CN202168922U - Fixed exoskeleton rehabilitation training manipulator - Google Patents
Fixed exoskeleton rehabilitation training manipulator Download PDFInfo
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- CN202168922U CN202168922U CN2011201483491U CN201120148349U CN202168922U CN 202168922 U CN202168922 U CN 202168922U CN 2011201483491 U CN2011201483491 U CN 2011201483491U CN 201120148349 U CN201120148349 U CN 201120148349U CN 202168922 U CN202168922 U CN 202168922U
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Abstract
The utility model discloses a fixed exoskeleton rehabilitation training manipulator which comprises a wrist supporting seat, a thumb, a power source, an index finger, a middle finger and the like, wherein the power source is fixed on the wrist supporting seat, and the thumb, the index finger and the middle finger are respectively connected with the power source. The fixed exoskeleton rehabilitation training manipulator is small in volume, smart, intelligentized and good in operation performance. The manipulator obtains power in the way that a motor drives screw rod nuts, and is simple in structure and easy to realize; an exoskeleton at a hand part bears weight by a supporting part, so that burden on a patient can not be realized; and the fixed exoskeleton rehabilitation training manipulator provides motion of a plurality of freedom degrees, thus being capable of completing more and smarter rehabilitation training actions.
Description
Technical field
This utility model relates to a kind of human motion auxiliary device, relates in particular to a kind of fixed exoskeleton rehabilitation training mechanical hand and method for using thereof.
Background technology
For hand disease patient, comprise unexpected injury, apoplexy etc., the rehabilitation training treatment of science has very important meaning for recovering dexterity to greatest extent.At present, mainly carry out rehabilitation through specialist, such therapeutic modality too relies on doctor's experience, and for patient's individual difference problem, lacks accordingly to measure, and therapeutic effect is greatly limited.
Ectoskeleton is that a kind of can providing carried out configuration to biological soft inside organ, the hard external structure of building and protection.Generally be to call ectoskeleton to shrimp, Eriocheir sinensis, the tough and tensile chitinous skeleton of insecticide constant pitch main drive object table, it has protection and support effect.The machinery ectoskeleton is exactly a kind of brand new technical that obtains thinking from biological ectoskeleton, and it just is suggested as far back as last century as a kind of mode of function of human body being strengthened through machinery, is attempted applying to military field at first; Simultaneously, machinery is ectoskeletal complementaryly also provides new way to rehabilitation and disaster assistance with the property strengthened.
Adopting the exoskeleton rehabilitation training method to compare advantage with existing method is: one, the patient relies on doctor's empirical treatment no longer merely, can quantize training; Two, through setting up database, can carry out differentiated quantification treatment to different patients' individual difference; Three, can realize teletherapy through the network connection data storehouse; Four, the doctor can carry out quantitative analysis to disease according to the data base, helps the rehabilitation training of the system that sets up theoretical.
Existing hand rehabilitation is mainly carried out rehabilitation training through specialist, and such therapeutic modality has three shortcomings: the experience that, too relies on the doctor; Two, the doctor of grasp method seldom; Three, for patient's individual difference problem, lack the corresponding measure that is directed against, therapeutic effect is greatly limited.Sophisticated exoskeleton rehabilitation training devices or method do not appear as yet in the existing simultaneously known technology.
The utility model content
The purpose of this utility model is the deficiency to prior art, and a kind of fixed exoskeleton rehabilitation training mechanical hand is provided, and this utility model volume is little, dexterous, intelligent, good operation performance.
The purpose of this utility model realizes through following technical scheme: a kind of fixed finger rehabilitation exercise device, and it comprises wrist bearing, thumb, power source, forefinger and middle finger etc.; Wherein, power source is fixed on the wrist bearing, and thumb, forefinger and middle finger link to each other with power source respectively.
