CN207983402U - Healing robot joint arrangement - Google Patents
Healing robot joint arrangement Download PDFInfo
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- CN207983402U CN207983402U CN201820232395.1U CN201820232395U CN207983402U CN 207983402 U CN207983402 U CN 207983402U CN 201820232395 U CN201820232395 U CN 201820232395U CN 207983402 U CN207983402 U CN 207983402U
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Abstract
The utility model healing robot joint arrangement is related to technical field of medical rehabilitation machinery.Its purpose is to provide a kind of healing robot joint arrangement simple in structure, at low cost, easy to operate.The utility model healing robot joint arrangement, including driver, output crank and engine base connecting rod, the output crank is connected on the output shaft of the driver, the shell of the engine base connecting rod and the driver is relatively fixed, output connecting rod is connected on the output crank, pressure detecting assembly is connected on the output crank, the both ends of the pressure detecting assembly are separately connected the output crank and the output connecting rod.
Description
Technical field
The utility model is related to technical field of medical rehabilitation machinery, more particularly to a kind of healing robot joint arrangement.
Background technology
Upper-limbs rehabilitation training robot be by robotic technology field and rehabilitation medical domain in conjunction with and generate, be
A kind of supplement or alternative specialist completes the new technology of human upper limb rehabilitation training, its appearance is the health of upper limb hemiplegia patient
Multiple treatment opens new road, compensates for the deficiency of hemiplegic patient's clinical treatment；The therapy of recovery exercising robot is
Suffering limb is connected with robot, limbs of patient completes various actions under the drive of robot, stimulates human upper limb joint and flesh
The Neural control system of meat, to achieve the purpose that restore limbs of patient motion function；This mode is alleviated to treating physician
Dependence, it can help medical teacher to complete rehabilitation training task heavy, repeatedly, and patient is helped preferably to restore limb motion machine
Energy.
But existing recovery exercising robot faces that of high cost, volume is big, complex structure and other problems, causes to use model
It encloses and is limited to training effect.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of rehabilitation machines simple in structure, at low cost, easy to operate
Device person joint's device.
The utility model healing robot joint arrangement, including driver, output crank and engine base connecting rod, the output are bent
Handle is connected on the output shaft of the driver, and the shell of the engine base connecting rod and the driver is relatively fixed, the output
It is connected with output connecting rod on crank, pressure detecting assembly, the both ends of the pressure detecting assembly are connected on the output crank
It is separately connected the output crank and the output connecting rod.
The utility model healing robot joint arrangement, wherein the output crank and the output connecting rod are turned by locking
Axis connection, the locking shaft is on the output connecting rod, and the locking shaft is fixedly connected on the output crank.
The utility model healing robot joint arrangement, wherein be socketed with self-lubricating bearing in the locking shaft, it is described from
The both ends of lubricating bearing are separately connected the output connecting rod and the locking shaft.
The utility model healing robot joint arrangement, wherein the pressure detecting assembly includes pull pressure sensor, institute
The central shaft for stating pull pressure sensor is vertical with the rotary middle spindle of the output crank.
The utility model healing robot joint arrangement, wherein being connected with pull pressure sensor in the pull pressure sensor
Stops, pull pressure sensor stops one end connects the pull pressure sensor, the other end connects the output connecting rod.
The utility model healing robot joint arrangement, wherein being connected with transfer panel, the switching on the engine base connecting rod
Disk is connected on the shell of the driver.
The utility model healing robot joint arrangement, wherein rotary spacing mouth is offered on the output crank, it is described
Rotary spacing block is connected on rotary spacing mouth, the rotary spacing block is connect with engine base link detachable.
The utility model healing robot joint arrangement, wherein the engine base connecting rod is equipped with linkage section, connection ring or company
Connect sliding block.
The utility model healing robot joint arrangement, wherein the output connecting rod is equipped with guide groove or mounting hole.
The utility model healing robot joint arrangement, wherein being connected with armlet on the output connecting rod.
