Finger and wrist linkage rehabilitation training device

Abstract

The utility model relates to the field of rehabilitation training instruments, in particular to a finger and wrist linkage rehabilitation training device. Comprising a five-finger movement module, a palm bearing module, a wrist rehabilitation module, a forearm bearing seat, an elbow joint bearing module and a mounting frame. The five-finger movement module comprises a four-finger movement mechanism and a thumb movement mechanism, the four-finger movement mechanism completes bending or stretching movement of four fingers, and the thumb movement mechanism completes bending or stretching movement of a thumb; the wrist rehabilitation module realizes ulnar deviation or radial deviation movement of the wrist; the forearm bearing base and the elbow joint bearing module enable the whole arm of the patient to be in a comfortable state, it is guaranteed that the wrist is in a suspended state so that the wrist can swing, and rehabilitation training of the wrist can be achieved in an auxiliary mode. According to the five-finger rehabilitation training device, the five fingers can be bent or stretched independently or simultaneously, ulnar deviation or radial deviation of the wrist can also be achieved, the hand of a patient is fully assisted in completing various rehabilitation training actions, and the five-finger rehabilitation training device has important significance on recovery of the hand function of the patient.

Description

Technical Field

[0001] The invention relates to the field of rehabilitation training equipment, and in particular to a finger-wrist linkage rehabilitation training device. Background Art

[0002] The hand dysfunction caused by stroke seriously affects the ability to live independently. Traditional rehabilitation therapy mainly relies on rehabilitation therapists to help patients restore hand motor function through acupuncture, massage and other methods. This method is not only labor-intensive and expensive, but also difficult to ensure training efficiency and intensity. There are many types of finger or wrist rehabilitation training robots on the market, but some are not convenient for single joint training due to their complex structure, and most hand rehabilitation institutions only conduct rehabilitation training for one of the fingers or wrists. There is a lack of finger and wrist integrated rehabilitation training devices with simple structural principles. Summary of the invention

[0003] In view of the above problems, the present invention provides a finger-wrist linkage rehabilitation training device, which can realize the bending and stretching movements of the five fingers independently or simultaneously, and can also realize the ulnar deviation or radial deviation movement of the wrist, fully assisting the patient's hand to complete a variety of rehabilitation training movements, which is of great significance to the recovery of the patient's hand function.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a finger and wrist rehabilitation training device, characterized in that it includes a five-finger motion module, a palm supporting module, a wrist rehabilitation module, a forearm bearing seat, an elbow joint supporting module and a mounting frame; the five-finger motion module is fixedly mounted on the bearing support plate; the palm supporting module is mounted on the inner ring of the bearing; the outer ring of the bearing is mounted on the mounting frame by interference fit; the wrist rehabilitation module is mounted on the palm bearing platform; the forearm bearing seat is fixedly mounted on the mounting frame; the elbow joint supporting module is fixedly mounted on the mounting frame.

[0005] Further, the five-finger motion module includes a four-finger motion mechanism, a thumb motion mechanism, a first motor, a second motor, a first pulley, and a second pulley; the four-finger motion mechanism includes four groups of first motors and palm frames fixedly installed on the bearing support plate along the four-finger direction, a first pulley installed on the output shaft of the first motor, a four-finger driving connecting rod installed on the driving shaft of the first pulley through interference fit, a metacarpophalangeal joint connecting rod installed on the four-finger driving connecting rod through interference fit, a proximal finger skeleton installed on the palm frame and the metacarpophalangeal joint connecting rod through interference fit, a proximal interphalangeal joint connecting rod installed on the palm frame through interference fit, a middle finger skeleton installed on the proximal finger skeleton and the proximal interphalangeal joint connecting rod through interference fit, a distal interphalangeal joint connecting rod installed on the proximal finger skeleton through interference fit, and a distal finger skeleton installed on the middle finger skeleton and the distal interphalangeal joint connecting rod through interference fit;

[0006] The thumb movement mechanism includes a second motor and a thumb metacarpal frame fixedly mounted on the palm supporting module, a second pulley mounted on the output shaft of the second motor, a thumb driving connecting rod mounted on the second pulley through interference fit, a thumb metacarpal joint connecting rod mounted on the thumb driving connecting rod through interference fit, a thumb proximal phalanx frame mounted on the thumb metacarpal frame and the thumb metacarpal joint connecting rod through interference fit, a thumb interphalangeal joint connecting rod mounted on the thumb metacarpal frame through interference fit, and a thumb distal phalanx frame mounted on the thumb proximal phalanx frame and the thumb interphalangeal joint connecting rod through interference fit.

