CN113057854A - Device for assisting upper limb rehabilitation training - Google Patents
Device for assisting upper limb rehabilitation training Download PDFInfo
- Publication number
- CN113057854A CN113057854A CN202110307919.5A CN202110307919A CN113057854A CN 113057854 A CN113057854 A CN 113057854A CN 202110307919 A CN202110307919 A CN 202110307919A CN 113057854 A CN113057854 A CN 113057854A
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- China
- Prior art keywords
- upper limb
- supporting
- rotating ring
- rehabilitation training
- ring sleeve
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 85
- 238000012549 training Methods 0.000 title claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 210000000707 wrist Anatomy 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 4
- 208000014674 injury Diseases 0.000 description 2
- 210000002435 tendon Anatomy 0.000 description 2
- 208000025978 Athletic injury Diseases 0.000 description 1
- 208000011092 Hand injury Diseases 0.000 description 1
- 208000019462 Occupational injury Diseases 0.000 description 1
- 206010041738 Sports injury Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007850 degeneration Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000005923 long-lasting effect Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 238000011282 treatment Methods 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
-
- 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
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- 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 invention relates to a device for assisting upper limb rehabilitation training, which comprises a supporting seat body, a rotating ring sleeve and a driving mechanism. The supporting seat body is provided with a concave supporting groove for supporting the upper limb; the rotating ring sleeve is rotatably connected with the supporting seat body; the rotating ring sleeve is of a semicircular annular structure so as to be suitable for surrounding the side wall of the upper limb to drive the upper limb to move synchronously; the driving mechanism is arranged in the supporting seat body; and the driving mechanism comprises a transmission component matched and connected with the rotating ring sleeve and a power structure connected with the transmission component to drive the transmission component. The device for assisting upper limb rehabilitation training can optimize the rehabilitation effect on the upper limbs of the patient.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation instruments, in particular to a device for assisting upper limb rehabilitation training.
Background
Impaired function of the upper limbs can lead to significant decline in the ability to handle hands and work daily after stroke, trauma, sports injury, occupational injury, spinal cord injury, and orthopedic injury. Rehabilitation programs are the primary means of promoting functional recovery in patients with hand injuries. Traditional treatments are long lasting and normally require the co-participation of a clinician and patient. The robot rehabilitation device is a novel and rapidly developed hand rehabilitation technology. However, existing robotic rehabilitation devices are slow to restore human hand function because they do not provide independent joint control and the required speed and torque levels.
Disclosure of Invention
The invention aims to provide a device for assisting upper limb rehabilitation training, which aims to solve the technical problem of optimizing the rehabilitation effect on the upper limbs of a patient.
The device for assisting upper limb rehabilitation training is realized as follows:
an apparatus for assisting upper limb rehabilitation training, comprising:
a support base having a support groove in a recessed shape for supporting an upper limb;
the rotating ring sleeve is rotatably connected with the supporting base body in a matching mode; the rotating ring sleeve is of a semicircular annular structure so as to be suitable for surrounding the side wall of the upper limb to drive the upper limb to move synchronously;
the driving mechanism is arranged in the supporting seat body; and the driving mechanism comprises a transmission component matched and connected with the rotating ring sleeve and a power structure connected with the transmission component to drive the transmission component.
In a preferred embodiment of the invention, an annular recess for fitting the rotating collar is provided on the end face of the bearing groove facing the upper limb.
In a preferred embodiment of the invention, the end surface of the rotating ring sleeve facing the upper limb is a smooth contact surface; the smooth contact surface is coplanar with the end surface of the supporting groove facing the upper limb; and
and a pair of tooth-shaped strips is symmetrically arranged on the end surface of the rotating ring sleeve, which is far away from the upper limb, along the annular surface of the rotating ring sleeve.
In a preferred embodiment of the present invention, a bearing structure body in a circular ring structure is further coupled in the annular notch;
the rotating ring sleeve is provided with a hollow accommodating groove suitable for accommodating the bearing structure body; and
a pair of convex insertion blocks are arranged on two sides of the bearing structure body;
and the groove wall of the accommodating groove is also provided with a pair of slots which are suitable for being correspondingly matched and connected with the pair of inserting blocks one by one.
