CN207979965U - Upper limb rehabilitation robot and its system - Google Patents
Upper limb rehabilitation robot and its system Download PDFInfo
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- CN207979965U CN207979965U CN201720727948.6U CN201720727948U CN207979965U CN 207979965 U CN207979965 U CN 207979965U CN 201720727948 U CN201720727948 U CN 201720727948U CN 207979965 U CN207979965 U CN 207979965U
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Abstract
The utility model provides a kind of upper limb rehabilitation robot and its system, is related to the field of medical instrument technology.A kind of upper limb rehabilitation robot, including pedestal, supporting rod and upper limb training assembly；The lower end of the supporting rod is fixedly installed on the pedestal, and the upper end of supporting rod is flexibly connected with the upper limb training assembly；The upper limb training assembly supports human upper limb to carry out 7 degree of freedom movement so that shoulder elbow joint can carry out compound motion and disengaging movement training in spatial dimension；In the 7 degree of freedom, four are motor-driven rotary freedom, it is set as shoulder joint three degree of freedom rotary joint and elbow joint bends and stretches rotary joint, other three are unpowered degree of freedom, are set as height and adjust joint, shoulder rotation adjusting joint and ancon telescopic adjustment joint.The healing robot of the utility model has the characteristics that portable, intelligent, inexpensive and applicable family uses.
Description
Technical field
The utility model is related to the field of medical instrument technology more particularly to a kind of upper limb rehabilitation robot and its systems.
Background technology
Traditional Chinese medical science supports field and is broadly divided into rehabilitation and providing for the aged and nursing at present.It is more and more with the aggravation of social senilization
Old man cause upper extremity palsy due to apoplexy etc., bring very big inconvenience to daily life.Paralysed patient can pass through
A large amount of rehabilitation training excites brain plasticity, restores certain locomitivity, realization is taken care of oneself, and is improved the quality of living, most
The recurrence society of big degree.Equipment in present rehabilitation section office is broadly divided into simple and mechanical drawing, mid-low frequency electro-pulse therapeutic equipment
Deng the rehabilitation equipment of middle and high end is relatively rare.Rehabilitation is mainly by people, but qualified rehabilitation physical therapy teacher quantity is seriously not
Foot, so if the rehabilitation gimmick that can reappear Physical Therapist with robot will be a technology for extremely having business potential.Machine
People's auxiliary rehabilitation exercise can save a large amount of manpower and materials, and the assessment of real-time quantization can be carried out to Rehabilitation level,
It is trained according to the rehabilitation situation of patient is incremental.
Although currently, there is some companies to be proposed healing robot product, majority is all simply that robot is stiff
Be added on rehabilitation.Their equipment is difficult the demand of approach clinic.For example Chinese patent CN2014208378875 is provided
A kind of right-hand man's dual-purpose type upper limb rehabilitation robot, provides the left and right side structure adjustable upper limb rehabilitation robot, wherein top is horizontal
For beam using lead screw rotation adjustment position, adjustment mode is inconvenient, and intelligence degree is inadequate, is not suitable for family's use, it is difficult to full
Sufficient patient demand.
Utility model content
The purpose of this utility model is that：Overcome the deficiencies of the prior art and provide a kind of upper limb rehabilitation robot and its
System.The healing robot of the utility model has the characteristics that portable, intelligent, inexpensive and applicable family uses, energy
Rehabilitation appliances in enough and hospital form high level matches with low level, and perfect rehabilitation training is provided for patient；Further, healing robot with
Background server and database association constitute system, and hospital can control long-range healing robot to disease by background server
People provides personalized rehabilitation training, can also pass through the rehabilitation process of database purchase patient so that rehabilitation training has mark can
It follows, effectively improves rehabilitation training effect.
