CN102961235B - Upper-limb rehabilitation training robot - Google Patents
Upper-limb rehabilitation training robot Download PDFInfo
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- CN102961235B CN102961235B CN201210522122.8A CN201210522122A CN102961235B CN 102961235 B CN102961235 B CN 102961235B CN 201210522122 A CN201210522122 A CN 201210522122A CN 102961235 B CN102961235 B CN 102961235B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 30
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 27
- 238000005452 bending Methods 0.000 claims abstract description 10
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 30
- 239000011230 binding agent Substances 0.000 claims description 16
- 210000000245 forearm Anatomy 0.000 claims description 13
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 9
- 229910052802 copper Inorganic materials 0.000 claims description 9
- 239000010949 copper Substances 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 7
- 230000013011 mating Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 210000000707 wrist Anatomy 0.000 claims description 4
- 210000002478 hand joint Anatomy 0.000 abstract description 4
- 210000001503 joint Anatomy 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 206010003694 Atrophy Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000037444 atrophy Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 206010008129 cerebral palsy Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
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Abstract
The invention relates to a medical rehabilitation training instrument. An upper-limb rehabilitation training robot solves the problems that existing equipment is complex in structure and hand joints cannot move comprehensively. The upper-limb rehabilitation training robot comprises a base (1), a support frame (3), a seat (2), a cantilever beam (4) and an upper limb training mechanism, wherein the upper limb training mechanism comprises a shoulder joint expanding and shrinking mechanism, an arm bending and stretching mechanism, a shoulder joint internal and external rotating mechanism connected and fixed with rotary rods (17 and 18), a front arm forward and backward rotating mechanism the same as the shoulder joint internal and external rotating mechanism, an elbow joint expanding mechanism fixedly connected with the shoulder joint internal and external rotating mechanism and the front arm forward and backward rotating mechanism through two pairs of rotating blocks (32 and 41), and a hand expanding mechanism fixedly connected with the shoulder joint internal and external rotating mechanism through slide bars (44 and 45). The upper-limb rehabilitation training robot is simple to operate and enables the joints to move comprehensively.
Description
Technical field
Type of the present invention relates to a kind of medical rehabilitation exercising device, relates in particular to a kind of upper-limbs rehabilitation training robot.
Background technology
On present society, occur the nerve system injury patients such as a large amount of cerebral palsy, theory of medicine proves that this type of patient must carry out the limbs training of some strength, in order to prevent muscle generation atrophy, causes the function permanent loss of some muscle.This type of patient can not complete independently limbs exercise recovery, must have medical personnel to implement, so not only expend a large amount of manpowers, and medical personnel's ability had to very test.Therefore occurred various recovery exercising robots, but recovery exercising robot is in the past just slight motion to the simple exercise recovery in certain joint or joint, and needs patient oneself to carry out operational movement.The patent No. is that the patent of ZL201020252886 discloses " a kind of upper-limbs rehabilitation training robot ", bending and stretching and inward turning and the outward turning complicated structure of upper limb forearm of its elbow joint, provide power by bar linkage structure for it, make transmission control convenient not, and hand structure complexity, also be provided with the lever regulated inconvenience of cam disc, and hand joint is comprehensively unmovable.
Summary of the invention
The object of the invention is: for the deficiencies in the prior art, propose upper-limbs rehabilitation training robot, overcome existing equipment complex structure, driving force regulates inconvenience the movable incomplete shortcoming of hand structure complexity and hand joint.
The technical solution used in the present invention:
A kind of upper-limbs rehabilitation training robot, comprise base, bracing frame, seat, cantilever beam and upper limb training institution, described bracing frame is provided with height adjustment mechanism, in bracing frame cross bar, be provided with the chute coordinating with cantilever beam, cantilever beam and chute are dismountable being slidably connected, described upper limb training institution comprises the mechanism of bending and stretching of the containing mechanism of shoulder abduction and arm, motor reducer passes through bearing block, bearing and bearing cap and revoliving arm are connected and fixed, revoliving arm is fixed by connecting axle and fork-shaped base, revoliving arm stiff end is respectively provided with mechanical position limitation and electric limiting, motor reducer is fixed on the fork-shaped base other end by bearing and bearing block, in fork-shaped base, be provided with gyroaxis and motor shaft through gyroaxis fixing, gyroaxis is fixed with two pivoted levers, pivoted lever the other end is fixed with fixing head, in bearing block, be provided with mechanical position limitation and electric limiting, also comprise the inward turning outward turning mechanism of the shoulder joint being connected and fixed with pivoted lever, the forearm Xuan Qian supination mechanism identical with the inward turning outward turning mechanism of shoulder joint, the extension means of the elbow joint being fixedly connected with forearm Xuan Qian supination mechanism with the inward turning outward turning mechanism of shoulder joint by two pairs of spill spin blocks and the extension means of the hand being fixedly connected with by slide bar with the inward turning outward turning mechanism of shoulder joint.
