CN115227559A - Flexible parallel physiotherapy execution device and physiotherapy equipment - Google Patents

Abstract

The invention provides a flexible parallel physiotherapy executing device and physiotherapy equipment, which can realize multiple functions of one machine and facilitate flexible force control. This parallelly connected physiotherapy final controlling element of flexibility includes: a stationary platform; the flexible driving mechanisms are respectively arranged on the static platform and used for flexibly outputting driving force and motion relative to the static platform; the actuating mechanisms are arranged in parallel and are connected to the flexible driving mechanism in a one-to-one correspondence manner and are used for transmitting the driving force and the movement output by the flexible driving mechanism; and the movable platform is connected with the actuating mechanisms and is used for combining the driving force and the motion transmitted by the actuating mechanisms so as to perform spatial motion for simulating physical therapy manipulation relative to the static platform.

Description

Flexible parallel physiotherapy executive device and physiotherapy equipment

technical field

The present application relates to the technical field of physical therapy, in particular to a flexible parallel physical therapy execution device and physical therapy equipment.

Background technique

With the development of medical and health services and the improvement of people's living standards, the rehabilitation treatment industry has gradually entered a stage of rapid development. At present, the places that provide rehabilitation treatment include traditional Chinese medicine clinics and physical therapy centers, etc. Among them, massage therapists need to bear a great physical burden when providing medical massage services. At the same time, the operation and management of clinics also face many problems such as poor recruitment, training, and management of therapists, which further restricts the standardization and branding development of the rehabilitation therapy industry.

With the continuous improvement of robot technology, the use of robot technology provides a new idea for solving the pain points of the rehabilitation treatment industry. At present, many physical therapy robots have emerged on the market, and the core of different physical therapy robots providing different treatments comes from the front-end physical therapy actuators, such as robots that provide soft tissue therapy, robots that provide hyperthermia, and robots that provide moxibustion, etc. . Although the existing soft tissue physiotherapy actuators can not only control the force when the robot contacts the human body by providing force control, but also can use a special transmission mechanism design to realize the finger-kneading action imitating the human hand; but the existing soft tissue physiotherapy The treatment methods realized by the treatment actuator are relatively single, and cannot provide different treatment methods according to the needs of different patients. In addition, the existing soft tissue physiotherapy actuators usually design the force control module and the treatment manipulation module separately, resulting in a relatively complex and redundant design of the transmission structure, making it difficult to achieve precise control.

SUMMARY OF THE INVENTION

Based on this, the present invention provides a flexible parallel physiotherapy execution device and physiotherapy equipment, which can facilitate flexible force control while realizing one machine with multiple functions.

According to an aspect of the present invention, the present invention provides a flexible parallel physiotherapy execution device, comprising:

static platform;

a plurality of flexible driving mechanisms, which are respectively disposed on the static platform and used for flexibly outputting driving force and motion relative to the static platform;

a plurality of actuators, the plurality of actuators are arranged in parallel, and the actuators are connected to the flexible driving mechanism in a one-to-one correspondence for transmitting the driving force and motion output via the flexible driving mechanism; and

a moving platform, the moving platform is connected to a plurality of the actuators, and is used for combining the driving force and motion transmitted through the plurality of the actuators to perform a space for imitating the physiotherapy manipulation relative to the static platform sports.

In an embodiment of the present application, the actuator is a moving branch chain, the input end of the moving branch chain is connected to the flexible drive mechanism, and the output end of the moving branch chain is connected to the moving platform to Through a plurality of the motion branches, the uniaxial output motion and torque of the flexible drive mechanism corresponding to each of the motion branches are transmitted to the moving platform for spatial combination.

In an embodiment of the present application, the motion branch includes an input link, an output link, a first hinge assembly and a second hinge assembly, and the input end of the input link is fixedly connected to the flexible drive mechanism, The output end of the input link is hinged to the input end of the output link through the first hinge assembly, and the output end of the output link is hinged to the moving platform through the second hinge assembly.

In an embodiment of the present application, the first hinge assembly includes a first pivot shaft fixedly connected with the output end of the input link and a pair of first steering shafts connected with both ends of the first pivot shaft The first steering joint is arranged at the input end of the output link; the second hinge assembly includes a second pivot fixedly connected to the moving platform and two ends of the second pivot A pair of connected second steering joints, the second steering joints are arranged at the output end of the output link.

In an embodiment of the present application, the moving branch chain further includes an elastic support member, and two ends of the elastic support member are respectively fixedly connected to the two output links in each of the moving branch chains.

In an embodiment of the present application, the moving platform includes a moving part fixedly connected to the actuator and a functional part arranged on the moving part, the moving part is used to convert the output via the actuator The motion combination is converted into space motion, so as to drive the functional part to move in space.

In an embodiment of the present application, the functional part is detachably mounted on the moving part.

In an embodiment of the present application, the flexible driving mechanism includes a driving component and a flexible linkage, the flexible linkage includes an input connector connected with the driving component, an output connector connected with the actuator, and An elastic component arranged between the input connector and the output connector, wherein when the driving component is activated to drive the input connector to act, the elastic component is driven by the input connector The elastic deformation occurs in the lower part to drive the output connecting piece, which is used to measure the output force through the deformation amount of the elastic component.

In an embodiment of the present application, the elastic component includes a first torsion spring, a second torsion spring, and an intermediate connecting piece connected in series with the first torsion spring and the second torsion spring, the first torsion spring The two ends of the second torsion spring are respectively fixedly connected to the input connecting piece and the intermediate connecting piece, and the two ends of the second torsion spring are fixedly connected to the output connecting piece and the intermediate connecting piece, respectively.

In an embodiment of the present application, the input connector, the intermediate connector, and the output connector are rotatably arranged coaxially in sequence, and the first torsion spring is sleeved on the input connector and the output connector. On the shaft between the intermediate connecting pieces, the second torsion spring is sleeved on the shaft between the intermediate connecting piece and the output connecting piece.

In an embodiment of the present application, the intermediate connecting piece has a first torsion spring cavity facing the input connecting piece and a second torsion spring cavity facing the output connecting piece, so as to connect the The first torsion spring is encapsulated in the first torsion spring cavity, and the second torsion spring is encapsulated in the second torsion spring cavity through the output connector.

