CN203841986U - Portable two-degree-of-freedom wrist joint rehabilitation robot - Google Patents
Portable two-degree-of-freedom wrist joint rehabilitation robot Download PDFInfo
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- CN203841986U CN203841986U CN201420159237.XU CN201420159237U CN203841986U CN 203841986 U CN203841986 U CN 203841986U CN 201420159237 U CN201420159237 U CN 201420159237U CN 203841986 U CN203841986 U CN 203841986U
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Abstract
The utility model discloses a portable two-degree-of-freedom wrist joint rehabilitation robot. The portable two-degree-of-freedom wrist joint rehabilitation robot comprises arm frames, hand back frames and two-degree-of-freedom driving mechanisms; the arm frames are worn on the outer sides of human body forearms respectively; the hand back frames are worn at the positions of human body hand backs respectively; the arm frames are connected with the hand back frames through the two-degree-of-freedom driving mechanisms respectively; each two-degree-of-freedom driving mechanism comprises a sliding mechanism, a pneumatic muscle mechanism, a rotary joint, a driving connecting rod and a driven connecting rod, wherein the rotary joint is controlled by the driving force of pneumatic muscles so as to enable the driving connecting rod and the driven connecting rod to drive the corresponding hand back frame to achieve flexion and extension rehabilitation training of corresponding wrist joints; each two-degree-of-freedom driving mechanism also comprises a center column, an arc-shaped rack, a cylindrical gear and a guide rail which are fixed on the outer side of the corresponding hand back frame and the cylindrical gear is driven by a motor to rotate to enable the corresponding hand back frame to drive the swing motion of the corresponding wrist. The portable two-degree-of-freedom wrist joint rehabilitation robot can be beneficial to the portability and home use and the gain amplification effect on control on the joint angle rotation is achieved.
Description
Technical field
This utility model relates to medical instruments field, and specifically a kind of portable two degrees of freedom carpal joint recovery exercising robot, is specially adapted to the early stage carpal joint rehabilitation training of stroke patient.
Background technology
Along with the aggravation of China's aged tendency of population, follow the health problem in aging process, physiological function decline causes the motility of extremity constantly to decline, and in older population, apoplexy is as the healthy disease of serious threat middle-aged and elderly people, and sickness rate has the trend rising year by year.This disease can cause the forfeiture of limbs of patient motor function, i.e. hemiplegia.And upper limb hemiplegia has affected patient's activity of daily living especially greatly.At present, clinically hemiplegic patient's treatment is mainly depended on therapist's man-to-man free-hand training, when wasting time and energy, also lack and quantize and objective appraisal.For the problem of during rehabilitation training, robot-aided training technology safe, that quantitatively can carry out repetition training is arisen at the historic moment.Research shows, reconstruction and the rehabilitation of the motor function of the supplemental training of healing robot to patient are useful.
At present, for the research of upper limb rehabilitation robot, external recovering aid Therapy robot equipment is existing a lot; And domestic research is started late, but some scientific research institutions and colleges and universities have also launched research, and obtain gratifying progress, as disclosed a kind of two degrees of freedom upper limb rehabilitation robot in CN103417361A, the early stage upper limb rehabilitation robot of disclosed Three Degree Of Freedom apoplexy in CN103340734A, disclosed a kind of Three-freedom-degree hybrid upper limb rehabilitation robot in CN103083156A, but existing research exists following problem: (1) complex structure, quality are large, use inconvenience; (2) cost is high, expensive; (3) main body drives rigidity large, flexible poor, and this is to cause upper limb rehabilitation robot to be difficult to the basic reason universal towards patient family.
Utility model content
For the above defect of prior art, the purpose of this utility model is to propose a kind of portable two degrees of freedom carpal joint healing robot little, cost is low, compliance is large of conducting oneself with dignity, and can with compact conformation, be convenient to manipulation mode realize the pitching of stroke patient carpal joint and wave rehabilitation training.
