CN110074943A - A kind of exoskeleton manipulator for rehabilitation training refers to - Google Patents
A kind of exoskeleton manipulator for rehabilitation training refers to Download PDFInfo
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- CN110074943A CN110074943A CN201910480669.8A CN201910480669A CN110074943A CN 110074943 A CN110074943 A CN 110074943A CN 201910480669 A CN201910480669 A CN 201910480669A CN 110074943 A CN110074943 A CN 110074943A
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- supporting element
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- 238000012549 training Methods 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims description 14
- 210000000988 bone and bone Anatomy 0.000 claims description 5
- 210000003811 finger Anatomy 0.000 description 17
- 238000013461 design Methods 0.000 description 5
- 206010008190 Cerebrovascular accident Diseases 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 4
- 230000002490 cerebral effect Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010028289 Muscle atrophy Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000001447 compensatory effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 210000002478 hand joint Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000020763 muscle atrophy Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of exoskeleton manipulators for rehabilitation training to refer to, including support frame, connecting rod, the first phalanges supporting element, the second phalanges supporting element, the first driving member, the second driving member, the first drive rod, the second drive rod, third drive rod；First drive rod, second drive rod, first driving member and support frame as described above constitute parallelogram connection-rod structure, and first drive rod, second drive rod, second driving member and the first phalanges supporting element also constitute parallelogram connection-rod structure.The present invention can drive finger to be periodically bent, stretch training, and structural good, good appearance, small volume is easy to operate, have universality, be suitble to community and family to use, can satisfy the use demand of different users.
Description
Technical field
The present invention relates to rehabilitation training equipment fields, relate in particular to a kind of exoskeleton manipulator for rehabilitation training
Refer to.
Background technique
At present in China, cardiovascular and cerebrovascular disease especially cerebral apoplexy becomes the primary factor for threatening health of people, is badly in need of connecing
By rehabilitation；On the other hand, because all kinds of accidents, hemiplegia, brain paralysis, etc. caused by reasons hand disability patient it is numerous, manpower is made
For one of the organ that people's weight is wanted, have a very important role in production and living, study and work, however due to various wounds
And that factor can not be resisted to can frequently result in hand movement function is impaired for cerebral apoplexy etc..Cerebral apoplexy and posteriori accident its disability rate are given
Society brings huge economy and medical pressure, and look after for a long time patients with cerebral apoplexy also brought to relatives family members it is heavy
Mental burden.It is based on the compensatory plasticity principle of nerve, for early stage hand patient, lasting passive exercise can
Patient is helped to carry out early rehabilitation.
In the movable joint of human body, the freedom degree of hand joint is more, and structure is also complex, so hand rehabilitation training
Mechanism design is also relatively difficult.It is found by being retrieved to existing technical literature, the domestic research to ectoskeleton hand exercise structure
It is still in infancy.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of structure is simple, finger can be driven to carry out periodically curved
Bent, stretching, extension training the exoskeleton manipulator for rehabilitation training refers to.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme: a kind of ectoskeleton for rehabilitation training
Mechanical finger, including support frame, connecting rod, the first phalanges supporting element, the second phalanges supporting element, the first driving member, the second driving member,
First drive rod, the second drive rod, third drive rod；
One end of the connecting rod and the first end of first driving member twist pair with ball and are connected, and the of first driving member
Two ends are hinged and connected with support frame as described above, the hinged phase in one end at the third end of first driving member and first drive rod
Even, the other end of first drive rod is hinged and connected with the first phalanges supporting element, one end of second drive rod and
Support frame as described above is hinged and connected, and the other end of second drive rod and the first end of second driving member are hinged and connected, institute
The second end and the first phalanges supporting element for stating the second driving member are hinged and connected, the third end of second driving member with it is described
One end of third drive rod is hinged and connected, and the other end of the third drive rod is hinged and connected with the second phalanges supporting element,
It is hinged and connected in the middle part of the middle part of first drive rod and second drive rod, first drive rod, described second pass
Lever, first driving member and support frame as described above constitute parallelogram connection-rod structure, first drive rod, described second
Drive rod, second driving member and the first phalanges supporting element also constitute parallelogram connection-rod structure.
It further, further include driving mechanism, the driving mechanism includes motor and swing arm, and the motor is fixed on described
On support frame, one end of the swing arm is fixedly connected with the output shaft of the motor, the other end of the swing arm and the connecting rod
The other end secondary be connected is twisted with ball.
Further, the first phalanges supporting element and the second phalanges supporting element are hinged and connected.
Further, the first phalanges supporting element include the first phalanges support plate for being covered on finger back and
It is fixed on the first connecting plate of the outer surface of the first phalanges support plate, the other end of first drive rod and described second
The second end of driving member is hinged on first connecting plate.
