CN108524187A - 一种六自由度的上肢康复机器人控制*** - Google Patents
一种六自由度的上肢康复机器人控制*** Download PDFInfo
- Publication number
- CN108524187A CN108524187A CN201810173731.4A CN201810173731A CN108524187A CN 108524187 A CN108524187 A CN 108524187A CN 201810173731 A CN201810173731 A CN 201810173731A CN 108524187 A CN108524187 A CN 108524187A
- Authority
- CN
- China
- Prior art keywords
- module
- control
- control system
- motion
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 35
- 230000003993 interaction Effects 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims description 73
- 238000012549 training Methods 0.000 claims description 27
- 238000000034 method Methods 0.000 claims description 21
- 210000003414 extremity Anatomy 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 19
- 238000005070 sampling Methods 0.000 claims description 18
- 239000004973 liquid crystal related substance Substances 0.000 claims description 15
- 230000000694 effects Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 12
- 230000002452 interceptive effect Effects 0.000 claims description 11
- 210000000323 shoulder joint Anatomy 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 210000002310 elbow joint Anatomy 0.000 claims description 3
- 210000000245 forearm Anatomy 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 210000003857 wrist joint Anatomy 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000000465 moulding Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 238000009472 formulation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 208000028389 Nerve injury Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
-
- 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
-
- 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
- A61H2201/0107—Constructive details modular
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- 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
- 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
- A63B2023/006—Exercising apparatus specially adapted for particular parts of the body for stretching exercises
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (12)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810173731.4A CN108524187B (zh) | 2018-03-02 | 2018-03-02 | 一种六自由度的上肢康复机器人控制*** |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810173731.4A CN108524187B (zh) | 2018-03-02 | 2018-03-02 | 一种六自由度的上肢康复机器人控制*** |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108524187A true CN108524187A (zh) | 2018-09-14 |
CN108524187B CN108524187B (zh) | 2019-12-17 |
Family
ID=63486480
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810173731.4A Active CN108524187B (zh) | 2018-03-02 | 2018-03-02 | 一种六自由度的上肢康复机器人控制*** |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN108524187B (zh) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109529274A (zh) * | 2018-11-13 | 2019-03-29 | 南京邮电大学 | 基于冗余机械臂上肢关节主动康复***及其训练方法 |
