2 results about "Flexion extension" patented technology

The invention discloses a four-degree-of-freedom upper limb rehabilitation training device and a control method, and relates to the technical field of rehabilitation robots. The rehabilitation training device is used for assisting a hemiplegic patient to achieve rehabilitation training and comprises a shoulder joint mechanism, an elbow joint mechanism, a wrist joint mechanism and a sliding mechanism, the shoulder joint mechanism has two degrees of freedom of flexion extension and adduction and abduction, the elbow joint has one degree of freedom of flexion extension, and the wrist joint has one degree of freedom of palm flexion and back extension. The upper limb rehabilitation training device has the advantages that the back support can slide leftwards and rightwards by the aid of the sliding mechanisms, and accordingly the upper limb rehabilitation training device can adapt to users with different shoulder widths and body types; the shoulder joint adduction and abduction movement, the shoulder joint flexion and extension movement, the elbow joint flexion and extension movement, the wrist joint metacarpal flexion and back extension movement and the cooperative movement of multiple joints are achieved, the robot returns to the original position after training is completed, and the robot is combined with human engineering and has the advantages of multiple active degrees of freedom, simple structure, large movement range, low use cost and the like.

A dexterous hand, including a hand module, the hand module includes one or more finger units and a palm unit, wherein each finger unit includes a plurality of phalanges and one or more interphalangeal joints, wherein the palm unit includes a carpometacarpal base, one or more metacarpals, one or more carpometacarpal joints, and one or more metacarpophalangeal joint, wherein each finger unit is hinged to a respective metacarpal by a respective metacarpophalangeal joint, wherein each metacarpal is respectively connected to the carpometacarpal base, wherein each interphalangeal joint has degrees of freedom of flexion extension, wherein each metacarpophalangeal joint has degrees of freedom of flexion extension, degrees of freedom of abduction adduction and degrees of freedom of circumduction, wherein each interphalangeal joint's degrees of freedom of flexion extension, each metacarpophalangeal joint's degrees of freedom of flexion extension, each metacarpophalangeal joint's degrees of freedom of abduction adduction are driven by different actuators.