CN101292935A - Robot for rehabilitation of anklebone - Google Patents
Robot for rehabilitation of anklebone Download PDFInfo
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- CN101292935A CN101292935A CNA2008100522487A CN200810052248A CN101292935A CN 101292935 A CN101292935 A CN 101292935A CN A2008100522487 A CNA2008100522487 A CN A2008100522487A CN 200810052248 A CN200810052248 A CN 200810052248A CN 101292935 A CN101292935 A CN 101292935A
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Abstract
The present invention relates to an anklebone healing robot, which comprises a mechanical part, a control part and a display part. The mechanical part comprises a pedestal and a movable platform. Three fork chains with the same structure and a central restricting rod with a central spherical pair are uniformly distributed and arranged between the pedestal and the movable platform in parallel. Each fork chain consists of a rotating pair, a lower spherical pair, a connecting rod and an upper spherical pair. The upper end of the central restricting rod is connected with the center of the movable platform by a spherical hinge. Three pieces of same bent plates are uniformly distributed and fixedly arranged at the pedestal. Three moment motors with same specification are respectively arranged at the three bent plates and are respectively in driving connection with the rotating pairs of the three fork chains. The movable platform is equipped with a footplate. A three-dimensional or six-dimensional force/moment sensor is arranged between the movable platform and the footplate. A shaft of the rotating pair is equipped with a position sensor. The control part comprises a computer and corresponding software, a multi-spindle movement control card and a driver. The software comprises a healing software realizing the interaction with the patient, and the healing software comprises three subsystems of healing exercise, information feedback and function evaluation.
Description
Technical field
The present invention relates to a kind of people's limb rehabilitating apparatus, be specially the rehabilitation appliances that a kind of patient's of realization ankle joint is done rehabilitation exercise automatically, be named as robot for rehabilitation of anklebone, international Patent classificating number intends being Int.Cl.A61H 1/00 (2006.01).
Background technology
Mr. Girone of U.S. Lu Tege university and the colleague of Ta have developed a cover and have utilized Lu Tege ankle interface to carry out the device of orthopedic rehabilitation, this device can be used to help the patient who suffers from the ankle joint muscle injury to implement rehabilitation training (referring to Ji Luoni etc., use " Lu Tege ankle " interface orthopedic rehabilitation. virtual reality medical science academic conference analects, in January, 2000, Girone, M.J., et al.OthopedicRehabilitation Using the " Rutgers Ankle " Interface[A] .Proc.ofMedicine Meets Virtual Reality 2000[C] .IOS Press, pp.89-95, January 2000.).This device adopts air-powered servo to make moving platform realize six-freedom motion based on the Stewart platform, and the ankle activity space is big, is convenient to realize the rehabilitation training of ankle joint.But this apparatus structure complexity needs the independent source of the gas of configuration, the manufacturing cost and use cost height.People such as the Jian S.Dai of London University have introduced a kind of spherical pair S, the scheme of moving sets P and spherical pair S (3SPS/S) shunting means, attempt to be used for realizing ankle naturopathy device moving platform three-degree-of-freedom motion (referring to people such as Jian S.Dai.. sprained ankle naturopathy synthesis of mechanism and robot convalescence device stiffness Analysis. autonomous robot 2004,16:207-218.Jian S.Dai, Tieshi Zhao, Christopher.SprainedAnkle Physiotherapy Based Mechanism Synthesis and StiffnessAnalysis of a Robotic Rehabilitation Device.Autonomous Robots, 2004, (16): 207-218.).But this scheme also exists driving moving sets P to realize the comparatively deficiency of difficulty of motion, and does not see the report of the concrete technology of this scheme.
Summary of the invention
Imperfection at prior art, the technical problem to be solved in the present invention is, design a kind of robot for rehabilitation of anklebone, this robot for rehabilitation of anklebone has three freedoms of motion, and its moving platform can drive the ankle of damage and realize functional training, the function that has active exercise treatment and passive exercise treatment simultaneously, and it is simple in structure, with low cost, easy to adjust, kinematic parameter is record automatically, helps the science treatment and the rehabilitation of ankle joint injury.