In an embodiment of the present application, the flexible parallel physiotherapy execution device further includes a flexible linkage correspondingly disposed at the joint of the actuator, the flexible linkage includes an input connector, an output connector, and an elastic an assembly, the elastic assembly is disposed between the input connector and the output connector, wherein when the input connector is driven to act, the elastic assembly occurs under the driving of the input connector The elastic deformation is used to drive the output connecting piece for measuring the output force through the deformation amount of the elastic component.

According to another aspect of the present application, the present application further provides a physical therapy device, comprising:

the device body; and

In any one of the above-mentioned flexible parallel physiotherapy execution devices, the flexible parallel physiotherapy execution device is mounted on the equipment body.

In an embodiment of the present application, the device body is a handheld device body, and the static platform of the flexible parallel physiotherapy execution device is loaded on the handheld device body to form a handheld physiotherapy device.

In an embodiment of the present application, the main body of the handheld device includes a housing on which the static platform is mounted, a handle fixed on the housing, and a human-computer interaction module set on the housing. The computer interaction module is communicatively connected to the flexible parallel physiotherapy execution device.

In an embodiment of the present application, the equipment body is a mobile equipment body, and the static platform of the flexible parallel physiotherapy execution device is loaded on the mobile equipment body to form a mobile physiotherapy equipment.

In an embodiment of the present application, the main body of the mobile device includes a mobile carrier and a robotic arm mounted on the mobile carrier, and the static platform of the flexible parallel physiotherapy execution device is integrated at the end of the robotic arm .

To sum up, the present application adopts parallel-arranged actuators as the main structure of the physiotherapy executing device, which facilitates the complex motion of the output moving platform to simulate various physiotherapy manipulations through the motion control of multiple input joints; Adopting a flexible drive mechanism can realize advanced single-joint motion control and flexible force control; based on the kinematics and dynamics of the parallel mechanism, combined with the single-joint flexible force control, the application can realize the motion control and flexible force control of the entire equipment, It is convenient to effectively realize the functions of one machine with multiple functions.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the traditional technology, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the traditional technology. Obviously, the drawings in the following description are only the For some embodiments of the application, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic perspective view of a flexible parallel physiotherapy execution device provided by an embodiment of the present application;

FIG. 2 shows a schematic perspective view of the flexible drive mechanism in the flexible parallel physiotherapy execution device according to the above-mentioned embodiment of the present application;

FIG. 3 shows an exploded schematic diagram of the flexible drive mechanism according to the above-mentioned embodiment of the present application;

FIG. 4 shows a schematic perspective view of the flexible linkage in the flexible drive mechanism according to the above-mentioned embodiment of the present application;

Fig. 5 shows the exploded schematic diagram of the flexible linkage according to the above-mentioned embodiment of the present application;

FIG. 6 shows a schematic perspective view of the transmission in the flexible drive mechanism according to the above-mentioned embodiment of the present application;

FIG. 7 shows an exploded schematic diagram of the transmission according to the above-mentioned embodiment of the present application;

FIG. 8 shows a modified example of the flexible linkage according to the above-mentioned embodiment of the present application;

Fig. 9 shows the perspective schematic diagram of the motion branch in the flexible parallel physiotherapy execution device according to the above-mentioned embodiment of the present application;

FIG. 10 shows a schematic perspective view of the moving platform in the flexible parallel physiotherapy execution device according to the above-mentioned embodiment of the present application;

FIG. 11 shows a variant embodiment of the flexible parallel physiotherapy execution device according to the above-mentioned embodiment of the present application;

Figure 12 is a first example of a material therapy device according to an embodiment of the application;

FIG. 13 is a second example of the material treatment device of the above-mentioned embodiment of the application;

FIG. 14 shows a schematic diagram of the application of the material treatment device according to the above-mentioned second example of the present application.

Reference numerals: 1. Flexible parallel physiotherapy execution device; 10. Flexible driving mechanism; 11. Driving component; 110. Rotary motor; 12. Flexible linkage; ; 1230, rotary torsion spring; 1231, first torsion spring; 1232, second torsion spring; 1233, intermediate connector; 12331, first torsion spring cavity; 12332, second torsion spring cavity; 1234, first sliding joint ; 1235, second sliding piece; 124, sensor assembly; 1240, angle sensor; 13, transmission; 131, input shaft assembly; 1311, input shaft; 1312, input bearing seat; 1313, input bearing retaining ring; 1314, Lock nut; 132, output shaft assembly; 1321, output shaft; 1322, first output bearing seat; 1323, output bearing retaining ring; 1324, second output bearing seat; 133, belt drive assembly; 1331, input pulley; 1332 , output pulley; 1333, transmission belt; 20, actuator; 200, motion branch; 21, input link; 22, output link; 23, first hinge assembly; 231, first pivot; 232, first Steering joint; 24, second hinge assembly; 241, second pivot; 242, second steering joint; 25, elastic support; 250, support spring; 30, static platform; 40, moving platform; 41, moving part; 42, functional parts; 50, main body of equipment; 51, main body of handheld device; 511, shell; 512, handle; 513, human-computer interaction module; 52, main body of mobile device; 521, mobile carrier;

Detailed ways

In order to make the above objects, features and advantages of the present application more clearly understood, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or there may also be an intervening component. When a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a co-existence of an intervening component. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation Way.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.

In this application, unless otherwise expressly specified and defined, the first feature "on" or "under" the second feature may be that the first feature directly contacts the second feature, or the first feature and the second feature indirectly contact through an intermediary. Also, the first feature is "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature "below", "below" and "below" the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is level lower than the second feature.

Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used in the specification of the present application are for the purpose of describing specific embodiments only, and are not intended to limit the present application. As used in this specification, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Considering that the existing soft tissue physiotherapy actuators have relatively single treatment techniques, they cannot provide different treatment techniques for different patients' needs. In order to solve this problem, the present application provides a flexible parallel physiotherapy execution device and physiotherapy equipment, which can facilitate flexible force control while realizing one machine with multiple functions.