CN110384601A (zh) * | 2019-07-25 | 2019-10-29 | 吉林农业科技学院 | 仿步行膝关节康复治疗机器人及其控制*** |
CN110801239A (zh) * | 2019-11-20 | 2020-02-18 | 上海交通大学 | 一种上肢多关节等速训练测试装置 |
CN110815232A (zh) * | 2019-11-27 | 2020-02-21 | 郑州轻工业大学 | 一种基于电子凸轮的cam变量赋值法及桁架双机械手 |
CN111388269A (zh) * | 2020-03-10 | 2020-07-10 | 上海电气集团股份有限公司 | 基于can总线的上肢康复机器人及其控制*** |
CN111481888A (zh) * | 2020-04-21 | 2020-08-04 | 福州大学 | 一种肌力训练动力头控制方法及装置 |
CN111558202A (zh) * | 2019-02-14 | 2020-08-21 | 上银科技股份有限公司 | 上肢训练***及控制方法 |
CN112716750A (zh) * | 2020-12-24 | 2021-04-30 | 湖北英特搏智能机器有限公司 | 基于三维力传感器的康复机器人力交互控制方法 |
US11123608B2 (en) | 2019-03-05 | 2021-09-21 | Hiwin Technologies Corp. | Upper limb training system and control method thereof |
CN114129392A (zh) * | 2021-12-07 | 2022-03-04 | 山东大学 | 可调控末端指尖力的自适应冗余驱动外骨骼康复机器人 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102862161A (zh) * | 2012-09-10 | 2013-01-09 | 王伟栋 | 一种基于现场总线的pac工业机器人控制*** |
CN103522290A (zh) * | 2013-10-14 | 2014-01-22 | 上海胖熊信息技术有限公司 | 基于现场总线的分布式机器人控制*** |
CN104027218A (zh) * | 2014-06-05 | 2014-09-10 | 电子科技大学 | 一种康复机器人控制***和方法 |
CN104731107A (zh) * | 2015-03-26 | 2015-06-24 | 北京特种机械研究所 | 一种电动六自由度运动平台高精度控制***及控制方法 |
CN204431264U (zh) * | 2014-12-05 | 2015-07-01 | 杭州新松机器人自动化有限公司 | 基于EtherCAT的智能工业机器人总线模块 |
CN106602940A (zh) * | 2016-11-25 | 2017-04-26 | 安阳工学院 | 上肢康复机器人用无刷直流电机控制器 |
CN106974795A (zh) * | 2017-03-24 | 2017-07-25 | 华中科技大学 | 一种欠驱动上肢康复机器人控制*** |
CN107334600A (zh) * | 2017-07-06 | 2017-11-10 | 哈工大机器人(合肥)国际创新研究院 | 一种多通道混合信号采集*** |
-
2018
- 2018-03-02 CN CN201810173731.4A patent/CN108524187B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102862161A (zh) * | 2012-09-10 | 2013-01-09 | 王伟栋 | 一种基于现场总线的pac工业机器人控制*** |
CN103522290A (zh) * | 2013-10-14 | 2014-01-22 | 上海胖熊信息技术有限公司 | 基于现场总线的分布式机器人控制*** |
CN104027218A (zh) * | 2014-06-05 | 2014-09-10 | 电子科技大学 | 一种康复机器人控制***和方法 |
CN204431264U (zh) * | 2014-12-05 | 2015-07-01 | 杭州新松机器人自动化有限公司 | 基于EtherCAT的智能工业机器人总线模块 |
CN104731107A (zh) * | 2015-03-26 | 2015-06-24 | 北京特种机械研究所 | 一种电动六自由度运动平台高精度控制***及控制方法 |
CN106602940A (zh) * | 2016-11-25 | 2017-04-26 | 安阳工学院 | 上肢康复机器人用无刷直流电机控制器 |
CN106974795A (zh) * | 2017-03-24 | 2017-07-25 | 华中科技大学 | 一种欠驱动上肢康复机器人控制*** |
CN107334600A (zh) * | 2017-07-06 | 2017-11-10 | 哈工大机器人(合肥)国际创新研究院 | 一种多通道混合信号采集*** |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109529274B (zh) * | 2018-11-13 | 2021-01-26 | 南京邮电大学 | 基于冗余机械臂上肢关节主动康复***及其训练方法 |
CN109529274A (zh) * | 2018-11-13 | 2019-03-29 | 南京邮电大学 | 基于冗余机械臂上肢关节主动康复***及其训练方法 |
CN111558202B (zh) * | 2019-02-14 | 2021-06-29 | 上银科技股份有限公司 | 上肢训练***及控制方法 |
CN111558202A (zh) * | 2019-02-14 | 2020-08-21 | 上银科技股份有限公司 | 上肢训练***及控制方法 |
US11123608B2 (en) | 2019-03-05 | 2021-09-21 | Hiwin Technologies Corp. | Upper limb training system and control method thereof |
CN110384601A (zh) * | 2019-07-25 | 2019-10-29 | 吉林农业科技学院 | 仿步行膝关节康复治疗机器人及其控制*** |
CN110801239A (zh) * | 2019-11-20 | 2020-02-18 | 上海交通大学 | 一种上肢多关节等速训练测试装置 |
CN110801239B (zh) * | 2019-11-20 | 2022-06-17 | 上海交通大学 | 一种上肢多关节等速训练测试装置 |
