 | Wrist joint rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201301375U CN202515948U (en) | 2012-03-30 | 2012-03-30 | Wrist joint rehabilitation training device |
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| CN202515948U true CN202515948U (en) | 2012-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012201301375U Expired - Fee Related CN202515948U (en) | 2012-03-30 | 2012-03-30 | Wrist joint rehabilitation training device |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| CN103203758A (en) * | 2013-04-07 | 2013-07-17 | 东华大学 | Arc-shaped guide rail mechanism applicable to joint drive |
| CN105796285A (en) * | 2016-05-13 | 2016-07-27 | 中国科学院自动化研究所 | Upper limb rehabilitant robot fingers and wrist training device |
| CN107811815A (en) * | 2017-12-07 | 2018-03-20 | 同济大学浙江学院 | The arm support mechanism of wrist joint device for healing and training |
| CN107854277A (en) * | 2017-11-21 | 2018-03-30 | 中国科学院自动化研究所 | Wrist joint rehabilitation training device |
| CN107928987A (en) * | 2017-12-07 | 2018-04-20 | 同济大学浙江学院 | The holding mechanism of wrist joint device for healing and training |
| CN107928986A (en) * | 2017-12-07 | 2018-04-20 | 同济大学浙江学院 | Wrist joint device for healing and training |
| CN108113848A (en) * | 2018-01-31 | 2018-06-05 | 力迈德医疗（广州）有限公司 | Upper limb and head recovery exercising robot |
| CN109009875A (en) * | 2018-08-20 | 2018-12-18 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot |
| CN109620648A (en) * | 2019-02-01 | 2019-04-16 | 上海理工大学 | A kind of right-hand man's interchange mechanism for rope driving upper-limb recovery training device |
| CN110074946A (en) * | 2019-06-17 | 2019-08-02 | 山东海天智能工程有限公司 | A kind of wrist function rehabilitation training device |
| CN110314342A (en) * | 2019-08-06 | 2019-10-11 | 南通市第一人民医院 | A kind of wrist convalescence device |
| CN110812106A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院宁波材料技术与工程研究所 | Intelligent hand rehabilitation training device |
| CN111228746A (en) * | 2020-01-20 | 2020-06-05 | 河南科技学院 | Wrist training device and using method thereof |
| CN111281745A (en) * | 2020-03-07 | 2020-06-16 | 西北工业大学 | Wrist joint rehabilitation device capable of self-adapting to change of human motion axis |
| CN111297637A (en) * | 2020-03-19 | 2020-06-19 | 山东建筑大学 | Arm bracket device for upper limb rehabilitation |
| CN111450470A (en) * | 2020-04-10 | 2020-07-28 | 于长春 | Nursing wrist rehabilitation training device |
| CN111481886A (en) * | 2020-05-06 | 2020-08-04 | 刘英北 | Self-service trainer of department of neurology |
| GB2593299A (en) * | 2020-03-07 | 2021-09-22 | Univ Northwestern Polytechnical | A wrist joint movement function evaluation and rehabilitation robot |
| CN113787512A (en) * | 2021-10-13 | 2021-12-14 | 中南大学 | Arc motion steel wire rope driving mechanism |
| CN114082159A (en) * | 2021-11-25 | 2022-02-25 | 河南优德医疗设备股份有限公司 | Wrist joint rehabilitation device |
| CN114712157A (en) * | 2022-04-02 | 2022-07-08 | 河南科技大学 | Wrist joint training robot based on three-degree-of-freedom parallel mechanism |
| CN116138989A (en) * | 2022-12-27 | 2023-05-23 | 北京盈以康机器人科技有限公司 | Wrist rehabilitation training device with multiple degrees of freedom |
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2012
- 2012-03-30 CN CN2012201301375U patent/CN202515948U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| CN103203758A (en) * | 2013-04-07 | 2013-07-17 | 东华大学 | Arc-shaped guide rail mechanism applicable to joint drive |
| CN105796285A (en) * | 2016-05-13 | 2016-07-27 | 中国科学院自动化研究所 | Upper limb rehabilitant robot fingers and wrist training device |
| CN107854277B (en) * | 2017-11-21 | 2020-10-23 | 北京中科鸿泰医疗科技有限公司 | Wrist joint rehabilitation training device |
| CN107854277A (en) * | 2017-11-21 | 2018-03-30 | 中国科学院自动化研究所 | Wrist joint rehabilitation training device |
| CN107811815A (en) * | 2017-12-07 | 2018-03-20 | 同济大学浙江学院 | The arm support mechanism of wrist joint device for healing and training |
