CN112043482A - Intelligent wearable cervical vertebra exoskeleton therapeutic instrument based on traditional Chinese medicine massage manipulation - Google Patents
Intelligent wearable cervical vertebra exoskeleton therapeutic instrument based on traditional Chinese medicine massage manipulation Download PDFInfo
- Publication number
- CN112043482A CN112043482A CN202011089019.XA CN202011089019A CN112043482A CN 112043482 A CN112043482 A CN 112043482A CN 202011089019 A CN202011089019 A CN 202011089019A CN 112043482 A CN112043482 A CN 112043482A
- Authority
- CN
- China
- Prior art keywords
- push rod
- rod motor
- plastic plate
- exoskeleton
- cervical vertebra
- 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.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
- A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
Landscapes
- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (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 invention discloses an intelligent wearable cervical vertebra exoskeleton therapeutic instrument based on a traditional Chinese massage manipulation, and relates to the field of medical rehabilitation instruments and life auxiliary instruments. By implementing the invention, the interior of the chest plastic plate, the back plastic plate, the neck support and the pillow support can be well attached to the body, and the cervical spondylosis patients can be gradually helped to recover partial or all neck movement functions through repeated rehabilitation training, and meanwhile, the pillow support can also play a certain auxiliary role in the daily life of the patients. The invention has simple structure, portability and convenient carrying, and can be used for rehabilitation training of patients in independent communities or at home.
Description
Technical Field
The invention relates to the field of medical rehabilitation instruments and life auxiliary appliances, in particular to an intelligent wearable cervical vertebra exoskeleton therapeutic instrument based on a traditional Chinese massage manipulation.
Background
According to statistics, the existing cervical spondylosis patients in China reach 1.58 hundred million people, and more than 1000 million new diseases are caused every year. Cervical spondylosis is one of the most common diseases in China, wherein about 20-30% of cervical spondylosis needs to be treated through conservative treatment, and about 5-10% of cervical spondylosis needs to be treated through intervention or operation, and the rehabilitation of neck functions is the most difficult in functional rehabilitation after the operation. Because the neck structure is comparatively complicated, there are recovered cycle length, the task heavy scheduling problem in the recovered neck function. Research shows that the rehabilitation effect of the patient for neck rehabilitation training through external mechanical assistance is better than the effect of fixing the traditional neck support. The cervical vertebra exoskeleton can assist a patient to carry out real-time and accurate exercise rehabilitation training.
However, in the prior art, the rehabilitation therapy of cervical spondylosis is mainly based on traditional Chinese medicine massage manipulation and neck support wearing, and although the neck support has realized the requirements of wearing, life assistance and even single-degree-of-freedom traction, the neck support does not have great help for rehabilitation. The main reason is that all types of neck supports on the market play a role in fixing the neck of a human body, and the neck support is intended to avoid secondary injury to the neck after an operation, but has little effect on postoperative rehabilitation training. Along with the development of robotics and rehabilitation medicine, the cervical vertebra exoskeleton improves the treatment effect of the existing cervical spondylosis, can fix the neck of a cervical spondylosis patient, can also perform rehabilitation training when needed, has the advantages of simple structure, low cost, strong wearing adaptability, safety of human-computer interaction and portability, and is more suitable for patients to perform rehabilitation training and daily life assistance.
Therefore, the technical personnel in the field are dedicated to developing an intelligent wearable cervical vertebra exoskeleton therapeutic apparatus based on traditional Chinese massage manipulation, reducing the burden of the neck of a patient and being more suitable for the wearing and training of the patient.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problems to be solved by the present invention are: how to drive the neck of the patient, help the cervical spondylosis to recover partial or all neck movement functions, and simultaneously can play a certain auxiliary role in the daily life of the patient.
