CN103006414A - Upper limb rehabilitation robot - Google Patents
Upper limb rehabilitation robot Download PDFInfo
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- CN103006414A CN103006414A CN2012105544949A CN201210554494A CN103006414A CN 103006414 A CN103006414 A CN 103006414A CN 2012105544949 A CN2012105544949 A CN 2012105544949A CN 201210554494 A CN201210554494 A CN 201210554494A CN 103006414 A CN103006414 A CN 103006414A
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Abstract
The invention discloses an upper limb rehabilitation robot. The upper limb rehabilitation robot comprises an exoskeleton bracket and an upper limb exoskeleton, wherein the exoskeleton is worn on the upper limbs of a patient and is connected with the exoskeleton bracket, and roller wheels, which move along with the walking of the patient, are arranged on a base of the exoskeleton bracket. The movable wearable upper limb rehabilitation robot disclosed by the invention is used for overcoming deficiencies in the prior art and can be used for carrying out rehabilitation training on the upper limbs of the patient. By virtue of the characteristic of mobility of the upper limb rehabilitation robot, the exoskeleton can move along with the walking of the patient so as to provide protection, the patient can carry out daily exercises such as grabbing, touching and button pressing, and meanwhile, the upper limbs of the patient are driven to be subjected to rehabilitation training.
Description
Technical field
The present invention relates to medical rehabilitation technique with the apparatus field, particularly a kind of upper limb rehabilitation robot.
Background technology
Rehabilitation medicine is the new branch of science that occurs mid-term in 20th century, its purpose is to alleviate and eliminate patient's dysfunction by multiple means such as physiotherapy, exercise therapy, life training, skill training, speech training and psychological counselling, the function of health residual fraction is fully played most, remedy the afunction with reconstruction patients, reach taking care of oneself of maximum possible, the ability of work and work.According to statistics, at present China is because the limbs disturbance patient that apoplexy, spinal cord injury and various accident cause has 8,770,000 people, and wherein more than halfly can improve limb function by training.Traditional rehabilitation training at first is to begin under medical practitioner guidance by doing and illustrating, then manually patient is suffered from limb and is repeatedly drawn by patient's healthy upper limb or its family members, nurse.Along with the development of science and technology, the medical robot technology is rapidly developed, and healing robot is exactly the new application of robotics aspect rehabilitation medical.Because there is not tired problem in robot, can satisfy different patients' training strength requirement, therefore also being more suitable for the patient carries out separately rehabilitation training.
By existing technical literature retrieval is found:
Chinese invention patent publication number: CN1861031, title: exercising apparatus for recovery of upper limb.This training devices provides the activity of 3DOF to the patient by toggle; But this training devices can't active drive carry out rehabilitation training.
Chinese invention patent publication number: CN102283761A, title: upper limb rehabilitation robot.This robot has used the line slideway that is fixed on the described base, and the driving of three directions is provided, and carries out rehabilitation training.But this robot degree of freedom is limited, shoulder, ancon, the wrist motion of guiding human body.
Chinese invention patent publication number: CN202086733U, title: upper limb rehabilitation robot.This robot provides the degree of freedom of 5 directions, and provides the auxiliary external force of 1 degree of freedom by two gum elastics, and still, this robot still can't provide the power-assisted in each joint, and can't move, and carries out daily rehabilitation training.
Summary of the invention
Goal of the invention of the present invention is for the technical deficiency of existing medical rehabilitation apparatus, and a kind of upper limb rehabilitation robot is provided.
For achieving the above object, the technical solution used in the present invention is:
A kind of upper limb rehabilitation robot is provided, comprises ectoskeleton support and upper limb ectoskeleton; Described ectoskeleton is worn on patient's upper limb, and this ectoskeleton links to each other with the ectoskeleton support, and the base of described ectoskeleton support is provided with follows patient's walking and mobile roller.
Preferably, described ectoskeleton support also comprises the bracket upright post that is located on the base, and bracket upright post is provided with support upper limb ectoskeleton connector, support handle and support display platform.
