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Parallel wrist joint rehabilitation training device based on self-adaptation

A rehabilitation training and self-adaptive technology, applied in the direction of passive exercise equipment, physical therapy, etc., to achieve the effects of solving compatibility problems, stable driving, and low manufacturing cost

Inactive Publication Date: 2017-05-31
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The device itself has six degrees of freedom. When worn on the human body, the four degrees of freedom of the mechanism are limited by the two generalized rotational degrees of freedom of the wrist joint, so that the entire mechanism only has two generalized rotations of the wrist joint after being worn on the human body. degree of freedom, the rotation center of the whole mechanism coincides with the rotation center of the wrist joint of the human body during the movement process after the human body wears it, so the present invention better solves the compatibility problem of human and machine, and makes people feel better during the rehabilitation training process. comfort

Method used

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  • Parallel wrist joint rehabilitation training device based on self-adaptation
  • Parallel wrist joint rehabilitation training device based on self-adaptation
  • Parallel wrist joint rehabilitation training device based on self-adaptation

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Embodiment Construction

[0027] Such as figure 1 — Figure 5As shown, the present invention is a kind of self-adaptive parallel wrist joint rehabilitation robot, which has two rotational degrees of freedom and adopts a parallel structure: that is, a parallel mechanism of two drive branch UPSs. The device mainly includes a hand support (1), a top support (2), a side support (3), a first branch chain (4), a second branch chain (5), a forearm support frame (6), a forearm support (7 ). In the process of rehabilitation training, the patient's forearm is first bound to the forearm support (6) with an elastic strap, the patient's hand is bound to the hand support (1), and then the arm is placed on the forearm support (7) Before binding, try to adjust the posture of the patient's forearm and palm to prevent a large displacement between the man and the machine, which will make the patient feel uncomfortable during the rehabilitation process and cause secondary damage.

[0028] After the rehabilitation devic...

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Abstract

The invention discloses a parallel wrist joint rehabilitation training device based on self-adaptation and relates to the field of rehabilitation medical instruments. The parallel wrist joint rehabilitation training device adopts a parallel structure and has two rotation freedom degrees after a user wears the device. The parallel wrist joint rehabilitation training device comprises a hand support rack, a top support, a lateral support, a first branch chain, a second branch chain, a forearm support rack and a forearm support. The parallel wrist joint rehabilitation training device has the advantages that the device has six freedom degrees, two generalized rotation freedom degrees of the wrist joint limit the four freedom degrees of the device when the user wears the device, the device only has the two generalized rotation freedom degrees of the wrist joint after the user wears the whole device, the rotation center of the whole device constantly coincides with the rotation center of the wrist joint of a human body after the user wears the device, the man-machine compatibility problem is solved, and good comfortableness is achieved; unnecessary interference during training can be avoided, the requirements of wrist joint rehabilitation exercises can be satisfied completely, and the device is simple and compact in structure, convenient to use, stable to drive and low in manufacturing cost.

Description

technical field [0001] The invention relates to the field of rehabilitation medical equipment, in particular to an adaptive parallel rehabilitation training device for assisting wrist joint rehabilitation. Background technique [0002] The wrist joint is one of the most complex joints in the human body. The wrist joint is located in the upper limb of the human body. The wrist joint bears a large load during the support, push-pull and other movements of the upper limb of the human body, so it is extremely vulnerable to damage in daily life and sports. . Plays an extremely important role in daily activities. With the frequent occurrence of natural disasters and casualties caused by accidents, the incidence of wrist fractures has also increased. In addition, the aggravation of the aging society has increased the number of stroke hemiplegia, causing the wrist joints to lose their mobility. Therefore, it is particularly important for the treatment of the human wrist joint. The...

Claims

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Application Information

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IPC IPC(8): A61H1/02
CPCA61H1/0218A61H1/0285A61H2201/1638A61H2201/165A61H2201/1659A61H2205/065
Inventor 李剑锋高亚楠
Owner BEIJING UNIV OF TECH
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