CN109620632A - The adaptive fupport arm device of upper limb rehabilitation robot - Google Patents
The adaptive fupport arm device of upper limb rehabilitation robot Download PDFInfo
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- CN109620632A CN109620632A CN201811366738.4A CN201811366738A CN109620632A CN 109620632 A CN109620632 A CN 109620632A CN 201811366738 A CN201811366738 A CN 201811366738A CN 109620632 A CN109620632 A CN 109620632A
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- slide
- adaptive
- upper limb
- limb rehabilitation
- rehabilitation robot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明涉及一种上肢康复机器人自适应臂托装置，包括基座，其特征在于，还设有：弧形轨道，与所述基座相固定；滑座，沿所述弧形轨道滑动；臂托板，转动安装在所述滑座上。本发明的上肢康复机器人自适应臂托装置，通过弧形轨道，滑座和臂托板三者之间的相互作用实现患者高自由度训练，达到柔性交互的目的，防止二次损伤，使患者能够更加舒适健康地训练，有助于患者的恢复。
The invention relates to an adaptive arm support device for an upper limb rehabilitation robot, which comprises a base, and is characterized in that it is further provided with: an arc-shaped track, which is fixed with the base; a sliding seat, which slides along the arc-shaped track; an arm The support plate is rotatably mounted on the sliding seat. The self-adaptive arm support device of the upper limb rehabilitation robot of the present invention realizes high-degree-of-freedom training for patients through the interaction between the arc track, the sliding seat and the arm support plate, achieves the purpose of flexible interaction, prevents secondary damage, and makes the patient Being able to train in a more comfortable and healthy way helps patients recover.
Description
Technical field
The present invention relates to a kind of Medical Devices, and in particular to a kind of adaptive fupport arm device of upper limb rehabilitation robot.
Background technique
Theory of medicine with it was verified that can by the functional trainings of a large amount of repeatability for hemiplegic patient caused by cerebral apoplexy
To restore extremity motor function to a certain extent.A large amount of manpower object can be saved using healing robot auxiliary rehabilitation exercise
Power, and the assessment of real-time quantization can be carried out to the rehabilitation outcome of patient, entire rehabilitation industry is produced very positive
It influences.
Research has shown that simple joint is individually trained more more effective than multi-joint while training in rehabilitation training, to reduce non-instruction
Practice joint to the interference effect in training joint, need to design in healing robot fixed device fix to a certain extent it is non-training
Joint.Based on this design principle, hemiplegic patient is carrying out wrist joint flexion/extension motion, interior receipts/abduction exercise and forearm
Before rotation/supination when, upper limb rehabilitation robot need to design fupport arm device to a certain extent fix forearm imitated with training for promotion
Fruit.
In existing upper limb rehabilitation robot, most fupport arm devices are held human body forearm and are utilized using semicircle pole-shell structure
Band is tightened realization and is fixed, and does not often have enough freedom degrees, and fupport arm is to realize a kind of device of human-computer interaction, thoroughly
Fixation is unable to reach flexible interaction, increases the discomfort of user, or even cause secondary injury.
Summary of the invention
The present invention is suitable for patient to solve the above problems, provide a kind of adaptive fupport arm device of upper limb rehabilitation robot
Benefit completes rehabilitation training of upper limbs, reaches flexible interaction, removes the discomfort of user, prevent secondary damage.
The present invention provides a kind of adaptive fupport arm device of upper limb rehabilitation robot, including pedestal, is additionally provided with:
Arc track is mutually fixed with the pedestal；
Slide is slided along the arc track；
Arm blaster is rotatably installed on the slide.
Several optional ways also provided below, but be not intended as the additional qualification to above-mentioned overall plan, only into
The supplement of one step is preferred, and under the premise of no technology or logical contradiction, each optional way can be individually for above-mentioned totality side
Case is combined, and be can also be and is combined between multiple optional ways.