The inward turning outward turning mechanism of described shoulder joint comprise the fixing head end of pivoted lever be provided with two baffle plates that are fixedly connected with and, baffle plate and being provided with and pivoted lever and the through hole that mates, motor reducer and encoder are fixed by bearing cap and copper sheathing and baffle plate, motor shaft is fixed with a belt pulley, the belt pulley other end is fixed with copper sheathing, belt pulley is provided with belt, belt two ends and semicircle slip ring are fixed, slip ring both sides are provided with chute, in chute, be provided with the pulley being connected with baffle plate, in slip ring, be provided with the binder fixing with human body upper arm.
Described baffle plate is provided with upper sealing plate and the lower shrouding of coupling, in upper sealing plate and lower shrouding, be respectively provided with the projection that two straight lines and circular arc form, be fixed in baffle plate with making shrouding coordinating of rib by projection, baffle plate is provided with and adjusts the screw that screw rod mates with fixing head, and screw rod one end is fixedly connected with handwheel through fixing head.
Described motor side baffle plate inner side is provided with the projection that the boss with screw is connected two baffle plates and mates with belt pulley idle pulley with being fixed of bolt, and belt pulley idle pulley is fixing by circlip and projection.
Described forearm revolves that front supination structure is identical with the inward turning outward turning mechanism of shoulder joint, and different is in slip ring, not to be provided with the binder fixing with human body upper arm, baffle plate and slide bar be fixedly connected with.
The mechanism of bending and stretching of described elbow joint comprises two pairs of spill spin blocks that are fixedly connected with slip ring and respectively coordinates by copper sheathing, and motor reducer and encoder and any a pair of spill spin block are fixed, and motor shaft coordinates with the spill spin block of fixation side.
Described hand extension means comprises the screw rod coordinating with decelerating through motor arbor, described screw rod and motor reducer abutting end are fixed on motor fixing plate one side that is provided with through hole by bearing and bearing holder (housing, cover), screw rod the other end is by being fixed in fixing head with bearing fit, motor fixing plate is fixedly connected with hand supports, between fixing head and motor fixing plate plate, be provided with position-limited rack, position-limited rack one side is provided with penetrating keyway, on position-limited rack inside, have the groove mating with screw rod stud protrusion, hand supports is double-four link mechanism, hand supports one side and motor fixing plate are fixed, opposite side connects by finger pole, in hand supports, being provided with driving shaft is connected with drive nut by push rod.
Described motor fixing plate plate one end is provided with half-arc groove, the other end is provided with the side plate fixing with robot, side plate be provided with slide bar block fixing screw, slide bar block is provided with T-slot and is fixed motor fixing plate with fixture, motor fixing plate half-arc groove end is fixed with annular arm holder, is fixedly connected with the binder of wrist coupling in annular arm holder.
Described hand supports is provided with hand fixed bar, hand fixing plate) and stop screw, hand fixed bar is connected with hand binder.
Described quadric chain is that fixed dam hinge links forms, and the junction of fixed dam and fixed bar, fixing head is provided with regulating tank.
Useful good effect of the present invention:
The stretching, extension that the inward turning outward turning of shoulder joint of the present invention, forearm revolve front supination and elbow joint adopts robot motor special, and oscillation intensity is little, and noise is little, and is provided with the encoder that regulates motor, makes motor be more prone to operation, shoulder and shoulder joint; Shoulder joint and shoulder joint have been realized comprehensive exercise recovery, and simple to operate, and supply voltage is that human safety voltage is not dangerous; Hand is made up of double-four link mechanism, meet four joints of human hands, and be provided with the binder of fixed finger and wrist, employing robot motor special vibrates, noise is little, but the moment being to provide is large, encoder regulates the rotation of motor effectively, utilizes bolt and nut stable drive, and stop screw and regulating tank have been controlled the range of activity of hand joint effectively.