Preferably, described upper limb ectoskeleton comprises shoulder joint ectoskeleton, upper arm ectoskeleton, elbow joint ectoskeleton, forearm ectoskeleton and carpal joint ectoskeleton; The shoulder joint ectoskeleton directly is worn on patient's shoulder; The upper arm ectoskeleton links to each other with the shoulder joint ectoskeleton, is fixed in patient's upper arm, and the upper arm ectoskeleton can stepless adjusting length; The elbow joint ectoskeleton links to each other with the upper arm ectoskeleton, is fixed in patient's ancon; The forearm ectoskeleton links to each other with the elbow joint ectoskeleton, is fixed in patient's forearm, and the forearm ectoskeleton can stepless adjusting length.
Preferably, described shoulder joint ectoskeleton comprises that shoulder joint supporting plate, shoulder joint side exhibition motor, shoulder joint connector, shoulder joint bend and stretch motor and shoulder joint upper arm rod member; Shoulder joint bends and stretches motor and shoulder joint side exhibition motor all uses disc type electric machine and harmonic speed reducer, and the output that shoulder joint is bent and stretched motor and shoulder joint side exhibition motor is inside and outside two flanges, drives shoulder joint and bends and stretches degree of freedom and shoulder joint side exhibition degree of freedom; The shoulder joint supporting plate links to each other with the ectoskeleton support, and opposite side links to each other with the outward flange of shoulder joint side exhibition motor; Shoulder joint connector one side links to each other with the inner flange of shoulder joint side exhibition motor, and opposite side links to each other with the outward flange that shoulder joint is bent and stretched motor; Shoulder joint upper arm rod member links to each other with the inner flange that shoulder joint is bent and stretched motor.
Preferably, described upper arm ectoskeleton comprises elbow joint upper arm rod member and upper arm restraining board; Shoulder joint upper arm rod member links to each other with elbow joint upper arm rod member, and shoulder joint upper arm rod member can stepless adjusting length; Upper arm restraining board links to each other with elbow joint upper arm rod member, and upper arm restraining board is bound to patient's upper arm.
Preferably, the elbow joint ectoskeleton comprises that elbow joint bends and stretches motor, elbow joint connecting plate, elbow joint electric rotating machine and elbow joint forearm rod member; Elbow joint bends and stretches motor and the elbow joint electric rotating machine all uses disc type electric machine and harmonic speed reducer; The output that elbow joint bends and stretches motor and elbow joint electric rotating machine is inside and outside two flanges, drives elbow joint and bends and stretches degree of freedom and elbow joint rotary freedom; Elbow joint upper arm rod member links to each other with the outward flange that elbow joint bends and stretches motor; The inner flange that one end and the elbow joint of elbow joint connecting plate bends and stretches motor links to each other, and the other end of elbow joint connecting plate links to each other with the outward flange of elbow joint electric rotating machine; Elbow joint forearm rod member links to each other with the inner flange of elbow joint electric rotating machine.
Preferably, described forearm ectoskeleton rod member comprises elbow carpal joint forearm rod member; Described elbow joint forearm rod member links to each other with carpal joint forearm rod member, and elbow joint forearm rod member can stepless adjusting length; Carpal joint forearm rod member is bound to patient's forearm.
Preferably, described carpal joint ectoskeleton comprises that carpal joint bends and stretches motor and hand fixing plate; Described carpal joint bends and stretches motor and uses disc type electric machine and harmonic speed reducer, and this motor is output as inside and outside two flanges; Carpal joint forearm rod member links to each other with the outward flange that carpal joint bends and stretches motor, grasps fixing hand fixing plate 27 for the patient and links to each other with the inner flange that carpal joint bends and stretches motor.
The present invention has following beneficial effect with respect to prior art:
The present invention is directed to the prior art above shortcomings, provide a kind of movable type wearable upper limb rehabilitation robot, can carry out rehabilitation training for patient's upper limb; The present invention is by means of its characteristic that can move, and ectoskeleton can be followed patient's walking and be moved, and locomotivity and protection are provided; And the daily exercise such as can grasp, touch, touch the button; Drive simultaneously patient's upper limb and carry out rehabilitation training.
