CN107007429A - 一种基于并联机构的三自由度前肢康复机器人 - Google Patents
一种基于并联机构的三自由度前肢康复机器人 Download PDFInfo
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- CN107007429A CN107007429A CN201710229058.7A CN201710229058A CN107007429A CN 107007429 A CN107007429 A CN 107007429A CN 201710229058 A CN201710229058 A CN 201710229058A CN 107007429 A CN107007429 A CN 107007429A
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- 210000003194 forelimb Anatomy 0.000 title claims abstract description 33
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- 235000004443 Ricinus communis Nutrition 0.000 claims abstract description 19
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- 229910052782 aluminium Inorganic materials 0.000 claims description 2
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- 210000003464 cuspid Anatomy 0.000 claims description 2
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- 210000003414 extremity Anatomy 0.000 abstract description 6
- 206010019468 Hemiplegia Diseases 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 10
- 240000000528 Ricinus communis Species 0.000 description 5
- 210000000245 forearm Anatomy 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000001225 therapeutic effect Effects 0.000 description 3
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- 208000006011 Stroke Diseases 0.000 description 2
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- 208000014644 Brain disease Diseases 0.000 description 1
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- 208000028389 Nerve injury Diseases 0.000 description 1
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- 240000007711 Peperomia pellucida Species 0.000 description 1
- 235000012364 Peperomia pellucida Nutrition 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
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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
- A61H1/0285—Hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- 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
- A61H2201/14—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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201710229058.7A CN107007429B (zh) | 2017-04-10 | 2017-04-10 | 一种基于并联机构的三自由度前肢康复机器人 |
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CN201710229058.7A CN107007429B (zh) | 2017-04-10 | 2017-04-10 | 一种基于并联机构的三自由度前肢康复机器人 |
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CN107007429A true CN107007429A (zh) | 2017-08-04 |
CN107007429B CN107007429B (zh) | 2019-04-30 |
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CN201710229058.7A Active CN107007429B (zh) | 2017-04-10 | 2017-04-10 | 一种基于并联机构的三自由度前肢康复机器人 |
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108838996A (zh) * | 2018-07-03 | 2018-11-20 | 北京航空航天大学 | 一种五自由度串并联机构 |
CN109330686A (zh) * | 2018-10-25 | 2019-02-15 | 上海大学 | 一种用于长骨骨折的机器人辅助复位*** |
CN110179624A (zh) * | 2019-05-10 | 2019-08-30 | 上海念通智能科技有限公司 | 一种肘腕一体化康复训练设备 |
CN111789741A (zh) * | 2020-06-23 | 2020-10-20 | 华南师范大学 | 一种智能语音控制手臂康复训练装置 |
CN111906735A (zh) * | 2019-05-10 | 2020-11-10 | 乐伟楠 | 一种超低重心多自由度运动平台 |
CN112022622A (zh) * | 2020-09-14 | 2020-12-04 | 浙江正远医疗科技有限公司 | 一种面向脊髓损伤患者的上肢康复机械臂及机器人 |
CN113476270A (zh) * | 2021-06-24 | 2021-10-08 | 燕山大学 | 可折叠腕关节并联康复装置 |
CN114712157A (zh) * | 2022-04-02 | 2022-07-08 | 河南科技大学 | 一种基于三自由度并联机构的腕关节训练机器人 |
IT202100003941A1 (it) | 2021-02-19 | 2022-08-19 | Univ Della Calabria | Dispositivo per la riabilitazione degli arti |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4106707A1 (en) * | 2020-02-20 | 2022-12-28 | Università della Calabria | A device for the rehabilitation of limbs |
IT202000003563A1 (it) * | 2020-02-20 | 2021-08-20 | Giuseppe Carbone | Dispositivo portabile per la riabilitazione degli arti superiori |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103083156A (zh) * | 2013-01-21 | 2013-05-08 | 江苏大学 | 一种三自由度混联上肢康复机器人 |
CN103251493A (zh) * | 2013-04-19 | 2013-08-21 | 燕山大学 | 一种串并混联肘腕康复机器人 |
JP2015084780A (ja) * | 2013-10-28 | 2015-05-07 | 日立マクセル株式会社 | 美容機器 |
WO2015041618A3 (en) * | 2013-09-20 | 2015-06-04 | Akdogan Erhan | Upper limb therapeutic exercise robot |
CN105125380A (zh) * | 2015-09-28 | 2015-12-09 | 北京工业大学 | 一种踝关节康复装置 |
CN205339455U (zh) * | 2015-12-29 | 2016-06-29 | 中北大学 | 一种凸轮式三自由度脚踝康复器 |
-
2017
- 2017-04-10 CN CN201710229058.7A patent/CN107007429B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103083156A (zh) * | 2013-01-21 | 2013-05-08 | 江苏大学 | 一种三自由度混联上肢康复机器人 |
CN103251493A (zh) * | 2013-04-19 | 2013-08-21 | 燕山大学 | 一种串并混联肘腕康复机器人 |
WO2015041618A3 (en) * | 2013-09-20 | 2015-06-04 | Akdogan Erhan | Upper limb therapeutic exercise robot |
JP2015084780A (ja) * | 2013-10-28 | 2015-05-07 | 日立マクセル株式会社 | 美容機器 |
CN105125380A (zh) * | 2015-09-28 | 2015-12-09 | 北京工业大学 | 一种踝关节康复装置 |
CN205339455U (zh) * | 2015-12-29 | 2016-06-29 | 中北大学 | 一种凸轮式三自由度脚踝康复器 |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108838996A (zh) * | 2018-07-03 | 2018-11-20 | 北京航空航天大学 | 一种五自由度串并联机构 |
CN109330686A (zh) * | 2018-10-25 | 2019-02-15 | 上海大学 | 一种用于长骨骨折的机器人辅助复位*** |
CN109330686B (zh) * | 2018-10-25 | 2021-06-04 | 上海大学 | 一种用于长骨骨折的机器人辅助复位*** |
CN110179624A (zh) * | 2019-05-10 | 2019-08-30 | 上海念通智能科技有限公司 | 一种肘腕一体化康复训练设备 |
CN111906735A (zh) * | 2019-05-10 | 2020-11-10 | 乐伟楠 | 一种超低重心多自由度运动平台 |
CN111789741A (zh) * | 2020-06-23 | 2020-10-20 | 华南师范大学 | 一种智能语音控制手臂康复训练装置 |
CN112022622A (zh) * | 2020-09-14 | 2020-12-04 | 浙江正远医疗科技有限公司 | 一种面向脊髓损伤患者的上肢康复机械臂及机器人 |
IT202100003941A1 (it) | 2021-02-19 | 2022-08-19 | Univ Della Calabria | Dispositivo per la riabilitazione degli arti |
CN113476270A (zh) * | 2021-06-24 | 2021-10-08 | 燕山大学 | 可折叠腕关节并联康复装置 |
CN114712157A (zh) * | 2022-04-02 | 2022-07-08 | 河南科技大学 | 一种基于三自由度并联机构的腕关节训练机器人 |
CN114712157B (zh) * | 2022-04-02 | 2024-01-12 | 河南科技大学 | 一种基于三自由度并联机构的腕关节训练机器人 |
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