Further, said power source comprise palm, clutch shaft bearing connector, step, top chock, go up drive lead screw, the nut guide plate, go up transmission nut, underdrive nut, underdrive screw mandrel, down motor cabinet, second bearing connection, go up motor cabinet, go up drive motors and following drive motors etc.; Forefinger or middle finger include connecting rod, tobacco pipe hinge lower link, tobacco pipe hinge frame and MP joint knee etc. on far-end dactylus ectoskeleton, DIP joint knee, middle-end dactylus ectoskeleton, distal joint three hinge-rods, three hinge-rods, left knee, PIP joint knee, tobacco pipe hinge tobacco pipe, the tobacco pipe hinge; Thumb 2 comprises thumb far-end dactylus, thumb MP joint knee, thumb frame, thumb bearing block, thumb drive lead screw, thumb transmission nut, thumb motor cabinet, the first thumb connector, the second thumb connector and thumb drives motor; The wrist bearing comprises frame, wrist fixture, wrist outer shroud, palm connector, wrist internal ring and forearm pad etc.; The parts power source is fixed on the palm connector of parts wrist bearing through palm; The parts forefinger is fixed on the palm through tobacco pipe hinge frame, and forefinger MP joint knee is hinged with corresponding underdrive nut, and PIP joint knee is hinged with corresponding last transmission nut; The parts middle finger is identical with the parts forefinger with other parts connected mode, and the parts thumb is fixed on the palm through the first thumb connector.
Further;, said power source parts have top chock, support through deep groove ball bearing and go up drive lead screw; Be with transmission nut on the last drive lead screw; Nut guide plate and last transmission nut are joined and are merged into its guiding, and last motor cabinet supports through deep groove ball bearing and goes up drive lead screw, and last drive lead screw is through last motor cabinet and the connection of last drive motors; Step; Support the underdrive screw mandrel through deep groove ball bearing, be with the underdrive nut on the underdrive screw mandrel, nut guide plate and underdrive nut are joined and are merged into its guiding; Following motor cabinet supports the underdrive screw mandrel through deep groove ball bearing, and the underdrive screw mandrel is through motor cabinet and following drive motors connect down; Clutch shaft bearing connector while and top chock and step are threaded, and second bearing connection while and last motor cabinet are threaded with following motor cabinet; Step is fixed on the palm with following motor cabinet.
Further; Said forefinger or middle finger have MP joint knee one end and underdrive nut hinged, and the MP joint knee other end and left knee ectoskeleton are hinged, are fixed with tobacco pipe hinge tobacco pipe on the left knee ectoskeleton; Tobacco pipe hinge tobacco pipe one end and tobacco pipe hinge lower link are hinged; Rod hinge connection on the tobacco pipe hinge tobacco pipe other end and the tobacco pipe hinge, tobacco pipe hinge frame is fixed on the palm, and hinged respectively at connecting rod on the tobacco pipe hinge and tobacco pipe hinge lower link; PIP joint knee one end and last transmission nut are hinged; The other end and near-end joint three hinge-rods are hinged; The top and distal joint three hinge-rods of near-end joint three hinge-rods are hinged, and bottom and left knee ectoskeleton are hinged, and the left knee ectoskeleton is hinged with middle-end dactylus ectoskeleton; Ectoskeletal top of middle-end dactylus and distal joint three hinge-rods are hinged; Bottom and far-end dactylus ectoskeleton are hinged, and far-end dactylus ectoskeleton is hinged with DIP joint knee, and the DIP joint knee other end and far-end dactylus three hinge-rods are hinged.
Further, said thumb far-end dactylus and thumb frame are hinged, and be also hinged with thumb MP joint knee simultaneously; The thumb MP joint knee other end and thumb transmission nut are hinged; The thumb transmission nut is enclosed within on the thumb drive lead screw, and thumb drive lead screw one end is supported through deep groove ball bearing by the thumb bearing block, and the other end is supported through deep groove ball bearing by the thumb motor cabinet; The thumb drive lead screw connects through thumb motor cabinet and thumb drives motor; The thumb frame is threaded with the second thumb connector, and the second thumb connector is threaded with the first thumb connector, and the first thumb connector is fixed on the palm.
