KR101674044B1 - Rehabilitation Robot for Trunk Stabilizing Exercises - Google Patents

Abstract

The rehabilitation robot for the trunk stabilization exercise of the present invention includes a base frame 10 having a seat seat 13, a backrest 29 for supporting the patient, A motion frame 20 that applies a force to rotate the trunk in the left and right directions by pushing the trunk from the side, a rolling motor 30-1 that generates power for rotating the trunk in left and right directions, And a tilting motor 30-2 for generating power for the patient, so that any operation for stabilizing the trunk of the patient can be performed with the trunk rehabilitation motion controlled in three degrees of freedom. In particular, (19) is associated with the control room (200), so that the input information applied to the patient and the quantification of the reaction information of the patient and the rapid evaluation of the performance are performed.

Description

{Rehabilitation Robot for Trunk Stabilizing Exercises}

The present invention relates to a rehabilitation treatment robot, and more particularly, to a rehabilitation treatment robot in which an arbitrary operation for stabilizing the trunk can be applied to a paralyzed patient by controlling the trunk movement of the paralyzed patient to three degrees of freedom.

Rehabilitation of patients with hemiplegia or limb paralysis induced by spinal cord injury, stroke, traumatic brain injury, cerebral palsy requires stabilization of the trunk (body) and strength and sense of limbs.

Therefore, when the stabilization of the trunk is given priority in the rehabilitation treatment of the paralyzed patient, the rehabilitation therapist can perform another rehabilitation treatment process. To this end, the rehabilitation therapist pays much effort to stabilize the trunk of the paralyzed patient first, And stretching the joints and / or shortened ligaments / muscles.

In this stretching treatment, the rehabilitation therapist utilizes various rehabilitation treatment devices, robots or exercise equipment to enhance the effectiveness of the rehabilitation treatment of the paralysis patient.

Korean Registered Patent No. 10-1392006 (Apr. 28, 2014)

However, since the trunk stabilization treatment of a paralytic patient is performed in a passive manner by a rehabilitation therapist, the paralytic patient as well as the rehabilitation therapist are physically accompanied with difficulties, and the treatment period is inevitably shortened due to insufficient stabilization of the trunk.

Accordingly, the present invention, which has been made in view of the above points, can be configured as an exoskeletal type robot that controls the motion of the patient's trunk in three degrees of freedom, thereby allowing the patient to perform trunk rehabilitation exercise by arbitrary operation for stabilizing the trunk, The present invention aims to provide a rehabilitation robot for a body stabilization exercise in which input information and reaction information of a patient are quantified and displayed as numerical values so that evaluation of the result can be promptly grasped.

In order to accomplish the above object, the present invention provides a rehabilitation robot for stabilizing a body, comprising a base frame on which a motion frame, a rolling motor and a tilting motor are mounted while fixing the patient in a sitting state; The motion frame is positioned behind the patient so as to support the back of the patient. The motion frame causes the back of the patient to bend forward by pressing the trunk of the patient, and pushes the trunk of the patient from the side to rotate the trunk in the left and right directions The rolling motor transmits a force applied to the left and right rotations of the trunk to the motion frame by a rotational force, and the tilting motor rotates the force applied by the motion frame for backward bending of the trunk by rotational force To the motion frame.

The rotational motion of the patient on a horizontal plane can be a passive motion without a driver, resulting in a natural upper body motion.

The base frame is further provided with a seat for the patient to sit on, and a pressure sensor is provided on the seat so that the patient's movement can be grasped by the pressure change applied by the patient to the seat.

The motion frame is bolted and integrated into the base frame, and each of the rolling motor and the tilting motor is bolted to the motion frame to form a 90-degree layout with respect to each other.

The rotation axis of the rolling motor and the tilting motor is designed to coincide with the motion rotation axis of the patient utilizing a 4-bar mechanism, thereby minimizing the inconvenience for stabilizing the patient's body.

Wherein driving for each of the rolling motor and the tilting motor is controlled by a control signal in a control room; Wherein the control room receives the motion information and the pressure information of the rolling motor and the tilting motor to the pressure sensor connector connected to the pressure sensor so as to detect the motion of the patient and receives the kinematic analysis of the rehabilitation robot and the pressure information The motion information of the patient can be estimated based on the motion information. The control room performs the control signal output and the pressure information detection by wireless communication or wire communication.