A kind of embodiment wherein is additionally provided with and acts between arm blaster and slide, at opposite turn of arm blaster and slide
First bolster of deformation when dynamic.
A kind of embodiment wherein, arm blaster are axial by being pivotally mounted on slide, and between arm blaster and slide
It can be movable relatively, the adaptive fupport arm device of upper limb rehabilitation robot further includes acting between arm blaster and slide, in arm
Second bolster of deformation when supporting plate and slide axial relative movement.
A kind of embodiment wherein, described to be pivotally secured on slide, the arm blaster is provided with and the pivot phase
The axle sleeve of cooperation.
A kind of embodiment wherein, the top surface of the slide are equipped with the mounting groove for being in pivot periphery, mounting groove inner wall
First block piece is set, and a part of axle sleeve protrudes into and is used as the second block piece in mounting groove, and first bolster is located at installation
It offsets respectively with the first block piece and the second block piece in slot and in circumferential direction.
The groove bottom part of mounting groove is arranged in a kind of embodiment wherein, second bolster, in the second bolster
Top is provided with float plate, and first bolster is placed in the float plate, the end face of the axle sleeve along mounting groove it is circumferential with
First bolster offsets.
A kind of embodiment wherein, the inner wall of the axle sleeve are equipped with limited step, and the pivot is equipped with gag lever post, should
One end of gag lever post extends to above limited step in axle sleeve, and the end of gag lever post is equipped with the anticreep to offset with limited step
Head.
A kind of embodiment wherein is additionally provided with the locking piece being maintained at the slide on arc track predetermined position.
A kind of embodiment wherein, the both ends of the arc-shaped guide rail are equipped with limiting section, and the limiting section is for limiting
The displacement of sliding equipment on arc-shaped guide rail.
A kind of embodiment wherein, the base height is adjustable.
The adaptive fupport arm device of upper limb rehabilitation robot of the invention is equipped with arc track, slide and arm blaster, and arm
Supporting plate is rotatably installed on slide, and arm blaster can be slided by slide on arc track, to realize that patient can be smoothly complete
At rehabilitation training of upper limbs, the training of patient's high-freedom degree is realized by the interaction between three, reaches flexible interaction, prevents two
Secondary damage removes the discomfort of user.
Detailed description of the invention
Fig. 1 is the adaptive fupport arm apparatus structure schematic diagram of upper limb rehabilitation robot；
Fig. 2 is slide schematic diagram in the adaptive fupport arm device of upper limb rehabilitation robot；
Fig. 3 is slide cross-sectional view in the adaptive fupport arm device of upper limb rehabilitation robot；
Fig. 4 is arm blaster schematic diagram in the adaptive fupport arm device of upper limb rehabilitation robot；
Fig. 5 is arm blaster cross-sectional view in the adaptive fupport arm device of upper limb rehabilitation robot.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, by the following examples, it and combines attached
Figure, the present invention will be described in further detail.It should be appreciated that embodiment described herein is only to understand the present invention, and
Do not limit the present invention.
With reference to Fig. 1-Fig. 5, one embodiment of the present of invention, the adaptive fupport arm dress of upper limb rehabilitation robot in the present embodiment
It sets, including pedestal, is additionally provided with:
Arc track is mutually fixed with the pedestal；
Slide is slided along the arc track；
Arm blaster is rotatably installed on the slide.
The adaptive fupport arm device of upper limb rehabilitation robot in the present embodiment, arm blaster are mounted on slide, slide and arc
Shape track matches, so that arm blaster can be slided on arc track by slide, and since arm blaster is rotatablely installed
On slide, horizontally rotate so arm blaster may be implemented on slide relative to slide, when patient uses this upper limb healing machine
When the adaptive fupport arm device of people, the freedom degree of rehabilitation training is higher, realizes man-machine flexible interaction, eliminates conventional arm rest device
Discomfort prevents secondary injury.
