17 results about "Ulnar wrist deviation" patented technology

The present disclosure relates to the field of artificial limbs for amputees and specifically to a passive compliant wrist unit 210 for upper limb prosthesis. The passive compliant can comprise a plurality of fingers controlled by a compliant four bar mechanism. The arm is capable of extension / flexion, radial / ulnar deviation on application of a force on the snap joint. The limb is also capable of pronation / supination actions. By application of a force on an arm snap joint, the flexible wrist 216 can be adapted to perform extension / flexion, radial / ulnar deviation.

The invention provides a rigid-flexible coupling wrist rehabilitation robot which comprises an arm supporting unit and a wrist supporting unit, the arm supporting unit is matched with the forearm of a patient, the wrist supporting unit is matched with the palm of the patient, and an upper / lower elastic rope support and a left / right elastic rope support are installed on a connecting plate of the forearm supporting unit. An elastic rope connecting anchor point at the front end of the upper elastic rope support and an elastic rope connecting anchor point at the front end of the lower elastic rope support are connected with corresponding anchor points of the wrist supporting unit through three elastic ropes to form an integral tensioning structure, and four driving flexible ropes penetrate through Bowden wire pipes installed in the elastic rope supports to be connected to the corresponding anchor points of the wrist supporting unit. And the flexion / extension and radial deflection / ulnar deflection of the wrist joint are realized by traction and driving of the flexible cable. The open type wearable structure is convenient for a patient to wear, and the problems that a rigid wrist rehabilitation robot is not matched with the instant movement center when the wrist of the patient moves and the joint torque of a flexible wrist rehabilitation robot is insufficient are solved, so that the treatment effect of rehabilitation training on the patient is improved.

This is an adjustable basketball training device for a user's guide hand comprising upper arm, pivot, forearm, thumb, and finger components. The pivot component is pivotably connected to the upper arm component and rigidly coupled to the forearm component. The forearm component is rigidly coupled to both the thumb component using separate telescopic complexes, which allows the user to adjust the device for proper fit. The upper arm, forearm, thumb, and finger components are each secured to the user's upper arm, forearm, thumb, and at least one finger, respectively. As such, the basketball training device not only restricts flexion and opposition of the thumb but it restricts pronation of the user's forearm. In addition, the basketball training device restricts flexion, extension, radial deviation, and ulnar deviation of the user's wrist while allowing the user appropriate extension at the elbow joint during the entire shooting motion.

The invention relates to an upper limb multi-joint training device, and belongs to the technical field of rehabilitation medical instruments. The device comprises a main motion platform, a driven execution terminal and a connecting mechanism, the main motion platform is a multi-degree-of-freedom industrial mechanical arm and is used for driving the upper limbs of a user to complete three-dimensional space compound motion of shoulder and elbow joints; the connecting mechanism is arranged between the tail end of the main motion platform and the driven execution terminal and is used for detachably mounting the driven execution terminal at the tail end of the main motion platform; the driven execution terminal comprises three rotating joints which are sequentially connected in series, and the three rotating joints respectively provide a rotating degree of freedom to correspondingly realize the flexion and extension movement of the wrist joint, the radial ulnar deviation movement and the pronation and supination movement of the forearm. According to the invention, large-range collaborative movement of shoulder and elbow joints and full-degree-of-freedom refined training of wrist joints can be realized at the same time, comprehensiveness of rehabilitation training is improved, and the device is suitable for clinical rehabilitation training of patients with upper limb movement dysfunction.

The application provides a kind of based on the tension whole wrist exoskeleton of cable drive, including battery pack and drive unit, first support exoskeleton is adapted to patient's forearm by wearing;Second support exoskeleton is adapted to patient's palm by wearing;Flexion and extension tensioning piece and ulnar and radial tensioning piece are sequentially threaded through first support exoskeleton and second support exoskeleton, when flexion part extends from first direction to flexion and extension drive part, extension part extends along second direction opposite to first direction, when ulnar deviation part extends from third direction to ulnar and radial drive part, radial deviation part extends along fourth direction opposite to third direction, flexion part, extension part, ulnar deviation part and radial deviation part are respectively matched with first support exoskeleton and second support exoskeleton to provide at least four direction degrees of freedom of wrist joint movement.The application can realize that patient wears conveniently and provides multiple degrees of freedom for wrist joint movement, and then improves the treatment effect of patient rehabilitation training.

The present invention discloses an upper limb single-arm rehabilitation auxiliary training robot and an operation method, comprising a shoulder joint assembly, an elbow joint assembly and a wrist joint assembly connected in sequence; the shoulder joint assembly is used to assist the movement of the patient's shoulder joint; the elbow joint assembly is used to assist the movement of the forearm around the elbow joint; the wrist joint assembly is used to assist the movement of the patient's wrist joint and forearm. The wrist joint assembly includes two driving mechanisms and a handle. The handle realizes the internal rotation / external rotation movement of the forearm by rotation, and at the same time switches the palm between the horizontal state and the vertical state. When the palm is in the vertical state, the driving mechanism can realize the palmar flexion / dorsiflexion movement of the wrist; when the palm is in the horizontal state, the driving mechanism can realize the radial deviation / ulnar deviation movement of the wrist. In the present invention, the wrist joint can present different movement states, and the full-motion rehabilitation training of the wrist can be realized through a simple structure.

