127 results about "Wrist rehabilitation" patented technology

The invention relates to a wrist joint rehabilitation training device which comprises two parts, namely, a rehabilitation training executive device part and a mirror image autonomous input device part. The rehabilitation training executive device part comprises a base seat, a forearm sliding chute, a forearm sliding block, a forearm height adjusting rod, a forearm supporting plate, a wrist rotating sliding rail, a wrist rotating sliding block, a wrist rotating guiding wheel, a bracket, a wrist rotating angle sensor, a wrist rotating motor, a pull rope, a wrist rotating rod, a wrist swing rod, a wrist swing angle sensor, a wrist swing motor, a wrist deflection rod, a wrist deflection sensor and a wrist deflection motor. The mirror image autonomous input device part comprises no motor, and the other devices of the mirror image autonomous input device part are symmetrical with those of the rehabilitation training executive device part. The wrist joint rehabilitation training device has three freedom degrees of rotation, swing and deflection, can achieve all the motions of a wrist joint and the rehabilitation training of composite motions through wearing for one time, and enables a rehabilitation therapist to control the wrist of a patient to carry out rehabilitation training conveniently through the mirror image autonomous input device part.

The invention discloses a device for hand rehabilitation training with the function of wrist rehabilitation training, which effectively solves the problems in the prior art that the training device is bulky and not easy to carry, and has the advantages of simple structure, easy operation and high functionality. As follows: the device includes at least one two-joint finger training mechanism and a wrist training mechanism; wherein, each two-joint finger training mechanism includes a power drive source fixed by the joint bracket of the finger near the end of the finger, and the push rod of the power drive source is connected to the finger near the end of the finger. The joint driving part is connected to control the rear joint of the human finger; the finger proximal end joint support, the finger proximal finger end joint driving part is fixed by the finger proximal finger end joint support and the finger proximal finger end joint support defines the position of the finger proximal finger end joint driving part The moving path is the far fingertip joint support of the finger, and the multi-link mechanism is connected with the finger far fingertip joint support.

A universal haptic drive system for arm and wrist rehabilitation that includes a hand accessory and a vertical handle for carrying the hand accessory, the vertical handle being movable in a transversal plane. The system furthermore includes a haptic actuator system for applying a force to the vertical handle. The vertical handle includes a universal joint with locking ability. When the universal joint is unlocked, it enables movements for wrist rehabilitation, and when it is locked it causes a stiff substantially vertical handle enabling movements for arm rehabilitation.

The invention relates to an upper limb rehabilitation platform, which comprises a wrist rehabilitation device and a variable-degree-of-freedom three-dimensional moving platform, wherein the wrist rehabilitation device comprises a front wrist rehabilitation unit and a rear wrist rehabilitation unit; the front wrist rehabilitation unit is fixedly connected to an arc-shaped rotating mechanism of therear wrist rehabilitation unit via a connecting plate; the rear wrist rehabilitation unit is arranged on a cross-shaped sliding block of the variable-degree-of-freedom three-dimensional moving platform via a base; in the front wrist rehabilitation unit, an arm supporting frame is arranged on the connecting plate; a second motor is arranged between the arm supporting frame and the connecting plate;an output shaft of the second motor is connected to a rear arm tray via a connecting component; a fan-shaped gear is fixedly connected to the rear arm tray via a key shaft; an arm tray is hinged withthe rear arm tray; the arm tray is fixedly connected to a small gear via a geared motor; and the small gear is meshed with the fan-shaped gear. The upper limb rehabilitation platform provided by theinvention, on the basis of the combination of a wearable rehabilitation apparatus and an end-traction type rehabilitation apparatus, can assist a patient in completing wrist rehabilitation training ofthree degrees of freedom, namely palmar flexion / dorsal flexure, enstrophe / ectropion and adduction / abduction.