The present invention is made up of an exoskeletal-type bodily rehabilitation robot for controlling the movement of the body of a paralyzed patient in three degrees of freedom, thereby allowing the patient to perform a bodily rehabilitation exercise in the same manner as a rehabilitation therapist, There is an effect that the trunk rehabilitation exercise can be done without difficulty.

In addition, since the present invention displays the input information of the exoskeleton type robot to the patient and the reaction information of the patient as quantified values, the evaluation result of the result can be promptly grasped, and the treatment period can be shortened by quickly reflecting the evaluation result There is an effect.

In addition, unlike rehabilitation therapy apparatuses, robots, or exercise apparatuses in which trunk rehabilitation therapy robots are mostly aimed at arm movement control, intensive trunk rehabilitation exercises can be performed in the trunk rehabilitation treatment of paralysis patients, And the like.

FIG. 1 is a block diagram showing a configuration of a rehabilitation robot for stabilizing a trunk according to the present invention, FIG. 2 is a block diagram of a base frame according to the present invention, FIGS. 3 and 4 are block diagrams of a motion frame and a motion motor, 5 is an operating state in which the rehabilitation robot according to the present invention is imparted with back and forth bending motion based on a sagittal plane (imaginary plane divided into left and right sides of the human body) of the patient, FIG. 7 is a view showing an operation state in which the rehabilitation robot according to an embodiment of the present invention is provided with a horizontal plane (horizontal plane) (An imaginary plane obtained by dividing the human body into upper and lower sides).

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which illustrate exemplary embodiments of the present invention. The present invention is not limited to these embodiments.

FIGS. 1 to 4 show the configuration of a rehabilitation robot for trunk stabilization exercise according to the present embodiment.

Referring to FIG. 1, the rehabilitation robot includes a base frame 10 on which a driver is mounted while holding a paralyzed patient in a sitting position, a motion frame 20 ), And a motion motor 30 composed of a rolling motor 30-1 and a tilting motor 30-2 that generates power for triceps movement in three degrees of freedom to a paralyzed patient. In particular, the rehabilitation robot can be configured and operated together with a control room 200 that controls rehabilitation exercises using monitor and rehabilitation evaluation data while interacting with a paralytic patient through motion, image, and voice of a paralyzed patient. In this case, the movement of the paralyzed person is secured by using the pressure sensor connector 100-1 connected to the pressure sensor 19 provided on the seat seat 13 of the base frame 10. [

To this end, the control room 200 can transmit and receive an output signal of the pressure sensor connector 100-1, a control command of the motion motor 30, and the like wirelessly by establishing a wireless communication network. However, if necessary, it can be constructed as a wired line using a power source and a signal line. Particularly, in the control room 200, from the mechanism structure for connecting the motor block 21 of the motion frame 20 together with the measured values of the rotational motion of the rolling motor 30-1 and the tilting motor 30-2 The patient motion assist control signal is generated by combining the estimated patient posture value and the patient posture pressure value of the pressure sensor 19 and the patient motion assist control signal is generated for a predetermined movement range Thereby helping the patient ' s movement. In addition, the control room 200 can acquire an image using a camera installed at a rehabilitation treatment site where the rehabilitation robot is located. Also, the control room 200 can acquire images by using a microphone installed at a rehabilitation treatment site where the rehabilitation robot is located, May be possible.

2, the base frame 10 includes a base block 11, a seat 13, left and right post blocks 15-1 and 15-2, a wheel 17, a pressure sensor 19, .

The base block 11 has a front part 11-1 which joins the seat seat 13 to the upper surface and serves as a support for joining the left and right post blocks 15-1 and 15-2 to left and right sides, A rear portion 11-3 serving as a support for coupling the frame 20 and a connecting portion 11-2 having a frame structure for connecting the front portion 11-1 and the rear portion 11-3 .

The seat seat 13 includes a seat cushion 13-1 in which a patient sits, a seat cushion post 13-2 for supporting the seat cushion 13-1 at four positions, a seat cushion post 13-2 And a mounting plate 13-3 bolted to the upper surface of the front portion 11-1 constituting the base block 11 in a state of bolting. Therefore, the seat seat 13 is integrated with the base block 11 via the mounting plate 13-3. In particular, the seat cushion 13-1 is provided with a pressure sensor 19 for grasping the movement of the patient by the pressure exerted by the patient. In particular, the seat seat 13 may further include a belt such as a seat belt for a vehicle so as to fix the patient in a seated state.