The invention provides an under-actuated three-degree-of-freedom wrist rehabilitation robot, which aims to solve the problems of less degree of freedom, small motion range, single rehabilitation mode and the like of the traditional wrist rehabilitation equipment, and mainly comprises a horizontal rotating unit, a circumferential rotating unit, a sliding handle unit, a forearm supporting unit and the like, a horizontal joint motor and a circumferential direct current motor are adopted as driving elements, and three-degree-of-freedom rehabilitation movement including wrist flexion / extension, wrist ulnar deflection / radial deflection and forearm inward rotation / outward rotation is achieved. A patient puts the forearm on the supporting unit, grasps the sliding handle, selects a corresponding rehabilitation mode and sets a proper rehabilitation range and motion trail, and the robot can conduct passive and active rehabilitation training on the wrist joint. The encoder and the torque sensor are arranged in the driving element, in the rehabilitation training process, the movement range, the movement speed and the man-machine interaction torque of the wrist joint are sensed in real time, and the rehabilitation effect can be evaluated in a numeralization mode. According to the wrist rehabilitation robot, only two driving motors are adopted, three-degree-of-freedom rehabilitation movement can be achieved, and the wrist rehabilitation robot has the advantages of being compact in structure, low in cost and high in information sensing capacity.

An improved external fixator assembly for fixating fractures that includes a proximal frame assembly, a distal frame assembly and a polyaxial joint. The polyaxial joint comprises articulating components that engage to have multi-axial or polyaxial translational motion to allow for distraction / reduction and adjustment of flexion / extension, radial / ulnar deviation, pronation / supination of the wrist to an optimal wrist position. The polyaxial joint may be lockable. Fixation screws are also provided for engaging the patient's bone tissue on opposite sides of a fracture.

The utility model relates to the technical field of rehabilitation medical instruments, in particular to a finger corrector for rehabilitation of ulnar deflection deformation of hands of rheumatoid patients. The finger corrector for the rehabilitation of the ulnar deflection deformation of the hand of the rheumatoid patient comprises a positioning plate, mounting seats, metacarpal joint fingerstalls, a binding band, a connecting plate and the like, the binding band capable of being bound is connected to the positioning plate, the four mounting seats are evenly placed on the positioning plate at intervals, the connecting plate is rotationally connected to the mounting seats, and the connecting plate is connected with the metacarpal joint fingerstalls. The bottom of each connecting plate is connected with a metacarpal joint fingerstall. By means of horizontal rotation adjustment of the connecting plate on the mounting seat and independent horizontal rotation adjustment of the near-end finger joint fingerstall, the device can be suitable for hand deformation conditions of different patients, adjustment and correction are performed according to actual conditions, the situation that part of patients are difficult to adapt to and wear is avoided, adjustment is performed according to the bearable degree of the hand, use is flexible, and use is convenient. The applicable crowd is wide.

The present invention belongs to the technical field of medical rehabilitation equipment, and specifically relates to a wrist rehabilitation device and an upper limb rehabilitation robot. The wrist rehabilitation device of the present invention only needs to control the rotation direction of two wrist motors to realize both palmar flexion / dorsiflexion of the wrist and ulnar deviation / radial deviation of the wrist for rehabilitation training, which solves the defects that each degree of freedom of movement in the existing rehabilitation device needs to be driven by a separate power source, and the overall device is relatively bulky and cannot be installed at the end of the robot. At the same time, the power source and transmission mechanism of the present invention are both arranged on the bracket on the arm side, which effectively reduces the weight borne by the human wrist. The wrist rehabilitation mechanism of the invention can realize that the palmar flexion and dorsiflexion of the wrist can both reach a maximum upward and downward turning angle of 90°, and the ulnar deviation and radial deviation of the wrist can both reach a maximum deflection angle of 70.2°, which can completely cover the physiological space of palmar flexion, dorsiflexion, ulnar deviation and radial deviation of the human wrist, and can perform rehabilitation training at precise angles according to the needs of patients.

The application relates to a multifunctional wrist joint rehabilitation training device and relates to the technical field of auxiliary rehabilitation equipment, which comprises a fixing plate, a bandage is arranged on the fixing plate, a rotating plate is rotatably arranged on the fixing plate, an installation ring is fixedly arranged on the rotating plate, an annular groove is formed in the inner side wall of the installation ring, a handle is arranged on the installation ring, one end of the handle is located in the annular groove, and the handle is slidably connected with the installation ring, a fixing assembly is arranged on the installation ring, the fixing assembly is used for fixing the handle and the installation ring, a first load assembly is arranged between the fixing plate and the rotating plate, the first load assembly is used for providing load for flexion and extension, radial deviation and ulnar deviation movements of a wrist joint, a second load assembly is arranged on the installation ring, and the second load assembly is used for providing load for pronation and supination movements of the wrist joint. The application is convenient for postoperative rehabilitation training of a patient on a wrist joint.