Specifically, please refer to FIG. 1 to FIG. 10 , an embodiment of the present application provides a flexible parallel physiotherapy execution device 1 , which may include multiple flexible drive mechanisms 10 , multiple actuator mechanisms 20 , a static platform 30 and a dynamic Platform 40. A plurality of the flexible driving mechanisms 10 are respectively disposed on the static platform 30 for flexibly outputting driving force and motion relative to the static platform 30 . A plurality of the actuators 20 are arranged in parallel, and the actuators 20 are connected to the flexible driving mechanism 10 in a one-to-one correspondence for transmitting the driving force and motion output via the flexible driving mechanism 10 . The moving platform 40 is connected to a plurality of the actuators 20 for combining the driving force and motion transmitted through the plurality of the actuators 20 to perform a spatial motion relative to the static platform 30 for simulating a physiotherapy technique.

It is worth noting that, on the one hand, the flexible parallel physiotherapy execution device 1 of the present application realizes flexible force control due to the flexible output of driving force and motion through the flexible drive mechanism 10, that is, the force of the moving platform 40 in contact with the outside world can be controlled. On the other hand, the driving force and motion output by the flexible driving mechanisms 10 are transmitted to the moving platform 40 through the parallel arrangement of the multiple actuators 20, and the corresponding spatial motion trajectory is combined to generate the corresponding spatial motion trajectory to simulate the pressure physical therapy. Various methods can effectively realize the functions of one machine with multiple functions. It can be understood that the physiotherapy techniques imitated by the moving platform 40 of the present application may include, but are not limited to, one or more of finger rubbing, tendon plucking, percussion and one-finger meditation; in other words, the moving platform 40 does The spatial movement of the device may include, but is not limited to, finger kneading movement, tendon pulling movement, tapping movement, one-finger meditation movement, or a combination of any two or more of the above movements, which will not be repeated in this application. In addition, the flexible parallel physiotherapy execution device 1 of the present application can fully integrate the advantages of no cumulative error, high precision, compact structure, high rigidity and strong bearing capacity of the parallel mechanism, so as to realize precise motion control and force control.

More specifically, in addition to providing support for the flexible drive mechanism 10, the static platform 30 can also provide electrical interfaces and/or mechanical interfaces, so as to be mounted on different equipment bodies to achieve different functions. For example, the static platform 30 is adapted to be mounted on a handheld device body to form a handheld physiotherapy device; the static platform 30 is also adapted to be mounted on a mobile device body to form a mobile physiotherapy device such as a physiotherapy robot.

Optionally, the flexible parallel physiotherapy execution device 1 of the present application may include, but is not limited to, three of the flexible drive mechanisms 10 and three of the actuators 20, so that after each of the three flexible drive mechanisms 10 inputs corresponding drive instructions, The output driving force and motion can be transmitted to the moving platform 40 through the three actuators 20 respectively, so that the moving platform 40 can move in the three-dimensional space, which is convenient for performing various physiotherapy manipulations. It can be understood that the motion mentioned in this application may refer to a motion whose position and posture are controllable, or a motion whose speed of movement is controllable, so that when the moving platform 40 comes into contact with the external environment, By controlling the output torque of each of the flexible drive mechanisms 10, the magnitude of the three-dimensional contact force in space can also be controlled.

In addition, in other embodiments of the present application, the flexible parallel physical therapy execution device 1 may also include two or more flexible drive mechanisms 10 and two or more than three actuator mechanisms 20, as long as the moving platform can be driven 40 It suffices to perform movements for imitating various physiotherapy manipulations, which will not be repeated in this application.

According to the above embodiments of the present application, as shown in FIG. 1 and FIG. 2 , the flexible driving mechanism 10 may include a driving part 11 and a flexible linkage 12 , and the flexible linkage 12 links the driving part 11 with the actuator 20 , In order to drive the actuator 20 to perform the required treatment action, flexible force control can be realized, so as to take into account the force control and motion control of the actuator 20 .

Optionally, as shown in FIGS. 1 to 5 , the flexible linkage 12 may include an input connector 121 connected to the driving component 11 , an output connector 122 connected to the actuator 20 , and an input connector 122 provided on the input connector. The elastic component 123 between the component 121 and the output connecting component 122, wherein when the driving component 11 is activated to drive the input connecting component 121 to act, the elastic component 123 is elastically deformed under the driving of the input connecting component 121 to The output connector 122 is driven to measure the output force through the deformation of the elastic component 123; at the same time, the flexible linkage 12 flexibly links the driving component 11 with the actuator 20, so that the actuator 20 Can be driven by the flexible drive mechanism 10 to perform the desired therapeutic action.

It is worth noting that, on the one hand, the elastic component 123 in the flexible driving mechanism 10 can reduce the risk of rigid body collision due to its inherent flexibility; on the other hand, the elastic component 123 in the flexible driving mechanism 10 The amount of elastic deformation is related to the amount of driving force received, and the amount of driving force can be controlled by controlling the amount of deformation of the elastic component 123, so as to realize force control through motion control (position control), which is helpful to simplify the control difficulty. , improve the control stability.

According to the above-mentioned embodiments of the present application, as shown in FIGS. 1 and 3 , the driving part 11 in the flexible driving mechanism 10 can be, but is not limited to, be implemented as a rotary motor 110 for driving the input of the flexible linkage 12 The connecting piece 121 is rotated to output the rotation angle, angular velocity and torque, so that the flexible linkage 12 transmits the output angle, output angular velocity and output torque to the actuator 20 to perform the required therapeutic action. It can be understood that, in other embodiments of the present application, the driving component 11 can also be implemented as a linear motor, which is used to drive the input connecting piece 121 of the flexible linkage 12 to move to output linear displacement, linear velocity and Driving force, so that the flexible linkage 12 transmits the output displacement, output speed and output force to the actuator 20, and can also perform the required treatment action, which will not be repeated in this application.

In the above embodiments of the present application, as shown in FIG. 4 and FIG. 5 , the elastic component 123 in the flexible link 12 may include one or more rotating torsion springs 1230 so as to pass the deformation angle of the rotating torsion springs 1230 , to calculate the torsional moment generated by the elastic component 123 , and then obtain the output torque of the flexible drive mechanism 10 , which facilitates both the force control and the motion control of the actuator 20 . It can be understood that, in other embodiments of the present application, the elastic component 123 may also include one or more planar springs of other types, or other functions such as elastic tubes, elastic sheets, elastic rods or elastic strips to generate a flat surface. The torque-based elastic device only needs to be able to calculate the output force through the deformation amount, which will not be repeated in this application.

