CN111110516B - Three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation - Google Patents
Three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation Download PDFInfo
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- CN111110516B CN111110516B CN202010088383.8A CN202010088383A CN111110516B CN 111110516 B CN111110516 B CN 111110516B CN 202010088383 A CN202010088383 A CN 202010088383A CN 111110516 B CN111110516 B CN 111110516B
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- 238000012549 training Methods 0.000 title claims abstract description 53
- 230000007246 mechanism Effects 0.000 title claims abstract description 46
- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 37
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 27
- 210000000245 forearm Anatomy 0.000 claims abstract description 28
- 238000009434 installation Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 8
- 208000012902 Nervous system disease Diseases 0.000 description 7
- 208000025966 Neurological disease Diseases 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 238000011160 research Methods 0.000 description 2
- 208000001738 Nervous System Trauma Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000002219 manual therapy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 208000028412 nervous system injury Diseases 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
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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
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- 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
- 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
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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)
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Abstract
The invention discloses a three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation, and relates to the field of upper limb rehabilitation mechanical structures. Comprises a forearm support module, a reversing module, a universal connecting module, an internal/external rotation module, a ulnar/radial deviation module and an adduction/abduction module; the forearm support module comprises an annular arm support, an axial clamping device and a reversing rod; the universal connecting module comprises a gear I fixing frame, a gear II fixing frame, a connecting frame, a lower base and an upper base; the internal/external rotation module comprises a No. 1 motor, a U-shaped frame, a gear I, a gear II and a No. 1 motor mounting frame; the ulnar/radial deviation module comprises a No. 2 motor, a gear III, a gear IV and a No. 2 motor mounting rack; the adduction/abduction module comprises a No. 3 motor, a gear V, a gear VI, a parallelogram mechanism, a No. 3 motor mounting frame and a holding handle. The invention can realize that the wrist joint of the patient independently carries out three-degree-of-freedom passive training and can also carry out active training, and the equipment is simple and convenient.
Description
Technical Field
The invention relates to the field of upper limb rehabilitation mechanical structures, in particular to a three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation.
Background
Neurological diseases caused by nervous system injury or disease account for 6.3% of the global disease burden, and the number of deaths caused by nervous system disease accounts for nearly 12% of the world, with cerebrovascular disease accounting for more than half of the whole nervous system disease disability-adjusted life burden. The motor function impairment of the upper limbs caused by the neurological disease prevents the patient from performing good control on the upper limbs, thereby causing difficulty in daily life. Due to shortage of rehabilitation talents and resources, the robot-assisted rehabilitation becomes one of the treatment means selected by doctors and patients, the robot-assisted treatment has the advantages of continuously providing reinforced and accurate rehabilitation training, and the working strength of therapists can be reduced to a certain extent. Most upper limb rehabilitation devices mainly focus on the research of degrees of freedom on shoulder joints and elbow joints, the research of wrist joints with multiple degrees of freedom is not common, the wrist can be divided into 3 degrees of freedom according to physiological anatomy, but the wrist joint degree of freedom range of motion is not large due to the compensation effect of the forearm, and the rehabilitation effect is poor. In clinical practice, therapists mostly adopt manual therapy to perform passive training on the wrist joint, but the passive training mode is slower than active training for remodeling nerve connection of neurological diseases. Structurally, the rotation center of some passive wrist training mechanisms is inconsistent with the joint rotation center, which results in the patient being hindered from training. Active training is better than passive training for neurological diseases, but the residual limb strength of some patients is difficult to perform active training of large mechanisms and cannot achieve the rehabilitation goal.
Therefore, those skilled in the art are dedicated to develop a three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation, which can perform three-degree-of-freedom comprehensive training on a wrist joint independently from other joints, and reduce the compensation effect of the forearm on the wrist joint; the passive training and the active training can be carried out according to different conditions of the patient; the inconvenience caused by the complexity and the large size of the traditional wrist joint training equipment is avoided through the special design of the connecting rod and the gear.
