CN115569034A - Knee joint rehabilitation parallel structure design - Google Patents
Knee joint rehabilitation parallel structure design Download PDFInfo
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- CN115569034A CN115569034A CN202211238649.8A CN202211238649A CN115569034A CN 115569034 A CN115569034 A CN 115569034A CN 202211238649 A CN202211238649 A CN 202211238649A CN 115569034 A CN115569034 A CN 115569034A
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- joint
- connecting rod
- plane connecting
- electric cylinder
- sliding block
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 25
- 238000013461 design Methods 0.000 title claims description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 5
- 238000003745 diagnosis Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 210000000689 upper leg Anatomy 0.000 abstract description 3
- 238000013519 translation Methods 0.000 abstract description 2
- 230000001133 acceleration Effects 0.000 abstract 1
- 210000003414 extremity Anatomy 0.000 abstract 1
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000002683 foot Anatomy 0.000 description 3
- 210000001264 anterior cruciate ligament Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 210000002303 tibia Anatomy 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- WSNMPAVSZJSIMT-UHFFFAOYSA-N COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 Chemical compound COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 WSNMPAVSZJSIMT-UHFFFAOYSA-N 0.000 description 1
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 210000001188 articular cartilage Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000008407 joint function Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
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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 the technical field of medical equipment, and provides a parallel mechanism for knee joint diagnosis and rehabilitation, which comprises: the system comprises an articulated mobile platform, a 2RPRR-2UPS parallel mechanism and a rigid mobile platform with a linear guide rail and a slide block. The method is characterized in that: the rigid moving platform is connected with the 2RPRR-2UPS parallel mechanism through the sliding block on the guide rail, and feet of a patient can be placed on the rigid moving platform. The cooperation of 2RPRR-2UPS mechanism and articulated moving platform can satisfy and can satisfy the recovered required rotation around horizontal (shin thigh plane) axle and perpendicular (moving platform) axle of knee joint and these four degrees of freedom of translation in the shin thigh plane, and the motion of platform is controlled by the motion of four electronic jars, can guarantee that the mechanism is steady not have the impact in the motion process, and speed, acceleration and motion range can be controlled in reasonable range, prevent to cause the damage to the low limbs among the recovered process.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a parallel mechanism for knee joint diagnosis and rehabilitation.
Background
The knee joint is the largest joint of a human body, the stress distribution in the normal knee joint is uniform, if the internal force of the knee joint is unbalanced due to various factors, the articular cartilage can be damaged, abnormal gait is caused, and many activities cannot be completed normally. Among them, the anterior cruciate ligament is one of important ligaments in the knee joint, functions to limit the anterior excessive displacement of the tibia, and is an important stable structure of the knee joint. When the knee joint is over-stretched or abducted with strong force, the anterior cruciate ligament can be damaged, if the knee joint is not treated early, the knee joint function is seriously damaged, the daily life is influenced, and in order to enable the injured person to take exercise and train, knee joint rehabilitation robots are developed more and more.
Parallel robots have received attention from a number of researchers and industries because of their advantages over serial robots.
Focusing on lower limb rehabilitation, most of the parallel mechanisms developed to date have 2-3 degrees of freedom of rotation (DOFs), mainly because they are dedicated to ankle rehabilitation. However, they do not extend to the rehabilitation of other human joints, such as the knee or hip joint. These joints require large flexion and extension movements in the tibiofemoral plane (the plane forming the tibia and femur), and small rotations involving three or more degrees of freedom of the system, at least two of which must be translational. Obviously, a six degree of freedom parallel robot can be used for this purpose, however, this solution increases the cost and increases the complexity of the dynamic robot control.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a novel knee joint rehabilitation parallel structure. Can satisfy four degrees of freedom that knee joint detected and recovered needs, have overall structure stable, rigidity and intensity are big, the convenient advantage that removes simultaneously.