Further, the adaptive fupport arm device of upper limb rehabilitation robot in the present embodiment, which is additionally provided with, acts on arm blaster 1
Between slide 2, in the first bolster 6 of arm blaster 1 and deformation when the relative rotation of slide 2.
Since arm blaster 1 is rotatably installed on slide 2, when the relative rotation on slide 2 of arm blaster 1, the first bolster 6
For buffering rotation between the two, wherein in the present embodiment, the first bolster 6 is Arc Spring, is worth explanation
It is, in other embodiments, the first bolster 6 or other buffer units, as long as buffering arm blaster 1 can be reached and slided
The purpose of rotary motion between seat 2.
With reference to Fig. 2 and Fig. 4, arm blaster 1 is mounted on slide 2 by pivot 21, wherein arm blaster 1 and slide 2 it
Between can be along the axial relative movement of pivot 21, in addition, both being additionally provided with axial relative movement between arm blaster 1 and slide 2
When deformation the second bolster 7.
As shown in figure 3, in the present embodiment, the second bolster 7 is linear helical spring, ibid, in other embodiments
In, the second bolster 7 can also be other buffer units, need to only meet axial along pivot 21 between buffering arm blaster 1 and slide 2
Relative motion.
Further, with reference to Fig. 2 and Fig. 4, pivot 21 is fixed on slide 2, and arm blaster 1 is equipped with and matches with pivot 21
Axle sleeve 11.
Specifically, pivot 21 is fixed on slide 2, it is therefore an objective to facilitate the connection between arm blaster 1 and slide 2, wherein arm
Supporting plate 1 is equipped with axle sleeve 11, and axle sleeve 11 is matched with pivot 21, for facilitating the connection between arm blaster 1 and pivot 21.
In the present embodiment, the structure of 1 Upper shaft sleeve 11 of arm blaster is worth as shown in figure 4, be the cylinder of semi-circular shape for section
Illustrating, it can also be other structures that the concrete shape structure of this axle sleeve 11 is in the present embodiment in other embodiments,
As long as axle sleeve 11 can be matched with pivot 21.
As shown in Figures 2 and 3, the top surface of slide 2 is equipped with the mounting groove 22 for being in the periphery of pivot 21, mounting groove 22 around
Pivot 21, the purpose of setting mounting groove 22 are for placing the first bolster 6 and the second bolster 7.
Wherein the first block piece 23 is arranged in the inner wall of mounting groove 22, when arm blaster 1 and slide 2 are rotatablely installed, axle sleeve 11
A part protrudes into and is used as the second block piece in mounting groove 22, and the first bolster 6 is located in mounting groove 23 and in circumferential direction respectively with the
One block piece 23 and the second block piece offset；The groove bottom part of mounting groove 22 is arranged in second bolster 7, in the second bolster 7
Top is provided with float plate 24, and the second bolster 7 is placed between float plate 24 and the slot bottom of mounting groove 22, the first bolster 6 peace
It sets in the float plate 24, the end face of the axle sleeve 11 as the second block piece circumferentially offsets with the first bolster 6 along mounting groove.
Specifically, in the present embodiment, the first block piece 23 is demarcation plate, and demarcation plate is connected with float plate 24,
Demarcation plate is arranged in mounting groove 22 by the locating slot 25 on 22 inner wall of mounting groove, and float plate 24 is arranged on the pivot shaft 21,
Middle demarcation plate can be axially moved in locating slot 25 along pivot 21, wherein the Arc Spring as the first bolster 6 is
Two, be both placed in float plate 24, and two Arc Springs with as the first block piece 23 demarcation plate and conduct
The axle sleeve 11 of second block piece offsets, and the linear helical spring as the second bolster 7 is placed in 22 slot bottom of mounting groove and floats
Between plate 24.