The utility model healing robot joint arrangement difference from prior art is：The utility model rehabilitation machine
Person joint's device, including driver, output crank and engine base connecting rod, output crank connect on a drive, engine base connecting rod and drive
The shell of dynamic device is relatively fixed, and output connecting rod is connected on output crank, pressure detecting assembly, pressure are connected on output crank
The both ends of detection components are separately connected output crank and output connecting rod；Engine base connecting rod is relatively fixed with the shell in driver, machine
The one end of seat connecting rod far from driver is connected on a upper joint assembly, and driver drives export link rotatable, and output connecting rod connects
Next joint assembly is connect, two neighboring joint assembly is enable to be adjusted in synchronism；
Further, compact overall structure, light weight is small, and joint dynamic force moment is measured by pressure detecting assembly
Mode can not only assist user carry out passive exercise, auxiliary can also be provided for user's active training；
Patient in rehabilitation early stage, user itself can not autokinetic movement, using passive rehabilitation pattern, driver drives are defeated
Go out connecting rod action, output connecting rod drives shoulder joint or the elbow joint carry out activity of user, realizes guiding action process；
For patient in the rehabilitation middle and later periods, patient itself has some locomitivities, but limited strength, using initiative rehabilitation pattern,
User's active drive output connecting rod generates the trend acted relative to output crank, and pressure detecting assembly detects output connecting rod
Active role power, driver adjusts rotating speed, the rotation direction of driver to adapt to user according to user's active role power
The different rehabilitation stages, improve rehabilitation efficiency；
The mode that pressure detecting assembly measures joint dynamic force moment can not only assist user to carry out passive exercise, may be used also
To provide auxiliary for user's active training；
Further, pressure detecting assembly is connected between output crank and output connecting rod, makes pressure detecting assembly not by other
Divide the influence to power, more accurately feeds back the technical indicators such as the dynamic force moment in joint.
The healing robot joint arrangement of the utility model is described further below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is the assembling structure schematic diagram of a preferred embodiment of the utility model healing robot joint arrangement；
Fig. 2 is the configuration schematic diagram of a preferred embodiment of the utility model healing robot joint arrangement；
Fig. 3 is a kind of structural schematic diagram of embodiment of the engine base connecting rod of the utility model healing robot joint arrangement；
Fig. 4 is a kind of structural schematic diagram of embodiment of the output crank of the utility model healing robot joint arrangement；
Fig. 5 is the structural representation of another embodiment of the engine base connecting rod of the utility model healing robot joint arrangement
Figure；
Fig. 6 is the structural representation of the third embodiment of the engine base connecting rod of the utility model healing robot joint arrangement
Figure.
Attached drawing marks：
1, engine base connecting rod；
2, support ring；21, linkage section；22, connecting hole；23, connection sliding block；
3, transfer panel；4, motor；5, speed reducer；
6, output crank；61, transfer hole；62, change-over terminal；63, rotary spacing mouth；64, rotary spacing block；
7, shaft is locked；71, spacing ring；
8, bearing is moistened；81, from profit baffle ring；
9, connecting rod is exported；91, guide groove；92, positioning bolt；
10, the first reducing sleeve；11, pull pressure sensor；12, the second reducing sleeve；13, pull pressure sensor stops.
Specific implementation mode
The rehabilitation modality of healing robot mainly has two kinds of passive rehabilitation pattern and initiative rehabilitation pattern, passive rehabilitation pattern
It is that patient is in passive state, rehabilitation action is completed under the guiding of healing robot；Initiative rehabilitation pattern is that patient is in master
Dynamic state, healing robot assists patient's execution, such as gravity compensation or power effect emulation are carried out to it.Initiative rehabilitation mould
Formula has comparable advantage more relative to passive rehabilitation pattern in rehabilitation mode and rehabilitation efficacy, and to realize initiative rehabilitation mould
Formula, it is the key link to have joint dynamic force moment feedback.
In conjunction with shown in Fig. 1-Fig. 4, the utility model healing robot joint arrangement, including driver, output crank 6 and machine
Seat connecting rod 1, output crank 6 are connected on the output shaft of driver, and engine base connecting rod 1 is relatively rotated with driver, on output crank 6
It is connected with output connecting rod 9, is connected with pressure detecting assembly on output crank 6, the both ends of pressure detecting assembly are separately connected output
Crank 6 and output connecting rod 9.Engine base connecting rod 1 and the shell of driver are relatively fixed, and the one end of engine base connecting rod 1 far from driver connects
It is connected on a joint assembly；Driver drives export connecting rod 9 and rotate, and output connecting rod 9 connects next joint assembly, makes adjacent two
A joint assembly is connected with each other.