The left and right post blocks 15-1 and 15-2 are integrated with the base block 11 by being coupled to the left and right sides of the front portion 11-1 constituting the base block 11. [ In particular, each of the left and right post blocks 15-1 and 15-2 protrudes to the left and right portions of the seat sheet 13 to provide a joining portion to which the components of the motion frame 20 are engaged. Therefore, the left and right post blocks 15-1 and 15-2 provide the driving part mounting part, and the driving part means the motion frame 20 and the motion motor 30. [

The wheel 17 is provided to the left and right post blocks 15-1 and 15-2 and the rear portion 11-3, respectively.

The pressure sensor 19 is installed on the seat cushion 13-1 of the seat seat 13 to generate an electric signal for grasping the movement of the patient by the pressure exerted by the patient. In particular, the pressure sensor 19 is connected to the pressure sensor connector 100-1 installed at the rehabilitation treatment site where the rehabilitation robot is located, so that the detection value of the pressure sensor 19 is transmitted to the control room 200 .

3 and 4, the motion frame 20 includes a motor block 21, a tilting joint 22, a three-degree-of-freedom motion block 24, and a back 29.

The motor block 21 is connected to a rolling motor 30-1 through a rolling motor speed reducer 21-1 and connected to a tilting motor 30-2 via a tilting motor speed reducer 21-2 And a bracket bolted to the rear portion 11-3 of the base block 11 while fixing each of the rolling motor 30-1 and the tilting motor 30-2 so as to be integrated with the base frame 10 And implements the movement of the rolling motor reducer 21-1 and the tilting motor reducer 21-2 in accordance with the rotational force and the rotational direction. To this end, each of the rolling motor speed reducer 21-1 and the tilting motor speed reducer 21-2 is provided with gears for lowering the number of revolutions of the rolling motor 30-1 and the tilting motor 30-2 and for increasing the torque Lt; / RTI >

The tilting joint 23 includes a connecting rod 23-1 fixed to the motor block 21 in the same line as the rolling motor 30-1, a fixed rod 23-2 fixed to the 3-DOF motion block 24, 3 which are fixed to the connecting rod 23-1 and the fixed rod 23-3 via the tilting hinge shafts 23a so as to be rotated 90 degrees with respect to the connecting rod 23-1, 2). At this time, the operation rod 23-2 and the connection rod 23-1 are switched 90 degrees by moving the operation rod 23-2 or the connection rod 23-1 to each other, Or the like. Therefore, when the tilting motor 30-2 is driven by the sagittal plane motion control signal of the control room 200, the tilting joint 23 is operated by the operation rod 23-2 via the hinge shaft 23a , The three degree of freedom motion block 24 is actuated to cause the patient to bend back and forth.

Thus, the motor block 21 and the connection rod 23-1, the operation rod 23-2, and the fixed rod 23-3 constitute a 4-bar mechanism The rotation axis of the rolling motor 30-1 and the tilting motor 30-2 constituting the motion motor 30 can be designed to coincide with the rotation axis of the patient's motion, Can be minimized.

The three-degree-of-freedom motion block 24 includes an adjuster rod 25-1, front and rear spacing plates 25-3 and 25-4, left and right manipulators 27-1 and 27- 2).

The adjuster rod 25-1 is fixed to the fixed rod 23-3 of the tilting joint 23 so that the motion block 24 is integrated with the tilting joint 23. [ The front and rear spacing plates 25-3 and 25-4 are positioned at the front and rear of the adjuster rod 25-1 and are disposed on the left and right Manipulate 27-1 and 27-2 And are fixed to each other via a combined left and right plate hinge shafts 25a, and a backrest 29 is mounted. In particular, each of the front and rear spacing plates 25-3 and 25-4 may be composed of two or more plate members. The left and right manipulators 27-1 and 27-2 are connected to an elbow arm 27b, a motion frame fixing portion 27c, an elbow arm 27b and a motion frame fixing portion 27c And a manipulated hinge shaft 27a connected to the driven hinge shaft 27a. The elbow arm 27b is formed of two elbow-shaped plates so as to surround the plate hinge shaft 25a to which the front and rear spacing plates 25-3 and 25-4 are fixed. The motion frame fixing portion 27c is fixed to the left and right post blocks 15-1 and 15-2 of the base frame 10 so that the three degree of freedom motion block 24 is integrated with the base frame 10 give. The manipulated hinge shaft 27a allows movement of the elbow arm 27b in a state where the motion frame fixing portion 27c is fixed to each of the left and right post blocks 15-1 and 15-2, So that the degree of freedom motion block 24 can be rotated left and right. Therefore, the three-degree-of-freedom motion block 24 is controlled by the front-plane motion control signal of the control room 200 when the rolling motor 30-1 is driven by the hinge axes 23a and 25a And the left and right manipulators 27-1 and 27-2 move in the left and right directions by the left and right spacing plates 25-3 and 25-4 and the left and right manipulations 27-1 and 27-2.