Description of drawings
Fig. 1 is the structural representation of upper limb rehabilitation robot;
Fig. 2 is the structural representation of ectoskeleton support;
Fig. 3 is the ectoskeletal structural representation of upper limb;
Fig. 4 is the ectoskeletal structural representation of shoulder joint;
Fig. 5 is the ectoskeletal structural representation of upper arm;
Fig. 6 is the ectoskeletal structural representation of elbow joint;
Fig. 7 is the structural representation of forearm ectoskeleton rod member;
Fig. 8 is the ectoskeletal structural representation of carpal joint.
The specific embodiment
Below in conjunction with the drawings and specific embodiments goal of the invention of the present invention is described in further detail, embodiment can not give unnecessary details one by one at this, but therefore embodiments of the present invention are not defined in following examples.Unless stated otherwise, material and the processing method of the present invention's employing are the art conventional material and processing method.
As shown in Figure 1, upper limb rehabilitation robot comprises ectoskeleton support 1 and upper limb ectoskeleton 2.Wherein, ectoskeleton is worn on patient's upper limb, links to each other with the ectoskeleton support.The ectoskeleton support is with the support roller, can follow patient's walking and moves.
As shown in Figure 2, the ectoskeleton support comprises base 3, roller 4, bracket upright post 5, support upper limb ectoskeleton connector 6, support handle 7 and support display platform 8.Wherein: roller 4 can move on the ground; Base 3 links to each other with support roller 4, consists of the bottom surface of support; Bracket upright post 5 links to each other with base 3; Support lower limb exoskeleton connector 6 links to each other with bracket upright post 5; Support handle 7 links to each other with bracket upright post 5; Support display platform 8 links to each other with bracket upright post 5.
As shown in Figure 3, upper limb ectoskeleton 2 comprises shoulder joint ectoskeleton 9, upper arm ectoskeleton 10, elbow joint ectoskeleton 11, forearm ectoskeleton 12 and carpal joint ectoskeleton 13.Wherein: shoulder joint ectoskeleton 9 directly is worn on patient's shoulder, drives patient's head movement; Upper arm ectoskeleton 10 links to each other with shoulder joint ectoskeleton 9, and upper arm ectoskeleton 10 is fixed in patient's upper arm, and upper arm ectoskeleton 10 can stepless adjusting length; Elbow joint ectoskeleton 11 links to each other with upper arm ectoskeleton 10, and drive patient ancon bends and stretches and rotates; Forearm ectoskeleton 12 links to each other with elbow joint ectoskeleton 11, and forearm ectoskeleton 12 is fixed in patient's forearm, and forearm ectoskeleton 12 can stepless adjusting length.
As shown in Figure 4, shoulder joint ectoskeleton 9 comprises that shoulder joint supporting plate 14, shoulder joint side exhibition motor 15, shoulder joint connector 16, shoulder joint bend and stretch motor 17 and shoulder joint upper arm rod member 18.Wherein: shoulder joint is bent and stretched motor 17 and is used disc type electric machine and harmonic speed reducer with shoulder joint side exhibition motor 15, shoulder joint is bent and stretched motor 17 and is output as inside and outside two flanges with shoulder joint side exhibition motor 15, drives shoulder joint and bends and stretches degree of freedom and shoulder joint side exhibition degree of freedom; Shoulder joint supporting plate 14 links to each other with ectoskeleton support 1, and opposite side links to each other with the outward flange of shoulder joint side exhibition motor 15; Shoulder joint connector 16 1 sides link to each other with the inner flange of shoulder joint side exhibition motor 15, and opposite side links to each other with the outward flange that shoulder joint is bent and stretched motor 17; Shoulder joint upper arm rod member 18 links to each other with the inner flange that shoulder joint is bent and stretched motor 17.
As shown in Figure 5, upper arm ectoskeleton 10 comprises elbow joint upper arm rod member 19 and upper arm restraining board 20.Wherein: shoulder joint upper arm rod member 18 links to each other with elbow joint upper arm rod member 19, and shoulder joint upper arm rod member 18 can stepless adjusting length; Upper arm restraining board 20 and elbow joint upper arm rod member 19 are bound to patient's upper arm.
