A Graftable Upper Limb Rehabilitation Training Robot
A technology for rehabilitation training and robotics, applied in the direction of muscle training equipment, artificial arms, gymnastics equipment, etc., can solve the problems of single movement form and complicated operation, and achieve the effect of wide application range, compact and flexible structure, and free retractability
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[0033] Example: see figure 1 , 2 , the graftable three-dimensional motion upper limb rehabilitation training mechanism of the present embodiment, which includes:
[0034] The wrist motion mechanism 10 , the forearm motion mechanism 20 , the upper arm motion mechanism 30 , the rotation mechanism 305 and the pillar 1 are sequentially connected in series.
[0035] In the specific structure, the structure of the wrist motion mechanism 10 is: a three-degree-of-freedom parallel mechanism composed of the lower end plate 101 of the wrist, the upper end plate 102 of the wrist, and three linear push rods connected between the lower end plate of the wrist and the upper end plate of the wrist. ;
[0036] In the three-degree-of-freedom parallel mechanism of the wrist movement mechanism, the lower end of each linear push rod is hinged to the boss on the lower end plate 101 of the wrist through a flat hinge, and the upper end of each linear push rod is hinged to the upper end plate 102 of ...
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