公开(公告)号：US11382819B2

公开(公告)日：2022-07-12

申请号：US16968141

申请日：2020-04-02

Applicant: UNIVERSITY OF SHANGHAI FOR SCIENCE AND TECHNOLOGY

Inventor： Hongliu Yu ,  Shengli Luo ,  Suowen Ma ,  Weisheng Zhang ,  Qiaoling Meng ,  Wentao Shi ,  Bingshan Hu ,  Sujiao Li ,  Duojin Wang

IPC: A61H1/02

Abstract: A wire-driven wrist three-degree-freedom training mechanism comprises a wrist executing mechanism, a wrist linking mechanism, a forearm mechanism and an elbow linking mechanism, and adopts a wire-driven design, through comprehensive utilization of two rotation pairs in the training mechanism, wherein wrist three-degree-freedom passive training is realized through two driving motors. By way of the implementation of the wire-driven wrist three-degree-freedom training mechanism, a patient can adopt a passive training manner to perform rehabilitating training of the upper limbs. The wire-driven wrist three-degree-freedom training mechanism includes a position compensation mechanism and can be adapted to individual differences of patients.