Further, when arm blaster 1 is connect with slide 2, and the axle sleeve 11 on arm blaster 1 is as the second block piece,
Two Arc Springs of the axle sleeve 11 respectively with float plate 24 and as the first bolster 6 offset, when arm blaster 1 and slide 2
When relative rotation, two Arc Springs can play circumferential buffer function, when between arm blaster 1 and slide 2 along 21 axis of pivot
Axial buffer can be played to linear helical spring when relative motion, being placed between 22 slot bottom of float plate 24 and mounting groove to make
With, thus guarantee that patient's training is gone on smoothly, the comfort of increase Rehabilitation training.
It is worth noting that in other embodiments, the first block piece 23 can also be other barrier structures, demarcation plate is
Selection in the present embodiment, in other embodiments, the first block piece 23 is also structure as a whole with the inner wall in mounting groove 22 or it
His connection type, the first block piece 23 can also need not be connected with float plate 24, need to only meet the first block piece 23 and stop first
Bolster 6, float plate 24 separate the first bolster 6 and the second bolster 7.
As shown in figure 4, the inner wall of axle sleeve 11 is equipped with limited step 111, pivot 21 is equipped with gag lever post 211, the gag lever post
211 one end is extended in axle sleeve 11 above limited step 111, and the end of gag lever post 211 is equipped with and 111 phase of limited step
The anti-drop head 212 supported.
In the present embodiment, gag lever post 211 is caging bolt, and anti-drop head 212 is anti-flake, when arm blaster 1 passes through pivot
21 with slide 2 when being connected, and the caging bolt on pivot 21 interacts with the anti-flake being located on limited step 111,
Caging bolt is connected with pivot 21 again, to guarantee the rotational installation between arm blaster 1 and slide 2.
Further, in the present embodiment, to guarantee to be fixedly connected between pedestal 4 and arc track 3, it is additionally provided with arc panel
5, wherein arc panel 5 and arc track 3 are adapted, and arc-shaped slide rail 3 is arranged on the arc panel 5 of adhered shape, arc panel 5 and base
Seat 4 is connected.
Specifically, slide 2 and arm blaster 1 are in the region of 5 semi-surroundings of arc panel.
Wherein, it is additionally provided on the adaptive fupport arm device of this upper limb rehabilitation robot and the slide is maintained at arc track
Locking piece on predetermined position.
In the present embodiment, locking piece is positioning bolt 8, first positioning hole is equipped in 2 bottom of slide, in arc track 3
Lowest part be equipped with second location hole, second location hole penetrates through arc track 3 and arc panel 5, first positioning hole and the second positioning
Hole is equipped with the screw thread matched with positioning bolt 8, and wherein positioning bolt 8 is matched with second location hole, when slide 2 is in arc
When the lowest part of shape track 3, first positioning hole is opposite with second location hole position, can connect first by reversing positioning bolt 8
Location hole and second location hole, to achieve the purpose that fixing slide carriage 2.
It is worth noting that in other embodiments, the quantity of second location hole can be multiple, and be evenly distributed on arc
On track 3；Or in other embodiments, other locking pieces can be used, need to only meet and slide 2 is maintained at arc track 3 make a reservation for
On position.
As shown in Figure 1, the both ends of arc track 3 are equipped with limiting section 31, limiting section 31 is located at arc-shaped guide rail 3 for limiting
The displacement of upper saddle 2 prevents slide 2 from skidding off arc track 3, guarantees that slide 2 normally slides on arc track 3.
In the present embodiment, the limiting section 31 positioned at 3 both ends of arc track is stop screw, and is fixed on arc track
On, it can also be limited block or other limiting devices, as long as arc track 3 will not be skidded off i.e. by meeting slide 2 in other embodiments
It can.
Further, adaptive 4 height of fupport arm device pedestal of this upper limb rehabilitation robot is adjustable.
With reference to Fig. 1, the pedestal 4 in the present embodiment is Y type pedestal, including Y type part 41, fixing seat 42 and fixing bolt 43, Y
Type part 41 is partially disposed in fixing seat 42, and fixing seat 42 is equipped with fixing bolt 43, and wherein Y type part 41 is placed in fixing seat 42
Part is adjustable, and can achieve the purpose that fixed Y type part 41 is placed in part in fixing seat 42 by the bolt 43 that is tightened, thus
Realize the adjustable of pedestal 4.
