CN202982558U - Upper limb rehabilitation training robot - Google Patents
Upper limb rehabilitation training robot Download PDFInfo
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- CN202982558U CN202982558U CN 201220670246 CN201220670246U CN202982558U CN 202982558 U CN202982558 U CN 202982558U CN 201220670246 CN201220670246 CN 201220670246 CN 201220670246 U CN201220670246 U CN 201220670246U CN 202982558 U CN202982558 U CN 202982558U
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Abstract
The utility model relates to medical rehabilitation training equipment. An upper limb rehabilitation training robot solves the problem that the current equipment has a complex structure, and the hand joint motion is not complete. The upper limb rehabilitation training robot comprises a base (1), a support frame (3), a seat (2), a cantilever beam (4) and an upper limb training mechanism, wherein the upper limb training mechanism comprises a shoulder joint outreaching and restraining mechanism, an arm bending and stretching mechanism, a shoulder joint turning inward/outward mechanism, a forearm pronation-supination mechanism, an elbow joint stretching mechanism and a hand stretching mechanism; the shoulder joint turning inward/outward mechanism is fixedly connected with pivoted levers (17) and (18); the forearm pronation-supination mechanism is the same as the shoulder joint turning inward/outward mechanism; the elbow joint stretching mechanism is fixedly connected with the shoulder joint turning inward/outward mechanism and the forearm pronation-supination mechanism through two rotating blocks (32) and (41); and the hand stretching mechanism is fixedly connected with the shoulder joint turning inward/outward mechanism through sliding levers (44) and (45). The upper limb rehabilitation training robot has the advantages of simple operation and complete joint motion.
Description
Technical field
This utility model relates to a kind of medical rehabilitation exercising device, relates in particular to a kind of upper-limbs rehabilitation training robot.
Background technology
Occur the nerve system injury patients such as a large amount of cerebral palsy on present society, theory of medicine proves that this type of patient must carry out the limbs training of some strength, in order to prevent muscle generation atrophy, causes the function permanent loss of some muscle.This type of patient can not the complete independently limbs exercise recovery, must have medical personnel to implement, so not only expend a large amount of manpowers, and medical personnel's ability had very test.Therefore various recovery exercising robots occurred, but recovery exercising robot in the past is just slight motion to the simple exercise recovery in certain joint or joint, and needs patient oneself to come operational movement.The patent No. is that the patent of ZL201020252886 discloses " a kind of upper-limbs rehabilitation training robot ", its elbow joint bend and stretch inward turning and outward turning complicated structure with the upper limb forearm, provide power by bar linkage structure for it, make transmission control convenient not, and hand structure is complicated, also be provided with the lever regulated inconvenience of cam disc, and hand joint is comprehensively unmovable.
The utility model content
The purpose of this utility model is: for the deficiencies in the prior art, propose upper-limbs rehabilitation training robot, overcome the existing equipment complex structure, driving force is regulated inconvenience, the movable incomplete shortcoming of hand structure complexity and hand joint.
The technical solution adopted in the utility model:
a kind of upper-limbs rehabilitation training robot, comprise base, bracing frame, seat, cantilever beam and upper limb training institution, described bracing frame is provided with height adjustment mechanism, be provided with the chute that coordinates with cantilever beam in the bracing frame cross bar, cantilever beam and chute are dismountable being slidably connected, described upper limb training institution comprises the mechanism of bending and stretching of the containing mechanism of shoulder abduction and arm, motor reducer one is by bearing block one, bearing and bearing cap and revoliving arm are connected and fixed, revoliving arm is fixed by connecting axle and fork-shaped base, the revoliving arm stiff end respectively is provided with mechanical position limitation and electric limiting, motor reducer two is fixed on the fork-shaped base other end by bearing and bearing block two, be provided with gyroaxis and motor shaft in the fork-shaped base and pass gyroaxis and fixing, gyroaxis is fixed with two pivoted levers, pivoted lever the other end is fixed with fixing head, be provided with mechanical position limitation and electric limiting in bearing block two, the inward turning outward turning mechanism that also comprises the shoulder joint that is connected and fixed with pivoted lever, the forearm identical with the inward turning outward turning mechanism of shoulder joint revolves front supination mechanism, the extension means of the extension means that the inward turning outward turning mechanism by two pairs of spill spin blocks and shoulder joint and forearm revolve the elbow joint that front supination mechanism is fixedly connected with and the hand that is fixedly connected with by slide bar with the inward turning outward turning mechanism of shoulder joint.
