GB2593299B - A wrist joint movement function evaluation and rehabilitation robot - Google Patents

A wrist joint movement function evaluation and rehabilitation robot Download PDF

Info

Publication number
GB2593299B
GB2593299B GB2103146.3A GB202103146A GB2593299B GB 2593299 B GB2593299 B GB 2593299B GB 202103146 A GB202103146 A GB 202103146A GB 2593299 B GB2593299 B GB 2593299B
Authority
GB
United Kingdom
Prior art keywords
wrist joint
joint movement
function evaluation
rehabilitation robot
movement function
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.)
Active
Application number
GB2103146.3A
Other versions
GB202103146D0 (en
GB2593299A (en
Inventor
Yu Weiwei
Wang Yongyong
Zhi Jin
Wang Tianyang
He Zhijie
Sun Zeyu
Li Zhenjie
Jin Dian
Zhao Jun
Xiao Jianhua
Gao Hua
Yu Cuihua
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Northwestern Polytechnical University
Original Assignee
Northwestern Polytechnical University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Northwestern Polytechnical University filed Critical Northwestern Polytechnical University
Publication of GB202103146D0 publication Critical patent/GB202103146D0/en
Publication of GB2593299A publication Critical patent/GB2593299A/en
Application granted granted Critical
Publication of GB2593299B publication Critical patent/GB2593299B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1118—Determining activity level
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A61B5/459—Evaluating the wrist
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
    • A61B2505/09—Rehabilitation or training
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0203—Rotation of a body part around its longitudinal axis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0207—Nutating movement of a body part around its articulation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1463—Special speed variation means, i.e. speed reducer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physics & Mathematics (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Physiology (AREA)
  • Rheumatology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Geometry (AREA)
  • Rehabilitation Tools (AREA)
GB2103146.3A 2020-03-07 2021-03-05 A wrist joint movement function evaluation and rehabilitation robot Active GB2593299B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010153856.8A CN111281394B (en) 2020-03-07 2020-03-07 Wrist joint movement function evaluating and rehabilitation robot

Publications (3)

Publication Number Publication Date
GB202103146D0 GB202103146D0 (en) 2021-04-21
GB2593299A GB2593299A (en) 2021-09-22
GB2593299B true GB2593299B (en) 2022-04-20

Family

ID=71024759

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2103146.3A Active GB2593299B (en) 2020-03-07 2021-03-05 A wrist joint movement function evaluation and rehabilitation robot

Country Status (2)

Country Link
CN (1) CN111281394B (en)
GB (1) GB2593299B (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111772635B (en) * 2020-06-19 2022-08-30 南通大学 Wrist joint rehabilitation angle measuring device and measuring method thereof
CN112741756A (en) * 2020-12-16 2021-05-04 东北大学秦皇岛分校 Self-adjusting wrist rehabilitation robot
CN113397904B (en) * 2021-02-08 2022-05-03 长春工业大学 Flexible parallel rope driven forearm and wrist joint rehabilitation device
CN113485521B (en) * 2021-07-05 2022-11-01 西北工业大学 Control handle capable of measuring six-dimensional force and motion state
CN114191251B (en) * 2021-12-10 2023-10-31 江苏省人民医院（南京医科大学第一附属医院） Non-wearable three-degree-of-freedom wrist rehabilitation treatment robot
CN114209549B (en) * 2021-12-31 2023-11-14 常州大学 Wrist rehabilitation device with two degrees of freedom
CN115227204B (en) * 2022-07-08 2023-05-30 同济大学浙江学院 Non-invasive wrist joint axis parameter measuring device and measuring method
PL443260A1 (en) * 2022-12-27 2024-07-01 Politechnika Rzeszowska im. Ignacego Łukasiewicza Wrist rehabilitation device
CN116138989B (en) * 2022-12-27 2024-05-24 北京盈以康机器人科技有限公司 Wrist rehabilitation training device with multiple degrees of freedom

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202515948U (en) * 2012-03-30 2012-11-07 东华大学 Wrist joint rehabilitation training device
WO2015041618A2 (en) * 2013-09-20 2015-03-26 Akdogan Erhan Upper limb therapeutic exercise robot
US20150359697A1 (en) * 2014-06-17 2015-12-17 Ozkan Celik Wrist and forearm exoskeleton
CN107811815A (en) * 2017-12-07 2018-03-20 同济大学浙江学院 The arm support mechanism of wrist joint device for healing and training
CN108465209A (en) * 2018-05-31 2018-08-31 力迈德医疗（广州）有限公司 Wrist joint global function image training robot
CN110859731A (en) * 2019-10-25 2020-03-06 西北工业大学 Six-degree-of-freedom exoskeleton type upper limb rehabilitation robot
CN111281745A (en) * 2020-03-07 2020-06-16 西北工业大学 Wrist joint rehabilitation device capable of self-adapting to change of human motion axis