Pressure detecting assembly and driver are all connected to control system, and force transfer is by pressure detecting assembly to control
System, active force of the control system between output crank 6 and output connecting rod 9 record, and understand user convenient for medical staff
State；Control system can adjust and control the activation force of driver.
Patient in rehabilitation early stage, user itself can not autokinetic movement, using passive rehabilitation pattern, at this point, driver
Output crank 6 is driven to rotate, output crank 6 is connected with output connecting rod 9 by pressure detecting assembly, and output crank 6 drives output
Connecting rod 9 rotates.Meanwhile output crank 6, to output 9 transmitting forces of connecting rod, the stress of pressure detecting assembly changes, pressure
Detection components detect driving effect of the output crank 6 to output connecting rod 9.
Patient is in the later stage of rehabilitation process, and user itself has some locomitivities, but limited strength, using initiative rehabilitation
Pattern, user drive output connecting rod 9 to act, and activation force is passed to output by output connecting rod 9 by pressure detecting assembly
Crank 6, pressure detecting assembly detect that the active role power of user, pressure detecting assembly pass the active role power of user
Defeated to arrive control system, control system can record the active role power of user, and the rehabilitation of user is understood convenient for medical staff
State；The active force that control system can also be fed back according to pressure detecting assembly simultaneously adjusts the rotating speed of driver, rotation direction
It to adapt to the rehabilitation training demand of user, realizes to auxiliary compensation in initiative rehabilitation training process, realizes that different training is dynamic
Make, it is applied widely, also improve rehabilitation efficiency.
Specifically, driver includes motor 4 and speed reducer 5, motor 4 can select servo motor, servo motor to have body
Product is small, reaction is fast, overload capacity is big, is convenient for the characteristics of automatic adjustment；Speed reducer 5 can select harmonic wave speed reducing machine, speed reducer 5 to adopt
Harmonic wave speed reducing machine output end has enough axial, radial direction and anti-torsional strength, can be eliminated with direct-connected output crank 6
The parts such as too fat to move support end and bearing；The complexity for reducing structure mitigates the quality of joint arrangement.
Further, output crank 6 and output connecting rod 9 are connected by locking shaft 7, and locking shaft 7 is through output connecting rod
9, and lock shaft 7 and be fixedly connected on output crank 6.Locking shaft 7 is connected to by screw-driving on output crank 6, defeated
It is hinged by locking shaft 7 with output crank 6 to go out connecting rod 9；It locks shaft 7 and is equipped with spacing ring 71, spacing ring 71 is connected to defeated
Go out on the end face of connecting rod 9, spacing ring 71 play the role of limit output connecting rod 9, it is simple in structure, realize to output connecting rod 9 with
Being hinged for output crank 6, simple in structure, stable connection.
Further, it locks and is socketed with self-lubricating bearing 8 in shaft 7, self-lubricating bearing 8 abuts output connecting rod 9, that is, locks shaft
It is connected with self-lubricating bearing 8 between 7 and output connecting rod 9, reduce locking shaft 7 and exports the friction between connecting rod 9, also reduces output
Connecting rod 9 rotates the rubbing action in adjustment process, reduces External force interference, improves initiative rehabilitation training and passive rehabilitation training process
The accuracy of detection of middle pressure detecting assembly makes the state of medical staff more accurate judgement user.Preferably, connecting rod 9 is exported
On be also equipped with from profit baffle ring 81, from moisten baffle ring 81 pad is located at output crank 6 and output connecting rod 9 between, play isolating pad shield
Effect.Small, light weight self-lubricating bearing 8 and certainly profit baffle ring 81 are selected in the connecting pin of output connecting rod 9 and output crank 6.
Further, pressure detecting assembly includes pull pressure sensor 11, the central shaft of pull pressure sensor 11 and output
The rotary middle spindle of crank 6 is vertical, ensure that pull pressure sensor is not influenced by other points to power, and more accurate feedback is closed
The technical indicators such as the dynamic force moment of section.Pull pressure sensor 11 has precision height, wide range of measurement, long lifespan, simple in structure etc.
