CN105796285A - Upper limb rehabilitant robot fingers and wrist training device - Google Patents

Upper limb rehabilitant robot fingers and wrist training device Download PDF

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Publication number
CN105796285A
CN105796285A CN201610319764.6A CN201610319764A CN105796285A CN 105796285 A CN105796285 A CN 105796285A CN 201610319764 A CN201610319764 A CN 201610319764A CN 105796285 A CN105796285 A CN 105796285A
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China
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wrist
upper limb
gear
servomotor
slide construction
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CN201610319764.6A
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Chinese (zh)
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CN105796285B (en
Inventor
彭亮
侯增广
王卫群
程龙
谢晓亮
边桂彬
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Institute of Automation of Chinese Academy of Science
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Institute of Automation of Chinese Academy of Science
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    • 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
    • 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
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0165—Damping, vibration related features
    • A61H2201/0169—Noise reduction
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • 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
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A61H2205/067—Fingers

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  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses upper limb rehabilitant robot fingers and a wrist training device. The device comprises an installation base, a wrist rotary movement mechanism and a finger gripping and stretching exercise mechanism, wherein the wrist rotary movement mechanism is driven by a first servo motor through a two-stage reducing mechanism; a first-stage reducing mechanism is a gear reducer and is arranged on the front end of the first servo motor; a second-stage reducing mechanism is formed by intertwining a shaft sleeve and a rotary semi-circular ringthrough steel wire ropes and is located on the front end of the first-stage reducing mechanism; the first servo motor is arranged on the installation base; the finger gripping and stretching exercise mechanism is driven by a second servo motor through a two-stage reducing mechanism; a first-stage reducing mechanism is a gear reducer and is arranged on the front end of the second servo motor; the second servo motor is arranged on a palm support plate; the palm support plate is fixed on the rotary semi-circular ring of the wrist rotary movement mechanism. The wrist training device provided by the invention is simple in structure and strong in functionality.

Description

A kind of upper limb rehabilitation robot finger and wrist training devices
Technical field
The present invention relates to medical instruments field, particularly relate to healing robot technology, be specifically related to a kind of upper limb rehabilitation robot finger and wrist training devices.
Background technology
Along with the aggravation of Chinese society's aging, increasing old man causes upper extremity palsy due to reasons such as apoplexy, brings very big inconvenience to daily life.Paralysed patient can excite brain plasticity by substantial amounts of rehabilitation training, recovers certain motor capacity, it is achieved take care of oneself, improves the quality of living, and farthest returns society.Robot assisted rehabilitation training can save substantial amounts of manpower and materials, and Rehabilitation level can carry out the assessment of real-time quantization, incremental being trained of rehabilitation situation according to patient.
Upper limb hemiplegia patient is generally individually along with hand movement function obstacle, and as finger can not grasp and stretch, wrist can not rotate freely, and affects very big on the self care ability of patient.Current upper limb rehabilitation robot is trained for master with the gross motor of shoulder elbow joint, and lacks the rehabilitation training to the most important finger of patient's daily life, wrist.Therefore, increasing the hand rehabilitation training of patient's finger, wrist in existing upper limb rehabilitation robot, for the recovery of the fine movement ability of patient's upper limb, and the raising of self care ability has very important effect.
Summary of the invention
The present invention only has gross motor rehabilitation training to overcome existing upper limb rehabilitation robot, lack the shortcoming finely trained of hand of finger, wrist, overcome existing hand device for healing and training to be only capable of passive being driven by machine to train simultaneously, and training mission cannot be performed on one's own initiative, the deficiencies such as training process compliance difference, meet the demand of hand rehabilitation training, and propose a kind of upper limb rehabilitation robot finger, wrist training devices.
The present invention proposes a kind of upper limb rehabilitation robot finger and wrist training devices, including installing pedestal, wrist rotational motion mechanism and finger grip and stretching mechanism,
Described wrist rotational motion mechanism is driven by double reduction mechanism by the first servomotor, wherein first order reducing gear is gear reduction box, it is arranged on the first servomotor front end, second level reducing gear is consisted of wirerope-winding mode axle sleeve and rotating semicircular ring, is positioned at first order reducing gear front end；Described first servomotor is arranged on installation pedestal；
Described finger grip and stretching mechanism are driven by double reduction mechanism by the second servomotor, wherein first order reducing gear is gear reduction box, it is arranged on the second servomotor front end, second level reducing gear is consisted of wirerope-winding mode axle sleeve and rotating circular disk, described second servomotor is arranged on palm support plate, palm support plate is fixed on the rotating semicircular ring of wrist rotational motion mechanism, rotating circular disk is coaxially installed with driving gear, driving gear and driven gear closely cooperate, driving gear and driven gear are coaxially installed with the first swivel link and the second swivel link, first-hand fingerstall and second finger set are inserted on the first swivel link and the second swivel link, first-hand fingerstall and second-hand's fingerstall two can exchange
Upper limb rehabilitation robot hand exercise device disclosed by the invention, decoration structure features simple design, it is possible to realize wrist simultaneously and rotate the grasping with finger and stretch training, enrich the rehabilitation training task of hand, by bandage and finger-stall mode, facilitate the fixing of hand during training, designed by sliding tray, it is possible to adapt to the finger length that different patient is different, by double reduction mechanism, making training devices export moment of torsion big, compliance is strong, it is achieved high-quality passive exercise and active training.
Accompanying drawing explanation
Fig. 1 is the side structure schematic diagram of upper limb rehabilitation robot finger and wrist training devices in the present invention；
Fig. 2 is the wrist rotational structure schematic diagram of upper limb rehabilitation robot finger and wrist training devices in the present invention
Fig. 3 is the plan structure schematic diagram of upper limb rehabilitation robot finger and wrist training devices in the present invention；.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in further detail.
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figures 1 to 3, the present invention proposes a kind of upper limb rehabilitation robot finger and wrist training devices, including installing pedestal 12, wrist rotational motion mechanism and finger grip and stretching mechanism；
Wherein, described wrist rotational motion mechanism includes servomotor 8, first order reducing gear and second level reducing gear, wherein first order reducing gear is gear reduction box 9, it is arranged on servomotor 8 front end, second level reducing gear is consisted of steel wire rope 10 canoe axle sleeve 11 and rotating semicircular ring 4, servomotor 8 afterbody is provided with encoder 7, and servomotor 8 is arranged on installation pedestal 12；Described axle sleeve 11 is arranged on gear reduction box 9 output shaft, and described rotating semicircular ring 4 can be mounted opposite pedestal 12 and rotate, and described steel wire rope 10 is wrapped on the outer surface of axle sleeve 11 and rotating semicircular ring 4.
nullDescribed finger grip and stretching mechanism include servomotor 16、First order reducing gear and second level reducing gear，Wherein first order reducing gear includes gear reduction box 15，It is arranged on motor 16 front end，Second level reducing gear is consisted of steel wire rope 13 canoe axle sleeve 14 and rotating circular disk 18，Motor 16 afterbody is provided with encoder 17，Servomotor 16 is arranged on palm support plate 32，Palm support plate 32 is fixed on the rotating semicircular ring of wrist rotational motion mechanism，Rotating circular disk 18 is coaxially installed with driving gear，Driving gear 19 and driven gear 20 closely cooperate，Driving gear and driven gear are coaxially installed with the first swivel link 21 and the second swivel link 22，First-hand fingerstall 23 and second-hand's fingerstall 24 are inserted on the first swivel link 21 and the second swivel link 22，First-hand fingerstall 23 and second-hand's fingerstall 24 can exchange.
Said apparatus disclosed by the invention has two rotary freedoms, and namely wrist rotates around the axle 1 parallel with arm, and palm is around the grasping of axle 2 and the stretching, extension that are basically perpendicular to axle 1.Grip handle 3 is used for support and the grasping of palm, and forearm is supported by arm holder 6, and is fixed by bandage 5.Primary speed-down and moment of torsion that motor 8 exports through decelerator 9 amplify, and are delivered to axle sleeve 11, and axle sleeve 11 constitutes two grades of rope drive reducing gears with rotating semicircular ring 4 by steel wire rope 10 canoe.Bearing 33 contacts cooperation with rotating semicircular ring 4 groove at side surface 34, and bearing 33 is arranged on pedestal 12, can rotate relative to pedestal 12 thus rotating semicircular ring 4.Motor 8 exports and slows down through above-mentioned firsts and seconds, and moment of torsion amplifies, and controls to be applied to the carpal moment of torsion of human body, and controls carpal rotation.Encoder 7 is for detecting the anglec of rotation of motor 8, and the carpal anglec of rotation of human body.Decelerator 9 is fixed on pedestal 12.
Primary speed-down and moment of torsion that motor 16 exports through decelerator 15 amplify, and are delivered to axle sleeve 14, and axle sleeve 14 constitutes two reduction gear with rotating circular disk 18 by steel wire rope 13.Motor 16 exports and slows down through firsts and seconds, and moment of torsion amplifies.Rotating circular disk 18, driving gear 19 and connecting rod 21 are coaxially connected, driven gear 20 and connecting rod 22 are coaxially connected, driving gear 19 and driven gear 20 are snuggly mated to together, and first connecting rod 21 and second connecting rod 22 can be caused to rotate round about thus rotating circular disk 18 rotates.It is trained for example with left hand, patient's thumbstall is on first-hand fingerstall 23, and first-hand fingerstall 23 is inserted on second connecting rod 22, and all the other four fingerstall are on second-hand's fingerstall 24, finger-stall 24 is inserted on first connecting rod 21, thus the rotation of first connecting rod 21 and second connecting rod 22 can cause the opening and closing of finger.It is trained for example with the right hand, patient's thumbstall is on second-hand's fingerstall 24, second-hand's fingerstall 24 is inserted on first connecting rod 21, and all the other four fingerstall are on first-hand fingerstall 23, first-hand fingerstall 23 is inserted on second connecting rod 22, thus the rotation of first connecting rod 21 and second connecting rod 22 can cause grasping and the stretching, extension of finger.Finger-stall 23 can move along rail groove 25 and 26, and finger-stall 23 can switch between rail groove 25 and 26 along sliding tray 27.Finger-stall 24 can move along rail groove 28 and 29, and finger-stall 24 can switch between rail groove 28 and 29 along sliding tray 30.Grasping member 3 can be slided along sliding tray 31.Rail groove 25,26 be two sections of parallel settings and radius different isocentric circular arc fluting, sliding tray 27 is the one section of straight line fluting connecting rail groove 25 and 26 arc end, rail groove 25,26,27 forms the first slide construction of connection, rail groove 28,29 be two sections of parallel settings and radius different isocentric circular arc fluting, sliding tray 30 is the one section of straight line fluting connecting rail groove 28 and 29 arc end, rail groove 28,29,30 forms the second slide construction of connection, and wherein the first slide construction and the second slide construction symmetry vicinity are arranged on palm support plate 32.Sliding tray 31 is arranged along at the first slide construction and the second slide construction axis of symmetry.
In concrete application process, sliding tray 27,30,31 design can regulate the distance between finger and grip handle, adapts to the finger length of different patient, and finger-stall can exchange easily, meets right-hand man and trains demand.Servomotor is through gear reduction box and rope drive reducing gear, speed reduces, meet the movement velocity needs of hand rehabilitation training, moment of torsion amplifies simultaneously, meet the driving force needs of rehabilitation training, rope drive reducing gear and gear reduction box with the use of, contribute on the one hand reducing equipment size, contribute on the other hand reducing gear reduction box backlash and torque ripple that friction brings and noise problem, the compliance of raising system and back drive-ability, allow the patient to driving mechanism motion actively, it is achieved initiative rehabilitation is trained.
Particular embodiments described above; the purpose of the present invention, technical scheme and beneficial effect have been further described; it it should be understood that; the foregoing is only specific embodiments of the invention; it is not limited to the present invention; all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.

Claims (7)

1. upper limb rehabilitation robot finger and a wrist training devices, including installing pedestal, wrist rotational motion mechanism and finger grip and stretching mechanism, it is characterised in that:
Described wrist rotational motion mechanism is driven by double reduction mechanism by the first servomotor, wherein first order reducing gear is gear reduction box, it is arranged on the first servomotor front end, second level reducing gear is consisted of wirerope-winding mode axle sleeve and rotating semicircular ring, is positioned at first order reducing gear front end；Described first servomotor is arranged on installation pedestal；
Described finger grip and stretching mechanism are driven by double reduction mechanism by the second servomotor, wherein first order reducing gear is gear reduction box, it is arranged on the second servomotor front end, second level reducing gear is consisted of wirerope-winding mode axle sleeve and rotating circular disk, described second servomotor is arranged on palm support plate, palm support plate is fixed on the rotating semicircular ring of wrist rotational motion mechanism, rotating circular disk is coaxially installed with driving gear, driving gear and driven gear closely cooperate, driving gear and driven gear are coaxially installed with the first swivel link and the second swivel link, first-hand fingerstall and second finger set are inserted on the first swivel link and the second swivel link, first-hand fingerstall and second-hand's fingerstall two can exchange.
2. a kind of upper limb rehabilitation robot finger according to claim 1 and wrist training devices, it is characterized in that: there is groove described rotating semicircular ring side, being installed on installation pedestal by bearing, described rotating semicircular ring can pass through described bearing and rotate relative to installing pedestal.
3. a kind of upper limb rehabilitation robot finger according to claim 1 and wrist training devices, it is characterised in that: having grasping member and sliding tray on described palm support plate, grasping member can be slided along sliding tray.
4. a kind of upper limb rehabilitation robot finger according to claim 3 and wrist training devices, it is characterized in that: described palm support plate has the first slide construction and the second slide construction, first-hand fingerstall and second-hand's fingerstall slide respectively along the first slide construction and the second slide construction, change the distance between finger-stall and grasping member.
5. a kind of upper limb rehabilitation robot finger according to claim 4 and wrist training devices, it is characterized in that: described first slide construction and the second slide construction are symmetrical arranged, include respectively two sections of parallel settings and radius different isocentric circular arc fluting with connect two sections of circular arcs slot one end straight line slot.
6. a kind of upper limb rehabilitation robot finger as described in claim 4 or 5 and wrist training devices, it is characterised in that: described sliding tray is arranged along the axis of symmetry of the first slide construction and the second slide construction.
7. a kind of upper limb rehabilitation robot finger according to claim 1 and wrist training devices, it is characterised in that: described installation pedestal is provided with arm holder, arm holder has bandage.
CN201610319764.6A 2016-05-13 2016-05-13 A kind of upper limb rehabilitation robot finger and wrist trainer Active CN105796285B (en)

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Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106361539A (en) * 2016-09-28 2017-02-01 中国科学院自动化研究所 Three-degree-of-freedom wrist joint rehabilitation robot and system thereof
CN107260487A (en) * 2017-07-03 2017-10-20 天津理工大学 Portable upper limb rehabilitation robot and its Digital Simulation implementation method based on LabVIEW
CN107997861A (en) * 2016-10-27 2018-05-08 韩国机器人和融合研究院 The nervous system disease and disease of the musculoskeletal system hand convalescence device
CN108652919A (en) * 2018-05-27 2018-10-16 北京工业大学 A kind of line driving wearable upper limb medical treatment ectoskeleton structure of multiple degrees of freedom
CN108670726A (en) * 2018-06-21 2018-10-19 芜湖易泽中小企业公共服务股份有限公司 A kind of robot of auxiliary arm rehabilitation
CN108743243A (en) * 2018-07-16 2018-11-06 东北大学 A kind of wrist convalescence device
CN108785962A (en) * 2018-07-06 2018-11-13 张志军 Medical finger recovering training device
CN108814905A (en) * 2018-07-16 2018-11-16 东北大学 A kind of upper limb healing platform
CN108992306A (en) * 2018-08-08 2018-12-14 龚映清 A kind of multiple degrees of freedom Table top type thumb convalescence device
CN109009879A (en) * 2018-08-27 2018-12-18 江苏理工学院 A kind of nursing bed telecontrol equipment
CN109620632A (en) * 2018-11-16 2019-04-16 中国科学院宁波材料技术与工程研究所 The adaptive fupport arm device of upper limb rehabilitation robot
CN109730892A (en) * 2019-01-25 2019-05-10 电子科技大学 Rounding arc guide rail mechanism inside and outside a kind of upper limb ectoskeleton forearm
CN109843244A (en) * 2016-12-22 2019-06-04 复康机器人技术有限公司 Power assist apparatus and its application method for hand rehabilitation
CN110074946A (en) * 2019-06-17 2019-08-02 山东海天智能工程有限公司 A kind of wrist function rehabilitation training device
CN110179633A (en) * 2019-06-24 2019-08-30 深圳睿瀚医疗科技有限公司 Upper limb integration device for healing and training
CN110327179A (en) * 2019-04-21 2019-10-15 上海健康医学院 It is a kind of for hand grasp and wrist two-freedom rehabilitation training mechanism
CN111281745A (en) * 2020-03-07 2020-06-16 西北工业大学 Wrist joint rehabilitation device capable of self-adapting to change of human motion axis
CN111631913A (en) * 2020-06-09 2020-09-08 郑州大学 Crescent double-sided gear driving palm turnover device
CN111714328A (en) * 2020-06-28 2020-09-29 山东大学 Cerebral apoplexy patient points rehabilitation training device and upper limbs rehabilitation training device
CN112402178A (en) * 2020-12-17 2021-02-26 陈国庆 Surgery postoperative wrist and finger joint unites recovered device of taking exercise
CN113041568A (en) * 2021-03-19 2021-06-29 温州医科大学附属第二医院（温州医科大学附属育英儿童医院） Finger auxiliary training instrument and using method thereof
LU102030B1 (en) * 2020-09-04 2022-03-04 Technische Univ Hamburg Praesidialbereich Forschung Planung Und Akad Controlling Rehabilitation apparatus for wrist and forearm therapy
CN115227542A (en) * 2022-06-27 2022-10-25 国家康复辅具研究中心 Comprehensive rehabilitation system and method for wrist and hand
CN115517908A (en) * 2022-06-13 2022-12-27 燕山大学 Finger and wrist rehabilitation training robot
CN117426932A (en) * 2023-12-21 2024-01-23 江西求是高等研究院 Portable rehabilitation chair

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