It is the specific technical solution of the utility model below：
A kind of upper limb rehabilitation robot, including pedestal, supporting rod and upper limb training assembly；The lower end of the supporting rod is fixed
It is installed on the pedestal, the upper end of supporting rod is flexibly connected with the upper limb training assembly；
The upper limb training assembly supports human upper limb to carry out 7 degree of freedom movement so that shoulder elbow joint can be in sky
Between compound motion and disengaging movement training are carried out in range；In the 7 degree of freedom, four free for motor-driven rotation
Degree, is set as shoulder joint three degree of freedom rotary joint and elbow joint bends and stretches rotary joint, and other three are unpowered degree of freedom,
It is set as height and adjusts joint, shoulder rotation adjusting joint and ancon telescopic adjustment joint.
Further, the 7 degree of freedom is free including the first rotary freedom, the second rotary freedom, third rotation
Degree, the 4th rotary freedom and the first unpowered degree of freedom, the second unpowered degree of freedom, third is unpowered degree of freedom；From pedestal
Start, degree of freedom that third is unpowered, the first rotary freedom, the first unpowered degree of freedom, the second rotary freedom, second are without dynamic
Power degree of freedom, third rotary freedom, the 4th rotary freedom are sequentially connected in series connection, and the joint motions being corresponding in turn to are that height rises
Falling tone section, shoulder joint first to rotation, shoulder rotation is adjusted, shoulder joint second is to rotation, ancon telescopic adjustment, shoulder joint third
Rotation is bent and stretched to rotation and elbow joint.
Further, the height adjusts joint, shoulder rotation adjusting joint and ancon telescopic adjustment joint and is respectively provided with
There are locking structure, the locking structure that can be locked after each adjusting joint is adjusted.The height is adjusted it is contemplated that using
Electric pushrod.
Further, four motor-driven rotary joints are respectively provided with the hard position limiting structure of machinery, and the hard limit of machinery includes
The mechanical collision block and impact switch that both forward and reverse directions are respectively provided with；It is mechanical after rotary joint reaches the limit of position under runaway condition
Collision block generates collision, makes it that can not continue to rotate motor-locking, while the impact switch being depressed, cuts off the power.
Further, further include soft position limiting structure, the soft position limiting structure includes control software system and the angle of communication connection
Sensor is spent, angular transducer is installed on the control for receiving control software system on each rotary joint, passes through control software system
Sports limiting is carried out within the scope of the limitation of each extreme sport.
Further, the aluminium alloy and ABS that the upper limb training assembly selects quality relatively light, arm contained structure are in U
Word channel-shaped, arm are fixed after being put into arm contained structure by bandage.
Further, it is provided with handover operation structure on the upper limb rehabilitation robot, by the handover operation structure, soon
The carry out tiled configuration switching of speed, to support the left upper extremity or right upper extremity rehabilitation demands of user.
Further, it is provided with power supply structure on upper limb rehabilitation robot, to electricity consumption power elements；And the pedestal
On be provided with displacement structure, to the entire upper limb rehabilitation robot of movement.
The utility model additionally provides a kind of upper limb rehabilitation robot system using aforementioned healing robot, the system
System server including communication connection, at least one computer and at least one aforementioned healing robot；
The system server controls each healing robot to patient to store and process the rehabilitation information of patient
Personalized rehabilitation training, and the rehabilitation process for passing through database purchase patient are provided；
Computer records training information to the rehabilitation parameter of capture setting, and sending control to the healing robot refers to
It enables；And output virtual training environment, rehabilitation training visual feedback, and display control interface and rehabilitation training information are provided；
The healing robot, as the executing agency of rehabilitation training, to receive the control instruction of the computer simultaneously
Corresponding motion control is executed, while sensing data is sent to aforementioned computer；
Further, the virtual training environment of the computer output is the training environment with augmented reality effect.
The utility model compared with the existing technology, has the advantages that.
1) healing robot of the utility model contains 7 degree of freedom, wherein four free for motor-driven rotation
Degree is set as realizing that rotation is bent and stretched in the rotation of shoulder joint three degree of freedom and elbow joint；Other three are unpowered degree of freedom, setting
It is adjusted for height, shoulder rotation adjusts and ancon telescopic adjustment.Robot can complete shoulder elbow joint in spatial dimension
Realize compound motion and disengaging movement training.