Exemplarily, as shown in FIG. 4 and FIG. 5 , the elastic component 123 may include a first torsion spring 1231 , a second torsion spring 1232 , and an intermediate connector connected in series with the first torsion spring 1231 and the second torsion spring 1232 . 1233. Both ends of the first torsion spring 1231 are fixedly connected to the input connector 121 and the intermediate connector 1233 respectively; both ends of the second torsion spring 1232 are fixedly connected to the output connector 122 and the intermediate connector 1233 respectively. In this way, when the input connector 121 is driven to rotate by the rotary motor 110, the first torsion spring 1231 is twisted to produce elastic deformation, and the second torsion spring 1232 is driven to twist through the intermediate connector 1233 to produce elastic deformation , and then drive the output connector 122 to rotate, so as to obtain the elastic deformation of the elastic component 123 according to the rotational angle difference between the input connector 121 and the output connector 122 , so as to accurately calculate the elastic deformation of the elastic component 123 torque.

For example, the stiffness coefficient of the first torsion spring 1231 is represented by k ₁ ; the stiffness coefficient of the second torsion spring 1232 is represented by k ₂ ; then the stiffness coefficient k of the elastic component 123 can be expressed by 1/k=1/k ₁ + 1/k ₂ is obtained. If the rotation angle (ie, the input angle) of the input connector 121 is θ _m , and the rotation angle (ie, the output angle) of the output connector 122 is θ _out , then the torque generated by the elastic component 123 is τ=k(θ _m -θ _out ). It can be understood that the stiffness coefficients k ₁ and k ₂ mentioned in this application can be obtained through the parameters of purchased products or experimental methods; the input angle θ _m mentioned in this application can be, but is not limited to, through the built-in rotating electrical machine 110 . The output angle θ _out mentioned in this application can be obtained, but not limited to, through the built-in angle sensor of the actuator 20 ; the torque τ calculated in this application will be the contact force between the actuator 20 and the outside world Reference volume for size for physical therapy strength control.

It is worth noting that, in other examples of the present application, the elastic component 123 may also include only the first torsion spring 1231, and both ends of the first torsion spring 1231 are fixedly connected to the input connector 121 and the output connection, respectively. The first torsion spring 1231 directly and flexibly transmits the rotation angle, angular velocity and torque of the input connecting piece 121 to the output connecting piece 122 , and can still flexibly transmit the rotation angle, angular velocity and torque of the input connecting piece 121 to the output connecting piece 122 according to the relationship between the input connecting piece 121 and the output connecting piece 122 The rotational angle difference between the two is used to obtain the elastic deformation of the elastic element 123 , and then the torque generated by the elastic element 123 is calculated.

Optionally, as shown in FIG. 4 and FIG. 5 , the input connector 121 , the intermediate connector 1233 and the output connector 122 are rotatably arranged coaxially in turn; the first torsion spring 1231 is sleeved on the input on the shaft between the connecting piece 121 and the intermediate connecting piece 1233; the second torsion spring 1232 is sleeved on the shaft between the intermediate connecting piece 1233 and the output connecting piece 122, so that the first torsion spring 1231 and the Both the second torsion springs 1232 undergo torsional deformation around the axis, so as to avoid non-torsional deformation of the first torsion springs 1231 and the second torsion springs 1232, which would affect the calculation of the torque.

Optionally, as shown in FIG. 4 and FIG. 5 , the intermediate connecting piece 1233 has a first torsion spring cavity 12331 facing the input connecting piece 121 and a second torsion spring cavity 12332 facing the output connecting piece 122 so as to pass the The input connector 121 encapsulates the first torsion spring 1231 in the first torsion spring cavity 12331, and the output connector 122 encapsulates the second torsion spring 1232 in the second torsion spring cavity 12332, so as to The deformation of the first torsion spring 1231 and the second torsion spring 1232 is prevented from being disturbed by the external environment.

Optionally, as shown in FIGS. 4 and 5 , the first torsion spring cavity 12331 and the second torsion spring cavity 12332 in the intermediate connecting piece 1233 are both implemented as annular cavities, so that the first torsion spring 1231 The first torsion spring cavity 12331 and the second torsion spring cavity 12332 are respectively sleeved in the first torsion spring cavity 12332 corresponding to the second torsion spring 1232 .

Optionally, as shown in FIG. 4 and FIG. 5 , the elastic component 123 may further include a first sliding member 1234 and a second sliding member 1235 ; the first sliding member 1234 is disposed on the intermediate connecting member 1233 and Between the input connecting piece 121 , the intermediate connecting piece 1233 is slidably connected to the input connecting piece 121 ; the second sliding piece 1235 is disposed between the intermediate connecting piece 1233 and the output connecting piece 122 , used to slidably connect the output connecting piece 122 to the intermediate connecting piece 1233 to reduce the sliding friction between the intermediate connecting piece 1233 and the input connecting piece 121 and the output connecting piece 122 respectively, and improve the elastic component 123 The resulting torque calculation accuracy.

It is worth noting that the first sliding member 1234 and the second sliding member 1235 of the present application can be implemented as bearings; can also be implemented as oil or oil-free bushings; can also be implemented as other lubricating motions components. For example, when the first sliding member 1234 is implemented as a bearing, the first sliding member 1234 can be fixed to the intermediate connecting member 1233 to rotate around the input connecting member 121; it can also be fixed to the input The connecting piece 121 is rotated around the intermediate connecting piece 1233 . Similarly, when the second sliding member 1235 is implemented as a bearing, the second sliding member 1235 can be fixed to the intermediate connecting member 1233 to rotate around the output connecting member 122; it can also be fixed to the The output connector 122 is rotated around the intermediate connector 1233 .

