CN105726260B - 可互换上肢康复机器人 - Google Patents
可互换上肢康复机器人 Download PDFInfo
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- CN105726260B CN105726260B CN201610147488.XA CN201610147488A CN105726260B CN 105726260 B CN105726260 B CN 105726260B CN 201610147488 A CN201610147488 A CN 201610147488A CN 105726260 B CN105726260 B CN 105726260B
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- wrist
- upper limb
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- interchangeable upper
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 98
- 210000000707 wrist Anatomy 0.000 claims abstract description 63
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 39
- 241000905957 Channa melasoma Species 0.000 claims abstract description 25
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 19
- 210000000245 forearm Anatomy 0.000 claims abstract description 19
- 230000009442 healing mechanism Effects 0.000 claims abstract description 11
- 230000000694 effects Effects 0.000 claims abstract description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 36
- 230000033001 locomotion Effects 0.000 claims description 14
- 210000003414 extremity Anatomy 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 210000003813 thumb Anatomy 0.000 claims description 10
- 230000035876 healing Effects 0.000 description 4
- 210000003811 finger Anatomy 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010003694 Atrophy Diseases 0.000 description 1
- 241000233855 Orchidaceae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000037444 atrophy Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000926 neurological effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000005496 tempering Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
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CN201610147488.XA CN105726260B (zh) | 2016-03-16 | 2016-03-16 | 可互换上肢康复机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610147488.XA CN105726260B (zh) | 2016-03-16 | 2016-03-16 | 可互换上肢康复机器人 |
Publications (2)
Publication Number | Publication Date |
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CN105726260A CN105726260A (zh) | 2016-07-06 |
CN105726260B true CN105726260B (zh) | 2017-10-27 |
Family
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Family Applications (1)
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CN201610147488.XA Active CN105726260B (zh) | 2016-03-16 | 2016-03-16 | 可互换上肢康复机器人 |
Country Status (1)
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CN (1) | CN105726260B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110123582A (zh) * | 2019-05-31 | 2019-08-16 | 北京工业大学 | 一种用于肩胛骨康复治疗的机器人 |
Families Citing this family (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105963103A (zh) * | 2016-06-08 | 2016-09-28 | 上海电气集团股份有限公司 | 一种便携穿戴式外骨骼上肢机器人 |
CN106176133B (zh) * | 2016-07-07 | 2019-02-01 | 庞林琳 | 一种用于乳腺癌化疗后康复支架 |
CN108202322B (zh) * | 2016-07-18 | 2020-11-20 | 南京云主信息科技有限公司 | 一种设有固定旋转角度执行末端的机器人 |
CN108113844A (zh) * | 2016-11-29 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | 一种上肢训练装置 |
CN106691786B (zh) * | 2017-01-12 | 2019-01-01 | 北京大学 | 一种基于连续可变串联柔性驱动的穿戴式动力膝关节 |
CN106691779B (zh) * | 2017-01-22 | 2019-07-26 | 北京协同创新研究院 | 一种悬吊结构动力膝关节康复平台 |
CN107019621A (zh) * | 2017-05-19 | 2017-08-08 | 山东建筑大学 | 上肢康复机器人 |
CN109620631A (zh) * | 2017-10-09 | 2019-04-16 | 李卫国 | 一种仿生自动控制康复手臂 |
CN107898595A (zh) * | 2017-11-26 | 2018-04-13 | 宁波工程学院 | 上肢康复训练器 |
CN109953868B (zh) * | 2017-12-22 | 2023-08-22 | 中国科学院沈阳自动化研究所 | 一种腕部扭摆助力康复装置 |
CN108836731B (zh) * | 2018-04-08 | 2020-05-05 | 苏州好博医疗器械有限公司 | 家用型索控式上肢康复训练机械手臂 |
CN108721058A (zh) * | 2018-06-28 | 2018-11-02 | 广州康医疗设备实业有限公司 | 上肢康复训练装置及康复训练方法 |
CN108814902B (zh) * | 2018-06-29 | 2020-01-10 | 华中科技大学 | 一种人机运动匹配且能对侧互换的上肢外骨骼康复装置 |
CN109009875B (zh) * | 2018-08-20 | 2024-03-26 | 中国科学院苏州生物医学工程技术研究所 | 个性化上肢康复训练机器人 |
CN109259979A (zh) * | 2018-08-22 | 2019-01-25 | 上海电气集团股份有限公司 | 左右手可互换的上肢康复机器人及其控制方法 |
CN109350446B (zh) * | 2018-10-18 | 2021-07-13 | 航天科工智能机器人有限责任公司 | 基于肌电信号的主被动结合上肢康复训练机器人*** |
CN109363889B (zh) * | 2018-11-15 | 2022-06-21 | 上海理工大学 | 一种上肢外骨骼机器人左右手互换装置 |
CN109223447B (zh) * | 2018-11-23 | 2020-11-03 | 上海理工大学 | 一种左右互换的上肢康复与活动辅助装置 |
CN109730891B (zh) * | 2019-01-25 | 2021-02-02 | 电子科技大学 | 一种上肢外骨骼可换手并限位的肩水平运动关节结构 |
CN110327179B (zh) * | 2019-04-21 | 2023-10-03 | 上海健康医学院 | 一种用于手部抓握及腕部两自由度的康复训练机构 |
CN110051506B (zh) * | 2019-05-21 | 2024-04-19 | 昆明医科大学第一附属医院 | 一种新型肩关节训练仪器以及使用方法 |