Further; Said parts wrist bearing has the wrist internal ring, fixes through palm connector and palm, and the wrist internal ring cooperates through needle bearing and wrist outer shroud; The wrist outer shroud is placed on the frame; And fix with the wrist fixture, the wrist fixture is threaded on the frame, and the forearm pad is by being threaded on the frame.
Compared with prior art, the technique effect below this utility model has been obtained:
1, gain impetus through the motor-driven feed screw nut, simple in structure, and be easy to realize.
2, the hand ectoskeleton is born weight through support section, can not constitute burden to the patient.
3, the motion of a plurality of degree of freedom is provided, can have accomplished more dexterousr rehabilitation training actions.
Description of drawings
Fig. 1 is the overall structure sketch map of this utility model;
Fig. 2 is the structural representation of parts power source in this utility model;
Fig. 3 is the parts forefinger of this utility model or the structural representation of middle finger;
Fig. 4 is the structural representation of the parts thumb of this utility model;
Fig. 5 is the structural representation of the parts wrist bearing of this utility model;
Among the figure, wrist bearing 1, thumb 2, power source 3, forefinger 4, middle finger 5, palm 6, clutch shaft bearing connector 7, step 8, top chock 9, go up drive lead screw 10, nut guide plate 11, go up transmission nut 12, underdrive nut 13, underdrive screw mandrel 14, down motor cabinet 15, second bearing connection 16, go up motor cabinet 17, go up drive motors 18, go up drive motors 19, connecting rod 28 on far-end dactylus ectoskeleton 20, DIP joint knee 21, middle-end dactylus ectoskeleton 22, distal joint three hinge-rods 23, three hinge-rods 24, left knee 25, PIP joint knee 26, tobacco pipe hinge tobacco pipe 27, tobacco pipe hinge, tobacco pipe hinge lower link 29, tobacco pipe hinge frame 30, MP joint knee 31, thumb far-end dactylus 32, thumb MP joint knee 33, thumb frame 34, thumb bearing block 35, thumb drive lead screw 36, thumb transmission nut 37, thumb motor cabinet 38, the first thumb connector 39, the second thumb connector 40, thumb drives motor 41, frame 42, wrist fixture 43, wrist outer shroud 44, palm connector 45, wrist internal ring 46, forearm pad 47.
The specific embodiment
Further specify the embodiment of this utility model below in conjunction with accompanying drawing, it is more obvious that purpose of this utility model and effect will become.
As shown in the figure, the fixed finger rehabilitation exercise device of this utility model comprises wrist bearing 1, thumb 2, power source 3, forefinger 4 and middle finger 5; Wherein, power source 3 is fixed on the wrist bearing 1, and thumb 2, forefinger 4 and middle finger 5 link to each other with power source 3 respectively.
Power source 3 comprises palm 6, clutch shaft bearing connector 7, step 8, top chock 9, goes up drive lead screw 10, nut guide plate 11, go up transmission nut 12, underdrive nut 13, underdrive screw mandrel 14, down motor cabinet 15, second bearing connection 16, go up motor cabinet 17, go up drive motors 18 and following drive motors 19; Forefinger 4 or middle finger 5 include connecting rod 28, tobacco pipe hinge lower link 29, tobacco pipe hinge frame 30 and MP joint knee 31 on far-end dactylus ectoskeleton 20, DIP joint knee 21, middle-end dactylus ectoskeleton 22, distal joint three hinge-rods 23, three hinge-rods 24, left knee 25, PIP joint knee 26, tobacco pipe hinge tobacco pipe 27, the tobacco pipe hinge; Thumb 2 comprises thumb far-end dactylus 32, thumb MP joint knee 33, thumb frame 34, thumb bearing block 35, thumb drive lead screw 36, thumb transmission nut 37, thumb motor cabinet 38, the first thumb connector 39, the second thumb connector 40 and thumb drives motor 41; Wrist bearing 1 comprises frame 42, wrist fixture 43, wrist outer shroud 44, palm connector 45, wrist internal ring 46, forearm pad 47.