The backrest 29 is composed of a backrest cushion 29-1, a backrest cushion post 29-2, and a post guider 29-3. The backrest cushion 29-1 is arcuate so as to surround the back of the patient and the backrest cushion post 29-2 can be moved laterally from the post guider 29-3, -1, and the post guider 29-3 can be moved in the direction of the azimuth rod 25-1 of the three-degree-of-freedom motion block 24 or the front gap plate 25-3, And is integrated with the 3-DOF motion block 24. Particularly, the backrest cushion post 29-2 and the post guidder 29-3 are engaged with each other through a concave-convex coupling or a roller.

The rolling motor 30-1 constituting the motion motor 30 transmits forward and reverse rotational force by a front plane motion control signal of the control room 200 to the rolling motor speed reducer 21-1 And the tilting motor 30-2 transmits the forward and reverse rotation forces by the sagittal plane motion control signal of the control tower 200 to the tilting motor speed reducer 21-2. For example, when the three-dimensional xyz coordinate system is applied, the rolling motor 30-1 is connected to the rolling motor speed reducer 21-1 in the x-axis direction, so that the driving force of the rolling motor 30-1 is transmitted to the frontal The tilting motor 30-2 is connected to the tilting motor speed reducer 21-2 in the y-axis direction to generate a tilting motor 30-2 with the driving force of the tilting motor 30-2, The patient is given a forward and backward bending motion based on the sagittal plane of the patient.

In particular, the rotation axes of the rolling motor 30-1 and the tilting motor 30-2 are designed to coincide with the motion rotation axis of the patient by utilizing a 4-bar mechanism, Minimizing the inconvenience for stabilizing motion. Here, the 4-bar mechanism is implemented by a motor block 21, a connecting rod 23-1, an operating rod 23-2, and a fixed rod 23-3. Therefore, when the rotational motion of the rolling motor 30-1 coincides with the rolling axis of the motion frame 20 which realizes the lateral motion of the patient, and the rotational movement of the tilting motor 30-2 is the same as that of the patient And a tilting axis of the motion frame 20 which implements the forward and backward movement.

In such a layout, the tilting motor 30-2 is positioned below the center portion of the backrest cushion 29-1, thereby acting as a rotation axis for the waist portion of the patient leaning back on the back 29.

Meanwhile, FIG. 5 shows an operation state in which the back and forth bending motion is applied based on the sagittal plane of the patient in the rehabilitation robot according to the present embodiment.

As shown in the figure, when the control room 200 sends a sagittal plane motion control signal to the tilting motor 30-2, the rotational force of the tilting motor 30-2 is transmitted through the tilting motor speed reducer 20-2 The rotational force of the motor block 21 in the clockwise direction causes the tilting joint 23 to be lifted so that the motor block 21 rotates in three degrees of freedom Block 24 presses forward on the patient's back.

Specifically, the connecting rod 23-1 is switched to the raised position in the initial horizontal position by the rotational force (clockwise) of the motor block 21 by Ka, and the connecting rod 23-1 is raised, The operating rod 23-2 fixed to the connecting rod 23-1 via the connecting rod 23a is pulled toward the motor block 21 and the operating rod 23-2 is pulled so that the hinge shaft 23a The fixed rod 23-3 fixed to the actuating rod 23-2 is switched to the inclined position which is bent by Kb in the horizontal position. The bending of the fixed rod 23-3 is performed by pulling the three-degree-of-freedom motion block 24 fixed to the fixed rod 23-3 by the adjuster rod 25-1 toward the motor block 21, ) Is shifted from the vertical position to an inclined position that is bent by Kc. As a result, the three-degree-of-freedom motion block 24 uses the backrest 29 to apply force to the body of the paralyzed patient sitting on the seat seat 13 to bend forward.