As shown in Figure 6, the elbow joint ectoskeleton comprises that elbow joint bends and stretches motor 21, elbow joint connecting plate 22, elbow joint electric rotating machine 23 and elbow joint forearm rod member 24.Wherein: elbow joint bends and stretches motor 21 and uses disc type electric machine and harmonic speed reducer with elbow joint electric rotating machine 23, elbow joint bends and stretches motor 21 and is output as inside and outside two flanges with elbow joint electric rotating machine 23, drives elbow joint and bends and stretches degree of freedom and elbow joint rotary freedom; Elbow joint upper arm rod member 19 links to each other with the outward flange that elbow joint bends and stretches motor 21; The inner flange that elbow joint connecting plate 22 and elbow joint bend and stretch motor 21 other end that links to each other links to each other with the outward flange of elbow joint electric rotating machine 23; Elbow joint forearm rod member 24 links to each other with the inner flange of elbow joint electric rotating machine 23.
As shown in Figure 7, forearm ectoskeleton rod member comprises carpal joint forearm rod member 25.Wherein: elbow joint forearm rod member 24 links to each other with carpal joint forearm rod member 25, and elbow joint forearm rod member 24 can stepless adjusting length; Carpal joint forearm rod member 25 is bound to patient's forearm.
As shown in Figure 8, the carpal joint ectoskeleton comprises that carpal joint bends and stretches motor 26 and hand fixing plate 27.Wherein: carpal joint bends and stretches motor 26 and uses disc type electric machine and harmonic speed reducer, and carpal joint bends and stretches motor 26 outputs and also is inside and outside two flanges, drives carpal joint and bends and stretches degree of freedom; Carpal joint forearm rod member 25 links to each other with the outward flange that carpal joint bends and stretches motor 26; Hand fixing plate 27 links to each other with the inner flange that carpal joint bends and stretches motor 26, grasps fixing for the patient.
Above-described embodiment is preferred embodiment of the present invention only, is not to limit practical range of the present invention.Be that all equalizations of doing according to content of the present invention change and modification, all contained by claim of the present invention scope required for protection.
Claims (8)
1. a upper limb rehabilitation robot is characterized in that: comprise ectoskeleton support and upper limb ectoskeleton; Described ectoskeleton is worn on patient's upper limb, and this ectoskeleton links to each other with the ectoskeleton support, and the base of described ectoskeleton support is provided with follows patient's walking and mobile roller.
2. upper limb rehabilitation robot according to claim 1, it is characterized in that: described ectoskeleton support also comprises the bracket upright post that is located on the base, bracket upright post is provided with support upper limb ectoskeleton connector, support handle and support display platform.
3. upper limb rehabilitation robot according to claim 1, it is characterized in that: described upper limb ectoskeleton comprises shoulder joint ectoskeleton, upper arm ectoskeleton, elbow joint ectoskeleton, forearm ectoskeleton and carpal joint ectoskeleton; The shoulder joint ectoskeleton directly is worn on patient's shoulder; The upper arm ectoskeleton links to each other with the shoulder joint ectoskeleton, is fixed in patient's upper arm, and the upper arm ectoskeleton can stepless adjusting length; The elbow joint ectoskeleton links to each other with the upper arm ectoskeleton, is fixed in patient's ancon; The forearm ectoskeleton links to each other with the elbow joint ectoskeleton, is fixed in patient's forearm, and the forearm ectoskeleton can stepless adjusting length.
4. upper limb rehabilitation robot according to claim 3 is characterized in that: described shoulder joint ectoskeleton comprises that shoulder joint supporting plate, shoulder joint side exhibition motor, shoulder joint connector, shoulder joint bend and stretch motor and shoulder joint upper arm rod member; Shoulder joint bends and stretches motor and shoulder joint side exhibition motor all uses disc type electric machine and harmonic speed reducer, and the output that shoulder joint is bent and stretched motor and shoulder joint side exhibition motor is inside and outside two flanges, drives shoulder joint and bends and stretches degree of freedom and shoulder joint side exhibition degree of freedom; The shoulder joint supporting plate links to each other with the ectoskeleton support, and opposite side links to each other with the outward flange of shoulder joint side exhibition motor; Shoulder joint connector one side links to each other with the inner flange of shoulder joint side exhibition motor, and opposite side links to each other with the outward flange that shoulder joint is bent and stretched motor; Shoulder joint upper arm rod member links to each other with the inner flange that shoulder joint is bent and stretched motor, and shoulder joint upper arm rod member can stepless adjusting length.