Annexation is following between the each several part:
Parts power source 3 is fixed on the palm connector 45 of parts wrist bearing 1 through palm 6; Parts forefinger 4 is fixed on the palm 6 through tobacco pipe hinge frame 30, and forefinger MP joint knee 31 is hinged with corresponding underdrive nut 13, and PIP joint knee 26 is with corresponding to go up transmission nut 12 hinged; Parts middle finger 5 is identical with parts forefinger 4 with other parts connected mode, and parts thumb 2 is fixed on the palm 6 through the first thumb connector 42.
Referring to Fig. 2; Described power source parts have top chock 9; Support to go up drive lead screw 10 through deep groove ball bearing, be with transmission nut 12 on the last drive lead screw 10, nut guide plate 11 and last transmission nut 10 are joined and are merged into its guiding; Last motor cabinet 17 supports through deep groove ball bearing and goes up drive lead screw 10, and last drive lead screw 10 connects through last motor cabinet 17 and last drive motors 18; Step 8; Support underdrive screw mandrel 14 through deep groove ball bearing; Be with underdrive nut 13 on the underdrive screw mandrel 10; Nut guide plate 11 is joined with underdrive nut 13 and is merged into its guiding, and following motor cabinet 15 supports underdrive screw mandrel 14 through deep groove ball bearing, and underdrive screw mandrel 14 is through motor cabinet 15 and following drive motors 19 connections down; 7 whiles of clutch shaft bearing connector and top chock 9 are threaded with step 8, and 16 whiles of second bearing connection and last motor cabinet 17 are threaded with following motor cabinet 15; Step 8 is fixed on the palm 6 with following motor cabinet 15.A power source partly comprises two above-mentioned parts, corresponds respectively to forefinger ectoskeleton and middle finger ectoskeleton.
Referring to Fig. 3; Said forefinger or middle finger have MP joint knee 24 1 ends and underdrive nut 13 hinged; MP joint knee 24 other ends and left knee ectoskeleton 25 are hinged; Be fixed with tobacco pipe hinge tobacco pipe 27 on the left knee ectoskeleton 25, tobacco pipe hinge tobacco pipe 27 1 ends and tobacco pipe hinge lower link 29 are hinged, and connecting rod 28 is hinged on tobacco pipe hinge tobacco pipe 27 other ends and the tobacco pipe hinge; Tobacco pipe hinge frame 30 is fixed on the palm 6, and hinged respectively at connecting rod on the tobacco pipe hinge 28 and tobacco pipe hinge lower link 29; PIP joint knee 26 1 ends and last transmission nut 12 are hinged; The other end and near-end joint three hinge-rods 24 are hinged; The top of near-end joint three hinge-rods 24 and distal joint three hinge-rods 23 are hinged, and bottom and left knee ectoskeleton 25 are hinged, and left knee ectoskeleton 25 is hinged with middle-end dactylus ectoskeleton 22; The top of middle-end dactylus ectoskeleton 22 and distal joint three hinge-rods 23 are hinged; Bottom and far-end dactylus ectoskeleton 20 are hinged, and far-end dactylus ectoskeleton 20 is hinged with DIP joint knee 21, and DIP joint knee 21 other ends and far-end dactylus three hinge-rods 23 are hinged.
Participate in Fig. 4, thumb far-end dactylus 32 is hinged, also hinged with thumb MP joint knee 33 simultaneously with thumb frame 34; Thumb MP joint knee 33 other ends and thumb transmission nut 37 are hinged; Thumb transmission nut 37 is enclosed within on the thumb drive lead screw 36, and thumb drive lead screw 36 1 ends are supported through deep groove ball bearing by thumb bearing block 35, and the other end is supported through deep groove ball bearing by thumb motor cabinet 38; Thumb drive lead screw 36 connects through thumb motor cabinet 38 and thumb drives motor 41; Thumb frame 34 is threaded with the second thumb connector 40, and the second thumb connector 40 is threaded with the first thumb connector 39, and the first thumb connector 39 is fixed on the palm 6.
