Abstract: Disclosed is a transcranial magnetic stimulation treatment apparatus applicable to the technical field of medical devices, comprising a TMS coil, a support, a mechanical arm, a controller, and a positioning device. The positioning device detects the position of a human head and the TMS coil and sends positional information to the controller; the controller controls six driving mechanisms of the mechanical arm to rotate to a corresponding angle. Because the mechanical arm has six degrees of freedom, the TMS coil is capable of stimulating each cerebral region of the brain, and the positioning device is capable of detecting an accurate position of the human head, thereby controlling the mechanical arm to accurately position the TMS coil on the human head, and to reduce manual operation.

Abstract: A flexible driver, a robot joint, a robot and an exoskeleton robot, the transmission mechanism including an active rotating member, a driven rotating member and a rope, which form a rope drive relationship; wherein, the rope is tightly wound around rotating surfaces of the active rotating member and the driven rotating member, and a rotational central axis of the active rotating member is perpendicular to a rotational central axis of the driven rotating member. An output end of the driving mechanism is connected to the active rotating member, to drive rotation of the active rotating member. The output mechanism includes a flexible driving part, and an output part which is used for connecting to an external actuator. The driven rotating member drives rotation of the output part through the flexible driving part. The flexible driver drives flexibly the actuator through a compact structure as well as reliable and high-efficient transmission.

Abstract: A lower limb training rehabilitation apparatus, comprising a weight reducing device, a pelvis supporting device, an exoskeleton device, a control system for controlling mechanical movements of the rehabilitation apparatus, and a treadmill used for walking of a patient. The rehabilitation apparatus hoists the upper body of the patient by means of the weight reducing device, then fixes the crotch of the patient to the pelvis supporting device, and fixes two legs of the patient to two mechanical legs of the exoskeleton device. A power source drives the pelvis supporting device to move up and down, so that the patient can move in the vertical direction; in addition, a sliding base of the pelvis supporting device can assist the patient in moving left and right, swinging left and right, and twisting. The mechanical legs and the treadmill together implement arbitrary movements in six degrees of freedom of the patient.

Abstract: Disclosed is a transcranial magnetic stimulation treatment apparatus applicable to the technical field of medical devices, comprising a TMS coil, a support, a mechanical arm, a controller, and a positioning device. The positioning device detects the position of a human head and the TMS coil and sends positional information to the controller; the controller controls six driving mechanisms of the mechanical arm to rotate to a corresponding angle. Because the mechanical arm has six degrees of freedom, the TMS coil is capable of stimulating each cerebral region of the brain, and the positioning device is capable of detecting an accurate position of the human head, thereby controlling the mechanical arm to accurately position the TMS coil on the human head, and to reduce manual operation.

Abstract: A flexible driver, a robot joint, a robot and an exoskeleton robot, the transmission mechanism including an active rotating member, a driven rotating member and a rope, which form a rope drive relationship; wherein, the rope is tightly wound around rotating surfaces of the active rotating member and the driven rotating member, and a rotational central axis of the active rotating member is perpendicular to a rotational central axis of the driven rotating member. An output end of the driving mechanism is connected to the active rotating member, to drive rotation of the active rotating member. The output mechanism includes a flexible driving part, and an output part which is used for connecting to an external actuator. The driven rotating member drives rotation of the output part through the flexible driving part. The flexible driver drives flexibly the actuator through a compact structure as well as reliable and high-efficient transmission.