CN109674619B - Wrist rehabilitation robot bearing device with adjustable patient training posture - Google Patents
Wrist rehabilitation robot bearing device with adjustable patient training posture Download PDFInfo
- Publication number
- CN109674619B CN109674619B CN201811366737.XA CN201811366737A CN109674619B CN 109674619 B CN109674619 B CN 109674619B CN 201811366737 A CN201811366737 A CN 201811366737A CN 109674619 B CN109674619 B CN 109674619B
- Authority
- CN
- China
- Prior art keywords
- adjustable
- rehabilitation robot
- wrist rehabilitation
- shaped
- training
- 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.)
- Active
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 41
- 230000001502 supplementing effect Effects 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000036544 posture Effects 0.000 abstract description 26
- 230000003993 interaction Effects 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 abstract description 2
- 230000003028 elevating effect Effects 0.000 description 11
- 230000001965 increasing effect Effects 0.000 description 4
- 230000002349 favourable effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000554 physical therapy Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Images
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
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
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
The wrist rehabilitation robot bearing device with the adjustable patient training posture comprises: the device comprises a horizontally arranged U-shaped track, wherein a semi-enclosed area of the U-shaped track is a training area; a sliding seat moving along the U-shaped rail; and the lifting platform is arranged on the sliding seat and used for bearing the wrist rehabilitation robot. According to the wrist rehabilitation robot bearing device with the adjustable patient training posture, the patient can carry out rehabilitation training in various postures by the interaction among the lifting platform, the sliding seat and the U-shaped rail, the discomfort of the single posture of the user is removed, and the recovery of the patient is facilitated.
Description
Technical Field
The invention relates to medical equipment, in particular to a wrist rehabilitation robot bearing device with an adjustable patient training posture.
Background
With the increasing severity of aging society, most of the elderly who have hemiplegia sequelae due to apoplexy need wrist rehabilitation training. Compared with the traditional physiotherapy and the physiotherapy of a physiotherapist, the robot-assisted therapy can provide long-term stable repeated training and feed back objective motion information, so that the robot-assisted therapy has higher and higher practical value.
Because of the difference of the heights of different patients and the lengths of arms, when the patients carry out rehabilitation training, the rehabilitation training is limited by the mechanical structure of the rehabilitation robot, the patients can only complete the rehabilitation training in one posture, and the training requirements of the patients cannot be well met. After a certain period of rehabilitation training, the patient can get a certain degree of rehabilitation from his wrist. However, if the wrist is trained in one posture for a long time, coordination of movement of the wrist joint and other parts of the body such as the elbow joint and the shoulder joint is restricted, which is not favorable for recovery of the patient. Therefore, the wrist rehabilitation robot with the adjustable patient training posture is designed to have important technical significance.
The mechanical structure of the existing wrist rehabilitation robot has been determined, which cannot meet the requirement of long-term training of patients in an optimal posture. If the existing wrist rehabilitation robot is redesigned to adapt to the training posture of the patient, the design cost and the design period are greatly increased, and the complexity of the mechanism may be increased to meet the functional requirements, which also increases the manufacturing cost of the robot in production. Then, when the rehabilitation training task is designed, the difficulty of designing a robot control algorithm is greatly increased due to the increase of the structural complexity of the equipment when the equipment meets the control requirement. How to effectively avoid redesigning and manufacturing the robot becomes a main technical problem.
Due to the structural limitation of the existing rehabilitation training robot, a patient can only perform rehabilitation training in one fixed posture. How to improve the existing rehabilitation robot on the equipment with determined mechanical structure so as to achieve the purpose that the training posture of the patient is automatically adjustable. The traditional rehabilitation robot can meet the posture-adjustable requirement of patient training with six degrees of freedom, but the multi-degree-of-freedom mechanism is complex in structure and difficult to control. It is a major technical problem to find a solution that is relatively simple in structure, easy to control, and at the same time functionally satisfies the training needs of the patient.
