Two-freedom-degree upper-limb rehabilitation assistive exercise device driven by dielectric EAP (electroactive polymer) and method thereof
A training device and a technology of degrees of freedom, applied in sports accessories, passive exercise equipment, gymnastics equipment, etc., can solve the problems of inconvenience, high price, and large space occupation, and achieve increased safety and comfort, simple operation, and excellent structure. simple effect
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[0021] Such as figure 1 As shown, the auxiliary training device for upper limb rehabilitation of the present invention has two rotational degrees of freedom, that is, rotation around the x-axis and rotation around the y-axis. The mechanism part is composed of a rocker 1, a connecting ring 2, a cross hinge 12, a driver 3, a fixed rod 4, a connecting ring 5, a bracket 8 and a base 10. Wherein the rocker 1 is installed on the bracket through the cross hinge 12, and two encoders II and 6 are respectively installed on the two rotation axes of the cross hinge, which are respectively used to detect the rotation angle of the rocker around the x and y axes. A set of drivers is arranged between each pair of fixed rods 4 and rocker 1, and each set of drivers includes 2n drivers 3, which are symmetrically arranged on both sides relative to rocker 1, and symmetrically arranged when the drivers on the same side are arranged up and down relative to the rotation center of the rocker. Wherein...
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