Feature.Output crank 6 is equipped with change-over terminal 62, and transfer hole 61 is offered in change-over terminal 62, and pull pressure sensor 11, which is connected to, to be turned
It connects in hole 61, facilitates installation pull pressure sensor 11.
Further, pull pressure sensor stops 13, pull pressure sensor stops 13 are connected in pull pressure sensor 11
One end connects pull pressure sensor 11, other end connection output connecting rod 9.Pull pressure sensor stops 13 plays connection output connecting rod
9 and output crank 6 effect, when output crank 6 generates relative motion trend or output connecting rod 9 is opposite relative to output connecting rod 9
When output crank 6 generates relative motion trend, drive of the pull pressure sensor stops 13 in output crank 6 or output connecting rod 9
Under relative to pull pressure sensor 11 generate pulling force or pressure, realize the variation of detection torque.Driver and pull pressure sensor
11 are all connected to control system, draw pressure transducer 11 that will detect torque transmitting to control system, control system is according to driving
The driving power of device and the data of pull pressure sensor 11 obtain the strength of the positive action of user, realize the shape to user
The function of state monitoring, the rehabilitation state of user is understood convenient for medical staff.
Further, the first reducing sleeve 10 is equipped between pull pressure sensor 11 and output crank 6, the first reducing sleeve 10 connects
It is connected in transfer hole 61；The second reducing sleeve 12 is equipped between pull pressure sensor 11 and pull pressure sensor stops 13.First turn
Female connector 10 and the second reducing sleeve 12 ensure the central shaft of pull pressure sensor 11 and returning for output crank 6 with the cooperation of output crank 6
Verticality is thought in turning, and then ensures accuracy of detection.
Further, transfer panel 3 is connected on engine base connecting rod 1, transfer panel 3 is connected on the shell of driver.Engine base connects
One end of bar 1 is equipped with support ring 2, and support ring 2 is set on the shell of driver, and support ring 2 is fixedly connected on transfer panel 3,
Transfer panel 3 is connected on the shell of driver, and support ring 2 is bolted to connection with transfer panel 3, and engine base connecting rod 1 is by turning
Disk 3 is connect to be connected on the shell of driver.
Further, rotary spacing mouth 63 is offered on output crank 6, and rotary spacing block is connected on rotary spacing mouth 63
64, rotary spacing block 64 is detachably connected with engine base connecting rod 1.Rotary spacing mouth 63 is set as semicircular configuration, rotary spacing mouth 63
The rotation of rotary spacing block 64 is limited, is realized to driver by the cooperation of rotary spacing block 64 and rotary spacing mouth 63
Output shaft rotational angle limit, prevent the output shaft of driver rotational angle exceed safe exercise zone, ensure to make
Safety during user's reconditioning avoids damaging caused by articulation is excessive in user's rehabilitation training, also, also
Can by adjusting the rotary spacing mouth 63 of processing output crank 6 size and or the size of adjustment rotary spacing block 64 fit
Answer the demand of the different rotational angles in different joints.
Further, engine base connecting rod 1 is equipped with linkage section 21, connection ring 22 or connection sliding block 23.
The embodiment one of engine base connecting rod 1：In conjunction with shown in Fig. 3, engine base connecting rod 1 is equipped with linkage section 21, and linkage section 21 is arranged
In one end far from driver, linkage section 21 is connected in the guide groove of a joint assembly, realizes two adjacent joint assemblies
Be fixedly connected, guide groove is equipped with the bolt or screw that coordinates with connecting hole, realizes being fixedly connected for guide groove and linkage section 21, company
It connects and offers several connecting holes in section 21, moreover it is possible to which guide groove and linkage section 21 are adjusted by the position of adjusting bolt or screw
Position relationship.
Specifically, linkage section 21 is slidably connected with healing robot shoulder joint part, and can be according to the physical length of large arm
It is adjusted.