Referring to Fig. 5; Said parts wrist bearing 1 has wrist internal ring 46, and is fixing with palm 6 through palm connector 45, and wrist internal ring 46 cooperates through needle bearing and wrist outer shroud 44; Wrist outer shroud 44 is placed on the frame 42; And fixing with wrist fixture 43, wrist fixture 43 is threaded on the frame 42, and forearm pad 49 is by being threaded on the frame 42.
The work process of this utility model is following:
Patient's hands passes from wrist internal ring 46, and forearm is placed on the forearm pad 47, and has dressed the hand ectoskeleton.When exoskeleton manipulator was done grasp motion, last drive motors 18 and following drive motors 19 rotated, and drove respectively to go up drive lead screw 10 and 14 rotations of underdrive screw mandrel, made that going up transmission nut 12 does rectilinear motion with underdrive nut 13.With the forefinger is example, and underdrive nut 13 moves forward, and promotes 31 motions of MP joint knee, promotes left knee ectoskeleton 25 indirectly and rotates, and promptly drives patient's left knee flexing.Last transmission nut 12 moves forward; Promote 26 motions of PIP joint knee, near-end joint three hinge-rods 24 are rotated, promote distal joint three hinge-rods 23 simultaneously and rotate; Also make middle-end dactylus ectoskeleton 22 rotate, promptly drive patient's middle-end dactylus flexing around left knee ectoskeleton 18; Distal joint three hinge-rods 23 also make DIP joint knee 21 travel forward when rotating, and rotate thereby promote far-end dactylus ectoskeleton 20, promptly drive patient's far-end dactylus flexing.The motor backward rotation then realizes the stretching that each is pointed.
The different motor rotating speed, corresponding different dactylus velocities of rotation, different motor torque, the corresponding different power of bending and stretching.
The protection domain of this utility model is not limited to the foregoing description, and obviously, those skilled in the art can carry out various changes and distortion and not break away from the scope and the spirit of this utility model this utility model.If these changes and distortion belong in the scope of this utility model claim and equivalent technologies thereof, then this utility model also is intended to comprise these changes and is out of shape interior.
In this utility model; Power is provided by the motor of the back of the hand and thumb back; Through the feed screw nut transmission rotation of motor is converted into the rectilinear motion of nut,, finally realizes rehabilitation training changing it into each dactylus ectoskeletal flexing stretching via many link motions transmission system.
Claims (6)
1. a fixed exoskeleton rehabilitation training mechanical hand is characterized in that it comprises wrist bearing (1), thumb (2), power source (3), forefinger (4) and middle finger (5); Wherein, power source (3) is fixed on the wrist bearing (1), and thumb (2), forefinger (4) and middle finger (5) link to each other with power source (3) respectively.
2. according to the said fixed exoskeleton rehabilitation training mechanical hand of claim 1; It is characterized in that, said power source (3) comprises palm (6), clutch shaft bearing connector (7), step (8), top chock (9), goes up drive lead screw (10), nut guide plate (11), go up transmission nut (12), underdrive nut (13), underdrive screw mandrel (14), down motor cabinet (15), second bearing connection (16), go up motor cabinet (17), go up drive motors (18) and following drive motors (19) etc.; Forefinger (4) or middle finger (5) include connecting rod (28), tobacco pipe hinge lower link (29), tobacco pipe hinge frame (30) and MP joint knee (31) etc. on far-end dactylus ectoskeleton (20), DIP joint knee (21), middle-end dactylus ectoskeleton (22), distal joint three hinge-rods (23), three hinge-rods (24), left knee (25), PIP joint knee (26), tobacco pipe hinge tobacco pipe (27), the tobacco pipe hinge; Thumb (2) comprises thumb far-end dactylus (32), thumb MP joint knee (33), thumb frame (34), thumb bearing block (35), thumb drive lead screw (36), thumb transmission nut (37), thumb motor cabinet (38), the first thumb connector (39), the second thumb connector (40) and thumb drives motor (41); Wrist bearing (1) comprises frame (42), wrist fixture (43), wrist outer shroud (44), palm connector (45), wrist internal ring (46) and forearm pad (47) etc.; Power source (3) is fixed on the palm connector (45) of wrist bearing (1) through palm (6); Forefinger (4) is fixed on the palm (6) through tobacco pipe hinge frame (30), and forefinger MP joint knee (31) is hinged with corresponding underdrive nut (13), and PIP joint knee (26) is hinged with corresponding last transmission nut (12); Middle finger (5) is identical with forefinger (4) with other parts connected mode, and thumb (2) is fixed on the palm (6) through the first thumb connector (42).