In order to achieve the purpose, the invention provides an intelligent wearable cervical vertebra exoskeleton therapeutic instrument based on a traditional Chinese massage manipulation, which comprises a forebreast plastic plate, a back plastic plate, a neck support, a pillow support, a neck support connecting band, a connecting device and a linear push rod motor, wherein the forebreast plastic plate and the back plastic plate are connected through the connecting device, the neck support and the pillow support are connected through the neck support connecting band, the linear push rod motor component is fixed on the forebreast plastic plate and the back plastic plate, and the linear motor push rod drives the neck support and the pillow support to realize traction of three degrees of freedom of longitudinal stretching, left and right lateral bending and forward and backward stretching of the neck.
Further, the linear push rod motor comprises a left front push rod motor, a right front push rod motor, a left rear push rod motor and a right rear push rod motor.
Furthermore, the bottom ends of the left front linear push rod motor and the right front linear push rod motor are fixed on the chest plastic plate through ball hinges, and the bottom ends of the left rear linear push rod motor and the right rear linear push rod motor are fixed on the back plastic plate through ball hinges.
Furthermore, the electric bicycle also comprises a battery box which is fixed on the back plastic plate and used for providing power for the linear push rod motor.
Further, the device also comprises an angle sensor and a pressure sensor, wherein the pressure sensor is directly connected with the linear push rod motor through a U-shaped aluminum sheet, the pressure sensor is connected with the angle sensor through a semi-cross-shaped aluminum sheet, and the angle sensor is coaxial with the spherical hinge.
Furthermore, the waist positions of the front chest plastic plate and the back plastic plate are connected through a nylon belt and snap buttons, and the length of the nylon belt is adjustable.
Furthermore, the shoulder positions of the anterior chest plastic plate and the back plastic plate are fixed through a shoulder connecting plate by a screw.
Furthermore, a fixing band is arranged at the armpit position of the chest plastic plate and the back plastic plate, and one end of the neck support connecting band is connected with a buckle.
Furthermore, a plurality of air vents are arranged on the anterior chest plastic board and the back plastic board.
Further, the linear push rod motor is also provided with an encoder, and the encoder acquires data of the pressure sensor and the angle sensor.
Compared with the prior art, the invention at least has the following beneficial technical effects:
1. the invention obtains power through four linear push rod motors to respectively drive the neck support and the pillow support, greatly simplifies the driving mode and the number of the motors used, and has simpler structure and easy realization.
2. The invention combines the traditional Chinese massage manipulation principle and the structural characteristics of the neck support on the market, is driven by the linear push rod motor, is convenient to wear, and enables a patient to carry out rehabilitation training at any place and any time.
3. The invention adopts the way that the driving system is separated from the cervical vertebra exoskeleton execution end, so that the burden of the neck of the patient is reduced, and the cervical vertebra exoskeleton training device is more suitable for the wearing and training of the patient.
4. The front chest plastic plate and the back plastic plate are connected through the nylon bag with the length being changeable, and the neck support and the pillow support are connected in the same way, so that the front chest plastic plate and the back plastic plate can meet the wearing requirements of patients.
5. According to the neck rehabilitation training device, each motor is provided with the encoder, and the push rod end of the linear push rod motor is provided with the pressure sensor and the angle sensor, so that data collection can be carried out on the displacement, the force and the angle of each linear push rod motor in the neck rehabilitation training process of a patient, a rehabilitation doctor can analyze the training condition of the patient conveniently, and a more reasonable rehabilitation training scheme is formulated.
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 front view of the overall structure of the present invention;
FIG. 2 is a rear side overall view of the present invention;
fig. 3 is a schematic view of a neck brace component of the present invention;
FIG. 4 is a schematic view of the linear pusher motor components of the present invention;
wherein: 1-pillow support; 2-neck support; 3-a half cross-shaped aluminum sheet; 4-U-shaped aluminum sheet; 5-left front push rod; 6-anterior chest plastic plate; 7-fixing the belt; 8-left front motor; 9-a ball hinge; 10-a vent; 11-a shaft sleeve; 12-a right front motor; 13-right front pushrod; 14-a pressure sensor; 15-an angle sensor; 16-neck brace connecting strap; 17-pillow support; 18-shoulder web; 19-nylon strips; 20-snap fastener; 21-nylon tape; 22-back plastic plate; 23-a battery compartment; 24-a right rear motor; 25-left rear motor; 26-left rear pushrod; 27-right rear push rod.