Disclosure of Invention
In view of the above-mentioned defects in the prior art, the technical problem to be solved by the present invention is how to provide a three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation, which can perform three-degree-of-freedom comprehensive training on a wrist joint independently, so as to reduce the compensation effect of the forearm on the wrist joint; the passive training can be carried out according to different conditions of the patient and the active training can also be carried out; the inconvenience caused by the complexity and the large size of the traditional wrist joint training equipment is avoided through the special design of the connecting rod and the gear.
In order to achieve the aim, the invention provides a three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation, which comprises a forearm support module, a reversing module, a connecting module, an internal/external rotation module, a ulnar/radial deviation module and an adduction/abduction module; the front arm support module comprises an annular arm support, an axial clamping device and a reversing rod; the forearm support module is connected with the connecting module through the reversing module; the connecting module comprises a gear I fixing frame, a gear II fixing frame, a connecting frame, a lower base and an upper base; the internal/external rotation module comprises a No. 1 motor, a U-shaped frame, a gear I, a gear II and a No. 1 motor mounting frame; the ulnar/radial deviation module comprises a No. 2 motor, a gear III, a gear IV and a No. 2 motor mounting rack; the adduction/abduction module comprises a No. 3 motor, a gear V, a gear VI, a parallelogram mechanism, a No. 3 motor mounting frame and a holding handle.
Furthermore, the axial clamping device of the forearm support module is fixed on the reversing rod, the axial clamping device is fixedly connected with the annular forearm support through a screw, and the position of the axial clamping device can be adjusted according to the lengths of forearms of different people.
Furthermore, the telecentric end of the reversing module is a fastening plate, the proximal end of the reversing module is a reversing plate, the two are connected through a sleeve, and the reversing plate at the proximal end of the reversing module is in fastening connection with the reversing plate at the telecentric end of the reversing rod through a screw.
Furthermore, the gear I fixing frame is connected with a fastening plate at the far end of the reversing module through screws, and a stepped shaft on the gear I fixing support is connected with a sleeve of the reversing module.
Furthermore, the No. 1 motor mounting frame is fixed on the gear I fixing frame through a bearing screw and is connected with the U-shaped frame through a screw.
Furthermore, the lower base is connected with the U-shaped frame through screws, bolt holes are formed in the two ends of the connecting frame, and the connecting frame is connected with the lower base and the upper base through bolts respectively.
Further, the gear II fixing frame is connected with the connecting frame through screws.
Furthermore, No. 2 motor mounting bracket passes through bearing screw to be fixed on the gear II mount, No. 3 motor mounting bracket passes through bearing screw to be fixed on the upper base.
Further, the gear IV is fixed on the connecting frame through a screw, and the gear IV can drive the connecting frame to rotate.
Furthermore, one end of each of the two parallelogram mechanisms is fixed with two ends of the holding handle through screws, the other end of each of the two parallelogram mechanisms is movably connected with the lower base and the upper base, and the two parallelogram mechanisms can slide on the lower base and the upper base respectively.