According to the above-mentioned embodiments of the present application, as shown in FIG. 1 and FIG. 2 , the flexible driving mechanism 10 may further include a transmission 13 for being drivably disposed on the flexible linkage 12 and the actuator 20 , so as to transfer the motion and torque output via the flexible linkage 12 to the actuator 20 steerably.

Exemplarily, as shown in FIGS. 3 and 6 , the transmission 13 may include an input shaft assembly 131 , an output shaft assembly 132 and a belt drive assembly 133 , the input shaft assembly 131 is connected to the output connection of the flexible linkage 12 Part 122, the output shaft assembly 132 is used to connect the actuator 20, and the belt drive assembly 133 is drivably connected to the input shaft assembly 131 and the output shaft assembly 132, so as to realize the direction of movement, transmission through a relatively compact structure The transformation of speed and torque magnitude. It can be understood that, in other examples of the present application, the belt drive assembly 133 in the transmission 13 can also be replaced with a chain drive assembly, a gear drive assembly or a link drive assembly, etc., as long as the movement direction, transmission The transformation of the speed and the torque size is sufficient, which will not be repeated in this application.

Optionally, as shown in FIGS. 6 and 7 , the input shaft assembly 131 of the transmission 13 may include an input shaft 1311 , an input bearing seat 1312 , an input bearing retaining ring 1313 and a lock nut 1314 , and the input shaft 1311 penetrates through The input bearing seat 1312, and the input shaft 1311 is mounted on the input bearing seat 1312 through the input bearing retaining ring 1313 and the lock nut 1314; the input end of the input shaft 1311 is fixedly connected to the flexible linkage 12. The output connector 122 is connected to the output end of the input shaft 1311 to the belt drive assembly 133 .

Similarly, as shown in FIGS. 6 and 7 , the output shaft assembly 132 of the transmission 13 may include an output shaft 1321 , a first output bearing seat 1322 and an output bearing retaining ring 1323 , the output shaft 1321 passing through the first output Bearing seat 1322, and the output shaft 1321 is mounted on the first output bearing seat 1322 through the output bearing retaining ring 1323; the input end of the output shaft 1321 is connected to the belt drive assembly 133, and the output end of the output shaft 1321 For connecting to the actuator 20 .

Optionally, as shown in FIGS. 6 and 7 , the belt drive assembly 133 may include an input pulley 1331, an output pulley 1332, and a drive belt 1333 sleeved on the input pulley 1331 and the output pulley 1332; the input pulley 1331 is Fixed at the output end of the input shaft 1311 ; the output pulley 1332 is fixed at the input end of the output shaft 1321 . In this way, when the output connecting member 122 of the flexible linkage 12 drives the input shaft 1311 to rotate, the input shaft 1311 drives the input pulley 1331 to rotate, so as to transmit the rotational motion of the input pulley 1331 to the input pulley 1331 through the transmission belt 1333 output pulley 1332; and then drive the output shaft 1321 to rotate through the output pulley 1332, so as to transmit to the actuator 20 to perform the required treatment action.

It is worth noting that, as shown in FIG. 3 and FIG. 7 , the flexible linkage 12 of the flexible driving mechanism 10 of the present application may further include a sensor assembly 124 , and the sensor assembly 124 is configured to detect the connection between the output connector 122 and the The motion difference between the input connecting pieces 121 is used to obtain the deformation amount of the elastic component 123 , so as to facilitate the calculation of the output force (moment) of the flexible linkage 12 .

Specifically, the sensor assembly 124 may include an angle sensor 1240 built in the actuator 13 , so as to obtain the output angle and output angular velocity of the flexible linkage 12 through the angle sensor 1240 , and then calculate the output angle generated by the flexible linkage 12 torque. It can be understood that the sensor assembly 124 of the present application may also include an angle sensor (not shown in the figure) built in the driving part 11 for obtaining the input angle and input angular velocity of the flexible linkage 12 to match the The torque generated by the flexible linkage 12 is calculated by outputting the angle.

6 and 7, the output shaft assembly 132 may further include a second output bearing seat 1324, the second output bearing seat 1324 is spaced apart from the first output bearing seat 1322, the output shaft The output end of 1321 is rotatably disposed on the second output bearing seat 1324 to jointly support the output shaft 1321 through the first output bearing seat 1322 and the second output bearing seat 1324; the angle sensor 1240 is fixed on the The second output bearing seat 1324, and the angle sensor 1240 is connected to the output end of the output shaft 1321 for measuring the rotation angle and angular velocity of the output shaft 1321, so as to pass the conversion between the input pulley 1331 and the output pulley 1332 The rotation angle of the output connector 122 of the flexible linkage 12 is obtained by comparing, so as to calculate the torque generated by the flexible linkage 12 .

Optionally, the angle sensor 1240 can be fixed on the second output bearing seat 1324 through a support but not limited to; of course, it can also be fixed on the second output bearing seat 1324 by means such as screwing or gluing. It can be understood that the angle sensor 1240 of the present application can be, but is not limited to, be implemented as a photoelectric sensor, an electromagnetic sensor, an encoder or a potentiometer and other sensors that can measure angular velocity and angle change. In addition, the sensor assembly 124 of the flexible linkage 12 of the present application can use two or more angle sensors 1240 to cooperate with each other, or only one angle sensor 1240 can be used, as long as the input connector 121 and the output can be obtained The angle difference between the connecting pieces 122 can be used for calculating the output force, which is not limited in this application.

Exemplarily, FIG. 8 shows a modified example of the flexible linker 12 according to the above-mentioned embodiment of the present application, which is convenient to be arranged at each joint, wherein the flexible linker 12 may include an input connector 121 , an output connector 122 and the elastic component 123 and the angle sensor 1240 disposed between the input connecting piece 121 and the output connecting piece 122, wherein when the input connecting piece 121 is driven to act, the elastic component 123 is in the input connecting piece 121 The angle sensor 1240 is used to detect the angle difference between the input connector 121 and the output connector 122 to obtain the deformation amount of the elastic component 123, and then calculate output force of the flexible linkage 12.

It is worth noting that, in other examples of the present application, the angle sensor 1240 may also be respectively disposed on the input connecting member 121 and the output connecting member 122 of the flexible linkage 12, or respectively disposed in connection with the input The input end device connected to the output connector 121 and the output end device connected to the output connector 122 only need to be able to measure the angle change of the input connector 121 and the output connector 122, which will not be repeated in this application.