[0007] Furthermore, finger rings for fitting on fingers are provided under the distal phalanx skeleton, middle phalanx skeleton, proximal phalanx skeleton, distal phalanx skeleton of thumb, and proximal phalanx skeleton of thumb; the finger rings under the distal phalanx skeleton are fitted on the distal phalanxes of the patient's four fingers; the finger rings under the middle phalanx skeleton are fitted on the middle phalanxes of the patient's four fingers; the finger rings under the proximal phalanx skeleton are fitted on the proximal phalanxes of the patient's four fingers; the finger rings under the distal phalanx skeleton of thumb are fitted on the distal phalanx of the patient's thumb; and the finger rings under the proximal phalanx skeleton of thumb are fitted on the proximal phalanx of the patient's thumb.

[0008] Furthermore, the palm support module includes a bearing tray, a third motor, a third pulley, an adjusting screw, a screw nut, and a palm bearing platform; the bearing tray is used to install the five-finger motion module; the third motor is fixedly mounted on the bearing tray; the third pulley is mounted on the output shaft of the third motor; the palm bearing platform is fixedly mounted on the mounting frame; the screw nut is fixedly mounted on the palm bearing platform; the adjusting screw is connected to the bearing tray via a bearing at the top and to the palm bearing platform via a screw nut at the bottom, so as to adjust the distance between the bearing tray and the palm bearing platform to adapt to the thickness of the palm.

[0009] Furthermore, the wrist rehabilitation module includes a fifth motor, a pinion, a large gear, and a bearing; the fifth motor is fixedly mounted on the palm support platform; the pinion is mounted on the output shaft of the fifth motor; the large gear is externally meshed with the pinion, and the large gear 33 is fixedly mounted on the palm support platform 26 by a fastening screw; the bearing 34 is provided at the connection between the palm support platform 26 and the mounting frame 6.

[0010] Furthermore, the elbow joint supporting module includes a dovetail groove slide rail, a slider, a fourth motor, a fourth pulley, an elbow joint support frame, and an elbow joint support base; the dovetail groove slide rail is fixedly installed on the mounting frame; the slider is slidably installed on the dovetail groove slide rail; the fourth motor is fixedly installed on the mounting frame; the fourth pulley is installed on the output shaft of the fourth motor; both ends of the elbow joint support frame are fixedly installed on the slider, and the middle of the elbow joint support frame is fixedly installed on the synchronous belt of the fourth pulley by a fastening screw; the elbow joint support base is fixedly installed on the elbow joint support frame.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] (1) The finger and wrist rehabilitation training mechanism of the present invention can realize the bending and stretching movements of the five fingers individually or simultaneously by equipping each finger movement mechanism with a separate motor, and can fully assist the patient's fingers to complete a variety of rehabilitation training movements, which is of great significance to the recovery of the patient's hand function.

[0013] (2) The wrist rehabilitation module of the present invention uses a gear transmission with high transmission accuracy to achieve ulnar deviation or radial deviation movement of the wrist joint.

[0014] (3) By adjusting the lead screw, the weight of the five-finger motion module can be transferred to the palm support platform to reduce the burden on the patient's hand. At the same time, by adjusting the lead screw, the distance between the support plate and the palm support platform can be adjusted to adapt to the palm thickness of different patients.

[0015] (4) The palm support module and elbow support module of the wrist rehabilitation training device of the present invention put the whole arm in a comfortable state, ensure that the fingers are in a relaxed state for rehabilitation training, and ensure that the wrist is in a suspended state so that it can swing, realizing ulnar deviation or radial deviation movement of the wrist, thereby meeting the patient's finger and wrist training needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a stereoscopic diagram of the finger and wrist rehabilitation training device of the present invention;

[0017] Figure 2 It is a structural schematic diagram of the four-finger mechanism of the present invention;

[0018] Figure 3 It is a structural schematic diagram of the thumb mechanism of the present invention;

[0019] Figure 4 It is a structural schematic diagram of the palm support module of the present invention;

[0020] Figure 5 is a schematic structural diagram of a wrist rehabilitation module of the present invention;

[0021] Figure 6 It is a structural schematic diagram of the elbow joint supporting module of the present invention.

