CN203425068U - Six-degree-of-freedom artificial arm driven by electromyographic signals - Google Patents
Six-degree-of-freedom artificial arm driven by electromyographic signals Download PDFInfo
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- CN203425068U CN203425068U CN201320456697.4U CN201320456697U CN203425068U CN 203425068 U CN203425068 U CN 203425068U CN 201320456697 U CN201320456697 U CN 201320456697U CN 203425068 U CN203425068 U CN 203425068U
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Abstract
The utility model discloses a six-degree-of-freedom artificial arm driven by electromyographic signals. Six degrees of freedom including flexion-extension of a shoulder joint, rotation of an upper arm, flexion-extension of an elbow joint, rotation of a front arm, flexion-extension of a wrist joint and stretching-holding of fingers are provided. The six-degree-of-freedom artificial arm comprises an artificial shoulder joint, an artificial upper arm, an artificial elbow joint, an artificial front arm, an artificial wrist joint and an artificial hand which are movably connected in sequence from top to bottom, wherein the artificial shoulder joint is worn on a shoulder of a patient; the artificial upper arm is movably connected with the artificial shoulder joint through a driving motor; the artificial elbow joint is movably connected with the artificial upper arm through a driving motor; the artificial front arm is movably connected with the artificial elbow joint through a driving motor; the artificial wrist joint is movably connected with the artificial front arm through a driving motor; the artificial hand is movably connected with the artificial wrist joint through a driving motor so as to realize gripping and holding. According to the six-degree-of-freedom artificial arm, actions needing to be completed by the patient are completed via motion of the artificial arm, and the patient is helped to complete complex actions such as taking, tooth brushing, water drinking and the like; the six-degree-of-freedom artificial arm has a wide market application prospect.
Description
Technical field
The utility model relates to a kind of device of medical rehabilitation instrument field, specifically a kind of 6DOF artificial limb arm being driven by electromyographic signal.
Background technology
Rehabilitation medicine is the new branch of science occurring mid-term in 20th century, its object is to pass through physiotherapy, exercise therapy, life training, skill training, the multiple means such as speech training and psychological counselling alleviate and eliminate patient's dysfunction, the function of health residual fraction is fully played most, make up the afunction with reconstruction patients, reach taking care of oneself of maximum possible, the ability of work and work.Along with the increase of various natural disasters, accident, the quantity of extremity disabled persons is also increasing year by year.For the people with disability of amputation, current modal recovery measure is that artificial limb is installed, to obtain basic limb function.
Through finding for existing technical literature retrieval.
Chinese utility model patent publication number: CN102895051, title: a kind of below-knee prosthesis with power ankle.The degree of freedom in a joint is only provided, and can not have identified patient's motion intention, the scope of application is limited.
Chinese utility model patent publication number: CN202568539, title: the electronic control artigicial arm of short two degrees of freedom.The degree of freedom of wrist with two joints of finger is only provided, and driven by planet wheel decelerator, still had the unavoidable defects such as turn error.
Chinese utility model patent publication number: CN101836908, title: integral light and beautiful myoelectric hand.Only for thumb degree of freedom, drive, cannot complete actions such as approximate real " grasping ".
Utility model content
This utility model, for prior art above shortcomings, provides a kind of 6DOF artificial limb arm being driven by electromyographic signal, and electromyographic signal prediction patient's that can be by patient motion is intended to, and the motion by artificial limb completes the required action completing of patient.6 degree of freedom that comprise shoulder, upper arm, elbow, forearm, wrist, finger by means of it, the complicated action such as can help patient to complete to take, brush teeth, drink water.
This utility model is achieved through the following technical solutions:
A kind of 6DOF artificial limb arm being driven by electromyographic signal, provide shoulder joint to bend and stretch, upper arm rotation, elbow joint bends and stretches, forearm rotation, carpal joint bends and stretches, finger is held totally 6 degree of freedom, comprise the shoulder joint artificial limb being from top to bottom flexibly connected successively, above elbow prosthesis, elbow joint artificial limb, artigicial arm, carpal joint artificial limb, hand artificial limb, described shoulder joint prosthetic wearing is in patient's shoulder, above elbow prosthesis is movably connected by drive motors and shoulder joint artificial limb, elbow joint artificial limb is movably connected by drive motors and above elbow prosthesis, artigicial arm is movably connected by drive motors and elbow joint artificial limb, carpal joint artificial limb is movably connected by drive motors and artigicial arm, hand artificial limb is movably connected to realize by drive motors and carpal joint artificial limb and grasps.