Disclosure of Invention
In view of the limitations of the existing rehabilitation robots and from the aspects of cost and universality, the invention provides the wrist rehabilitation robot bearing device with the adjustable patient training posture to solve the problems.
The invention provides a wrist rehabilitation robot bearing device with adjustable patient training postures, which is characterized by comprising the following components:
the device comprises a horizontally arranged U-shaped track, wherein a semi-enclosed area of the U-shaped track is a training area;
a sliding seat moving along the U-shaped rail;
and the lifting platform is arranged on the sliding seat and used for bearing the wrist rehabilitation robot.
Several alternatives are provided below, but not as an additional limitation to the above general solution, but merely as a further addition or preference, each alternative being combinable individually for the above general solution or among several alternatives without technical or logical contradictions.
In one embodiment, the method comprises the following steps:
the device comprises a horizontally arranged U-shaped track, wherein a semi-enclosed area of the U-shaped track is a training area;
a sliding seat moving along the U-shaped rail;
and the lifting platform is arranged on the sliding seat and used for bearing the wrist rehabilitation robot.
In one embodiment, the slider comprises:
a base, the base is matched with the U-shaped track,
the connecting portion are rotatably connected with the base and connected with the lifting platform.
In one embodiment, the base comprises:
the sliding block is provided with a sliding chute facing the training area and is matched with the U-shaped track;
the position supplementing piece is matched with the sliding groove and is rotatably connected with the connecting portion.
In one embodiment, at least one of the slide block and the position compensating member is provided with a first limiting portion, the position compensating member is connected with the slide block through the first limiting portion, and the first limiting portion is used for limiting the displacement of the position compensating member.
In one embodiment, the lifting platform is further provided with a supporting plate, and the connecting part is connected with the lifting platform through the supporting plate.
In one embodiment, the U-shaped rails are two double U-shaped rails arranged side by side, each U-shaped rail is provided with two sliding seats, and the connecting portion on each sliding seat is connected with the supporting plate.
In one embodiment, a supporting column is further provided, the U-shaped track is arranged on a U-shaped plate with a matched shape, and the U-shaped plate is connected with the supporting column.
In one embodiment, the ends of the U-shaped rails are provided with second limiting portions for limiting the displacement of the sliding seat.
In one embodiment, the lifting platform is provided with a mounting plate for mounting the wrist rehabilitation robot, the mounting plate and the lifting platform can rotate, and the rotation angle is adjustable.
In one embodiment, the height of the lifting platform is adjustable.
The wrist rehabilitation robot bearing device with the adjustable patient training posture is provided with the mounting plate, the U-shaped rail, the sliding seat and the movable rod, the mounting plate is connected with the sliding seat through the movable rod, the sliding seat is matched with the U-shaped rail, the robot is arranged on the mounting plate, and the robot is driven to move through interaction among all parts, so that the functional requirement of adjustable training posture is met, and discomfort of a user is eliminated.
Drawings
FIG. 1 is a schematic structural view of a wrist rehabilitation robot bearing device with adjustable patient training postures;
FIG. 2 is a schematic diagram of a carriage of the wrist rehabilitation robot carrying device with adjustable patient training postures;
FIG. 3 is a cross-sectional view of a carriage of the wrist rehabilitation robot carrying device with adjustable patient training postures;
fig. 4 is a schematic diagram of the connection of a plurality of sliding seats and a supporting plate of the wrist rehabilitation robot bearing device with adjustable patient training postures.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below by way of embodiments with reference to the accompanying drawings. It should be understood that the embodiments described herein are only for the understanding of the present invention and do not limit the present invention.
Referring to fig. 1-4, in one embodiment of the present invention, a wrist rehabilitation robot bearing device with adjustable patient training posture comprises:
the training device comprises a horizontally arranged U-shaped track, wherein a semi-enclosed area of the U-shaped track is a training area;
a sliding seat moving along the U-shaped track;
a lifting platform which is arranged on the sliding seat and is used for bearing the wrist rehabilitation robot.