In addition, in other examples of the present application, the elastic component 123 in the flexible linkage 12 can also be replaced by a magnetic component (not shown in the figure), so as to measure the output through the change of the magnetic pole spacing in the magnetic component Force control can still be achieved through motion control (position control), that is, flexible force control is realized, which facilitates both force control and motion control, which will not be repeated in this application.

According to the above-mentioned embodiments of the present application, as shown in FIG. 1 and FIG. 9 , the actuator 20 may be, but is not limited to, be implemented as a moving branch 200 , and the input end of the moving branch 200 is connected to the flexible driving mechanism 10 , the The output end of the moving branch 200 is connected to the moving platform 40, so that the single-axis output motion and torque of the flexible drive mechanism 10 corresponding to each moving branch 200 are transmitted to the moving platform through the plurality of moving branches 200. The platform 40 can be combined in space at the moving platform 40 , so as to realize the compound motion and mechanical properties of the moving platform 40 .

Exemplarily, as shown in FIG. 1 and FIG. 9 , the moving branch 200 may include an input link 21 , an output link 22 , a first hinge assembly 23 and a second hinge assembly 24 , the input end of the input link 21 . Fixedly connected to the output shaft 1321 in the flexible drive mechanism 10, the output end of the input link 21 is hinged to the input end of the output link 22 through the first hinge assembly 23, and the output end of the output link 22 passes through The second hinge assembly 24 is hinged to the moving platform 40 .

Optionally, as shown in FIG. 9 , the first hinge assembly 23 may include a first pivot shaft 231 fixedly connected to the output end of the input link 21 and a pair of two ends connected to the first pivot shaft 231 The first steering joint 232 is disposed at the input end of the output link 22 . Similarly, the second hinge assembly 24 may include a second pivot shaft 241 fixedly connected with the moving platform 40 and a pair of second steering joints 242 connected with both ends of the second pivot shaft 241 , the second steering joints 242 is provided at the output end of the output link 22 .

Optionally, the first steering joint 232 can be implemented, but is not limited to, as a first spherical bearing, which is rotatably provided at the input end of the output link 22; similarly, the second steering joint 242 may be implemented, but not limited to, as a second spherical bearing that is rotatably provided at the output end of the output connecting rod 22 . It can be understood that, in other examples of the present application, the first steering joint 232 and the second steering joint 242 can also be implemented as other types of joints, as long as rotation in two directions can be achieved, and the present application does not This will not be repeated here.

It is worth noting that each of the kinematic branches 200 usually includes a pair of output links 22, so that a pair of first steering joints 232 are respectively disposed at the input ends of the pair of output links 22, and a pair of second steering joints The joints 242 are respectively correspondingly disposed at the output ends of the pair of output links 22 . In order to prevent the pair of output links 22 from rotating in space, as shown in FIG. 8 , the motion branch chain 200 of the present application may further include an elastic support 25 , and both ends of the elastic support 25 are fixedly connected to the elastic support 25 respectively. The pair of output links 22 are supported telescopically.

Optionally, as shown in FIG. 9 , the elastic support member 25 of the present application may be implemented as a support spring 250 , but is not limited to, to enhance the structural stability of the motion branch chain 200 .

Optionally, as shown in FIG. 9 , each of the moving branch chains 200 may include a pair of elastic support members 25 , the pair of elastic support members 25 are respectively located on opposite sides of the pair of output links 22 so as to support the pair of output links 22 symmetrically. to the output link 22.

According to the above-mentioned embodiments of the present application, as shown in FIG. 1 and FIG. 10 , the moving platform 40 may include a moving part 41 fixedly connected with the actuator 20 and a functional part 42 arranged on the moving part 41 , the moving part 40 . 41 is used to convert the motion combination output by the actuator 20 into space motion, so as to drive the functional part 42 to move in space, thereby imitating various physiotherapy techniques. At the same time, when the functional part 42 of the moving platform 40 contacts with the outside world, an interaction force will be generated. At this time, the magnitude of the outside contact force can be controlled by the torque control of the flexible drive mechanism 10 .

Optionally, as shown in FIG. 1 and FIG. 10 , the moving member 41 of the moving platform 40 of the present application may be fixedly connected with the second pivot shaft 241 in the second hinge assembly 24 of the moving branch 200 , In order to receive the motion and torque transmitted through the motion branch 200 . It can be understood that, the moving part 41 of the present application can be, but is not limited to, be implemented as a bracket for installing the functional part 42 .

Optionally, the functional part 42 of the moving platform 40 of the present application serves as a part in contact with the human body, which can be entities of different shapes, different materials or different degrees of softness and hardness, so as to apply appropriate pressure to the human body. Of course, the functional part 42 can also be a functional module with a certain special function, for example, various treatment heads for performing magnetic therapy, heat therapy, light therapy, shock wave therapy and/or ultrasonic therapy.

Preferably, the functional part 42 is detachably mounted on the moving part 41 so as to quickly replace different functional parts, thereby realizing different physiotherapy functions.

It is worth noting that, although the flexible linkage 12 in the flexible parallel physiotherapy execution device 1 according to the above-mentioned embodiment of the present application is provided at the connection joint between the driving member 11 and the transmission 13, in this In other embodiments of the application, the flexible linkage 12 may also be arranged at other joints.

Exemplarily, FIG. 11 shows a variant embodiment of the flexible parallel physiotherapy implementing device according to the above-mentioned embodiment of the present application, wherein the flexible parallel physiotherapy implementing device 1 further comprises a flexible parallel physiotherapy implementing device 1 provided at the joint of the implementing mechanism 20 . The linkage 12, the flexible linkage 12 includes an input connector 121, an output connector 122, and an elastic component 123 disposed between the input connector 121 and the output connector 122, wherein when the input connector 121 is driven When actuated, the elastic element 123 is elastically deformed under the driving of the input connecting piece 121 to drive the output connecting piece 122 for measuring the output force through the deformation of the elastic element 123 to realize flexible force control.