2) recovery robot system of the utility model includes the system server for being in communication with each other connection, at least one calculating
Machine and at least one healing robot.The healing robot can train the demand of position according to patients ' recovery, be set to society
The places such as district hospital, family care place or community rehabilitation center, healing robot by communication network and system server into
Row telecommunication, hospital's (such as front three convalescent home or rehabilitation department) can control society by system server (background server)
The healing robot of district hospital provides personalized rehabilitation training to patient, and passes through the health of server data library storage patient
Multiple process, such rehabilitation, which reforms into one, the governed process of mark.
The healing robot and recovery robot system of the utility model have portable, intelligent, inexpensive and applicable
The characteristics of family uses can form high level matches with low level with the rehabilitation appliances in hospital, perfect rehabilitation training is provided for patient.
Description of the drawings
Fig. 1 is the structural schematic diagram for the upper limb rehabilitation robot that the utility model embodiment provides.
Fig. 2 is the arrangement schematic diagram of angular transducer in the upper limb rehabilitation robot that the utility model embodiment provides.
Fig. 3 is each section design length schematic diagram in the upper limb rehabilitation robot that the utility model embodiment provides.
Fig. 4 is the virtual training Sample Scenario figure with augmented reality effect that the utility model embodiment provides.
Fig. 5 is the structure diagram of the control system for the control motor coordination operation that the utility model embodiment provides.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments to upper limb rehabilitation robot provided by the utility model and its system make into
One step is described in detail.It should be noted that the combination of the technical characteristic or technical characteristic described in following embodiments should not
It is considered isolated, they can be combined with each other to reach superior technique effect.
It should be noted that structure, ratio, size etc. depicted in this specification institute attached drawing, only coordinating explanation
The revealed content of book is not limited to the enforceable limit of utility model so that those skilled in the art understands and reads
Fixed condition, the modification of any structure, the change of proportionate relationship or the adjustment of size, in the work(that does not influence utility model and can be generated
Under effect and the purpose that can reach, it should all fall in the range of the revealed technology contents of utility model can be covered.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part of specification.Institute that is shown here and discussing
Have in example, any occurrence should be construed as merely illustrative, not as limitation.Therefore, exemplary embodiment
Other examples can have different values.
Embodiment
It is shown in Figure 1, a kind of upper limb rehabilitation robot, including pedestal, supporting rod and upper limb training assembly.
The lower end of the supporting rod is fixedly installed on the pedestal, and the upper end of supporting rod is lived with the upper limb training assembly
Dynamic connection.In the present embodiment, the supporting rod uses hollow stem, and one end of the upper limb training assembly is installed on the hollow stem
It is interior so that entire upper limb training assembly can be with respect to supporting rod elevating movement.
The mechanical system of the upper limb training assembly is divided into 7 degree of freedom, is indicated respectively with M1-M4 and P1-P3,
In four be motor-driven rotary freedom, be set as realize shoulder joint three degree of freedom rotation and elbow joint bend and stretch rotation；
Other three are unpowered degree of freedom, are set as height adjusting, shoulder rotation adjusting and ancon telescopic adjustment.With continued reference to
Shown in Fig. 1, the 7 degree of freedom include the first rotary freedom M1, the second rotary freedom M2, third rotary freedom M3,
4th rotary freedom M4 and first is unpowered degree of freedom P1, the second unpowered degree of freedom P2, third is unpowered degree of freedom P3；From
Pedestal starts, and third is unpowered degree of freedom P3, the first rotary freedom M1, the first unpowered degree of freedom P1, the second rotation are freely
Degree M2, the second unpowered degree of freedom P2, third rotary freedom M3, the 4th rotary freedom M4 are sequentially connected in series connection.Described
Three unpowered degree of freedom P3, the first rotary freedom M1, the first unpowered degree of freedom P1, the second rotary freedom M2, the second nothing
The joint motions that dynamic freedom degrees P2, third rotary freedom M3, the 4th rotary freedom M4 are corresponding in turn to are height tune
Section, shoulder joint first to rotation, shoulder rotation is adjusted, shoulder joint second is to rotation, ancon telescopic adjustment, shoulder joint Three-direction rotary
Turn and elbow joint bends and stretches rotation.
