CN209695740U - A kind of parallel flexible upper limb rehabilitation robot of rope driving - Google Patents
A kind of parallel flexible upper limb rehabilitation robot of rope driving Download PDFInfo
- Publication number
- CN209695740U CN209695740U CN201821950521.3U CN201821950521U CN209695740U CN 209695740 U CN209695740 U CN 209695740U CN 201821950521 U CN201821950521 U CN 201821950521U CN 209695740 U CN209695740 U CN 209695740U
- Authority
- CN
- China
- Prior art keywords
- fixed ring
- joint fixed
- group
- connecting hole
- elbow joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of parallel flexible upper limb rehabilitation robots of rope driving, it uses flexible rope and fixed ring structure, for parallel wearing rehabilitation institution, the spinning movement of arm may be implemented, and then realize the total joint movement of human arm, technical solution are as follows: including shoulder joint fixed ring, the first elbow joint fixed ring, the second elbow joint fixed ring, wrist joint fixed ring；The shoulder joint fixed ring, the first elbow joint fixed ring anchor ring relative position be equipped with the first connecting hole of multiple groups group, be connected with the first flexible rope between shoulder joint fixed ring and the first connecting hole group of the first elbow joint fixed ring；The second elbow joint fixed ring, wrist joint fixed ring anchor ring relative position be equipped with the second connecting hole of multiple groups group, be connected with the second flexible rope between the second elbow joint fixed ring and the second connecting hole group of wrist joint fixed ring.
Description
Technical field
The utility model relates to upper limb healing instrument technical fields, more particularly to a kind of parallel flexibility of rope driving
Upper limb rehabilitation robot.
Background technique
With the quickening of aging trend and the aggravation of the overworked phenomenon of Chinese middle-aged adults, occur in resident big
Patient of the amount with cranial vascular disease or the nervous system disease, this kind of most patients receive with hemiplegia symptom, motor function
Certain damage, theory of medicine and clinical medicine prove that this kind of patient is other than the operation of early stage and drug therapy, scientific health
Refreshment white silk plays the role of the recovery of extremity motor function very important.
The main function of upper limb rehabilitation robot is that limbs of patient movement is driven by robot, to limb movement disturbance
The rehabilitation training of patient's progress motion function.As a kind of automation rehabilitation medicine equipment, it is helped using theory of medicine as foundation
Patient carries out scientific and effective rehabilitation training, restores the motion function of patient preferably.Numerous studies in foreign countries
Show that upper limb rehabilitation robot can provide required rehabilitation training mode for the patient of different rehabilitation states, and can be realized
One-to-many rehabilitation training significantly reduces the burden of physiatrician.In addition, healing robot can also provide patient for doctor
Training data, advanced optimize rehabilitation scheme for doctor and objective basis be provided.
But existing upper limb rehabilitation robot may only generally realize the stretching, extension buckling movement of arm joint, cannot achieve pair
The comprehensive movement of arm directly controls, and the rotary motion that especially cannot achieve large arm and forearm controls.
Utility model content
A kind of parallel flexible upper limb health of rope driving that in order to overcome the deficiencies of the prior art, the utility model provides
Multiple robot uses flexible rope and fixed ring structure, is parallel wearing rehabilitation institution, and the rotation that arm may be implemented is dynamic
Make, and then realizes the total joint movement of human arm；
To achieve the goals above, the utility model adopts the following technical solutions:
A kind of parallel flexible upper limb rehabilitation robot of rope driving, including shoulder joint fixed ring, the first elbow joint are solid
Determine ring, the second elbow joint fixed ring, wrist joint fixed ring；
The shoulder joint fixed ring, the first elbow joint fixed ring anchor ring relative position be equipped with the first connecting hole of multiple groups
The first flexible rope is connected between first connecting hole group of group, shoulder joint fixed ring and the first elbow joint fixed ring；
The second elbow joint fixed ring, wrist joint fixed ring anchor ring relative position be equipped with the second connecting hole of multiple groups
The second flexible rope is connected between second connecting hole group of group, the second elbow joint fixed ring and wrist joint fixed ring.
