Cerebral stroke upper limb rehabilitation training equipment

Abstract

The utility model discloses cerebral apoplexy upper limb rehabilitation training equipment, which relates to the field of rehabilitation medical instruments and comprises a three-dimensional moving component and a wrist device at the tail end, and the tail end of the three-dimensional moving component is fixedly connected with the wrist device through a disc type motor and a disc type motor connecting shaft; the wrist device comprises an inner ring, a middle ring and an outer ring which are concentrically arranged, the outer ring is fixedly connected with a disc type motor connecting shaft, an outer ring motor and a rotating shaft coaxial with the outer ring motor are arranged on the side face of the outer ring, and the inner end of the rotating shaft is fixedly connected with the middle ring; an inner ring motor is arranged on one side end face of the inner ring; the bottom of the inner ring motor is contacted with the inner side of the inner ring through an inner ring motor connecting shaft; through cooperation of the three-dimensional moving assembly and the wrist device, omni-directional moving and swinging training of the upper limbs can be achieved, the upper limbs can move front and back, left and right and up and down and can rotate in any direction, the upper limb training modes are enriched, the flexibility of training actions is improved, the rehabilitation training effect of the upper limbs of stroke hemiplegic patients is improved, and the rehabilitation period is shortened.

Description

Technical Field

[0001] The utility model relates to the field of rehabilitation medical equipment, in particular to a stroke upper limb rehabilitation training device. Background Art

[0002] Stroke, also known as cerebrovascular accident, is a neurological deficit syndrome caused by local cerebral blood circulation disorders with an acute onset and symptoms lasting at least 24 hours. It is characterized by high morbidity, high disability rate, and high economic burden. Stroke causes a variety of functional disorders, among which motor dysfunction is the most common, especially motor dysfunction of the upper limbs, which are responsible for fine movements. It is more common to have unilateral onset, often due to the loss of control of voluntary motor functions by higher centers. Instead, it is replaced by abnormal movement patterns based on spasticity under the control of lower centers, leaving the limbs in an unbalanced state, commonly known as hemiplegia. The main purpose of its treatment is to reorganize the motor area on the affected side and the non-damaged area, and to promote the increased excitability of the damaged brain area. Timely and effective exercise rehabilitation training can significantly improve and recover the upper limb motor dysfunction caused by stroke.

[0003] In order to make the movement of the affected upper limb consistent with that of the healthy upper limb and improve the patient's adaptability, most current rehabilitation training devices are designed as dual training devices in which the autonomous movement of one upper limb drives the synchronous movement of the other upper limb for rehabilitation training. For example, Chinese Patent CN 104814855B discloses a bilateral upper limb synchronous movement rehabilitation training device, and Chinese Patent CN105078700B discloses a bilateral upper limb linkage rehabilitation trainer with adjustable resistance. However, this solution has the following drawbacks:

[0004] 1. The moving parts of the rehabilitation training device all have a certain weight and resistance. When the patient's healthy upper limb drives the other side to move, it is restricted by the physical strength and arm strength of the affected side. The training time is limited, it is difficult to complete the planned training, and recovery is slow.

[0005] 2. Existing rehabilitation training devices can basically achieve three-axis linear movement training. Some devices can drive the upper limbs to perform swing training in certain directions. However, none of them can train the affected wrist and arm to rotate around three axes, resulting in limited training modes and recovery effects. Utility Model Content

[0006] In response to one or more deficiencies in the above-mentioned prior art, the present invention provides a stroke upper limb rehabilitation training device, which can assist hemiplegic stroke patients in carrying out upper limb rehabilitation training, can realize movement training in three-axis directions and swinging training movements around three-axis directions, enriches the training movement mode, can improve the flexibility of the patient's upper limb movement training, and is conducive to shortening the rehabilitation cycle; at the same time, the present application uses a motor to drive the patient's upper limbs to perform multi-directional training movements, and can control the training movement speed and training time through a control system, which is conducive to regular training.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] A stroke upper limb rehabilitation training device comprises a three-dimensional motion assembly and a wrist device mounted at the end of the three-dimensional motion assembly, the wrist device comprising a concentrically arranged inner ring, a middle ring, and an outer ring, the outer ring being connected to the three-dimensional motion assembly via a disk motor and a disk motor connecting shaft, the disk motor connecting shaft being along a first direction, the outer ring being fixedly connected to the disk motor connecting shaft; an outer ring motor being further provided at the outer edge of the outer ring, the outer ring motor being fixedly connected to the middle ring via an outer ring motor connecting member; a rotating shaft being provided on the outer ring and coaxially arranged with the outer ring motor along a second direction, the rotating shaft having an inner end fixedly connected to the middle ring;