It can be understood that the joints of the actuator 20 mentioned in this application may refer to the internal joints of the motion branch 200 , and may also refer to the joints between the motion branch 200 and the transmission 13 . Flexible force control can be realized at the connecting joints, or the connecting joints between the motion branch chain 200 and the moving platform 40, etc., which will not be repeated in this application.

It is worth mentioning that, according to another aspect of the present application, as shown in FIG. 12 and FIG. 13 , an embodiment of the present application provides a physical therapy device, which may include the above-mentioned flexible parallel physical therapy execution device 1 and a device body. 50, the flexible parallel physiotherapy execution device 1 is mounted on the main body 50 of the equipment, so as to realize the required physiotherapy function.

Exemplarily, in the first example of the present application, as shown in FIG. 12 , the device body 50 can be implemented as a handheld device body 51 , and the static platform 30 of the flexible parallel physiotherapy execution device 1 is loaded on the handheld device body 51 . The device body 51 is formed to form a hand-held physical therapy device, which is convenient for the user to perform physical therapy by hand.

Optionally, as shown in FIG. 12 , the handheld device main body 51 may include a housing 511 on which the static platform 30 is mounted, a handle 512 fixed on the housing 511 , and a human-computer interaction module set on the housing 511 . 513, the human-computer interaction module 513 is communicatively connected to the flexible parallel physiotherapy execution device 1, and is used to control the flexible parallel physiotherapy execution device 1 to perform required physiotherapy operations, for example, to realize the adjustment and operation of the working module through human-computer interaction. switch and other functions. It can be understood that the handheld device main body 51 of the present application may also include functional modules not shown in the drawings, such as a power supply module, a control circuit module, and a motor drive module, which are arranged in the housing 511, so as to assist in realizing the handheld device. The physical therapy operation of the type physical therapy equipment is not repeated in this application.

Optionally, the human-computer interaction module 513 of the handheld device body 51 of the present application may be implemented as a touch screen, but is not limited to.

It is worth noting that, in the second example of the present application, as shown in FIGS. 13 and 14 , the device body 50 may be implemented as a mobile device body 52 , and the static platform 30 of the flexible parallel physiotherapy execution device 1 is Loaded on the mobile device body 52 to form a mobile physiotherapy device, it is convenient for the user to move the device to a proper position to better perform the desired physiotherapy.

Optionally, as shown in FIG. 13 , the mobile device main body 52 may include a mobile carrier 521 and a robotic arm 522 mounted on the mobile carrier 521 , and the static platform 30 of the flexible parallel physiotherapy execution device 1 is integrated in the mechanical arm 522 . The end of the arm 522 is used to control the physiotherapy operation of the flexible parallel physiotherapy execution device 1 through the mechanical arm 522 . It can be understood that the mobile carrier 521 can be configured with a robotic arm control cabinet, a mobile power supply or an emergency power supply to control the action of the robotic arm 522 . In addition, the motor drive module, power supply module and control circuit module communicatively connected to the flexible parallel physiotherapy execution device 1 can be integrated into the end of the robotic arm 522 or into the mobile carrier 521 through cables.

Optionally, the mobile carrier 521 may further include a trolley function module, which is used to move the flexible parallel physiotherapy execution device 1 in a wide range to adapt to various application environments. It can be understood that the trolley function module mentioned in this application may be implemented as a passively moving wheel, or may be implemented as an actively moving platform, which will not be repeated in this application.

It is worth noting that the flexible parallel physiotherapy execution device 1 can act on different parts of the human body in different ways, such as the handheld physiotherapy device and the mobile physiotherapy device shown above. After selecting a method, as shown in FIG. 12, the flexible parallel physiotherapy execution device 1 will be positioned to the parts of the human body that need to be treated, such as the neck, shoulders, back, waist, buttocks, arms, legs and feet Department, etc. At the same time, according to the anatomical characteristics of the muscle tissue to be treated in different parts of the human body, the flexible parallel physiotherapy execution device 1 can contact the parts at an appropriate angle to simulate different physiotherapy techniques.

It can be understood that, the flexible parallel physiotherapy execution device 1 of the present application can be correspondingly set for each physiotherapy manipulation: the motion trajectory curve (manipulation control) of the moving platform 40 in the space coordinate system and the moving platform 40 The applied pressure (force control) can achieve precise control of physiotherapy techniques. For example, as shown in FIG. 13 , if a local coordinate system {O-x, y, z} is defined by the tangent plane and the normal direction between the moving platform 40 and the contact part of the human body, then the moving platform 40 is in the coordinate system {O-x , y, z} The movement curve corresponds to the manual action, and the pressure of the moving platform 40 along the z-axis direction corresponds to the pressing force.

The technical features of the above embodiments can be combined without changing the basic principle of the present invention. For the sake of brevity, all possible combinations of the technical features in the above embodiments are not described. However, as long as these There is no contradiction in the combination of technical features, and it should be regarded as the scope of the description in this specification.

The above examples only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of patent protection of the present application should be governed by the appended claims.

Claims (17)