The wrist rehabilitation robot of patient training posture adjustable in this embodiment bears device, and wrist rehabilitation robot sets up on the elevating platform, and the elevating platform passes through the slide and can slides on U type track, and the patient can carry out the rehabilitation training in the partly surrounding training district of U type track to realized training posture adjustable function demand, got rid of user's uncomfortable sense.
As shown in fig. 2 and 3, in the present embodiment, the sliding base 3 of the wrist rehabilitation robot carrying device with adjustable patient training posture is composed of a base and a connecting part, the base is arranged on the U-shaped rail 4, the connecting part is a connecting plate 31, the base and the connecting plate 31 are connected through a rotating shaft 32, the connecting plate 31 can rotate relative to the base through the rotating shaft 32, and the connecting plate 31 is used for subsequent connection with the lifting platform 2.
Further, the connecting plate 31 is selected from the embodiment, and may be other connecting devices in other embodiments, which are not limited in this respect.
Referring to fig. 2 and 3, the base further includes a sliding block 34 and a position supplementing plate 33 as a position supplementing member, wherein the sliding block 34 is engaged with the U-shaped rail 4, the sliding block 34 can slide along the U-shaped rail 4, the sliding block 34 is further provided with a sliding groove 341 facing the training area and limiting grooves 342 located at two sides of the sliding groove 341, the position supplementing plate 33 is engaged with the sliding groove 341 and can slide along the sliding groove 341, wherein the position supplementing plate 33 is engaged with the limiting grooves 342 on the sliding block 34 through the limiting screws 331, and when the position supplementing plate 33 slides on the sliding groove 341 for a certain distance, the limiting screws 331 are clamped on the limiting grooves 342, thereby performing a limiting function and preventing the position supplementing plate 33 from sliding out of the sliding groove 341 and separating from the sliding block 34.
Further, the rotation shaft 32 is provided on the position compensating plate 33, the position compensating plate 33 is connected to the connection plate 31 through the rotation shaft 32, and the connection plate 31 is horizontally rotatable with respect to the position compensating plate 33 through the rotation shaft 32, and since the slider 34 is engaged with the U-shaped rail 4 and the position compensating plate 33 is connected to the slider 34 through the sliding groove 341 and the stopper groove 342, the position of the position compensating plate 33 is fixed with respect to the connection plate 31, so that the connection plate 31 is rotated with respect to the position compensating plate 33 through the rotation shaft 32.
It should be noted that, in the present embodiment, the sliding groove 341 and the limiting groove 342 are both disposed on the sliding block 34, in other embodiments, the sliding groove 341 and the limiting groove 342 are both disposed on the position supplementing plate 33, or the sliding groove 341 is disposed on the sliding block 34, the limiting groove 342 is disposed on the position supplementing plate 33, or the sliding groove 341 is disposed on the position supplementing plate 33, and the limiting groove 342 is disposed on the position supplementing plate 33, which are all possible, as long as it is satisfied that the sliding block 34 and the position supplementing plate 33 can slide toward the training area 6 semi-surrounded by the U-shaped track 4, further, the position supplementing plate 33 is only a manner adopted in the present embodiment, and in other embodiments, other manners such as a sliding block or a sliding plate can be adopted for connection.
As shown in fig. 1 and 3, a supporting plate 5 is further disposed on the sliding base 3, the sliding base 3 is connected to the lifting platform 2 through the supporting plate 5, wherein the supporting plate 3 is fixedly connected to the lifting platform 2 through bolts, and the supporting plate 5 is disposed to enable the stability of the lifting platform 2 to be better.
Referring to fig. 1, in this embodiment, the U-shaped rail 4 is two double U-shaped rails arranged side by side, and each rail is provided with two sliding seats 3, wherein a total of four sliding seats 3 are arranged on the double U-shaped rails, each sliding seat 3 is connected to a supporting plate 5, a connecting plate 31 on each sliding seat 3 is fixedly connected to the supporting plate 5 through bolts, the four sliding seats 3 are connected to each other through the supporting plate 5, and the supporting plate 5 is fixedly connected to the lifting platform 2 through bolts.