[0009] An inner ring motor is provided on the outer side of one end face of the inner ring. The inner ring motor is fixedly mounted on the end face of the middle ring through an inner ring motor connector. An inner ring motor connecting shaft is provided at the bottom of the inner ring motor, which is arranged along the third direction and contacts the inner side of the inner ring.

[0010] Preferably, the rotating shaft is colinear with the output shaft of the outer ring motor and is arranged radially along the outer ring, and the inner end of the rotating shaft is fixedly connected to the middle ring through a middle ring connector.

[0011] Preferably, a rubber ring is provided on the outer circumference of the inner ring motor connecting shaft to increase friction and better drive the inner ring to rotate.

[0012] Preferably, a sliding interlayer is provided between the contact surfaces of the middle ring and the inner ring, which can reduce the friction force of the relative rotation between the middle ring and the inner ring and improve the stability of the inner ring or the middle ring during rotation.

[0013] Preferably, the inner surface of the inner ring is provided with an inner ring rubber belt, which is used to increase the friction between the patient's wrist and the contact surface of the inner ring to prevent the wrist from sliding.

[0014] Preferably, it also includes a support frame, and the three-dimensional moving component is installed on the support frame; the three-dimensional moving component includes an X-axis moving component, a Y-axis moving component and a Z-axis moving component, the Y-axis moving component is installed on the X-axis moving component and the X-axis moving component drives the Y-axis moving component to perform linear motion along the X-axis direction, the Z-axis moving component is installed on the Y-axis moving component and the Y-axis moving component drives the Z-axis moving component to perform linear motion along the Y-axis direction, the Z-axis moving component is connected to the wrist device, and the Z-axis moving component drives the wrist device to perform linear motion along the Z-axis direction.

[0015] Preferably, the X-axis moving component includes an X-axis front synchronous belt module slide, an X-axis rear synchronous belt module slide, an X-axis servo motor and an X-axis coupling assembly. The X-axis front synchronous belt module slide and the X-axis rear synchronous belt module slide are arranged in parallel and installed on the support frame. The X-axis coupling assembly is connected to the X-axis front synchronous belt module slide and the X-axis rear synchronous belt module slide respectively. The X-axis coupling assembly is driven by the X-axis servo motor and then drives the X-axis front synchronous belt module slide and the X-axis rear synchronous belt module slide to run synchronously. The X-axis front synchronous belt module slide and the X-axis rear synchronous belt module slide are fixedly installed with a Y-axis moving component.

[0016] Preferably, the Y-axis moving component includes a Y-axis synchronous belt module slide and a Y-axis servo motor, and the two ends of the Y-axis synchronous belt module slide are respectively fixedly connected to the X-axis front synchronous belt module slide and the X-axis rear synchronous belt module slide; the Y-axis synchronous belt module slide is also fixedly connected to the Z-axis moving component, and the Y-axis servo motor is arranged on one side of the Y-axis synchronous belt module slide. The Y-axis servo motor drives the Y-axis synchronous belt module slide to operate and then drives the Z-axis moving component to perform linear motion along the Y-axis.

[0017] Preferably, the Y-axis moving component includes a Z-axis synchronous belt module slide and a Z-axis servo motor, the Z-axis synchronous belt module slide is fixedly mounted on the Y-axis synchronous belt module slide, the wrist device is mounted on the surface of the Z-axis synchronous belt module slide, and the Z-axis servo motor drives the Z-axis synchronous belt module slide to operate and thereby drives the wrist device to perform linear motion along the Z-axis.