Brief description of the drawings
Fig. 1 is a kind of structural representation of upper-limbs rehabilitation training robot;
Fig. 2 is the structural representation that bracing frame cross bar coordinates with cantilever beam;
Fig. 3 is the structural representation that bends and stretches mechanism of the containing mechanism of shoulder abduction and arm;
Fig. 4 is the structural representation of the inward turning outward turning mechanism of shoulder joint;
Fig. 5 is the structural representation that bends and stretches mechanism of elbow joint;
Fig. 6 is the structural representation of pulley;
Fig. 7 is hand structure schematic diagram;
Fig. 8 is the cutaway view that screw rod coordinates.
Detailed description of the invention
Referring to Fig. 1～8,1. base, 2. seat, 3. bracing frame cross bar, 4. cantilever beam, 5. bracing frame, 6. chute, 7. hands wheel, 8. motor reducer, 9. bearing cap, 10. bearing block, 11. convolution arms, 12. connecting axles, 13. fork-shaped bases, 14. gyroaxises, 15. bearing blocks, 16. motor reducers, 17. pivoted levers, 18. pivoted levers, 19. upper sealing plates, 20. adjust screw rod, 21. belt pulleys, 22. fixing heads, 23. hands wheels, 24. boss, 25. projections, 26. projections, 27. semicircle slip rings, 28. binders, 29. belt pulley idle pulleys, 30. motor reducers, 31. encoders, 32. rotations are fast, 33. baffle plates, 34. encoders, 35. baffle plates, 36. belt .37, lower shrouding, 38. ribs, 39. encoders, 40. motor reducers, 41. slide blocks, 42. motor reducers, pulley .(43), 44. slide bars, 45. slide bars, 46. motor reducers, 47. encoders, 48. motor fixing plates, 49. hand supports, 50. annular arm holders, 51. push rods, 52. driving shafts, 53. hand binders, 54. fixed bars, 55. stop screws, 56. fixing heads, 57. finger poles, 58. bearings, 59. bearing holder (housing, cover)s, 60. position-limited racks, 61. drive nuts, 62. screw rods, 63. fixing heads, 64. bearings, 65. regulating tanks, 66. binders, 67. hinges, 68. slide bar blocks, 69. handwheels.
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.
Participate in Fig. 1～Fig. 8, a kind of upper-limbs rehabilitation training robot, comprise base (1), bracing frame (3), seat (2), cantilever beam (4) and upper limb training institution, described bracing frame is provided with height adjustment mechanism, in bracing frame cross bar (5), be provided with the chute (6) coordinating with cantilever beam (4), cantilever beam (4) is dismountable being slidably connected with chute (6), described upper limb training institution comprises the mechanism of bending and stretching of the containing mechanism of shoulder abduction and arm, motor reducer (8) is by bearing block (10), bearing and bearing cap (9) are connected and fixed with revoliving arm (11), revoliving arm (11) is fixing by connecting axle (12) and fork-shaped base (16), revoliving arm (11) stiff end is respectively provided with mechanical position limitation and electric limiting, mechanical position limitation is that slide block is spacing, electric limiting is Hall element, spacing identical with in the past, motor reducer (16) is fixed on fork-shaped base (13) other end by bearing and bearing block (15), in fork-shaped base (13), be provided with gyroaxis (14) and motor shaft through gyroaxis (14) fixing, gyroaxis (14) is fixed with two pivoted levers (17) and (18), pivoted lever (17) and (18) the other end are fixed with fixing head (22), bearing block is provided with mechanical position limitation and electric limiting in (15), upper limb training institution also comprises the inward turning outward turning mechanism of the shoulder joint being connected and fixed with pivoted lever (17) and (18), the forearm Xuan Qian supination mechanism identical with the inward turning outward turning mechanism of shoulder joint, the extension means of the elbow joint being fixedly connected with forearm Xuan Qian supination mechanism with the inward turning outward turning mechanism of shoulder joint with (41) by two pairs of spill spin blocks (32), and the extension means of the hand being fixedly connected with (45) by slide bar (44) with the inward turning outward turning mechanism of shoulder joint.The inward turning outward turning mechanism of described shoulder joint comprises that fixing head (22) end of pivoted lever (17) and (18) is provided with two baffle plates that are fixedly connected with (33) and (35), in order to facilitate fixed dam (33) and (35), baffle plate (33) and (35) are provided