For achieving the above object, according to the present invention, portable two degrees of freedom carpal joint healing robot is provided, comprise be intended to be worn in human body forearm outside arm frame, be intended to be worn in the back of the hand frame at human body the back of the hand place and for connecting the two degrees of freedom driving mechanism of described arm frame and the back of the hand frame, wherein:
Described two degrees of freedom driving mechanism comprises slide mechanism, pneumatic muscles mechanism, rotary joint, drive connecting rod and follower link;
Described pneumatic muscles mechanism slides and is arranged at the top of described slide mechanism, and described rotary joint slides and is arranged at a side of described slide mechanism;
Described drive connecting rod one end is connected with described rotary joint output rotating shaft, and the other end is connected with the back of the hand frame, and described follower link one end is connected with the opposite side of described slide mechanism, and the other end is connected with the back of the hand frame;
Described pneumatic muscles mechanism is connected with described rotary joint by brake cable and forms drive mechanism, and drives rotary joint to move back and forth on slide mechanism, thereby realizes around carpal elevating movement by described drive connecting rod, follower link drive the back of the hand frame;
Described two degrees of freedom driving mechanism also comprises center stand column, arc-shaped rack, roller gear, guide rail;
Described center stand column, arc-shaped rack, roller gear, guide rail are fixed on the upside of described the back of the hand frame successively;
Described slide mechanism front portion is anchored on the top of described center stand column by bearing pin, back support is on guide rail;
On described slide mechanism, be provided with motor, described roller gear is by being connected with described motor output shaft, and engage with described arc-shaped rack form drive mechanism, thereby drive slide mechanism and pneumatic muscles mechanism to move back and forth along arc-shaped rack taking bearing pin as axle, thereby drive the back of the hand frame to realize carpal oscillating motion by drive connecting rod, follower link.
Described slide mechanism comprises sliding platform, 4 line slide rails, 4 slide blocks, and slide block is supporting with described line slide rail respectively, for the fixing parts of supporting slip; In described line slide rail, 2 are individually fixed in sliding platform two sides, and for supporting the slip of rotary joint and follower link, another 2 keep at a certain distance away and parallel are fixed on sliding platform end face, for supporting the slip of pneumatic muscles mechanism;
Described pneumatic muscles mechanism comprises 2 pneumatic muscles, 2 L shaped pneumatic muscles connecting plates, front end connecting plate, rear end connecting plate;
Described 2 L shaped pneumatic muscles connecting plates are connected with 2 slide blocks of sliding platform end face respectively;
Described front and back ends connecting plate is individually fixed in sliding platform rear and front end face;
Described 2 pneumatic muscles openings are connected with described rear end connecting plate, and pneumatic muscles blind end is connected with described 2 L shaped pneumatic muscles connecting plates respectively.
The slide block of described sliding platform two sides is connected with 2 little connecting plates respectively, and 2 little connecting plates connect rotary joint and follower link.
Described rotary joint is made up of wheel and rotary joint top cover in rotary joint drain pan, rotary joint, and described brake cable is connected and forms drive mechanism with wheel in described rotary joint.
Described brake cable operation principle is bicycle brake brake cable, and brake cable crust is equivalent to a track, and inner core is a line that intensity is high, and when pneumatic muscles driving force draws inner core, inner core and crust generation relative displacement, arrive rotary joint by strength transmission;
Further, described center stand column is zigzag;
Further, described guide rail is stand upside down T-shaped, utilizes T-shaped vertical portion to support in the time carrying out oscillating motion along with arc track slide mechanism, utilizes T-shaped bar anyhow that guide rail is fixed on arm frame;
By the portable two degrees of freedom carpal joint healing robot of conceiving above according to this utility model, the beneficial effect obtaining is: adopt the driving mechanism of the higher pneumatic muscles of power/deadweight as elevating movement, the deadweight that has alleviated device, has reduced cost of manufacture; The soft drive of pneumatic muscles is tried hard to keep and is demonstrate,proved patient's training of safety; The driving mechanism waving as carpal joint with micromachine, has saved Machine Design space; As driving being connected between joint, avoid the space constraints of strainer with brake cable replacement steel wire rope; Integrated model weight is lighter, and it is convenient to dress, and is beneficial to portability and domestic; Realize carpal joint flexor by circular motion and straight-line composite motion, the control of rotation joint angle has been played to the effect that gain is amplified.