[0018] Preferably, it further comprises a control system, wherein the control system is connected to the three-dimensional movement component and the wrist device respectively.

[0019] By adopting the above technical solution, the beneficial effects of the utility model are as follows:

[0020] 1. The utility model can realize omnidirectional movement and omnidirectional swing training of the upper limbs through the cooperation of the three-dimensional moving component and the wrist device. It can move forward and backward, left and right, up and down, and can rotate in any direction, enriching the upper limb training mode and improving the flexibility of training movements. It is beneficial to improve the rehabilitation training effect of the upper limbs of hemiplegic stroke patients and shorten the rehabilitation period.

[0021] 2. The wrist device of the present invention realizes rotation in a first direction through a disc motor and a disc motor connecting shaft, realizes rotation in a second direction through an outer ring motor and a rotating shaft, and realizes rotation in a third direction through an inner ring motor and an inner ring motor connecting shaft, thereby realizing three rotational degrees of freedom and relatively independent control. It can be used alone or in combination with movement, further expanding the flexible selection of rehabilitation training equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0023] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the utility model;

[0024] Figure 2 This is a schematic structural diagram of an upper limb rehabilitation assistive device according to an embodiment of the present utility model;

[0025] Figure 3 This is a schematic diagram of the wrist device structure of an embodiment of the present invention. Figure 1 ;

[0026] Figure 4 This is a schematic diagram of the wrist device structure of an embodiment of the present invention. Figure 2 .

[0027] In the figure: 1. Support frame; 2. Three-dimensional moving component; 3. Wrist device; 4. Accessory components;

[0028] 201, X-axis moving assembly; 2011, X-axis front synchronous belt module slide; 2012, X-axis rear synchronous belt module slide; 2013, X-axis servo motor; 2014, X-axis coupling assembly; 2015, X-axis fixed assembly; 202, Y-axis moving assembly; 2021, Y-axis left synchronous belt module slide; 2022, Y-axis right synchronous belt module slide; 2023, Y-axis servo motor; 2024, Y-axis coupling assembly; 2025, Y-axis fixed assembly; 203, Z-axis moving assembly; 2031, Z-axis synchronous belt module slide; 2032, Z-axis servo motor; 2033, right-angle fixed assembly;

[0029] 301. Outer ring; 302. Middle ring; 303. Inner ring; 304. Disc motor; 305. Disc motor connecting shaft; 306. Outer ring motor; 307. Outer ring motor connecting piece; 308. Screw; 309. Rotating shaft; 310. Middle ring connecting piece; 311. Inner ring motor; 312. Inner motor connecting piece; 313. Inner motor connecting shaft; 314. Rubber ring; 315. Sliding interlayer; 316. Inner ring rubber belt;

[0030] 401. Table; 402. Chair; 403. Screen. DETAILED DESCRIPTION

[0031] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0032] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] Example 1

[0034] In a typical embodiment of the present application, a stroke upper limb rehabilitation training device is provided, such as Figure 1-4 As shown, it includes an upper limb rehabilitation assistive device, a support frame 1 and an accessory component 4. The upper limb rehabilitation assistive device is installed on the support frame 1. The accessory component 4 includes a table 401, a chair 402 and a screen 403. The table 401 is placed under the upper limb rehabilitation assistive device. The chair 402 mainly plays a role in positioning the human body. The screen 403 is installed facing the direction of the chair and is set under the upper limb rehabilitation assistive device to facilitate patient observation.

[0035] Among them, the upper limb rehabilitation assistive device includes a three-dimensional moving component 2 and a wrist device 3 installed at the end of the three-dimensional moving component. The three-dimensional moving component drives the patient's upper limbs to perform three-dimensional linear motion rehabilitation training, and the wrist device realizes three-axis swing training, enriching the training range and mode, improving the flexibility of training movements, and is conducive to improving the rehabilitation training effect of the upper limbs of hemiplegic stroke patients and shortening the rehabilitation cycle.