with the through hole mating with pivoted lever (17) and (18), baffle plate (33) and (35) are provided with upper sealing plate (19) and the lower shrouding (37) of coupling, in upper sealing plate (19) and lower shrouding (37), be respectively provided with the projection (25) that two straight lines and circular arc form, with coordinating of rib (38), shrouding is fixed in baffle plate by projection (25), baffle plate is provided with and adjusts the screw that screw rod (20) mates with fixing head (22), screw rod one end is fixedly connected with handwheel (23) through fixing head (22).Motor reducer (30) and encoder (31) are fixing by bearing cap and copper sheathing and baffle plate (33), motor shaft is fixed with a belt pulley (21), belt pulley (21) other end is fixed with copper sheathing, belt pulley is provided with belt (36), belt (36) two ends and semicircle slip ring (27) are fixing, slip ring both sides are provided with chute, are provided with the pulley (43) being connected with baffle plate in chute, are provided with the binder fixing with human body upper arm (28) in slip ring.Motor side baffle plate (33) inner side is provided with the boss (24) with screw is connected two baffle plates and mates with belt pulley idle pulley (29) projection (26) with being fixed of bolt, baffle plate (33) and (35) are fixed and have increased comprcssive strength, belt pulley inertia opinion (29) is that belt steering is essential, and belt pulley (21) idle pulley is fixing by circlip and projection (26).
Described forearm revolves that front supination structure is identical with the inward turning outward turning mechanism of shoulder joint, and different is in slip ring, not to be provided with the binder fixing with human body upper arm (28), and baffle plate and slide bar (45) and (44) are by being connected with being fixed of slide bar block and screw rod.
The mechanism of bending and stretching of described elbow joint comprises that the two pairs of spill spin blocks (32) and (41) that are fixedly connected with slip ring respectively coordinate by copper sheathing, motor reducer (42) and encoder (34) are fixed with any a pair of spill spin block, and motor shaft coordinates with the spill spin block of fixation side.
Described hand extension means comprises the screw rod (62) coordinating with motor reducer (46) axle, described screw rod (62) is fixed on motor reducer (46) abutting end motor fixing plate (48) one sides that are provided with through hole by bearing (58) and bearing holder (housing, cover) (59), screw rod (62) the other end is by being fixed in fixing head (63) with bearing (64), motor fixing plate (48) is fixedly connected with hand supports (49), between fixing head (63) and motor fixing plate plate (48), be provided with position-limited rack (60), position-limited rack (60) one sides are provided with penetrating keyway, the penetrating keyway of offering is the movement in order to facilitate drive nut (61), in order to make the more stable movement of drive nut (61) and screw rod (62), on position-limited rack (60) inside, have the groove mating with screw rod bolt (61) projection, hand supports (49) is double-four link mechanism, hand supports (49) one sides and motor fixing plate (48) are fixing, opposite side connects by finger pole (57), in hand supports (49), being provided with driving shaft (52) is connected with drive nut (61) by push rod (51).Described motor fixing plate plate (48) one end is provided with half-arc groove, the other end is provided with the side plate fixing with robot, side plate be provided with slide bar block (68) fixing screw, for fixed slip bar block (68) and slide bar (45) and (44), slide bar block (68) is provided with T-slot and is fixed motor fixing plate (48) with fixture, and slide bar block (68) is provided with adjusting handle (69) and clamps slide bar (44) and (45) in addition.Motor fixing plate (48) half-arc groove end is fixed with annular arm holder (50), is fixedly connected with the binder (66) of wrist coupling in annular arm holder (50).Described hand supports (49) is provided with hand fixed bar (54), hand fixing plate (56) and stop screw (55), and hand fixed bar (54) is connected with hand binder (53).Described quadric chain is that fixed dam hinge (67) link forms, convenient like this can dismounting and change, the junction of fixed dam and fixed bar (54), fixing head (56) is provided with regulating tank (65), is used for regulating the range of activity of finger-joint.