Further, described shoulder joint artificial limb comprises that shoulder joint fixture, shoulder joint bend and stretch motor, shoulder joint upper arm connector, described shoulder joint is bent and stretched motor and is comprised disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, two flange coaxials, relatively rotate, drive shoulder joint to bend and stretch degree of freedom, shoulder joint fixture is worn on patient's shoulder, and the inner flange that shoulder joint is bent and stretched motor is connected with shoulder joint fixture; The outward flange that shoulder joint upper arm connector bends and stretches motor with shoulder joint is connected.
Further, described above elbow prosthesis comprises upper arm shell, upper arm rotary flange, upper arm electric rotating machine, upper arm turntable, described upper arm electric rotating machine uses disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, two flange coaxials, relatively rotate, drive upper arm rotary freedom, upper arm shell is connected with shoulder joint upper arm connector, forms the upper arm of artificial limb; Upper arm rotary flange is connected with upper arm shell; The outward flange of upper arm electric rotating machine is connected with upper arm rotary flange; Upper arm turntable is connected with the inner flange of upper arm electric rotating machine, relatively rotates with upper arm rotary flange.
Further, described elbow joint artificial limb comprises that elbow joint upper arm connector, elbow joint bend and stretch motor, elbow joint forearm connector, elbow joint bends and stretches motor and uses disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, and two flange coaxials, relatively rotate, drive elbow joint to bend and stretch degree of freedom, elbow joint upper arm connector is connected with upper arm turntable; The outward flange that elbow joint bends and stretches motor is connected with elbow joint upper arm connector; Elbow joint forearm connector is connected with the inner flange that elbow joint bends and stretches motor.
Further, described artigicial arm comprises forearm shell, forearm rotary flange, forearm electric rotating machine, forearm turntable, described forearm rotary flange is used disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, two flange coaxials, relatively rotate, drive forearm rotary freedom, upper forearm shell is connected with elbow joint forearm connector, forms the upper arm of artificial limb; Upper forearm rotary flange is connected with forearm shell; The outward flange of forearm electric rotating machine is connected with forearm rotary flange; Forearm turntable is connected with the inner flange of forearm electric rotating machine, relatively rotates with forearm rotary flange.
Further, described carpal joint artificial limb comprises that carpal joint motor cabinet, carpal joint bend and stretch motor, hand artificial limb, described carpal joint bends and stretches motor and uses disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, and two flange coaxials, relatively rotate, drive carpal joint to bend and stretch degree of freedom, carpal joint motor cabinet is connected with forearm turntable; The outward flange that carpal joint bends and stretches motor is connected with carpal joint motor cabinet; Hand artificial limb is connected with the inner flange that carpal joint bends and stretches motor.
Further, described hand artificial limb comprises pointing to open holds motor, forefinger and middle finger, finger connecting rod, thumb, described finger is opened and is held motor use disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, and two flange coaxials, relatively rotate, drive finger to hold degree of freedom, the outward flange that finger is held motor is connected with hand artificial limb; Forefinger and middle finger and finger are opened the inner flange of holding motor and are connected; Finger connecting rod is connected with forefinger and middle finger, plays interlock effect; Two rotating shafts of thumb are connected with hand artificial limb, finger connecting rod respectively, and when forefinger and middle finger are held with a firm grip, connecting rod promotes the rear portion of thumb and moves as palm of the hand direction, and thumb is held with a firm grip naturally.
Compared with prior art, the beneficial effects of the utility model are: this utility model has the artificial limb arm of 6DOF by setting, realization can predict that patient's motion is intended to by patient's electromyographic signal, motion by artificial limb completes the required action completing of patient, help patient to complete the action of complexity such as taking, brush teeth, drink water, possess market application foreground widely.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of this utility model embodiment.
Fig. 2 is the shoulder joint artificial limb structural representation of this utility model embodiment.
Fig. 3 is the above elbow prosthesis structural representation of this utility model embodiment.
Fig. 4 is the elbow joint artificial limb structural representation of this utility model embodiment.
Fig. 5 is the artigicial arm structural representation of this utility model embodiment.
Fig. 6 is the carpal joint artificial limb structural representation of this utility model embodiment.
Fig. 7 is the hand artificial limb structural representation of this utility model embodiment.
The specific embodiment
Below in conjunction with drawings and Examples, this utility model is described in further detail.