In a preferred embodiment of the present invention, the end surface of the bearing structure facing the upper limb is provided with a plurality of rollers at intervals and uniformly along the annular surface of the bearing structure, wherein the rollers are all suitable for sliding fit with the accommodating grooves.
In a preferred embodiment of the invention, a guide rail adapted to be in sliding contact with the rollers is provided on a wall of the accommodating groove facing the plurality of rollers.
In a preferred embodiment of the invention, a pair of convex connecting lugs are arranged in the annular notch; and
the bearing structure body is provided with a pair of connecting grooves which are suitable for being correspondingly matched and connected with the connecting lugs one by one.
In a preferred embodiment of the present invention, the supporting grooves are distributed in an inclined manner relative to the bottom surface of the supporting seat body; and is
The part of the supporting groove for supporting the wrist part is higher than the part of the supporting groove for supporting the elbow part of the hand.
In a preferred embodiment of the present invention, the transmission assembly includes a transmission shaft rotatably coupled to the support base, and a pair of transmission gears sleeved on the transmission shaft and adapted to be engaged with a pair of tooth-shaped bars on the rotating ring sleeve in a one-to-one correspondence manner.
In a preferred embodiment of the invention, the power structure adopts a steering engine or a driving motor connected with a transmission shaft.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: according to the device for assisting upper limb rehabilitation training, the supporting groove for supporting the upper limb is arranged, and the rotating ring sleeve for driving the upper limb to move synchronously is matched with the supporting groove, so that after the upper limb of a patient is placed in the supporting groove, the movement of the upper limb is driven by the rotating ring sleeve, the aim of assisting upper limb training is achieved by inwards turning and backwards turning the upper limb of the patient within a safety range, the mobility of the upper limb of the patient is kept, and the degeneration of tendon adhesion is prevented. And the rotating ring sleeve and the driving mechanism are both assembled in the supporting seat body, so that the integral device for assisting upper limb rehabilitation training is small in size and convenient to carry, and the use efficiency of the integral device is improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic view illustrating an overall structure of a first view of a device for assisting upper limb rehabilitation training according to an embodiment of the present invention;
fig. 2 is a schematic view illustrating an overall structure of a second view angle of the device for assisting upper limb rehabilitation training according to the embodiment of the present invention;
fig. 3 is a schematic view illustrating an overall structure of a third view angle of the device for assisting upper limb rehabilitation training according to the embodiment of the present invention;
fig. 4 is a schematic view illustrating a matching structure of a rotating collar and a transmission shaft of the device for assisting upper limb rehabilitation training according to the embodiment of the present invention;
fig. 5 is a schematic view illustrating a matching structure of a rotating collar and a bearing structure of the device for assisting upper limb rehabilitation training according to the embodiment of the present invention;
fig. 6 is a schematic view showing a matching structure between a bearing structure and a support base of the device for assisting upper limb rehabilitation training according to the embodiment of the present invention.
In the figure: the bearing seat body 1, the supporting groove 11, the annular notch groove 12, the connecting lug 13, the rotating ring sleeve 2, the accommodating groove 21, the inserting groove 22, the guide rail 23, the toothed strip 25, the bearing structure body 3, the inserting block 31, the connecting groove 32, the roller 33, the transmission shaft 41, the transmission gear 42, the annular rib plate 43, the steering gear 51 and the L-shaped rib plate 52.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Referring to fig. 1 to 6, the present embodiment provides a device for assisting upper limb rehabilitation training, including: the supporting seat body 1, and a driving mechanism and a rotating ring sleeve 2 which are arranged in the supporting seat body 1; wherein the supporting seat body 1 is provided with a concave supporting groove 11 for supporting the upper limb; the rotating ring sleeve 2 is rotatably connected with the supporting seat body 1; the rotating ring sleeve 2 is in a semicircular annular structure so as to be suitable for surrounding the side wall of the upper limb to drive the upper limb to move synchronously; the driving mechanism comprises a transmission component matched and connected with the rotating ring sleeve 2 and a power structure connected with the transmission component to drive the transmission component.