[0022] Description of Figure Numbers.

[0023] Five-finger motion module (1), four-finger motion mechanism (11), thumb motion mechanism (12), first motor (13), second motor (14), first pulley (15), second pulley (16), finger ring (17), four-finger drive link (111), distal phalanx skeleton (112), middle phalanx skeleton (113), proximal phalanx skeleton (114), metacarpal skeleton (115), distal interphalangeal joint link (116), proximal interphalangeal joint link (117), metacarpophalangeal joint link (118), thumb drive link (121), thumb distal phalanx skeleton (122), thumb proximal phalanx skeleton (123), thumb metacarpal skeleton (124), thumb interphalangeal joint link (125), thumb Metacarpal joint connecting rod (126), palm supporting module (2), bearing support plate (21), third motor (22), third pulley (23), adjusting screw (24), screw nut (25), palm bearing platform (26), wrist rehabilitation module (3), fifth motor (31), small gear (32), large gear (33), bearing (34), forearm bearing seat (4), elbow joint supporting module (5), dovetail groove slide rail (51), slider (52), fourth motor (53), fourth pulley (54), elbow joint supporting frame (55), elbow joint supporting base (56), mounting frame (6). DETAILED DESCRIPTION

[0024] The technical solution of the present invention is further specifically described below through embodiments and in combination with the accompanying drawings. The accompanying drawings are simplified schematic diagrams for illustrating the basic structure of the present invention. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present invention.

[0025] like Figure 1A finger-wrist linkage rehabilitation training device of the present invention is shown. This embodiment takes the rehabilitation of the left hand as an example. The specific embodiment includes a five-finger motion module 1, a palm support module 2, a wrist rehabilitation module 3, a forearm bearing seat 4, an elbow joint support module 5 and a mounting frame 6; the five-finger motion module 1 is fixedly mounted on the bearing support plate 21; the palm support module 2 is mounted on the inner ring of the bearing 34, and the outer ring of the bearing is mounted on the mounting frame 6 by interference fit; the wrist rehabilitation module 3 is mounted on the palm bearing platform 26; the forearm bearing seat 4 is fixedly mounted on the mounting frame 6; the elbow joint support module 5 is fixedly mounted on the mounting frame 6; the five-finger motion module 1 can realize independent or simultaneous bending and extension movements of the five fingers, and the wrist rehabilitation module 3 can realize ulnar deviation or radial deviation movement of the wrist, and can perform rehabilitation training on the patient's fingers and wrists at the same time, fully assisting the patient's hand to complete a variety of rehabilitation training movements.

[0026] Furthermore, if Figure 1-Figure 3 As shown, the five-finger motion module 1 includes a four-finger motion mechanism 11, a thumb motion mechanism 12, a first motor 13, a second motor 14, a first pulley 15, and a second pulley 16;

[0027] The four-finger motion mechanism 11 comprises four groups of first motors 13 and metacarpal skeletons 115 fixedly mounted on the bearing support plate 21 along the four-finger direction, a first pulley 15 mounted on the output shaft of the first motor 13, a four-finger driving connecting rod 111 mounted on the driving shaft of the first pulley 15 by interference fit, a metacarpophalangeal joint connecting rod 118 mounted on the four-finger driving connecting rod 111 by interference fit, a proximal phalanx skeleton 114 mounted on the metacarpophalangeal skeleton 115 and the metacarpophalangeal joint connecting rod 118 by interference fit, a proximal interphalangeal joint connecting rod 117 mounted on the metacarpophalangeal skeleton 115 by interference fit, a middle phalanx skeleton 113 mounted on the proximal phalanx skeleton 114 and the proximal interphalanx joint connecting rod 117 by interference fit, and a distal interphalanx joint connecting rod 118 mounted on the proximal phalanx skeleton 114 by interference fit. 6. The distal phalanx skeleton 112 is installed on the middle phalanx skeleton 113 and the distal interphalanx joint connecting rod 116 by interference fit; in this embodiment, taking the completion of the stretching movement of four fingers as an example, the first motor 13 rotates forward to drive the first pulley 15 to rotate, the first pulley 15 drives the four-finger driving connecting rod 111 to rotate counterclockwise, the four-finger driving connecting rod 111 pushes the metacarpophalangeal joint connecting rod 118 forward to move forward, the metacarpophalangeal joint connecting rod 118 drives the proximal phalanx skeleton 114 to rotate clockwise, the proximal phalanx skeleton 114 drives the middle phalanx skeleton 113 and the distal interphalanx joint connecting rod 116 to rotate clockwise, the proximal interphalanx joint connecting rod 117 rotates clockwise with the middle phalanx skeleton 113, the middle phalanx skeleton 113 and the distal interphalanx joint connecting rod 116 drive the distal phalanx skeleton 112 to rotate clockwise, and the stretching movement of four fingers is completed;