The invention provides a three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation, which has the following technical effects:
1. according to the anatomical characteristics of the wrist, the requirement for three-degree-of-freedom wrist joint training is considered, three motors are used for respectively and independently controlling three degrees of freedom, an independent wrist joint training solution is provided for a patient and a doctor, and the compensation effect of the forearm on the wrist joint is reduced;
2. through the special design of the connecting rod and the gear, the inconvenience caused by the complexity and the large size of the traditional wrist joint training equipment is avoided, the three degrees of freedom are realized by the whole connecting frame by taking the connecting frame as a central pivot, and the adduction/abduction of the wrist joint is realized by skillfully utilizing a double-parallelogram mechanism;
3. the three-freedom-degree training device can be conveniently combined with other upper limb training mechanisms for three-freedom-degree training by reserving the near-center end interface of the reversing rod, and patients with strong limb strength can actively train by utilizing the handles according to the treatment scheme of therapists by locking the No. 1 motor, the No. 2 motor and the No. 3 motor.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic diagram of a wrist joint rehabilitation training mechanism with three degrees of freedom according to a preferred embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a forearm support module mechanism according to a preferred embodiment of the invention;
FIG. 3 is a schematic structural diagram of a diverter module mechanism according to a preferred embodiment of the present invention;
FIG. 4 is a schematic view of a gear and motor fixing mechanism according to a preferred embodiment of the present invention;
FIG. 5 is a schematic view of a rotation hub mechanism in accordance with a preferred embodiment of the present invention;
FIG. 6 is a schematic view of the driving mechanism of a preferred embodiment of the present invention;
FIG. 7 is a schematic view of the end of action actuator mechanism of a preferred embodiment of the present invention;
wherein, 100-a front arm support module, 101-an annular arm support, 102-an axial clamping device, 103-a reversing rod, 200-a reversing module, 300-a connecting module, 301-a gear I fixing frame, 302-a gear II fixing frame, 303-a connecting frame, 304-a lower base, 305-an upper base, 400-an internal/external rotation module, 401-a motor, 402-a U-shaped frame, 403-a gear I, 404-a gear II, 405-a motor mounting frame, 500-a chi/radial deviation module, 501-a motor, 502-a gear III, 503-a gear IV, 504-a motor mounting frame, 600-an internal contraction/external expansion module, 601-a motor, 602-a gear V, 603-a gear VI, 604-a parallelogram mechanism, no. 605-3 motor mounting bracket, 606-holding handle.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in fig. 1, a three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation comprises a forearm support module 100, a reversing module 200, a connecting module 300, an internal/external rotation module 400, an ulnar/radial deviation module 500 and an adduction/abduction module 600.
As shown in fig. 2, the forearm support module 100 includes an annular arm support 101, an axial clamping device 102 and a reversing lever 103. The axial clamping device 102 is fixedly connected with the annular arm support 101 through screws, the position of the axial clamping device 102 can be adjusted according to the lengths of forearms of different people, the forearm support module 100 is fixed on the reversing rod 103 through the axial clamping device 102, and the far end of the reversing rod 103 is provided with a reversing plate.
As shown in fig. 2, fig. 1 and fig. 3, the center line of the fastening plate at the distal end of the reversing module 200 is perpendicular to the center line of the reversing plate at the proximal end, the two plates are connected by a sleeve, the reversing plate at the proximal end of the reversing module 200 is fixedly connected with the reversing plate at the distal end of the reversing rod 103 by screws, the direction of the forearm support module 100 of the reversing module 200 can be changed to meet the requirements of different patients, and the position of the axial clamping device 102 on the reversing rod 103 can be changed to meet the distance from the forearm to the wrist of different patients.
As shown in fig. 1, 4, 5 and 6, the connection module 300 includes a gear I holder 301, a gear II holder 302, a connection holder 303, a lower base 304 and an upper base 305. The connecting frame 303 has bolt holes at both ends, and is connected with the lower base 304 and the upper base 305 through bolts. The gear I fixing frame 301 is connected with a far-end fastening plate of the reversing module 200 through screws, and a stepped shaft on the gear I fixing frame 301 is connected with a sleeve formed by the reversing module 200.