Claims (6)
1. a upper-limbs rehabilitation training robot, comprise base, bracing frame, seat, cantilever beam and upper limb training institution, described bracing frame is provided with height adjustment mechanism, in the cross bar of bracing frame, be provided with the chute coordinating with cantilever beam, cantilever beam and chute are dismountable being slidably connected, described upper limb training institution comprises the mechanism of bending and stretching of the containing mechanism of shoulder abduction and arm, described shoulder abduction mechanism comprises motor reducer one, bearing block one, bearing cap and revoliving arm, the mechanism of bending and stretching of described arm comprises fork-shaped base, gyroaxis, bearing block two, pivoted lever one, pivoted lever two and motor reducer two, motor reducer one is by bearing block one, bearing and bearing cap and revoliving arm are connected and fixed, revoliving arm is fixed by one end of connecting axle and fork-shaped base, each stiff end of revoliving arm is all provided with mechanical position limitation parts and electric limiting parts, motor reducer two is fixed on the fork-shaped base other end by bearing and bearing block two, in fork-shaped base, be provided with the motor shaft of described gyroaxis and motor reducer two through gyroaxis fixing, the stiff end of gyroaxis is provided with described pivoted lever one and pivoted lever two, one end of pivoted lever one and pivoted lever two is fixed with fixing head one, in bearing block two, be provided with mechanical position limitation parts and electric limiting parts, it is characterized in that: this upper-limbs rehabilitation training robot also comprises the inward turning outward turning mechanism of the shoulder joint being connected and fixed with pivoted lever one and pivoted lever two, two baffle plates that are fixedly connected with that the inward turning outward turning mechanism of shoulder joint comprises that pivoted lever one and pivoted lever two be fixed with that one end of fixing head one is provided with and baffle plate two, baffle plate one and baffle plate two are provided with the through hole mating with pivoted lever one and pivoted lever two, motor reducer three and encoder one are fixing by bearing cap and copper sheathing and baffle plate one, the motor shaft of motor reducer three is fixed with a belt pulley, one end of belt pulley is fixed with copper sheathing, belt pulley is provided with belt, belt two ends and semicircle slip ring are fixed, slip ring both sides are provided with chute, in chute, be provided with the pulley being connected with each baffle plate, in slip ring, be provided with the binder one fixing with human body upper arm, this upper-limbs rehabilitation training robot also comprises forearm Xuan Qian supination mechanism, the structure of forearm Xuan Qian supination mechanism and described shoulder joint inward turning outward turning mechanism are basic identical, the motor reducer called after motor reducer five wherein using, and only difference is not arrange in described forearm Xuan Qian supination mechanism the binder one fixing with human body upper arm, the baffle plate that forearm Xuan Qian supination mechanism has and slide bar one and slide bar two are by being connected with being fixed of slide bar block and screw rod, this upper-limbs rehabilitation training robot also comprises the mechanism of bending and stretching of elbow joint that the spill spin block one that has by it is fixedly connected with forearm Xuan Qian supination mechanism with the inward turning outward turning mechanism of shoulder joint with spill spin block two, the mechanism of bending and stretching of this elbow joint comprises the described spill spin block one of two couple who is fixedly connected with slip ring and spill spin block two, it respectively coordinates by copper sheathing, motor reducer four and encoder two are fixed with any a pair of spill spin block, and the motor shaft of motor reducer four coordinates with the spill spin block of fixation side, this upper-limbs rehabilitation training robot also comprises the extension means of the hand being fixedly connected with slide bar two by slide bar one with the inward turning outward turning mechanism of shoulder joint, this hand extension means comprises with motor reducer six having the screw rod that axle coordinates, this screw rod is fixed on one end of matching of motor reducer six motor fixing plate one side that is provided with through hole by bearing one and bearing holder (housing, cover), this screw rod other end is by being fixed in fixing head two with bearing two, motor fixing plate is fixedly connected with hand supports, between fixing head two and motor fixing plate plate, be provided with position-limited rack, position-limited rack one side is provided with penetrating keyway, on position-limited rack inside, have the groove that the projection that has with this screw rod is mated, hand supports is double-four link mechanism, hand supports one side and motor fixing plate are fixed, opposite side connects by finger pole, the driving shaft being provided with in hand supports is connected with drive nut by push rod.
2. upper-limbs rehabilitation training robot according to claim 1, it is characterized in that: described baffle plate one and baffle plate two are provided with upper sealing plate and the lower shrouding of coupling, in upper sealing plate and lower shrouding, be respectively provided with the projection one that two straight lines and circular arc form, be fixed in each baffle plate with making each shrouding coordinating of rib by projection one, each baffle plate and fixing head one are provided with and the screw of adjusting screw rod and mating, and one end of adjusting screw rod is fixedly connected with handwheel through fixing head one.