The inward turning outward turning mechanism of described shoulder joint comprises that the fixing head end of pivoted lever is provided with two baffle plates that are fixedly connected with, baffle plate and be provided with through hole with pivoted lever and coupling, motor reducer three and encoder one are fixed by bearing cap and copper sheathing and baffle plate, motor shaft is fixed with a belt pulley, the belt pulley other end is fixed with copper sheathing, belt pulley is provided with belt, belt two ends and semicircle slip ring are fixed, the slip ring both sides are provided with chute, be provided with the pulley that is connected with baffle plate in chute, be provided with the binder fixing with the human body upper arm in slip ring.
Described baffle plate is provided with upper sealing plate and the lower shrouding of coupling, respectively be provided with the projection one that two straight lines and circular arc consist of in upper sealing plate and lower shrouding, be fixed in baffle plate with making shrouding coordinating of rib by projection one, baffle plate and fixing head are provided with the screw of adjusting the screw rod coupling, and screw rod one end passes fixing head and is fixedly connected with handwheel.
Described motor side baffle plate inboard be provided with boss with screw be connected with being fixed of bolt two baffle plates and with the projection two of belt pulley idle pulley coupling, the belt pulley idle pulley is fixing with projection two by circlip.
The inward turning outward turning mechanism that described forearm revolves front supination structure and shoulder joint is identical, and different is not to be provided with the binder fixing with the human body upper arm in slip ring, baffle plate and slide bar be fixedly connected with.
Described elbow joint also contains and bends and stretches mechanism, and this bends and stretches mechanism and comprises two pairs of spill spin blocks that are fixedly connected with slip ring and respectively coordinate by copper sheathing, and motor reducer four and encoder two are fixed with any a pair of spill spin block, and motor shaft coordinates with the spill spin block of fixation side.
described hand extension means comprises the screw rod that coordinates with motor reducer five axles, described screw rod and motor reducer five abutting ends are fixed on motor fixing plate one side that is provided with through hole by bearing one and bearing holder (housing, cover), screw rod the other end is by being fixed in fixing head with bearing two, motor fixing plate is fixedly connected with hand supports, be provided with position-limited rack between fixing head and motor fixing plate plate, position-limited rack one side is provided with penetrating keyway, have the groove with drive nut projection coupling on position-limited rack inside, hand supports is double-four link mechanism, hand supports one side and motor fixing plate are fixed, opposite side connects by finger pole, being provided with driving shaft in hand supports is connected with drive nut by push rod.
Described motor fixing plate plate one end is provided with half-arc groove, the other end is provided with the side plate fixing with robot, side plate be provided with the slide bar block fixing screw, the slide bar block is provided with T-slot and is fixed motor fixing plate with fixture, motor fixing plate half-arc groove end is fixed with the annular arm holder, is fixedly connected with the binder of wrist coupling in the annular arm holder.
Described hand supports is provided with hand fixed bar, hand fixing plate and stop screw, and the hand fixed bar is connected with the hand binder.
Described quadric chain is that the fixed dam hinge links consists of, and the junction of fixed dam and hand fixed bar, hand fixing plate is provided with regulating tank.
Useful good effect of the present utility model:
The robot motor special is adopted in the stretching, extension that the inward turning outward turning of shoulder joint of the present utility model, forearm revolve front supination and elbow joint, and oscillation intensity is little, and noise is little, and is provided with the encoder of regulating electric machine, makes motor be more prone to operation, shoulder and shoulder joint; Shoulder joint and shoulder joint have been realized comprehensive exercise recovery, and simple to operate, and supply voltage is that the human safety voltage is not dangerous; Hand is made of double-four link mechanism, four joints that meet human hands, and be provided with the binder of fixed finger and wrist, employing robot motor special vibrates, noise is little, but the moment that is to provide is large, encoder is the rotation of regulating electric machine effectively, utilizes the bolt and nut stable drive, and stop screw and regulating tank have been controlled the range of activity of hand joint effectively.
Description of drawings
Fig. 1 is a kind of structural representation of upper-limbs rehabilitation training robot;
Fig. 2 is the structural representation that the bracing frame cross bar coordinates with cantilever beam;
Fig. 3 is the structural representation that bends and stretches mechanism of the containing mechanism of shoulder abduction and arm;
Fig. 4 is the structural representation of the inward turning outward turning mechanism of shoulder joint;
Fig. 5 is the structural representation that bends and stretches mechanism of elbow joint;
Fig. 6 is the structural representation of pulley;
Fig. 7 is the hand structure schematic diagram;
Fig. 8 is the cutaway view that screw rod coordinates.