The height adjusts joint, shoulder rotation adjusting joint and ancon telescopic adjustment joint and is both provided with locking knot
Structure, the locking structure can lock after each adjusting joint is adjusted.The height is adjusted it is contemplated that using electric pushrod.
The aluminium alloy 6061 and ABS that structural part material selects quality relatively light, arm contained structure are in U-shaped groove shape,
Arm is fixed after being put into arm contained structure by bandage.
Consider that safety and control require, four motor-driven rotary joints are respectively provided with mechanical hard limit.Mechanical hard limit
Position is made of two parts, the mechanical collision block and impact switch that as both forward and reverse directions are respectively provided with.It is rotated under runaway condition up to pole
Collision is generated after extreme position, and motor-locking is blocked, makes motor that can not continue to rotate, while impact switch being depressed, cut-out electricity
Source.This duplicate protection can ensure that the safety of human arm.
In addition to hard limit, healing robot further includes soft position limiting structure, and the soft position limiting structure includes the control of communication connection
Software systems processed and angular transducer, angular transducer are mounted on the control for receiving control software system on each rotary joint, lead to
It crosses control software system and carries out sports limiting within the scope of the limitation of each extreme sport, secure context can have triple protection.
The installation position of each angular transducer is shown in Figure 2, corresponds to shoulder joint three degree of freedom rotary joint, elbow closes
Section bends and stretches rotary joint, shoulder rotation adjusts joint and is respectively provided with an angular transducer.Corresponding to shoulder joint first to rotation
Turn, shoulder rotation is adjusted, shoulder joint second is bent and stretched rotation to rotation, elbow joint and set gradually respectively to rotation, shoulder joint third
Angular transducer S1, S5, S2, S3, S4.
Preferably, soft limit is arranged in 90% range of each extreme sport in the control software system.The fortune in each joint
Dynamic parameter value ginseng is shown in Table 1.
Table 1
The length parameter of each section of upper limb training assembly is shown in Figure 3, for the first rotation for being sequentially connected in series connection
Degree of freedom M1, the first unpowered degree of freedom P1, the second rotary freedom M2, the second unpowered degree of freedom P2, third rotation are freely
M3, the 4th rotary freedom M4 are spent, the length parameter of each component indicates that wherein q4 represents ancon telescopic adjustment with q1-q9 successively
The corresponding length of bar.In the present embodiment, q1 design lengths are preferably 5-7cm；Q2 design lengths are preferably 22-25cm；Q3 is designed
Length is preferably 20-24cm；Q4 design lengths are preferably 38-44cm；Q5 design lengths are preferably 14-18cm；Q6 design lengths
Preferably 8-12cm；Q7 design lengths are preferably 8-12cm；Q8 design lengths are preferably 6-7cm；Q9 design lengths are preferably
32cm。
In the present embodiment, it is provided with handover operation structure on the upper limb rehabilitation robot, passes through the handover operation knot
Structure is rapidly performed by tiled configuration switching, supports the left upper extremity or right upper extremity rehabilitation demands of user.For example switch to left structure
When, it is suitable for user and carries out upper left limbs rehabilitation training, when switching to right structure, is suitable for user and carries out upper right limbs rehabilitation training,
The switching time can complete in 5 minutes.
It is also provided with power supply structure on the upper limb rehabilitation robot, to electricity consumption power elements.Preferably, it adopts
With battery power supply mode, battery placed cavity and battery fixing structure are provided on healing robot.
It is additionally provided with motor interface on the upper limb rehabilitation robot, motor-drive circuit can be assembled, and is provided each
A motor controls interface between software and hardware；Also set up sensor output interface simultaneously.