3. according to the said fixed exoskeleton rehabilitation training mechanical hand of claim 1; It is characterized in that; The top chock (9) of said power source (3); Support to go up drive lead screw (10) through deep groove ball bearing, be with transmission nut (12) on the last drive lead screw (10), nut guide plate (11) and last transmission nut (10) are joined and are merged into its guiding; Last motor cabinet (17) supports through deep groove ball bearing and goes up drive lead screw (10), and last drive lead screw (10) connects through last motor cabinet (17) and last drive motors (18); Step (8); Support underdrive screw mandrel (14) through deep groove ball bearing; Be with underdrive nut (13) on the underdrive screw mandrel (10); Nut guide plate (11) and underdrive nut (13) are joined and are merged into its guiding, and following motor cabinet (15) supports underdrive screw mandrel (14) through deep groove ball bearing, and underdrive screw mandrel (14) is through motor cabinet (15) and following drive motors (19) connection down; Clutch shaft bearing connector (7) while and top chock (9) and step (8) are threaded, and second bearing connection (16) while and last motor cabinet (17) and following motor cabinet (15) are threaded; Step (8) and following motor cabinet (15) are fixed on the palm (6).
4. according to the said fixed exoskeleton rehabilitation training mechanical hand of claim 1; It is characterized in that; MP joint knee (24) one ends and the underdrive nut (13) of said forefinger (4) or middle finger (5) are hinged; MP joint knee (24) other end and left knee ectoskeleton (25) are hinged; Be fixed with tobacco pipe hinge tobacco pipe (27) on the left knee ectoskeleton (25), tobacco pipe hinge tobacco pipe (27) one ends and tobacco pipe hinge lower link (29) are hinged, and connecting rod (28) is hinged on tobacco pipe hinge tobacco pipe (27) other end and the tobacco pipe hinge; Tobacco pipe hinge frame (30) is fixed on the palm (6), and hinged respectively at connecting rod (28) on the tobacco pipe hinge and tobacco pipe hinge lower link (29); PIP joint knee (26) one ends and last transmission nut (12) are hinged; The other end and near-end joint three hinge-rods (24) are hinged; The top of near-end joint three hinge-rods (24) and distal joint three hinge-rods (23) are hinged, and bottom and left knee ectoskeleton (25) are hinged, and left knee ectoskeleton (25) is hinged with middle-end dactylus ectoskeleton (22); The top of middle-end dactylus ectoskeleton (22) and distal joint three hinge-rods (23) are hinged; Bottom and far-end dactylus ectoskeleton (20) are hinged, and far-end dactylus ectoskeleton (20) is hinged with DIP joint knee (21), and DIP joint knee (21) other end and far-end dactylus three hinge-rods (23) are hinged.