The specific embodiment
referring to Fig. 1～8,1. base, 2. seat, 3. bracing frame cross bar, 4. cantilever beam, 5. bracing frame, 6. chute, 7. hands is taken turns, 8. motor reducer one, 9. bearing cap, 10. bearing block one, 11. convolution arm, 12. connecting axle, 13. fork-shaped base, 14. gyroaxis, 15. bearing block two, 16. motor reducer two, 17. pivoted lever, 18. pivoted lever, 19. upper sealing plate, 20. adjustment screw rod, 21. belt pulley, 22. fixing head, 23. hands wheel, 24. boss, 25. projection one, 26. projection two, 27. semicircle slip ring, 28. binder, 29. belt pulley idle pulley, 30. motor reducer three, 31. encoder one, 32. rotation is fast, 33. baffle plate, 34. encoder two, 35. baffle plate, 36. belt .37, lower shrouding, 38. rib, 39. encoder, 40. motor reducer, 41. slide block, 42. motor reducer four, 43, pulley, 44. slide bar, 45. slide bar, 46. motor reducer five, 47. encoder four, 48. motor fixing plate, 49. hand supports, 50. annular arm holder, 51. push rod, 52. driving shaft, 53. hand binder, 54. hand fixed bar, 55. stop screw, 56. hand fixing plate, 57. finger pole, 58. bearing one, 59. bearing holder (housing, cover), 60. position-limited rack, 61. drive nut, 62. screw rod, 63. fixing head, 64. bearing two, 65. regulating tank, 66. binder, 67. hinge, 68. slide bar block, 69. handwheel.
Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is elaborated.
participate in Fig. 1～Fig. 8, a kind of upper-limbs rehabilitation training robot, comprise base (1), bracing frame (3), seat (2), cantilever beam (4) and upper limb training institution, described bracing frame is provided with height adjustment mechanism, be provided with the chute (6) that coordinates with cantilever beam (4) in bracing frame cross bar (5), cantilever beam (4) is dismountable being slidably connected with chute (6), described upper limb training institution comprises the mechanism of bending and stretching of the containing mechanism of shoulder abduction and arm, motor reducer one (8) is by bearing block one (10), bearing and bearing cap (9) are connected and fixed with revoliving arm (11), revoliving arm (11) is fixing by connecting axle (12) and fork-shaped base (13), revoliving arm (11) stiff end respectively is provided with mechanical position limitation and electric limiting, mechanical position limitation is that slide block is spacing, electric limiting is Hall element, spacing identical with in the past, motor reducer two (16) is fixed on fork-shaped base (13) other end by bearing and bearing block two (15), be provided with gyroaxis (14) and motor shaft in fork-shaped base (13) and pass gyroaxis (14) and fixing, gyroaxis (14) is fixed with two pivoted levers (17) and (18), pivoted lever (17) and (18) the other end are fixed with fixing head (22), be provided with mechanical position limitation and electric limiting in bearing block two (15), upper limb training institution also comprises the inward turning outward turning mechanism of the shoulder joint that is connected and fixed with pivoted lever (17) and (18), the forearm identical with the inward turning outward turning mechanism of shoulder joint revolves front supination mechanism, inward turning outward turning mechanism by two pairs of spill spin blocks (32) and (41) and shoulder joint and forearm revolve the extension means of the elbow joint that front supination mechanism is fixedly connected with, and the extension means of the hand that is fixedly connected with (45) by slide bar (44) with the inward turning outward turning mechanism of shoulder joint.the inward turning outward turning mechanism of described shoulder joint comprises that fixing head (22) end of pivoted lever (17) and (18) is provided with two baffle plates that are fixedly connected with (33) and (35), in order to facilitate fixed dam (33) and (35), baffle plate (33) and (35) are provided with the through hole with pivoted lever (17) and (18) coupling, baffle plate (33) and (35) are provided with upper sealing plate (19) and the lower shrouding (37) of coupling, respectively be provided with the projection one (25) that two straight lines and circular arc consist of in upper sealing plate (19) and lower shrouding (37), with coordinating of rib (38), shrouding is fixed in baffle plate by projection one (25), baffle plate and fixing head (22) are provided with the screw of adjusting screw rod (20) coupling, screw rod one end passes fixing head (22) and is fixedly connected with handwheel (23).Motor reducer three (30) and encoder one (31) are fixing by bearing cap and copper sheathing and baffle plate (33), motor shaft is fixed with a belt pulley (21), belt pulley (21) other end is fixed with copper sheathing, belt pulley is provided with belt (36), belt (36) two ends and semicircle slip ring (27) are fixing, the slip ring both sides are provided with chute, are provided with the pulley (43) that is connected with baffle plate in chute, are provided with the binder (28) fixing with the human body upper arm in slip ring.Motor side baffle plate (33) inboard is provided with the boss (24) with screw is connected two baffle plates and mates with belt pulley idle pulley (29) with being fixed of bolt projection two (26), make baffle plate (33) and (35) be fixed and increased comprcssive strength, belt pulley inertia opinion (29) is that belt steering is essential, and belt pulley (21) idle pulley is fixing with projection two (26) by circlip.