The invention adopts the following technical scheme for realizing the purpose:
a novel knee joint rehabilitation parallel structure design comprises: the device comprises a hinged moving platform I, a 2RPRR-2UPS parallel mechanism II and a rigid moving platform III with a linear guide rail and a sliding block.
Further, the plane connecting rod 1 and the plane connecting rod 2 of the articulated mobile platform I are connected through a screw thread of a ball joint on the electric cylinder 1 with the ball joint to form an articulation; the plane connecting rod 3 and the plane connecting rod 4 are connected through a thread of a ball joint on the electric cylinder 2 with the ball joint to form a hinge joint; the plane connecting rod 1 and the plane connecting rod 4 are connected through bolts to form a hinge joint; the plane connecting rod 2 and the plane connecting rod 3 are connected through bolts to form a hinge joint.
Furthermore, an electric cylinder 1 with a ball joint of the 2RPRR-2UPS parallel mechanism II is connected with the plane connecting rod 1 and the plane connecting rod 2 through threads at the bottom of the ball joint, and the two connecting rods are hinged; the electric cylinder 2 with the ball joint is connected with the plane connecting rod 3 and the plane connecting rod 4 through threads at the bottom of the ball joint, and the two connecting rods are hinged; an electric cylinder 1 with a rotary joint is connected with a plane connecting rod 1 and a plane connecting rod 4 through bolts, and the two connecting rods are hinged; an electric cylinder 2 with a rotary joint is connected with a plane connecting rod 2 and a plane connecting rod 3 through bolts, and the two connecting rods are hinged; the universal joint 1 is connected to a flange of an electric cylinder 1 with a ball joint through a bolt; the universal joint 2 is connected to a flange of the electric cylinder 2 with a ball joint through a bolt; the rotary joint 1 is connected to a flange of an electric cylinder 1 with the rotary joint through a bolt; the rotary joint 2 is connected to a flange of the electric cylinder 2 with the rotary joint through a bolt; the universal joint 1, the universal joint 2, the rotary joint 1 and the rotary joint 2 are fixed to the square fixing base through bolts.
Furthermore, a slide block 1, a slide block 2, a slide block 3 and a slide block 4 of the rigid moving platform III with the linear guide rail and the slide block are connected on the linear guide rail; the sliding block 1 and the sliding block 3 are respectively connected with the plane connecting rods 1 and 2 and the plane connecting rods 3 and 4 through threads at the bottom of a ball joint; the sliding block 2 and the sliding block 4 are respectively connected with the plane connecting rods 1 and 4 and the plane connecting rods 2 and 3 through bolts.
Has the advantages that:
compared with the prior art, the invention has the beneficial effects that:
the effect of the solution is described textually. The 2RPRR-2UPS structure II can realize rotation around a transverse (tibiofemoral plane) axis and translation in the tibiofemoral plane; the rotation of perpendicular (moving platform) axle can be realized to articulated formula moving platform I's inside degree of freedom, has effectively solved the problem that the device motion can not satisfy knee joint rehabilitation training requirement.
Drawings
FIG. 1 is a general block diagram of the present invention;
FIG. 2 is a schematic view of an articulated mobile platform;
FIG. 3 is a schematic diagram of a 2RPRR-2UPS architecture;
FIG. 4 is a top view of the stationary base;
FIG. 5 is a schematic view of a rigid moving platform with linear guides and slides;
in the figure, 1-a plane connecting rod 1, 2-a plane connecting rod 2, 3-a plane connecting rod 3, 4-a plane connecting rod 4, 5-an electric cylinder 1 with a ball joint, 6-an electric cylinder 2 with a ball joint, 7-an electric cylinder 1 with a rotary joint, 8-an electric cylinder 2 with a rotary joint, 9-a universal joint 1, 10-a universal joint 2, 11-a rotary joint 1, 12-a rotary joint 2, 13-a square fixed base, 14-a rigid supporting plate with a linear guide rail, 15-a sliding block 1, 16-a sliding block 2, 17-a sliding block 3 and 18-a sliding block 4.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings
As shown in fig. 1 to 5, a parallel mechanism for knee joint diagnosis and rehabilitation according to the present invention includes: the device comprises an articulated mobile platform I, a 2RPRR-2UPS parallel mechanism II and a rigid mobile platform III with a linear guide rail and a slide block.