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 to 3, the intelligent wearable cervical vertebra exoskeleton therapeutic apparatus based on traditional Chinese medicine massage manipulation of the present invention comprises a pillow support 1, a neck support 2, a semi-cross aluminum sheet 3, a U-shaped aluminum sheet 4, a left front push rod 5, a chest plastic plate 6, a fixing band 7, a left front push rod motor 8, a ball hinge 9, a vent 10, a shaft sleeve 11, a right front push rod motor 12, a right front push rod 13, a pressure sensor 14, an angle sensor 15, a neck support connecting band 16, a buckle 17, a shoulder connecting plate 18, a nylon strip 19, a snap buckle 20, a nylon strip 21, a back plastic plate 22, a battery box 23, a right back push rod motor 24, a left back push rod motor 25, a left back push rod 26 and a right back push rod 27.
A left front push rod motor 8, a right front push rod motor 12, a left rear push rod motor 25 and a right rear push rod motor 24 are respectively connected and fixed in a forebreast plastic plate 6 and a back plastic plate 22 through ball hinges 9, two of the four linear push rod motors form a neck support driving mechanism and a pillow support driving mechanism, one end of the pillow support driving mechanism is fixed on the forebreast plastic plate 6 through the ball hinges 9, the other end of the pillow support driving mechanism is fixed on a neck support 2 through the ball hinges 9, one end of the neck support driving mechanism is fixed on the back plastic plate 22 through the ball hinges 9, the other end of the neck support driving mechanism is fixed on the pillow support 1 through the ball hinges 9, and a cervical vertebra traction parallel mechanism is formed through the matching of the four linear push rod motors and the.
As shown in fig. 4, the four linear push rods are all connected with a pressure sensor 14 through a U-shaped aluminum sheet 4, the pressure sensor 14 is fixed above the push rod end of the linear push rod motor through the U-shaped aluminum sheet 4, an angle sensor 15 is coaxial with a ball hinge 9 installed on the neck support 2 and the pillow support 1, and the pressure sensor 14 is connected with the angle sensor 15 through a half-cross-shaped aluminum sheet 3.
Each linear push rod motor has still set up encoder, pressure sensor 14 and angle sensor 15, can carry out data acquisition to angle, pressure size and the displacement length of each traction position at the in-process that the patient carried out rehabilitation training, and the recovered doctor of being convenient for carries out the analysis to the patient training condition, formulates more reasonable rehabilitation training scheme. The back plastic plate is provided with a battery box for providing power supply for the linear push rod motor.
The waist positions of the forebreast plastic plate 6 and the back plastic plate 22 are connected through the snap fastener 20, the nylon band 21 worn in the snap fastener 20 can adjust the length, the shoulder positions of the forebreast plastic plate 6 and the back plastic plate 22 are fixed with one end of one shoulder connecting plate 18, the other end of the shoulder connecting plate 18 is connected when a patient wears the cervical vertebra exoskeleton, the cervical vertebra exoskeleton fixing device is fixed through screws, can adapt to the wearing requirements of various patients, a fixing band 7 is further arranged at the armpit position of the patient, the fixing band 7 is composed of nylon strips 19, the length is adjustable, and the position of the cervical vertebra exoskeleton on the patient is better fixed. Neck brace 2 and pillow support 1 also are connected through the neck brace connecting band, and the one end of neck brace connecting band is connected with the buckle, and length is adjustable, can adapt to various patients' the requirement of wearing, has all played a plurality of blow vent 10 on chest plastic slab 6 and back plastic slab 22 in the front, plays ventilative effect when the patient wears.