For ease of the movement of entire upper limb rehabilitation robot, it is also provided with displacement structure on the pedestal, to move
Move entire upper limb rehabilitation robot.It is corresponding, locking structure is set on displacement structure, in the case where shifting completion, is passed through
The locking structure locks displacement structure, prevents upper limb rehabilitation robot shift position.
It is shown in Figure 4, additionally provide a kind of upper limb healing machine using aforementioned healing robot for the utility model
People's system.
The system comprises the system server of communication connection, at least one computer and at least one aforementioned rehabilitation machine
People.
The system server controls each healing robot to patient to store and process the rehabilitation information of patient
Personalized rehabilitation training, and the rehabilitation process for passing through database purchase patient are provided.The computer, to capture setting
Rehabilitation parameter, record training information, to the healing robot send control instruction；And output virtual training environment, it carries
For rehabilitation training visual feedback, and display control interface and rehabilitation training information.The healing robot, as rehabilitation training
Executing agency to receive the control instruction of the computer and execute corresponding motion control, while being sent out to aforementioned computer
Send sensing data.
Exemplary system includes to be separately positioned on community hospital A, community hospital B, community hospital C, community hospital in Fig. 4
Multiple healing robots in D and two family care place.
Entire upper limb rehabilitation robot system is divided into three parts：
Healing robot, including mechanical structure and its motor driving.Robot contains 7 degree of freedom, wherein four are
Motor-driven rotary freedom is set as realizing that rotation is bent and stretched in the rotation of shoulder joint three degree of freedom and elbow joint；Other three
For unpowered degree of freedom, it is set as height adjusting, shoulder rotation adjusting and ancon telescopic adjustment.Robot can complete shoulder
Elbow joint realizes compound motion and disengaging movement training in spatial dimension.
Computer, can be provided with the ends GUI and PC control software thereon, and wherein GUI includes mainly rehabilitation parameter setting
Function and augmented reality system.In the design of GUI and the control software at the ends PC, the rehabilitation maneuver of virtual reality can be realized.It is empty
Quasi- reality technology provides repetition practice, achievement feedback and the technological means for maintaining three key elements of motivation for rehabilitation training.
Repeat be one new motor skill of patient's acquistion necessary factor, but be only that repeat be inadequate, Huan Zheben
The rehabilitation enthusiasm of body and to rehabilitation result it is correct cognition it is also most important.It can be to connect that virtual reality, which is used for rehabilitation training,
The Real-time Feedback of each practice result is provided by the patient of rehabilitation training, patient is improved and result is known to feel.Virtual environment may be used also
To increase the interest of task, in the form of various feedback excite and maintain patient repeat practice motivation, and obtain it is pleasant at
Work(emotional experience increases the confidence for returning normal life.The experimental results show that patient can learn movement in virtual environment
Technical ability, and can will be in the transfer in sports skill to true environment of acquistion.
System server may include background server and database, hospital's (such as front three convalescent home or rehabilitation department)
The healing robot that community hospital can be controlled by background server provides personalized rehabilitation training to patient, and passes through
The rehabilitation process of database purchase patient, such rehabilitation, which reforms into one, the governed process of mark.In the present embodiment, the system
After server preferably in such a way that high in the clouds is handled (Cloud Server), for example the cloud platform of existing Ali's cloud and Tencent is rented,
Cost can be saved in this way.
In the present embodiment, it is preferred that the virtual training environment of the computer output is the instruction with augmented reality effect
Practice environment.It is shown in Figure 4, it is designed by gui software, the game of a Cyber Sphere is devised for upper limb healing machinery arm,
Patient's actual motion of the 7 degree of freedom of mechanical arm in rehabilitation training is reflected in the upper extremity exercise of people in virtual scene
In.When some joint that robot drives patient to drive rotates a certain angle, then the upper limb of visual human also rotates accordingly.