Further, the second phalanges supporting element include the second phalanges support plate for being covered on finger back and
It is fixed on the second connecting plate of the outer surface of the second phalanges support plate, the other end of the third drive rod is hinged on described
On second connecting plate.
Further, the width direction two sides of the first phalanges support plate have the first strip-shaped hole.
Further, the width direction two sides of the second phalanges support plate have the second strip-shaped hole.
Further, support frame as described above includes palm support plate for being covered on palm back and is fixed on described
One end of the hand attachment base of the outer surface of palm support plate, the second end of first driving member and second drive rod point
It is not hinged on the hand attachment base.
Further, the mounting plate that the hand attachment base is spaced apart from each other distribution by two pieces is constituted.
Further, support frame as described above is equipped with motor cabinet, and the motor is fixed on the motor cabinet.
The beneficial effects of the present invention are embodied in:
The present invention finger training mechanism when driving finger movement use parallelogram remote projection division center
And wearable exoskeleton structure, swivel of hand can be made one well and mechanism kinematic turns round overlapping of axles, can effectively be avoided
Secondary injury of the mechanism to finger in motion process.
The present invention can drive finger to be periodically bent, stretch training, structural good, good appearance, volume compared with
It is small, it is easy to operate, there is universality, be suitble to community and family to use, can satisfy the use demand of different users.
Detailed description of the invention
Fig. 1 is schematic perspective view of the one embodiment of the invention under a visual angle.
Fig. 2 is schematic perspective view of the one embodiment of the invention under another visual angle.
Fig. 3 is the schematic diagram of one embodiment of the invention.
The label of each component in attached drawing are as follows: 1 support frame, 11 palm support plates, 12 hand attachment bases, 121 support plates, 13 electricity
Base, 2 connecting rods, 3 first phalanges supporting elements, 31 first phalanges support plates, 32 first connecting plates, 33 first strip-shaped holes, 4 second refer to
Bone supporting element, 41 second phalanges support plates, 42 second connecting plates, 43 second strip-shaped holes, 5 first driving members, 6 second driving members, 7
First drive rod, 8 second drive rods, 9 third drive rods, 101 motors, 102 swing arms.
Specific embodiment
It is next below with reference to the accompanying drawings that the present invention will be described in detail.It should be noted that in the absence of conflict, in the application
Embodiment and embodiment in feature can be combined with each other.
Referring to Fig. 1 and Fig. 2.
The present invention refers to for the exoskeleton manipulator of rehabilitation training, including support frame 1, connecting rod 2, the first phalanges supporting element 3,
Second phalanges supporting element 4, the first driving member 5, the second driving member 6, the first drive rod 7, the second drive rod 8, third drive rod 9；
One end of the connecting rod 2 twists pair with the first end of first driving member 5 with ball and is connected, first driving member 5
Second end be hinged and connected with support frame as described above 1, the one end at the third end of first driving member 5 and first drive rod 7
It is hinged and connected, the other end of first drive rod 7 is hinged and connected with the first phalanges supporting element 3, second drive rod 8
One end be hinged and connected with support frame as described above 1, the first end of the other end of second drive rod 8 and second driving member 6
It is hinged and connected, the second end of second driving member 6 is hinged and connected with the first phalanges supporting element 3, second driving member 6
Third end and one end of the third drive rod 9 be hinged and connected, the other end of the third drive rod 9 and second phalanges
Supporting element 4 is hinged and connected, and the middle part of the middle part of first drive rod 7 and second drive rod 8 is hinged and connected, and described first
Drive rod 7, second drive rod 8, first driving member 5 and support frame as described above 1 constitute parallelogram connection-rod structure, institute
It is parallel with the first phalanges supporting element 3 also composition to state the first drive rod 7, second drive rod 8, second driving member 6
Quadrilateral connecting rod structure.
It in one embodiment, further include driving mechanism, the driving mechanism includes motor 101 and swing arm 102, the motor
101 are fixed on support frame as described above 1, and one end of the swing arm 102 is fixedly connected with the output shaft of the motor 101, the pendulum
The other end of arm 102 twists pair with the other end of the connecting rod 2 with ball and is connected.
In use, tying up proximal phalanx on the first phalanges supporting element, middle phalanx tie up on the second phalanges supporting element (when
So, this is other four usage mode referred in addition to thumb, and for thumb, without middle phalanx, distal phalanx is tied up the
On two phalanges supporting elements), kinematic sketch is shown in that Fig. 3, power are provided by motor, and motor drives swing arm rotation, then swing arm band
Dynamic connecting rod periodically extend and retract (certainly, the present invention, which is also suitable other, to drive connecting rod periodically to extend and retract
Driving mechanism), when connecting rod stretches out, two parallelogram connection-rod structures are bent downwardly and compress, to drive palm and close
Joint between section phalanges is bent downwardly, while the second actuator drives third drive rod to lift, and then makes proximal phalanx in
Joint between section phalanges is bent downwardly, and when connecting rod retracts, then each connecting rod, embolia, all so as to drive finger to carry out
Bending, the stretching, extension training of phase property.