[0036] Specifically, the three-dimensional moving component 2 includes an X-axis moving component 201 arranged on a support frame, a Y-axis moving component 202 fixedly connected to the X-axis moving component, and a Z-axis moving component 203 fixedly connected to the Y-axis moving component. The wrist device 3 is installed at the lower end of the Z-axis moving component 203, wherein the wrist device 3 is installed on the Z-axis moving component 203 through a disk motor 304 and a disk motor connecting shaft 305, and is used to be worn on a person's wrist to drive the arm to move.

[0037] like Figure 1-2 As shown, the X-axis moving assembly 201 includes an X-axis front synchronous belt module slide 2011, an X-axis rear synchronous belt module slide 2012, an X-axis servo motor 2013, and an X-axis coupling assembly 2014 connected to the output shaft of the X-axis servo motor 2013 and simultaneously connected to the X-axis front synchronous belt module slide 2011 and the X-axis rear synchronous belt module slide 2012, wherein the X-axis front synchronous belt module slide 2011 and the X-axis rear synchronous belt module slide 2012 are connected to the X-axis servo motor 2013. The belt module slide 2012 is arranged in parallel on the support frame and fixedly installed on the upper surface of the support frame through multiple X-axis fixing components 2015. The output shaft of the X-axis coupling component 2014 can synchronously drive the synchronous belts on the front and rear sides. Therefore, after the X-axis servo motor 2013 is started, the front synchronous belt module slide 2011 and the rear synchronous belt module slide 2012 are driven synchronously through the X-axis coupling component 2014, thereby driving the Y-axis moving component to move left and right along the X-axis direction.

[0038] Specifically, the Y-axis moving component 202 includes a Y-axis left synchronous belt module slide 2021 and a Y-axis right synchronous belt module slide 2022, which are arranged in parallel and fixedly mounted on the upper surfaces of the X-axis front synchronous belt module slide and the X-axis rear synchronous belt module slide through a Y-axis fixing component 2025 at both ends. The driving pulleys of the Y-axis left synchronous belt module slide 2021 and the Y-axis right synchronous belt module slide 2022 are both connected to the Y-axis coupling component 2024 to achieve linkage. The Y-axis coupling component 2024 is driven by the Y-axis servo motor 2023, so that after the Y-axis servo motor is started, it can drive the Y-axis left synchronous belt module slide 2021 and the Y-axis right synchronous belt module slide 2022 to operate synchronously, thereby driving the Z-axis moving component 203 fixedly connected to the upper surfaces of the Y-axis left synchronous belt module slide 2021 and the Y-axis right synchronous belt module slide 2022 and the wrist device 3 at its end to move back and forth along the Y-axis direction.

[0039] Specifically, the Z-axis moving component 203 includes a Z-axis synchronous belt module slide 2031 and a Z-axis servo motor 2032 installed on the top of the Z-axis synchronous belt module slide. The Z-axis synchronous belt module slide 2031 is installed between the Y-axis left synchronous belt module slide and the Y-axis right synchronous belt module slide, and is fixedly connected to the Y-axis left synchronous belt module slide and the Y-axis right synchronous belt module slide through a right-angle fixing component 2034. When the Z-axis servo motor 2032 is started, the Z-axis synchronous belt module slide 2031 is driven up and down through the motor output shaft, thereby driving the wrist device 3 installed on the Z-axis synchronous belt module slide 2031 to move up and down.

[0040] like Figure 3-4 As shown, the wrist device includes an outer ring 301, a middle ring 302 and an inner ring 303 that is directly worn on the human wrist and is concentrically arranged. It also includes a disc motor connecting shaft 305 and a disc motor 304 connected to the outer ring 301. Specifically, as shown in FIG. Figure 2 、 3 As shown, the disc motor 304 is installed on the Z-axis synchronous belt module slide 2031 and can move up and down with the Z-axis synchronous belt module slide. The lower end of the disc motor 304 is installed with a disc motor connecting shaft 305 set along the first direction, and is fixedly connected to the outer ring 301 through the disc motor connecting shaft 305. In this embodiment, the disc motor 304 is used to drive the disc motor connecting shaft 305 to rotate, and then the outer ring 301 can be used to drive the entire wrist device to rotate around the axis of the disc motor connecting shaft 305. In this embodiment, the disc motor connecting shaft is vertically arranged and the axis is along the Z-axis direction. Since the outer ring 301 is fixedly connected to the disc motor connecting shaft 305, when the disc motor starts to drive the disc motor connecting shaft to rotate around the Z-axis direction, the patient's wrist can be driven to rotate around the Z-axis through the outer ring, thereby realizing the swing training of the patient's wrist.