Further, the first connecting hole group described in each group is respectively provided with multiple first connecting holes, the connection of the first flexible rope
Between shoulder joint fixed ring and the first connecting hole of the first elbow joint fixed ring.
Further, multiple first connecting holes are equal on the anchor ring of shoulder joint fixed ring or the first elbow joint fixed ring
Even laying.
Further, wherein the one of multiple groups the first connecting hole group of the shoulder joint fixed ring and the first elbow joint fixed ring
The first flexible rope between group is arranged in parallel, and the first flexible rope between remaining group is arranged in a crossed manner.
Further, the second connecting hole group described in each group is respectively provided with multiple second connecting holes, the connection of the second flexible rope
Between wrist joint fixed ring and the second connecting hole of the second elbow joint fixed ring.
Further, multiple second connecting holes are equal on the anchor ring of wrist joint fixed ring or the second elbow joint fixed ring
Even laying.
Further, wherein the one of multiple groups the second connecting hole group of the wrist joint fixed ring and the second elbow joint fixed ring
The second flexible rope between group is arranged in parallel, and the second flexible rope between remaining group is arranged in a crossed manner.
Further, first flexible rope, the second flexible rope are connect with driving mechanism.
Further, the driving mechanism includes straight line cylinder, the output rod of straight line cylinder and the first flexible rope or
The connection of two flexible ropes.
Further, guide wheel is equipped with by the first flexible rope or the along the outbound course of the output rod of the straight line cylinder
Two flexible ropes are oriented to.
Further, the shoulder joint fixed ring, the first elbow joint fixed ring, the second elbow joint fixed ring, wrist joint are solid
Determining ring is annular component, and shoulder joint fixed ring, the first elbow joint fixed ring are oppositely arranged, and the second elbow joint fixed ring, wrist close
Section fixed ring is oppositely arranged.
Further, the annular component medial surface is equipped with soft liner.
Compared with prior art, the utility model has the beneficial effects that
The upper limb rehabilitation robot of the utility model directly drives arm to be acted using flexible rope, wherein driving
Mechanism, which is pulled, to be acted with arm bone direction flexible rope in the same direction with the stretching, extension buckling for realizing joint, and driving mechanism pulls and hand
The gradient flexible rope in arm bone direction realizes the spinning movement of arm, by the group for pulling different flexible ropes with different power
It closes, realizes the orientation movement of robot, to realize the total joint movement of human arm, achieve the effect that rehabilitation.
The upper limb rehabilitation robot of the utility model realizes wearing in parallel by the way of flexible rope and annular component
The design of formula rehabilitation institution, compact structure, easy to carry and use.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the structural schematic diagram of the utility model upper arm healing robot；
Fig. 2 is the structural schematic diagram of shoulder joint fixed ring；
Fig. 3 is the structural schematic diagram of the first elbow joint fixed ring, the second elbow joint fixed ring；
Fig. 4 is the structural schematic diagram of wrist joint fixed ring；
Fig. 5 is the schematic diagram of driving mechanism；
In figure, 1 shoulder joint fixed ring, 2 first elbow joint fixed rings, 3 second elbow joint fixed rings, 4 wrist joint fixed rings,
5 first flexible ropes, 6 second flexible ropes, 7 first connecting holes, 8 second connecting holes, 9 arms, 10 straight line cylinders, 11 outputs
Bar, 12 guide wheels.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, only phase is arranged along skeleton direction in upper arm healing robot in the prior art
Mechanism is answered, is acted by the flexible stretching, extension buckling that can only realize arm joint of mechanism, in order to solve technical problem as above, this
Application proposes a kind of parallel flexible upper limb rehabilitation robot of rope driving, can solve upper limb ectoskeleton parallel institution
In to the rotary motion control problem for directly controlling problem, especially large arm and forearm of the comprehensive movement of arm.