CN110815232A (zh) * | 2019-11-27 | 2020-02-21 | 郑州轻工业大学 | 一种基于电子凸轮的cam变量赋值法及桁架双机械手 |
CN111388269A (zh) * | 2020-03-10 | 2020-07-10 | 上海电气集团股份有限公司 | 基于can总线的上肢康复机器人及其控制*** |
CN111481888A (zh) * | 2020-04-21 | 2020-08-04 | 福州大学 | 一种肌力训练动力头控制方法及装置 |
CN112716750A (zh) * | 2020-12-24 | 2021-04-30 | 湖北英特搏智能机器有限公司 | 基于三维力传感器的康复机器人力交互控制方法 |
CN112716750B (zh) * | 2020-12-24 | 2022-09-16 | 湖北英特搏智能机器有限公司 | 基于三维力传感器的康复机器人力交互控制方法 |
CN114129392A (zh) * | 2021-12-07 | 2022-03-04 | 山东大学 | 可调控末端指尖力的自适应冗余驱动外骨骼康复机器人 |
Also Published As
Publication number | Publication date |
---|---|
CN108524187B (zh) | 2019-12-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108524187A (zh) | 一种六自由度的上肢康复机器人控制*** | |
US11771613B2 (en) | Robot system for active and passive upper limb rehabilitation training based on force feedback technology | |
CN102716002B (zh) | 坐卧式下肢康复机器人 | |
CN108814894A (zh) | 基于视觉人***姿检测的上肢康复机器人***及使用方法 | |
Patton et al. | Robotics and virtual reality: a perfect marriage for motor control research and rehabilitation | |
CN114366556B (zh) | 一种面向下肢康复的多模式训练控制***及方法 | |
CN105867130B (zh) | 康复步行训练机器人的轨迹跟踪误差约束安全控制方法 | |
CN103558786A (zh) | 基于嵌入Android移动终端及FPGA的手部功能康复机器人人机交互控制*** | |
CN106974795B (zh) | 一种欠驱动上肢康复机器人控制*** | |
CN109330819B (zh) | 主从式上肢外骨骼康复机器人控制***及其控制方法 | |
CN102309393A (zh) | 外骨骼式上肢康复机器人 | |
WO2016008109A1 (zh) | 上肢康复机器人*** | |
CN101978940A (zh) | 一种虚实结合的机器人辅助手指运动功能康复训练*** | |
CN110215676A (zh) | 一种上肢双臂康复训练人机交互方法和*** | |
CN107280910B (zh) | 一种基于数据采集的自主智能按摩器及操作方法 | |
CN102716000A (zh) | 坐卧式下肢康复机器人及相应的助力训练控制方法 | |
CN110013419A (zh) | 一种双臂康复机器人及训练方法 | |
CN103735389A (zh) | 一种手指间协调性训练康复装置 | |
CN102039031A (zh) | 基于虚拟现实的手部多功能康复*** | |
CN109529274B (zh) | 基于冗余机械臂上肢关节主动康复***及其训练方法 | |
Kousidou et al. | Task-orientated biofeedback system for the rehabilitation of the upper limb | |
CN115363907A (zh) | 一种基于虚拟现实康复训练***的康复决策方法 | |
Abdallah et al. | Web-based robot control for wrist telerehabilitation | |
CN107184361A (zh) | 基于ARM和Linux操作***的手部康复外骨骼人机交互*** | |
Masengo et al. | A design of lower limb rehabilitation robot and its control for passive training |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20200914 Address after: 230000 4th floor, building 3, block C, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Hefei Harbin gonglixun Intelligent Technology Co., Ltd Address before: 236000 Anhui city of Hefei Province Economic and Technological Development Zone Cuiwei Road No. 6 Haiheng building room 6012 Patentee before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210507 Address after: 230000 3rd floor, No.4 workshop, intelligent science and Technology Park, no.3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Anhui Hagong Peugeot medical and Health Industry Co.,Ltd. Address before: 230000 4th floor, building 3, Zone C, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee before: Hefei Harbin gonglixun Intelligent Technology Co., Ltd |
|
TR01 | Transfer of patent right |