The steps of this example are as follows:
the patient fits the inner sides of the chest plastic plate 6 and the back plastic plate 22 with the human body, adjusts the length of the waist nylon band 21 according to the body types of different people, and then buckles the snap button 20. The armpits of the people are clamped on the fixing bands 7, the distance between the shoulder connecting plates 18 is adjusted according to different shoulder widths of each person, and finally the armpits are fixed by screws. The inner sides of the neck support 2 and the pillow support 1 are attached to the human body, and the length of the neck support connecting belt 16 is adjusted according to the head sizes of different people. When the right front motor 12 and the left front motor 8 rotate forward to drive the right front push rod 13 and the left front push rod 5 to extend, and the right rear motor 24 and the left rear motor 25 rotate backward to drive the right rear push rod 27 and the left rear push rod 26 to retract, the human neck realizes the backward extension traction. Conversely, when the right rear motor 24 and the left rear motor 25 rotate forward to drive the right rear push rod 27 and the left rear push rod 26 to extend, and the right front motor 12 and the left front motor 8 rotate backward to drive the right front push rod 13 and the left front push rod 5 to retract, the human neck realizes the forward extension traction. When the right rear motor 24 and the right front motor 12 rotate forward to drive the right rear push rod 27 and the right front push rod 13 to extend, and the left rear motor 25 and the left front motor 8 rotate backward to drive the left rear push rod 26 and the left front push rod 5 to retract, the right bending traction is realized on the neck of the human body, and the left bending traction is realized on the contrary. When the four motors rotate forwards simultaneously to drive the push rod to extend, the longitudinal traction of the neck of the human body can be realized. Because each end of the linear push rod motor is connected through the ball hinge 9, the cervical vertebra exoskeleton has enough freedom to meet the requirement of active left-right rotation.
Compared with the prior art, the neck support and the pillow support are driven by the linear push rod motor, a patient with the neck incapable of moving is driven to realize longitudinal traction, flexion-extension traction, lateral flexion traction and rotation traction, the cervical spondylosis patient can be gradually helped to recover partial or all neck movement functions through repeated rehabilitation training, meanwhile, a certain auxiliary effect can be played on the daily life of the patient, and the pressure sensor and the angle sensor are further arranged on the linear push rod motor, so that a rehabilitation doctor can conveniently analyze the training condition of the patient, and a more reasonable rehabilitation training scheme is formulated.
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 (10)
1. The utility model provides an intelligence wearing formula cervical vertebra ectoskeleton therapeutic instrument based on traditional chinese medical science massage gimmick, its characterized in that, includes the forebreast plastic slab, back plastic slab, the neck brace, the pillow support, neck brace connecting band, connecting device, linear push rod motor, the forebreast plastic slab passes through connecting device with the back plastic slab and connects, neck brace and pillow support pass through the neck brace connecting band and connect, linear push rod motor element fixes on forebreast plastic slab and the back plastic slab, linear motor push rod drive the longitudinal stretching of neck, control the side bend and the traction of three degrees of freedom of anteflexion backward extension is realized with the pillow support to the neck brace.
2. The intelligent wearable cervical vertebra exoskeleton treatment instrument based on traditional Chinese medicine massage manipulation as claimed in claim 1, wherein the linear push rod motor comprises a left front push rod motor, a right front push rod motor, a left rear push rod motor and a right rear push rod motor.
3. The intelligent wearable cervical vertebra exoskeleton treatment instrument based on traditional Chinese medicine massage manipulation as claimed in claim 2, wherein the bottom ends of the left front linear push rod motor and the right front linear push rod motor are fixed on the anterior chest plastic plate through ball hinge connection, and the bottom ends of the left rear linear push rod motor and the right rear linear push rod motor are fixed on the back plastic plate through ball hinge connection.
4. The intelligent wearable cervical vertebra exoskeleton treatment instrument based on traditional Chinese medicine massage manipulation as claimed in claim 1, further comprising a battery box, wherein the battery box is fixed on the back plastic plate and used for providing power for the linear push rod motor.