The invention provides a hand and wrist rehabilitation evaluating and monitoring device. The hand and wrist rehabilitation evaluating and monitoring device comprises a glove, one or more data acquisition units, a data processing unit and a communication unit. The invention further provides a using method of the hand and wrist rehabilitation evaluating and monitoring device. The invention has the beneficial effects that according to the rehabilitating training at home and community, the hand and wrist rehabilitation evaluating and monitoring device has low power consumption and small volume and can remotely transmit the real-time data of the rehabilitation condition of a patient to a rehabilitation center or a rehabilitation expert, so the patient does not need to go the rehabilitation center or the hospital, the rehabilitation condition can be detected, analyzed and evaluated, and the rehabilitation expert can draw up a rehabilitation training plan for the patient at the next stage according to the rehabilitation degree and the training quality of the patient. The device has a simple using method and facilitates operation of the rehabilitation training at home and community.

The invention relates to a wearable wrist rehabilitation nursing exercise device, which comprises a wrist exercise apparatus, a forearm fixing apparatus and a big arm fixing apparatus. The forearm fixing apparatus is installed at the right end of the wrist exercise apparatus, and the big arm fixing apparatus is installed at the right end of the forearm fixing apparatus. The wearable wrist rehabilitation nursing exercise device provided by the invention can solve the problems that long treatment time during manual exercise causes rigid wrist and further gives rise to wrist movement function damage, excessive exercise strength is easily brought about during manual exercise, and secondary damage is caused, also existing wrist rehabilitation exercise device is single in function and poor in physical therapy effect, and a traditional structure physical rehabilitation therapeutic instrument is generally complex in structure, needs to be driven by electric energy, is inconvenient to use, cannot meet the requirements of vast patients and the like.

The invention discloses a wrist rehabilitation therapy robot based on spatial parallel drive. According to the system, the core of six-degree-of-freedom motion is a parallel mechanism, and the parallel mechanism mainly comprises an upper platform, a lower platform, six drive supporting legs, upper hinges and lower hinges, wherein the upper hinges and the lower hinges are connected with the supporting legs, the upper platform and the lower platform. In addition, the system further comprises six-dimensional force sensors, a doctor glove, a patient glove and a computer-control system, wherein the doctor glove and the patient glove are used for fixing wrists. The wrist rehabilitation therapy robot based on spatial parallel drive is used for rehabilitation therapy of postoperation of wrist joint diseases, postoperation of sports injuries and wrist postoperation.

The invention discloses a Stewart type wearable wrist rehabilitation robot. The Stewart type wearable wrist rehabilitation robot comprises a front end motion platform, a training handle, six-dimensional force sensors, spherical hinge connecting devices, connecting rods, piston rods, cylinders, a rear end fixing and supporting platform and a control system. The front end motion platform can be driven through telescopic displacement of the piston rods. The Stewart type wearable wrist rehabilitation robot is used for rehabilitation therapy of postoperation of wrist joint diseases, postoperation of sports injuries and wrist postoperation, and bending and stretching motion, folding and unfolding motion and annular rotating motion of wrist joints can be achieved. The Stewart type wearable wrist rehabilitation robot has a passive working mode and an active working mode, and motion function rehabilitation and wrist strength training of the wrist joints can be achieved.

The invention, which belongs to the field of ergonomic and measurement technologies, discloses a non-invasive measurement method of a wrist joint axis motion model. The method comprises the followingthree steps: (1), motion data of a wrist joint are collected; to be specific, a flange is bound to each of a forearm and a hand respectively and four marking points are pasted to each flange to prevent mutual interference between the marking points, the flanges of the forearm and the hand are away from the wrist joint as much as possible, and the flange of the forearm is fixed on a lifting platform; (2), a wrist joint axis motion model is established; to be specific, the forearm and the hand are viewed as rigid bodies, and a two-freedom-degree spatial connecting lever mechanism is established;and (3), a wrist joint motion axis pose is calculated; to be specific, on the basis of the collected wrist joint motion data, a spatial vector closed-loop equation is constructed and parameters of the wrist joint axis motion mode are optimized by using an matlab optimization tool box. With the method provided by the invention, an axis pose of the wrist joint motion at a certain time is obtained accurately; and a theoretical basis is provided for an artificial limb design and a design of a wrist joint rehabilitation device.