As shown in fig. 1, 2, 3, 4, 5, 6 and 7, the internal/external rotation module 400 includes a motor No. 1 401, a U-shaped bracket 402, a gear I403, a gear II404 and a motor No. 1 mounting bracket 405. No. 1 motor 401's output shaft and gear I403 pass through the coupling joint, gear I403 and gear II404 meshing, No. 1 motor installing support 405 passes through bearing screw fixation on gear I mount 301 and with U type frame 402 with the screw connection, be furnished with 4 motor mounting holes on No. 1 motor installing support 405 and be used for installing No. 1 motor 401, with fixed motor one side, gear II mount 302 is established at gear II404 telecentric ends and is fixed with bearing screw with link 303, U type frame 402 free end passes through bearing screw connection with link 303, the other end passes through No. 1 motor installing support 405 screw connection with gear I mount 301, U type frame 402 is used for preventing mechanical interference. The ulnar/radial deviation module 500 includes a motor # 2 501, a gear III502, a gear IV503, and a motor # 2 mounting bracket 504. An output shaft of the No. 2 motor 501 is connected with the gear III502 through a coupler, the gear III502 is meshed with the gear IV503, the No. 2 motor mounting bracket 504 is fixed on the gear II fixing frame 302 through a bearing screw, the gear IV503 is fixed on the connecting frame 303 through a screw, and the gear IV503 can drive the connecting frame 303 to rotate. Adduction/abduction module 600 includes motor 601 # 3, gear V602, gear VI603, parallelogram mechanism 604, motor mount # 3 605, and grip handle 606. An output shaft of the motor 601 No. 3 is connected with the gear V602 through a coupler, the gear V602 is meshed with the gear VI603, the motor 601 No. 3 is fixed on the motor mounting rack 605 No. 3 through screws, the motor mounting rack 605 No. 3 is fixed on the upper base 305 through bearing screws, the two parallelogram mechanisms 604 are respectively mounted on the lower base 304 and the upper base 305 through bearing screws, two ends of a handle 606 are respectively fixedly connected with the other ends of the two double parallelogram mechanisms 604 through screws, one corner of the free end of the smaller parallelogram mechanism in the two parallelogram mechanisms 604 is radially fixed with the gear VI603, and the two double parallelogram mechanisms 604 can respectively slide on the lower base 304 and the upper base 305 relatively.
When the first using method is used for wrist joint internal/external rotation passive training, the position of the forearm support module 100 is adjusted to enable the forearm of a patient to be attached to the annular arm support 101, the motor 501 and the motor 601 of the No. 2 are controlled to be locked, and the motor 401 of the No. 1 is driven. No. 1 motor drive gear I403 and then take gear II404, through gear II mount 302 with link 303 fixed to drive link 303 drives the telecentric end of whole gear II404 and carries out the training of 60 interior/external rotation.
And when the using method II is used for wrist joint ulnar/radial deviation passive training, the position of the forearm support module 100 is adjusted to enable the forearm of the patient to be attached to the annular arm support 101, the motors 401 and 601 of the No. 1 motor are controlled to be locked, and the motor 501 of the No. 2 motor is driven. The motor 501 of No. 2 drives the gear III502 to drive the gear IV503 to further drive the connecting frame 303 and the far end of the gear II404 to carry out +/-30-degree ulnar/radial deviation training.
And the using method III is used for passive training of wrist joint adduction/abduction, the position of the forearm support module 100 is adjusted to enable the forearm of the patient to be attached to the annular arm support 101, the motor 401 and the motor 501 2 are controlled to be locked, and the motor 601 No. 3 is driven. Motor 601 # 3 drives gear V602 and in turn gear VI603 so that both parallelogram mechanisms 604 can perform ± 80 ° adduction/abduction training.