5. upper limb rehabilitation robot according to claim 4, it is characterized in that: described upper arm ectoskeleton comprises elbow joint upper arm rod member and upper arm restraining board; Shoulder joint upper arm rod member links to each other with elbow joint upper arm rod member; Upper arm restraining board links to each other with elbow joint upper arm rod member, and upper arm restraining board is bound to patient's upper arm.
6. upper limb rehabilitation robot according to claim 5, it is characterized in that: the elbow joint ectoskeleton comprises that elbow joint bends and stretches motor, elbow joint connecting plate, elbow joint electric rotating machine and elbow joint forearm rod member; Elbow joint bends and stretches motor and the elbow joint electric rotating machine all uses disc type electric machine and harmonic speed reducer; The output that elbow joint bends and stretches motor and elbow joint electric rotating machine is inside and outside two flanges, drives elbow joint and bends and stretches degree of freedom and elbow joint rotary freedom; Elbow joint upper arm rod member links to each other with the outward flange that elbow joint bends and stretches motor; The inner flange that one end and the elbow joint of elbow joint connecting plate bends and stretches motor links to each other, and the other end of elbow joint connecting plate links to each other with the outward flange of elbow joint electric rotating machine; Elbow joint forearm rod member links to each other with the inner flange of elbow joint electric rotating machine.
7. upper limb rehabilitation robot according to claim 6, it is characterized in that: described forearm ectoskeleton rod member comprises carpal joint forearm rod member; Described elbow joint forearm rod member links to each other with carpal joint forearm rod member, and elbow joint forearm rod member can stepless adjusting length; Carpal joint forearm rod member is bound to patient's forearm.
8. upper limb rehabilitation robot according to claim 7, it is characterized in that: described carpal joint ectoskeleton comprises that carpal joint bends and stretches motor and hand fixing plate; Described carpal joint bends and stretches motor and uses disc type electric machine and harmonic speed reducer, and this motor is output as inside and outside two flanges; Carpal joint forearm rod member links to each other with the outward flange that carpal joint bends and stretches motor, grasps fixing hand fixing plate 27 for the patient and links to each other with the inner flange that carpal joint bends and stretches motor.
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| CN2012105544949A CN103006414A (en) | 2012-12-20 | 2012-12-20 | Upper limb rehabilitation robot |
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|---|---|---|---|
| CN2012105544949A CN103006414A (en) | 2012-12-20 | 2012-12-20 | Upper limb rehabilitation robot |
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| CN103006414A true CN103006414A (en) | 2013-04-03 |
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| CN2012105544949A Pending CN103006414A (en) | 2012-12-20 | 2012-12-20 | Upper limb rehabilitation robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103919659A (en) * | 2014-04-21 | 2014-07-16 | 安阳工学院 | Automatic shoulder joint rehabilitation training device |
| CN103948482A (en) * | 2014-04-29 | 2014-07-30 | 山东泽普医疗科技有限公司 | Bedside intelligent upper limb exercise rehabilitation machine |
| CN103976851A (en) * | 2014-04-21 | 2014-08-13 | 安阳工学院 | Self-rehabilitation training instrument for shoulder joints |
| CN104473751A (en) * | 2014-12-25 | 2015-04-01 | 哈尔滨工程大学 | Left-hand/right-hand dual-purpose upper limb rehabilitation robot |
| CN105559790A (en) * | 2016-01-17 | 2016-05-11 | 北京工业大学 | Wearable outer skeleton mechanism for detecting rotating center position information of human upper limb shoulder joint |
| WO2016187636A1 (en) * | 2015-05-27 | 2016-12-01 | Technische Universität Wien | Arm exoskeleton |