Specifically:
The movement in first joint: palm and proximal phalanx are thrown by first pivot center L1 of finger training mechanism
Between joint so that the pivot center L1 of mechanism is overlapped with the centre of motion in the joint between palm and proximal phalanx.
Disarthrial movement: being driven by the second driving member 6 and third drive rod 9, so that proximal phalanx refers to middle section
The centre of motion (two hinge hole lines of the first phalanges supporting element 3, the second phalanges supporting element 4) in the joint between bone and mechanism
Second pivot center L2 is overlapped.
And the movement angle relationship in two joints can be by control third drive rod adjustment, this finger training mechanism is more
Add practical.
In one embodiment, the first phalanges supporting element 3 and the second phalanges supporting element 4 are hinged and connected.It sets in this way
Meter, more convenient in wearing, globality is preferable, and will not influence the activity of finger-joint.
In one embodiment, the first phalanges supporting element 3 includes supporting for being covered on first phalanges at finger back
Plate 31 and be fixed on the first phalanges support plate 31 outer surface the first connecting plate 32, first drive rod 7 it is another
The second end of one end and second driving member 6 is hinged on first connecting plate 32.It designs in this way, passes through the first phalanges
Support plate is convenient for binding or using in conjunction with other way with finger fixing, and is then convenient for and is accordingly driven by the first connecting plate
Bar, driving member are hinged and connected, and structure is simple, and space utilization is reasonable, have extraordinary practicability.
In one embodiment, the second phalanges supporting element 4 includes supporting for being covered on second phalanges at finger back
Plate 41 and be fixed on the second phalanges support plate 41 outer surface the second connecting plate 42, the third drive rod 9 it is another
One end is hinged on second connecting plate 42.It designs in this way, is convenient for binding or using with finger by the second phalanges support plate
Other way, which combines, fixes, and is then convenient for being hinged and connected with corresponding drive rod by the first connecting plate, and structure is simple, space utilization
Rationally, there is extraordinary practicability.
Preferably, the width direction two sides of the first phalanges support plate 31 have the first strip-shaped hole 33.First
Strip-shaped hole can be convenient bandage and pass through, and the first phalanges support plate is tied up on finger.
Preferably, the width direction two sides of the second phalanges support plate 41 have the second strip-shaped hole 43.Equally
It is to tie up the second phalanges support plate on finger for the ease of passing through bandage.
In one embodiment, support frame as described above 1 includes palm support plate 11 for being covered on palm back and solid
It is scheduled on the hand attachment base 12 of the outer surface of the palm support plate 11, the second end of first driving member 5 and described second
One end of drive rod 8 is respectively hinged on the hand attachment base 12.It designs in this way, structure is simple, just by palm support plate
It fixes, is then easy by hand attachment base real with corresponding driving member, drive rod in binding or using in conjunction with other way with palm
It applies hingedly, structure is simple, and space utilization is reasonable, has extraordinary practicability.
Preferably, the support plate 121 that the hand attachment base 12 is spaced apart from each other distribution by two pieces is constituted, portion connected to it
Part is protruded between two pieces of support plates and is connect with two pieces of support plates.
In one embodiment, support frame as described above 1 is equipped with motor cabinet 13, and the motor 101 is fixed on the motor cabinet 13
On.It designs in this way, structure is simple, is easy to implement, and install more stable.
The exoskeleton manipulator that five present invention are arranged for rehabilitation training refers to, can drive respectively to five fingers
It is dynamic, the training of various modes can be realized by the control to hand many attitude in this way；The present invention is in the regular use of patient
After a period of time, the stick to each other of each joint tendon of hand can be adequately avoided, is alleviated since long-time hand does not move
Caused hand muscle atrophy；By the way that according to rehabilitation, in the rehabilitation strategies that different phase is specified and is implemented, hand is in training
Motor function afterwards obtains recovery to a certain extent, and the remodeling of hand exercise nerve can be established effectively, finally can be real
The recovery of existing hand normal function.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, is integrally connected, may be a detachable connection；It can be with
It is mechanical connection or electrical connection, the connection being also possible to inside two elements；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected with, and for those skilled in the art, can understand the specific of above-mentioned term as the case may be
Meaning.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The indicating positions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" or positional relationship are base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, specific orientation constructs and operation, therefore should not be understood as to this hair
Bright limitation.Equally, "one", the similar word such as " one " or "the" do not indicate that quantity limits yet, but indicates exist at least
One.In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
It should be understood that example as described herein and embodiment are not intended to restrict the invention, this field only for explanation
Technical staff can make various modifications or variation according to it, all within the spirits and principles of the present invention, made any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of exoskeleton manipulator for rehabilitation training refers to, it is characterised in that: including support frame, connecting rod, the first phalanges branch
Support member, the second phalanges supporting element, the first driving member, the second driving member, the first drive rod, the second drive rod, third drive rod；
One end of the connecting rod twists pair with the first end of first driving member with ball and is connected, the second end of first driving member
It is hinged and connected with support frame as described above, the third end of first driving member and one end of first drive rod are hinged and connected, institute
The other end and the first phalanges supporting element for stating the first drive rod are hinged and connected, one end of second drive rod and the branch
Support is hinged and connected, and the other end of second drive rod and the first end of second driving member are hinged and connected, and described second
The second end of driving member is hinged and connected with the first phalanges supporting element, and the third end of second driving member and the third pass
One end of lever is hinged and connected, and the other end of the third drive rod is hinged and connected with the second phalanges supporting element, and described
It is hinged and connected in the middle part of the middle part of one drive rod and second drive rod, first drive rod, second drive rod, institute
State the first driving member and support frame as described above and constitute parallelogram connection-rod structure, first drive rod, second drive rod,
Second driving member and the first phalanges supporting element also constitute parallelogram connection-rod structure.