[0028] The thumb movement mechanism 12 includes a second motor 14 and a thumb metacarpal skeleton 124 fixedly mounted on the palm support module 2, a second pulley 16 mounted on the output shaft of the second motor 14, a thumb driving connecting rod 121 mounted on the second pulley 16 by interference fit, a thumb metacarpal joint connecting rod 126 mounted on the thumb driving connecting rod 121 by interference fit, a thumb proximal phalanx skeleton 123 mounted on the thumb metacarpal skeleton 124 and the thumb metacarpal joint connecting rod 126 by interference fit, a thumb interphalanx joint connecting rod 125 mounted on the thumb metacarpal skeleton 124 by interference fit, and a thumb proximal phalanx skeleton 123 and a thumb interphalanx joint connecting rod 126 mounted on the thumb proximal phalanx skeleton 123 by interference fit. The distal phalanx skeleton 122 of the thumb on the interphalangeal joint link 125 of the thumb; in this embodiment, taking the completion of the bending movement of the thumb as an example, the second motor 14 is reversed to drive the second pulley 16 to rotate, the second pulley 16 drives the thumb driving link 121 to rotate clockwise, the thumb driving link 121 pulls the thumb metacarpophalangeal joint link 126 backward to move backward, the thumb metacarpophalangeal joint link 126 drives the proximal phalanx skeleton 123 of the thumb to rotate counterclockwise, the proximal phalanx skeleton 123 of the thumb drives the distal phalanx skeleton (122) to rotate counterclockwise, the interphalanx joint link (125) of the thumb rotates counterclockwise along with the distal phalanx skeleton (122), thereby completing the bending movement of the thumb.

[0029] Furthermore, if Figure 2 , Figure 3 As shown, the distal phalanx skeleton 112, the middle phalanx skeleton 113, the proximal phalanx skeleton 114, the distal phalanx skeleton 122 of the thumb, and the proximal phalanx skeleton 123 of the thumb are all provided with finger ring sleeves 17 for fitting on the fingers; the finger ring sleeves 17 under the distal phalanx skeleton 112 are fitted on the distal phalanxes of the patient's four fingers; the finger ring sleeves 17 under the middle phalanx skeleton 113 are fitted on the middle phalanxes of the patient's four fingers; the finger ring sleeves 17 under the proximal phalanx skeleton 114 are fitted on the proximal phalanxes of the patient's four fingers; the finger ring sleeves 17 under the distal phalanx skeleton 122 of the thumb are fitted on the distal phalanx of the patient's thumb; and the finger ring sleeves 17 under the proximal phalanx skeleton 123 of the thumb are fitted on the proximal phalanx of the patient's thumb.

[0030] Furthermore, if Figure 4As shown, the palm support module 2 includes a bearing support plate 21, a third motor 22, a third pulley 23, an adjusting screw rod 24, a screw nut 25, and a palm support platform 26; the bearing support plate 21 is used to install the five-finger motion module 1; the third motor 22 is fixedly mounted on the bearing support plate 21, and the third pulley 23 is mounted on the output shaft of the third motor 22; the palm support platform 26 is fixedly mounted on the mounting frame 6; the screw nut 25 is fixedly mounted on the palm support platform 26; the adjusting screw rod 24 is connected to the bearing support plate 21 through a bearing at the top, and is connected to the palm support platform 26 through the screw nut 25 at the bottom; in this embodiment, the third motor 22 drives the third pulley 23 to rotate, and the third pulley 23 drives the adjusting screw rod 24 to rotate, and the bearing support plate moves up and down with the rotation of the adjusting screw rod 24, so as to adjust the distance between the bearing support plate 21 and the palm support platform 26 to adapt to the palm thickness of different patients.