| CN106994087A (en) * | 2017-04-24 | 2017-08-01 | 杭州众禾自动化设备有限公司 | A kind of auxiliary power upper limbs ectoskeleton |
| CN108542627A (en) * | 2018-02-13 | 2018-09-18 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the Arm structure component of the exoskeleton robot of simulation of human body design |
| CN110074945A (en) * | 2019-06-10 | 2019-08-02 | 上海理工大学 | A kind of forearm adaptive mechanism for center driven upper limb rehabilitation robot |
| CN110123584A (en) * | 2019-06-06 | 2019-08-16 | 长春理工大学 | A kind of wearable flexible strand drive dermaskeleton type upper limb rehabilitation image training robot of six degree of freedom |
| CN110123496A (en) * | 2019-05-20 | 2019-08-16 | 上海交通大学 | Upper extremity exercise function compensation equipment |
| CN110181482A (en) * | 2019-05-23 | 2019-08-30 | 北京邮电大学 | A kind of modularization seven freedom upper limb exoskeleton robot |
| CN110974628A (en) * | 2019-12-30 | 2020-04-10 | 山东大学 | Upper limb rehabilitation training device |
| CN112999607A (en) * | 2021-02-25 | 2021-06-22 | 辽宁中医药大学 | Recovered frame of recovered device height-adjustable's upper limbs |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103919659A (en) * | 2014-04-21 | 2014-07-16 | 安阳工学院 | Automatic shoulder joint rehabilitation training device |
| CN103976851A (en) * | 2014-04-21 | 2014-08-13 | 安阳工学院 | Self-rehabilitation training instrument for shoulder joints |
| CN103919659B (en) * | 2014-04-21 | 2016-03-02 | 安阳工学院 | The autonomous recovery training appliance for recovery of a kind of shoulder joint |
| CN103976851B (en) * | 2014-04-21 | 2016-05-25 | 安阳工学院 | The autonomous recovery training appliance for recovery of a kind of shoulder joint |
| CN103948482A (en) * | 2014-04-29 | 2014-07-30 | 山东泽普医疗科技有限公司 | Bedside intelligent upper limb exercise rehabilitation machine |
| CN103948482B (en) * | 2014-04-29 | 2015-11-04 | 山东泽普医疗科技有限公司 | Bed other upper limb smart motion rehabilitation machines |
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| CN105559790A (en) * | 2016-01-17 | 2016-05-11 | 北京工业大学 | Wearable outer skeleton mechanism for detecting rotating center position information of human upper limb shoulder joint |
| CN106994087A (en) * | 2017-04-24 | 2017-08-01 | 杭州众禾自动化设备有限公司 | A kind of auxiliary power upper limbs ectoskeleton |
| CN108542627A (en) * | 2018-02-13 | 2018-09-18 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the Arm structure component of the exoskeleton robot of simulation of human body design |
| CN108542627B (en) * | 2018-02-13 | 2023-12-19 | 中山市沃倍特智能医疗器械股份有限公司 | Upper limb structure assembly of exoskeleton robot conforming to human bionics design |
| CN110123496A (en) * | 2019-05-20 | 2019-08-16 | 上海交通大学 | Upper extremity exercise function compensation equipment |
| CN110181482A (en) * | 2019-05-23 | 2019-08-30 | 北京邮电大学 | A kind of modularization seven freedom upper limb exoskeleton robot |
| CN110123584A (en) * | 2019-06-06 | 2019-08-16 | 长春理工大学 | A kind of wearable flexible strand drive dermaskeleton type upper limb rehabilitation image training robot of six degree of freedom |
| CN110123584B (en) * | 2019-06-06 | 2024-02-13 | 长春理工大学 | Six-degree-of-freedom wearable flexible rope driven exoskeleton type upper limb rehabilitation training robot |
| CN110074945A (en) * | 2019-06-10 | 2019-08-02 | 上海理工大学 | A kind of forearm adaptive mechanism for center driven upper limb rehabilitation robot |
| CN110074945B (en) * | 2019-06-10 | 2021-10-26 | 上海理工大学 | Forearm self-adaptive mechanism for central driving upper limb rehabilitation robot |
| CN110974628A (en) * | 2019-12-30 | 2020-04-10 | 山东大学 | Upper limb rehabilitation training device |
| CN110974628B (en) * | 2019-12-30 | 2021-05-11 | 山东大学 | Upper limb rehabilitation training device |
| CN112999607A (en) * | 2021-02-25 | 2021-06-22 | 辽宁中医药大学 | Recovered frame of recovered device height-adjustable's upper limbs |
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Application publication date: 20130403 |