On the other hand, when the control unit 200 sends a control signal to the tilting motor 30-2 so as to rotate the motor block 21 in the counterclockwise direction, the connection rod 23-1 and the fixed rod 23-3 are returned to the horizontal state and the operation rod 23-2 is returned to the vertical state between the connection rod 23-1 and the fixed rod 23-3, And the backrest 29 are also returned to the vertical state.

FIG. 6 shows an operation state in which the left and right rotational movement is given based on the frontal plane of the patient in the rehabilitation robot according to the present embodiment.

As shown in the figure, when a front plane motion control signal is sent from the control room 200 to the rolling motor 30-1, the rotational force of the rolling motor 30-1 is transmitted through the rolling motor speed reducer 20-1 The rotation of the motor block 21 in the counterclockwise direction is transmitted to the motor block 21 through the tilting joint 23 to generate three rotational degrees of freedom (Left side in Fig. 6) in which the motion block 24 is bent in the counterclockwise direction by Kd at the center position. As a result, the three-degree-of-freedom motion block 24 applies a force to the left side of the trunk of the paralyzed patient sitting on the seat seat 13 using the backrest 29.

Specifically, the tilting joint 23 transmits the rotational force (anticlockwise direction) of the motor block 21 to the adjuster rod 25-1, and the adjuster rod 25-1 transmits the rotational force of the motor block 21 Left and right manipulations 27-1 and 27-2 are directed in the left direction together with the front and rear spacing plates 25-3 and 25-4 . At this time, the movements of the front and rear spacing plates 25-3 and 25-4 and the left and right manipulations 27-1 and 27-2 toward the left direction are transmitted through the hinge shafts 23a and 25a .

On the other hand, when the control unit 200 sends a control plane control signal (fpm) to the rolling motor 30-1 so that the motor block 21 is rotated clockwise, the tilting joint 23 returns to the center position, The 3 DOF motion block 24 and the backrest 29 are also returned to the center position.

7 shows an operation state in which the left and right rotational movement is given with respect to the horizontal plane of the patient in the rehabilitation robot according to the present embodiment.

As shown in the figure, the backrest cushion 29-1 moves left and right by applying force to the backrest cushion 29-1, and the left and right movement of the backrest cushion 29-1, In the state, the upper body can be turned left and right. This movement is caused when the backrest cushion post 29-2 fixed to the backrest cushion 29-1 is coupled to the post guider 29-3 via the concave-convex coupling or the roller, The back cushion post 29-2 can be stably pushed back by the post guider 29-3 by the left and right forces Fleft and Fright.

In this way, the rehabilitation robot can be a passive motion and a natural upper body motion without rotation of the driver in the horizontal plane of the patient. Therefore, there is an advantage that all the movements including the left and right rotation movements of the 3-DOF motion block 24 described in FIGS. 5 and 6 can be manually performed by the rehabilitation therapist. This is because the front and rear spacing plates 25-3 and 25-4 are connected to the left and right manipulators 27-1 and 27-2 respectively by the hinge axis 25a, Each of the manipulations 27-1 and 27-2 is connected to the base frame 10 by the hinge shaft 27a so that the force exerted by the rehabilitation therapist via the hinge shafts 25a and 27a is transmitted to the backrest 29) can be rotated left and right.

As described above, the rehabilitation robot for the trunk stabilization exercise according to the present embodiment includes a base frame 10 provided with a seat 13, a backrest 29 supporting the patient, A motion frame 20 for applying a force to bend forward or push the trunk of the patient from the side to rotate the trunk in the left and right directions, a rolling motor 30- 1), and a tilting motor (30-2) that generates power for backbending of the trunk, so that an arbitrary operation for stabilizing the patient's trunk is performed in a triceps rehabilitation exercise controlled by three degrees of freedom Particularly, by connecting with the control room 200 equipped with the pressure sensor 19, the input information applied to the patient and the quantification and rapid performance evaluation can be performed according to the quantification of the patient's reaction information.