Brief description of the drawings
Fig. 1 is according to the overall structure schematic diagram of portable two degrees of freedom carpal joint recovery exercising robot of the present utility model;
Fig. 2 is the assembling schematic diagram according to the sliding platform of this utility model preferred embodiment;
Fig. 3 is according to the schematic diagram of the rotary joint installation diagram in this utility model;
Wherein:
1-arm frame 2-the back of the hand frame 3-sliding platform 4-T shape guide rail 5-arc-shaped rack 6-Z font center stand column 7-bearing pin 8, 9, 10, 11-line slide rail 12, 13, 14, 15-slide block 16-front end connecting plate 17-rear end connecting plate 18, the little connecting plate 20 of 19-, 21-L shape pneumatic muscles connecting plate 22-rotary joint 23-drive connecting rod 24-follower link 25, 26-pneumatic muscles 27-micromachine 28-roller gear 29, wheel 32-rotary joint drain pan 33-rotary joint top cover in 30-brake cable 31-rotary joint
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, this utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, and be not used in restriction this utility model.
Referring to Fig. 1,2, Fig. 1 is that Fig. 2 is the assembling schematic diagram according to the sliding platform of a preferred embodiment of the present utility model according to portable two degrees of freedom recovery exercising robot overall structure figure of the present utility model.As shown in Fig. 1,2, a kind of portable two degrees of freedom carpal joint healing robot, comprises arm frame 1, two degrees of freedom driving mechanism, the back of the hand frame 2;
Arm frame 1 is worn on human body forearm outside by magic band; The back of the hand frame 2 is worn on human body the back of the hand place by magic band;
Two degrees of freedom driving mechanism comprises slide mechanism, pneumatic muscles mechanism, rotary joint 22, drive connecting rod 23 and follower link 24;
Pneumatic muscles mechanism slides and is arranged at the top of described slide mechanism, and rotary joint 22 slides and is arranged at a side of described slide mechanism;
Drive connecting rod 23 one end are connected with rotary joint 22 output rotating shafts, and the other end is connected with the back of the hand frame 2, and follower link 24 one end are connected with the opposite side of slide mechanism, and the other end is connected with the back of the hand frame 2;
Pneumatic muscles mechanism is by brake cable 29,30 are connected with rotary joint 22 forms drive mechanism, and drive rotary joint 22 to move back and forth on slide mechanism, thereby drive the back of the hand frame 2 to realize around carpal elevating movement by described drive connecting rod 23, follower link 24;
Slide mechanism comprises 8,9,10,11,4 slide blocks 12,13,14,15 of 3,4 line slide rails of sliding platform, slide block 12,13,14,15 respectively with line slide rail 8,9,10,11 is supporting, for the fixing parts that slide supported; In line slide rail, 2 10,11 are individually fixed in sliding platform 3 two sides, and for supporting the slip of rotary joint 22 and follower link 24, another 28,9 walk abreast and are fixed on sliding platform end face by keeping at a certain distance away, for supporting the slip of pneumatic muscles mechanism;
Pneumatic muscles mechanism is by brake cable 29,30 are connected with rotary joint 22 forms drive mechanism, and drive rotary joint 22 to move back and forth on slide mechanism, thereby drive the back of the hand frame 2 to realize around carpal elevating movement by described drive connecting rod 23, follower link 24;
Two degrees of freedom driving mechanism also comprises Z-shaped center stand column 6, arc-shaped rack 5, roller gear 28, T shape guide rail 4;
Z-shaped center stand column 6, arc-shaped rack 5, roller gear 28, T shape guide rail 4 are fixed on the upside of described the back of the hand frame 2 successively;
Slide mechanism front portion is anchored on the top of described center stand column 6 by bearing pin 7, back support is on guide rail 4.
On slide mechanism, be provided with motor 27, roller gear 28 is by being connected with described motor 27 output shafts, and engage with described arc-shaped rack 5 form drive mechanism, thereby drive slide mechanism and pneumatic muscles mechanism to move back and forth taking bearing pin 7 as axle along arc-shaped rack 5, thereby drive the back of the hand frame 2 to realize carpal oscillating motion by drive connecting rod 23, follower link 24.