The application discloses a wrist motion capture system and method based on multi-core fiber grating sensing and deep learning. The system includes a multi-core fiber sensing unit, a flexible wearable carrier, a multi-channel fiber grating demodulator, an inertial sensor calibration module, a data processing module, and a real-time visualization module. The multi-core fiber sensing unit is composed of multi-core fiber gratings arranged on the wrist, which can sense the multi-degree-of-freedom strain of the wrist in real time. The inertial sensor calibration module is used to obtain the three-axis Euler angles of each part of the wrist during motion, and obtain the true value of the wrist joint motion angle. The data processing module establishes a real-time mapping model from wavelength drift to three-axis angle based on a deep learning model. The real-time visualization module realizes real-time mapping and display of wrist motion. The application realizes high-precision capture of multi-degree-of-freedom motion such as wrist flexion / extension, ulnar deviation / radial deviation, and is suitable for fields such as rehabilitation medicine, virtual reality, motion analysis, and robot teleoperation.

The invention discloses a limb fracture recovery exercise device which comprises a clamping base, a telescopic rod, an arm fixing assembly and a palm fixing plate. The telescopic rod is fixedly installed in the center of the upper end of the clamping base, the arm fixing assembly is fixedly installed at the upper end of the telescopic rod, bending and stretching exercise can be conducted on arms through the arm fixing assembly, the purpose of elbow exercise is achieved, the front end of the arm fixing assembly is connected with the palm fixing plate through a rotating shaft, and an arm motor is installed on the rotating shaft; a palm can be fixed through an arranged palm fixing plate, meanwhile, a wrist can be subjected to ulnar deviation exercise through a palm exercise assembly on the palm fixing plate, meanwhile, the angle during exercise can be adjusted, and the collecting requirement of a patient can be met by adjusting the angle; compared with an existing device, the device has the advantages that a certain part can be exercised in a targeted mode, in other words, arms or wrists can be exercised specially, and bending, stretching and ulnar deviation training can be conducted on wrist joints.

The present application relates to the field of orthopedic rehabilitation, and in particular to a progressive correction method for rheumatoid arthritis metacarpophalangeal joint ulnar deviation deformity, aiming at the technical pain points of existing correction technology, such as large trauma, poor adaptability, easy secondary synovial membrane injury, high deformity rebound rate, poor function recovery, etc., and combining biological microdynamics, flexible material science, industrial control time sequence regulation and physical rehabilitation technology, a non-invasive time sequence closed loop correction system is constructed. Through the multi-link collaborative implementation of preoperative global accurate evaluation and mechanical anchoring, low-temperature non-inductive fascia targeted pre-loosening, flexible phase change time sequence gradient force, extensor tendon targeted homing linkage, low-frequency micro-vibration microcirculation promotion, active micro-movement compensation balance training, etc., the pathological characteristics of rheumatoid arthritis and the physiological rhythm of the hand are matched throughout the whole process, and there is no rigid compression and surgical trauma. The present application can simultaneously achieve deformity reduction, ligament release, tendon homing, inflammation relief and muscle strength reconstruction, effectively avoid surgical risks and traditional brace complications, and significantly improve the correction success rate.

The present application belongs to the field of robot control, and particularly discloses a precise pose control method and system of a flexible wrist joint. The flexible wrist joint comprises a moving platform and a static platform, and the moving platform and the static platform are connected through two pairs of diagonally arranged flexible cables. Each pair of diagonally arranged flexible cables is controlled by a motor. When the pose is controlled, the real-time relative pose of the moving platform relative to the static platform is determined during the movement to the target pose; the correction target pose is determined according to the error between the target pose and the real-time relative pose; then the stretching and contracting amounts of the flexible cables in two characteristic movement directions are calculated according to the kinematic model of the flexible wrist joint; the two characteristic movements are ulnar deviation / radial deviation movement and flexion / extension movement; the motor stroke amount is determined according to the stretching and contracting amounts of the flexible cables, so as to realize the real-time control of the pose of the flexible wrist joint. The present application realizes the decomposition of the wrist joint movement space, and eliminates the uncertain pose error introduced by the elastic element through the basic kinematic model and the pose feedback.

The application relates to the field of rehabilitation auxiliary training machines, in particular to an arm-wrist hybrid upper limb rehabilitation robot. A planar motion module is connected with an electric push rod of a turnover motion module through upper connecting ears at the bottom of a motion platform, one side of the bottom of the planar motion module is hinged with a rotating shaft, a fifth bearing and an eighth bearing matched with the turnover motion module through a bearing block, the electric push rod drives the planar motion module to swing around the rotating shaft to complete elbow flexion / extension; an exoskeleton wrist module is installed on an end effector of the planar motion module through a wrist joint base, a handle held by a palm is installed on an internal-external rotation component of the exoskeleton wrist module, the wrist joint is made to complete internal rotation / external rotation, palm flexion / back flexion, ulnar deviation / radial deviation through the exoskeleton wrist module, the end effector has 2 degrees of freedom, rehabilitation training is simultaneously conducted on the whole upper limb of a patient through cooperation with the exoskeleton wrist module, various rehabilitation actions are realized, and the rehabilitation needs of different patients are met.

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.