The inward turning outward turning mechanism that described forearm revolves front supination structure and shoulder joint is identical, and different is not to be provided with the binder (28) fixing with the human body upper arm in slip ring, baffle plate and slide bar (45) be connected 44) be connected by being connected to be fixed with screw rod with the slide bar block.
The mechanism of bending and stretching of described elbow joint comprises that the two pairs of spill spin blocks (32) and (41) that are fixedly connected with slip ring respectively coordinate by copper sheathing, motor reducer four (42) and encoder two (34) are fixed with any a pair of spill spin block, and motor shaft coordinates with the spill spin block of fixation side.
described hand extension means comprises the screw rod (62) that coordinates with motor reducer five (46) axles, described screw rod (62) is fixed on motor reducer five (46) abutting ends motor fixing plate (48) one sides that are provided with through hole by bearing one (58) and bearing holder (housing, cover) (59), screw rod (62) the other end is by being fixed in fixing head (63) with bearing two (64), motor fixing plate (48) is fixedly connected with hand supports (49), be provided with position-limited rack (60) between fixing head (63) and motor fixing plate plate (48), position-limited rack (60) one sides are provided with penetrating keyway, the penetrating keyway of offering is in order to facilitate the movement of drive nut (61), in order to make the more stable movement of drive nut (61) and screw rod (62), have the groove with drive nut (61) projection coupling on position-limited rack (60) inside, hand supports (49) is double-four link mechanism, hand supports (49) one sides and motor fixing plate (48) are fixing, opposite side connects by finger pole (57), being provided with driving shaft (52) in hand supports (49) is connected with drive nut (61) by push rod (51).Described motor fixing plate plate (48) one ends are provided with half-arc groove, the other end is provided with the side plate fixing with robot, side plate be provided with slide bar block (68) fixing screw, for fixed slip bar block (68) and slide bar (45) and (44), slide bar block (68) is provided with T-slot and is fixed motor fixing plate (48) with fixture, and slide bar block (68) is provided with adjusting handle (69) and clamps slide bar (44) and (45) in addition.Motor fixing plate (48) half-arc groove end is fixed with annular arm holder (50), is fixedly connected with the binder (66) of wrist coupling in annular arm holder (50).Described hand supports (49) is provided with hand fixed bar (54), hand fixing plate (56) and stop screw (55), and hand fixed bar (54) is connected with hand binder (53).Described quadric chain is that fixed dam hinge (67) link consists of, convenient like this can dismounting and change, the junction of fixed dam and hand fixed bar (54), hand fixing plate (56) is provided with regulating tank (65), the range of activity that is used for regulating finger-joint.
Claims (10)
1. upper-limbs rehabilitation training robot, comprise base (1), bracing frame (3), seat (2), cantilever beam (4) and upper limb training institution, described bracing frame is provided with height adjustment mechanism, be provided with the chute (6) that coordinates with cantilever beam (4) in bracing frame cross bar (5), cantilever beam (4) is dismountable being slidably connected with chute (6), described upper limb training institution comprises the mechanism of bending and stretching of the containing mechanism of shoulder abduction and arm, motor reducer one (8) is by bearing block one (10), bearing and bearing cap (9) are connected and fixed with revoliving arm (11), revoliving arm (11) is fixing by connecting axle (12) and fork-shaped base (13), revoliving arm (11) stiff end respectively is provided with mechanical position limitation and electric limiting, motor reducer two (16) is fixed on fork-shaped base (13) other end by bearing and bearing block two (15), be provided with gyroaxis (14) and motor shaft in fork-shaped base (13) and pass gyroaxis (14) and fixing, gyroaxis (14) is fixed with two pivoted levers (17, 18), pivoted lever (17, 18) the other end is fixed with fixing head (22), be provided with mechanical position limitation and electric limiting in bearing block two (15), it is characterized in that: also comprise and pivoted lever (17, the inward turning outward turning mechanism of the shoulder joint that 18) is connected and fixed, the forearm identical with the inward turning outward turning mechanism of shoulder joint revolves front supination mechanism, by two pairs of spill spin blocks (32, 41) revolve the extension means of the elbow joint that front supination mechanism is fixedly connected with the inward turning outward turning mechanism of shoulder joint and forearm, and with the inward turning outward turning mechanism of shoulder joint by slide bar (44, the extension means of the hand that 45) is fixedly connected with.