The embodiment two of engine base connecting rod 1：The difference is that, engine base connecting rod 1 is set as having certain curved with embodiment one
The V-structure of dog-ear degree, engine base connecting rod 1 are equipped with connection ring 22, and connection ring 22 is arranged far from one end of driver, connection ring
22 are fixedly connected with the output crank 6 of a upper joint assembly, are equivalent to the output connecting rod of a joint assembly, and realization two is adjacent
The connection of joint assembly, simple in structure, saving part, mitigation quality.
The engine base connecting rod 1 of the present embodiment can connect the shoulder joint component of two adjusting shoulder mobilities.
The embodiment three of engine base connecting rod 1：The difference is that, engine base connecting rod 1 is equipped with connection sliding block with embodiment one
23, connection sliding block 23 is arranged far from one end of driver, and the shape of connection sliding block 23 is adapted with the shape of backrest guide groove, even
It connects sliding block to be slidably connected in backrest guide groove, realization engine base connecting rod 1 is slidably connected with backrest.
Further, output connecting rod 9 is equipped with guide groove 91 or mounting hole.
Export the embodiment one of connecting rod 9：In conjunction with shown in Fig. 1 and Fig. 2, the one end of output connecting rod 9 far from output crank 6 is equipped with
Equipped with guide groove 91, guide groove 91 is equipped with positioning bolt 92, and the sliding block of next joint assembly, next joint can be connected in guide groove 91
The sliding block of component is equipped with several holes compatible with positioning bolt 92, and positioning bolt 92 plays the role of fixed sliding block, fixed
Position bolt 92 can also be by hole different on connection sliding block come the link position of adjusting slider.
Specifically, by being slidably connected by guide groove 91 and the wrist joint in healing robot, and can be according to using
Forearm lengths are adjusted, and are fixed by positioning bolt 92.
Further, it exports and is connected with armlet on connecting rod 9, armlet is detachably connected on output connecting rod 9, and armlet passes through spiral shell
Line is fastened on output connecting rod 9, and the shape of armlet is adapted with the shape of human body large arm or forearm, makes armlet can be with cutting ferrule
In large arm or forearm, joint arrangement and the upper limb of user is made to connect.
Export the embodiment two of connecting rod 9：The difference is that, output connecting rod 9 is set as having certain curved with embodiment one
The V-structure of dog-ear degree, the output one end of connecting rod 9 far from output crank 6 are equipped with mounting hole, the shape and structure of mounting hole with it is next
The shell sizes of the driver of joint assembly are adapted, and mounting hole is socketed on the driver of next joint assembly, export connecting rod 9
Identical as the function of engine base connecting rod 1, that is, the structure for exporting connecting rod 9 is identical as the structure of engine base connecting rod 1 shown in fig. 5.
The critical pieces such as engine base connecting rod 1, transfer panel 3, output crank 6 and output connecting rod 9 are all made of aluminum alloy material and add
Work forms, and aluminium good, light weight aluminum alloy with mechanical property further reduced the weight of joint arrangement, protect simultaneously
Demonstrate,prove compact-sized, stress is scientific and reasonable.
To sum up, the utility model healing robot joint arrangement, compact overall structure, light weight is small, overall structure
User can be not only assisted to carry out passive exercise in such a way that pull pressure sensor 11 measures joint dynamic force moment, it can be with
Auxiliary is provided for user's active training；Pull pressure sensor is connected by reducing sleeve between output crank 6 and output connecting rod 9 simultaneously
11, it keeps the central shaft of pull pressure sensor 11 vertical with the rotary middle spindle of output crank 6, ensure that pull pressure sensor 11
It is not influenced to power by other points, more accurately feeds back the technical indicators such as the dynamic force moment in joint；Finally, pass through output crank
The mechanical limit design of 6 rotary spacing mouth 63 and rotary spacing block 64, preferably avoids joint in user's rehabilitation training
Rotation excessively caused by damage, also, can also by adjusting processing output crank 6 rotary spacing mouth 63 size and or
The size of rotary spacing block 64 is adjusted to adapt to the demand of the different rotational angles in different joints.
Embodiment described above is only that preferred embodiments of the present invention are described, not to this practicality
Novel range is defined, and under the premise of not departing from the spirit of the design of the utility model, those of ordinary skill in the art are to this
The various modifications and improvement that the technical solution of utility model is made should all fall into the protection of the utility model claims book determination
In range.