10: base frame 11: base block
11-1: front portion 11-2: connection portion
11-3: rear portion 13: seat seat
13-1: Seat Cushion 13-2: Seat Cushion Post
13-3: Mounting plate 15-1, 15-2: Left and right post block
17: Wheel 19: Pressure sensor
20: Motion frame
21: Motor block 21-1: Rolling motor speed reducer
21-2: tilting motor speed reducer 23: tilting joint
23a, 25a, 27a: Hinge shaft 23-1: Connecting rod
23-2: operating rod 23-3: fixed rod
24: 3 degrees of freedom motion block 25-1:
25-3, 25-4: front and rear spacing plates
27-1, 27-2: Left and right Manipulate
27b: Elbow arm 27c: Motion frame fixing part
29: Backrest 29-1: Backrest cushion
29-2: Backrest cushion post 29-3: Post guider
30: Motion motor 30-1: Rolling motor
30-2: Tilting motor
100-1: Pressure sensor connector 100-2: Camera
100-3: microphone 200: control room

Claims (10)

A base frame on which a motion frame, a rolling motor, and a tilting motor are mounted while holding the patient in a sitting position;
The motion frame is positioned behind the patient so as to support the back of the patient. The motion frame causes the back of the patient to bend forward by pressing the trunk of the patient, and pushes the trunk of the patient from the side to rotate the trunk in the left and right directions And the rolling motor transmits a force applied to the left and right rotations of the trunk to the motion frame by a rotational force, and the tilting motor rotates the force applied by the motion frame for back- To the motion frame;
Wherein the motion frame includes a motor block coupled to the rolling motor and the tilting motor at right angles to each other, a three-degree-of-freedom motion block having a back supporting the patient's back, a motion of the motor block due to rotation of the rolling motor, Degree motion block for the right and left rotation of the trunk, and generates a motion of the three-degree-of-freedom motion block for bending the trunk by the motion of the motor block due to the rotation of the tilting motor A tilting joint for generating movement;
The tilting joint includes a connecting rod fixed to the motor block, a fixed rod fixed to the three-degree-of-freedom motion block, a fixed rod fixed to the motor block through a hinge shaft to each of the connecting rod and the fixed rod, A working rod constituting the structure;
Wherein the three-degree-of-freedom motion block comprises an adjuster rod fixed to the fixed rod, a front and rear spacing plate fixed at front and rear positions of the adjuster rod and coupled with the backrest, A plate hinge shaft for respectively fixing a rear spacer plate, a left and right manipulate fixed to the motion frame in a state of being engaged with the plate hinge axis, Consisting of a manipulated hinge axis
A robot for rehabilitation therapy for trunk stabilization exercise.
[3] The apparatus according to claim 1, wherein the base frame further comprises a seat seat on which the patient sits, and a pressure sensor is installed on the seat seat so that the patient's movement can be grasped by a pressure change applied by the patient to the seat seat. Rehabilitation therapy robot for exercise.
2. The method of claim 1, wherein the rolling motion of the rolling motor coincides with the rolling axis of the motion frame that implements lateral motion of the patient, and the rotational motion of the tilting motor tilts the motion frame Axis of the robot, and the robot arm is structured to coincide with the axis of the robot.
delete delete delete [2] The apparatus of claim 1, wherein each of the left and right manipulations includes an elbow arm coupled to the plate hinge axis, a motion frame fixing portion coupled to the elbow arm via the manipulated hinge axis in a state of being fixed to the motion frame, And a robot for rehabilitation therapy for stabilizing the body.
The method of claim 1, wherein driving for each of the rolling motor and the tilting motor is controlled by a control signal in a control room; Wherein the control room receives the pressure information from the pressure sensor that detects movement of the patient, and the pressure sensor connector is connected to the pressure sensor.
The rehabilitation robot according to claim 8, wherein the control room performs the control signal output and the pressure information detection by wireless communication or wire communication.
[Claim 8] The method of claim 8, wherein the control room includes an estimated patient posture estimation value from a mechanism structure for connecting the motor block of the motion frame together with the rotational motion measurement values of the rolling motor and the tilting motor, Wherein the patient motion assist control signal is generated in combination with the posture pressure value and the patient motion assist control signal can assist the patient's motion within a predetermined motion range for the patient. Rehabilitation therapy robot for.

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