In a kind of typical embodiment of the application, as Figure 1-Figure 5, a kind of the parallel of rope driving is provided
Flexible upper limb rehabilitation robot, including shoulder joint fixed ring 1, the first elbow joint fixed ring 2, the second elbow joint fixed ring 3, wrist close
Save fixed ring 4；
Shoulder joint fixed ring 1, the first elbow joint fixed ring 2, the second elbow joint fixed ring 3, wrist joint fixed ring 4 are ring
Shape component, shoulder joint fixed ring 1, the first elbow joint fixed ring 2 are oppositely arranged, the second elbow joint fixed ring 3, wrist joint fixed ring
4 are oppositely arranged.
In order to avoid annular component causes damages to human body, shoulder joint fixed ring 1, the first elbow joint fixed ring 2, the second elbow
Arthrodesis ring 3, wrist joint fixed ring 4 annular component medial surface be equipped with soft liner, to increase wear comfort.
Shoulder joint fixed ring 1, the first elbow joint fixed ring 2 anchor ring relative position be equipped with the first connecting hole of multiple groups group,
I.e. shoulder joint fixed ring 1, the first elbow joint fixed ring 2 anchor ring on be respectively provided with multiple groups the first connecting hole group, shoulder joint is fixed
The first connecting hole group on ring 1, the first elbow joint fixed ring 2 is oppositely arranged, shoulder joint fixed ring 1 and the first elbow joint fixed ring
The first flexible rope 5 is connected between 2 the first connecting hole group；
Each group of the first connecting hole group is respectively provided with multiple first connecting holes 7, and the first flexible rope 5 is connected to shoulder joint and fixes
Between ring 1 and the first connecting hole 7 of the first elbow joint fixed ring 2.
Multiple first connecting holes 7 are uniformly distributed on the anchor ring of shoulder joint fixed ring 1 or the first elbow joint fixed ring 2.
Multiple groups the first connecting hole group of shoulder joint fixed ring 1 and the first elbow joint fixed ring 2 wherein between one group
One flexible rope 5 is arranged in parallel, and the first flexible rope 5 between remaining group is arranged in a crossed manner.
The setting group number of first connecting hole group can be arranged according to actual needs, in the present embodiment, the setting of the first connecting hole group
Three groups, each group of connecting hole group setting 3 the first connecting holes, 7,3 the first connecting holes 7 are closed in shoulder joint fixed ring 1 or the first elbow
It saves uniformly distributed on the anchor ring of fixed ring 2；With shown in Fig. 2-Fig. 3, centrally located 3 on 1 anchor ring of shoulder joint fixed ring
First connecting hole 7 is one group, and 3 the first connecting holes 7 of leftward position are one group, and 3 the first connecting holes 7 of right positions are one
Group, similarly, the first connecting hole in the first elbow joint fixed ring 2 are laid in the same way.
With the present embodiment, shoulder joint fixed ring 1 and opposite the first connecting hole 7 of 2 middle groups of the first elbow joint fixed ring it
Between connected with the first flexible rope 5, the first flexible rope 5 between 3 the first connecting holes 7 be parallel to each other and with 9 bone of arm
Direction is parallel；The first flexible rope 5 connected between first connecting hole 7 of middle position left group is then arranged in a crossed manner, i.e. shoulder joint
Save second first connecting hole 7 of 1 left group of fixed ring, first the first connecting hole 7 and 2 left group of the first elbow joint fixed ring
It is connected with the first flexible rope 5,1 left group of shoulder joint fixed ring, second the first connecting hole 7 and the first elbow joint fixed ring 2 are left
The first connecting hole 7 of third of side group is connected with the first flexible rope 5,1 the first connection of left group third of shoulder joint fixed ring
Hole 7 is connect with first first flexible rope 5 of the first connecting hole 7 of 2 left group of the first elbow joint fixed ring；The of right group
One flexible rope is laid in a manner of similarly, is then made existing along people between shoulder joint fixed ring 1 and the first elbow joint fixed ring 2
The rope connection that 9 bone mode of body arm is laid may be implemented the stretching, extension buckling movement of arm joint, also have oblique rope to connect
It connects, during tubing sections, arm can directly be driven to realize spinning movement.