The invention provides a force feedback control method and system for power assisting training of a wrist rehabilitation robot. The force feedback control system comprises a force feedback part and a three-closed-loop control part, wherein in the force feedback part, a force / torque sensor installed on the wrist rehabilitation robot detects out a force / torque exerted on the wrist rehabilitation robot by the human wrist, the detected force / torque is converted into equivalent current; a value of a current loop feedforward part in three-closed-loop control is determined by judging the size relation between the equivalent current and an equivalent current amplitude limiting value; the three-closed-loop control part comprises a position loop, a speed loop and a current loop, wherein an input of the position loop is wrist motion trajectory data, an output of the position loop is given motor rotation speed, output current serves as a given value of the current loop through the speed loop portion, an output of the force feedback part is an input of the feedback part of the current loop, a motor rotation speed value is obtained through the current loop portion, and accordingly a motor is driven. The force feedback control system is strong in operability, high in precision, strong in stability, low in cost, high in control precision and strong in robustness.

The invention discloses a rehabilitation instrument for training rotation of wrist joints, belongs to the field of rehabilitation assistant tools, and relates to a rehabilitation device for rehabilitating wrist joints of hemiplegic patients. The rotating range, allowed by the rehabilitation instrument, of a wrist joint can be adjusted, and the driving force of the rehabilitation instrument is provided by a reducing motor and passed to a palm of a patient through a coupler, a magnetic powder clutch, a stepped shaft and a hand holding board sequentially so as to drive the patient to perform rotation movement of the wrist joint. The magnetic powder clutch is taken as a damper for mechanism movement, and different assistance functions can be achieved by controlling current of the magnetic powder clutch. Forward and backward rotation ranges of round discs and the hand holding board are changed by changing the relative position of nuts and the round discs in the rehabilitation instrument so as to adjust the rotation ranges of the wrist joints; and the rehabilitation instrument further comprises a simple form and is provided with three work modes of a passive mode, an assistance mode and a damping mode. The rehabilitation instrument is simple in structure, novel in design, safe and reliable, and can estimate and record rehabilitation conditions of the patient to provide a certain treatment standard for doctors.

The invention provides a rehabilitation device used for training a wrist joint to bend and stretch, belongs to the technical field of rehabilitation aids, and relates to a rehabilitation device aimed at joint rehabilitation of a hemiplegic patient. According to the rehabilitation device used for training the wrist joint to bend and stretch, a magnetic powder clutch is used as a damper of mechanism motion, and the magnitude of current of the magnetic powder clutch is controlled so as to achieve different assistance functions. The rehabilitation device is further provided with a left hand supporting plate and a right hand supporting plate, the left hand supporting plate and the right hand supporting plate are rapidly dismounted from or mounted on a main shaft, and a liquid crystal display is embedded above a machine box. The rehabilitation device can be used by patients at different rehabilitation stages for recovering wrist joint muscle force and restraining spasm, can record rehabilitation conditions of the patients, can adopt corresponding rehabilitation therapy modes aiming at different rehabilitation degrees of the patient, has a passive working mode, an assistance working mode and a resistance working mode, and can effectively train functions of main muscle groups of a forearm. The rehabilitation device is simple in structure, novel in design, and safe and reliable.

The invention discloses a novel wrist rehabilitation robot. By adopting an in-plane swing arm type design, the mechanical structure of the wrist rehabilitation robot comprises six parts including a swing arm type palm clamping structure, a motor and transmission mechanism, a laser indication and evaluation mechanism, an arm binding and adjusting structure, an overall framework and upper computer software. During use, one upper arm of a subject can be fixed to an adjustable bracket, one wrist of the subject is fixed to an adjustable clamping mechanism, and a motor applies a rotation speed to aswing arm and carries out torque control to achieve multi-pattern rehabilitation training of the wrist; through motor control, an angle indication plate, a laser indicator and a strain gauge, the movement of the wrist is evaluated. The palm clamping mechanism can also carry out self-adaption adjustment according to the features of the hand of the subject, and the comfort during rehabilitation training is improved. The laser indicator can also achieve vertical adjustment according to the position of the angle indication plate, and display and marking of the movement features of the wrist are achieved. The wrist rehabilitation robot is low in production cost, convenient to operate, high in safety and reliability and wide in application prospect.

The invention belongs to the technical field of rehabilitation medical devices, and particularly relates to a wrist rehabilitation robot with three degrees of freedom. The robot includes a fixation base, an inward / outward rotating mechanism, a palmar flexion / dorsiflexion mechanism, a draw-back and expand mechanism and a handle assembly. The inward / outward rotating mechanism includes a first motor,a gear shaft, a semicircle big gear and a small-arm support assembly. The palmar flexion / dorsiflexion mechanism includes a first connection rod frame, a second motor, a driving bevel gear, a driven bevel gear and a second connecting rod frame; the draw-back and expand mechanism includes a third motor, a driving pulley and a driven pulley; the handle assembly is fixedly installed on a rotating shaft of the driven pulley. The three degree-of-freedom wrist rehabilitation training can be achieved through a simple structure, the robot can be installed on a table for rehabilitation training, rehabilitation training of left and right hands can be achieved by the same machine, the cost is low and the robot is suitable for home use and popularization.

The invention discloses a pneumatic muscle driven modularized exoskeleton elbow-wrist rehabilitation robot. The pneumatic muscle driven modularized exoskeleton elbow-wrist rehabilitation robot comprises an elbow joint rehabilitation module, a wrist joint rehabilitation module, an arm protector modules and a wrist protector module; the arm protector modules are detachably installed on the elbow joint rehabilitation module, and used for connecting the upper arm of a patient with the elbow joint rehabilitation module, assisting the patient in training elbows; the arm protector modules and the wrist protector module are detachably installed on the wrist joint rehabilitation module and used for connecting the forearm and the hand of the patient with the wrist joint rehabilitation module, assisting the patient in training wrist. According to the pneumatic muscle driven modularized exoskeleton elbow-wrist rehabilitation robot provided in the invention, all the modules are detachably connected, use is convenient, high practicability and applicability are achieved, pneumatic muscles are adopted as drivers, and the elbow-wrist joint independent auxiliary training function and the elbow-wristjoint composite auxiliary training function are achieved through cooperation of ropes and steering wheels.

The invention discloses a rope-driven multi-purpose wrist rehabilitation training mechanism, and relates to the field of medical rehabilitation machines. The rope-driven multi-purpose wrist rehabilitation training mechanism includes a training bracket, a general connection module, a reversing module, a main control module, a handle module and an action execution module, the training bracket is arranged in an L shape, the general connection module is connected with the reversing module and the training bracket, the main control module is embedded in the reversing module, the free end of the main control module is connected with the action execution module, the handle module is arranged at the tail end of the action execution module, and two driving motors are arranged on both sides of the main control module and adopt a rope-driven mode. According to the rope-driven multi-purpose wrist rehabilitation training mechanism, the overall volume of the mechanism is reduced through rope-drivendesign, and the application scenes of the wrist rehabilitation training mechanism are increased through the reversing mechanism matched with an adapter coupling, separate training of wrist joints canbe achieved, and upper limb comprehensive training can also be conducted by being matched upper limb rehabilitation training equipment.

The invention discloses a wrist rehabilitation device which comprises a forearm supporting unit, a wrist inward and outward turning unit and a wrist composite unit. A forearm supporting base of the forearm supporting unit is fixedly connected with a connecting supporting block of the wrist inward and outward turning unit, and a big gear of the wrist inward and outward turning unit is connected with a left supporting arm and a right supporting arm in the wrist composite unit; the wrist inward and outward turning unit comprises a big gear, an outer retaining ring, a bearing, an inner retaining ring, a connecting support block, a small gear and a first motor, wherein the bearing is nested in an inner ring of the big gear, the outer ring of the bearing is fixed through the outer retaining ring, the inner retaining ring penetrates into the inner ring of the bearing and is assembled on the connecting support block, the small gear is assembled on an output shaft of the first motor, and the small gear is meshed with the big gear. The first motor is fixedly mounted on the connecting support block. According to the wrist rehabilitation device, the wrist of a patient can be driven to performthree-degree-of-freedom movements of palm flexion / dorsiflexion, varus / valgus and adduction / abduction, so that the movement range of the arm of the standard human body is achieved, and the patient canperform more effective rehabilitation training.

The invention discloses a wrist rehabilitation training device. The wrist rehabilitation training device comprises a bottom base, an arm bearing mechanism, a holding mechanism, a power transmission mechanism, a detecting mechanism and a control system. The bottom base is provided with a left support base and a right support base. The power transmission mechanism is installed on the right support base. The holding mechanism is connected to a mechanical output power shaft of the power transmission mechanism through a right connection swing arm. The left support base is moveably connected with aleft connection swing arm symmetrically installed with the right connection swing arm. The left connection swing arm is fixedly connected with the holding mechanism. The arm bearing mechanism comprises an arm bearing plate. A height regulating device is installed below the arm bearing plate. A holding component is formed by a holding rod and an angle regulating device. The angle regulating deviceis capable of regulating the angle of the holding rod. The height regulating mechanism of the wrist rehabilitation training device is used for realizing the wrist joint axis positioning better, and the holding mechanism of the wrist rehabilitation training device is capable of continuously regulating in the multi-angle. The training can be actively or passively performed and monitored in real time. A holding tool can be conveniently and rapidly replaced according to the difference of a patient hand.

The invention provides a wrist rehabilitation training device comprising a rack, a tray, a handle, a connection rod, a rotation seat, a telescopic rod seat, a telescopic rod and a rotary bearing seat.The tray is supported by the rack; a first rotation assembly is arranged under the tray; the first rotation assembly is connected with the telescopic rod seat; with the connection with the first rotation assembly, the telescopic rod seat, the telescopic rod and the rotation seat can rotate surround a first rotating shaft; the telescopic rod can retractably rotate in the telescopic rod seat; one end of the telescopic rod is connected with one end of the rotation seat; the other end of the rotation seat is connected with one end of the connection rod via a second rotation assembly; the other end of the connection rod is fixedly connected with the handle; with the connection with a second rotation assembly, the connection rod and the handle can rotate surrounding a second rotating shaft; thefirst rotating shaft is parallel to a vertical axis; and an included angle is formed between the first rotating shaft and the second rotating shaft. By the use of the wrist rehabilitation training device, the wrist can rotate at various degrees of freedom, so different wrist rehabilitation training can be provided for the user.

The invention discloses an upper limb rehabilitation training robot based on an omnidirectional moving platform. The upper limb rehabilitation training robot is characterized by comprising a trainingseat and a training table mechanism, wherein after a patient sits on the training seat, upper limbs of the patient perform wrist joint rehabilitation training, upper limb large joint rehabilitation training and upper limb joint composite rehabilitation training on a training table mechanism, and the training table mechanism further comprises a force sensing mechanism, a six-degree-of-freedom platform, an omnidirectional moving mechanism and a training table. Compared with the prior art, the upper limb rehabilitation training robot has the following effects of providing motion in various directions for an affected side space, identifying motion intention of a patient, and carry outing rehabilitation training aiming at all joints of the upper limbs. The upper limb rehabilitation training robot has high operation degree, corresponding tasks can be formulated according to different rehabilitation stages of patients, and rehabilitation training is performed on the basis of the invention.

The invention discloses an upper limb rehabilitation training device, and belongs to the technical field of limb rehabilitation training instruments. The training device mainly comprises an arm lifting mechanism, an arm traversing mechanism and a wrist rehabilitation mechanism. The arm traversing mechanism is connected with the arm lifting mechanism through a lifting screw. The wrist rehabilitation mechanism is fixed on a sliding block of the arm traversing mechanism, and an intermediate shaft, a cross horizontal shaft and a cross vertical shaft of the wrist rehabilitation mechanism intersectat one point. The training device is simple and compact in structure, convenient to operate and capable of achieving upper limb rehabilitation training actions of multiple users simultaneously.

The invention discloses an open-loop adjustable wrist joint rehabilitation training exoskeleton, which relates to a rehabilitation training exoskeleton. The problems that an existing closed-loop wristjoint rehabilitation exoskeleton is inconvenient to wear, lag and looseness exist in steel wire transmission, and installation and maintenance are inconvenient are solved, and the problem that the exoskeleton cannot be used for different patients is solved. A wrist spinning assembly (2) is installed on a base assembly (1) and rotates in the circumferential direction along the base assembly (1). Wherein a wrist flexion and extension assembly (3) is installed on the right side of the wrist spinning assembly (2), a wrist deflection assembly (4) is installed at the tail end of the wrist flexion and extension assembly (3), a handle assembly (5) is installed on the wrist deflection assembly (4) and adjusts deflection of the wrist of a patient, and a forearm guard plate assembly (6) is installedon the base assembly (1) and the wrist flexion and extension assembly (3). The device is used for wrist joint rehabilitation training.

The invention discloses a wrist joint rehabilitation device self-adaptive to changes of a human motion axis, and the flexibility of the rehabilitation device is improved by adopting a mode of motor driving and rope transmission, autonomous adjustment can be performed according to a wrist-hand size of a user, so that the movement axis of wrist rotation of the patient coincides with the axis of equipment rotation, and the comfort of the equipment is improved; according to the device, the driving axis of the device can be adaptively adjusted according to a skeleton structure and motion characteristics of the human wrist joint and is always parallel to the motion axis of the human wrist joint, so that the safety of rehabilitation training is improved; the wrist joint rehabilitation device canbe self-adaptively used for different patients, the number of degrees of freedom, namely the flexion and extension degree of freedom, the ulnar and radial deviation degree of freedom and the rotationdegree of freedom, required by rehabilitation training is met, and three-degree-of-freedom coupling movement of the wrist joint is achieved. The joint axis offset generated by relative movement of bones can be compensated, and the joint axis offset can change along with the self-adaptive human body movement axis of the joint movement axis of the user.

The invention relates to the field of medical instruments, in particular to a spatial parallelly driven wrist rehabilitation treatment robot comprises a rack, a telescopic mechanism, a fixing plate and a handle. The telescopic mechanism is hinged to the upper surface of the rack, the fixing plate is fixedly connected to the top end of the telescopic mechanism and is fixedly connected with a sleeve, a movable rod penetrates through the sleeve, the left side wall of the fixing plate is fixedly connected with a fixing rack, a second motor is arranged inside the fixing rack and is fixedly connected with the inner wall of the fixing rack, the shaft extending end of the second motor is fixedly connected with a crankshaft, a second connecting rod sleeves the shaft neck position of the crankshaft,the end of the second connecting rod is hinged to the left end of the movable rod, a first motor is started to drive the front arm of a patient to swing around the elbow joint, the purpose of training the elbow joint is achieved, the second motor is started to drive the palm of the patient to swing around the wrist joint, and the purpose of training the wrist joint is achieved. A suction cup canbe used for firmly sucking the device to a desktop.

The invention discloses an exoskeleton hand rehabilitation robot based on finger function importance, and relates to the field of medical rehabilitation instruments. A thumb rehabilitation module, a wrist rehabilitation module, a four-finger rehabilitation module, a local vibration stimulation module and a base are included; the wrist rehabilitation module is fixed to the base through bolts; the thumb rehabilitation module is fixed to the wrist rehabilitation module; the four-finger rehabilitation module is fixed to the wrist rehabilitation module; the local vibration stimulation module comprises a palm vibration stimulation module and a wrist vibration stimulation module. According to the exoskeleton hand rehabilitation robot, a local vibration stimulation training theory is introduced, acreative six-rod mechanism is used for performing four-finger flexion and extension motions, four-finger MP and PIP linkage flexion and extension are conformed to finger moving trajectories while thedriving force demand of increasing the muscle tone of paralyzed fingers is ensured, the rehabilitation moment and moving range demands of a wrist joint are ensured, and therefore the fingers and thewrist can perform synergistic motion rehabilitation training.

The invention belongs to the field of related technologies of wrist rehabilitation soft robots, and discloses a sectional type multi-degree-of-freedom soft actuator for human wrist rehabilitation training, which comprises a left single cavity and a right single cavity which are connected to each other, and the left single cavity and the right single cavity are in mirror symmetry; the left single cavity comprises an air inlet fixed end, a bent section, a swing section, a bent section strain limiting layer and a swing section strain limiting layer; the fixed end is connected to the bent section,and the fixed end and the bent section are arranged on the bent section strain limiting layer; the bending section is basically rectangular, a plurality of first grids arranged at intervals are formed on the side, away from the bending section strain limiting layer, of the bending section, and the multiple first grids are arranged at intervals in the length direction of the bending section; the swing section is arranged on the swing section strain limiting layer, a plurality of second grids are formed on the side, away from the swing section strain limiting layer, of the swing section, and the second grids are arranged at intervals in the length direction of the swing section. According to the invention, multi-degree-of-freedom motion can be realized, the cost is low, and the applicability is high.

The invention provides a wearable portable elastic-rope-driven upper limb rehabilitation training robot in view of the shortcomings of the prior art. The light and portable design of the upper limb rehabilitation training robot makes the robot wearable really, and patients do not need to repeatedly go to designated places for treatment and can complete rehabilitation training at home in the company of family members. As a driving mode is changed into rope driving, the whole device has a certain degree of elasticity, the comfort level is high when the robot is worn, and continuity of motion isgood. The provided wearable portable elastic-rope-driven upper limb rehabilitation training robot comprises a wrist rehabilitation training part, an elbow rehabilitation training part and a power output part. The robot is characterized in that the front portion of a forearm in the wrist rehabilitation training part is connected with the rear portion of the forearm in the elbow rehabilitation training part, a big arm in the wrist rehabilitation training part is connected with a motor connection plate in the power output part, and a bundling belt in the wrist rehabilitation training part is connected with the upper limb of the human body.

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.

The invention discloses a wrist joint dorsiflexion / palmar flexion rehabilitation training device provided with a detecting device. The detecting device comprises a torque sensor and an encoder, wherein the torque sensor is used for detecting torque when the wrist joint is subjected to dorsiflexion / palmar flexion training, and the encoder is mounted on a motor and used for detecting positions of the wrist joint during dorsiflexion / palmar flexion training. By the wrist joint dorsiflexion / palmar flexion rehabilitation training device, dorsiflexion / palmar flexion training is achieved, and influence of radial force produced between a supporting frame and the torque sensor on sensor precision is lowered. Compared with the prior art, the wrist joint dorsiflexion / palmar flexion rehabilitation training device has the advantages that the device integrating rehabilitation training with moving status detection is capable of evaluating rehabilitation training progress and rehabilitation training effects effectively and achieving active and passive training of wrist joint dorsiflexion / palmar flexion and is applicable to hemiplegia patients in the early, intermediate and advanced stages, thereby being high in applicability.