CN109009872A - A kind of upper-limbs rehabilitation training robot and its wrist joint training device - Google Patents
A kind of upper-limbs rehabilitation training robot and its wrist joint training device Download PDFInfo
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- CN109009872A CN109009872A CN201810935095.4A CN201810935095A CN109009872A CN 109009872 A CN109009872 A CN 109009872A CN 201810935095 A CN201810935095 A CN 201810935095A CN 109009872 A CN109009872 A CN 109009872A
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- wrist joint
- wrist
- training device
- joint training
- training
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 63
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 32
- 210000000707 wrist Anatomy 0.000 claims abstract description 28
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 230000002452 interceptive effect Effects 0.000 claims abstract description 7
- 210000000245 forearm Anatomy 0.000 claims description 8
- 238000011084 recovery Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 241000905957 Channa melasoma Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000002310 elbow joint Anatomy 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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
- A61H1/0285—Hand
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
Landscapes
- 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 discloses a kind of wrist joint training devices of upper-limbs rehabilitation training robot, it is fixed on the pedestal of upper-limbs rehabilitation training robot by supporting beam, it is installed in the supporting beam including one end and has cogged hand wrist attachment device (4), the arc orbit (3) that lower surface has rack gear and can engage with the gear, when wrist joint, which rotates, to be moved, the arc orbit (3) is driven to be rotated by the hand wrist attachment device (4), it further include the controller that can be measured the sensor (1) of wrist joint rotational angle and be connect with the sensor (1), and the movement of the interactive game in conjunction with built in the controller is trained wrist joint.The wrist joint training device efficiently solves the problems such as general joint training aids is unable to satisfy complicated rehabilitation training requirement.The invention also discloses a kind of upper-limbs rehabilitation training robots including above-mentioned wrist joint training device.
Description
Technical field
The present invention relates to rehabilitation training equipment technical fields, more particularly to a kind of wrist joint training device.In addition, this hair
It is bright to further relate to a kind of upper-limbs rehabilitation training robot including above-mentioned wrist joint training device.
Background technique
Existing upper-limbs rehabilitation training robot product technology realization on require ectoskeleton greatly as mechanical arm and
Bulky support base；Or joint position only fed back with sensor for more easy joint training aids etc., but cannot be according to
Complicated rehabilitation training requirement is realized by technologies such as motor controls.
The shortcomings that conventional ectoskeleton upper limb rehabilitation robot product is: ectoskeleton mechanical arm size is big, training joint number
More multiple-length direction size is bigger.The support base of installation and the fixation of mechanical arm dimensionally in weight all very greatly and very
Weight.The shortcomings that joint training aids of routine is: the driving of joint training is seldom to be driven and carried out position control by motor
It makes to complete, so that general joint training aids is unable to satisfy complicated rehabilitation training requirement.
It is asked in conclusion how to efficiently solve general joint training aids and be unable to satisfy complicated rehabilitation training requirement etc.
Topic, is current those skilled in the art's urgent problem.
Summary of the invention
The object of the present invention is to provide a kind of wrist joint training device, which is efficiently solved generally
Joint training aids the problems such as being unable to satisfy complicated rehabilitation training requirement；It include upper it is a further object of the present invention to provide one kind
State the upper-limbs rehabilitation training robot of wrist joint training device.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of wrist joint training device of upper-limbs rehabilitation training robot, is fixed on rehabilitation training of upper limbs machine by supporting beam
On the pedestal of device people, including one end is installed in the supporting beam and has cogged hand wrist attachment device, lower surface band
The arc orbit that has rack gear and can engage with the gear is connected when wrist joint, which rotates, to be moved by the hand wrist
Connection device drives the arc orbit to be rotated, further include can measure wrist joint rotational angle potentiometer and with the electricity
The controller of position meter connection, and the movement of the interactive game in conjunction with built in the controller is trained wrist joint.
Preferably, the sensor is potentiometer, and the potentiometer is installed on the shaft end of the gear.
Preferably, the two sides of the arc orbit are provided with the rack gear.
Preferably, the side of the arc orbit is provided with the rack gear, and the other side is provided with positive stop strip, the hand wrist
The side of connecting connection parts is provided with the position-limited wheel with limiting slot matched with the positive stop strip.
It preferably, further include the fixed device of forearm for being installed on the other end of the supporting beam, the fixed device of the forearm
Adjustable in length.