Second elbow joint fixed ring 3, wrist joint fixed ring 4 anchor ring relative position be equipped with the second connecting hole of multiple groups group,
I.e. the second elbow joint fixed ring 3, wrist joint fixed ring 4 anchor ring on be respectively provided with multiple groups the second connecting hole group, the second elbow joint
The second connecting hole group in fixed ring 3, wrist joint fixed ring 4 is oppositely arranged, the second elbow joint fixed ring 4 and wrist joint fixed ring
The second flexible rope 6 is connected between 4 the second connecting hole group.
Each group of the second connecting hole group is respectively provided with multiple second connecting holes 8, and the second flexible rope 6 is connected to wrist joint and fixes
Between ring 4 and the second connecting hole 8 of the second elbow joint fixed ring 3.
Multiple second connecting holes 8 are uniformly distributed on the anchor ring of wrist joint fixed ring 4 or the second elbow joint fixed ring 3.
Multiple groups the second connecting hole group of wrist joint fixed ring 4 and the second elbow joint fixed ring 3 wherein between one group
Two flexible ropes 6 are arranged in parallel, and the second flexible rope 6 between remaining group is arranged in a crossed manner.
In the present embodiment, the second connecting hole group is arranged three groups, and 3 the second connecting holes 8,3 are arranged in each group of connecting hole group
Second connecting hole 8 is uniformly distributed on the anchor ring of the second elbow joint fixed ring 3 or wrist joint fixed ring 4；With shown in Fig. 3-Fig. 4,
3 centrally located the second connecting holes 8 are one group on second elbow joint fixed ring, 3 anchor ring, 3 second companies of leftward position
Connecing hole 8 is one group, and 3 the second connecting holes 8 of right positions are one group, similarly, the second connecting hole in wrist joint fixed ring 4 with
The same manner is laid.
In the present embodiment, the connection cloth of the second flexible rope 6 between the second elbow joint fixed ring 3 and wrist joint fixed ring 4
If it is identical to lay mode for the connection of first flexible rope 5 between above-mentioned shoulder joint fixed ring 1, the first elbow joint fixed ring 2.
First flexible rope 5, the second flexible rope 6 are connect with driving mechanism.
As shown in figure 5, driving mechanism includes straight line cylinder 10, the output rod 11 of straight line cylinder 10 and the first flexible rope 5
Or second flexible rope 6 connect.Each independent first flexible rope 5 connects with the output rod 11 of an independent straight line cylinder 10
It connects, each independent second flexible rope 6 is connect with the output rod 11 of an independent straight line cylinder 10.
Guide wheel 12 is equipped with along the outbound course of the output rod 11 of straight line cylinder 10 with the first flexible rope 5 or second is flexible
Rope 6 is oriented to.Driving force is generated by straight line cylinder, transmits power output by flexible rope, flexible rope one end is fixed on directly
On the output rod of line cylinder, and transmitted motion at joint of robot by guide wheel.
The upper arm healing robot of the utility model is in use, shoulder joint fixed ring 1 is worn at human body shoulder joint,
One elbow joint fixed ring 2, the second elbow joint fixed ring 3 are worn at human elbow, and wrist joint fixed ring 4 is worn on human body wrist
Joint, human arm 9 are solid in shoulder joint fixed ring 1, the first elbow joint fixed ring 2, the second elbow joint fixed ring 3, wrist joint
Determine to pass through among ring 4, mode connects the connection type of flexible rope as described above between fixed ring, and driving mechanism pulls and hand
The stretching, extension buckling movement of arm joint may be implemented in arm bone direction flexible rope in the same direction, and driving mechanism pulls and arm bone
The spinning movement of arm may be implemented in the gradient flexible rope in direction, by the group for pulling different flexible ropes with different power
It closes, the orientation movement of robot may be implemented, to realize the total joint movement of human arm, achieve the effect that rehabilitation.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of parallel flexible upper limb rehabilitation robot of rope driving, characterized in that including shoulder joint fixed ring, the first elbow
Arthrodesis ring, the second elbow joint fixed ring, wrist joint fixed ring；
The shoulder joint fixed ring, the first elbow joint fixed ring anchor ring relative position be equipped with the first connecting hole of multiple groups group, shoulder
The first flexible rope is connected between arthrodesis ring and the first connecting hole group of the first elbow joint fixed ring；
The second elbow joint fixed ring, wrist joint fixed ring anchor ring relative position be equipped with the second connecting hole of multiple groups group, the
The second flexible rope is connected between two elbow joint fixed rings and the second connecting hole group of wrist joint fixed ring.
2. parallel flexible upper limb rehabilitation robot as described in claim 1, characterized in that the first connecting hole described in each group
Group is respectively provided with multiple first connecting holes, and the first flexible rope is connected to the first of shoulder joint fixed ring and the first elbow joint fixed ring
Between connecting hole.
3. parallel flexible upper limb rehabilitation robot as claimed in claim 2, characterized in that multiple first connecting holes exist
It is uniformly distributed on the anchor ring of shoulder joint fixed ring or the first elbow joint fixed ring.
4. parallel flexible upper limb rehabilitation robot as described in claim 1, characterized in that the shoulder joint fixed ring and the
The first flexible rope wherein between one group of multiple groups the first connecting hole group of one elbow joint fixed ring is arranged in parallel, remaining
The first flexible rope between group is arranged in a crossed manner.
5. parallel flexible upper limb rehabilitation robot as described in claim 1, characterized in that the second connecting hole described in each group
Group is respectively provided with multiple second connecting holes, and the second flexible rope is connected to the second of wrist joint fixed ring and the second elbow joint fixed ring
Between connecting hole.
6. parallel flexible upper limb rehabilitation robot as claimed in claim 5, characterized in that multiple second connecting holes exist
It is uniformly distributed on the anchor ring of wrist joint fixed ring or the second elbow joint fixed ring.
7. parallel flexible upper limb rehabilitation robot as described in claim 1, characterized in that the wrist joint fixed ring and the
The second flexible rope wherein between one group of multiple groups the second connecting hole group of two elbow joint fixed rings is arranged in parallel, remaining
The second flexible rope between group is arranged in a crossed manner.
8. parallel flexible upper limb rehabilitation robot as described in claim 1, characterized in that first flexible rope, the
Two flexible ropes are connect with driving mechanism；The driving mechanism includes straight line cylinder, the output rod of straight line cylinder and first soft
Property rope or the second flexible rope connection.
9. parallel flexible upper limb rehabilitation robot as claimed in claim 8, characterized in that along the output of the straight line cylinder
The outbound course of bar is equipped with guide wheel so that the first flexible rope or the second flexible rope to be oriented to.
10. parallel flexible upper limb rehabilitation robot as described in claim 1, characterized in that the shoulder joint fixed ring, the
One elbow joint fixed ring, the second elbow joint fixed ring, wrist joint fixed ring are annular component, shoulder joint fixed ring, the first elbow
Arthrodesis ring is oppositely arranged, and the second elbow joint fixed ring, wrist joint fixed ring are oppositely arranged；The annular component medial surface is set
There is soft liner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821950521.3U CN209695740U (en) | 2018-11-23 | 2018-11-23 | A kind of parallel flexible upper limb rehabilitation robot of rope driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821950521.3U CN209695740U (en) | 2018-11-23 | 2018-11-23 | A kind of parallel flexible upper limb rehabilitation robot of rope driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209695740U true CN209695740U (en) | 2019-11-29 |
Family
ID=68635519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821950521.3U Expired - Fee Related CN209695740U (en) | 2018-11-23 | 2018-11-23 | A kind of parallel flexible upper limb rehabilitation robot of rope driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209695740U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109363892A (en) * | 2018-11-23 | 2019-02-22 | 山东大学 | A kind of parallel flexible upper limb rehabilitation robot of rope driving |
| CN112891138A (en) * | 2021-01-23 | 2021-06-04 | 黄权 | Department of neurology patient nurses rehabilitation device |
| CN113397904A (en) * | 2021-02-08 | 2021-09-17 | 长春工业大学 | Flexible parallel rope driven forearm and wrist joint rehabilitation device |
-
2018
- 2018-11-23 CN CN201821950521.3U patent/CN209695740U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109363892A (en) * | 2018-11-23 | 2019-02-22 | 山东大学 | A kind of parallel flexible upper limb rehabilitation robot of rope driving |
| CN109363892B (en) * | 2018-11-23 | 2024-04-05 | 山东大学 | Rope-driven parallel flexible upper limb rehabilitation robot |
| CN112891138A (en) * | 2021-01-23 | 2021-06-04 | 黄权 | Department of neurology patient nurses rehabilitation device |
| CN112891138B (en) * | 2021-01-23 | 2023-08-15 | 黄权 | Department of neurology patient nurses recovered device |
| CN113397904A (en) * | 2021-02-08 | 2021-09-17 | 长春工业大学 | Flexible parallel rope driven forearm and wrist joint rehabilitation device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109363892A (en) | A kind of parallel flexible upper limb rehabilitation robot of rope driving | |
| CN209695740U (en) | A kind of parallel flexible upper limb rehabilitation robot of rope driving | |
| CN206809645U (en) | A kind of healing hemiplegic lower limb instrument for training based on the linkage of strong side | |
| CN106335049B (en) | A kind of lower limb exoskeleton power assisting device of pneumatic muscles driving | |
| CN103519970B (en) | Micro-intelligent exoskeleton finger recovery robot | |
| CN105726263A (en) | Wearable hand exoskeleton rehabilitation training robot | |
| CN109481225A (en) | A kind of light weight bionic type upper limb exoskeleton rehabilitation robot system | |
| CN107233190B (en) | A kind of multiple degrees of freedom thumb device for healing and training for hemiplegic patient | |
| CN106074092A (en) | A kind of novel exoskeleton finger healing robot and method of work thereof | |
| CN105434144A (en) | Forearm turning and wrist bending rehabilitation device and turning and bending method thereof | |
| CN109907939B (en) | Finger movement rehabilitation training robot based on lasso driving and myoelectricity control | |
| CN108836732A (en) | A kind of rehabilitation training of upper limbs exoskeleton mechanism with people-machine motion compatibility and passive gravitational equilibrium characteristic | |
| CN108721059A (en) | A kind of disc type MR damper lower limb rehabilitation robot | |
| CN109771222A (en) | A kind of finger gymnastic robot with interior receipts outreach function | |
| CN108852739B (en) | Steel wire rope transmission upper limb rehabilitation arm with self-tensioning function | |
| Cheng et al. | Design of an upper limb rehabilitation robot based on medical theory | |
| CN206242039U (en) | The lower limb exoskeleton power assisting device that a kind of pneumatic muscles drive | |
| CN101816603A (en) | Electrically powered wheelchair device with rehabilitation mechanical arm | |
| CN103340734B (en) | Upper limb rehabilitation robot with three degrees of freedom for early-stage cerebral apoplexy | |
| CN102389359A (en) | Lower limb rehabilitation training robot mechanism with human-machine motion compatibility | |
| CN109464265B (en) | A kind of upper limb rehabilitation robot based on Coupling System of Flexible Structures And Rigid Body | |
| CN103948485A (en) | Exoskeleton-type upper limb rehabilitant robot | |
| CN106913446A (en) | A kind of new hand exoskeleton rehabilitation system | |
| CN203935386U (en) | Dermaskeleton type upper limb rehabilitation robot | |
| CN203447479U (en) | Three-freedom-degree upper limb rehabilitation robot for early cerebral apoplexy patients |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191129 Termination date: 20211123 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |