CN105997437B - 全身协调多功能四臂机器人及其操作方法 - Google Patents
全身协调多功能四臂机器人及其操作方法 Download PDFInfo
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- CN105997437B CN105997437B CN201610564473.3A CN201610564473A CN105997437B CN 105997437 B CN105997437 B CN 105997437B CN 201610564473 A CN201610564473 A CN 201610564473A CN 105997437 B CN105997437 B CN 105997437B
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- 238000011017 operating method Methods 0.000 title description 4
- 238000012549 training Methods 0.000 claims abstract description 33
- 230000005021 gait Effects 0.000 claims abstract description 22
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 13
- 230000003028 elevating effect Effects 0.000 claims abstract description 10
- 210000001624 hip Anatomy 0.000 claims abstract 9
- 210000003141 lower extremity Anatomy 0.000 claims description 68
- 210000001364 upper extremity Anatomy 0.000 claims description 67
- 210000002310 elbow joint Anatomy 0.000 claims description 59
- 239000003638 chemical reducing agent Substances 0.000 claims description 51
- 210000000323 shoulder joint Anatomy 0.000 claims description 36
- 230000001360 synchronised effect Effects 0.000 claims description 29
- 210000000245 forearm Anatomy 0.000 claims description 19
- 210000000707 wrist Anatomy 0.000 claims description 13
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 210000000689 upper leg Anatomy 0.000 claims description 7
- 210000000988 bone and bone Anatomy 0.000 claims description 6
- 210000004394 hip joint Anatomy 0.000 claims 8
- 210000003127 knee Anatomy 0.000 claims 8
- 210000000629 knee joint Anatomy 0.000 claims 6
- 210000002414 leg Anatomy 0.000 claims 3
- 210000003423 ankle Anatomy 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 6
- 238000004088 simulation Methods 0.000 abstract description 5
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 210000001981 hip bone Anatomy 0.000 abstract 1
- 230000005611 electricity Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 208000020442 loss of weight Diseases 0.000 description 2
- 230000035479 physiological effects, processes and functions Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010017585 Gait spastic Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000011644 Neurologic Gait disease Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
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- 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
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- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
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- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
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- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (2)
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610564473.3A CN105997437B (zh) | 2016-07-18 | 2016-07-18 | 全身协调多功能四臂机器人及其操作方法 |
US16/074,199 US11160715B2 (en) | 2016-07-18 | 2017-02-28 | Support rehabilitation training robot and operation method thereof |
EP17830206.3A EP3398579B1 (en) | 2016-07-18 | 2017-02-28 | Physical therapy support robot and operation method therefor |
PCT/CN2017/075083 WO2018014558A1 (zh) | 2016-07-18 | 2017-02-28 | 扶持康复训练机器人及其操作方法 |
JP2018539912A JP6555790B2 (ja) | 2016-07-18 | 2017-02-28 | 支援リハビリテーショントレーニングロボット |
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CN201610564473.3A CN105997437B (zh) | 2016-07-18 | 2016-07-18 | 全身协调多功能四臂机器人及其操作方法 |
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CN105997437A CN105997437A (zh) | 2016-10-12 |
CN105997437B true CN105997437B (zh) | 2018-08-31 |
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CN201610564473.3A Active CN105997437B (zh) | 2016-07-18 | 2016-07-18 | 全身协调多功能四臂机器人及其操作方法 |
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Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2018014558A1 (zh) * | 2016-07-18 | 2018-01-25 | 广东铭凯医疗机器人有限公司 | 扶持康复训练机器人及其操作方法 |
CN106863268B (zh) * | 2017-02-17 | 2019-03-12 | 哈尔滨工业大学 | 一种负载自适应被动平衡上肢外骨骼 |
CN107095766A (zh) * | 2017-05-17 | 2017-08-29 | 台州学院 | 一种偏瘫康复训练器械 |
CN107157708B (zh) * | 2017-05-18 | 2019-04-05 | 安阳工学院 | 一种患者自主运动的肢体康复训练器 |
CN106963602B (zh) * | 2017-05-18 | 2019-02-12 | 安阳工学院 | 一种偏瘫患者四肢同时运动康复训练器 |
CN106963601B (zh) * | 2017-05-18 | 2019-02-22 | 安阳工学院 | 一种四肢联合运动康复训练器 |
CN107157707B (zh) * | 2017-05-18 | 2019-05-10 | 安阳工学院 | 一种杆式左右侧大臂联合运动康复训练器 |
CN107049707B (zh) * | 2017-05-18 | 2019-04-05 | 安阳工学院 | 一种单侧肢体瘫痪患者康复训练器 |
CN107049706B (zh) * | 2017-05-18 | 2019-03-19 | 安阳工学院 | 一种带有减重机构的肢体协同运动康复训练器 |
CN108721051A (zh) * | 2018-04-27 | 2018-11-02 | 哈尔滨工程大学 | 一种上下肢一体化训练机器人 |
CN110816809B (zh) * | 2019-12-11 | 2022-09-20 | 歌尔股份有限公司 | 机臂组件和无人机 |
CN111658429A (zh) * | 2020-06-15 | 2020-09-15 | 大连理工江苏研究院有限公司金坛分公司 | 一种基于互联网的医养康护用护理设备 |
Family Cites Families (8)
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CN2275864Y (zh) * | 1995-12-07 | 1998-03-11 | 杨晓梅 | 心身疾病治疗器 |
US9358173B2 (en) * | 2008-05-09 | 2016-06-07 | National Taiwan University | Rehabilitation and training apparatus and method of controlling the same |
CN102058464A (zh) * | 2010-11-27 | 2011-05-18 | 上海大学 | 下肢康复机器人运动控制方法 |
CN102247258B (zh) * | 2011-04-08 | 2013-09-04 | 北京林业大学 | 上下肢康复训练机器人 |
CN202590240U (zh) * | 2012-03-21 | 2012-12-12 | 国家康复辅具研究中心 | 减重步行训练机器人 |
CN102670379B (zh) * | 2012-05-15 | 2014-10-15 | 上海交通大学 | 移动式可穿戴下肢外骨骼康复机器人 |
EP2815734A1 (en) * | 2013-06-21 | 2014-12-24 | Hocoma AG | Apparatus for automated walking training |
CN104385266A (zh) * | 2014-08-28 | 2015-03-04 | 北京邮电大学 | 七自由度外骨骼式遥操作主手 |
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Inventor after: Wang Chunbao Inventor after: Sun Tongyang Inventor after: Wei Chengdong Inventor after: Lu Zhixiang Inventor after: Hou Anxin Inventor after: Chen Pengfang Inventor after: Chen Haoqiu Inventor after: Shen Yajing Inventor after: Lin Chaohua Inventor after: Duan Lihong Inventor after: Liu Quanquan Inventor after: Shi Qing Inventor after: Zhang Lixin Inventor after: Wei Jianjun Inventor after: Li Weiguang Inventor after: Wang Yulong Inventor after: Long Jianjun Inventor before: Zhang Lixin Inventor before: Chen Pengfang Inventor before: Chen Haoqiu Inventor before: Shen Yajing Inventor before: Wei Jianjun Inventor before: Li Weiguang Inventor before: Wang Yulong Inventor before: Long Jianjun Inventor before: Sun Tongyang Inventor before: Wei Chengdong Inventor before: Lu Zhixiang Inventor before: Hou Anxin |
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Effective date of registration: 20161230 Address after: Guangdong Province, Shenzhen City, Futian District Fu Shennan Avenue street 1006 Shenzhen International Innovation Center building C 1903 Applicant after: GUANGDONG MINGKAI MEDICAL ROBOT CO., LTD. Applicant before: Guangxi Ying Rui Intelligent Machinery Co., Ltd. |
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Effective date of registration: 20171218 Address after: 518035, room 823, Yinhua building, No. 3002, Sungang West Road, Futian District, Guangdong, Shenzhen Applicant after: Wang Chunbao Address before: 518000, Guangdong, Shenzhen province Futian District Hua Fu Street Shennan Road, 1006, Shenzhen International Innovation Center, building C, 1903 Applicant before: GUANGDONG MINGKAI MEDICAL ROBOT CO., LTD. |
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Effective date of registration: 20211022 Address after: 518000 401, building B, huahaotai Industrial Zone, No. 12, Longguan Road, Yucui community, Longhua street, Longhua District, Shenzhen City, Guangdong Province Patentee after: GUANGDONG MINGKAI MEDICAL ROBOT Co.,Ltd. Address before: 518035 room 823, Yinhua mansion, 3002 Sungang West Road, Futian District, Shenzhen, Guangdong. Patentee before: Wang Chunbao |