The using method is four, when partial patients participate in stronger limb strength, the three motors 401, 501 and 601 can be controlled to be locked, so that the patients can use the holding handles 606 to carry out active training according to the treatment scheme of the therapist. When the device is used for comprehensive training of upper limbs, the multi-degree-of-freedom upper limb comprehensive training can be provided only by connecting the proximal end of the reversing rod 103 with other upper limb equipment and controlling the No. 1 motor 401, the No. 2 motor 501 and the No. 3 motor 601.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (9)
1. A three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation is characterized by comprising a forearm support module, a reversing module, a connecting module, an internal/external rotation module, a ulnar/radial deviation module and an adduction/abduction module; the front arm support module comprises an annular arm support, an axial clamping device and a reversing rod; the forearm support module is connected with the connecting module through the reversing module; the connecting module comprises a gear I fixing frame, a gear II fixing frame, a connecting frame, a lower base and an upper base; the internal/external rotation module comprises a No. 1 motor, a U-shaped frame, a gear I, a gear II and a No. 1 motor mounting frame; the ulnar/radial deviation module comprises a No. 2 motor, a gear III, a gear IV and a No. 2 motor mounting rack; the adduction/abduction module comprises a No. 3 motor, a gear V, a gear VI, a parallelogram mechanism, a No. 3 motor mounting frame and a holding handle;
two ends of the connecting frame are respectively connected with the lower base and the upper base; the gear II fixing frame is fixed on the connecting frame;
the free end of the U-shaped frame is connected with the connecting frame, and the other end of the U-shaped frame is connected with the gear I fixing frame;
the No. 1 motor is installed on the No. 1 motor installation frame, an output shaft of the No. 1 motor is connected with the gear I through a coupler, and the gear I is meshed with the gear II;
the gear IV is fixed on the connecting frame and can drive the connecting frame to rotate;
the No. 2 motor mounting bracket is fixed on the gear II fixing bracket; an output shaft of the No. 2 motor is connected with the gear III through a coupler, and the gear III is meshed with the gear IV;
the No. 3 motor mounting bracket is fixed on the upper base, the No. 3 motor is fixed on the No. 3 motor mounting bracket, an output shaft of the No. 3 motor is connected with the gear V through a coupler, and the gear V is meshed with the gear VI;
one end of each of the two parallelogram mechanisms is fixed with two ends of the holding handle through screws, the other end of each of the two parallelogram mechanisms is movably connected with the lower base and the upper base, and the two parallelogram mechanisms can slide on the lower base and the upper base respectively.
2. The three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation according to claim 1, wherein the axial clamping device of the forearm support module is fixed on the reversing rod, the axial clamping device is fixedly connected with the annular arm support through a screw, and the position of the axial clamping device can be adjusted according to the lengths of forearms of different people.
3. The three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation according to claim 1, wherein the distal end of the reversing module is a fastening plate, the proximal end of the reversing module is a reversing plate, the two are connected through a sleeve, and the reversing plate at the proximal end of the reversing module is fixedly connected with the reversing plate at the distal end of the reversing rod through a screw.
4. The three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation according to claim 1, wherein the gear I fixing frame is connected with the fastening plate at the far end of the reversing module through screws, and the stepped shaft on the gear I fixing frame is connected with the sleeve of the reversing module.
5. The three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation according to claim 1, wherein the No. 1 motor mounting frame is fixed on the gear I fixing frame through bearing screws and is connected with the U-shaped frame through screws.
6. The three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation according to claim 1, wherein the lower base is connected with the U-shaped frame through screws, bolt holes are formed in two ends of the connecting frame, and the connecting frame is connected with the lower base and the upper base through bolts respectively.
7. The three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation according to claim 1, wherein the gear II fixing frame is connected with the connecting frame through screws.
8. The three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation according to claim 1, wherein the No. 2 motor mounting bracket is fixed on the gear II fixing bracket through bearing screws, and the No. 3 motor mounting bracket is fixed on the upper base through bearing screws.
9. The three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation according to claim 1, wherein the gear IV is fixed on the connecting frame through a screw.
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| CN107854277A (en) * | 2017-11-21 | 2018-03-30 | 中国科学院自动化研究所 | Wrist joint rehabilitation training device |
| CN108743243A (en) * | 2018-07-16 | 2018-11-06 | 东北大学 | A kind of wrist convalescence device |
| CN110302035A (en) * | 2019-07-09 | 2019-10-08 | 上海理工大学 | A kind of rope drive multi-purpose type wrist recovery training institution |
| CN112022622A (en) * | 2020-09-14 | 2020-12-04 | 浙江正远医疗科技有限公司 | Upper limb rehabilitation mechanical arm and robot for spinal cord injury patient |
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