The present invention also provides a kind of upper-limbs rehabilitation training robots, close including pedestal and the wrist being installed on the pedestal
Training device is saved, the wrist joint training device is specially wrist joint training device described in any of the above embodiments.
The wrist joint training device of upper-limbs rehabilitation training robot provided by the present invention, is fixed on upper limb by supporting beam
On the pedestal of recovery exercising robot.Wrist joint training device includes hand wrist attachment device, arc orbit, sensor, control
One end of device processed, hand wrist attachment device is installed in supporting beam, and patient is also controllable before training starts is applied to support
Power on beam carries out the calibration of power.The top of hand wrist attachment device has gear, and the lower surface of arc orbit has rack gear,
Rack gear is in arc-shaped, and rack gear can be engaged with gear, when wrist joint, which rotates, to be moved, is driven by hand wrist attachment device
Arc orbit is rotated, and arc orbit band moving gear rotates, and sensor can measure the rotational angle of gear, measure wrist with this
Articulation angle, controller are connect with sensor, and controller is built-in with interactive game, are closed in conjunction with the movement of interactive game to wrist
Section is trained.
Wrist joint training device provided by the present invention can be measured the angle of wrist rotation by sensor, can be led
The assessment and training of the upper limb of dynamic and passive aspect, including shoulder joint, elbow joint, wrist joint and articulations digitorum manus assessment and training.Wrist
Joint training device combines the mini upper-limbs rehabilitation training robot to form Portable movable formula with pedestal, and general
The upper-limbs rehabilitation training robot with separate machine arm fulcrum bearing and wearable joint training aids it is completely different in shape,
Structure is simple, easily controllable, convenient for operation, there is very high identification.
The present invention also provides a kind of upper-limbs rehabilitation training robots, instruct including pedestal and the wrist joint being installed on pedestal
Practice device, which is specially any of the above-described kind of wrist joint training device.Due to above-mentioned wrist joint training cartridge
It sets and has above-mentioned technique effect, the upper-limbs rehabilitation training robot with the wrist joint training device should also have corresponding technology
Effect.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of wrist joint training device provided by specific embodiment in the present invention；
Fig. 2 is the scheme of installation of wrist joint training device.
It is marked in attached drawing as follows:
1- sensor, 2- Wrist support device, 3- arc orbit, 4- hand wrist attachment device.
Specific embodiment
Core of the invention is to provide a kind of wrist joint training device, which efficiently solves generally
Joint training aids the problems such as being unable to satisfy complicated rehabilitation training requirement；It includes upper that another core of the invention, which is to provide a kind of,
State the upper-limbs rehabilitation training robot of wrist joint training device.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 and Fig. 2 are please referred to, Fig. 1 is wrist joint training device provided by specific embodiment a kind of in the present invention
Structural schematic diagram；Fig. 2 is the scheme of installation of wrist joint training device.
In a specific embodiment, the wrist joint training cartridge of upper-limbs rehabilitation training robot provided by the present invention
It sets, is fixed on the pedestal of upper-limbs rehabilitation training robot by supporting beam.Wrist joint training device includes the connection of hand wrist
One end of device 4, arc orbit 3, sensor 1, controller, hand wrist attachment device 4 is installed in supporting beam, is opened in training
The also controllable power being applied in supporting beam of patient carries out the calibration of power before beginning.The wrist on the top of hand wrist attachment device 4
There is gear in support device 2, can be spur gear, be also possible to helical gear, concrete form is unrestricted, can be according to reality
Depending on applicable cases, all within the scope of the present invention.The lower surface of arc orbit 3 has rack gear, and rack gear is in arc-shaped, tooth
Item and gear cooperate, and rack gear can be engaged with gear, are connected with rack gear by hand wrist attachment device 4 and circle by gear
Arc track 3 connects, easy to connect, and the rotation of arc orbit 3 is more smooth, and abrasion is smaller, more durable.
Specifically, driving arc orbit 3 to carry out by hand wrist attachment device 4 when wrist joint rotates and moves
Rotation, arc orbit 3 are rotated with moving gear, and sensor 1 can measure the rotational angle of gear, measure wrist joint angle of rotation with this
Degree, controller are connect with sensor 1, and controller is built-in with interactive game, instructs in conjunction with the movement of interactive game to wrist joint
Practice, training has specific aim, more abundant to carpal training.