[0041] In addition, an outer ring motor 306 is provided on the outer circumferential surface of the outer ring 301. The outer ring motor 306 is fixedly connected to a side end surface of the middle ring 302 via an outer ring motor connector 307 and screws 308. A rotating shaft 309 is provided opposite the outer ring motor 306. The rotating shaft 309 is colinear with the output shaft of the outer ring motor 306 and is radially arranged along the outer ring. The rotating shaft 309 passes through the outer ring and is rotationally connected to the outer ring 301. The distal end of the rotating shaft 309 is fixedly connected to the middle ring 302, thereby enabling the outer ring motor to drive the middle ring to rotate about the rotating shaft axis. Specifically, the axis of the rotating shaft 309 is arranged along the second direction. In this embodiment, the rotating shaft axis is along the X-axis. The rotating shaft 309 passes through the outer ring 301 and is rotationally connected to the outer ring 301. The inner end of the rotating shaft 309 is fixedly connected to the middle ring via the middle ring connector. When the outer ring motor is activated, the middle ring can drive the patient's wrist to swing around the X-axis for training.

[0042] In addition, if Figure 3-4 As shown, an inner ring motor 311 is mounted on the outer surface of one end face of the inner ring 303. The inner ring motor 311 is fixedly connected to the end face of the middle ring 302 via an inner ring motor connector 310. The bottom of the inner ring motor 311 is provided with an inner ring motor connecting shaft 313, which is arranged along a first direction and contacts the inner side of the inner ring. The outer circumferential surface of the inner ring motor connecting shaft 313 is provided with a rubber ring 314. In this embodiment, the axis of the inner ring motor connecting shaft 313 is arranged along the Y-axis direction. The inner ring motor connecting shaft 313 contacts the inner surface of the inner ring 303 via the rubber ring 314 on its outer surface, thereby increasing friction. When the inner ring motor drives the inner ring motor connecting shaft to rotate, it further drives the inner ring to rotate along the Y-axis, thereby driving the patient's wrist to achieve swing training through the inner ring.

[0043] In a preferred embodiment, a sliding interlayer is provided between the contact surfaces of the middle and inner rings to reduce friction during relative rotation between the middle and inner rings, effectively improving rotational smoothness. In a preferred embodiment, an inner rubber band is provided on the inner surface of the inner ring to increase friction between the patient's wrist and the inner ring surface, preventing wrist slippage.

[0044] In addition, this embodiment also includes a control system, which is connected to the three-dimensional moving component and the wrist device, and can control three groups of servo motors to drive the slide of the synchronous belt module slide to perform three-axis linkage and control the three groups of motors of the wrist device to drive the patient's upper limbs to rotate in three directions, thereby driving the patient's upper limbs to perform multi-dimensional and multi-modal rehabilitation training. In this embodiment, the control system adopts the Haijie Jiachuang HJ10T model controller.

[0045] It should be noted that the above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Those skilled in the art will appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A stroke upper limb rehabilitation training device, characterized in that: The invention comprises a three-dimensional moving component and a wrist device installed at the end of the three-dimensional moving component, wherein the wrist device comprises an inner ring, a middle ring and an outer ring arranged concentrically, wherein the outer ring is connected to the three-dimensional moving component via a disk motor and a disk motor connecting shaft, wherein the disk motor connecting shaft is along a first direction, and the outer ring is fixedly connected to the disk motor connecting shaft; an outer ring motor is further provided on the outer edge of the outer ring, and the outer ring motor is fixedly connected to the middle ring via an outer ring motor connecting member; a rotating shaft is passed through the outer ring and arranged coaxially with the outer ring motor along a second direction, and the inner end of the rotating shaft is fixedly connected to the middle ring; An inner ring motor is provided on the outer side of one end face of the inner ring. The inner ring motor is fixedly mounted on the end face of the middle ring through an inner ring motor connector. An inner ring motor connecting shaft is provided at the bottom of the inner ring motor, which is arranged along the third direction and contacts the inner side of the inner ring.