It is worth noting that realizing there are many kinds of the height-adjustable modes of pedestal 4, in other embodiments, can also be used
Other modes are not intended as limiting here.
In conclusion the present invention can reach following effect in the present embodiment:
When patient training forearm rotation before/supination when, arm blaster can follow patient forearm by slide in curved track
It is slided on road.
When patient is in training wrist joint flexion/extension motion, arm blaster can follow forearm by straight in sliding assembly
Linear helical spring is moved along the upward small range of pivot shaft, and linear helical spring plays certain buffer function, is increased and is suffered from
Comfort when person's training.
When patient's receipts/abduction exercise in training wrist joint, arm blaster can follow forearm by two in sliding assembly
A Arc Spring is moved along the circumferentially upper small range of pivot, and Arc Spring equally plays certain buffer function, has
Conducive to the rehabilitation training of patient.
The adaptive fupport arm device of this upper limb rehabilitation robot increases multiple freedom degrees, realizes flexible interaction, improves trouble
Comfort of the person in rehabilitation training.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. the adaptive fupport arm device of upper limb rehabilitation robot, including pedestal, which is characterized in that be additionally provided with:
Arc track is mutually fixed with the pedestal；
Slide is slided along the arc track；
Arm blaster is rotatably installed on the slide.
2. the adaptive fupport arm device of upper limb rehabilitation robot as described in claim 1, which is characterized in that be additionally provided with and act on arm
Between supporting plate and slide, in the first bolster of arm blaster and deformation when slide relative rotation.
3. the adaptive fupport arm device of upper limb rehabilitation robot as claimed in claim 2, which is characterized in that arm blaster passes through pivot
It is mounted on slide, and axially can be movable relatively between arm blaster and slide, the adaptive fupport arm dress of upper limb rehabilitation robot
Set further includes acting between arm blaster and slide, in the second bolster of arm blaster and deformation when slide axial relative movement.
4. the adaptive fupport arm device of upper limb rehabilitation robot as claimed in claim 3, which is characterized in that described to be pivotally secured to
On slide, the arm blaster is provided with the axle sleeve matched with the pivot.
5. the adaptive fupport arm device of upper limb rehabilitation robot as claimed in claim 4, which is characterized in that the top surface of the slide
Equipped with the mounting groove for being in pivot periphery, the first block piece is arranged in mounting groove inner wall, and a part of axle sleeve, which protrudes into mounting groove, to be made
For the second block piece, first bolster be located in mounting groove and in circumferential direction respectively with the first block piece and the second block piece phase
It supports.
6. the adaptive fupport arm device of upper limb rehabilitation robot as claimed in claim 5, which is characterized in that second bolster
The groove bottom part of mounting groove is set, float plate is provided with above the second bolster, it is floating that first bolster is placed in this
On movable plate, the end face of the axle sleeve circumferentially offsets with the first bolster along mounting groove.
7. the adaptive fupport arm device of upper limb rehabilitation robot as claimed in claim 6, which is characterized in that the inner wall of the axle sleeve
Equipped with limited step, the pivot is equipped with gag lever post, and one end of the gag lever post extends to above limited step in axle sleeve, and
The end of gag lever post is equipped with the anti-drop head to offset with limited step.
8. the adaptive fupport arm device of upper limb rehabilitation robot as claimed in claim 7, which is characterized in that be additionally provided with the cunning
Seat is maintained at the locking piece on arc track predetermined position.
9. the adaptive fupport arm device of upper limb rehabilitation robot as claimed in claim 8, which is characterized in that the arc-shaped guide rail
Both ends are equipped with limiting section, and the limiting section is used to limit the displacement for being located at sliding equipment on arc-shaped guide rail.