1. A flexible parallel physiotherapy executive device, characterized in that it comprises: static platform (30); a plurality of flexible drive mechanisms (10), the plurality of flexible drive mechanisms (10) being respectively disposed on the static platform (30) for flexibly outputting driving force and motion relative to the static platform (30); A plurality of actuators (20), a plurality of the actuators (20) are arranged in parallel, and the actuators (20) are connected to the flexible drive mechanism (10) in a one-to-one correspondence for transmitting the transmission via the the drive force and motion output by the flexible drive mechanism (10); and A moving platform (40), the moving platform (40) is connected to a plurality of the actuators (20), and is used for combining the driving force and motion transmitted through the plurality of the actuators (20) to be relative to the actuators (20) The static platform (30) performs spatial motion for imitating physical therapy manipulations. 2 . The flexible parallel physiotherapy execution device according to claim 1 , wherein the actuator ( 20 ) is a motion branch ( 200 ), and the input end of the motion branch ( 200 ) is connected to the flexible chain. 3 . A driving mechanism (10), wherein the output end of the moving branch chain (200) is connected to the moving platform (40), so as to connect with each of the moving branch chains (200) through a plurality of the moving branch chains (200) ) corresponding to the uniaxial output motion and torque of the flexible drive mechanism (10) are transmitted to the moving platform (40) for spatial combination. 3. The flexible parallel physiotherapy execution device according to claim 2, wherein the motion branch (200) comprises an input link (21), an output link (22), a first hinge assembly (23) and A second hinge assembly (24), the input end of the input link (21) is fixedly connected to the flexible drive mechanism (10), and the output end of the input link (21) passes through the first hinge assembly ( 23) is hinged to the input end of the output link (22), and the output end of the output link (22) is hinged to the moving platform (40) through the second hinge assembly (24). 4. The flexible parallel physiotherapy execution device according to claim 3, wherein the first hinge assembly (23) comprises a first pivot shaft (231) fixedly connected with the output end of the input link (21) ) and a pair of first steering joints (232) connected to both ends of the first pivot shaft (231), the first steering joints (232) are arranged at the input end of the output link (22) ; The second hinge assembly (24) comprises a second pivot shaft (241) fixedly connected with the moving platform (40) and a pair of second steering shafts connected with both ends of the second pivot shaft (241) A joint (242), the second steering joint (242) is arranged at the output end of the output link (22). 5 . The flexible parallel physiotherapy execution device according to claim 4 , wherein the motion branch chain ( 200 ) further comprises an elastic support member ( 25 ), and two ends of the elastic support member ( 25 ) are respectively fixedly connected Two of the output links (22) in each of the kinematic branches (200). 6 . The flexible parallel physiotherapy execution device according to claim 1 , wherein the moving platform ( 40 ) comprises a moving member ( 41 ) that is fixedly connected to the executing mechanism ( 20 ), and a moving part ( 41 ) that is fixedly connected to the moving The functional part (42) of the part (41), the moving part (41) is used to convert the motion combination outputted by the actuator (20) into space motion, so as to drive the functional part (42) in space sports. 7 . The flexible parallel physiotherapy execution device according to claim 6 , wherein the functional part ( 42 ) is detachably mounted on the moving part ( 41 ). 8 . 8. The flexible parallel physiotherapy execution device according to any one of claims 1 to 7, wherein the flexible driving mechanism (10) comprises a driving component (11) and a flexible linkage (12), the flexible linkage The actuator (12) comprises an input connection piece (121) connected with the driving part (11), an output connection piece (122) connected with the actuator (20), and an output connection piece (122) arranged on the input connection piece (121) and the elastic assembly (123) between the output connecting piece (122), wherein when the driving part (11) is activated to drive the input connecting piece (121) to move, the elastic assembly (123) is Driven by the input connecting piece (121), elastic deformation occurs to drive the output connecting piece (122), so as to measure the output force through the deformation amount of the elastic component (123). 9 . The flexible parallel physiotherapy execution device according to claim 8 , wherein the elastic component ( 123 ) comprises a first torsion spring ( 1231 ), a second torsion spring ( 1232 ) and a connection with the first torsion spring (1231) and the second torsion spring (1232) are connected in series with the intermediate connecting piece (1233), the two ends of the first torsion spring (1231) are fixedly connected to the input connecting piece (121) and the intermediate connecting piece (121) respectively. A connecting piece (1233), two ends of the second torsion spring (1232) are respectively fixedly connected to the output connecting piece (122) and the intermediate connecting piece (1233). 10 . The flexible parallel physiotherapy execution device according to claim 9 , wherein the input connector ( 121 ), the intermediate connector ( 1233 ) and the output connector ( 122 ) are rotatably connected in sequence. 11 . Coaxial arrangement, the first torsion spring (1231) is sleeved on the shaft between the input connector (121) and the intermediate connection (1233), and the second torsion spring (1232) is sleeved on the shaft between the intermediate connecting piece (1233) and the output connecting piece (122). 11. The flexible parallel physiotherapy execution device according to claim 10, wherein the intermediate connecting piece (1233) has a first torsion spring cavity (12331) facing the input connecting piece (121) and a first torsion spring cavity (12331) facing the input connecting piece (121). the second torsion spring cavity (12332) of the output connector (122), so as to encapsulate the first torsion spring (1231) within the first torsion spring cavity (12331) through the input connector (121) , and the second torsion spring (1232) is packaged in the second torsion spring cavity (12332) through the output connector (122). 12. The flexible parallel physiotherapy execution device according to any one of claims 1 to 7, characterized in that the flexible parallel physiotherapy execution device further comprises a flexible parallel physiotherapy execution device correspondingly provided at the joint of the actuator (20). A linkage (12), the flexible linkage (12) includes an input connector (121), an output connector (122), and an elastic component (123), the elastic component (123) being arranged on the input connector Between (121) and the output connector (122), wherein when the input connector (121) is driven to act, the elastic component (123) is driven by the input connector (121) The output connecting piece (122) is driven by elastic deformation, and the output force is measured by the deformation amount of the elastic component (123). 13. Physical therapy equipment, characterized in that it comprises: a device body (50); and The flexible parallel physiotherapy execution device (1) according to any one of claims 1 to 12, wherein the flexible parallel physiotherapy execution device (1) is mounted on the equipment main body (50). 14. The physiotherapy device according to claim 13, characterized in that, the device body (50) is a handheld device body (51), and the static platform (30) of the flexible parallel physiotherapy execution device (1) is loaded on the handheld device body (51) to form a handheld physical therapy device. 15. The physical therapy device according to claim 14, characterized in that, the handheld device main body (51) comprises a housing (511) on which the static platform (30) is loaded, and is fixed on the housing (511) ) and a human-computer interaction module (513) disposed on the housing (511), the human-computer interaction module (513) being communicatively connected to the flexible parallel physiotherapy execution device (1) . 16. The physiotherapy equipment according to claim 13, characterized in that, the equipment body (50) is a mobile equipment body (52), and the static platform (30) of the flexible parallel physiotherapy execution device (1) is loaded on the mobile device body (52) to form a mobile physical therapy device. 17. The physical therapy device according to claim 16, characterized in that, the mobile device main body (52) comprises a mobile carrier (521) and a mechanical arm (522) mounted on the mobile carrier (521), so The static platform (30) of the flexible parallel physiotherapy execution device (1) is integrated at the end of the robotic arm (522).

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