CN110478196A - A kind of lower limbs rehabilitation training robot - Google Patents
A kind of lower limbs rehabilitation training robot Download PDFInfo
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- CN110478196A CN110478196A CN201910886232.4A CN201910886232A CN110478196A CN 110478196 A CN110478196 A CN 110478196A CN 201910886232 A CN201910886232 A CN 201910886232A CN 110478196 A CN110478196 A CN 110478196A
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- 238000012549 training Methods 0.000 title claims abstract description 36
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 19
- 210000002683 foot Anatomy 0.000 claims description 27
- 230000005021 gait Effects 0.000 claims description 19
- 230000000694 effects Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 210000003414 extremity Anatomy 0.000 claims description 4
- 210000002414 leg Anatomy 0.000 claims description 4
- 210000003205 muscle Anatomy 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 abstract 1
- 238000011084 recovery Methods 0.000 description 4
- 210000003423 ankle Anatomy 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 208000001738 Nervous System Trauma Diseases 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 210000003169 central nervous system Anatomy 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 description 2
- 229960001030 mephenoxalone Drugs 0.000 description 2
- 210000001872 metatarsal bone Anatomy 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 208000034657 Convalescence Diseases 0.000 description 1
- 206010023201 Joint contracture Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 208000028412 nervous system injury Diseases 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
- 208000019553 vascular disease Diseases 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to rehabilitation medical instrument fields, are specifically designed a kind of lower limbs rehabilitation training robot, are made of three parts such as supporting mechanism, rehabilitation exercise mechanism and drive systems, and wherein supporting mechanism mainly includes pedestal, tailstock and guide rail；Rehabilitation exercise mechanism is by crank and rocker mechanism, cam swing mechanism and slider-rocker mechanism composition.It makes full use of four-bar mechanism and the motion principle of cam swing mechanism to complete main training mission, patient's lower limb is driven to generate different training modes and easily scalable lower extremity movement trajectory path.Training mode includes active training and passive exercise.The structure motion is flexible, reliable and stable, and appearance is simple, cheap.Lower extremity movement trajectory path imitates the movement posture of true lower limb, helps patient accurately to complete the corresponding actions in life, has extensive market application prospect.
Description
Technical field
The invention belongs to rehabilitation medical instrument fields, have been specifically designed a kind of lower limbs rehabilitation training robot, can be used for brain
The patient of the central nervous system injuries such as vascular diseases, brain or vertebrae injry is in early rehabilitation technical field.
Background technique
With the continuous development of science and technology, the great breakthrough of the items of above-mentioned each ambit, medical instruments field
Development is also in pushing ahead without any confusion.And hot spot of the lower limbs rehabilitation training robot as medical instruments field in recent years
Research direction has all obtained extensive concern, research and development in countries in the world.
In recent years, the mode that recovery exercising robot carries out scientific and effective rehabilitation training to patient shows more
Carry out more advantages.Range of motion can not only be maintained, prevent the contracture of joint by carrying out rehabilitation training early, and can be shown
Write the final recovery extent for improving patient motion function.Wherein passive exercise is one of limb motion rehabilitation training therapy base
This method.
It is existing in relation to gait rehabilitation training robot generally by thigh, shank swing and ankle rotation realize pair
The simulation of human gait, have ignored that different step-lengths are different to the rehabilitation training effect of leg muscle motion function and ankle posture not
Posture of the same period is not also identical, it is often more important that has ignored phalangeal joint key played in entire rehabilitation training
Effect.One group of perfect gait, it is necessary to allow patient correctly carry out walking movement easily, for a long time, can be only achieved
The desired effect of rehabilitation training.
At present, a small number of exoskeleton-type lower limb rehabilitation robots can approximately reappear the normal row that normal human out is good for limb
Walk gait however, the run trace that the lower limbs rehabilitation training robot of most joint drive is realized at ankle metatarsal
And still there is certain deviation in human normal walking step state track.It will cause patient in this way and using such rehabilitation training mechanism
It is not consistent after prolonged exercise with normal gait, causes the motor pattern under the motor pattern and original health status of muscle
It is very different, finally will affect rehabilitation training effect.
