PUSAN NATIONAL UNIVERSITY INDUSTRY-UNIVERSITY COOPERATION FOUNDATION
发明人:
LEE, MIN CHEOL,이민철,KIM, HYUN HEE,김현희,LEE, MIN CHEOLKR,KIM, HYUN HEEKR
申请号：
KR1020150023485
公开号：
KR1016178200000B1
申请日:
2015.02.16
申请国别(地区):
KR
年份:
2016
代理人:
摘要：
The present invention relates to a wearable biaxial wrist rehabilitation robot which is put on the hand of a person to be trained and allows two actuators to perform the up-and-down motion of the wrist with respect to a pitch axis and the right-and-left motion of the wrist with respect to a yaw axis without interfering with each other. According to the present invention, the wearable biaxial wrist rehabilitation robot comprises: a wrist wearing part into which the wrist of a person to be trained is inserted and supported； a hand wearing part which is mounted to be separated at a regular interval in front of the wrist wearing part, and into which the hand of the person to be trained is inserted and supported； a yaw axis rotary plate mounted on the wrist wearing part to be bilaterally rotated with respect to the yaw axis which is perpendicular to the ground； a yaw axis actuator mounted on the wrist wearing part to rotate the yaw axis rotary plate in the range of a predetermined angle with respect to the yaw axis； a first link member having one end connected to the yaw axis rotary plate and the other end connected to the hand wearing part； a pitch axis rotary plate mounted on one side of the wrist wearing part to be vertically rotated with respect to the pitch axis which is parallel to the ground； a pitch axis actuator mounted on one side of the wrist wearing part to rotate the pitch axis rotary plate with respect to the pitch axis； and a second link member having one end connected to the pitch axis rotary plate and the other end connected to the hand wearing part.본 발명은 피훈련자의 손에 착용된 상태에서 2개의 구동기가 서로 간섭을 받지 않고 피치축(pitch aixs)을 중심으로 한 손목의 상하 방향 운동과 요축(yaw axis)을 중심으로 한 손목의 좌우 방향 운동을 수행할 수 있도록 한 착용형 2축 손목 재활 로봇에 관한 것으로, 본 발명의 착용형 2축 손목 재활 로봇은, 피훈련자의 손목이 삽입되어 지지되는 손목착용부와； 상기 손목착용부의 전방에 일정 거리 이격되게 설치되며, 피훈련자의 손이 삽입되어 지지되는 손착용부와； 상기 손목착용부에 지면(地面)에 대해 수직한 요축(yaw axis)을 중심으로 좌우방향으로 회전하도록 설치된 요축회동판과； 상기 손목착용부에 설치되어 상기 요축회동판을 요축을 중심으로 정해진 각도 범위로 회전시키는 요축구동기와； 일단이 상기 요축회동판에 연결되고