In the following detailed description of the structural drawings, when the device for assisting upper limb rehabilitation training is used for upper limb rehabilitation training, the upper limb is directly placed in the supporting groove 11 of the supporting base body 1. The bottom end face of the support base 1 rests directly on an operating platform, which may be a platform in the home, such as, but not limited to, a table top. The stability of the whole supporting seat body 1 in the using process is effectively ensured by placing the supporting seat body 1 on an operation platform.
On the basis of the above structure, the supporting grooves 11 of the present embodiment are distributed in an inclined manner with respect to the bottom surface of the supporting base 1; and a portion A of the support groove 11 for supporting the wrist portion is higher than a portion B of the support groove 11 for supporting the elbow portion. In this case, when the upper limb is placed in the support groove 11, the wrist portion in the upper limb may be higher than the elbow portion, which helps to keep the upper limb stable, facilitating rehabilitation training.
The rotating collar 2 of the present embodiment is provided at the middle of the support groove 11 or at a position where the middle of the support groove 11 is offset to the wrist support. The design can improve the flexibility of the upper limb driven by the rotating ring sleeve 2 to do the rotation training.
In further detail, the assembly structure between the annular rotating sleeve and the support base body 1 is realized by the following steps:
an annular groove 12 for fitting the swivel collar 2 is provided on the end face of the bearing groove 11 facing the upper limb, so that the swivel collar 2 can support the upper limb when the upper limb is placed in the bearing groove 11. On the basis of the structure, it should be noted that the end surface of the rotating ring sleeve 2 facing the upper limb is a smooth contact surface; and the smooth contact surface is coplanar with the end surface of the supporting groove 11 facing the upper limb, so that the upper limb does not feel discomfort caused by the non-coplanar matching condition between the rotating ring sleeve 2 and the supporting groove 11 in the process of rotating and training the upper limb driven by the rotating ring sleeve 2.
In addition, in an alternative implementation, for the rotating collar 2 of the present embodiment, in order to improve the smoothness of the rotating collar 2 in the process of rotating relative to the support base 1, the annular notch 12 of the present embodiment is further coupled with the bearing structure 3 having an annular structure.
The specific fitting structure between the bearing structure 3 and the support base 1 and the rotating collar is as follows: the rotating collar 2 has a hollow accommodating groove 21 adapted to accommodate the bearing structure 3; and a pair of convex insertion blocks 31 are arranged on two sides of the bearing structure body 3; a pair of slots 22 suitable for being correspondingly matched and connected with the pair of insertion blocks 31 one by one are further formed on the slot wall of the accommodating slot 21; that is, the matching between the insertion block 31 and the insertion slot 22 enables the rotating ring sleeve 2 to rotate around the bearing structure 3 in the process of rotating relative to the supporting seat 1, that is, the bearing structure 3 defines the rotating track of the rotating ring sleeve 2, so as to avoid the phenomenon that the rotating ring sleeve 2 deviates in the rotating process, thereby improving the stability of the rotating ring sleeve 2 in the process of driving the upper limb to rotate.
In addition, the bearing structure 3 of the present embodiment is assembled with the support base 1 by the following structure: a pair of convex connecting lugs 13 are arranged in the annular notch 12; and a pair of connecting grooves 32 adapted to be fitted with the pair of connecting lugs 13 in a one-to-one correspondence are provided on the bearing structure 3. Namely, the bearing structure body 3 is firmly and stably assembled on the support base body 1 by the mating between the engaging lug 13 and the engaging groove 32.
Furthermore, the end surface of the bearing structure 3 facing the upper limb of the present embodiment is provided with a plurality of rollers 33 at intervals and uniformly along the annular surface of the bearing structure 3, each of which is adapted to be slidably fitted into the receiving groove 21. A guide rail 23 adapted to be in sliding contact with the rollers 33 is provided on a groove wall of the housing groove 21 facing the plurality of rollers 33. Thus, the smoothness of the rotating ring sleeve 2 in the process of rotating relative to the supporting seat 1 can be improved by the sliding fit between the plurality of rollers 33 and the guide rail 23.