Specifically, the U-shaped track 4 is composed of an arc line segment and straight line segments connected with two ends of the arc line segment, when the supporting plate 5 slides on the straight line segments of the U-shaped track 4 through the four sliding seats 3, since the pallet 5 is fixed by the connection plates 31 on the four carriages 3, the connection plates 31 are connected with the rotation shafts 32, the rotation shafts 32 on the respective carriages 3 are opposite, the supporting plate 5 cannot rotate and can stably slide through each sliding seat 5, when the four sliding seats 3 are about to pass through the arc segment of the U-shaped track, the sliding seats 3 are eccentric, and at the moment, the pallets 5 connected to the respective connection plates 31 are adapted to be angularly deflected by means of rotation axes 32, the pallets 5 being rotated with respect to the respective carriages 3, thereby adapt to the change of camber, the elevating platform 2 of being connected with layer board 5 can be stabilized through the arc segment of U type track 4, guarantees that the patient carries out the rehabilitation training smoothly.
It is worth to say that, in other embodiments, the U-shaped rail 4 may also be a single U-shaped rail, two sliding seats 3 may be disposed on the U-shaped rail, other connection modes are not changed, and the two sliding seats 3 are connected with the supporting plate 5 through the connecting plate 31, and by adopting this way, the supporting plate 5 can stably slide on both the straight line section and the arc section of the U-shaped rail 4, so that the patient can smoothly perform rehabilitation training.
The other embodiments described above are only examples, and are not specific limitations, and in order to achieve that the pallet 5 can smoothly and stably slide on the U-shaped rails 4, there are various ways of the number of U-shaped rails 4 and the number and arrangement of the sliders 3, which are not listed here, and it is worth to be noted that any structure similar to the present invention is within the protection scope of the present invention.
Referring to fig. 1, in this embodiment, still be equipped with support column 7 and U template 8, U type track 4 sets up on U template 8, and support column 7 supports U type track 4 through U template 8, adopts this kind of mode for U type track 4's stability is better, is favorable to going on smoothly of patient's rehabilitation training.
Of course, in other embodiments, the support column 7 may also adopt other support structures, or the U-shaped rail 4 may be directly disposed on the ground, as long as the rehabilitation training of the patient can be successfully completed.
As shown in fig. 1, a second limiting portion is disposed at an end of the U-shaped rail 4, the second limiting portion in the embodiment is a limiting block 41, and when each sliding seat 3 is close to the end of the U-shaped rail 4, the limiting block 41 can block the U-shaped rail 4 to prevent each sliding seat 3 from sliding out of the U-shaped rail 4.
Wherein, the adjustable height of elevating platform 2, in this embodiment, elevating platform 2 includes dead lever 21 and movable rod 22, wherein be connected through the bolt between movable rod 22 and the dead lever 21, movable rod 22 can be with self part through the bolt precession dead lever 21 in, the whole high step-down of elevating platform 2, and is same, movable rod 22 also can be through the bolt with self part back-out dead lever 21, the whole height of elevating platform 2 becomes high, thereby realize the adjustable height of elevating platform 2, the patient can be according to the height of self height and arm's conditions such as length self-regulation elevating platform 2, be favorable to going on smoothly of patient's rehabilitation training.
Referring to fig. 1, in this embodiment, a mounting plate 1 is further disposed at the top end of the lifting platform 2, the mounting plate 1 is used for mounting the wrist rehabilitation robot, wherein the mounting plate 1 is provided with a mounting column, the mounting column is disposed inside a movable rod 22 of the lifting platform 2 and is screwed and fixed at the side portion by a bolt, an adjustable rotation angle between the mounting plate 1 and the lifting platform 2 is 0-360 °, and the adjustable rotation angle can be adjusted according to the patient himself.
It is worth mentioning that, in other modes, the height of the lifting platform 2 can be adjusted and the lifting platform 2 and the mounting plate 1 can be rotated, and other modes can be adopted, and no matter which mode is adopted, the height of the lifting platform 2 can be adjusted, and the lifting platform 2 and the mounting plate 1 can be rotated, so that the rehabilitation training of the patient can be conveniently carried out.
In summary, the following steps:
when the patient uses this device to carry out the rehabilitation training, the patient can be located the training district, adjusts the elevating platform to suitable height, adjusts the elevating platform to suitable angle with the mounting panel of installation wrist rehabilitation robot, fixes the arm on wrist rehabilitation robot, realizes through slide and U type track that the training posture is adjustable, makes patient's rehabilitation training go on better.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. Patient trains recovered robot of wrist of posture adjustable and bears device, its characterized in that includes:
the device comprises a horizontally arranged U-shaped track, wherein a semi-enclosed area of the U-shaped track is a training area;
a sliding seat moving along the U-shaped rail;
the lifting platform is arranged on the sliding seat and used for bearing the wrist rehabilitation robot;
the slider includes:
a base, the base is matched with the U-shaped track,
the connecting portion are rotatably connected with the base and connected with the lifting platform.
2. The patient training pose adjustable wrist rehabilitation robot carrying device of claim 1 wherein said base comprises:
the sliding block is provided with a sliding chute facing the training area and is matched with the U-shaped track;
the position supplementing piece is matched with the sliding groove and is rotatably connected with the connecting portion.
3. The carrying device of the wrist rehabilitation robot with adjustable patient training posture as claimed in claim 2, wherein at least one of the sliding block and the position supplementing member is provided with a first position limiting portion, the position supplementing member is connected with the sliding block through the first position limiting portion, and the first position limiting portion is used for limiting the displacement of the position supplementing member.
4. The carrying device of the wrist rehabilitation robot with adjustable patient training posture as claimed in claim 3, wherein a support plate is further provided, and the connecting portion is connected with the lifting platform through the support plate.
5. The patient training posture adjustable wrist rehabilitation robot carrying device according to claim 4, wherein the U-shaped rail is two double U-shaped rails arranged side by side, each U-shaped rail is provided with two sliding seats, and the connecting portion of each sliding seat is connected with the supporting plate.
6. The carrying device of the wrist rehabilitation robot with adjustable patient training posture as claimed in claim 5, wherein a supporting column is further provided, the U-shaped rail is arranged on a U-shaped plate with a corresponding shape, and the U-shaped plate is connected with the supporting column.
7. The patient training posture-adjustable wrist rehabilitation robot carrying device according to claim 6, wherein the ends of the U-shaped rail are provided with second limiting parts for limiting the displacement of the sliding seat.
8. The carrying device of the wrist rehabilitation robot with adjustable patient training posture as claimed in claim 7, wherein the lifting platform is provided with a mounting plate for mounting the wrist rehabilitation robot, the mounting plate and the lifting platform are rotatable and the rotation angle is adjustable.
9. The patient training pose adjustable wrist rehabilitation robot carrying device of claim 8, wherein the height of said lifting platform is adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811366737.XA CN109674619B (en) | 2018-11-16 | 2018-11-16 | Wrist rehabilitation robot bearing device with adjustable patient training posture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811366737.XA CN109674619B (en) | 2018-11-16 | 2018-11-16 | Wrist rehabilitation robot bearing device with adjustable patient training posture |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109674619A CN109674619A (en) | 2019-04-26 |
| CN109674619B true CN109674619B (en) | 2021-08-17 |
Family
ID=66184747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811366737.XA Active CN109674619B (en) | 2018-11-16 | 2018-11-16 | Wrist rehabilitation robot bearing device with adjustable patient training posture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109674619B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113576830A (en) * | 2021-07-09 | 2021-11-02 | 河南科技大学第一附属医院 | Training device for neurology hemiplegia patient |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| CN103948483A (en) * | 2014-04-21 | 2014-07-30 | 安阳工学院 | Upper limb rehabilitation trainer |
| CN204274940U (en) * | 2014-11-21 | 2015-04-22 | 深圳市第二人民医院 | The main passive exercise device of three-degree of freedom ankle joint |
| CN105764465A (en) * | 2013-11-14 | 2016-07-13 | 村田机械株式会社 | Training device |
| CN207067245U (en) * | 2017-08-01 | 2018-03-02 | 南京协辰电子科技有限公司 | PCB automatic impedance-testings machine and its linear module and installation pedestal integrative-structure |
| CN108158780A (en) * | 2017-12-28 | 2018-06-15 | 成都煜萃科技有限公司 | A kind of limbs convalescence device |
| CN108743243A (en) * | 2018-07-16 | 2018-11-06 | 东北大学 | A kind of wrist convalescence device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180169457A1 (en) * | 2016-12-21 | 2018-06-21 | Jagdeep Singh | Assembly for active and resistive joint rehabilitation exercises |
-
2018
- 2018-11-16 CN CN201811366737.XA patent/CN109674619B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| CN105764465A (en) * | 2013-11-14 | 2016-07-13 | 村田机械株式会社 | Training device |
| CN103948483A (en) * | 2014-04-21 | 2014-07-30 | 安阳工学院 | Upper limb rehabilitation trainer |
| CN204274940U (en) * | 2014-11-21 | 2015-04-22 | 深圳市第二人民医院 | The main passive exercise device of three-degree of freedom ankle joint |
| CN207067245U (en) * | 2017-08-01 | 2018-03-02 | 南京协辰电子科技有限公司 | PCB automatic impedance-testings machine and its linear module and installation pedestal integrative-structure |
| CN108158780A (en) * | 2017-12-28 | 2018-06-15 | 成都煜萃科技有限公司 | A kind of limbs convalescence device |
| CN108743243A (en) * | 2018-07-16 | 2018-11-06 | 东北大学 | A kind of wrist convalescence device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109674619A (en) | 2019-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102743270B (en) | Sitting horizontal type individual lower limb rehabilitation training robot | |
| CN101401765A (en) | Upper limb hemiplegia rehabilitation robot device with adjustable training plan | |
| CN108814905A (en) | A kind of upper limb healing platform | |
| CN105456002A (en) | Rehabilitation training robot capable of achieving normal gait pattern | |
| CN111067761B (en) | Generalized shoulder joint rehabilitation training device | |
| CN109692103B (en) | Human upper limb rehabilitation robot | |
| CN105599822B (en) | A kind of under-actuated bipod walking robot based on flexible actuator | |
| CN109674619B (en) | Wrist rehabilitation robot bearing device with adjustable patient training posture | |
| CN108938322B (en) | Upper limb rehabilitation device | |
| CN102429787B (en) | Horizontal manned wheelchair | |
| CN105396262A (en) | Rehabilitation robot capable of conducting multi-angle adjustment and cooperative training of upper and lower limbs | |
| CN108433912B (en) | Ankle joint rehabilitation system capable of realizing multi-movement mode for sickbed | |
| CN111096870A (en) | Wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot | |
| CN109953867B (en) | Light-weight multi-degree-of-freedom bionic flexible exoskeleton type upper limb power-assisted robot | |
| CN107307950A (en) | A kind of wheel type barrier-crossing robot | |
| CN107862938B (en) | Rotary seat training device | |
| CN113827448B (en) | Cooperative rehabilitation training robot | |
| CN113068635B (en) | Double-slider type slope experiment table with adjustable height and angle | |
| CN112754802A (en) | Lower limb gait rehabilitation training sickbed with turnover angle | |
| CN105435421A (en) | Two-level-bed multi-angle-adjustment rehabilitation robot for upper and lower limb cooperative training | |
| CN212261832U (en) | Wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot | |
| CN109925160B (en) | Light-weight multi-degree-of-freedom shoulder complex bionic power-assisted flexible exoskeleton | |
| CN109394448B (en) | Multi-angle adjusting system | |
| CN108210246B (en) | Four-degree-of-freedom rehabilitation mechanical arm device | |
| CN103720571A (en) | Gantry type upper limb rehabilitation training device |
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 |