Sliding platform 3 connects with described zigzag center stand column 6 through embedded bearing by bearing pin 7; Bearing pin 7 ends are fastening by jackscrew and described zigzag center stand column 6; In line slide rail, 2 10,11 are connected with sliding platform two sides respectively by holding screw, and another 28,9 are fixed on sliding platform 3 end faces by the walk abreast segment distance of being separated by of holding screw; 4 slide blocks 12,13,14,15 are supporting to limit the shrinkage direction of pneumatic muscles and the moving direction of connecting rod end with described line slide rail 8,9,10,11 respectively; Front and back ends connecting plate 16,17 is individually fixed in sliding platform rear and front end face by holding screw; 2 little connecting plates 18,19 are connected in order to 2 connecting rods 23,24 and the slide block 14,15 of transferring with the slide block 14,15 of sliding platform two sides respectively by holding screw; 2 L shaped pneumatic muscles connecting plates 20,21 are connected with 2 slide blocks 12,13 of sliding platform end face respectively by holding screw; Rotary joint 22 is connected with the little connecting plate 18 of sliding platform one side by holding screw; Drive connecting rod 23 one end are connected with rotary joint 22 output shafts by key, and the other end is connected with the back of the hand frame 2 by axle sleeve screw; Follower link 24 one end are connected with the described little connecting plate 19 of non-rotating joint side by axle sleeve screw, and the other end is connected with the back of the hand frame 2 by axle sleeve screw.
2 pneumatic muscles 25,26 openings are connected with described rear end connecting plate 17 by holding screw, and pneumatic muscles 25,26 blind ends are connected with described 2 L shaped pneumatic muscles connecting plates 20,21 respectively by holding screw; L shaped pneumatic muscles connecting plate 20,21 by brake cable 29,30 with in described rotary joint, take turns the 31 formation drive mechanisms that are connected.
Motor 27 is connected with sliding platform 3 by jackscrew; Roller gear 28 is connected with micromachine 27 output shafts by jackscrew, and engage with arc-shaped rack 5 form drive mechanism, make electric machine rotation drive slide mechanism and pneumatic muscles mechanism entirety to move back and forth along arc-shaped rack 5 by the engagement of wheel and rack, form carpal rocking action.
Rotary joint 22 as shown in Figure 3, by rotary joint drain pan 32, rotary joint, take turns 31 and rotary joint top cover 33 form; Wherein in rotary joint wheel 31 be disc structure and in the center of its end face with cylindrical boss, inside take turns the side of disk and dug crossed beam trunking and cable-through hole, in order to guide the core of bicycle brake brake cable, and fixing line end; Its cylindrical boss interval an angle of 90 degrees, discrete 3 key teeth, in order to drive connecting rod 23 on keyway inlay connection for transmission; Inside taking turns end face has 2 sections of circular arcs to connect interior groove of taking turns end face and bottom surface around cylindrical boss, in order to pass through fixed/limited screw; Rotary joint drain pan 32 is an end face central authorities borehole, and drills through the cylindrical shell of 2 apertures in limit, hole symmetry, on cylindrical shell lateral surface along 2 of the tangential direction projections of taking turns 31 crossed beam trunking centrages in rotary joint the cylindrical boss with through hole; The effect of rotary joint drain pan 32 is in rotary joint, to take turns 31 parcels, make the cannula end of brake cable be limited in the boss end face in its outside, and core is penetrated by the through hole at boss center; Macropore digs in order to by interior cylinder boss of taking turns 31 central authorities in cylindrical shell end face central authorities, and 2 little spacing holes are corresponding with interior centrage of taking turns upper 2 sections of arc-shaped slot pass apart from the position at end face center, in order to by fixed/limited screw; Rotary joint top cover 33 is a thin column, and the spacing hole position of end face corresponding rotation joint drain pan 32 is drilled with 2 same spacing holes in order to pass through fixed/limited screw; When assembling, with 2 long screws successively through taking turns 31 groove in the spacing hole of rotary joint top cover 33, rotary joint, the spacing hole of rotary joint bottom 32 couples together 3 ingredients of rotary joint to form rotary joint 22, and it is fixed on little connecting plate 18;
The concrete use procedure of this example is as follows:
The motion of carpal flexion/extension, adopts " pneumatic muscles to " 25,26 to drive rotary joint in the mode of agonist 25-Antagonistic muscle 26.In the time inflating to agonist 25, agonist 25 is expanded and is made its compresses in length, meanwhile, makes its length extending thereby Antagonistic muscle 26 is shunk Antagonistic muscle 26 venting, by above-mentioned " pneumatic muscles to " to drawing effect, the rectilinear motion of pneumatic muscles is changed into the circular motion of rotary joint 22.