Finally, regarding the power of the rotating collar 2 of the present embodiment during the rotating movement relative to the support base 1, in a specific alternative embodiment, for example, a pair of toothed bars 25 are symmetrically arranged along the annular surface of the rotating collar 2 at the end surface of the rotating collar 2 facing away from the upper limb. The transmission assembly comprises a transmission shaft 41 rotatably connected with the support base body 1, and a pair of transmission gears 42 sleeved on the transmission shaft 41 and suitable for being meshed and connected with the pair of toothed strips 25 on the rotating ring sleeve 2 in a one-to-one corresponding mode. The transmission shaft 41 is rotatably engaged with a pair of annular ribs 43 fixed on the support base 1, and here, the pair of annular ribs 43 can be realized by the bearing body between the transmission shaft 41 and the annular ribs 43 without influencing the normal rotation of the transmission shaft 41 in the process of supporting the transmission shaft 41.
For the power structure for driving the transmission shaft 41 to rotate, the power structure can select the steering engine 51 or the driving motor connected with the transmission shaft 41. The steering engine 51 or the driving motor can be fixed on the support base body 1 through an L-shaped rib plate 52.
To sum up, to the device of supplementary upper limbs rehabilitation training of this embodiment, through the supporting slot 11 that is used for supporting the upper limbs that sets up, the rotation ring cover 2 that is used for driving upper limbs synchronous motion is cooperated again, like this after the upper limbs of patient are placed in supporting slot 11, the motion of upper limbs is driven by rotation ring cover 2 to realize turning over, the back of turning over in the safe range of patient's upper limbs, reach the purpose of supplementary upper limbs training, keep the mobility of patient's upper limbs and prevent the deterioration of tendon adhesion. And the rotating ring sleeve 2 and the driving mechanism are both assembled in the supporting seat body 1, so that the integral device for assisting upper limb rehabilitation training is small in size and convenient to carry, and the use efficiency of the integral device is improved.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the present invention, unless otherwise expressly stated or limited, the first feature may be present on or under the second feature in direct contact with the first and second feature, or may be present in the first and second feature not in direct contact but in contact with another feature between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.
Claims (10)
1. A device for assisting upper limb rehabilitation training, comprising:
a support base having a support groove in a recessed shape for supporting an upper limb;
the rotating ring sleeve is rotatably connected with the supporting base body in a matching mode; the rotating ring sleeve is of a semicircular annular structure so as to be suitable for surrounding the side wall of the upper limb to drive the upper limb to move synchronously;
the driving mechanism is arranged in the supporting seat body; and the driving mechanism comprises a transmission component matched and connected with the rotating ring sleeve and a power structure connected with the transmission component to drive the transmission component.
2. The device for assisting rehabilitation training of upper limbs according to claim 1, wherein an annular notch for fitting the rotating ring is provided at an end surface of the supporting groove facing the upper limbs.
3. The device for assisting rehabilitation training of upper limbs according to claim 2, wherein the end surface of the rotating ring sleeve facing the upper limbs is a smooth contact surface; the smooth contact surface is coplanar with the end surface of the supporting groove facing the upper limb; and
and a pair of tooth-shaped strips is symmetrically arranged on the end surface of the rotating ring sleeve, which is far away from the upper limb, along the annular surface of the rotating ring sleeve.
4. The device for assisting upper limb rehabilitation training according to claim 3, wherein a bearing structure body in a circular ring structure is further coupled in the annular notch;
the rotating ring sleeve is provided with a hollow accommodating groove suitable for accommodating the bearing structure body; and
a pair of convex insertion blocks are arranged on two sides of the bearing structure body;
and the groove wall of the accommodating groove is also provided with a pair of slots which are suitable for being correspondingly matched and connected with the pair of inserting blocks one by one.
5. The device for assisting rehabilitation training of upper limbs according to claim 4, wherein the end surface of the bearing structure facing the upper limbs is provided with a plurality of rollers each adapted to be in sliding fit with the receiving groove at intervals and uniformly along the annular surface of the bearing structure.
6. The device for assisting rehabilitation training of upper limbs according to claim 5, wherein a guide rail adapted to be in sliding contact with the rollers is provided on a wall of the accommodating groove facing the plurality of rollers.