[0031] Furthermore, if Figure 5 As shown, the wrist rehabilitation module 3 includes a fifth motor 31, a small gear 32, a large gear 33, and a bearing 34; the fifth motor 31 is fixedly mounted on the palm support platform 26; the small gear 32 is mounted on the output shaft of the fifth motor 31; the large gear 33 is externally meshed with the small gear 32, and the large gear 33 is fixedly mounted on the palm support platform 26 by fastening screws; a bearing 34 is provided at the connection between the palm support platform 26 and the mounting frame 6; in this embodiment, the fifth motor 31 drives the small gear 32 to rotate, and drives the large gear 27 to rotate through internal meshing, and the large gear 27 drives the palm support platform 26 to rotate, so that the patient's wrist completes ulnar deviation or radial deviation movement.

[0032] Furthermore, if Figure 6 As shown, the elbow joint supporting module 5 includes a dovetail groove slide rail 51, a slider 52, a fourth motor 53, a fourth pulley 54, an elbow joint support frame 55, and an elbow joint support base 56; the dovetail groove slide rail 51 is fixedly mounted on the mounting frame 6; the slider 52 is slidably mounted on the dovetail groove slide rail 51; the fourth motor 53 is fixedly mounted on the mounting frame 6; the fourth pulley 54 is mounted on the output shaft of the fourth motor 53; both ends of the elbow joint support frame 55 are fixedly mounted on the slider 52, and the middle of the elbow joint support frame 55 is fixedly mounted on the synchronous belt of the fourth pulley 54 by fastening screws; the elbow joint support base 56 is fixedly mounted on the elbow joint support frame 55; the elbow joint support frame 55 and the slider 52 are fixedly connected by plugging, and the slider 52 can slide on the dovetail groove slide rail 51, and the movement of the elbow joint support frame 55 and the slider 52 is controlled by the rotation of the fourth pulley to adapt to the arm length of different patients.

Claims

1. A finger-wrist linkage rehabilitation training device, characterized in that: The invention comprises a five-finger motion module (1), a palm support module (2), a wrist rehabilitation module (3), a forearm bearing seat (4), an elbow joint support module (5) and a mounting frame (6); the five-finger motion module (1) is fixedly mounted on a bearing support plate (21); the palm support module (2) is mounted on the inner ring of a bearing (34), and the outer ring of the bearing is mounted on the mounting frame (6) by interference fit; the wrist rehabilitation module (3) is mounted on a palm bearing platform (26); the forearm bearing seat (4) is fixedly mounted on the mounting frame (6); and the elbow joint support module (5) is fixedly mounted on the mounting frame (6).

2. The finger-wrist linkage rehabilitation training device according to claim 1, characterized in that: The five-finger motion module (1) comprises a four-finger motion mechanism (11), a thumb motion mechanism (12), a first motor (13), a second motor (14), a first pulley (15), and a second pulley (16); The four-finger motion mechanism (11) comprises four groups of first motors (13) and palm frames (115) fixedly mounted on the bearing support plate (21) along the direction of the four fingers, a first pulley (15) mounted on the output shaft of the first motor (13), a four-finger driving connecting rod (111) mounted on the driving shaft of the first pulley (15) by interference fit, a metacarpophalangeal joint connecting rod (118) mounted on the four-finger driving connecting rod (111) by interference fit, and a first pulley (15) mounted on the palm frame (115) and the metacarpophalangeal joint connecting rod (118) by interference fit. 8), a proximal phalanx skeleton (114) mounted on the metacarpal skeleton (115), a proximal interphalanx joint connecting rod (117) mounted on the metacarpal skeleton (115) by interference fit, a middle phalanx skeleton (113) mounted on the proximal phalanx skeleton (114) and the proximal interphalanx joint connecting rod (117) by interference fit, a distal interphalanx joint connecting rod (116) mounted on the proximal phalanx skeleton (114) by interference fit, and a distal phalanx skeleton (112) mounted on the middle phalanx skeleton (113) and the distal interphalanx joint connecting rod (116) by interference fit; The thumb movement mechanism (12) comprises a second motor (14) and a thumb metacarpal skeleton (124) fixedly mounted on the palm support module (2), a second pulley (16) mounted on the output shaft of the second motor (14), a thumb drive connecting rod (121) mounted on the second pulley (16) by interference fit, a thumb metacarpal joint connecting rod (126) mounted on the thumb drive connecting rod (121) by interference fit, a thumb proximal phalanx skeleton (123) mounted on the thumb metacarpal skeleton (124) and the thumb metacarpal joint connecting rod (126) by interference fit, a thumb interphalangeal joint connecting rod (125) mounted on the thumb metacarpal skeleton (124) by interference fit, and a thumb distal phalanx skeleton (122) mounted on the thumb proximal phalanx skeleton (123) and the thumb interphalangeal joint connecting rod (125) by interference fit.