Specifically application method is：Patient wears upper limb rehabilitation robot, is indicated according to the movement of virtual arm in GUI
(bead can be picked up when moving to left above basket for a virtual human hand in Fig. 4, then moves on to the basket top on the right
Shi little Qiu is put into basket), the rehabilitation exercise of mobile bead is carried out under the auxiliary of robot.Some this scenes can be according to
Rehabilitation demands are designed.The technology and platform of realization may be used OpenGL and windows development platforms and realized with C# language.
For the ends PC control software, related control instruction can be inputted.It is set up by way of CAN bus and is with PC machine
The small distributed control system of core controls the coordinated operation of four motors, the totality of the small distributed control system
Structure diagram is shown in Figure 5.The small distributed control system includes industrial personal computer, and industrial personal computer connects three by I2C buses
A three-axis gyroscope is connected to four control circuits by CAN bus, the coordinated operation for controlling four motors.
Claims (9)
1. a kind of upper limb rehabilitation robot, including pedestal, supporting rod and upper limb training assembly, it is characterised in that：
The lower end of the supporting rod is fixedly installed on the pedestal, and the upper end of supporting rod connects with the upper limb training assembly activity
It connects；
The upper limb training assembly supports human upper limb to carry out 7 degree of freedom movement so that shoulder elbow joint can be in space model
Enclose interior progress compound motion and disengaging movement training；In the 7 degree of freedom, four are motor-driven rotary freedom, if
It is set to shoulder joint three degree of freedom rotary joint and elbow joint bends and stretches rotary joint, other three are unpowered degree of freedom, setting
Joint is adjusted for height, shoulder rotation adjusts joint and ancon telescopic adjustment joint；
The 7 degree of freedom rotates certainly including the first rotary freedom, the second rotary freedom, third rotary freedom, the 4th
By degree and the first unpowered degree of freedom, the second unpowered degree of freedom, third is unpowered degree of freedom；Since pedestal, third is without dynamic
Power degree of freedom, the first rotary freedom, the first unpowered degree of freedom, the second rotary freedom, the second unpowered degree of freedom, third
Rotary freedom, the 4th rotary freedom are sequentially connected in series connection, and the joint motions being corresponding in turn to are height adjusting, shoulder joint
First to rotation, shoulder rotation are adjusted, shoulder joint second is closed to rotation, ancon telescopic adjustment, shoulder joint third to rotation and elbow
Section bends and stretches rotation.
2. upper limb rehabilitation robot according to claim 1, it is characterised in that：The height adjusts joint, shoulder
Rotation adjusts joint and ancon telescopic adjustment joint is both provided with locking structure, and the locking structure can be in each adjusting joint tune
It is locked after section.
3. upper limb rehabilitation robot according to claim 1, it is characterised in that：Four motor-driven rotary joints are all provided with
The hard position limiting structure of machinery is set, the hard limit of machinery includes the mechanical collision block and impact switch that both forward and reverse directions are respectively provided with；Out of control
Under state, mechanical collision block generates collision after rotary joint reaches the limit of position, makes it that can not continue to rotate motor-locking, together
When the impact switch is depressed, cut off the power.
4. upper limb rehabilitation robot according to claim 1, it is characterised in that：Further include soft position limiting structure, the soft limit
Bit architecture includes the control software system and angular transducer of communication connection, and angular transducer is mounted on each rotary joint and receives
The control of control software system carries out sports limiting by control software system within the scope of the limitation of each extreme sport.
5. upper limb rehabilitation robot according to claim 1, it is characterised in that：The upper limb training assembly selects quality phase
To lighter aluminium alloy and ABS, arm contained structure is in U-shaped groove shape, and arm is fixed after being put into arm contained structure by bandage.
6. upper limb rehabilitation robot according to claim 1, it is characterised in that：It is provided on the upper limb rehabilitation robot
Handover operation structure is rapidly performed by tiled configuration switching by the handover operation structure, with support user left upper extremity or
Right upper extremity rehabilitation demands.
7. upper limb rehabilitation robot according to claim 1, it is characterised in that：Power supply is provided on upper limb rehabilitation robot
Structure, to electricity consumption power elements；And it is provided with displacement structure on the pedestal, to the entire upper limb healing machine of movement
People.