CN110393655A (zh) * | 2019-09-03 | 2019-11-01 | 南京工业大学 | 一种电机与气动肌肉混合的穿戴式上肢康复机器人 |
CN110960395B (zh) * | 2019-12-12 | 2021-01-29 | 中国科学院自动化研究所 | 一种外骨骼式上肢康复机器人 |
CN111281741B (zh) * | 2020-02-26 | 2022-05-31 | 南京邮电大学 | 面向不同体型的可重构式外骨骼上肢康复机器人 |
CN112641625A (zh) * | 2020-12-24 | 2021-04-13 | 佛山冠湾智能科技有限公司 | 一种智能艾灸机器人 |
CN112603767B (zh) * | 2021-01-04 | 2022-04-01 | 燕山大学 | 一种柔性外骨骼式上肢康复训练器 |
CN113520801A (zh) * | 2021-08-19 | 2021-10-22 | 淮北贵翔堂医药有限公司 | 一种全自动中风胳膊康复训练装置 |
CN113908014B (zh) * | 2021-11-02 | 2024-02-20 | 复旦大学 | 一种手部功能康复机器人 |
CN114699283B (zh) * | 2022-04-15 | 2024-06-25 | 上海理工大学 | 一种桌面式三自由度腕关节康复训练机器人 |
CN115554091A (zh) * | 2022-09-01 | 2023-01-03 | 燕山大学 | 用于关节错位补偿的肘腕关节康复机器人及其补偿方法 |
CN117838514B (zh) * | 2024-03-07 | 2024-06-04 | 长春工业大学 | 一种胳膊康复训练机械手臂 |
Citations (4)
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CN102961235A (zh) * | 2012-12-07 | 2013-03-13 | 付风生 | 一种上肢康复训练机器人 |
CN204293444U (zh) * | 2014-10-24 | 2015-04-29 | 青岛世纪杰创医疗科技有限公司 | 一种外骨骼式肩胛带与上肢协同康复机器人 |
WO2015099858A2 (en) * | 2013-09-30 | 2015-07-02 | Board Of Regents, The University Of Texas System | Upper-body robotic exoskeleton |
CN105250116A (zh) * | 2015-10-10 | 2016-01-20 | 付风生 | 一种上肢康复训练机器人机械手 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IT1401979B1 (it) * | 2010-09-28 | 2013-08-28 | C N R Consiglio Naz Ricerche | Dispositivo biomedico per la riabilitazione robotizzata dell'arto superiore umano, particolarmente per la riabilitazione neuromotoria dell'articolazione della spalla e del gomito. |
-
2016
- 2016-03-16 CN CN201610147488.XA patent/CN105726260B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102961235A (zh) * | 2012-12-07 | 2013-03-13 | 付风生 | 一种上肢康复训练机器人 |
WO2015099858A2 (en) * | 2013-09-30 | 2015-07-02 | Board Of Regents, The University Of Texas System | Upper-body robotic exoskeleton |
CN204293444U (zh) * | 2014-10-24 | 2015-04-29 | 青岛世纪杰创医疗科技有限公司 | 一种外骨骼式肩胛带与上肢协同康复机器人 |
CN105250116A (zh) * | 2015-10-10 | 2016-01-20 | 付风生 | 一种上肢康复训练机器人机械手 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110123582A (zh) * | 2019-05-31 | 2019-08-16 | 北京工业大学 | 一种用于肩胛骨康复治疗的机器人 |
CN110123582B (zh) * | 2019-05-31 | 2021-08-06 | 北京工业大学 | 一种用于肩胛骨康复治疗的机器人 |
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CN105726260A (zh) | 2016-07-06 |
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Inventor after: Fu Fengsheng Inventor after: Qiao Xiaofang Inventor after: Wei Huimin Inventor after: Ni Peiyu Inventor after: Wang Yu Inventor after: Li Gen Inventor after: Wang Huadong Inventor after: Xing Yanjun Inventor after: Yang Chuanying Inventor before: Fu Fengsheng Inventor before: Wei Huimin Inventor before: Ni Peiyu Inventor before: Wang Yu Inventor before: Li Gen Inventor before: Wang Huadong Inventor before: Xing Yanjun Inventor before: Yang Chuanying |
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Address after: 455000 Second Floor of No.6 Building of Torch Pioneer Park, West Section of Yangtze River Avenue, Anyang High-tech Zone, Henan Province Patentee after: Henan Huibo Shenfang Intelligent Rehabilitation Equipment Co., Ltd. Address before: 455000 No. 6 Factory Building of Torch Pioneer Park, West Section of Yangtze River Avenue, Anyang High-tech Zone, Henan Province Patentee before: Anyang Shenfang Rehabilitation Robot Co., Ltd. |
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Address after: 473000 middle section of Weishi Road, new energy economic and Technological Development Zone, Wancheng District, Nanyang City, Henan Province Patentee after: Henan Huibo Shenfang Intelligent Rehabilitation Equipment Co.,Ltd. Address before: 455000 Second Floor of No.6 Building of Torch Pioneer Park, West Section of Yangtze River Avenue, Anyang High-tech Zone, Henan Province Patentee before: Henan Huibo Shenfang Intelligent Rehabilitation Equipment Co.,Ltd. |
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Address after: 473000 middle section of Weishi Road, new energy economic and Technological Development Zone, Wancheng District, Nanyang City, Henan Province Patentee after: Sidic health care industry development Co.,Ltd. Address before: 473000 middle section of Weishi Road, new energy economic and Technological Development Zone, Wancheng District, Nanyang City, Henan Province Patentee before: Henan Huibo Shenfang Intelligent Rehabilitation Equipment Co.,Ltd. |