2. The upper limb rehabilitation training device for stroke according to claim 1, characterized in that: The rotating shaft is colinear with the output shaft of the outer ring motor and is arranged radially along the outer ring. The inner end of the rotating shaft is fixedly connected to the middle ring through a middle ring connector.

3. The upper limb rehabilitation training device for stroke as claimed in claim 1, characterized in that: A rubber ring is provided on the outer circumference of the inner ring motor connecting shaft.

4. The upper limb rehabilitation training device for stroke as claimed in claim 1, characterized in that: A sliding interlayer is provided between the contact surfaces of the middle ring and the inner ring.

5. The upper limb rehabilitation training device for stroke as claimed in claim 1, characterized in that: An inner ring rubber belt is provided on the inner surface of the inner ring.

6. The upper limb rehabilitation training device for stroke according to claim 1, characterized in that: It also includes a support frame, and the three-dimensional moving component is installed on the support frame; the three-dimensional moving component includes an X-axis moving component, a Y-axis moving component and a Z-axis moving component, the Y-axis moving component is installed on the X-axis moving component and the X-axis moving component drives the Y-axis moving component to perform linear motion along the X-axis direction, the Z-axis moving component is installed on the Y-axis moving component and the Y-axis moving component drives the Z-axis moving component to perform linear motion along the Y-axis direction, the Z-axis moving component is connected to the wrist device, and the Z-axis moving component drives the wrist device to perform linear motion along the Z-axis direction.

7. The upper limb rehabilitation training device for stroke according to claim 6, characterized in that: The X-axis moving assembly includes an X-axis front synchronous belt module slide, an X-axis rear synchronous belt module slide, an X-axis servo motor and an X-axis coupling assembly. The X-axis front synchronous belt module slide and the X-axis rear synchronous belt module slide are arranged in parallel and installed on the support frame. The X-axis coupling assembly is connected to the X-axis front synchronous belt module slide and the X-axis rear synchronous belt module slide respectively. The X-axis coupling assembly is driven by the X-axis servo motor and then drives the X-axis front synchronous belt module slide and the X-axis rear synchronous belt module slide to run synchronously. The X-axis front synchronous belt module slide and the X-axis rear synchronous belt module slide are fixedly installed with a Y-axis moving assembly.

8. The upper limb rehabilitation training device for stroke as claimed in claim 7, characterized in that: The Y-axis moving component includes a Y-axis synchronous belt module slide and a Y-axis servo motor. The two ends of the Y-axis synchronous belt module slide are respectively fixedly connected to the X-axis front synchronous belt module slide and the X-axis rear synchronous belt module slide; the Y-axis synchronous belt module slide is also fixedly connected to the Z-axis moving component. The Y-axis servo motor is arranged on one side of the Y-axis synchronous belt module slide. The Y-axis servo motor drives the Y-axis synchronous belt module slide to operate and then drives the Z-axis moving component to perform linear motion along the Y-axis.

9. The upper limb rehabilitation training device for stroke according to claim 8, characterized in that: The Y-axis moving component includes a Z-axis synchronous belt module slide and a Z-axis servo motor. The Z-axis synchronous belt module slide is fixedly mounted on the Y-axis synchronous belt module slide. The wrist device is mounted on the surface of the Z-axis synchronous belt module slide. The Z-axis servo motor drives the Z-axis synchronous belt module slide to operate and thereby drives the wrist device to perform linear motion along the Z-axis.

10. The upper limb rehabilitation training device for stroke according to claim 1, characterized in that: It also includes a control system, which is connected to the three-dimensional movement component and the wrist device respectively.

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