3. The finger-wrist linkage rehabilitation training device according to claim 2, characterized in that: Finger rings (17) for fitting onto fingers are arranged under the distal phalanx skeleton (112), the middle phalanx skeleton (113), the proximal phalanx skeleton (114), the distal phalanx skeleton (122) and the proximal phalanx skeleton (123) of the thumb; the finger rings (17) under the distal phalanx skeleton (112) are fitted onto the distal phalanxes of the patient's four fingers; the finger rings (17) under the middle phalanx skeleton (113) are fitted onto the middle phalanxes of the patient's four fingers; the finger rings (17) under the proximal phalanx skeleton (114) are fitted onto the proximal phalanxes of the patient's four fingers; the finger rings (17) under the distal phalanx skeleton (122) of the thumb are fitted onto the distal phalanxes of the patient's thumb; and the finger rings (17) under the proximal phalanx skeleton (123) of the thumb are fitted onto the proximal phalanxes of the patient's thumb.

4. The finger-wrist linkage rehabilitation training device according to claim 1, characterized in that: The palm support module (2) comprises a bearing support plate (21), a third motor (22), a third pulley (23), an adjusting screw rod (24), a screw nut (25), and a palm support platform (26); the bearing support plate (21) is used to install the five-finger motion module (1); the third motor (22) is fixedly mounted on the bearing support plate (21), and the third pulley (23) is mounted on the output shaft of the third motor (22); the palm support platform (26) is fixedly mounted on the mounting frame (6); the screw nut (25) is fixedly mounted on the palm support platform (26); the adjusting screw rod (24) is connected to the bearing support plate (21) at the top through a bearing, and is connected to the palm support platform (26) at the bottom through a screw nut (25), and is used to adjust the distance between the bearing support plate (21) and the palm support platform (26) to adapt to the thickness of the palm.

5. The finger-wrist linkage rehabilitation training device according to claim 1, characterized in that: The wrist rehabilitation module (3) comprises a fifth motor (31), a pinion (32), a large gear (33), and a bearing (34); the fifth motor (31) is fixedly mounted on the palm bearing platform (26); the pinion (32) is mounted on the output shaft of the fifth motor (31); the large gear (33) is externally meshed with the pinion (32), and the large gear (33) is fixedly mounted on the palm bearing platform (26) by means of a fastening screw; the bearing (34) is provided at the junction of the palm bearing platform (26) and the mounting frame (6).

6. The finger-wrist linkage rehabilitation training device according to claim 1, characterized in that: The elbow joint supporting module (5) comprises a dovetail groove slide rail (51), a slider (52), a fourth motor (53), a fourth pulley (54), an elbow joint support frame (55), and an elbow joint support base (56); the dovetail groove slide rail (51) is fixedly mounted on the mounting frame (6); the slider (52) is slidably mounted on the dovetail groove slide rail (51); the fourth motor (53) is fixedly mounted on the mounting frame (6); the fourth pulley (54) is mounted on the output shaft of the fourth motor (53); both ends of the elbow joint support frame (55) are fixedly mounted on the slider (52), and the middle of the elbow joint support frame (55) is fixedly mounted on the synchronous belt of the fourth pulley (54) by means of a fastening screw; and the elbow joint support base (56) is fixedly mounted on the elbow joint support frame (55).

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