2. referring to as described in claim 1 for the exoskeleton manipulator of rehabilitation training, it is characterised in that: further include driving machine
Structure, the driving mechanism include motor and swing arm, and the motor is fixed on support frame as described above, one end of the swing arm with it is described
The output shaft of motor is fixedly connected, and the other end of the swing arm twists pair with the other end of the connecting rod with ball and is connected.
3. referring to as claimed in claim 1 or 2 for the exoskeleton manipulator of rehabilitation training, it is characterised in that: described first refers to
Bone supporting element and the second phalanges supporting element are hinged and connected.
4. referring to as claimed in claim 1 or 2 for the exoskeleton manipulator of rehabilitation training, it is characterised in that: described first refers to
Bone supporting element includes the first phalanges support plate for being covered on finger back and is fixed on the first phalanges support plate
The second end of first connecting plate of outer surface, the other end of first drive rod and second driving member is hinged on described
On first connecting plate.
5. referring to as claimed in claim 1 or 2 for the exoskeleton manipulator of rehabilitation training, it is characterised in that: described second refers to
Bone supporting element includes the second phalanges support plate for being covered on finger back and is fixed on the second phalanges support plate
Second connecting plate of outer surface, the other end of the third drive rod are hinged on second connecting plate.
6. referring to as claimed in claim 4 for the exoskeleton manipulator of rehabilitation training, it is characterised in that: the first phalanges branch
The width direction two sides of fagging have the first strip-shaped hole.
7. referring to as claimed in claim 5 for the exoskeleton manipulator of rehabilitation training, it is characterised in that: the second phalanges branch
The width direction two sides of fagging have the second strip-shaped hole.
8. referring to as claimed in claim 1 or 2 for the exoskeleton manipulator of rehabilitation training, it is characterised in that: support frame as described above
Connect including the palm support plate for being covered on palm back and the hand for the outer surface for being fixed on the palm support plate
One end of joint chair, the second end of first driving member and second drive rod is respectively hinged on the hand attachment base.
9. referring to as claimed in claim 8 for the exoskeleton manipulator of rehabilitation training, it is characterised in that: the hand attachment base
The mounting plate for being spaced apart from each other distribution by two pieces is constituted.
10. referring to as claimed in claim 2 for the exoskeleton manipulator of rehabilitation training, it is characterised in that: on support frame as described above
Equipped with motor cabinet, the motor is fixed on the motor cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910480669.8A CN110074943B (en) | 2019-06-04 | 2019-06-04 | Exoskeleton mechanical finger for rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910480669.8A CN110074943B (en) | 2019-06-04 | 2019-06-04 | Exoskeleton mechanical finger for rehabilitation training |
Publications (2)
| Publication Number | Publication Date |
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| CN110074943A true CN110074943A (en) | 2019-08-02 |
| CN110074943B CN110074943B (en) | 2024-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910480669.8A Active CN110074943B (en) | 2019-06-04 | 2019-06-04 | Exoskeleton mechanical finger for rehabilitation training |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938987A (en) * | 2020-07-17 | 2020-11-17 | 哈尔滨理工大学 | Wearable exoskeleton for finger rehabilitation training |
| CN115429514A (en) * | 2022-09-22 | 2022-12-06 | 姜玉龙 | Intelligent spine detection and correction device |
| CN115429619A (en) * | 2022-09-22 | 2022-12-06 | 姜玉龙 | Support frame of intelligent spine correction device |
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| CN210433706U (en) * | 2019-06-04 | 2020-05-01 | 合肥工业大学 | Exoskeleton mechanical finger for rehabilitation training |
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