In place of solving the shortcomings of the prior art, providing a kind of novel may be implemented normal gait track
Lower limbs rehabilitation training robot, the novel lower limbs rehabilitation training robot of such one kind can satisfy the body of rehabilitation training person
Feature, it is therefore an objective to solve the problems, such as that rehabilitation training gait track is not consistent with natural gait track, can generate and rehabilitation
The standard gait track that trainer matches, by driving foot motion to complete the rehabilitation exercise motion of entire lower limb.
In structure, make every effort to simple, need a motor that can complete rehabilitation exercise motion, cost is relatively low, is suitable for general
Long and deep friendship between two families front yard.Movement is more comfortable, designs to meet ergonomics, so that the lower limb of rehabilitation training person are swung more certainly
So.
On the whole, it is desirable that performance is more stable, reduces the energy consumed because of friction, component is individually designed, subtracts
The weight of light single component, after installation, the arrangement construction weight of recovery exercising robot also mitigates, will not be excessively heavy, will not
It causes excessive shock power to rehabilitation training person.It can effectively prevent secondary injury.
Summary of the invention
For the deficiency of product currently on the market, the invention proposes a kind of lower limbs rehabilitation training robots.
The technical solution adopted by the present invention are as follows:
The system is made of three parts such as supporting mechanism, rehabilitation exercise mechanism and drive systems:
The supporting mechanism: pedestal and tailstock including playing fixed function；Between pedestal and tailstock by the way of welding
It links together, ensure that movement mechanism keeps the flexibility of certain stability and movement during the motion, while also rising
Fixed and positioning effect is arrived.
The rehabilitation exercise mechanism: mainly by crank and rocker mechanism, the parts such as cam swing mechanism and slider-rocker mechanism
Composition.Crank and rocker mechanism mainly includes with lower component: rocking bar, fixed sliding block, crank, connecting rod；Slider-rocker mechanism is connected by growing
The composition such as bar, foot pedal；Cam swing mechanism is made of cam, guide rail.Crank is linked together by crank axle and pedestal, by
Crank axle drives crank to realize 360 ° of circular motion, and one end of connecting rod is hinged with crank, and the other end is connect with rocking bar, rocking bar with
It by rocking bar axis connection between pedestal, is linked together by the way of revolute between the two, carries out circular motion in crank
In the process, link motion, and then the pendulum motion for driving rocking bar to move in circles within a certain angle are driven.In the ditch of rocking bar
There are two fixed sliding blocks, the sliding block can be adjusted in the position in slot, be fastened with bolt for installation in slot structure two sides
Assembly, the sliding block are articulated and connected far from mechanism, side, center and long connecting rod, and the other end and foot pedal of long connecting rod are hinged, institute
It states and is connected between the lower part-structure of foot pedal and guide rail by sliding pair, the swing that moves in circles of rocking bar drives long connecting rod to carry out
Movement, thus the sliding motion to move in circles before and after driving foot pedal to carry out on guide rail.The centre of gyration of guide rail is in lead rail axis
On, the two guarantees on the same axis, contacts between the front end and cam of guide rail in the form that high by-pass contacts, convex
Wheel drives guide rail to swing up and down movement around itself centre of gyration when around the movement of itself centre of gyration.Three mechanical knots
Between structure cooperate movement can realize ankle-joint toe bend and dorsiflex；
The drive system: including stepper motor and the V being mounted on motor shaft, crank axle and camshaft band belt wheel；Step
Into motor control velocity of rotation, the pedestal is equipped with motor cabinet, and motor is mounted on motor cabinet, and two are equipped on stepper motor
A V band belt wheel, one of them is connect by V band with the belt wheel on crank axle, main to drive crank axle movement, and then drives crank
It realizes that circular motion, another belt wheel are connected with the belt wheel on camshaft, drives camshaft motion, and then realize and justify with moving cam
Zhou Yundong, so that realizes guide rail swings up and down movement.
Because the installation requirement of foot pedal and guide rail keep certain depth of parallelism, such foot pedal can equally follow guide rail to exist
The pendulum motion to move in circles up and down is realized between certain angle.It, can be because foot pedal carries out two kinds of movements simultaneously
A closed curve is fitted on any point of foot pedal, which is exactly the movement gait trajectory path that human body is good for limb.
Similar gait track can be generated, foot can be tied on normal gait trajectory path by this mechanism, be mended
Repay between 15.24-101.6 ㎝, and under the premise of guaranteeing trajectory shape constant volume, can produce one it is easily scalable complete
Foot track；
The scaling of gait trajectory path be it is linear, this is the scalable manner being easiest to, guarantee use the equipment treatment
Teacher can easily read or adjustment time ratio so that in mechanism operational process cadence and leg speed be more suitable for using
Person；
Motorization degree is high, and the gait track which generates is to drive mechanical structure to be moved by electric motor assembly
, the electric motor assembly is most important for the patient for helping low muscle strength, can only pass through a Motor Control
Whole system, convenient for manipulation.
The working principle of invention are as follows: patient's initial stage can not stand, and convalescence device and patient's lower limb are fixed, and lead to
The variation that motor realizes patient's foot angle is crossed, the change of patient's posture can be realized, driven by the way of the direct load-bearing of guide rail
Patient's lower limb move.
The invention has the benefit that
For cardiovascular and cerebrovascular disease, the patient of central nervous system injury carries out targeted lower limb rehabilitation training, is mounted on
Fixed cunning may be implemented by adjusting elasticity in the adjustable tightness degree that it is connected between rocking bar of fixation sliding block on rocking bar
Movement of the block on rocking bar slot is moved to fixed position and is being fastenedly connected, and may be implemented to copy on the footrests and
Metatarsal trajectory path linear scale.Suitable patients are more extensive, and the principle for taking full advantage of four-bar mechanism completes difference
Training mission；Recovery set for lower limbs can drive the lower limb of patient to generate different training modes, similar trained track；Instruction
Practice mechanism and crank and rocker mechanism, slider-rocker mechanism, cam swing mechanism etc. is utilized.Far East device is preposition, and movement is flexible,
Reliable and stable, appearance is simple, is easy to be accepted by patients.
Detailed description of the invention
Fig. 1 is the positive structure schematic of lower limbs rehabilitation training robot mechanism；
Fig. 2 is single leg motion structure schematic diagram of lower limbs rehabilitation training robot mechanism；
Fig. 3 is cam swing structural scheme of mechanism；
Figure label:
1- rocking bar；2- fixes sliding block；3- crank；4- connecting rod；5- long connecting rod；6- foot pedal；7- guide rail；8- tailstock；
9- lead rail axis；10- cam；11- cam shaft pulley；12- crank shaft pulley；13- motor shaft pulley；14- motor；The bottom 15-
Seat.
Specific embodiment
The present invention provides a kind of lower limbs rehabilitation training robots, with reference to the accompanying drawings and detailed description to the present invention
It is described further.
Structure of the invention is as shown in Figure 1, be broadly divided into supporting mechanism, rehabilitation exercise mechanism and drive system etc. three
Point.
The supporting mechanism: pedestal and tailstock including playing fixed function；Between pedestal and tailstock by the way of welding
It links together, ensure that movement mechanism keeps the flexibility of certain stability and movement during the motion, while also rising
Fixed and positioning effect is arrived.