Specifically, a plane connecting rod 1 (1) and a plane connecting rod 2 (2) of the articulated mobile platform I are connected through threads of a ball joint on an electric cylinder 1 (5) with the ball joint to form articulation; the plane connecting rod 3 (3) and the plane connecting rod 4 (4) are connected through a thread of a ball joint on the electric cylinder 2 (8) with the ball joint to form a hinge joint; the plane connecting rod 1 (1) and the plane connecting rod 4 (4) are connected through bolts to form a hinge joint; the plane connecting rod 2 (2) and the plane connecting rod 3 (3) are connected through bolts to form a hinge joint.
Specifically, an electric cylinder 1 (5) with a ball joint of the 2RPRR-2UPS parallel mechanism II is connected with a plane connecting rod 1 (1) and a plane connecting rod 2 (2) through threads at the bottom of the ball joint, and the two connecting rods are hinged; an electric cylinder 2 (8) with a ball joint is connected with a plane connecting rod 3 (3) and a plane connecting rod 4 (4) through threads at the bottom of the ball joint, and the two connecting rods are hinged; an electric cylinder 1 (7) with a rotary joint is connected with a plane connecting rod 1 (1) and a plane connecting rod 4 (4) through bolts, and the two connecting rods are hinged; an electric cylinder 2 (8) with a rotary joint is connected with the plane connecting rod 2 (2) and the plane connecting rod 3 (3) through bolts, and the two connecting rods are hinged; the universal joint 1 (9) is connected to a flange of the electric cylinder 1 (5) with a ball joint through a bolt; the universal joint 2 (10) is connected to a flange of the electric cylinder 2 (6) with a ball joint through a bolt; the rotary joint 1 (11) is connected to a flange of the electric cylinder 1 (7) with the rotary joint through a bolt; the rotary joint 2 (12) is connected to a flange of the electric cylinder 2 (8) with the rotary joint through a bolt; the universal joint 1 (9), the universal joint 2 (10), the rotary joint 1 (11), and the rotary joint 2 (12) are fixed to the square fixing base 13 by bolts.
Specifically, the slide block 1 (15), the slide block 2 (16), the slide block 3 (17) and the slide block 4 (18) of the rigid moving platform III with the linear guide rail and the slide block are connected on the linear guide rail; the sliding block 1 (15) and the sliding block 3 (17) are respectively connected with the plane connecting rods 1 (1) and 2 (2) and the plane connecting rods 3 (3) and 4 (4) through threads at the bottom of the ball joint; the sliding block 2 (16) and the sliding block 4 (18) are respectively connected with the plane connecting rods 1 (1) and 4 (4) and the plane connecting rods 2 (2) and 3 (3) through bolts.
The working process of the invention is as follows:
when the patient sits at a higher position, the feet of the injured legs are placed on the rigid support plate with the linear guide rails, and the feet of the patient are fixed with the movable platform by the binding bands, so that the patient can move along with the movable platform to perform rehabilitation activities.