The technical scheme that the present invention solves described robotics problem is: design a kind of robot for rehabilitation of anklebone, it comprises mechanical part, control section and display part, described mechanical part comprises base and moving platform, in parallelly between base and moving platform uniformly three side chains with same structure and one are installed have the subsidiary center of center sphere constraining rod, each side chain is by revolute pair, lower peripheral surface pair, connecting rod and last spherical pair formation; Described lower peripheral surface pair is by being bolted to the end of revolute pair, and the lower peripheral surface pair fuses by connecting rod and last spherical pair, and last spherical pair is connected in the lower surface of moving platform; The upper end of described center constraining rod is connected with the center of moving platform by ball pivot; Uniformly on base be fixed with three identical bent plates, the torque motor of three same sizes is installed in respectively on described three bent plates, and drives with the revolute pair of described three side chains respectively and be connected; On the described moving platform pedal is installed, three-dimensional or sextuple power/torque sensor are installed between moving platform and the pedal, on the axle of described revolute pair position sensor is installed; Described control section comprises computer and software, multi-axis motion control card and driver; Described software comprises with the patient realizes interactive rehabilitation software, and rehabilitation software comprises rehabilitation training, information feedback and three subsystems of functional evaluation; Described multi-axis motion control card is placed in the slot of PC computer, and adopts cable to be connected with described three torque motors respectively by driver; Described display part comprises the display that is connected with computer cables.
Compared with prior art, the present invention has following advantage:
1. existing rehabilitation of anklebone apparatus can only be finished simple action, and kinematic parameter can't be regulated.Rehabilitation of anklebone parallel robot of the present invention by means of computer and robot system and multi-axis motion control card by driver drawing torque machine operation, drive moving platform and automatically multi-faceted rehabilitation medical or training are carried out in patient's ankle position, and regulate flexibly the automatic record of kinematic parameter.
2. existing U.S. Lu Tege rehabilitation of anklebone apparatus has six-freedom degree, and according to the probability of ankle motion, in fact, the rehabilitation exercise of ankle joint only needs three degree of freedom.Therefore the apparatus of six-freedom degree belongs to redundancy function, makes its structure very complicated, and the pneumatic servo that adopts need be equipped with independent source of the gas, involves great expense, and uses inconvenience and is subject to cost.The present invention satisfies the rehabilitation of anklebone needed three degree of freedom that moves, and adopts electricity to drive, and power supply is convenient, and simple in structure, with low cost, is convenient to make and actual the use.
3. the power of existing rehabilitation of anklebone apparatus and location parameter are difficult for measuring.Described three-dimensional force/the torque sensor of robot for rehabilitation of anklebone of the present invention and photoelectric encoder (position sensor) design, ergometry and location parameter easily.And can set up patient's rehabilitation data base, and be convenient to the doctor and understand patient's rehabilitation situation, come science to formulate the plan of the further rehabilitation of patient according to data of database.
Description of drawings
Fig. 1 is overall structure and the face shaping sketch map of a kind of embodiment of robot for rehabilitation of anklebone of the present invention;
Fig. 2 is the 3-RSS/S structural representation of a kind of embodiment of robot for rehabilitation of anklebone of the present invention;
Fig. 3 is the subsystem of a kind of embodiment of robot for rehabilitation of anklebone of the present invention and patient's the block diagram that concerns;
Fig. 4 is the control section structural representation of a kind of embodiment of robot for rehabilitation of anklebone of the present invention;
Fig. 5 is the workflow sketch map of a kind of embodiment of robot for rehabilitation of anklebone of the present invention.