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105310859B (en) * 2015-07-26 2018-09-25 广东铭凯医疗机器人有限公司 Outward turning device for healing and training in a kind of wrist joint
CN105310863B (en) * 2015-07-26 2017-08-15 广东铭凯医疗机器人有限公司 A kind of finger and wrist joint device for healing and training
CN105310861B (en) * 2015-07-26 2018-09-25 广东铭凯医疗机器人有限公司 A kind of wrist joint dorsiflex palmar flexion device for healing and training
CN107595547B (en) * 2017-09-18 2024-04-16 华南理工大学 Double-arm robot for upper limb rehabilitation training
CN109009875B (en) * 2018-08-20 2024-03-26 中国科学院苏州生物医学工程技术研究所 Individualized upper limb rehabilitation training robot
CN110179624A (en) * 2019-05-10 2019-08-30 上海念通智能科技有限公司 A kind of elbow wrist integration rehabilitation training equipment

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202515948U (en) * 2012-03-30 2012-11-07 东华大学 Wrist joint rehabilitation training device
WO2015041618A2 (en) * 2013-09-20 2015-03-26 Akdogan Erhan Upper limb therapeutic exercise robot
US20150359697A1 (en) * 2014-06-17 2015-12-17 Ozkan Celik Wrist and forearm exoskeleton
CN107811815A (en) * 2017-12-07 2018-03-20 同济大学浙江学院 The arm support mechanism of wrist joint device for healing and training
CN108465209A (en) * 2018-05-31 2018-08-31 力迈德医疗（广州）有限公司 Wrist joint global function image training robot
CN110859731A (en) * 2019-10-25 2020-03-06 西北工业大学 Six-degree-of-freedom exoskeleton type upper limb rehabilitation robot
CN111281745A (en) * 2020-03-07 2020-06-16 西北工业大学 Wrist joint rehabilitation device capable of self-adapting to change of human motion axis

Also Published As

Publication number Publication date
CN111281394A (en) 2020-06-16
GB202103146D0 (en) 2021-04-21
CN111281394B (en) 2022-08-19
GB2593299A (en) 2021-09-22

Similar Documents

Publication Publication Date Title
GB2593299B (en) A wrist joint movement function evaluation and rehabilitation robot
US9895087B2 (en) Wearable apparatus for measuring position and action of arm
EP3769174A4 (en) Motion planning of a robot for various environments and tasks and improved operation of same
EP4059485C0 (en) Finger joint rehabilitation training device
EP4134058A4 (en) Exoskeleton joint self-locking mechanism, knee joint, and bionic rehabilitation robot
JP6016453B2 (en) Hand Exo Skeleton Device with Three-layer Linked Spring Slide Mechanism
EP3651713C0 (en) Kinematical chain for assisting the motion of a spherical joint
US20210068988A1 (en) Driving Assembly for Moving Body Part
EP4129264A4 (en) Robotic orthosis for lower extremity for gait rehabilitation training
GB2598929B (en) Underwater snake robot with passive joints
EP3980226A4 (en) Estimating joint friction and tracking error of a robotics end effector
EP3982901C0 (en) Infrared ray equipment for robotic rehabilitation on a treadmill, having flexible pelvic attachment
GB2596850B (en) A joint
GB2597668B (en) A glove
EP4243685A4 (en) Gait and posture analysis
GB202410036D0 (en) A mechanical wrist joint
GB2596813B (en) Characterising the performance of a robotic joint
EP4051929A4 (en) A reducer and an industrial robot
GB202320081D0 (en) A wrist training device
GB202300081D0 (en) A sealable joint
EP4144331C0 (en) A movement assistive device for the elbow joint
GB2592042B (en) Wrist joint for an arm device used to control a robot
GB2591279B (en) A pair of gloves comprising glove retainer means
AU2021903153A0 (en) A carpometacarpal joint stabilising boxing glove
GB202003102D0 (en) A robot and remote control sensors thereof