2. upper-limbs rehabilitation training robot according to claim 1, it is characterized in that: the inward turning outward turning mechanism of described shoulder joint comprises pivoted lever (17, 18) fixing head (22) end is provided with two baffle plates that are fixedly connected with (33, 35), baffle plate (33, 35) be provided with and pivoted lever (17, 18) through hole of coupling, motor reducer three (30) and encoder one (31) are fixing by bearing cap and copper sheathing and baffle plate (33), motor shaft is fixed with a belt pulley (21), belt pulley (21) other end is fixed with copper sheathing, belt pulley is provided with belt (36), belt (36) two ends and semicircle slip ring (27) are fixing, the slip ring both sides are provided with chute, be provided with the pulley (43) that is connected with baffle plate in chute, be provided with the binder (28) fixing with the human body upper arm in slip ring.
3. upper-limbs rehabilitation training robot according to claim 2, it is characterized in that: described baffle plate (33,35) is provided with upper sealing plate (19) and the lower shrouding (37) of coupling, respectively be provided with the projection one (25) that two straight lines and circular arc consist of in upper sealing plate (19) and lower shrouding (37), with coordinating of rib (38), shrouding is fixed in baffle plate by projection one (25), baffle plate and fixing head (22) are provided with the screw of adjusting screw rod (20) coupling, and screw rod one end passes fixing head (22) and is fixedly connected with handwheel (23).
4. upper-limbs rehabilitation training robot according to claim 2, it is characterized in that: described baffle plate (33) inboard be provided with boss (24) with screw be connected with being fixed of bolt two baffle plates and with the projection two (26) of belt pulley idle pulley (29) coupling, belt pulley (21) idle pulley is fixing with projection two (26) by circlip.
5. upper-limbs rehabilitation training robot according to claim 1, it is characterized in that: the inward turning outward turning mechanism that described forearm revolves front supination structure and shoulder joint is identical, different is not to be provided with the binder (28) fixing with the human body upper arm in slip ring, and baffle plate is connected by being connected to be fixed with screw rod with the slide bar block with slide bar (45,44).
6. upper-limbs rehabilitation training robot according to claim 1, it is characterized in that: described elbow joint also contains and bends and stretches mechanism, this bends and stretches mechanism and comprises the two pairs of spill spin blocks (32,41) that are fixedly connected with slip ring and respectively coordinate by copper sheathing, motor reducer four (42) and encoder two (34) are fixed with any a pair of spill spin block, and motor shaft coordinates with the spill spin block of fixation side
7. upper-limbs rehabilitation training robot according to claim 1, it is characterized in that: described hand extension means comprises the screw rod (62) that coordinates with motor reducer five (46) axles, described screw rod (62) is fixed on motor reducer five (46) abutting ends motor fixing plate (48) one sides that are provided with through hole by bearing one (58) and bearing holder (housing, cover) (59), screw rod (62) the other end is by being fixed in fixing head (63) with bearing two (64), motor fixing plate (48) is fixedly connected with hand supports (49), be provided with position-limited rack (60) between fixing head (63) and motor fixing plate (48), position-limited rack (60) one sides are provided with penetrating keyway, have the groove with drive nut (61) projection coupling on position-limited rack (60) inside, hand supports (49) is double-four link mechanism, hand supports (49) one sides and motor fixing plate (48) are fixing, opposite side connects by finger pole (57), being provided with driving shaft (52) in hand supports (49) is connected with drive nut (61) by push rod (51).
8. upper-limbs rehabilitation training robot according to claim 7, it is characterized in that: described motor fixing plate (48) one ends are provided with half-arc groove, the other end is provided with the side plate fixing with robot, side plate be provided with slide bar block (68) fixing screw, slide bar block (68) is provided with T-slot and is fixed motor fixing plate (48) with fixture, motor fixing plate (48) half-arc groove end is fixed with annular arm holder (50), is fixedly connected with the binder (66) of wrist coupling in annular arm holder (50).