As shown in Figure 1, a kind of 6DOF artificial limb arm being driven by electromyographic signal, provide shoulder joint to bend and stretch, upper arm rotation, elbow joint bends and stretches, forearm rotation, carpal joint bends and stretches, finger is held totally 6 degree of freedom, it is characterized in that: comprise the shoulder joint artificial limb 1 being from top to bottom flexibly connected successively, above elbow prosthesis 2, elbow joint artificial limb 3, artigicial arm 4, carpal joint artificial limb 5, hand artificial limb 6, described shoulder joint artificial limb 1 is worn on patient's shoulder, above elbow prosthesis 2 is movably connected by drive motors and shoulder joint artificial limb 1, elbow joint artificial limb 3 is movably connected by drive motors and above elbow prosthesis 1, artigicial arm 4 is movably connected by drive motors and elbow joint artificial limb 3, carpal joint artificial limb 5 is movably connected by drive motors and artigicial arm 4, hand artificial limb 6 is movably connected to realize by drive motors and carpal joint artificial limb 5 and grasps, during the described 6DOF artificial limb arm work being driven by electromyographic signal, by electromyographic signal collection instrument, gathered patient's electromyographic signal, judge patient's motion intention, by being installed on 6 drive motors of artificial limb, move, complete the needed action of patient.
As shown in Figure 2, described shoulder joint artificial limb 1 comprises that shoulder joint fixture 7, shoulder joint bend and stretch motor 8, shoulder joint upper arm connector 9, described shoulder joint is bent and stretched motor 8 and is comprised disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, two flange coaxials, relatively rotate, drive shoulder joint to bend and stretch degree of freedom, shoulder joint fixture 7 is worn on patient's shoulder, and the inner flange that shoulder joint is bent and stretched motor 8 is connected with shoulder joint fixture 7; The outward flange that shoulder joint upper arm connector 9 bends and stretches motor 8 with shoulder joint is connected.
As shown in Figure 3, described above elbow prosthesis 2 comprises upper arm shell 10, upper arm rotary flange 11, upper arm electric rotating machine 12, upper arm turntable 13, described upper arm electric rotating machine 12 uses disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, two flange coaxials, relatively rotate, drive upper arm rotary freedom, upper arm shell 10 is connected with shoulder joint upper arm connector 9, forms the upper arm of artificial limb; Upper arm rotary flange 11 is connected with upper arm shell 10; The outward flange of upper arm electric rotating machine 12 is connected with upper arm rotary flange 11; Upper arm turntable 13 is connected with the inner flange of upper arm electric rotating machine 12, relatively rotates with upper arm rotary flange 11.
As shown in Figure 4, described elbow joint artificial limb 3 comprises that elbow joint upper arm connector 14, elbow joint bend and stretch motor 15, elbow joint forearm connector 16, elbow joint bends and stretches motor 15 and uses disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, and two flange coaxials, relatively rotate, drive elbow joint to bend and stretch degree of freedom, elbow joint upper arm connector 14 is connected with upper arm turntable 13; The outward flange that elbow joint bends and stretches motor 15 is connected with elbow joint upper arm connector 14; Elbow joint forearm connector 16 is connected with the inner flange that elbow joint bends and stretches motor 15.
As shown in Figure 5, described artigicial arm 4 comprises forearm shell 17, forearm rotary flange 18, forearm electric rotating machine 19, forearm turntable 20, described forearm rotary flange 18 is used disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, two flange coaxials, relatively rotate, drive forearm rotary freedom, upper forearm shell 17 is connected with elbow joint forearm connector 16, forms the upper arm of artificial limb; Upper forearm rotary flange 18 is connected with forearm shell 17; The outward flange of forearm electric rotating machine 19 is connected with forearm rotary flange 18; Forearm turntable 20 is connected with the inner flange of forearm electric rotating machine 19, relatively rotates with forearm rotary flange 18.
As shown in Figure 6, described carpal joint artificial limb 5 comprises that carpal joint motor cabinet 21, carpal joint bend and stretch motor 22, hand artificial limb 23, described carpal joint bends and stretches motor 22 and uses disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, and two flange coaxials, relatively rotate, drive carpal joint to bend and stretch degree of freedom, carpal joint motor cabinet 21 is connected with forearm turntable 20; The outward flange that carpal joint bends and stretches motor 22 is connected with carpal joint motor cabinet 21; Hand artificial limb 23 is connected with the inner flange that carpal joint bends and stretches motor 22.