The specific embodiment
Be described in detail the present invention below in conjunction with embodiment and accompanying drawing thereof:
A kind of robot for rehabilitation of anklebone (hereinafter to be referred as robot, referring to Fig. 1-5) of the present invention's design, it comprises mechanical part, control section and display part.Described mechanical part comprises base 1 and moving platform 11, uniform three side chain and center constraining rods 15 that are equipped with in parallel between base 1 and moving platform 11 with center spherical pair 10 with same structure, it (is the 3-RSS/S structure that each side chain constitutes by revolute pair (crank) 5, lower peripheral surface pair 4, connecting rod 8 and last spherical pair 9, the R-revolute pair, the S-spherical pair).Described lower peripheral surface pair 4 is fixed on the end of revolute pair (crank) 5 by bolt 2, and lower peripheral surface pair 4 fuses by connecting rod 8 and last spherical pair 9, and last spherical pair 9 is connected in the central lower surface of moving platform 11; The upper end of described center constraining rod 15 is connected by the center of ball pivot 10 with moving platform 11; The torque motor 6 of three same sizes is installed in respectively on three identical bent plates 3, bent plate 3 uniform being packed on the base 1.Described revolute pair (crank) 5 is installed on the axle of torque motor 6, is driven by torque motor 6 and rotates.On the described moving platform 11 pedal 13 is installed, three-dimensional or sextuple power/torque sensor 12 (embodiment is sextuple, because of present domestic commercial goods pick off has only sextuple) are installed between moving platform 11 and the pedal 13; On the axle of described revolute pair 5 position sensor is installed, promptly photoelectric encoder 7.
Three side chains with same structure of the base 1 of robot of the present invention and uniform installation between base 1 and moving platform 11 support and are stablizing whole healing robot.This design does not need the patient to bear the weight of rehabilitation device.PC computer and rehabilitation software drive 6 motions of three torque motors respectively by multi-axis motion control card and driver, driving described revolute pair (crank) 5 rotates, by the 3RSS side chain, make moving platform 11 motions, the pedal 13 that is packed in power/torque sensor 12 tops drives patient's ankle joint and does rehabilitation exercise.In order to alleviate the weight of complete machine, the moving platform 11 and the pedal 13 of described robot have used aluminum alloy materials.Described base 1 is a steel material, to increase its stability.
The upper end of described center constraining rod 15 is connected with the lower surface center of moving platform 11 by ball pivot 10; Its effect is constraint and supports moving platform 11.This structure makes moving platform 11 have three degree of freedom and rotates, and can bear bigger load.During use, the patient can will damage the riding on the pedal 13 that is packed in torque sensor 12 tops of ankle joint, and the ankle joint that the moving platform 11 of robot drives patients is done rehabilitation exercise.Meanwhile, the position sensor (photoelectric encoder) that is installed in the three-dimensional force/torque sensor 12 on the moving platform 11 and is installed on 5 of the revolute pairs detects the parameter of exerting oneself with the position respectively, and by power/torque sensor cable 14 and encoder cable 16 power and position signalling is passed to computer system.And instruct described torque motor 6 to drive (crank) 5 by computer system and rotate, drive moving platforms 11 motions by lower peripheral surface pair 4, connecting rod 8 and last spherical pair 9.The torque motor 6 of three same sizes is worked simultaneously, can make moving platform 11 realize the three degree of freedom motion that rehabilitation of anklebone needs.
ROBOT CONTROL of the present invention partly comprises computer and software, multi-axis motion control card and driver.Described software comprises with the patient realizes interactive rehabilitation software, and rehabilitation software comprises rehabilitation training, information feedback and three subsystems of functional evaluation.The control that the rehabilitation training subsystem realizes that occupation mode, training mode, rehabilitation action, parameter are provided with etc. to the patient; The information feedback subsystem is information such as the speed in the feedback training process, angle, moment in real time, makes the patient can understand the training of oneself at any time; The functional evaluation subsystem comes the training effect of evaluate patient, and shows the patient by display screen, makes it can clearly grasp the training of oneself.Described rehabilitation software is not difficult specifically to provide according to the those skilled in the art of requirement of the present invention.Described multi-axis motion control card is inserted in the PC main frame, and adopts cable to be connected with described three torque motors respectively by driver.Described control section (comprising software) is originally as prior art, and the multi-axis motion control card of embodiment is the commercially available prod, and model is PMAC2-PC/104; The driver of embodiment also is the commercially available prod, and product is the Accelus numeric type.Main frame arrives multi-axis motion control card with positioning instruction via the BUS bus transfer, by PMAC programming Control corresponding (torque motor) driver, drives described three torque motors, 6 motions respectively.
The described display part of robot of the present invention comprises the display that is connected with computer cables.Except that display, also can further adopt cable to connect printer, with paper medium output relevant information.
