CN102078678A - Magnetic powder brake-based upper limb rehabilitation device - Google Patents
Magnetic powder brake-based upper limb rehabilitation device Download PDFInfo
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- CN102078678A CN102078678A CN 201110021987 CN201110021987A CN102078678A CN 102078678 A CN102078678 A CN 102078678A CN 201110021987 CN201110021987 CN 201110021987 CN 201110021987 A CN201110021987 A CN 201110021987A CN 102078678 A CN102078678 A CN 102078678A
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- powder brake
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- 239000006247 magnetic powder Substances 0.000 title claims abstract description 32
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 15
- 230000001105 regulatory effect Effects 0.000 claims description 23
- 238000005096 rolling process Methods 0.000 claims description 22
- 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 description 13
- 230000035876 healing Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 4
- 238000012856 packing Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 238000012549 training Methods 0.000 abstract description 30
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 7
- 210000003414 extremity Anatomy 0.000 abstract description 2
- 230000003993 interaction Effects 0.000 abstract description 2
- 208000034657 Convalescence Diseases 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 7
- 238000011084 recovery Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000001149 cognitive effect Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 241001310793 Podium Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The invention relates to a magnetic powder brake-based upper limb rehabilitation device and belongs to the field of limb rehabilitation. The device comprises a case (1), a control cabinet (2), an adjusting main box (3), a display bracket (4), a mechanical arm (5), a display (6) and a base (7) of the device, wherein the display bracket (4) is connected with the base (7) of the device through a fastening screw (9); and the adjusting main box (3) is connected with the base (7) of the device through a fastening screw (8). A structure for adjusting the platform angle is arranged on the basis, and the function of adjusting the platform height is kept; therefore, the rehabilitation equipment is applied to a wider variety of people and is more conveniently used by different patients. Due to the adoption of the magnetic powder brake, interaction between the patient and the rehabilitation device is effectively isolated, and danger of the conventional device is overcome, so that the training process of the patient is safer.
Description
Technical field
The present invention relates to a kind of upper limb healing device, belong to the limb rehabilitating field based on magnetic powder brake.
Background technology
At present, the conventional method of hemiplegic upper limb rehabilitation training is that the doctor carries out training by doing and illustrating to the patient.There is the following problem in this training method: at first, a therapist can only carry out training to a patient simultaneously, training effectiveness is low, and reason owing to therapist self, possibly can't guarantee that the patient obtains enough training strength, result of treatment depends on therapist's experience and level more; Secondly, can not accurately control and write down training parameter (movement velocity, track, intensity etc.), be unfavorable for determining and improvement of therapeutic scheme; Have, the rehabilitation evaluation index is objective inadequately again, is unfavorable for the further investigation of the neural rehabilitation rule of hemiplegic patient; Also have, can not provide in real time feedback information intuitively to the patient, training process is not attractive, and the patient is passive to receive treatment, and the initiative that participates in treatment is not enough.As can be seen, carry out rehabilitation training, can restrict the raising of rehabilitation training efficient and the improvement of method undoubtedly if depend merely on the doctor.Therefore, should open up more advanced hemiparalysis recovery training tool, or more advanced technology is incorporated into hemiparalysis recovery treatment field.Along with technical development of computer, computer enters the application product exploitation with combining of cognitive rehabilitation field from theoretical research, becomes the focus that domestic and international research is used.Particularly eighties of last century is after the nineties, and virtual reality technology (Virtual Reality) occurs.More promoted the combination that computer technology and cognitive science are higher level.Showing the incomparable advantage of conventional method aspect cognitive disorder rehabilitation evaluation and the training.Simultaneously, owe to drive the important branch of convalescence device as medical treatment device, its research has run through numerous areas such as medical science of recovery therapy, biomethanics, mechanics, Mechanics of Machinery, electronics, materialogy, computer science and robotics, has become international robot field's a research focus.
In existing convalescence device, the application number of Tsing-Hua University application is to have designed a kind of upper limb healing device in the patent " a kind of upper limb hemiplegia rehabilitation robot device with adjustable training plan " of 200810180055.X.This device comprises seat, base, training plan, be installed in the mechanical arm on the training plan, wrist analog bracket and control system comprise that also is used to regulate the height of training plan with respect to ground, and the training plan adjusting device of the angle of training plan and horizontal plane.Though this device can be finished the function of certain rehabilitation, its training content dullness, very uninteresting for the rehabilitation patient, not very hommization.Secondly, because it directly adopts the whole device of motor-driven, and motor has abnormal impulse response of short time probably in training process, can increase the weight of patient's limb injury like this, is unfavorable for the rehabilitation of patients training.
Summary of the invention
Technical problem to be solved by this invention provides a kind of upper limb healing device based on magnetic powder brake, not only inherit and develop advantage of the prior art as regulating the height of training plan with respect to ground, also overcome its shortcoming, as finishing interface by virtual reality technology and the patient is incorporated among the recreation training improving the effect of rehabilitation training, and bring the security that improves device as the buffering between patient and the convalescence device by increasing magnetic powder brake.
The technical scheme that the present invention solves the problems of the technologies described above is as follows:
Should comprise cabinet (1) based on the upper limb healing device of magnetic powder brake, control cabinet (2) is regulated main tank (3), display bracket (4), mechanical arm (5), display (6) and device pedestal (7); Display bracket (4) is connected by trip bolt (9) with device pedestal (7), regulates main tank (3) and is connected by trip bolt (8) with device pedestal (7); It is characterized in that:
Wherein mechanical arm (5) is a parallel linkage, handle (11) and handle set (10) are by being threaded, handle set (10) is fastenedly connected with connecting rod (12), connecting rod joint (15) is connected with connecting rod (16), connecting rod joint (13) and connecting rod (12), connecting rod joint (13) and connecting rod (14), connecting rod joint (17) and connecting rod (19), connecting rod joint wherein in two, be fixed together by screw at last, connecting rod is clipped between two joints; The interior axle of main shaft (23) that connecting rod joint (17) is inserted in the regulating box is gone up also fastening; The interior axle of main shaft outer shaft (24) and main shaft (23) passes the circular hole on the connecting rod joint (22) and is fastened on the connecting rod joint; Balance weight (21) is with on balance weight (20) is installed in connecting rod (19) and is connected joint (17);
Regulate main tank (3) and comprise axle (23) in the main shaft, main shaft outer shaft (24), spindle bearing holder (25), encoder (26), rolling bearing units (27), the support of bearing (28), spring is fixed (29), belt shaft (32), magnetic powder brake (33), the stator of magnetic powder brake (34), bourdon tube (35), spring lever (36), backstay (39), small pulley (40), be with synchronously (41), prop up mounting (44), shaft pulley (45) in the main shaft, supporting plate (46), worm screw (47), turbine (48), lower carriage plate (49), gusset (50), folding handle (51), handwheel (52), rolling bearing (53); Wherein the interior axle of main shaft (23) passes spindle bearing holder (25) with main shaft outer shaft (24) and is connected by rolling bearing (54), and link to each other by rolling bearing (53) between outer shaft and the interior axle, encoder (26) connects by pin and links to each other with belt shaft (32), encoder stator (55) is fixed on the backstay (39), and backstay (39) is fastened on the support of bearing (28); Rolling bearing units (27) are fixed on the support of bearing (28) and go up the belt shaft (32) that rotates with supporting, and rolling bearing units (31) are identical with the support of bearing (30) effect; Magnetic powder brake (33) is fixed on the magnetic powder brake stator (34), and magnetic powder brake stator (34) is fixed on the backstay (43), and the Assembly part body on the entire belt wheel shaft all is connected with a mounting (44); Small pulley (40) is installed on the belt shaft (32), and pass through packing ring (42) and stablize the movement position of small pulley (40), then by being with the outer shaft pulley (45) of (41) and main shaft to be connected synchronously, handle (51) is installed on the handwheel (52), handwheel (52) is fixed on the worm screw (47) simultaneously, and worm screw (47) and turbine (48) transmission mutually, gusset (50) is fixed on lower carriage plate (49) and the supporting plate (46).
In order to support encoder (26), encoder (26) is installed on the encoder stator (55) with trip bolt.
Assembly part body on the entire belt wheel shaft all is connected with a mounting (44), adopts studs (56) to fix, and carrier base (44) then is fixed on the supporting plate (46).
The supporting plate of the Assembly part body of main shaft opposite side in the middle of also being fixed on makes the center of gravity of whole regulating box in the centre, makes the regulating box balance.
In order to strain synchronous band (41), make synchronous band (41) keep the required tensile force of transmission, earlier spring being fixed (29) is fastened on the support of bearing (28) and the support of bearing (30), fix (29) again at spring and go up mounting spring pipe (35), and an end that has the spring lever (36) of spring is inserted in the bourdon tube (35), the other end then is installed in another spring and fixes in (37), and spring is fixed (37) and then is fastened on the supporting plate (46).
The invention has the beneficial effects as follows:
The present invention has increased the structure of adjusting platform angle on former basis, and has kept the function of regulating podium level simultaneously, and the crowd that rehabilitation equipment is suitable for is wider, also more convenient different patients' use.Secondly owing to adopt virtual reality technology to make recreation, can make patient's training process more interesting, improve the enthusiasm of patient's training, help to improve patient's recovery situation.Owing to adopt magnetic powder brake, effectively isolated the interaction between patient and the convalescence device at last, overcome the danger of former device, made patient's training process safer.
Description of drawings
Fig. 1 is a upper limb healing device overview.
Fig. 2 is a convalescence device training arm top view.
Fig. 3 is a convalescence device training arm left view.
Fig. 4 is that device is regulated box inner structure the first half rearview.
Fig. 5 is that device is regulated box inner structure the first half front view.
Fig. 6 is that device is regulated box inner structure the latter half left view.
Fig. 7 is that device is regulated box inner structure view on the whole.
Among the figure, the 1-cabinet; The 2-control cabinet; 3-regulates main tank; The 4-display bracket; The 5-mechanical arm; The 6-display; The 7-device pedestal; The 8-trip bolt; The 9-trip bolt; The 10-handle set; The 11-handle; The 12-connecting rod; 13-connecting rod joint; The 14-connecting rod; 15-connecting rod joint; The 16-connecting rod; 17-connecting rod joint; 18-connecting rod joint; The 19-connecting rod; The 20-balance weight; The 21-balance weight; 22-connecting rod joint; Axle in the 23-main shaft; 24-main shaft outer shaft; The 25-spindle bearing holder; The 26-encoder; The 27-rolling bearing units; The 28-support of bearing; The 29-spring is fixed; The 30-support of bearing; The 31-rolling bearing units; The 32-belt shaft; The 33-magnetic powder brake; The stator of 34-magnetic powder brake; The 35-bourdon tube; The 36-spring lever; The 37-spring is fixed; 38-spring set bolt; The 39-backstay; The 40-small pulley; 41-is with synchronously; The 42-packing ring; The 43-backstay; 44-props up mounting; Shaft pulley in the 45-main shaft; The 46-supporting plate; The 47-worm screw; The 48-turbine; 49-lower carriage plate; The 50-gusset; The 51-folding handle; The 52-handwheel; The 53-rolling bearing, the 54-rolling bearing; 55-encoder stator; The 56-studs.
The specific embodiment
Below in conjunction with accompanying drawing principle of the present invention and feature are described.
In Fig. 1, this convalescence device integral body comprises cabinet 1, and control cabinet 2 is regulated main tank 3, display bracket 4, mechanical arm 5, display 6 and device pedestal 7.Wherein, display bracket 4 is connected by trip bolt 9 with base 7, regulates main tank 3 and is connected by trip bolt 8 with base 7.
In Fig. 2 and Fig. 3, whole mechanical arm 5 is a parallel linkage, and wherein handle 11 and handle set 10 are connected by screw thread pair, and handle set 10 is connected by trip bolt with 12 on connecting rod.Connecting rod joint 15 and connecting rod 16, connecting rod joint 13 and connecting rod 12, connecting rod joint 13 and connecting rod 14, connecting rod joint 17 all is connected by screw with connecting rod 19, connecting rod joint wherein be fixed together by screw at last, and connecting rod just in time is clipped between two joints in two.Connecting rod joint 17 directly is inserted in the main shaft in the regulating box on the axle 23, and fastening by Screw.Axle 23 passes the circular hole on the connecting rod joint 22 and is fastened on the connecting rod joint by Screw in main shaft outer shaft 24 and the main shaft.On balance weight 21 and 20 is installed in connecting rod 19 and is connected joint 17,, prevent that mechanical arm from tilting to the other end to stablize the center of whole mechanical arm.
At Fig. 4, Fig. 5 is among Fig. 6 and Fig. 7, the structure member that whole adjusting main tank is 3 li comprises axle 23 in the main shaft, main shaft outer shaft 24, spindle bearing holder 25, encoder 26, rolling bearing units 27, the support of bearing 28, spring fixes 29, belt shaft 32, magnetic powder brake 33, the stator 34 of magnetic powder brake, bourdon tube 35, spring lever 36, backstay 39, small pulley 40 is with 41 synchronously, prop up mounting 44, shaft pulley 45 in the main shaft, supporting plate 46, worm screw 47, turbine 48, lower carriage plate 49, gusset 50, folding handle 51, handwheel 52, rolling bearing 53.Wherein, axle 23 passes spindle bearing holder 25 with main shaft outer shaft 24 and is connected by rolling bearing 54 in the main shaft, and also links to each other by rolling bearing 53 between outer shaft and the interior axle, can make the motion of outer shaft and interior axle separate like this, does not disturb mutually.Encoder 26 connects by pin and links to each other with belt shaft 32, and in order to support encoder 26, encoder 26 usefulness trip bolts are installed on the encoder stator 55, simultaneously, encoder stator 55 also is fixed on the backstay 39, and backstay 39 also is fastened on the support of bearing 28 by screw.Rolling bearing units 27 are fixed on the belt shaft 32 that rotates with supporting on the support of bearing 28 by screw, and the effect of the rolling bearing units 31 and the support of bearing 30 is the same.At this moment, magnetic powder brake 33 is fixed on the magnetic powder brake stator 34, and magnetic powder brake stator 34 then is fastened on the backstay 43.Assembly part body on the entire belt wheel shaft is all wanted to be connected with a mounting 44, and the method that connects is to adopt studs 56 to fix, and 44 of carrier bases are fixed on the supporting plate 46.Simultaneously, the supporting plate in the middle of the Assembly part body of main shaft opposite side also is fixed on, the center of gravity of whole like this regulating box could be the regulating box balance in the centre.In order to make belt shaft and main shaft transmission mutually, adopt the mode of band transmission here.Small pulley 40 is installed on the belt shaft 32, and stablize the movement position of small pulley 40 by packing ring 42, then by being with 41 to be connected synchronously with the outer shaft pulley 45 of main shaft, simultaneously be with 41 synchronously in order to strain, make synchronously and keep the required tensile force of transmission with 41, here adopt a spring result, promptly earlier spring being fixed 29 is fastened on the support of bearing 28 and the support of bearing 30, fix mounting spring pipe 35 on 29 at spring again, and an end that has the spring lever 36 of spring is inserted in the bourdon tube 35, the other end then is installed in another spring and fixes in 37, and spring is fixed 37 and then is fastened on the supporting plate 46.Handle 51 is installed on the handwheel 52 by screw, and handwheel 52 also is fixed on worm screw 47 by trip bolt simultaneously, and worm screw 47 is by screw thread pair and turbine 48 transmission mutually.Gusset 50 is fixed on lower carriage plate 49 and the supporting plate 46, so that whole Assembly part is stable.
During concrete the application, at first the nut on two spring levers in the regulating box all to be screwed into the appropriate location,, guarantee synchronously with good transmission so that two rates of tension of being with synchronously are suitable.Rotate handle 51 and the turn base 7 and the trip bolt 8 of regulating main tank 3 junctions of regulating main tank 3 according to patient's height then so that the patient hold handle 11 on the mechanical arm time feel more comfortable, setting is also more humane like this.
When concrete process is turning handle 51, also make simultaneously with its worm screw that links together 47 and rotate, and turbine 48 can rotate along with externally threaded translation and rotation on the worm screw 47, and this moment, whole workbench also can rotate an angle, and the size of this angle is decided by patient's position.Turn trip bolt 8 can be regulated the height of platform in addition, and this and the angle of regulating platform have improved patient's comfort level together.After this, the patient grasps handle 11, both can oneself spur whole mechanical arm arbitrary motion, also can require according to the recreation in the display to move, movement locus wherein detects by two encoders, when detailed process is pulling handle 11, connecting rod 12 is because be fixed together with handle set 10, therefore can be consistent with the motion of staff, and connecting rod 14 and connecting rod 16 rotate with connecting rod 12 formation revolute pairs by connecting rod joint 13 and connecting rod joint 15,19 on connecting rod and connecting rod joint 18 form revolute pair, because whole mechanical arm adopts the parallel four-bar structure, so need only just can calculate the position of actual hand by the detected angle of encoder of connecting rod 16 and connecting rod 19 ends.After these transfer of data are given control cabinet 2, computer housing 1 passed to data again by control cabinet 2, and passes to host computer, after being demonstrated the position at patient's hand place in recreation and handled data by display, transmit control signal in view of the above again to magnetic powder brake, control the motion of mechanical arm conversely again.
Claims (5)
1. based on the upper limb healing device of magnetic powder brake, comprise cabinet (1), control cabinet (2) is regulated main tank (3), display bracket (4), mechanical arm (5), display (6) and device pedestal (7); Display bracket (4) is connected by trip bolt (9) with device pedestal (7), regulates main tank (3) and is connected by trip bolt (8) with device pedestal (7); It is characterized in that:
Wherein mechanical arm (5) is a parallel linkage, handle (11) and handle set (10) are by being threaded, handle set (10) is fastenedly connected with connecting rod (12), connecting rod joint (15) is connected with connecting rod (16), connecting rod joint (13) and connecting rod (12), connecting rod joint (13) and connecting rod (14), connecting rod joint (17) and connecting rod (19), connecting rod joint wherein in two, be fixed together by screw at last, connecting rod is clipped between two joints; The interior axle of main shaft (23) that connecting rod joint (17) is inserted in the regulating box is gone up also fastening; The interior axle of main shaft outer shaft (24) and main shaft (23) passes the circular hole on the connecting rod joint (22) and is fastened on the connecting rod joint; Balance weight (21) is with on balance weight (20) is installed in connecting rod (19) and is connected joint (17);
Regulate main tank (3) and comprise axle (23) in the main shaft, main shaft outer shaft (24), spindle bearing holder (25), encoder (26), rolling bearing units (27), the support of bearing (28), spring is fixed (29), belt shaft (32), magnetic powder brake (33), the stator of magnetic powder brake (34), bourdon tube (35), spring lever (36), backstay (39), small pulley (40), be with synchronously (41), prop up mounting (44), shaft pulley (45) in the main shaft, supporting plate (46), worm screw (47), turbine (48), lower carriage plate (49), gusset (50), folding handle (51), handwheel (52), rolling bearing (53); Wherein the interior axle of main shaft (23) passes spindle bearing holder (25) with main shaft outer shaft (24) and is connected by rolling bearing (54), and link to each other by rolling bearing (53) between outer shaft and the interior axle, encoder (26) connects by pin and links to each other with belt shaft (32), encoder stator (55) is fixed on the backstay (39), and backstay (39) is fastened on the support of bearing (28); Rolling bearing units (27) are fixed on the support of bearing (28) and go up the belt shaft (32) that rotates with supporting, and rolling bearing units (31) are identical with the support of bearing (30) effect; Magnetic powder brake (33) is fixed on the magnetic powder brake stator (34), and magnetic powder brake stator (34) is fixed on the backstay (43), and the Assembly part body on the entire belt wheel shaft all is connected with a mounting (44); Small pulley (40) is installed on the belt shaft (32), and pass through packing ring (42) and stablize the movement position of small pulley (40), then by being with the outer shaft pulley (45) of (41) and main shaft to be connected synchronously, handle (51) is installed on the handwheel (52), handwheel (52) is fixed on the worm screw (47) simultaneously, and worm screw (47) and turbine (48) transmission mutually, gusset (50) is fixed on lower carriage plate (49) and the supporting plate (46).
2. the upper limb healing device based on magnetic powder brake as claimed in claim 1 is characterized in that: in order to support encoder (26), encoder (26) is installed on the encoder stator (55) with trip bolt.
3. the upper limb healing device based on magnetic powder brake as claimed in claim 1 or 2, it is characterized in that: the Assembly part body on the entire belt wheel shaft all is connected with a mounting (44), adopt studs (56) to fix, carrier base (44) then is fixed on the supporting plate (46).
4. the upper limb healing device based on magnetic powder brake as claimed in claim 3 is characterized in that: the supporting plate of the Assembly part body of main shaft opposite side in the middle of also being fixed on, and make the center of gravity of whole regulating box in the centre, make the regulating box balance.
5. the upper limb healing device based on magnetic powder brake as claimed in claim 1 or 2, it is characterized in that: in order to strain synchronous band (41), make synchronous band (41) keep the required tensile force of transmission, earlier spring being fixed (29) is fastened on the support of bearing (28) and the support of bearing (30), fix (29) again at spring and go up mounting spring pipe (35), and an end that has the spring lever (36) of spring is inserted in the bourdon tube (35), the other end then is installed in another spring and fixes in (37), and spring is fixed (37) and then is fastened on the supporting plate (46).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110021987 CN102078678B (en) | 2011-01-19 | 2011-01-19 | Magnetic powder brake-based upper limb rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110021987 CN102078678B (en) | 2011-01-19 | 2011-01-19 | Magnetic powder brake-based upper limb rehabilitation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102078678A true CN102078678A (en) | 2011-06-01 |
| CN102078678B CN102078678B (en) | 2012-05-23 |
Family
ID=44084995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110021987 Expired - Fee Related CN102078678B (en) | 2011-01-19 | 2011-01-19 | Magnetic powder brake-based upper limb rehabilitation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102078678B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102499853A (en) * | 2011-11-17 | 2012-06-20 | 北京理工大学 | Upper limb rehabilitation training system with active-passive modes |
| CN106512329A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot with flexible joints |
| CN106512328A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot |
| CN109199789A (en) * | 2018-10-18 | 2019-01-15 | 长春工业大学 | Upper limb end guiding type rehabilitation structure based on I type gear planar five-bar mechanism |
| CN110179626A (en) * | 2019-05-28 | 2019-08-30 | 山东建筑大学 | A kind of exercising apparatus for recovery of upper limb and method |
| CN110251917A (en) * | 2019-03-28 | 2019-09-20 | 安徽中科裕田智能科技有限公司 | A digital training device for Tai Chi basic exercises |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4621620A (en) * | 1984-04-16 | 1986-11-11 | Gene Anderson | Human limb manipulation device |
| CN101401765A (en) * | 2008-09-05 | 2009-04-08 | 清华大学 | Upper limb hemiplegia rehabilitation robot device with adjustable training plan |
| CN201542887U (en) * | 2009-09-30 | 2010-08-11 | 阎承强 | Limb and wrist rehabilitation device |
| CN101862522A (en) * | 2010-05-25 | 2010-10-20 | 大连海事大学 | An upper limb rehabilitation training device based on virtual space technology |
-
2011
- 2011-01-19 CN CN 201110021987 patent/CN102078678B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4621620A (en) * | 1984-04-16 | 1986-11-11 | Gene Anderson | Human limb manipulation device |
| CN101401765A (en) * | 2008-09-05 | 2009-04-08 | 清华大学 | Upper limb hemiplegia rehabilitation robot device with adjustable training plan |
| CN201542887U (en) * | 2009-09-30 | 2010-08-11 | 阎承强 | Limb and wrist rehabilitation device |
| CN101862522A (en) * | 2010-05-25 | 2010-10-20 | 大连海事大学 | An upper limb rehabilitation training device based on virtual space technology |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102499853A (en) * | 2011-11-17 | 2012-06-20 | 北京理工大学 | Upper limb rehabilitation training system with active-passive modes |
| CN102499853B (en) * | 2011-11-17 | 2013-09-11 | 北京理工大学 | Upper limb rehabilitation training system with active-passive modes |
| CN106512329A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot with flexible joints |
| CN106512328A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot |
| CN109199789A (en) * | 2018-10-18 | 2019-01-15 | 长春工业大学 | Upper limb end guiding type rehabilitation structure based on I type gear planar five-bar mechanism |
| CN110251917A (en) * | 2019-03-28 | 2019-09-20 | 安徽中科裕田智能科技有限公司 | A digital training device for Tai Chi basic exercises |
| CN110179626A (en) * | 2019-05-28 | 2019-08-30 | 山东建筑大学 | A kind of exercising apparatus for recovery of upper limb and method |
| CN110179626B (en) * | 2019-05-28 | 2021-02-26 | 山东建筑大学 | A kind of upper limb rehabilitation training device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102078678B (en) | 2012-05-23 |
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