CN104983546B - A kind of wearable wrist healing robot of Stewart types - Google Patents
A kind of wearable wrist healing robot of Stewart types Download PDFInfo
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- CN104983546B CN104983546B CN201510405042.8A CN201510405042A CN104983546B CN 104983546 B CN104983546 B CN 104983546B CN 201510405042 A CN201510405042 A CN 201510405042A CN 104983546 B CN104983546 B CN 104983546B
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Abstract
The invention discloses a kind of wearable wrist healing robot of Stewart types, including nose motion platform and training handle, six-dimension force sensor, ball pivot connection, connecting rod, piston rod, cylinder, rear end fixation support platform and control system, nose motion platform can be driven by the telescopic displacement of piston rod.The present invention is used for wrist joint disease, injury gained in sports and the postoperative rehabilitation of wrist portion, it is possible to achieve carpal flexion and extension, take down the exhibits motion and circumduction.The present invention has passive and two kinds of mode of operations of active, it is possible to achieve carpal motor function recovery and wrist strength building.
Description
Technical field
The present invention relates to the new wearable wrist recovering therapeutic device of one kind, belong to technical field of medical instruments.
Background technology
Wrist joint is the important joint for connecting hand and forearm, because hand often frequently captures object, is engaged in all kinds of
Operation, when unexpected dorsiflexion, tumble, palm lands, and often causes wrist fracture to damage.Wrist fractures treatment method has
Two kinds of expectant treatment and operative treatment.Expectant treatment is mainly taken fixed outside manipulative reduction, plintlet or plaster slab.Operative treatment
Mainly take fixed in open reduction, parallel steel plate etc..Open reduction can do strong interior fixation.Work as fracture
Basic healing, can proceed by wrist joint and bend, stretch and actively practise, wrist joint flexing resistance exercise.In convalescence, patient Ying Zeng
Plus some hand application Exercises, such as play with building blocks, weave.At present, wrist rehabilitation training instructs patient mainly by doctor
Carry out the functional recovery trainings such as wrist stretching, extension, bending.Rehabilitation training for patients wrist's strength uses flexible rod mostly, allows trouble
Person's exercise is used, but flexible rod is elastic immutable, and universality is bad.With continuing to develop for medical machinery, many researchs
Person utilizes the achievement in research of the subjects such as mechanics, mechanics, electromagnetism, robotics, and integrative medicine Theoretical Design goes out new rehabilitation
Training method.Rehabilitation medical robot as one kind automation rehabilitation medicine equipment can help patient carry out science and it is effective
Rehabilitation training recovers the motion function of its damage location.Wrist robots for rehabilitation therapy is mainly used in wrist or ankle joint is damaged
The rehabilitation of wound.At present, human body wrist joint recovering therapeutic device, is that function is single mostly, is only capable of realizing patient's wrist joint part work(
The recovery and exercise of energy, and driving control system is simple so that and the compliance of wrist joint device for rehabilitation is bad, and practicality is not strong.
The content of the invention
It is an object of the invention to design one kind to be used for after human body wrist articular fracture (or damage) healing, to recover wrist pass
Section function and carry out the multiple degrees of freedom wrist recovering therapeutic device of rehabilitation training.To reach above-mentioned purpose, the skill that the present invention is used
Art scheme is：The wearable wrist healing robot of the Stewart types is mainly by nose motion platform and training handle, 6 DOF
Force snesor, ball pivot connection, connecting rod, cylinder and piston rod, rear end fix the composition such as support platform and control system.Branch is fixed in rear end
Support platform can be fixed on human body forearm, and cylinder and piston rod fixed part are connected with support platform, piston rod and connecting rod ball
It is hinged, displacement transducer is installed to detect stroke on piston, connecting rod is connected with nose motion platform by ball pivot, trains
Handle is connected on nose motion platform, and equipped with six-dimension force sensor at two ends and contact with platform.
The wearable wrist healing robot is using parallel institution as main structure type, compact conformation, cylinder drive system
Can be air pressure, hydraulic pressure or electronic, with six-freedom degree, it is possible to achieve carpal flexion and extension, take down the exhibits motion and ring turn
Motion.
The beneficial effects of the invention are as follows：1. compact structure, is easy to carry.The present invention is using LSS parallel institutions structure arrangement
Mode, by 6 sets of cylinders and piston rod as driving, less stroke is that can realize the grand movement of nose motion platform, is made
Obtain the apparatus structure small, be easy to carry with.2. the motion of passive and Active Compliance Control can be realized.The present invention is operated in passively
During Shared control mode, it can be used for patient's rehabilitation at initial stage；When being operated in Active Compliance Control, it can be used for movement of patient
Function obtains the strength building after certain rehabilitation degree.3. submissive performance is good.High precision displacement built in cylinder and piston rod of the present invention
Sensor, it is possible to achieve the Accurate Position Control of nose motion platform.