The rehabilitation exercise mechanism: mainly by crank and rocker mechanism, the parts such as cam swing mechanism and slider-rocker mechanism
Composition.Crank and rocker mechanism mainly includes with lower component: rocking bar, fixed sliding block, crank, connecting rod；Slider-rocker mechanism is connected by growing
The composition such as bar, foot pedal；Cam swing mechanism is made of cam, guide rail.Crank is linked together by crank axle and pedestal, by
Crank axle drives crank to realize 360 ° of circular motion, and one end of connecting rod is hinged with crank, and the other end is connect with rocking bar, rocking bar with
It by rocking bar axis connection between pedestal, is linked together by the way of revolute between the two, carries out circular motion in crank
In the process, link motion, and then the pendulum motion for driving rocking bar to move in circles within a certain angle are driven.In the ditch of rocking bar
There are two fixed sliding blocks, the sliding block can be adjusted in the position in slot, be fastened with bolt for installation in slot structure two sides
Assembly, the sliding block are articulated and connected far from mechanism, side, center and long connecting rod, and the other end and foot pedal of long connecting rod are hinged, institute
It states and is connected between the lower part-structure of foot pedal and guide rail by sliding pair, the swing that moves in circles of rocking bar drives long connecting rod to carry out
Movement, thus the sliding motion to move in circles before and after driving foot pedal to carry out on guide rail.The centre of gyration of guide rail is in lead rail axis
On, the two guarantees on the same axis, contacts between the front end and cam of guide rail in the form that high by-pass contacts, convex
Wheel drives guide rail to swing up and down movement around itself centre of gyration when around the movement of itself centre of gyration.Three mechanical knots
Between structure cooperate movement can realize ankle-joint toe bend and dorsiflex；
The drive system: including stepper motor and the V being mounted on motor shaft, crank axle and camshaft band belt wheel；Step
Into motor control velocity of rotation, the pedestal is equipped with motor cabinet, and motor is mounted on motor cabinet, and two are equipped on stepper motor
A V band belt wheel, one of them is connect by V band with the belt wheel on crank axle, main to drive crank axle movement, and then drives crank
It realizes that circular motion, another belt wheel are connected with the belt wheel on camshaft, drives camshaft motion, and then realize and justify with moving cam
Zhou Yundong, so that realizes guide rail swings up and down movement.
This embodiment is just an exemplary description of this patent, does not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (4)
1. a kind of lower limbs rehabilitation training robot, by being made of three parts such as supporting mechanism, rehabilitation exercise mechanism and drive systems,
It is characterized in that, the supporting mechanism: pedestal (15) and tailstock (8) including playing fixed function；Pedestal (15) and tailstock (8) it
Between linked together by the way of welding, ensure that movement mechanism keeps certain stability and movement during the motion
Flexibility, while also playing fixed and positioning effect.
The rehabilitation exercise mechanism: mainly by crank and rocker mechanism, the part such as cam swing mechanism and slider-rocker mechanism is formed.
Crank and rocker mechanism mainly includes with lower component: rocking bar (1), fixed sliding block (2), crank (3), connecting rod (4)；Slider-rocker mechanism
It is made of long connecting rod (5), foot pedal (6) etc.；Cam swing mechanism is made of cam (10), guide rail (7).Crank (3) passes through song
Arbor links together with pedestal (15), and the circular motion of 360 ° of crank (15) realization, one end of connecting rod (4) are driven by crank axle
Hingedly with crank (3), the other end is connect with rocking bar (1), by rocking bar axis connection between rocking bar and pedestal, between the two using rotation
Secondary mode links together, and during crank (3) carry out circular motion, drives connecting rod (4) movement, and then drive rocking bar
(1) pendulum motion to move in circles within a certain angle.There are two fixed for installation in the groove structure two sides of rocking bar (1)
Sliding block (2), the sliding block (2) can be adjusted in the position in slot, carry out fastening assembly with bolt, the sliding block (2) is remote
Disembark structure center side and long connecting rod (5) are articulated and connected, the other end of long connecting rod (5) and foot pedal (6) hingedly, the foot pedal
(6) it is connect between lower part-structure and guide rail (7) by sliding pair, the swing that moves in circles of rocking bar (1) drives long connecting rod (5)
It is moved, so that foot pedal (6) be driven to carry out the sliding motion that front and back is moved in circles on guide rail (7).The revolution of guide rail (7)
On lead rail axis (9), the two guarantees on the same axis at center, with high by-pass between the front end and cam (10) of guide rail (7)
The form of contact contacts, and cam (10) drives guide rail (7) to turn round around itself when around the movement of itself centre of gyration
Center swings up and down movement.The movement that cooperates between three mechanical structures can realize that the toe of ankle-joint is bent and carried on the back
It bends；The drive system: including stepper motor (14) and the V being mounted on motor shaft, crank axle and camshaft band belt wheel；Stepping
Motor (14) controls velocity of rotation, and the pedestal (15) is equipped with motor cabinet, and motor (14) is mounted on motor cabinet, stepper motor
(14) there are two V bands belt wheel (13) for installation on, one of them is connect by V band with the belt wheel (12) on crank axle, main to drive
Crank axle movement, and then crank (3) is driven to realize that circular motion, another belt wheel are connected with the belt wheel (11) on camshaft, band
The movement of moving cam axis, and then circular motion is realized with moving cam (10), so that realizes guide rail (7) swings up and down movement.Because
The installation requirement of foot pedal (6) and guide rail (7) keep certain depth of parallelism, and such foot pedal (6) can equally follow guide rail (7) In
The pendulum motion to move in circles up and down is realized between certain angle.Because foot pedal (6) carries out two kinds of movements, meeting simultaneously
A closed curve is fitted on any point of foot pedal (6), which is exactly the movement gait track that human body is good for limb
Path.