9. upper-limbs rehabilitation training robot according to claim 7, it is characterized in that: described hand supports (49) is provided with hand fixed bar (54), hand fixing plate (56) and stop screw (55), and hand fixed bar (54) is connected with hand binder (53).
10. upper-limbs rehabilitation training robot according to claim 7, it is characterized in that: described quadric chain is that fixed dam hinge (67) link consists of, and the junction of fixed dam and hand fixed bar (54), hand fixing plate (56) is provided with regulating tank (65).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220670246 CN202982558U (en) | 2012-12-07 | 2012-12-07 | Upper limb rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220670246 CN202982558U (en) | 2012-12-07 | 2012-12-07 | Upper limb rehabilitation training robot |
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| Publication Number | Publication Date |
|---|---|
| CN202982558U true CN202982558U (en) | 2013-06-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN 201220670246 Expired - Fee Related CN202982558U (en) | 2012-12-07 | 2012-12-07 | Upper limb rehabilitation training robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105055122A (en) * | 2015-08-26 | 2015-11-18 | 安阳工学院 | Reverse-motion double-sided upper limb rehabilitation training device |
| CN106163482A (en) * | 2014-04-11 | 2016-11-23 | 韩国科学技术研究院 | Upper extremity strength strengthens servicing unit |
| CN106621204A (en) * | 2016-12-01 | 2017-05-10 | 东莞市天合机电开发有限公司 | Lifting-resistant body builder with massage function |
| CN107095766A (en) * | 2017-05-17 | 2017-08-29 | 台州学院 | A kind of trainer for hemiparalysis tool |
| CN107928990A (en) * | 2017-12-22 | 2018-04-20 | 洛阳理工学院 | A kind of recovery training robot for upper limb |
| CN110051506A (en) * | 2019-05-21 | 2019-07-26 | 昆明医科大学第一附属医院 | A kind of novel shoulder joint training equipment and application method |
| CN112220644A (en) * | 2020-09-23 | 2021-01-15 | 深圳华鹊景医疗科技有限公司 | Exoskeleton rotary joint and exoskeleton rehabilitation robot |
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2012
- 2012-12-07 CN CN 201220670246 patent/CN202982558U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106163482B (en) * | 2014-04-11 | 2018-05-01 | 韩国科学技术研究院 | Upper extremity strength strengthens auxiliary device |
| CN106163482A (en) * | 2014-04-11 | 2016-11-23 | 韩国科学技术研究院 | Upper extremity strength strengthens servicing unit |
| CN105055122B (en) * | 2015-08-26 | 2017-07-18 | 安阳工学院 | A kind of counter motion both upper extremities recovery training appliance for recovery |
| CN105055122A (en) * | 2015-08-26 | 2015-11-18 | 安阳工学院 | Reverse-motion double-sided upper limb rehabilitation training device |
| CN106621204A (en) * | 2016-12-01 | 2017-05-10 | 东莞市天合机电开发有限公司 | Lifting-resistant body builder with massage function |
| CN106621204B (en) * | 2016-12-01 | 2018-11-06 | 嘉兴日雅光电有限公司 | A kind of anti-act body-building device with massage functions |
| CN107095766A (en) * | 2017-05-17 | 2017-08-29 | 台州学院 | A kind of trainer for hemiparalysis tool |
| CN107928990A (en) * | 2017-12-22 | 2018-04-20 | 洛阳理工学院 | A kind of recovery training robot for upper limb |
| CN107928990B (en) * | 2017-12-22 | 2024-01-19 | 洛阳理工学院 | Rehabilitation training robot for upper limbs |
| CN110051506A (en) * | 2019-05-21 | 2019-07-26 | 昆明医科大学第一附属医院 | A kind of novel shoulder joint training equipment and application method |
| CN110051506B (en) * | 2019-05-21 | 2024-04-19 | 昆明医科大学第一附属医院 | Novel shoulder joint training instrument and use method |
| CN112220644A (en) * | 2020-09-23 | 2021-01-15 | 深圳华鹊景医疗科技有限公司 | Exoskeleton rotary joint and exoskeleton rehabilitation robot |
| CN112220644B (en) * | 2020-09-23 | 2024-04-02 | 深圳华鹊景医疗科技有限公司 | Exoskeleton rotary joint and exoskeleton rehabilitation robot |
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