As shown in Figure 7, described hand artificial limb 6 comprises pointing to open holds motor 24, forefinger and middle finger 25, finger connecting rod 26, thumb 27, described finger is opened and is held motor 24 use disc type electric machine and harmonic speed reducers, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, and two flange coaxials, relatively rotate, drive finger to hold degree of freedom, the outward flange that finger is held motor 24 is connected with hand artificial limb 23; Forefinger and middle finger 25 are connected with the inner flange that finger is held motor 24; Finger connecting rod 26 is connected with forefinger and middle finger 25, plays interlock effect; Two rotating shafts of thumb 27 are connected with hand artificial limb 23, finger connecting rod 26 respectively, and when forefinger and middle finger 25 are held with a firm grip, connecting rod promotes the rear portion of thumb 27 and moves as palm of the hand direction, and thumb 27 is held with a firm grip naturally.
Above-described embodiment of the present utility model is only for this utility model example is clearly described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all embodiments.All any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in the protection domain of this utility model claim.
Claims (7)
1. the 6DOF artificial limb arm being driven by electromyographic signal, provide shoulder joint to bend and stretch, upper arm rotation, elbow joint bends and stretches, forearm rotation, carpal joint bends and stretches, finger is held totally 6 degree of freedom, it is characterized in that: comprise the shoulder joint artificial limb (1) being from top to bottom flexibly connected successively, above elbow prosthesis (2), elbow joint artificial limb (3), artigicial arm (4), carpal joint artificial limb (5), hand artificial limb (6), described shoulder joint artificial limb (1) is worn on patient's shoulder, above elbow prosthesis (2) is movably connected by drive motors and shoulder joint artificial limb (1), elbow joint artificial limb (3) is movably connected by drive motors and above elbow prosthesis (1), artigicial arm (4) is movably connected by drive motors and elbow joint artificial limb (3), carpal joint artificial limb (5) is movably connected by drive motors and artigicial arm (4), hand artificial limb (6) is movably connected to realize by drive motors and carpal joint artificial limb (5) and grasps.
2. the 6DOF artificial limb arm being driven by electromyographic signal according to claim 1, it is characterized in that: described shoulder joint artificial limb (1) comprises shoulder joint fixture (7), shoulder joint is bent and stretched motor (8), shoulder joint upper arm connector (9), described shoulder joint is bent and stretched motor (8) and is comprised disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, two flange coaxials, relatively rotate, drive shoulder joint to bend and stretch degree of freedom, shoulder joint fixture (7) is worn on patient's shoulder, the inner flange that shoulder joint is bent and stretched motor (8) is connected with shoulder joint fixture (7), shoulder joint upper arm connector (9) is connected with the outward flange that shoulder joint is bent and stretched motor (8).
3. the 6DOF artificial limb arm being driven by electromyographic signal according to claim 1, it is characterized in that: described above elbow prosthesis (2) comprises upper arm shell (10), upper arm rotary flange (11), upper arm electric rotating machine (12), upper arm turntable (13), described upper arm electric rotating machine (12) uses disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, two flange coaxials, relatively rotate, drive upper arm rotary freedom, upper arm shell (10) is connected with shoulder joint upper arm connector (9), form the upper arm of artificial limb, upper arm rotary flange (11) is connected with upper arm shell (10), the outward flange of upper arm electric rotating machine (12) is connected with upper arm rotary flange (11), upper arm turntable (13) is connected with the inner flange of upper arm electric rotating machine (12), relatively rotates with upper arm rotary flange (11).
4. the 6DOF artificial limb arm being driven by electromyographic signal according to claim 1, it is characterized in that: described elbow joint artificial limb (3) comprises elbow joint upper arm connector (14), elbow joint bends and stretches motor (15), elbow joint forearm connector (16), elbow joint bends and stretches motor (15) and uses disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, two flange coaxials, relatively rotate, drive elbow joint to bend and stretch degree of freedom, elbow joint upper arm connector (14) is connected with upper arm turntable (13), the outward flange that elbow joint bends and stretches motor (15) is connected with elbow joint upper arm connector (14), elbow joint forearm connector (16) is connected with the inner flange that elbow joint bends and stretches motor (15).