8. a kind of upper limb rehabilitation robot system, it is characterised in that：The system comprises the system servers of communication connection, at least
One computer and at least one healing robot；
The system server controls each healing robot and is provided to patient to store and process the rehabilitation information of patient
Personalized rehabilitation training, and the rehabilitation process for passing through database purchase patient；
The computer records training information to the rehabilitation parameter of capture setting, and sending control to the healing robot refers to
It enables；And output virtual training environment, rehabilitation training visual feedback, and display control interface and rehabilitation training information are provided；
The healing robot, as the executing agency of rehabilitation training, to receive control instruction and the execution of the computer
Corresponding motion control, while sending sensing data to aforementioned computer；
The healing robot is the upper limb rehabilitation robot described in any one of claim 1-7.
9. upper limb rehabilitation robot system according to claim 8, it is characterised in that：The virtual instruction of the computer output
It is the virtual training scene with augmented reality effect to practice environment.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091348A (en) * | 2017-06-21 | 2018-12-28 | 上海寰晟新能源科技有限公司 | Upper limb rehabilitation robot and its system |
| CN109199791A (en) * | 2018-10-26 | 2019-01-15 | 上海伟赛智能科技有限公司 | A kind of upper limb rehabilitation robot of various dimensions |
| CN109794042A (en) * | 2019-03-14 | 2019-05-24 | 郑州大学 | A kind of body gait based on cloud platform and lower limb harmony rehabilitation training platform |
| CN111283691A (en) * | 2020-02-24 | 2020-06-16 | 湘潭大学 | Joint variable force driving structure and system of baby service robot |
| CN111374861A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Lower limb rehabilitation training device and horizontal rotating mechanism thereof |
| CN112472516A (en) * | 2020-10-26 | 2021-03-12 | 深圳市康乐福科技有限公司 | AR-based lower limb rehabilitation training system |
| CN113288427A (en) * | 2020-02-21 | 2021-08-24 | 中国科学院沈阳自动化研究所 | Suspension positioning mechanical arm and control method |
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2017
- 2017-06-21 CN CN201720727948.6U patent/CN207979965U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091348A (en) * | 2017-06-21 | 2018-12-28 | 上海寰晟新能源科技有限公司 | Upper limb rehabilitation robot and its system |
| CN109199791A (en) * | 2018-10-26 | 2019-01-15 | 上海伟赛智能科技有限公司 | A kind of upper limb rehabilitation robot of various dimensions |
| CN111374861A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Lower limb rehabilitation training device and horizontal rotating mechanism thereof |
| CN111374861B (en) * | 2018-12-28 | 2022-03-15 | 沈阳新松机器人自动化股份有限公司 | Lower limb rehabilitation training device and horizontal rotating mechanism thereof |
| CN109794042A (en) * | 2019-03-14 | 2019-05-24 | 郑州大学 | A kind of body gait based on cloud platform and lower limb harmony rehabilitation training platform |
| CN113288427A (en) * | 2020-02-21 | 2021-08-24 | 中国科学院沈阳自动化研究所 | Suspension positioning mechanical arm and control method |
| CN113288427B (en) * | 2020-02-21 | 2022-07-05 | 中国科学院沈阳自动化研究所 | Suspension positioning mechanical arm and control method |
| CN111283691A (en) * | 2020-02-24 | 2020-06-16 | 湘潭大学 | Joint variable force driving structure and system of baby service robot |
| CN111283691B (en) * | 2020-02-24 | 2023-11-21 | 湘潭大学 | Variable-force driving structure and system for joint of infant service robot |
| CN112472516A (en) * | 2020-10-26 | 2021-03-12 | 深圳市康乐福科技有限公司 | AR-based lower limb rehabilitation training system |
| CN112472516B (en) * | 2020-10-26 | 2022-06-21 | 深圳市康乐福科技有限公司 | AR-based lower limb rehabilitation training system |
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