技术领域technical field
本发明属于髋关节外骨骼装置领域，具体涉及一种球面外骨骼髋关节康复机构。The invention belongs to the field of hip joint exoskeleton devices, in particular to a spherical exoskeleton hip joint rehabilitation mechanism.
背景技术Background technique
髋关节是人体的一个重要关节，为多轴性关节，能作屈伸、收展、旋转及环转运动。由于意外事故会导致人体髋关节功能受损，或者老年人由于身体衰老，髋关节易出现损坏、病变、畸形等问题。针对人体髋关节的康复治疗，目前大多依赖康复医师手工进行，虽有一些康复机器人，但大多数结构复杂，机构操作起来困难，穿戴也不是很方便。The hip joint is an important joint of the human body. It is a multi-axis joint and can perform flexion, extension, extension, rotation and circular motions. Due to accidents, the function of the human hip joint will be damaged, or due to the aging of the elderly, the hip joint is prone to damage, disease, deformity and other problems. Rehabilitation treatment for the human hip joint is currently mostly performed manually by rehabilitation physicians. Although there are some rehabilitation robots, most of them have complex structures, difficult mechanisms to operate, and inconvenient to wear.
专利（CN207755512U）公开了一种可调心并联式髋关节康复机器人，包括腰部调节组件、康复执行机构以及腿部调节组件，可以有效调节康复执行机构的旋转中心与人体髋关节中心的重合度。但该机构结构复杂，安装难度较大，制作成本较高，而且患者穿戴不方便。The patent (CN207755512U) discloses a center-adjustable parallel hip joint rehabilitation robot, including a waist adjustment component, a rehabilitation actuator, and a leg adjustment assembly, which can effectively adjust the coincidence between the rotation center of the rehabilitation actuator and the center of the human hip joint. However, the structure of the mechanism is complex, the installation is difficult, the production cost is high, and it is inconvenient for patients to wear it.
专利（CN105943312B）公开了一种基于传感驱动一体化的髋关节康复辅助装置，包括座椅装置、连接装置、髋关节驱动机构、传感装置和下肢杆装置，但此机构的转动中心与人体髋关节的转动中心不重合，不能保证人体与康复机构实现共融运动。The patent (CN105943312B) discloses a hip joint rehabilitation auxiliary device based on sensor-driven integration, including a seat device, a connecting device, a hip joint drive mechanism, a sensor device and a lower limb rod device, but the rotation center of this mechanism is not the same as that of the human body. The centers of rotation of the hip joints do not coincide, which cannot guarantee the integration of the human body and the rehabilitation mechanism.
此外，现有的康复机构支链结构较为复杂，会造成制造及安装的困难，为了解决上述问题，本发明设计了一种外骨骼式髋关节康复机构，机构结构紧凑、转动灵活，可根据人体的尺寸调节机构的旋转中心使其与人体髋关节中心重合，同时机构刚度好、安装简单、易于穿戴，可以让髋关节功能受损的患者轻松进行康复训练，能够有效地避免人机干涉力对患者肢体造成的伤害，达到更好的康复效果。In addition, the branch chain structure of the existing rehabilitation mechanism is relatively complicated, which will cause difficulties in manufacture and installation. In order to solve the above problems, the present invention designs an exoskeleton type hip joint rehabilitation mechanism, which has a compact structure and flexible rotation. The rotation center of the size adjustment mechanism makes it coincide with the center of the human hip joint. At the same time, the mechanism has good rigidity, simple installation, and easy to wear. It allows patients with impaired hip joint function to perform rehabilitation training easily, and can effectively avoid human-machine interference. The injury caused by the patient's limbs can achieve better rehabilitation effect.
发明内容Contents of the invention
本发明为了解决上述问题，提供了一种基于球面机构的外骨骼式髋关节康复机构。In order to solve the above problems, the present invention provides an exoskeleton hip joint rehabilitation mechanism based on a spherical mechanism.
本发明采用如下技术方案：The present invention adopts following technical scheme:
一种球面外骨骼髋关节康复机构，包括：A spherical exoskeleton hip joint rehabilitation mechanism, comprising:
可穿戴腰带，实现套装在人体的腰部；Wearable belt to realize the suit on the waist of the human body;
髋关节机构，转动中心位于并联机构内部，是转动轴线相交的虚拟中心，与人体髋关节的重合，用以完成人体髋关节的前屈、后伸、外展、内收、外旋和内旋运动；In the hip joint mechanism, the rotation center is located inside the parallel mechanism, which is the virtual center where the rotation axes intersect, coincides with the human hip joint, and is used to complete the forward flexion, rear extension, abduction, adduction, external rotation and internal rotation of the human hip joint sports;
大腿固定装置，实现套装在人体的大腿位置；The thigh fixing device realizes the thigh position of the suit on the human body;
可穿戴腰带与髋关节机构之间固定连接，髋关节机构与大腿固定装置之间固定连接。The wearable waist belt is fixedly connected with the hip joint mechanism, and the hip joint mechanism is fixedly connected with the thigh fixing device.
所述髋关节机构包括平台Ⅰ、球面RRR机构和平台Ⅱ，平台Ⅰ和平台Ⅱ为同心半圆形结构、平行上下布置，平台Ⅰ两端和平台Ⅱ两端分别通过竖向二连杆机构连接，竖向二连杆机构包括通过移动副连接的杆件Ⅰ与杆件Ⅱ，杆件Ⅰ的顶端通过万向节与平台Ⅰ的端头连接，杆件Ⅱ的底端通过球副与平台Ⅱ的端头连接；球面RRR机构设于平台Ⅰ和平台Ⅱ之间，球面RRR机构的上端通过转动副Ⅰ与平台Ⅰ中段连接，球面RRR机构的下端通过转动副Ⅱ与平台Ⅱ中段连接。The hip joint mechanism includes platform I, spherical RRR mechanism and platform II. Platform I and platform II are concentric semicircular structures arranged in parallel up and down. The two ends of platform I and the two ends of platform II are respectively connected by two vertical linkages. , the vertical two-bar linkage mechanism includes rod I and rod II connected by a moving pair, the top end of rod I is connected to the end of platform I through a universal joint, and the bottom end of rod II is connected to platform II through a ball pair The end of the spherical RRR mechanism is set between platform I and platform II, the upper end of the spherical RRR mechanism is connected to the middle section of platform I through the rotary pair I, and the lower end of the spherical RRR mechanism is connected to the middle section of platform II through the rotary pair II.
所述球面RRR机构包括6条弧形杆件，分别为弧形杆件一、弧形杆件二、弧形杆件三、弧形杆件四、弧形杆件五和弧形杆件六，各弧形杆之间通过转动副相连，弧形杆件一与弧形杆件二之间的转动副的转动轴线、弧形杆件一与弧形杆件三之间的转动副的转动轴线、弧形杆件二与弧形杆件四之间的转动副的转动轴线、弧形杆件三与弧形杆件四之间的转动副的转动轴线、弧形杆件四与弧形杆件五之间的转动副的转动轴线、弧形杆件三与弧形杆件六之间的转动副的转动轴线、弧形杆件五与弧形杆件六之间的转动副的转动轴线都交于一点。The spherical RRR mechanism includes 6 arc-shaped rods, which are arc-shaped rod one, arc-shaped rod two, arc-shaped rod three, arc-shaped rod four, arc-shaped rod five and arc-shaped rod six , each arc-shaped rod is connected by a rotating pair, the rotation axis of the rotating pair between the first arc-shaped rod and the second arc-shaped rod, the rotation of the rotating pair between the first arc-shaped rod and the third arc-shaped rod axis, the rotation axis of the rotary pair between the arc-shaped rod two and the arc-shaped rod four, the rotation axis of the rotary pair between the arc-shaped rod three and the arc-shaped rod four, the arc-shaped rod four and the arc The rotation axis of the rotation pair between the fifth rod, the rotation axis of the rotation pair between the arc rod three and the arc rod six, the rotation of the rotation pair between the arc rod five and the arc rod six The axes all intersect at a point.
可穿戴腰带包括环状腰带，腰带的一端设有供另一端插入固定的腰带锁紧机构，腰带锁紧机构内设有拧动锁紧旋钮。The wearable belt includes an annular belt, one end of the belt is provided with a belt locking mechanism for the other end to be inserted and fixed, and a locking knob is arranged in the belt locking mechanism.
本发明的优点和积极效果是： 1.本发明采用并联机构，负载能力强，控制精度高。The advantages and positive effects of the present invention are: 1. The present invention adopts a parallel mechanism, which has strong load capacity and high control precision.
2.本发明与人体接触部分采用柔性装置，穿戴效果舒适。2. The part of the present invention that is in contact with the human body adopts a flexible device, which is comfortable to wear.
3.本发明机构转动中心与人体髋关节转动中心相重合，康复效果好。3. The rotation center of the mechanism of the present invention coincides with the rotation center of the hip joint of the human body, and the rehabilitation effect is good.
4.本发明穿戴方便，安装简单。4. The present invention is easy to wear and simple to install.
5 本发明机构运动控制简单。5. The movement control of the mechanism of the present invention is simple.
附图说明Description of drawings
图1 为本发明髋关节康复机构的侧视图；Fig. 1 is a side view of the hip joint rehabilitation mechanism of the present invention;
图2 为本发明髋关节康复机构的主视图；Fig. 2 is the front view of the hip joint rehabilitation mechanism of the present invention;
图3 为本发明髋关节康复机构的整体示意图。Fig. 3 is an overall schematic diagram of the hip joint rehabilitation mechanism of the present invention.
图4 为本发明髋关节康复机构的结构示意图；Fig. 4 is a structural schematic diagram of the hip joint rehabilitation mechanism of the present invention;
图5 为本发明髋关节康复机构的部分结构示意图；Fig. 5 is a partial structural schematic diagram of the hip joint rehabilitation mechanism of the present invention;
图6 为本发明髋关节康复机构的腰部结构示意图；Fig. 6 is a schematic diagram of the waist structure of the hip joint rehabilitation mechanism of the present invention;
图7 为本发明髋关节康复机构的腰部锁紧结构示意图；Fig. 7 is a schematic diagram of the waist locking structure of the hip joint rehabilitation mechanism of the present invention;
可穿戴腰带（1），髋关节机构（2），大腿固定装置（3）；Wearable belt (1), hip joint mechanism (2), thigh immobilization device (3);
腰带锁紧机构（1.1），腰带内圈有（1.2），拧动锁紧旋钮（1.1.1）；Belt locking mechanism (1.1), the belt inner ring has (1.2), turn the locking knob (1.1.1);
平台Ⅰ(2.1)，转动副Ⅰ(2.2)，球面RRR机构(2.3)，转动副Ⅱ(2.4)，万向节(2.5)，杆件Ⅰ(2.6)，杆件Ⅱ(2.7)，球副(2.8)，移动副（2.9），平台Ⅱ(2.10)；Platform Ⅰ (2.1), rotating joint Ⅰ (2.2), spherical RRR mechanism (2.3), rotating joint Ⅱ (2.4), universal joint (2.5), rod Ⅰ (2.6), rod Ⅱ (2.7), spherical pair (2.8), mobile pair (2.9), platform II (2.10);
弧形杆件一（2.3.1），弧形杆件二（2.3.2），弧形杆件三（2.3.3），弧形杆件四（2.3.4），弧形杆件五（2.3.5），弧形杆件六（2.3.6）。Arc bar one (2.3.1), arc bar two (2.3.2), arc bar three (2.3.3), arc bar four (2.3.4), arc bar five ( 2.3.5), arc-shaped member VI (2.3.6).
具体实施方式Detailed ways
下面结合附图对本发明的具体实施方式作进一步说明。The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
本发明提出一种穿戴式髋关节外骨骼康复装置，包括可穿戴腰带结构、髋关节机构、大腿固定结构。所述可穿腰部结构通过腰带与锁紧机构固定于人体腰部位置，所述大腿结构通过髋关节机构与腰部位置连接，并通过绑带与粘扣固定在人体大腿上。The invention proposes a wearable hip joint exoskeleton rehabilitation device, which includes a wearable belt structure, a hip joint mechanism, and a thigh fixing structure. The wearable waist structure is fixed at the waist of the human body through the belt and the locking mechanism, the thigh structure is connected with the waist through the hip joint mechanism, and fixed on the thigh of the human body through the strap and the Velcro.
本发明要解决的技术问题是提供一种穿戴式髋关节外骨骼康复装置，采用串联和并联相结合（本申请中的串联是指可穿戴腰带1、髋关节机构2、大腿固定装置3通过串联的方式连接在一起，并联指髋关节机构是一种并联机构）的结构设计，运用人机运动相容理论，简化了结构形式，减小了装置的整体体积与质量。The technical problem to be solved by the present invention is to provide a wearable hip joint exoskeleton rehabilitation device, which adopts a combination of series connection and parallel connection (series connection in this application refers to wearable belt 1, hip joint mechanism 2, and thigh immobilization device 3 through series connection. The way of connecting together, parallel refers to the structural design of the hip joint mechanism (a parallel mechanism), using the theory of man-machine motion compatibility, which simplifies the structural form and reduces the overall volume and quality of the device.
如图1所示为髋关节康复装置的侧视图，如图2所示为髋关节康复装置的正视图，包括腰部结构可穿戴腰带1、髋关节机构2、大腿固定装置3；其中，腰部结构1为圆带状结构，实现套装在人体的腰部；大腿结构3空圆筒结构，实现套装在人体的大腿位置；腰部结构1通过腰带与锁紧结构1.1固定于人体的腰部，腰部结构1通过销钉销孔与髋关节机构2连接，髋关节机构2通过销钉销孔与大腿结构3连接，大腿结构3与人体通过绑带和粘扣连接。As shown in Figure 1, it is a side view of the hip joint rehabilitation device, and as shown in Figure 2, it is a front view of the hip joint rehabilitation device, including a waist structure wearable belt 1, a hip joint mechanism 2, and a thigh immobilization device 3; wherein, the waist structure 1 is a round belt structure, which can be fitted on the waist of the human body; the thigh structure 3 is an empty cylinder structure, which can be fitted on the thigh of the human body; the waist structure 1 is fixed on the waist of the human body through the belt and the locking structure 1.1, and the waist structure 1 is passed The pin pin holes are connected with the hip joint mechanism 2, the hip joint mechanism 2 is connected with the thigh structure 3 through the pin pin holes, and the thigh structure 3 is connected with the human body through straps and gluing.
髋关节机构平台Ⅰ2.1，球面RRR机构2.3，杆件Ⅰ2.6，杆件Ⅱ2.7，平台Ⅱ2.10。平台Ⅰ与球面RRR机构通过转动副Ⅰ2.2相连接，平台Ⅱ与球面RRR机构通过转动副Ⅱ2.4相连接，平台Ⅰ与杆件Ⅰ之间通过球副2.8相连接，杆件Ⅰ与杆件Ⅱ之间通过移动副2.9相连接，杆件Ⅱ与平台Ⅱ之间通过万向节2.5相连接。Hip joint mechanism platform Ⅰ 2.1, spherical RRR mechanism 2.3, rod Ⅰ 2.6, rod Ⅱ 2.7, platform Ⅱ 2.10. The platform I is connected with the spherical RRR mechanism through the rotating pair I2.2, the platform II is connected with the spherical RRR mechanism through the rotating pair II2.4, the platform I and the rod I are connected through the ball pair 2.8, and the rod I and the rod Parts II are connected through a moving pair 2.9, and rods II and platform II are connected through a universal joint 2.5.
如图3所示为康复装置的整体结构图，如图4所示为髋关节并联机构的示意图，如图5为球面剪叉机构（球面RRR机构）2.3的结构示意图，包括6条弧形杆件，分别为弧形杆件一2.3.1、弧形杆件二2.3.2、弧形杆件三2.3.3、弧形杆件四2.3.4、弧形杆件五2.3.5、弧形杆件六2.3.6，各弧形杆之间通过转动副相连，弧形杆件一2.3.1与弧形杆件二2.3.2之间的转动副的转动轴线、弧形杆件一2.3.1与弧形杆件二2.3.3之间的转动副的转动轴线、弧形杆件二2.3.2与弧形杆件四2.3.4之间的转动副的转动轴线、弧形杆件三2.3.3与弧形杆件四2.3.4之间的转动副的转动轴线、弧形杆件四2.3.4与弧形杆件五2.3.5之间的转动副的转动轴线、弧形杆件二2.3.3与弧形杆件六2.3.6之间的转动副的转动轴线、弧形杆件五2.3.5与弧形杆件六2.3.6之间的转动副的转动轴线都交于一点。穿戴腰带1通过销钉销孔与康复装置连在一起，髋关节并联机构2通过销钉销孔与大腿固定装置3连接，髋关节机构2的转动中心与人体髋关节的重合，人体髋关节的前屈、后伸、外展、内收、外旋、内旋运动主要是通过杆件Ⅰ2.6与杆件Ⅱ2.7和球面剪叉机构2.3控制。Figure 3 shows the overall structure of the rehabilitation device, Figure 4 shows the schematic diagram of the hip joint parallel mechanism, and Figure 5 shows the structural diagram of the spherical scissor mechanism (spherical RRR mechanism) 2.3, including 6 arc rods The pieces are arc bar one 2.3.1, arc bar two 2.3.2, arc bar three 2.3.3, arc bar four 2.3.4, arc bar five 2.3.5, arc bar Shaped rod six 2.3.6, each arc rod is connected by rotating pair, the rotation axis of the rotating pair between arc rod one 2.3.1 and arc rod two 2.3.2, arc rod one 2.3.1 The axis of rotation of the revolving pair between 2.3.3 of the arc rod 2, the rotation axis of the revolving pair between 2.3.2 of the arc rod 2 and 2.3.4 of the arc rod 4, and the arc rod The rotation axis of the revolving pair between 2.3.3 of part 3 and 2.3.4 of arc-shaped bar part 4, the rotation axis and arc of the revolving pair between 2.3.4 of arc-shaped bar part 4 and 2.3.5 of arc-shaped bar part 5 The rotation axis of the rotary pair between the second 2.3.3 of the arc-shaped bar and the sixth 2.3.6 of the arc-shaped bar, the rotation axis of the rotation of the rotary pair between the fifth 2.3.5 of the arc-shaped bar and the sixth 2.3.6 of the arc-shaped bar All at one point. The wearing belt 1 is connected with the rehabilitation device through the pin pin hole, the hip joint parallel mechanism 2 is connected with the thigh fixing device 3 through the pin pin hole, the rotation center of the hip joint mechanism 2 coincides with the human hip joint, and the forward flexion of the human hip joint , extension, abduction, adduction, external rotation, and internal rotation are mainly controlled by rod I 2.6, rod II 2.7 and spherical scissor mechanism 2.3.
如图6所示为可穿戴腰带1的结构图，如图7所示为可穿戴腰带上腰带锁紧机构1.1的结构示意图。人体穿戴好髋关节康复装置后，将腰带插入锁紧机构1.1中，拧动锁紧机构旋钮1.1.1，将腰带固定在人体的腰上。FIG. 6 is a structural diagram of the wearable belt 1 , and FIG. 7 is a schematic structural diagram of the belt locking mechanism 1.1 on the wearable belt. After the human body wears the hip joint rehabilitation device, the waist belt is inserted into the locking mechanism 1.1, and the knob 1.1.1 of the locking mechanism is turned to fix the belt on the waist of the human body.
本发明所述康复机构的所述髋关节机构由上平台、下平台、三条支链构成。其中两条支链结构相同，都是SPU支链，球副S和下平台相连，虎克铰U和上平台相连，中间为移动副P。另一条支链为多连杆的RRR支链。支链与上、下平台连接的两个转动副R轴线相交于一点。机构上、下平台为空心的圆弧杆所在的平面。机构摆放位置为其工作位置，上平台与人体腰部固定，为静平台，下平台为动平台，套在人体大腿部位，带动大腿一起运动。本发明的球面外骨骼髋关节康复机构转动中心工作时与人体髋关节转动中心相重合，以达到更好的康复训练效果。The hip joint mechanism of the rehabilitation mechanism of the present invention consists of an upper platform, a lower platform, and three branch chains. Two of the branch chains have the same structure, both are SPU branch chains, the ball pair S is connected to the lower platform, the Hooke hinge U is connected to the upper platform, and the moving pair P is in the middle. The other branch is a multi-link RRR branch. The R axes of the two rotating pairs connecting the branch chain with the upper and lower platforms intersect at one point. The upper and lower platforms of the mechanism are the planes where the hollow arc rods are located. The mechanism is placed in its working position, the upper platform is fixed to the waist of the human body, which is a static platform, and the lower platform is a dynamic platform, which is set on the thigh of the human body to drive the thigh to move together. The rotation center of the hip joint rehabilitation mechanism of the spherical exoskeleton of the present invention coincides with the rotation center of the human hip joint during operation, so as to achieve better rehabilitation training effect.
本发明说明书中未作详细描述的内容属本领域技术人员的公知技术。The content that is not described in detail in the description of the present invention belongs to the well-known technology of those skilled in the art.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507868.3ACN110251365A (en) | 2019-06-12 | 2019-06-12 | A spherical exoskeleton hip joint rehabilitation mechanism |
| Application Number | Priority Date | Filing Date | Title |
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| CN201910507868.3ACN110251365A (en) | 2019-06-12 | 2019-06-12 | A spherical exoskeleton hip joint rehabilitation mechanism |
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| CN110251365Atrue CN110251365A (en) | 2019-09-20 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201910507868.3APendingCN110251365A (en) | 2019-06-12 | 2019-06-12 | A spherical exoskeleton hip joint rehabilitation mechanism |
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| CN111973407A (en)* | 2020-09-15 | 2020-11-24 | 中北大学 | Spherical hip joint parallel rehabilitation robot capable of adjusting center |
| CN113043318A (en)* | 2019-12-26 | 2021-06-29 | 中国科学院沈阳自动化研究所 | Glenohumeral joint bionic mechanism and glenohumeral joint angle identification method |
| CN113799096A (en)* | 2020-06-12 | 2021-12-17 | 首尔大学校产学协力团 | Hip joint connecting rod device |
| CN115212077A (en)* | 2022-08-12 | 2022-10-21 | 燕山大学 | A trunk rehabilitation training robot with self-aligning function |
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| GB2026321A (en)* | 1978-07-27 | 1980-02-06 | Tsnii Travmatol I Ortoped Im N | Apparatus for restoration of hip joint mobility |
| KR20040043307A (en)* | 2002-11-18 | 2004-05-24 | 박인식 | Multi-axial lower extremity orthosis for the rehabilitation of children with spastic cerebral palsy |
| CN102327173A (en)* | 2011-09-29 | 2012-01-25 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
| CN105769510A (en)* | 2016-03-26 | 2016-07-20 | 北京工业大学 | Hip joint assisting mechanism based on parallel architecture |
| CN107088139A (en)* | 2017-06-23 | 2017-08-25 | 中北大学 | For the horizontal healing robot of motor dysfunction of lower limb type patient |
| WO2017215014A1 (en)* | 2016-06-15 | 2017-12-21 | 广东思谷智能技术有限公司 | Hip joint rehabilitation assisting apparatus based on sensing and driving integration |
| CN107595545A (en)* | 2017-09-08 | 2018-01-19 | 燕山大学 | A kind of parallel hip joint healing robot of adjusting center |
| CN108283568A (en)* | 2017-12-22 | 2018-07-17 | 北京精密机电控制设备研究所 | Wearable hip joint exoskeleton rehabilitation device |
| CN109223456A (en)* | 2018-10-23 | 2019-01-18 | 哈尔滨工业大学 | A kind of lower limb exoskeleton robot system based on the interaction of man-machine end |
| CN210785246U (en)* | 2019-06-12 | 2020-06-19 | 中北大学 | Spherical surface outer skeleton hip joint rehabilitation mechanism |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2026321A (en)* | 1978-07-27 | 1980-02-06 | Tsnii Travmatol I Ortoped Im N | Apparatus for restoration of hip joint mobility |
| KR20040043307A (en)* | 2002-11-18 | 2004-05-24 | 박인식 | Multi-axial lower extremity orthosis for the rehabilitation of children with spastic cerebral palsy |
| CN102327173A (en)* | 2011-09-29 | 2012-01-25 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
| CN105769510A (en)* | 2016-03-26 | 2016-07-20 | 北京工业大学 | Hip joint assisting mechanism based on parallel architecture |
| WO2017215014A1 (en)* | 2016-06-15 | 2017-12-21 | 广东思谷智能技术有限公司 | Hip joint rehabilitation assisting apparatus based on sensing and driving integration |
| CN107088139A (en)* | 2017-06-23 | 2017-08-25 | 中北大学 | For the horizontal healing robot of motor dysfunction of lower limb type patient |
| CN107595545A (en)* | 2017-09-08 | 2018-01-19 | 燕山大学 | A kind of parallel hip joint healing robot of adjusting center |
| CN108283568A (en)* | 2017-12-22 | 2018-07-17 | 北京精密机电控制设备研究所 | Wearable hip joint exoskeleton rehabilitation device |
| CN109223456A (en)* | 2018-10-23 | 2019-01-18 | 哈尔滨工业大学 | A kind of lower limb exoskeleton robot system based on the interaction of man-machine end |
| CN210785246U (en)* | 2019-06-12 | 2020-06-19 | 中北大学 | Spherical surface outer skeleton hip joint rehabilitation mechanism |
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| 김덕중等: "Research on Abdominal Muscle Training in Sports", 《PHYSIOLOGY》, vol. 18, no. 2, pages 217 - 228* |
| 李高卫: "2-DOF九连杆下肢康复训练机构的设计与研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑（电子期刊）》, no. 07, pages 029 - 8* |
| 赵耀虹等: "球面外骨骼并联机构的运动学及工作空间分析", 《生物医学工程学杂志》, vol. 36, no. 2, pages 213 - 222* |
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|---|---|---|---|---|
| CN113043318A (en)* | 2019-12-26 | 2021-06-29 | 中国科学院沈阳自动化研究所 | Glenohumeral joint bionic mechanism and glenohumeral joint angle identification method |
| CN113799096A (en)* | 2020-06-12 | 2021-12-17 | 首尔大学校产学协力团 | Hip joint connecting rod device |
| US11833103B2 (en) | 2020-06-12 | 2023-12-05 | Seoul National University R&Db Foundation | Hip joint link apparatus |
| CN113799096B (en)* | 2020-06-12 | 2024-05-17 | 首尔大学校产学协力团 | Hip joint connecting rod device |
| CN111973407A (en)* | 2020-09-15 | 2020-11-24 | 中北大学 | Spherical hip joint parallel rehabilitation robot capable of adjusting center |
| CN111973407B (en)* | 2020-09-15 | 2022-11-11 | 中北大学 | A center-adjustable spherical hip joint rehabilitation robot |
| CN115212077A (en)* | 2022-08-12 | 2022-10-21 | 燕山大学 | A trunk rehabilitation training robot with self-aligning function |
| CN115212077B (en)* | 2022-08-12 | 2024-09-13 | 燕山大学 | Trunk rehabilitation training robot with self-aligning function |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20190920 |