Brief description of the drawings
Fig. 1：Principle of the invention figure.
Fig. 2：Practical figure of the invention.
Embodiment
As shown in drawings, wrist healing robot of the invention includes nose motion platform 1, training handle 2, six-dimensional force biography
The composition such as support platform 9 is fixed in sensor 3, upper ball pivot connection 4, connecting rod 5, lower ball pivot connection 6, piston rod 7, cylinder 8, rear end.Front end
It is all annular in shape that support platform is fixed in motion platform and rear end, and training handle two ends are connected to nose motion platform, and two ends with
Six-dimension force sensor is housed, for detecting the power between training handle and nose motion platform, 6 connecting rods 5 lead at contact with platform
Cross ball pivot to be connected on nose motion platform, and 6 piston rods 7 are connected respectively to by lower ball pivot, every piston rod 7 all covers
Be connected to a cylinder 8, each cylinder, which is fixed on rear end, to be fixed in support platform, piston rod can in cylinder stretching motion so that successively
Drive and high accuracy displacement sensor is installed on piston rod, connecting rod and nose motion platform, piston rod, to detect that piston rod stretches
Amount, it is possible to achieve the Accurate Position Control of nose motion platform.In use, the hand of patient fixes support platform through rear end, hold
Handle is firmly trained, rear end is fixed support platform and is enclosed on the forearm of patient.
The wrist healing robot of the present invention also includes a control system (not shown), and the control system can be obtained
Six-dimension force sensor and the power detected by displacement transducer and displacement are taken, and the telescopic displacement of piston rod can be controlled.
Operation principle of the present invention is as follows：
When the present invention is operated in passive compliance control model, patient's hand holds training handle 2, under control system control,
According to rehabilitation scheme set in advance, drive system cylinder 8 and piston rod 7 are flexible, are moved by the lower drivening rod 5 of ball pivot 6, and then
The pose change of nose motion platform 1 is realized, the motion of handle 2 is realized, helps patient to recover carpal motor function, wherein
The telescopic displacement of piston rod 7 is detected by displacement transducer, the monitoring that control system realizes pose is fed back to.It is operated in active control
During pattern, patient's hand holds training handle 2, firmly rotary handle 2, and the six-dimension force sensor 3 installed in handle two ends is detected
Force signal, feeds back to control system, and then control system produces drive signal, and drive system cylinder 8 and piston rod 7 are flexible, pass through
The drivening rod 5 of ball pivot 6 is moved, and then the pose of nose motion platform 1 is changed, and is realized following to training handle 2, is made
The wrist of patient obtains strength building.The purpose for changing controling power output can be reached by adjusting force feedback parameter, is realized
The output regulation of different power so that patient's wrist obtains the training of different strength.
Claims (2)
1. a kind of wearable wrist healing robot of Stewart types, it is characterised in that：The robot is flat including nose motion
Support platform and control are fixed in platform, training handle, six-dimension force sensor, upper ball pivot, connecting rod, lower ball pivot, piston rod, cylinder, rear end
System, wherein
Nose motion platform is annular in shape, and training handle two ends are connected to nose motion platform, and at two ends and nose motion platform
Contact position is equipped with six-dimension force sensor, for detecting the power between training handle and nose motion platform；
The connecting rod has 6, and one end of every connecting rod is connected to nose motion platform, other end difference by upper ball pivot respectively
A piece piston rod is connected to by lower ball pivot；
Piston rod also has 6, and every piston rod is socketed on a cylinder, and each cylinder, which is fixed on rear end, to be fixed in support platform,
Piston rod can be provided with displacement transducer in cylinder on stretching motion, piston, institute's displacement sensors can detect stretching for piston rod
Contracting amount；
Support platform is fixed annularly in rear end, can be enclosed on the forearm of patient, and the hand of patient fixes support platform through rear end, holds
Handle is firmly trained, wrist rehabilitation training is carried out；
Control system can obtain six-dimension force sensor and the power detected by displacement transducer and displacement, and can control to live
The telescopic displacement of stopper rod；
The robot has passive control model and Active Control Mode both of which；
Under the passive control model, patient's hand holds training handle, and control system is according to rehabilitation scheme set in advance, control
Piston rod processed stretches, and is moved by lower ball pivot drivening rod, and then realizes the pose change of nose motion platform, drives training hand
The motion of handle and patient's hand, wherein detecting the telescopic displacement of piston rod by displacement transducer, feeds back to control system and realizes pose
Monitoring；
Under the Active Control Mode, patient's hand holds training handle, and actively firmly handle is trained in rotation, installed in handle two
The six-dimension force sensor at end detects force signal, feeds back to control system, and then control system produces drive signal, controls piston
Bar stretches, and then the pose of nose motion platform is changed, and realizes and training handle is followed, obtain the wrist of patient
Strength building；And the control system can change the controling power of output with adjusting force feedback parameter so that patient's wrist is obtained
To the training of different strength.