Drive rotary joints 22 to drive described drive connecting rod 23 to move in a circle around axle by " pneumatic muscles to " 25,26, thereby drive the back of the hand frame 2 to move in a circle around carpal joint.The back of the hand frame is in the time that carpal joint moves in a circle, the component that radially produced along circumference acts on human body the back of the hand, its counteracting force is by active, follower link 23,24 transmit, thereby promote rotary joint 22 motion backward on slideway 10, to compensate the change of distance between rotary joint 22 and the back of the hand frame 2.Therefore, by rotary joint 22 rotations and the compound motion that rotary joint 22 produces along the rectilinear motion of slideway 10, drive the back of the hand frame 2 to be rotated around carpal joint, thereby realize the training of wrist joint being carried out to pitching action.
Carpal oscillating motion, the mode that adopts micromachine 27 to drive roller gear 28 to carry out circular motion along arc-shaped rack 5 realizes.Micromachine 27 is embedded in sliding platform 3, its rotation drives whole sliding platform 3 to move in a circle along arc-shaped rack 5 by gear 28 and engaging of arc-shaped rack 5, thereby drive the back of the hand frame 2 to do oscillating motion around carpal joint, to realize, patient is carpal waves training.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present utility model; not in order to limit this utility model; all any amendments 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 protection domain of the present utility model.
Claims (5)
1. a portable two degrees of freedom carpal joint healing robot, comprise be intended to be worn in human body forearm outside arm frame (1), be intended to be worn in the back of the hand frame (2) at human body the back of the hand place and for connecting the two degrees of freedom driving mechanism of described arm frame (1) and the back of the hand frame (2), wherein:
Described two degrees of freedom driving mechanism comprises slide mechanism, pneumatic muscles mechanism, rotary joint (22), drive connecting rod (23) and follower link (24);
Described pneumatic muscles mechanism slides and is arranged at the top of described slide mechanism, and described rotary joint (22) slides and is arranged at a side of described slide mechanism;
Described drive connecting rod (23) one end is connected with described rotary joint (22) output rotating shaft, the other end is connected with the back of the hand frame (2), described follower link (24) one end is connected with the opposite side of described slide mechanism, and the other end is connected with the back of the hand frame (2);
Described pneumatic muscles mechanism is by brake cable (29,30) be connected with described rotary joint (22) and form drive mechanism, and drive rotary joint (22) to move back and forth on slide mechanism, thereby drive the back of the hand frame (2) to realize around carpal elevating movement by described drive connecting rod (23), follower link (24);
Described two degrees of freedom driving mechanism also comprises center stand column (6), arc-shaped rack (5), roller gear (28), guide rail (4);
Described center stand column (6), arc-shaped rack (5), roller gear (28), guide rail (4) are fixed on the upside of described the back of the hand frame (2) successively;
The anterior top that is anchored on described center stand column (6) by bearing pin (7) of described slide mechanism, back support is on guide rail (4);
On described slide mechanism, be provided with motor (27), described roller gear (28) is by being connected with described motor (27) output shaft, and engage with described arc-shaped rack (5) form drive mechanism, thereby drive slide mechanism and pneumatic muscles mechanism, taking bearing pin (7), as axle along arc-shaped rack, (5) move back and forth, thereby drive the back of the hand frame (2) to realize carpal oscillating motion by drive connecting rod (23), follower link (24).
2. portable two degrees of freedom carpal joint healing robot as claimed in claim 1, is characterized in that,
Described slide mechanism comprises sliding platform (3), 4 line slide rails (8,9,10,11), 4 slide blocks (12,13,14,15), slide block (12,13,14,15) respectively with described line slide rail (8,9,10,11) supporting, for the fixing parts of supporting slip; In described line slide rail, 2 are individually fixed in sliding platform (3) two sides, be used for supporting the slip of rotary joint (22) and follower link (24), another 2 walk abreast and are fixed on sliding platform end face by keeping at a certain distance away, for supporting the slip of pneumatic muscles mechanism.
