Title:
WEARABLE TRAINING ROBOT FOR UPPER LIMB REHABILITATION WITH PRECISE FORCE CONTROL FUNCTION
Document Type and Number:
WIPO Patent Application WO/2021/068543
Kind Code:
A1
Abstract:
Disclosed is a wearable training robot for upper limb rehabilitation with a precise force control function, the robot comprising a wearable waistband (11), multi-degrees-of-freedom mechanical arms, and a control box (26). The robot is worn on the waist of a person by means of the waistband (11), is driven by active actuators (4, 8, 9, 16, 20, 27), and can achieve active and passive rehabilitation training of the degrees of freedom, including the adduction/abduction/anteflexion/backward extension of the left and right shoulder joints and the forward flexion/backward extension of the left and right elbow joints. The wearable design improves the portability of the rehabilitation training robot and increases the comfort of rehabilitation training. In addition, force/torque sensors (24, 25) are mounted at terminal ends (1, 23) of the mechanical arms for obtaining an acting force, between the terminal end of the robot and human hands during rehabilitation training, as a feedback signal, so as to adjust the working state of the robot in order to achieve accurate force control during rehabilitation.
Inventors:
SONG AIGUO (CN)
MO YITING (CN)
QIN HUANHUAN (CN)
LI HUIJUN (CN)
XU BAOGUO (CN)
MO YITING (CN)
QIN HUANHUAN (CN)
LI HUIJUN (CN)
XU BAOGUO (CN)
Application Number:
PCT/CN2020/095734
Publication Date:
April 15, 2021
Filing Date:
June 12, 2020
Export Citation:
Assignee:
UNIV SOUTHEAST (CN)
International Classes:
A61H1/02; A63B23/12
Domestic Patent References:
| WO2005075155A2 | 2005-08-18 |
Foreign References:
| CN110652423A | 2020-01-07 | |||
| CN107714398A | 2018-02-23 | |||
| CN103519966A | 2014-01-22 | |||
| CN106393071A | 2017-02-15 | |||
| CN104826230A | 2015-08-12 | |||
| US20140142474A1 | 2014-05-22 | |||
| EP1838270A2 | 2007-10-03 | |||
| CN107632699A | 2018-01-26 | |||
| CN106779045A | 2017-05-31 |
Attorney, Agent or Firm:
NANJING JINGWEI PATENT & TRADEMARK AGENCY CO., LTD (CN)
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