10. the adaptive fupport arm device of upper limb rehabilitation robot as claimed in claim 9, which is characterized in that the base height
It is adjustable.
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| CN201811366738.4A CN109620632B (en) | 2018-11-16 | 2018-11-16 | Adaptive arm support device for upper limb rehabilitation robot |
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| CN201811366738.4A CN109620632B (en) | 2018-11-16 | 2018-11-16 | Adaptive arm support device for upper limb rehabilitation robot |
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| CN109620632B CN109620632B (en) | 2021-10-22 |
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| CN110074945A (en) * | 2019-06-10 | 2019-08-02 | 上海理工大学 | A kind of forearm adaptive mechanism for center driven upper limb rehabilitation robot |
| CN110116423A (en) * | 2019-06-19 | 2019-08-13 | 重庆大学 | A kind of transmission shaft protection device, walking robot joint structure and walking robot |
| CN111249686A (en) * | 2019-12-24 | 2020-06-09 | 苏州好博医疗器械有限公司 | A wrist training mechanism for end-guided upper limb rehabilitation robot |
| CN111904792A (en) * | 2020-08-12 | 2020-11-10 | 威海经济技术开发区天智创新技术研究院 | A skin deformation compensation structure for lower limb rehabilitation equipment |
| CN111904790A (en) * | 2020-08-12 | 2020-11-10 | 威海经济技术开发区天智创新技术研究院 | Multi-track knee joint rehabilitation training robot |
| CN111904791A (en) * | 2020-08-12 | 2020-11-10 | 威海经济技术开发区天智创新技术研究院 | Skin deformation compensation structure of lower limb rehabilitation equipment |
| CN114452157A (en) * | 2021-04-05 | 2022-05-10 | 新加坡国立大学 | Device for assisting upper limb movement |
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| CN110074945A (en) * | 2019-06-10 | 2019-08-02 | 上海理工大学 | A kind of forearm adaptive mechanism for center driven upper limb rehabilitation robot |
| CN110074945B (en) * | 2019-06-10 | 2021-10-26 | 上海理工大学 | Forearm self-adaptive mechanism for central driving upper limb rehabilitation robot |
| CN110116423A (en) * | 2019-06-19 | 2019-08-13 | 重庆大学 | A kind of transmission shaft protection device, walking robot joint structure and walking robot |
| CN110116423B (en) * | 2019-06-19 | 2024-02-27 | 重庆大学 | Transmission shaft protection device, walking robot joint structure and walking robot |
| CN111249686A (en) * | 2019-12-24 | 2020-06-09 | 苏州好博医疗器械有限公司 | A wrist training mechanism for end-guided upper limb rehabilitation robot |
| CN111904792A (en) * | 2020-08-12 | 2020-11-10 | 威海经济技术开发区天智创新技术研究院 | A skin deformation compensation structure for lower limb rehabilitation equipment |
| CN111904790A (en) * | 2020-08-12 | 2020-11-10 | 威海经济技术开发区天智创新技术研究院 | Multi-track knee joint rehabilitation training robot |
| CN111904791A (en) * | 2020-08-12 | 2020-11-10 | 威海经济技术开发区天智创新技术研究院 | Skin deformation compensation structure of lower limb rehabilitation equipment |
| CN111904792B (en) * | 2020-08-12 | 2023-02-03 | 威海经济技术开发区天智创新技术研究院 | A skin deformation compensation structure for lower limb rehabilitation equipment |
| CN111904790B (en) * | 2020-08-12 | 2023-08-22 | 威海经济技术开发区天智创新技术研究院 | Multi-track knee joint rehabilitation training robot |
| CN111904791B (en) * | 2020-08-12 | 2023-08-22 | 威海经济技术开发区天智创新技术研究院 | Skin deformation compensation structure of lower limb rehabilitation equipment |
| CN114452157A (en) * | 2021-04-05 | 2022-05-10 | 新加坡国立大学 | Device for assisting upper limb movement |
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