3. portable two degrees of freedom carpal joint healing robot as claimed in claim 2, is characterized in that,
Described pneumatic muscles mechanism comprises 2 pneumatic muscles (25,26), 2 L shaped pneumatic muscles connecting plates (20,21), front end connecting plate (16), rear end connecting plate (17);
Described 2 pneumatic muscles connecting plates (20,21) are connected with 2 slide blocks (12,13) of sliding platform (3) end face respectively;
Described front and back ends connecting plate (16,17) is individually fixed in sliding platform (3) rear and front end face;
Described 2 pneumatic muscles (25,26) opening is connected with described rear end connecting plate (17), and pneumatic muscles (25,26) blind end is connected with described 2 L shaped pneumatic muscles connecting plates (20,21) respectively.
4. portable two degrees of freedom carpal joint healing robot as claimed in claim 3, is characterized in that,
The slide block (14,15) of described sliding platform two sides is connected with 2 little connecting plates (18,19) respectively, and 2 little connecting plates (18,19) connect rotary joint (22) and follower link (24).
5. the portable two degrees of freedom carpal joint healing robot as described in claim 1-4 any one, it is characterized in that, described rotary joint is made up of wheel (31) and rotary joint top cover (33) in rotary joint drain pan (32), rotary joint, described brake cable (29,30) is connected and forms drive mechanism with wheel (31) in described rotary joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420159237.XU CN203841986U (en) | 2014-04-02 | 2014-04-02 | Portable two-degree-of-freedom wrist joint rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420159237.XU CN203841986U (en) | 2014-04-02 | 2014-04-02 | Portable two-degree-of-freedom wrist joint rehabilitation robot |
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| CN203841986U true CN203841986U (en) | 2014-09-24 |
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| CN201420159237.XU Expired - Fee Related CN203841986U (en) | 2014-04-02 | 2014-04-02 | Portable two-degree-of-freedom wrist joint rehabilitation robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103908394A (en) * | 2014-04-02 | 2014-07-09 | 华中科技大学 | Portable 2-DOF wrist joint rehabilitation robot |
| CN105114591A (en) * | 2015-07-29 | 2015-12-02 | 上海电气集团股份有限公司 | Novel flexible rope rotational transmission energy-saving mechanism |
| CN108743227A (en) * | 2018-06-12 | 2018-11-06 | 西安交通大学 | A kind of flexible exoskeleton wrist functional rehabilitation device based on spring leaf driving |
| CN110202555A (en) * | 2019-07-10 | 2019-09-06 | 贵州大学 | Mechanical structure and driving method suitable for upper limb exoskeleton mechanism wrist motion |
-
2014
- 2014-04-02 CN CN201420159237.XU patent/CN203841986U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103908394A (en) * | 2014-04-02 | 2014-07-09 | 华中科技大学 | Portable 2-DOF wrist joint rehabilitation robot |
| CN103908394B (en) * | 2014-04-02 | 2016-06-01 | 华中科技大学 | A kind of portable two degrees of freedom wrist joint healing robot |
| CN105114591A (en) * | 2015-07-29 | 2015-12-02 | 上海电气集团股份有限公司 | Novel flexible rope rotational transmission energy-saving mechanism |
| CN105114591B (en) * | 2015-07-29 | 2018-04-06 | 上海电气集团股份有限公司 | A kind of flexible cable revolution energy saving transmission mechanism |
| CN108743227A (en) * | 2018-06-12 | 2018-11-06 | 西安交通大学 | A kind of flexible exoskeleton wrist functional rehabilitation device based on spring leaf driving |
| CN110202555A (en) * | 2019-07-10 | 2019-09-06 | 贵州大学 | Mechanical structure and driving method suitable for upper limb exoskeleton mechanism wrist motion |
| CN110202555B (en) * | 2019-07-10 | 2024-05-10 | 贵州大学 | Mechanical structure suitable for wrist movement of upper limb exoskeleton mechanism and driving method |
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Granted publication date: 20140924 Termination date: 20160402 |