5. according to the said fixed exoskeleton rehabilitation training mechanical hand of claim 1; It is characterized in that; Said thumb far-end dactylus (32) is hinged with thumb frame (34); Also hinged with thumb MP joint knee (33) simultaneously, thumb MP joint knee (33) other end and thumb transmission nut (37) are hinged, and thumb transmission nut (37) is enclosed within on the thumb drive lead screw (36); Thumb drive lead screw (36) one ends are supported through deep groove ball bearing by thumb bearing block (35); The other end is supported through deep groove ball bearing by thumb motor cabinet (38), and thumb drive lead screw (36) connects through thumb motor cabinet (38) and thumb drives motor (41), and thumb frame (34) is threaded with the second thumb connector (40); The second thumb connector (40) is threaded with the first thumb connector (39), and the first thumb connector (39) is fixed on the palm (6).
6. according to the said fixed exoskeleton rehabilitation training mechanical hand of claim 1; It is characterized in that; Said wrist bearing (1) has wrist internal ring (46), and is fixing through palm connector (45) and palm (6), and wrist internal ring (46) cooperates through needle bearing and wrist outer shroud (44); Wrist outer shroud (44) is placed on the frame (42); And fixing with wrist fixture (43), wrist fixture (43) is threaded on the frame (42), and forearm pad (49) is by being threaded on the frame (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201483491U CN202168922U (en) | 2011-05-11 | 2011-05-11 | Fixed exoskeleton rehabilitation training manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201483491U CN202168922U (en) | 2011-05-11 | 2011-05-11 | Fixed exoskeleton rehabilitation training manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN202168922U true CN202168922U (en) | 2012-03-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201483491U Expired - Fee Related CN202168922U (en) | 2011-05-11 | 2011-05-11 | Fixed exoskeleton rehabilitation training manipulator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103251493A (en) * | 2013-04-19 | 2013-08-21 | 燕山大学 | Elbow wrist rehabilitation robot connected in series and parallel |
| CN103750977A (en) * | 2014-01-03 | 2014-04-30 | 哈尔滨工业大学 | Exoskeleton-type hand function rehabilitation robot |
| CN105496725A (en) * | 2015-12-09 | 2016-04-20 | 东南大学 | Three-degree-of-freedom thumb rehabilitation training mechanism |
| CN108030635A (en) * | 2017-11-08 | 2018-05-15 | 上海交通大学 | Finger strength restorer |
| CN110103611A (en) * | 2019-04-15 | 2019-08-09 | 河海大学常州校区 | A kind of holding device assisting myasthenia gravis patients |
| CN110665192A (en) * | 2019-10-16 | 2020-01-10 | 哈尔滨理工大学 | Recovered type ectoskeleton gloves robot |
| CN113908014A (en) * | 2021-11-02 | 2022-01-11 | 复旦大学 | Hand function rehabilitation robot |
-
2011
- 2011-05-11 CN CN2011201483491U patent/CN202168922U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103251493A (en) * | 2013-04-19 | 2013-08-21 | 燕山大学 | Elbow wrist rehabilitation robot connected in series and parallel |
| CN103750977A (en) * | 2014-01-03 | 2014-04-30 | 哈尔滨工业大学 | Exoskeleton-type hand function rehabilitation robot |
| CN105496725A (en) * | 2015-12-09 | 2016-04-20 | 东南大学 | Three-degree-of-freedom thumb rehabilitation training mechanism |
| CN108030635A (en) * | 2017-11-08 | 2018-05-15 | 上海交通大学 | Finger strength restorer |
| CN108030635B (en) * | 2017-11-08 | 2020-02-21 | 上海交通大学 | Finger strength restorer |
| CN110103611A (en) * | 2019-04-15 | 2019-08-09 | 河海大学常州校区 | A kind of holding device assisting myasthenia gravis patients |
| CN110665192A (en) * | 2019-10-16 | 2020-01-10 | 哈尔滨理工大学 | Recovered type ectoskeleton gloves robot |
| CN113908014A (en) * | 2021-11-02 | 2022-01-11 | 复旦大学 | Hand function rehabilitation robot |
| CN113908014B (en) * | 2021-11-02 | 2024-02-20 | 复旦大学 | Hand function rehabilitation robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120321 Termination date: 20130511 |