| CN107928987A (en) * | 2017-12-07 | 2018-04-20 | 同济大学浙江学院 | The holding mechanism of wrist joint device for healing and training |
| CN107928986A (en) * | 2017-12-07 | 2018-04-20 | 同济大学浙江学院 | Wrist joint device for healing and training |
| CN107928986B (en) * | 2017-12-07 | 2023-09-19 | 同济大学浙江学院 | Wrist joint rehabilitation training device |
| CN107928987B (en) * | 2017-12-07 | 2024-02-23 | 同济大学浙江学院 | Holding mechanism of wrist joint rehabilitation training device |
| CN107811815B (en) * | 2017-12-07 | 2024-03-12 | 同济大学浙江学院 | Arm supporting mechanism of wrist joint rehabilitation training device |
| CN108113848A (en) * | 2018-01-31 | 2018-06-05 | 力迈德医疗（广州）有限公司 | Upper limb and head recovery exercising robot |
| CN110812106A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院宁波材料技术与工程研究所 | Intelligent hand rehabilitation training device |
| CN110812106B (en) * | 2018-08-14 | 2021-08-17 | 中国科学院宁波材料技术与工程研究所 | Intelligent hand rehabilitation training device |
| CN109009875B (en) * | 2018-08-20 | 2024-03-26 | 中国科学院苏州生物医学工程技术研究所 | Individualized upper limb rehabilitation training robot |
| CN109009875A (en) * | 2018-08-20 | 2018-12-18 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot |
| CN109620648A (en) * | 2019-02-01 | 2019-04-16 | 上海理工大学 | A kind of right-hand man's interchange mechanism for rope driving upper-limb recovery training device |
| CN109620648B (en) * | 2019-02-01 | 2021-05-14 | 苏州好博医疗器械有限公司 | Left and right hand interchanging mechanism for rope-driven upper limb rehabilitation trainer |
| CN110074946A (en) * | 2019-06-17 | 2019-08-02 | 山东海天智能工程有限公司 | A kind of wrist function rehabilitation training device |
| CN110074946B (en) * | 2019-06-17 | 2021-02-09 | 山东海天智能工程有限公司 | Wrist function rehabilitation training device |
| CN110314342A (en) * | 2019-08-06 | 2019-10-11 | 南通市第一人民医院 | A kind of wrist convalescence device |
| CN110314342B (en) * | 2019-08-06 | 2024-03-01 | 南通市第一人民医院 | Wrist rehabilitation device |
| CN111228746A (en) * | 2020-01-20 | 2020-06-05 | 河南科技学院 | Wrist training device and using method thereof |
| CN111281745B (en) * | 2020-03-07 | 2021-09-21 | 西北工业大学 | Wrist joint rehabilitation device capable of self-adapting to change of human motion axis |
| CN111281745A (en) * | 2020-03-07 | 2020-06-16 | 西北工业大学 | Wrist joint rehabilitation device capable of self-adapting to change of human motion axis |
| GB2593299A (en) * | 2020-03-07 | 2021-09-22 | Univ Northwestern Polytechnical | A wrist joint movement function evaluation and rehabilitation robot |
| GB2593299B (en) * | 2020-03-07 | 2022-04-20 | Univ Northwestern Polytechnical | A wrist joint movement function evaluation and rehabilitation robot |
| CN111297637B (en) * | 2020-03-19 | 2022-06-14 | 山东建筑大学 | Arm bracket device for upper limb rehabilitation |
| CN111297637A (en) * | 2020-03-19 | 2020-06-19 | 山东建筑大学 | Arm bracket device for upper limb rehabilitation |
| CN111450470A (en) * | 2020-04-10 | 2020-07-28 | 于长春 | Nursing wrist rehabilitation training device |
| CN111481886A (en) * | 2020-05-06 | 2020-08-04 | 刘英北 | Self-service trainer of department of neurology |
| CN113787512A (en) * | 2021-10-13 | 2021-12-14 | 中南大学 | Arc motion steel wire rope driving mechanism |
| CN114082159A (en) * | 2021-11-25 | 2022-02-25 | 河南优德医疗设备股份有限公司 | Wrist joint rehabilitation device |
| CN114712157A (en) * | 2022-04-02 | 2022-07-08 | 河南科技大学 | Wrist joint training robot based on three-degree-of-freedom parallel mechanism |
| CN114712157B (en) * | 2022-04-02 | 2024-01-12 | 河南科技大学 | Wrist joint training robot based on three-degree-of-freedom parallel mechanism |
| CN116138989A (en) * | 2022-12-27 | 2023-05-23 | 北京盈以康机器人科技有限公司 | Wrist rehabilitation training device with multiple degrees of freedom |
| CN116138989B (en) * | 2022-12-27 | 2024-05-24 | 北京盈以康机器人科技有限公司 | Wrist rehabilitation training device with multiple degrees of freedom |
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