2. a kind of lower limbs rehabilitation training robot according to claim 1, which is characterized in that similar gait can be generated
Foot can be tied on normal gait trajectory path by track, this mechanism, be compensated between 15.24-101.6 ㎝, and
Under the premise of guaranteeing that trajectory shape is constant, an easily scalable full foot track can produce.
3. a kind of lower limbs rehabilitation training robot according to claim 1, which is characterized in that the scaling of gait trajectory path
Be it is linear, this is the scalable manner being easiest to, and guarantees easily to be read or be adjusted using the therapist of the equipment
Time scale so that in mechanism operational process cadence and leg speed are more suitable for user.
4. a kind of lower limbs rehabilitation training robot according to claim 1, which is characterized in that motorization degree is high, the machine
The gait track that structure generates is to drive mechanical structure to be moved by electric motor assembly, and the electric motor assembly is low for helping
It is most important for the patient of muscle strength, a Motor Control whole system can be passed through, only convenient for manipulation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910886232.4A CN110478196B (en) | 2019-09-19 | 2019-09-19 | Lower limb rehabilitation training robot |
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|---|---|---|---|
| CN201910886232.4A CN110478196B (en) | 2019-09-19 | 2019-09-19 | Lower limb rehabilitation training robot |
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| CN110478196B CN110478196B (en) | 2021-07-02 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110974630A (en) * | 2020-01-17 | 2020-04-10 | 浙江福祉医疗器械有限公司 | Rehabilitation training device |
| CN111068251A (en) * | 2020-01-13 | 2020-04-28 | 合肥工业大学 | Training device and training method |
| CN111111114A (en) * | 2020-01-13 | 2020-05-08 | 合肥工业大学 | Training device and training method |
| CN111419637A (en) * | 2020-04-13 | 2020-07-17 | 韩增灿 | Department of neurology clinical treatment rehabilitation device |
| CN112057296A (en) * | 2020-09-14 | 2020-12-11 | 哈尔滨奈卓生物技术有限公司 | Portable nanometer thermal magnetic therapy automatic hemiplegic rehabilitation machine |
| CN113398534A (en) * | 2021-07-09 | 2021-09-17 | 合肥工业大学 | Horizontal rehabilitation training device |
| CN115300326A (en) * | 2022-08-11 | 2022-11-08 | 合肥工业大学 | Six-rod system and method capable of simulating motion tracks of different rod lengths |
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| CN111111114A (en) * | 2020-01-13 | 2020-05-08 | 合肥工业大学 | Training device and training method |
| CN111111114B (en) * | 2020-01-13 | 2023-10-03 | 合肥工业大学 | Training device and training method |
| CN111068251B (en) * | 2020-01-13 | 2023-10-03 | 合肥工业大学 | Training device and training method |
| CN110974630A (en) * | 2020-01-17 | 2020-04-10 | 浙江福祉医疗器械有限公司 | Rehabilitation training device |
| CN111419637A (en) * | 2020-04-13 | 2020-07-17 | 韩增灿 | Department of neurology clinical treatment rehabilitation device |
| CN112057296A (en) * | 2020-09-14 | 2020-12-11 | 哈尔滨奈卓生物技术有限公司 | Portable nanometer thermal magnetic therapy automatic hemiplegic rehabilitation machine |
| CN113398534A (en) * | 2021-07-09 | 2021-09-17 | 合肥工业大学 | Horizontal rehabilitation training device |
| CN115300326A (en) * | 2022-08-11 | 2022-11-08 | 合肥工业大学 | Six-rod system and method capable of simulating motion tracks of different rod lengths |
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| CN110478196B (en) | 2021-07-02 |
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