Claims (10)
1. a kind of healing robot joint arrangement, it is characterised in that：Including driver, output crank (6) and engine base connecting rod (1),
The output crank (6) is connected on the output shaft of the driver, the outer shell phase of the engine base connecting rod (1) and the driver
To fixation, it is connected with output connecting rod (9) on the output crank (6), pressure detecting group is connected on the output crank (6)
The both ends of part, the pressure detecting assembly are separately connected the output crank (6) and the output connecting rod (9).
2. healing robot joint arrangement according to claim 1, it is characterised in that：The output crank (6) and described
It exports connecting rod (9) and is connected by locking shaft (7), the locking shaft (7) is on the output connecting rod (9), and the lock
Tight shaft (7) is fixedly connected on the output crank (6).
3. healing robot joint arrangement according to claim 2, it is characterised in that：It is socketed on the locking shaft (7)
There are self-lubricating bearing (8), the both ends of the self-lubricating bearing (8) to be separately connected the output connecting rod (9) and the locking shaft (7).
4. healing robot joint arrangement according to claim 1, it is characterised in that：The pressure detecting assembly includes drawing
The central shaft of pressure sensor (11), the pull pressure sensor (11) is vertical with the rotary middle spindle of the output crank (6).
5. healing robot joint arrangement according to claim 4, it is characterised in that：On the pull pressure sensor (11)
It is connected with pull pressure sensor stops (13), described pull pressure sensor stops (13) one end connects the pull pressure sensor
(11), the other end connects the output connecting rod (9).
6. healing robot joint arrangement according to claim 1, it is characterised in that：It is connected on the engine base connecting rod (1)
There are transfer panel (3), the transfer panel (3) to be connected on the shell of the driver.
7. healing robot joint arrangement according to claim 1, it is characterised in that：It is opened up on the output crank (6)
There is rotary spacing mouth (63), rotary spacing block (64), the rotary spacing block (64) are connected on the rotary spacing mouth (63)
It is detachably connected with engine base connecting rod (1).
8. according to the healing robot joint arrangement described in claim 1-7 any one, it is characterised in that：The engine base connecting rod
(1) linkage section (21), connection ring or connection sliding block are equipped with.
9. according to the healing robot joint arrangement described in claim 1-7 any one, it is characterised in that：The output connecting rod
(9) guide groove (91) or mounting hole are equipped with.
10. healing robot joint arrangement according to claim 1, it is characterised in that：It is connected on the output connecting rod (9)
There is armlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820232395.1U CN207983402U (en) | 2018-02-09 | 2018-02-09 | Healing robot joint arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820232395.1U CN207983402U (en) | 2018-02-09 | 2018-02-09 | Healing robot joint arrangement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207983402U true CN207983402U (en) | 2018-10-19 |
Family
ID=63824263
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820232395.1U Active CN207983402U (en) | 2018-02-09 | 2018-02-09 | Healing robot joint arrangement |
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| CN (1) | CN207983402U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161983A (en) * | 2018-02-09 | 2018-06-15 | 武汉沃森拓客科技有限公司 | Healing robot joint arrangement |
| CN111150608A (en) * | 2020-01-17 | 2020-05-15 | 湖北英特搏智能机器有限公司 | Control method of rehabilitation robot for recognizing movement intention based on pressure sensor |
| CN111249117A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Power joint and power exoskeleton rehabilitation robot |
-
2018
- 2018-02-09 CN CN201820232395.1U patent/CN207983402U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161983A (en) * | 2018-02-09 | 2018-06-15 | 武汉沃森拓客科技有限公司 | Healing robot joint arrangement |
| CN108161983B (en) * | 2018-02-09 | 2024-06-21 | 武汉沃森拓客科技有限公司 | Rehabilitation robot joint device |
| CN111150608A (en) * | 2020-01-17 | 2020-05-15 | 湖北英特搏智能机器有限公司 | Control method of rehabilitation robot for recognizing movement intention based on pressure sensor |
| CN111249117A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Power joint and power exoskeleton rehabilitation robot |
| CN111249117B (en) * | 2020-01-20 | 2022-07-15 | 深圳市丞辉威世智能科技有限公司 | Power joint and power exoskeleton rehabilitation robot |
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