5. The intelligent wearable cervical vertebra exoskeleton treatment instrument based on traditional Chinese medicine massage manipulation as claimed in claim 3, further comprising an angle sensor and a pressure sensor, wherein the pressure sensor is directly connected with the linear push rod motor through a U-shaped aluminum sheet, and is connected with the angle sensor through a semi-cross-shaped aluminum sheet, and the angle sensor is coaxial with the ball hinge.
6. The intelligent wearable cervical vertebra exoskeleton treatment instrument based on traditional Chinese medicine massage manipulation as claimed in claim 5, wherein the waist positions of the forebreast plastic plate and the back plastic plate are connected through a nylon belt and snap buttons, and the length of the nylon belt is adjustable.
7. The intelligent wearable cervical vertebra exoskeleton treatment instrument based on traditional Chinese medicine massage manipulation as claimed in claim 6, wherein the shoulder positions of the forebreast plastic plate and the back plastic plate are fixed by a screw through a shoulder connecting plate.
8. The intelligent wearable cervical vertebra exoskeleton treatment instrument based on the traditional Chinese massage manipulation as claimed in claim 7, wherein a fixing band is further arranged at the armpit position of the forebreast plastic plate and the back plastic plate, and one end of the neck support connecting band is connected with a buckle.
9. The intelligent wearable cervical vertebra exoskeleton treatment instrument based on traditional Chinese massage manipulation as claimed in claim 1, wherein the front chest plastic plate and the back plastic plate are further provided with a plurality of air vents.
10. The intelligent wearable cervical vertebra exoskeleton treatment instrument based on traditional Chinese medicine massage manipulation as claimed in claim 5, wherein the linear push rod motor is further provided with an encoder, and the encoder collects data of the pressure sensor and the angle sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011089019.XA CN112043482A (en) | 2020-10-13 | 2020-10-13 | Intelligent wearable cervical vertebra exoskeleton therapeutic instrument based on traditional Chinese medicine massage manipulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011089019.XA CN112043482A (en) | 2020-10-13 | 2020-10-13 | Intelligent wearable cervical vertebra exoskeleton therapeutic instrument based on traditional Chinese medicine massage manipulation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112043482A true CN112043482A (en) | 2020-12-08 |
Family
ID=73606370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011089019.XA Pending CN112043482A (en) | 2020-10-13 | 2020-10-13 | Intelligent wearable cervical vertebra exoskeleton therapeutic instrument based on traditional Chinese medicine massage manipulation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112043482A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113262094A (en) * | 2021-06-21 | 2021-08-17 | 上海长征医院 | Postoperative cervical vertebra posterior muscle group training rehabilitation device |
| CN113262140A (en) * | 2021-07-01 | 2021-08-17 | 上海理工大学 | Wearable multifunctional cervical vertebra rehabilitation power exoskeleton control system |
| CN113288550A (en) * | 2021-06-16 | 2021-08-24 | 中国人民解放军陆军特色医学中心 | Neck muscle fibrosis rehabilitation treatment device for somatosensory technology |
| CN114129390A (en) * | 2021-12-06 | 2022-03-04 | 上海理工大学 | Cervical vertebra traction exoskeleton with adjustable driving force direction |
| WO2022077752A1 (en) * | 2020-10-13 | 2022-04-21 | 上海理工大学 | Wearable multifunctional cervical vertebra rehabilitation power exoskeleton |
| CN114831847A (en) * | 2022-03-29 | 2022-08-02 | 中国农业大学 | Neck rehabilitation training robot with four branched chain parallel mechanisms and force control method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106955219A (en) * | 2017-04-10 | 2017-07-18 | 周佰利 | A kind of wearable cervical vertebra massager |
| KR102159449B1 (en) * | 2019-04-03 | 2020-09-23 | 경남대학교 산학협력단 | Parallel robot type wearable device for the neck-pain treatment |