Wrist joint training device provided by the present invention can be measured the angle of wrist rotation by sensor 1, can be led
The assessment and training of the upper limb of dynamic and passive aspect, including shoulder joint, elbow joint, wrist joint and articulations digitorum manus assessment and training.Wrist
Joint training device combines the mini upper-limbs rehabilitation training robot to form Portable movable formula with pedestal, and general
The upper-limbs rehabilitation training robot with separate machine arm fulcrum bearing and wearable joint training aids it is completely different in shape,
Structure is simple, easily controllable, convenient for operation, there is very high identification.
For the wrist joint training device in above-mentioned each embodiment, sensor 1 is potentiometer, for example is membrane potential
Meter, is converted into electric signal for the angle displacement of arc orbit 3 by potentiometer, more ingenious, also, structure is simple, cost compared with
It is low.Certainly, it is a kind of preferred embodiment that sensor 1, which is potentiometer, is not that uniquely, can also be other suitable
Mode, such as angular instrument, all within the scope of the present invention.
Above-mentioned wrist joint training device is only a kind of preferred embodiment, is specifically not limited thereto, on this basis can basis
Actual needs is made having and targetedly be adjusted, to obtain different embodiments, potentiometer is installed on the shaft end of gear, electricity
Position meter follows gear to rotate together, identical as the rotational angle of gear, measures the rotational angle of gear in real time, can also be more smart
The rotational angle of gear really is measured, detection error is smaller, more reliably.
On the basis of above-mentioned specific embodiment, those skilled in the art can be according to the difference of specific occasion, to wrist
Joint training device carries out several changes, and the two sides of arc orbit 3 are provided with rack gear, correspondingly, hand wrist attachment device 4
Two sides have gear, two sides are symmetrical, and the forms of motion of 3 two sides of arc orbit is identical, and stress is identical, arc orbit
3 stress are more uniform, and stationarity is preferable, and vibration is smaller, and Patient Experience is preferable.
Obviously, under the guidance of this thought, those skilled in the art can be according to the difference of specific occasion to above-mentioned
Specific embodiment carries out several changes, and the side of arc orbit 3 is provided with rack gear, at this time the phase of hand wrist attachment device 4
Answer side that there is gear, the other side of arc orbit 3 is provided with positive stop strip, and the other side setting of hand wrist attachment device 4 is limited
Position wheel, position-limited wheel are matched with positive stop strip.There is limiting slot, positive stop strip is caught in limiting slot, and positive stop strip cannot be from limit on position-limited wheel
It is detached in the slot of position, limitation arc orbit 3 moves left and right, and prevents 3 or so play of arc orbit, preferably positioning circular arc rail
Road 3 guarantees that wrist joint training device smoothly operates.
It is important to note that wrist joint training device provided by the present invention is not intended to be limited to such situation, also
The fixed device of forearm including being installed on the other end of supporting beam, arm are put into the fixed device of forearm, and fixed arm prevents hand
Arm shakes.The fixed device of forearm can be adjusted according to the length of patient forearm, easy to use, can preferably fix arm.
The wrist joint training device provided in based on the above embodiment, the present invention also provides a kind of rehabilitation training of upper limbs machines
Device people, the upper-limbs rehabilitation training robot include pedestal and the wrist joint training device being installed on pedestal, wherein wrist joint
Training device is any one wrist joint training device in above-described embodiment.Since the upper-limbs rehabilitation training robot is using upper
The wrist joint training device in embodiment is stated, so the beneficial effect of the upper-limbs rehabilitation training robot please refers to above-mentioned implementation
Example.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (6)
1. a kind of wrist joint training device of upper-limbs rehabilitation training robot, which is characterized in that be fixed on upper limb by supporting beam
On the pedestal of recovery exercising robot, including one end is installed in the supporting beam and has cogged hand wrist attachment device
(4), lower surface has rack gear and the arc orbit (3) that can be engaged with the gear passes through when wrist joint, which rotates, to be moved
The hand wrist attachment device (4) drives the arc orbit (3) to be rotated, and further includes that can measure wrist joint angle of rotation
The sensor (1) of degree and the controller being connect with the sensor (1), and the fortune of the interactive game in conjunction with built in the controller
It is dynamic that wrist joint is trained.
2. wrist joint training device according to claim 1, which is characterized in that the sensor (1) is potentiometer, described
Potentiometer is installed on the shaft end of the gear.
3. wrist joint training device according to claim 1, which is characterized in that the two sides of the arc orbit (3) are all provided with
It is equipped with the rack gear.
4. wrist joint training device according to claim 1, which is characterized in that the side of the arc orbit (3) is arranged
There is the rack gear, the other side is provided with positive stop strip, and the side of the hand wrist attachment device (4) is provided with and the positive stop strip
The position-limited wheel with limiting slot matched.