2. the wearable wrist healing robot of Stewart types according to claim 1, it is characterised in that：The cylinder
Drive system is hydraulic system, baric systerm or power driven system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510405042.8A CN104983546B (en) | 2015-07-10 | 2015-07-10 | A kind of wearable wrist healing robot of Stewart types |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510405042.8A CN104983546B (en) | 2015-07-10 | 2015-07-10 | A kind of wearable wrist healing robot of Stewart types |
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| Publication Number | Publication Date |
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| CN104983546A CN104983546A (en) | 2015-10-21 |
| CN104983546B true CN104983546B (en) | 2017-10-10 |
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| CN201510405042.8A Active CN104983546B (en) | 2015-07-10 | 2015-07-10 | A kind of wearable wrist healing robot of Stewart types |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105748259B (en) * | 2016-04-25 | 2018-03-16 | 四川欣美瑞科技有限公司 | A kind of joints continue to be passive instrument |
| CN108143402A (en) * | 2017-12-22 | 2018-06-12 | 芜湖牧云电子科技有限公司 | Suitable for the monitor of fracture fixation treatment |
| CN108939449B (en) * | 2018-06-01 | 2020-04-10 | 马诗瑜 | Wrist rehabilitation physiotherapy instrument |
| CN110124273B (en) * | 2019-06-21 | 2024-02-27 | 云南增材佳唯科技有限公司 | Wrist rehabilitation instrument is printed to 3D |
| CN111054032B (en) * | 2019-12-30 | 2021-01-22 | 陈晓娟 | Wearable wrist rehabilitation nursing exercise device |
| IT202000012682A1 (en) | 2020-05-28 | 2021-11-28 | Marco Ceccarelli | WRIST REHABILITATION EXERCISE DEVICE |
| CN113476270B (en) * | 2021-06-24 | 2022-08-05 | 燕山大学 | Foldable wrist joint parallel rehabilitation device |
| CN113713317A (en) * | 2021-08-27 | 2021-11-30 | 上海机器人产业技术研究院有限公司 | Six-degree-of-freedom platform for upper limb rehabilitation |
| CN114145964B (en) * | 2021-12-01 | 2023-04-07 | 复旦大学 | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot |
| CN114191256A (en) * | 2021-12-23 | 2022-03-18 | 燕山大学 | Wearable double-ball hinge wrist rehabilitation training robot |
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| US6506172B1 (en) * | 2000-10-10 | 2003-01-14 | Dynasplint Systems, Inc. | Supinator/pronator therapy system to bring mobility to wrist, forearm and/or elbow |
| CN101292935A (en) * | 2008-02-02 | 2008-10-29 | 河北工业大学 | Robot for rehabilitation of anklebone |
| CN103251493A (en) * | 2013-04-19 | 2013-08-21 | 燕山大学 | Elbow wrist rehabilitation robot connected in series and parallel |
| CN203662948U (en) * | 2013-04-15 | 2014-06-25 | 萨班吉大学 | Ankle treatment and exoskeleton measurement device not making contact with ground, capable of being worn and capable of being reconstructed |
| CN103932871A (en) * | 2014-05-05 | 2014-07-23 | 浙江大学 | Elbow joint active-passive combined rehabilitation training system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US8622939B2 (en) * | 2010-09-03 | 2014-01-07 | Bes Rehab Ltd. | Apparatus for manipulating joints of a limb |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6506172B1 (en) * | 2000-10-10 | 2003-01-14 | Dynasplint Systems, Inc. | Supinator/pronator therapy system to bring mobility to wrist, forearm and/or elbow |
| CN101292935A (en) * | 2008-02-02 | 2008-10-29 | 河北工业大学 | Robot for rehabilitation of anklebone |
| CN203662948U (en) * | 2013-04-15 | 2014-06-25 | 萨班吉大学 | Ankle treatment and exoskeleton measurement device not making contact with ground, capable of being worn and capable of being reconstructed |
| CN103251493A (en) * | 2013-04-19 | 2013-08-21 | 燕山大学 | Elbow wrist rehabilitation robot connected in series and parallel |
| CN103932871A (en) * | 2014-05-05 | 2014-07-23 | 浙江大学 | Elbow joint active-passive combined rehabilitation training system |
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| Publication number | Publication date |
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| CN104983546A (en) | 2015-10-21 |
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Effective date of registration: 20180329 Address after: 528400 Guangdong city of Zhongshan province Tsuiheng Ma An Cun intersection of "three five" project workshop of A building in the first layer, second layer, third layer, fourth layer Patentee after: Kazakhstan Tian Yu (Zhongshan) robotics Co., Ltd. Address before: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Patentee before: HARBIN TIANYU REHABILITATION MEDICAL ROBOT CO., LTD. |