3. upper-limbs rehabilitation training robot according to claim 1, it is characterized in that: described baffle plate one inner side is provided with the boss with screw, it will be connected and fixed between baffle plate one and baffle plate two by bolt, the height of the projection two of the height of boss projection and belt pulley idle pulley matches, and belt pulley idle pulley is fixing with projection two by circlip.
4. upper-limbs rehabilitation training robot according to claim 1, it is characterized in that: described motor fixing plate one end is provided with half-arc groove, the other end is provided with the side plate fixing with described robot, side plate be provided with slide bar block fixing screw, slide bar block is provided with T-slot and is fixed motor fixing plate with fixture, one end that motor fixing plate is provided with half-arc groove is fixed with annular arm holder, is fixedly connected with the binder two mating with wrist in annular arm holder.
5. upper-limbs rehabilitation training robot according to claim 1, is characterized in that: described hand supports is provided with hand fixed bar, hand fixing plate and stop screw, and hand fixed bar is connected with hand binder.
6. upper-limbs rehabilitation training robot according to claim 1, is characterized in that: described quadric chain is that fixed dam and hinge links form, and the junction of fixed dam and hand fixed bar, hand fixing plate is provided with regulating tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210522122.8A CN102961235B (en) | 2012-12-07 | 2012-12-07 | Upper-limb rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210522122.8A CN102961235B (en) | 2012-12-07 | 2012-12-07 | Upper-limb rehabilitation training robot |
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| CN102961235A CN102961235A (en) | 2013-03-13 |
| CN102961235B true CN102961235B (en) | 2014-12-10 |
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| CN201210522122.8A Active CN102961235B (en) | 2012-12-07 | 2012-12-07 | Upper-limb rehabilitation training robot |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104473751B (en) * | 2014-12-25 | 2017-01-04 | 哈尔滨工程大学 | A kind of right-hand man's dual-purpose type upper limb rehabilitation robot |
| CN104622667A (en) * | 2015-02-02 | 2015-05-20 | 浙江大学台州研究院 | Elbow joint rehabilitative apparatus |
| US9375598B1 (en) * | 2015-02-09 | 2016-06-28 | Hiwin Technologies Corp. | Upper extremity rehabilitation device |
| CN105726260B (en) * | 2016-03-16 | 2017-10-27 | 安阳神方康复机器人有限公司 | Interchangeable upper limb rehabilitation robot |
| CN105963103A (en) * | 2016-06-08 | 2016-09-28 | 上海电气集团股份有限公司 | Portable and wearable exoskeleton upper limb robot |
| CN106109163B (en) * | 2016-06-20 | 2018-12-07 | 西安交通大学 | A kind of three pose healing robots |
| DE102016013623A1 (en) * | 2016-11-15 | 2018-05-17 | Fresenius Medical Care Deutschland Gmbh | Holder for attachment to a medical device |
| CN106621204B (en) * | 2016-12-01 | 2018-11-06 | 嘉兴日雅光电有限公司 | A kind of anti-act body-building device with massage functions |
| KR102321907B1 (en) * | 2017-03-22 | 2021-11-05 | 가부시끼 가이샤 구보다 | Baggage holding hand and assist suit |
| CN110051506B (en) * | 2019-05-21 | 2024-04-19 | 昆明医科大学第一附属医院 | Novel shoulder joint training instrument and use method |
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| CN201516132U (en) * | 2009-08-28 | 2010-06-30 | 刘刚 | Health recovery machine for upper and lower limbs |
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| CN102379793A (en) * | 2011-08-18 | 2012-03-21 | 付风生 | Upper limb rehabilitation training robot |
| CN202982557U (en) * | 2012-12-07 | 2013-06-12 | 付风生 | Upper limb rehabilitation training robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101065420B1 (en) * | 2008-12-16 | 2011-09-16 | 한양대학교 산학협력단 | Wearable robotic device for upper limb movement |
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|---|---|---|---|---|
| CN201516132U (en) * | 2009-08-28 | 2010-06-30 | 刘刚 | Health recovery machine for upper and lower limbs |
| CN102151215A (en) * | 2011-04-07 | 2011-08-17 | 东华大学 | Exoskeletal rehabilitation mechanical arm for upper limb |
| CN102379793A (en) * | 2011-08-18 | 2012-03-21 | 付风生 | Upper limb rehabilitation training robot |
| CN202982557U (en) * | 2012-12-07 | 2013-06-12 | 付风生 | Upper limb rehabilitation training robot |
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