When rehabilitation training is carried out, the electric cylinder 1 (5) with the ball joint, which is connected to the square fixing base 13 through the universal joint 1 (9), drives the plane connecting rod 1 (1) and the plane connecting rod 2 (2) to move when stretching and retracting, and meanwhile, the electric cylinder can also generate corresponding movement; when the electric cylinder 2 (6) with the ball joint, which is connected to the square fixing base (13) through the universal joint 2 (10), performs telescopic motion, the plane connecting rod 3 (3) and the plane connecting rod 4 (4) are driven to move, and meanwhile, the electric cylinder can also generate corresponding motion; when the electric cylinder 1 (7) with the rotary joint, which is connected to the square fixing base (13) through the rotary joint 1 (11), performs telescopic motion, the plane connecting rod 1 (1) and the plane connecting rod 4 (4) are driven to move, and meanwhile, the electric cylinder can also generate corresponding motion; when the electric cylinder 2 (8) with the rotary joint, which is connected to the square fixing base 13 through the rotary joint 2 (12), performs telescopic motion, the plane connecting rod 2 (2) and the plane connecting rod 3 (3) are driven to move, and meanwhile, the electric cylinder can also generate corresponding motion.
When the 2RPRR-2UPS parallel mechanism is driven by the electric cylinder to move, the hinged type moving platform I drives the sliding blocks 1 (15), 2 (16), 3 (17) and 4 (18) to move on the linear guide rail, so as to drive the rigid supporting plate 14 with the linear guide rail to move correspondingly, and further drive the foot fixed on the hinged type moving platform I to enable the knee joint to rotate around a transverse (tibiofemoral plane) axis and a vertical (moving platform) axis and translate in the tibiofemoral plane.
The above embodiments are merely illustrative of the present patent and do not limit the scope of the patent, and those skilled in the art can make modifications to the parts thereof without departing from the spirit and scope of the patent.
Claims (4)
1. A novel knee joint rehabilitation parallel structure design comprises: the device comprises an articulated mobile platform (I), a 2RPRR-2UPS parallel mechanism (II) and a rigid mobile platform (III) with a linear guide rail and a slide block. The method is characterized in that: the rigid moving platform (III) with a linear guide rail and a slide block is connected with the articulated moving platform (I) through the slide block on the guide rail, and the 2RPRR-2UPS parallel mechanism (II) is connected to the articulated moving platform (I) through a ball joint and a rotary joint.
2. The novel knee joint rehabilitation parallel structure design according to claim 1, characterized in that the articulated mobile platform (i) comprises: the plane connecting rod comprises a plane connecting rod 1 (1), a plane connecting rod 2 (2), a plane connecting rod 3 (3) and a plane connecting rod 4 (4). The plane connecting rod 1 (1) and the plane connecting rod 2 (2) are connected through threads of a ball joint on an electric cylinder 1 (5) with the ball joint to form hinge joint; the plane connecting rod 3 (3) and the plane connecting rod 4 (4) are connected through a thread of a ball joint on the electric cylinder 2 (8) with the ball joint to form hinge joint; the plane connecting rod 1 (1) and the plane connecting rod 4 (4) are connected through bolts to form a hinge joint; the plane connecting rod 2 (2) and the plane connecting rod 3 (3) are connected through bolts to form a hinge joint.
3. The novel knee joint rehabilitation parallel structure design according to claim 1, wherein the 2RPRR-2UPS parallel mechanism (II) comprises: the device comprises an electric cylinder 1 (5) with a ball joint, an electric cylinder 2 (6) with a ball joint, an electric cylinder 1 (7) with a rotary joint, an electric cylinder 2 (8) with a rotary joint, a universal joint 1 (9), a universal joint 2 (10), a rotary joint 1 (11), a rotary joint 2 (12) and a square fixing base (13). An electric cylinder 1 (5) with a ball joint is connected with a plane connecting rod 1 (1) and a plane connecting rod 2 (2) through threads at the bottom of the ball joint, and the two connecting rods are hinged; an electric cylinder 2 (6) with a ball joint is connected with a plane connecting rod 3 (3) and a plane connecting rod 4 (4) through threads at the bottom of the ball joint, and the two connecting rods are hinged; an electric cylinder 1 (7) with a rotary joint is connected with a plane connecting rod 1 (1) and a plane connecting rod 4 (4) through bolts, and the two connecting rods are hinged; an electric cylinder 2 (8) with a rotary joint is connected with a plane connecting rod 2 (2) and a plane connecting rod 3 (3) through bolts, and the two connecting rods are hinged; the universal joint 1 (9) is connected to a flange of the electric cylinder 1 (5) with a ball joint through a bolt; the universal joint 2 (10) is connected to a flange of the electric cylinder 2 (6) with a ball joint through a bolt; the rotary joint 1 (11) is connected to a flange of the electric cylinder 1 (7) with the rotary joint through a bolt; the rotary joint 2 (12) is connected to a flange of the electric cylinder 2 (8) with the rotary joint through a bolt; the universal joint 1 (9), the universal joint 2 (10), the rotary joint 1 (11), and the rotary joint 2 (12) are fixed to a square fixing base (13) by bolts.