-
2020
- 2020-10-13 CN CN202011089019.XA patent/CN112043482A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106955219A (en) * | 2017-04-10 | 2017-07-18 | 周佰利 | A kind of wearable cervical vertebra massager |
| KR102159449B1 (en) * | 2019-04-03 | 2020-09-23 | 경남대학교 산학협력단 | Parallel robot type wearable device for the neck-pain treatment |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022077752A1 (en) * | 2020-10-13 | 2022-04-21 | 上海理工大学 | Wearable multifunctional cervical vertebra rehabilitation power exoskeleton |
| US12011406B2 (en) | 2020-10-13 | 2024-06-18 | University Of Shanghai For Science And Technology | Wearable multifunctional powered exoskeleton for cervical vertebra rehabilitation |
| CN113288550A (en) * | 2021-06-16 | 2021-08-24 | 中国人民解放军陆军特色医学中心 | Neck muscle fibrosis rehabilitation treatment device for somatosensory technology |
| CN113262094A (en) * | 2021-06-21 | 2021-08-17 | 上海长征医院 | Postoperative cervical vertebra posterior muscle group training rehabilitation device |
| CN113262094B (en) * | 2021-06-21 | 2022-10-04 | 上海长征医院 | Postoperative cervical vertebra posterior muscle group training rehabilitation device |
| CN113262140A (en) * | 2021-07-01 | 2021-08-17 | 上海理工大学 | Wearable multifunctional cervical vertebra rehabilitation power exoskeleton control system |
| CN113262140B (en) * | 2021-07-01 | 2023-06-06 | 上海理工大学 | Wearable multifunctional cervical vertebra rehabilitation power exoskeleton control system |
| CN114129390A (en) * | 2021-12-06 | 2022-03-04 | 上海理工大学 | Cervical vertebra traction exoskeleton with adjustable driving force direction |
| CN114129390B (en) * | 2021-12-06 | 2023-09-26 | 上海理工大学 | Cervical vertebra traction exoskeleton with adjustable driving force direction |
| CN114831847A (en) * | 2022-03-29 | 2022-08-02 | 中国农业大学 | Neck rehabilitation training robot with four branched chain parallel mechanisms and force control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112043482A (en) | Intelligent wearable cervical vertebra exoskeleton therapeutic instrument based on traditional Chinese medicine massage manipulation | |
| CN102113949B (en) | Exoskeleton-wearable rehabilitation robot | |
| CN109662869B (en) | Wearable flexible lower limb power-assisted robot | |
| CN106943277A (en) | The submissive exoskeleton rehabilitation manipulator of self adaptation Wearable | |
| CN201642750U (en) | Lower limb rehabilitation training robot | |
| CN103519966B (en) | Portable hemiplegy rehabilitation training robot for hemiplegic upper limb | |
| CN101427971B (en) | Dynamic state orthopedic device for hallux valgus | |
| CN110353940A (en) | A kind of hand ectoskeleton based on mirror image synchronization simulation control | |
| CN114145961B (en) | Intelligent multifunctional upper limb rehabilitation all-in-one machine | |
| CN112107405A (en) | Wearable multifunctional cervical vertebra rehabilitation power exoskeleton | |
| CN109453013A (en) | A kind of medical healing and training elbow joint device | |
| CN211095862U (en) | Massage armchair health robot | |
| CN110665192B (en) | Recovered type ectoskeleton gloves robot | |
| CN112043486A (en) | Medical neck fixer with protective structure | |
| CN213553565U (en) | Massager for medical nursing | |
| CN212347110U (en) | Rehabilitation apparatus for assisting finger exercise | |
| CN103462799B (en) | Linear motor massager for Sanyin acupoint and Zusanli acupoint | |
| CN113425552A (en) | Hand injury fracture rehabilitation nursing frame | |
| CN208926966U (en) | The long stretching structure of limb for intelligent exoskeleton robot | |
| CN213642013U (en) | Therapeutic instrument for knee joint rehabilitation physiotherapy | |
| CN217339343U (en) | Single-acupoint massage instrument | |
| CN215689563U (en) | Neurosurgery postoperative nursing rehabilitation device | |
| CN216365916U (en) | Portable abdomen acupuncture point massage device | |
| CN215740366U (en) | Stomach surgery postoperative care is with massage device | |
| CN221084112U (en) | Shoulder 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 |