7. The device for assisting upper limb rehabilitation training according to any one of claims 4-6, wherein a pair of raised connecting lugs are arranged in the annular notch; and
the bearing structure body is provided with a pair of connecting grooves which are suitable for being correspondingly matched and connected with the connecting lugs one by one.
8. The device for assisting rehabilitation training of upper limbs according to claim 3, wherein the supporting grooves are distributed in an inclined manner relative to the bottom end surface of the supporting seat body; and is
The part of the supporting groove for supporting the wrist part is higher than the part of the supporting groove for supporting the elbow part of the hand.
9. The device for assisting rehabilitation training of upper limbs according to claim 1, wherein the transmission assembly comprises a transmission shaft rotatably coupled to the support base, and a pair of transmission gears sleeved on the transmission shaft and adapted to be engaged with a pair of tooth-shaped bars on the rotating ring sleeve in a one-to-one correspondence manner.
10. The device for assisting rehabilitation training of upper limbs according to claim 9, wherein the power structure adopts a steering engine or a driving motor connected with a transmission shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110307919.5A CN113057854A (en) | 2021-03-23 | 2021-03-23 | Device for assisting upper limb rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110307919.5A CN113057854A (en) | 2021-03-23 | 2021-03-23 | Device for assisting upper limb rehabilitation training |
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| Publication Number | Publication Date |
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| CN113057854A true CN113057854A (en) | 2021-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110307919.5A Pending CN113057854A (en) | 2021-03-23 | 2021-03-23 | Device for assisting upper limb rehabilitation training |
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| Country | Link |
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| CN (1) | CN113057854A (en) |
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| CN110859731A (en) * | 2019-10-25 | 2020-03-06 | 西北工业大学 | Six-degree-of-freedom exoskeleton type upper limb rehabilitation robot |
| CN110897833A (en) * | 2019-12-28 | 2020-03-24 | 哈尔滨工业大学 | Open-loop type adjustable wrist joint rehabilitation training exoskeleton |
| CN110974606A (en) * | 2019-12-06 | 2020-04-10 | 江苏理工学院 | Hand rehabilitation training device and control system |
| CN111093588A (en) * | 2017-08-31 | 2020-05-01 | 国立大学法人鹿儿岛大学 | Training device and method for recovering function of forearm of hemiplegia |
| CN111281741A (en) * | 2020-02-26 | 2020-06-16 | 南京邮电大学 | Reconfigurable exoskeleton upper limb rehabilitation robot for different body types |
| CN211723880U (en) * | 2019-12-30 | 2020-10-23 | 中航创世机器人(西安)有限公司 | Rehabilitation robot shoulder joint outward-inward rotation transmission mechanism |
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2021
- 2021-03-23 CN CN202110307919.5A patent/CN113057854A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080097255A1 (en) * | 2006-10-20 | 2008-04-24 | National Cheng Kung University | Rehabilitation apparatus |
| CN102940561A (en) * | 2012-12-07 | 2013-02-27 | 付风生 | Upper limb rehabilitation training robot |
| US20160270999A1 (en) * | 2015-03-20 | 2016-09-22 | Regents Of The University Of Minnesota | Systems and methods for assessing and training wrist joint proprioceptive function |
| CN106109165A (en) * | 2016-06-21 | 2016-11-16 | 北京工业大学 | A kind of six degree of freedom self adaptation carpal joint convalescence device |
| CN109843244A (en) * | 2016-12-22 | 2019-06-04 | 复康机器人技术有限公司 | Power assist apparatus and its application method for hand rehabilitation |
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| CN109730892A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | Rounding arc guide rail mechanism inside and outside a kind of upper limb ectoskeleton forearm |
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| CN110897833A (en) * | 2019-12-28 | 2020-03-24 | 哈尔滨工业大学 | Open-loop type adjustable wrist joint rehabilitation training exoskeleton |
| CN211723880U (en) * | 2019-12-30 | 2020-10-23 | 中航创世机器人(西安)有限公司 | Rehabilitation robot shoulder joint outward-inward rotation transmission mechanism |
| CN111281741A (en) * | 2020-02-26 | 2020-06-16 | 南京邮电大学 | Reconfigurable exoskeleton upper limb rehabilitation robot for different body types |
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Application publication date: 20210702 |