5. the 6DOF artificial limb arm being driven by electromyographic signal according to claim 1, it is characterized in that: described artigicial arm (4) comprises forearm shell (17), forearm rotary flange (18), forearm electric rotating machine (19), forearm turntable (20), described forearm rotary flange (18) is used disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, two flange coaxials, relatively rotate, drive forearm rotary freedom, upper forearm shell (17) is connected with elbow joint forearm connector (16), form the upper arm of artificial limb, upper forearm rotary flange (18) is connected with forearm shell (17), the outward flange of forearm electric rotating machine (19) is connected with forearm rotary flange (18), forearm turntable (20) is connected with the inner flange of forearm electric rotating machine (19), relatively rotates with forearm rotary flange (18).
6. the 6DOF artificial limb arm being driven by electromyographic signal according to claim 1, it is characterized in that: described carpal joint artificial limb (5) comprises that carpal joint motor cabinet (21), carpal joint bend and stretch motor (22), hand artificial limb (23), described carpal joint bends and stretches motor (22) and uses disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, two flange coaxials, relatively rotate, drive carpal joint to bend and stretch degree of freedom, carpal joint motor cabinet (21) is connected with forearm turntable (20); The outward flange that carpal joint bends and stretches motor (22) is connected with carpal joint motor cabinet (21); Hand artificial limb (23) is connected with the inner flange that carpal joint bends and stretches motor (22).
7. the 6DOF artificial limb arm being driven by electromyographic signal according to claim 1, it is characterized in that: described hand artificial limb (6) comprises pointing to open holds motor (24), forefinger and middle finger (25), finger connecting rod (26), thumb (27), described finger is opened and is held motor (24) use disc type electric machine and harmonic speed reducer, be output as two flanges, inner flange is connected with harmonic speed reducer flexbile gear, outward flange is connected with Rigid Gear of Harmonic Reducer, two flange coaxials, relatively rotate, drive finger to hold degree of freedom, the outward flange that finger is held motor (24) is connected with hand artificial limb (23); Forefinger and middle finger (25) are connected with the inner flange that finger is held motor (24); Finger connecting rod (26) is connected with forefinger and middle finger (25), plays interlock effect; Two rotating shafts of thumb (27) are connected with hand artificial limb (23), finger connecting rod (26) respectively, when forefinger and middle finger (25) are held with a firm grip, connecting rod promotes the rear portion of thumb (27) as the motion of palm of the hand direction, and thumb (27) is held with a firm grip naturally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320456697.4U CN203425068U (en) | 2013-07-30 | 2013-07-30 | Six-degree-of-freedom artificial arm driven by electromyographic signals |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320456697.4U CN203425068U (en) | 2013-07-30 | 2013-07-30 | Six-degree-of-freedom artificial arm driven by electromyographic signals |
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| CN203425068U true CN203425068U (en) | 2014-02-12 |
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| CN201320456697.4U Withdrawn - After Issue CN203425068U (en) | 2013-07-30 | 2013-07-30 | Six-degree-of-freedom artificial arm driven by electromyographic signals |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103356312A (en) * | 2013-07-30 | 2013-10-23 | 华南理工大学 | Six degrees of freedom artificial limb arm driven by electromyographic signal |
| CN104440873A (en) * | 2014-11-03 | 2015-03-25 | 贵州亿丰升华科技机器人有限公司 | Robot arm with six degrees of freedom |
| CN108524192A (en) * | 2018-04-20 | 2018-09-14 | 重庆邮电大学 | Wearable forearm initiative rehabilitation with myoelectricity perception trains exoskeleton device |
| CN110123496A (en) * | 2019-05-20 | 2019-08-16 | 上海交通大学 | Upper extremity exercise function compensation equipment |
-
2013
- 2013-07-30 CN CN201320456697.4U patent/CN203425068U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103356312A (en) * | 2013-07-30 | 2013-10-23 | 华南理工大学 | Six degrees of freedom artificial limb arm driven by electromyographic signal |
| CN103356312B (en) * | 2013-07-30 | 2015-10-28 | 华南理工大学 | A kind of 6DOF artificial limb arm driven by electromyographic signal |
| CN104440873A (en) * | 2014-11-03 | 2015-03-25 | 贵州亿丰升华科技机器人有限公司 | Robot arm with six degrees of freedom |
| CN108524192A (en) * | 2018-04-20 | 2018-09-14 | 重庆邮电大学 | Wearable forearm initiative rehabilitation with myoelectricity perception trains exoskeleton device |
| CN110123496A (en) * | 2019-05-20 | 2019-08-16 | 上海交通大学 | Upper extremity exercise function compensation equipment |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20140212 Effective date of abandoning: 20151028 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |