CN210056675U - Elbow joint rehabilitation training device - Google Patents
Elbow joint rehabilitation training device Download PDFInfo
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- CN210056675U CN210056675U CN201821816802.XU CN201821816802U CN210056675U CN 210056675 U CN210056675 U CN 210056675U CN 201821816802 U CN201821816802 U CN 201821816802U CN 210056675 U CN210056675 U CN 210056675U
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- pneumatic muscle
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Abstract
The utility model provides an elbow joint rehabilitation training device, elbow joint rehabilitation training device includes pneumatic flexible drive ware and joint fixing band, and pneumatic flexible drive ware and joint fixing band hookup, the user wears the joint fixing band at shoulder, elbow and wrist. The joint fixing strap can be fixed at the joint position and kept unchanged through the elastic bandage and the magic buckle. The pneumatic flexible driver drives the joint of the patient to move through the joint fixing belt. The utility model discloses introduced pneumatic flexible drive ware and carried out the rehabilitation training, pneumatic flexible drive ware direct drive patient joint motion has realized the rehabilitation training, has replaced traditional rigid drive ware, has saved middle drive mechanism, detains through elasticity bandage and magic and fixes the joint fixed band in the joint position, has replaced traditional robot's link mechanism, realizes elbow joint rehabilitation training device and patient's flexible contact.
Description
Technical Field
The utility model relates to the field of medical technology, concretely relates to elbow joint rehabilitation training device.
Background
With the accelerated aging trend and the aggravation of the overwork of middle-aged and young people, a large number of patients with cerebrovascular diseases or nervous system diseases appear in residents, most of the patients have hemiplegia symptoms, and the motor function is damaged to a certain extent.
The rehabilitation training device is mainly used for driving the limb of the patient to move through the robot and performing rehabilitation training of motor functions on the patient with limb movement disorder. As an automatic rehabilitation medical device, the device is based on medical theory and helps patients to carry out scientific and effective rehabilitation training, so that the motor function of the patients can be better recovered. A great deal of foreign research shows that the rehabilitation training device can provide required rehabilitation training modes for patients with different rehabilitation state grades, greatly reduces the burden of rehabilitation doctors, realizes a one-to-many rehabilitation training method, shortens the rehabilitation time, improves the rehabilitation effect, enhances the rehabilitation confidence of the patients, can provide human kinematics and physiological data of the patients, and provides objective basis for the improvement and optimization of the rehabilitation scheme of the doctors.
The existing elbow joint rehabilitation training device system mostly adopts rigid drivers such as a hydraulic cylinder, a pneumatic cylinder, a motor and the like, and danger is caused by overstroke possibly caused by insufficient flexibility in adjustment and insufficient flexibility in movement; in addition, the driver is large in size, the rehabilitation experience of a patient is influenced, a large amount of driving equipment is large in weight, and is not easy to control, and secondary damage is easily caused to the patient. With the development of the robot technology, in consideration of the safety and comfort of human bodies, colleges and universities at home and abroad deeply research and discuss the pneumatic driving mode, the elbow joint rehabilitation training device needs to be in direct contact with the human bodies for a long time, and the flexibility of the robot becomes a hot spot direction for the structural research of the robot.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to solve exist among the prior art not enough, designed an elbow joint rehabilitation training device based on pneumatic muscle drive. The problems that the elbow joint rehabilitation training device in the prior art is heavy, poor in flexibility and hidden in safety hazards due to the fact that a rigid driver is used are solved.
The utility model adopts the technical scheme as follows:
the utility model provides an elbow joint rehabilitation training device, which comprises a pneumatic flexible driver, a joint fixing belt and a control system;
the pneumatic flexible driver comprises a first pneumatic muscle and a second pneumatic muscle;
the control system is used for controlling the first pneumatic muscle to drive the elbow joint to bend and extend;
the control system is used for controlling the second pneumatic muscle to drive the internal rotation and the external rotation of the arm;
the joint fixing band is used for fixing the shoulder, the elbow and the wrist of a user; and the first pneumatic muscle and the second pneumatic muscle are fixed on the joint fixing belt.
Furthermore, the joint fixing band comprises a wrist joint fixing band, an elbow fixing band and a shoulder fixing band which are arranged in a split mode or are arranged integrally.
Further, the first pneumatic muscle comprises a pneumatic muscle A and a pneumatic muscle B, the pneumatic muscle A contracts, the pneumatic muscle B extends, and the elbow joint bends; the pneumatic muscle A is extended, while the pneumatic muscle B is contracted, and the elbow joint performs an extension exercise.
Furthermore, two ends of the pneumatic muscle A are fixed on the front side of the upper end of the wrist joint fixing band and the front side of the lower end of the shoulder joint fixing band; one end of the pneumatic muscle B is fixed at the rear side of the lower end of the shoulder joint fixing band and penetrates through the rear side of the elbow joint fixing band, and the other end of the pneumatic muscle B is fixed at the rear side of the upper end of the wrist joint fixing band.
Further, the second pneumatic muscle comprises a pneumatic muscle C and a pneumatic muscle D, the pneumatic muscle C contracts, and the pneumatic muscle D stretches and carries out internal rotation movement on the arm; the pneumatic muscle C stretches, and meanwhile, the pneumatic muscle D contracts and the arm rotates outwards.
Further, the pneumatic muscle C and the pneumatic muscle D are fixed in a crossed manner, one end of the pneumatic muscle C is fixed on the left side of the wrist joint fixing band, and the other end of the pneumatic muscle C is fixed on the right side of the elbow joint fixing band; one end of the pneumatic muscle D is fixed on the right side of the wrist joint fixing band, and the other end of the pneumatic muscle D is fixed on the left side of the elbow joint fixing band.
Furthermore, the first pneumatic muscle and the second pneumatic muscle respectively comprise a rubber tube, a fiber woven mesh, an inner tooth pagoda interface and a pneumatic plug;
the fiber woven mesh is sleeved outside the rubber tube, and two ends of the fiber woven mesh are fixed together through a fixing piece; one end of the fiber mesh grid and one end of the rubber tube are connected with an inner tooth pagoda interface, the interface is provided with an air inlet, and the other end of the fiber mesh grid and the rubber tube are sealed through a plug.
Furthermore, the control system comprises a controller, an air pump, an air pressure sensor and a proportional valve, wherein the air pressure sensor detects the air pressure inside the pneumatic muscle, the air pump is used as an air pressure source, and the air pressure sensor is arranged at the position of an air outlet of the air pump; the controller controls the amount of gas injected by the gas pump and adjusts the size of the proportional valve according to data detected by the gas pressure sensor.
The specific preparation method comprises the following steps:
manufacturing pneumatic muscles;
cutting the rubber pipe, and sheathing an isometric fiber woven mesh; one side of the rubber tube and one side of the fiber woven mesh penetrate through the triangular lifting ring nut and are sealed by the hose clamp after being folded; the other side is sleeved with a round hoisting ring nut, then inserted into the connecting thread end of the tender bud pagoda interface and sealed by a hose clamp, and the pneumatic muscle is manufactured;
punching holes on the left side and the right side of the wrist joint fixing band and the front side and the rear side of the upper end of the wrist joint fixing band, on the left side and the right side of the elbow fixing band and on the rear side of the elbow fixing band, and on the front side and the rear side of the lower end of the shoulder fixing;
respectively fixing two ends of the pneumatic muscle A on the front side of the upper end of the wrist joint fixing band and the front side of the lower end of the shoulder joint fixing band;
one end of the pneumatic muscle B is fixed at the rear side of the lower end of the shoulder joint fixing band and penetrates through the rear side of the elbow joint fixing band, and the other end of the pneumatic muscle B is fixed at the rear side of the upper end of the wrist joint fixing band;
the pneumatic muscles C and D are fixed on the left and right sides of the wrist joint fixing band and the left and right sides of the elbow joint fixing band in a crossed manner;
one end of the pneumatic muscle C is fixed on the left side of the wrist joint fixing band, and the other end of the pneumatic muscle C is fixed on the right side of the elbow joint fixing band; one end of the pneumatic muscle D is fixed on the right side of the wrist joint fixing band, and the other end of the pneumatic muscle D is fixed on the left side of the elbow joint fixing band.
When the internal air pressure of the pneumatic flexible driver is lower than the preset air pressure, the controller adjusts the proportional valve, the air continuously enters the pneumatic flexible driver, the internal air pressure is increased, and the pneumatic flexible driver is bent; when the internal air pressure reaches a critical value, the controller adjusts the proportional valve, and the air flows out of the air valve and does not enter the pneumatic flexible driver any more, so that the pneumatic flexible driver keeps the bending angle.
The utility model discloses well pneumatic flexible drive ware and joint fixed band hookup, the user wears the joint fixed band at shoulder, elbow and wrist. The joint fixing strap can be fixed at the joint position and kept unchanged through the elastic bandage and the magic buckle. The pneumatic flexible driver drives the joint of the patient to move through the joint fixing belt.
The pneumatic flexible driver adopts pneumatic muscles, the length and the stroke of the pneumatic flexible driver meet the requirements of rehabilitation training, and secondary damage to a patient caused by the stroke problem is avoided, so that the danger caused by the overtravel of the rigid driver is solved. The first and second pneumatic muscle groups may work together to achieve a combination of elbow flexion/extension and internal/external rotation rehabilitation motions.
This rehabilitation motion becomes the bending with pneumatic muscle group's linear motion, and rotary motion makes the rubber tube inflation from pneumatic muscle one end input atmospheric pressure, because twill fiber woven mesh's characteristic, when its radius increases, its length can reduce, causes pneumatic muscle whole contraction. The contraction of the pneumatic muscle can drive the human body joint fixed by the joint fixing belt to bend and stretch, and rotate inwards and outwards. The pneumatic muscle A contracts to enable the elbow joint to be bent, the pneumatic muscle B contracts to enable the elbow joint to be stretched, the pneumatic muscle C contracts to enable the elbow joint to be rotated inwards, and the pneumatic muscle D contracts to enable the elbow joint to be rotated outwards.
The utility model has the advantages that:
the pneumatic flexible driver is introduced to carry out rehabilitation training, the pneumatic flexible driver directly drives the joint of a patient to move, rehabilitation training is realized, the traditional rigid driver is replaced, the middle transmission mechanism is omitted, the joint fixing belt is fixed at the joint position through the elastic bandage and the magic buckle, the link mechanism of the traditional robot is replaced, and the flexible contact of the elbow joint rehabilitation training device and the patient is realized. Compared with the existing rehabilitation training device adopting a rigid driver, the pneumatic flexible driver replaces the rigid driver, the rigid connecting mechanism and the intermediate transmission mechanism, has small volume, light weight and low cost, has better flexibility and safety, and is suitable for the rehabilitation training of the elbow joints of the upper limbs of the patient.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a pneumatic muscle structure view;
FIG. 2 is a schematic view of the overall structure;
figures 3 and 4 are schematic diagrams of flexion/extension movements of the elbow joint;
FIG. 5 is a control system schematic;
FIG. 6 pneumatic muscle air pressure versus contraction rate;
in the figure: 1-internal tooth pagoda interface, 2-air inlet, 3-fiber woven mesh, 4-rubber tube, 5-pneumatic plug, 6-human upper arm, 7-pneumatic muscle A, 8-elbow flexion/extension joint, 9-pneumatic muscle B, 10-forearm, 11-elbow internal rotation/external rotation joint, 12-pneumatic muscle D, 13-pneumatic muscle C.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "upper", "lower", "left", "right", "front" and "rear" in the present application, if any, are merely intended to correspond to the upper, lower, left, right, front and rear directions of the drawings themselves, not to limit the structure, but merely to facilitate the description of the invention and to simplify the description, rather than to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
As introduced in the background art, the existing elbow joint rehabilitation training device system in the prior art mostly adopts rigid drivers such as a hydraulic cylinder, a pneumatic cylinder, a motor and the like, and danger is caused by over-stroke due to insufficient flexibility in adjustment and insufficient flexibility in movement; in addition, the driver is large in size, the rehabilitation experience of a patient is influenced, a large amount of driving equipment is large in weight, and is not easy to control, and secondary damage is easily caused to the patient. With the development of the robot technology, in consideration of the safety and comfort of a human body, the pneumatic driving mode is deeply researched and discussed in domestic and overseas colleges, the elbow joint rehabilitation training device needs to be in direct contact with the human body for a long time, the flexibility of the robot becomes a hot point direction for the structural research of the robot, and in order to solve the technical problems, the elbow joint rehabilitation training device and the implementation method are provided.
In an exemplary embodiment of the present application, the elbow joint rehabilitation training device includes a pneumatic flexible driver and a joint fixing band, the pneumatic flexible driver is coupled with the joint fixing band, and the joint fixing band is worn on the shoulder, the elbow and the wrist of the user. The joint fixing strap can be fixed at the joint position and kept unchanged through the elastic bandage and the magic buckle. The pneumatic flexible driver drives the joint of the patient to move through the joint fixing belt.
As shown in fig. 2 and 3, the pneumatic flexible driver adopts pneumatic muscles, the length and the stroke of the pneumatic flexible driver meet the requirements of rehabilitation training, and secondary injury to a patient caused by the stroke problem is avoided, so that the danger caused by the overtravel of the rigid driver is solved.
The pneumatic flexible driver comprises a first pneumatic muscle and a second pneumatic muscle; the first pneumatic muscle comprises two pneumatic muscles which respectively realize flexion and extension of the elbow joint, the pneumatic muscle A7 contracts, and meanwhile, the pneumatic muscle B9 extends, and the elbow joint realizes flexion; pneumatic muscle a7 extends while pneumatic muscle B9 contracts and the elbow joint performs an extension movement. Because the pneumatic muscle A is arranged at the inner ring of the arm; the pneumatic muscle B is arranged on the outer ring of the arm; the pneumatic muscle B is therefore longer than the pneumatic muscle a.
The second pneumatic muscle group consists of pneumatic muscle C13 and pneumatic muscle D12, which drive the internal and external rotation of the arm, respectively. The pneumatic muscle C13 contracts, the pneumatic muscle D12 extends, and the arm rotates inwards; the pneumatic muscle C13 is stretched, and simultaneously the pneumatic muscle D12 is contracted, and the arm is in outward rotation movement; pneumatic muscle C13 and pneumatic muscle D12 may be the same.
The first pneumatic muscle and the second pneumatic muscle may work together to achieve a combination of flexion/extension and internal/external rotation rehabilitation movements of the elbow joint.
The joint fixing band comprises a wrist joint fixing band, an elbow fixing band and a shoulder fixing band which are arranged in a split mode or are arranged integrally and used for fixing the wrist, the elbow and the shoulder of a human body.
As shown in fig. 1, the pneumatic muscle comprises a rubber tube 4, a fiber woven mesh 3, a hose clamp, an inner tooth pagoda interface 1, a pneumatic plug 5 and an air inlet 2. The pneumatic muscle mainly comprises an internal closed rubber tube and an external fiber woven mesh, the internal diameter of the internal closed rubber tube is 14 mm, the external diameter of the internal closed rubber tube is 19 mm, the external closed rubber tube is a twill fiber woven mesh with the radius of 20mm, the woven mesh is sleeved outside the rubber tube, two ends of the woven mesh are fixed by a throat hoop, one end of the woven mesh is connected with an internal tooth pagoda interface and sealed by the throat hoop, and the other end of the woven mesh is sealed by a pneumatic plug and the throat hoop. The device has 4 pneumatic muscles with the lengths of 273 mm, 359 mm, 254 mm and 256 mm.
As shown in fig. 5, the elbow joint rehabilitation system comprises an air pump, a controller, a proportional valve, a pneumatic muscle group and an air pressure sensor, wherein the air pump is used as an air pressure source, the pneumatic muscle is used as an actuator, the air pressure sensor detects the air pressure in the pneumatic muscle, the controller controls the air pump to inject air, and the proportional valve is adjusted through data detected by the air pressure sensor.
This rehabilitation motion becomes the bending with pneumatic muscle group's linear motion, and rotary motion makes the rubber tube inflation from pneumatic muscle one end input atmospheric pressure, because twill fiber woven mesh's characteristic, when its radius increases, its length can reduce, causes pneumatic muscle whole contraction. The contraction of the pneumatic muscle can drive the human body joint fixed by the joint fixing belt to bend and stretch, and rotate inwards and outwards. The pneumatic muscle A contracts to enable the elbow joint to be bent, the pneumatic muscle B contracts to enable the elbow joint to be stretched, the pneumatic muscle C contracts to enable the elbow joint to be rotated inwards, and the pneumatic muscle D contracts to enable the elbow joint to be rotated outwards. The relationship between pneumatic muscle air pressure and contraction rate is shown in fig. 5;
εishrinkage L0Pneumatic muscle initial length Li-pneumatic muscle actual length;
R2-determining the coefficients, the closer to 1 the better the linearity
The specific implementation method comprises the following steps:
respectively cutting rubber pipes with the lengths of 390, 480, 320 and 330 millimeters, and coating a fiber woven mesh with the same length as the rubber pipes on each rubber pipe; one side of the fiber woven mesh and one side of the rubber tube pass through the triangular lifting ring nut and are sealed by the hose clamp after being folded; the other side is sleeved with a round hoisting ring nut, then inserted into the connecting thread end of the tender bud pagoda interface and sealed by a hose clamp, and the pneumatic muscle is manufactured;
wherein, the pneumatic muscle with the length of 390mm is taken as the pneumatic muscle A in the figure; a pneumatic muscle of 480mm in length as pneumatic muscle B in the drawing; a pneumatic muscle of 320mm length as pneumatic muscle C in the drawing; a pneumatic muscle of 330mm length is shown as pneumatic muscle D in the figure;
punching holes on the left side and the right side of the wrist joint fixing band and the front side and the rear side of the upper end of the wrist joint fixing band, on the left side and the right side of the elbow fixing band and on the rear side of the elbow fixing band, and on the front side and the rear side of the lower end of the shoulder fixing;
respectively fixing two ends of the pneumatic muscle A on the front side of the upper end of the wrist joint fixing band and the front side of the lower end of the shoulder joint fixing band; specifically, lifting ring nuts at two ends of the pneumatic muscle A are fixed on the wrist joint fixing belt and the shoulder joint fixing belt.
One end of the pneumatic muscle B is fixed at the rear side of the lower end of the shoulder joint fixing band and penetrates through the rear side of the elbow joint fixing band, and the other end of the pneumatic muscle B is fixed at the rear side of the upper end of the wrist joint fixing band; specifically, lifting ring nuts at two ends of the pneumatic muscle B are fixed on the shoulder joint fixing belt and the wrist joint fixing belt.
The pneumatic muscles C and D are fixed on the left and right sides of the wrist joint fixing band and the left and right sides of the elbow joint fixing band in a crossed manner; one end of the pneumatic muscle C is fixed on the left side of the wrist joint fixing band, and the other end of the pneumatic muscle C is fixed on the right side of the elbow joint fixing band; specifically, lifting ring nuts at two ends of the pneumatic muscle C are fixed on the wrist joint fixing belt and the elbow joint fixing belt.
One end of the pneumatic muscle D is fixed on the right side of the wrist joint fixing band, and the other end of the pneumatic muscle D is fixed on the left side of the elbow joint fixing band; specifically, lifting ring nuts at two ends of the pneumatic muscle D are fixed on the wrist joint fixing belt and the elbow joint fixing belt.
When the air pressure in the driver is lower than the preset air pressure, the proportional valve is adjusted, the air continuously enters the driver, the internal air pressure is increased, and the driver is bent. When the internal air pressure reaches a threshold value, the controller adjusts the proportional valve so that air flows out of the air valve and does not enter the actuator, so that the actuator maintains the bend angle.
The utility model discloses introduced pneumatic flexible drive ware and carried out the rehabilitation training, pneumatic flexible drive ware direct drive patient joint motion has realized the rehabilitation training, has replaced traditional rigid drive ware, has saved middle drive mechanism, detains through elasticity bandage and magic and fixes the joint fixed band in the joint position, has replaced traditional robot's link mechanism, realizes elbow joint rehabilitation training device and patient's flexible contact. Compared with the existing rehabilitation training device adopting a rigid driver, the pneumatic flexible driver replaces the rigid driver, the rigid connecting mechanism and the intermediate transmission mechanism, has small volume, light weight and low cost, has better flexibility and safety, and is suitable for the rehabilitation training of the elbow joints of the upper limbs of the patient.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. An elbow joint rehabilitation training device is characterized by comprising a pneumatic flexible driver, a joint fixing belt and a control system;
the pneumatic flexible driver comprises a first pneumatic muscle and a second pneumatic muscle;
the control system is used for controlling the first pneumatic muscle to drive the elbow joint to bend and extend;
the control system is used for controlling the second pneumatic muscle to drive the internal rotation and the external rotation of the arm;
the joint fixing band is used for fixing the shoulder, the elbow and the wrist of a user; and the first pneumatic muscle and the second pneumatic muscle are fixed on the joint fixing belt.
2. The elbow joint rehabilitation training device of claim 1, wherein the joint fixing band comprises a wrist joint fixing band, an elbow fixing band and a shoulder fixing band which are separately or integrally arranged.
3. The elbow rehabilitation training device of claim 2, wherein the first pneumatic muscle comprises pneumatic muscle a and pneumatic muscle B, pneumatic muscle a contracts while pneumatic muscle B extends, and the elbow joint flexes; the pneumatic muscle A is extended, while the pneumatic muscle B is contracted, and the elbow joint performs an extension exercise.
4. The elbow joint rehabilitation training device according to claim 3, wherein the pneumatic muscle A is fixed at both ends to the front side of the upper end of the wrist joint fixing band and the front side of the lower end of the shoulder joint fixing band; one end of the pneumatic muscle B is fixed at the rear side of the lower end of the shoulder joint fixing band and penetrates through the rear side of the elbow joint fixing band, and the other end of the pneumatic muscle B is fixed at the rear side of the upper end of the wrist joint fixing band.
5. The elbow rehabilitation training device of claim 2, wherein the second pneumatic muscle comprises pneumatic muscle C and pneumatic muscle D, the pneumatic muscle C contracts while the pneumatic muscle D extends, and the arm rotates inward; the pneumatic muscle C stretches, and meanwhile, the pneumatic muscle D contracts and the arm rotates outwards.
6. The elbow joint rehabilitation training device according to claim 5, wherein the pneumatic muscle C and the pneumatic muscle D are fixed in a crossed manner, one end of the pneumatic muscle C is fixed on the left side of the wrist joint fixing band, and the other end of the pneumatic muscle C is fixed on the right side of the elbow joint fixing band; one end of the pneumatic muscle D is fixed on the right side of the wrist joint fixing band, and the other end of the pneumatic muscle D is fixed on the left side of the elbow joint fixing band.
7. The elbow rehabilitation training device of claim 1, wherein the first pneumatic muscle and the second pneumatic muscle each comprise a rubber tube, a woven fabric, a nipple, a pneumatic plug;
the fiber woven mesh is sleeved outside the rubber tube, and two ends of the fiber woven mesh are fixed together through a fixing piece; the interface is connected to the one end of fibre woven mesh and rubber tube, and this interface sets up the air inlet, and the other end seals through pneumatic end cap.
8. The elbow joint rehabilitation training device of claim 1, wherein the control system comprises a controller, an air pump, an air pressure sensor and a proportional valve, the air pressure sensor detects the air pressure inside the pneumatic muscle, the air pump is used as an air pressure source, and the air pressure sensor is arranged at an air outlet of the air pump; the controller controls the amount of gas injected by the gas pump and adjusts the size of the proportional valve according to data detected by the gas pressure sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821816802.XU CN210056675U (en) | 2018-11-05 | 2018-11-05 | Elbow joint rehabilitation training device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821816802.XU CN210056675U (en) | 2018-11-05 | 2018-11-05 | Elbow joint rehabilitation training device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109363886A (en) * | 2018-11-05 | 2019-02-22 | 山东大学 | A kind of device for healing and training elbow joint and implementation method |
| CN111249113A (en) * | 2020-03-06 | 2020-06-09 | 重庆百事得大牛机器人有限公司 | Intelligent training method and system for medical training |
| CN111660286A (en) * | 2020-06-04 | 2020-09-15 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
| CN111759662A (en) * | 2020-07-03 | 2020-10-13 | 浙江工业大学 | Arm auxiliary device |
-
2018
- 2018-11-05 CN CN201821816802.XU patent/CN210056675U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109363886A (en) * | 2018-11-05 | 2019-02-22 | 山东大学 | A kind of device for healing and training elbow joint and implementation method |
| CN111249113A (en) * | 2020-03-06 | 2020-06-09 | 重庆百事得大牛机器人有限公司 | Intelligent training method and system for medical training |
| CN111249113B (en) * | 2020-03-06 | 2021-10-15 | 重庆百事得大牛机器人有限公司 | Intelligent training method and system for medical training |
| CN111660286A (en) * | 2020-06-04 | 2020-09-15 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
| CN111660286B (en) * | 2020-06-04 | 2022-05-17 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
| CN111759662A (en) * | 2020-07-03 | 2020-10-13 | 浙江工业大学 | Arm auxiliary device |
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