5. wrist joint training device according to claim 1-4, which is characterized in that further include being installed on the branch
Support the fixed device of forearm of the other end of beam, the adjustable in length of the fixed device of the forearm.
6. a kind of upper-limbs rehabilitation training robot, including pedestal and the wrist joint training device being installed on the pedestal,
It is characterized in that, the wrist joint training device is specially wrist joint training device described in any one of claim 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810935095.4A CN109009872A (en) | 2018-08-16 | 2018-08-16 | A kind of upper-limbs rehabilitation training robot and its wrist joint training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810935095.4A CN109009872A (en) | 2018-08-16 | 2018-08-16 | A kind of upper-limbs rehabilitation training robot and its wrist joint training device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109009872A true CN109009872A (en) | 2018-12-18 |
Family
ID=64631765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810935095.4A Pending CN109009872A (en) | 2018-08-16 | 2018-08-16 | A kind of upper-limbs rehabilitation training robot and its wrist joint training device |
Country Status (1)
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| CN (1) | CN109009872A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109730892A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb exoskeleton forearm internal and external rotation arc guide rail mechanism |
| CN109745203A (en) * | 2019-01-21 | 2019-05-14 | 北京工业大学 | A wrist joint muscle strength training device for the semi-disabled elderly |
| CN111714331A (en) * | 2020-07-02 | 2020-09-29 | 山东大学 | A device for wrist joint rehabilitation training |
| CN112155945A (en) * | 2020-10-14 | 2021-01-01 | 河南理工大学 | Mechanical device for universal rehabilitation training of wrist joint |
| WO2021012731A1 (en) * | 2019-07-24 | 2021-01-28 | 东南大学 | Rope-driven three-degrees-of-freedom training robot |
| CN113576829A (en) * | 2021-06-25 | 2021-11-02 | 北京机械设备研究所 | Forearm rotating mechanism of upper limb exoskeleton and rehabilitation training device |
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| CA2163303A1 (en) * | 1995-11-20 | 1997-05-21 | John H. Saringer | Continuous Passive Motion Devices for Joints |
| CN102119902A (en) * | 2011-03-29 | 2011-07-13 | 浙江大学 | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton |
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| CN105310859A (en) * | 2015-07-26 | 2016-02-10 | 广东铭凯医疗机器人有限公司 | Wrist joint intorsion/extorsion rehabilitation training device |
| WO2016187636A1 (en) * | 2015-05-27 | 2016-12-01 | Technische Universität Wien | Arm exoskeleton |
| CN107854277A (en) * | 2017-11-21 | 2018-03-30 | 中国科学院自动化研究所 | Wrist joint rehabilitation training device |
| CN209630102U (en) * | 2018-08-16 | 2019-11-15 | 常州市钱璟康复股份有限公司 | A kind of upper-limbs rehabilitation training robot and its wrist joint training device |
-
2018
- 2018-08-16 CN CN201810935095.4A patent/CN109009872A/en active Pending
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| CA2163303A1 (en) * | 1995-11-20 | 1997-05-21 | John H. Saringer | Continuous Passive Motion Devices for Joints |
| CN102119902A (en) * | 2011-03-29 | 2011-07-13 | 浙江大学 | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton |
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109745203A (en) * | 2019-01-21 | 2019-05-14 | 北京工业大学 | A wrist joint muscle strength training device for the semi-disabled elderly |
| CN109730892A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb exoskeleton forearm internal and external rotation arc guide rail mechanism |
| CN109730892B (en) * | 2019-01-25 | 2021-02-02 | 电子科技大学 | Inner and outer circular arc guide rail mechanism for forearm of exoskeleton of upper limb |
| WO2021012731A1 (en) * | 2019-07-24 | 2021-01-28 | 东南大学 | Rope-driven three-degrees-of-freedom training robot |
| CN111714331A (en) * | 2020-07-02 | 2020-09-29 | 山东大学 | A device for wrist joint rehabilitation training |
| CN112155945A (en) * | 2020-10-14 | 2021-01-01 | 河南理工大学 | Mechanical device for universal rehabilitation training of wrist joint |
| CN113576829A (en) * | 2021-06-25 | 2021-11-02 | 北京机械设备研究所 | Forearm rotating mechanism of upper limb exoskeleton and rehabilitation training device |
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Application publication date: 20181218 |
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