4. The new knee joint rehabilitation parallel structure design according to claim 1, characterized in that the rigid moving platform (iii) with linear guide and slider comprises: the device comprises a rigid support plate (14) with a linear guide rail, a sliding block 1 (15), a sliding block 2 (16), a sliding block 3 (17) and a sliding block 4 (18). The sliding block 1 (15), the sliding block 2 (16), the sliding block 3 (17) and the sliding block 4 (18) are connected on the linear guide rail; the sliding block 1 (15) and the sliding block 3 (17) are respectively connected with the plane connecting rods 1 (1) and 2 (2) and the plane connecting rods 3 (3) and 4 (4) through threads at the bottom of the ball joint; the sliding block 2 (16) and the sliding block 4 (18) are respectively connected with the plane connecting rods 1 (1) and 4 (4) and the plane connecting rods 2 (2) and 3 (3) through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211238649.8A CN115569034A (en) | 2022-10-11 | 2022-10-11 | Knee joint rehabilitation parallel structure design |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211238649.8A CN115569034A (en) | 2022-10-11 | 2022-10-11 | Knee joint rehabilitation parallel structure design |
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| Publication Number | Publication Date |
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| CN115569034A true CN115569034A (en) | 2023-01-06 |
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| CN202211238649.8A Pending CN115569034A (en) | 2022-10-11 | 2022-10-11 | Knee joint rehabilitation parallel structure design |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130085531A1 (en) * | 2010-03-30 | 2013-04-04 | Enraf-Nonius B.V. | Physiotherapy apparatus |
| CN103083156A (en) * | 2013-01-21 | 2013-05-08 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN111759677A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Leg joint rehabilitation series-parallel robot |
| CN111904793A (en) * | 2020-08-13 | 2020-11-10 | 上海电气集团股份有限公司 | Lower limb rehabilitation robot based on parallel mechanism and control system |
| CN213031779U (en) * | 2020-06-30 | 2021-04-23 | 山西应用科技学院 | Novel ankle joint rehabilitation medical instrument based on parallel mechanism |
| CN115040357A (en) * | 2022-05-31 | 2022-09-13 | 燕山大学 | Ankle joint rehabilitation robot based on 3-PUU/R hybrid mechanism |
-
2022
- 2022-10-11 CN CN202211238649.8A patent/CN115569034A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130085531A1 (en) * | 2010-03-30 | 2013-04-04 | Enraf-Nonius B.V. | Physiotherapy apparatus |
| CN103083156A (en) * | 2013-01-21 | 2013-05-08 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN213031779U (en) * | 2020-06-30 | 2021-04-23 | 山西应用科技学院 | Novel ankle joint rehabilitation medical instrument based on parallel mechanism |
| CN111759677A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Leg joint rehabilitation series-parallel robot |
| CN111904793A (en) * | 2020-08-13 | 2020-11-10 | 上海电气集团股份有限公司 | Lower limb rehabilitation robot based on parallel mechanism and control system |
| CN115040357A (en) * | 2022-05-31 | 2022-09-13 | 燕山大学 | Ankle joint rehabilitation robot based on 3-PUU/R hybrid mechanism |
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