A wrist joint movement function evaluation and rehabilitation robot

A wrist joint motion function evaluation and rehabilitation robot comprises a bracket 1, an elbow position adjuster 2 connected thereto, and a wrist joint rotation mechanism 3, a wrist joint rotation axis adjustment mechanism 4, a radial-ulnar deviation driving mechanism 5, a wrist flexion-extension driving mechanism 6 and a grasping arrangement 7 connected to the elbow position adjuster. The elbow position adjuster 2 slides front and back, as well as vertically to adjust the height of a patient’s elbow, while the wrist joint adjustment mechanism 4 slides vertically to adjust height, and horizontally to clamp the wrist. The wrist joint axis can therefore be realigned to coincide with the rotational axis of the wrist joint rotation mechanism 3, allowing the robot to accommodate different forearm lengths and wrist sizes. The robot incorporates a system of motors, gears and sensors, while the grasping arrangement has a handle with gyroscope, detachable for measuring the patient’s wrist motion ...

Control handle capable of realizing measurement of six-dimensional force and motion state

Control handle capable of realizing measurement of six-dimensional force and motion state

A control handle capable of realizing six-dimensional force measurement and motion state measurement, which includes a grab handle body, an upper limb muscle strength detection unit, a power supply and a data transmission unit. The grab handle body is divided into an upper grab handle body and a lower grab handle body, which are coaxially connected with each other in a detachable and rotatable manner. An attitude sensor, a flexible device, the power supply and the data transmission unit are installed inside the upper grab handle body. The upper limb muscle strength detection unit is fixedly installed at the lower end of the grab handle body. The upper limb muscle strength detection unit includes six pull pressure sensors. Through cooperating work of the six pull pressure sensors, measurement of forces and torques suffered by the grab handle body in six directions of the space can be realized, thereby obtaining magnitudes of forces exerted by the user on the grab handle in all directions ...