Robot of the present invention can make patient's ankle joint do the rehabilitation exercise of following three degree of freedom, has the rehabilitation of anklebone needed three degree of freedom that moves in other words: turn over/turn up motion in the ankle joint; Dorsiflex/the sole of the foot of ankle joint is bent motion; Interior receipts/the abduction exercise of ankle joint.The scope of turning over/turning up motion in the described ankle joint is 25-30 °; The scope that ankle dorsal flexion/sole of the foot is bent motion is+20 °--30 °; The scope of the interior receipts/abduction exercise of ankle joint is 25 °.The side chain of described three parallel connections of robot of the present invention can be realized the required motion of described various rehabilitation of anklebone.
The operation principle and the process of robot of the present invention are as follows: robot is placed on the ground, and the rehabilitation patient is sitting on the adjacent chair, and the sufferer foot is placed on the described pedal 13.According to patient's sick and wounded situation, the kinematic parameter of selection ankle joint is inside and outside to turn over the back of the body, sole of the foot angle in the wrong and take down the exhibits angle and times of exercise, and the input computer.Drive described three torque motors 6 by PC computer and software thereof respectively by multi-axis motion control card and driver,, do corresponding rehabilitation exercise by the ankle part that moving platform 11 and pedal 13 drive the patient through described three 3RSS side chains.The patient can observe the motion conditions of rehabilitation limbs by the described display screen that is connected with the PC main frame.PC computer and software thereof by means of power/torque sensor 12 and photoelectric encoder 7 with the data storage of the each rehabilitation exercise of each patient in the data base who sets, so that the doctor grasps the rehabilitation progress situation of patient's ankle joint, and the rehabilitation planning of formulating further ankle joint for the patient, help the science treatment and the rehabilitation early of patient's ankle joint.
Robot of the present invention is specially adapted to the patient of the ankle function of joint imbalance that causes because of wound or cardiovascular and cerebrovascular disease, by the science rehabilitation training, can recover the normal function in ankle joint preferably.
Robot of the present invention does not address part and is applicable to prior art.
Claims (3)
1. robot for rehabilitation of anklebone, it comprises mechanical part, control section and display part, described mechanical part comprises base and moving platform, in parallelly between base and moving platform uniformly three side chains with same structure and one are installed have the subsidiary center of center sphere constraining rod, each side chain is by revolute pair, lower peripheral surface pair, connecting rod and last spherical pair formation; Described lower peripheral surface pair is by being bolted to the end of revolute pair, and the lower peripheral surface pair fuses by connecting rod and last spherical pair, and last spherical pair is connected in the lower surface of moving platform; The upper end of described center constraining rod is connected with the center of moving platform by ball pivot; Uniformly on base be fixed with three identical bent plates, the torque motor of three same sizes is installed in respectively on described three bent plates, and drives with the revolute pair of described three side chains respectively and be connected; On the described moving platform pedal is installed, three-dimensional or sextuple power/torque sensor are installed between moving platform and the pedal, on the axle of described revolute pair position sensor is installed; Described control section comprises computer and software, multi-axis motion control card and driver; Described software comprises with the patient realizes interactive rehabilitation software, and rehabilitation software comprises rehabilitation training, information feedback and three subsystems of functional evaluation; Described multi-axis motion control card is placed in the slot of PC computer, and adopts cable to be connected with described three torque motors respectively by driver; Described display part comprises the display that is connected with computer cables.
2. robot for rehabilitation of anklebone according to claim 1 is characterized in that it can make patient's ankle joint do the rehabilitation exercise of following three degree of freedom: turn over/turn up motion in the ankle joint; Dorsiflex/the sole of the foot of ankle joint is bent motion; Interior receipts/the abduction exercise of ankle joint; The scope of turning over/turning up motion in the described ankle joint is 25-30 °; The scope that ankle dorsal flexion/sole of the foot is bent motion is+20 °--30 °; The scope of the interior receipts/abduction exercise of ankle joint is 25 °.
3. robot for rehabilitation of anklebone according to claim 1 and 2 is characterized in that described multi-axis motion control card model is PMAC2-PC/104; Described driver is an Accelus numeric type driver.
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| CNA2008100522487A CN101292935A (en) | 2008-02-02 | 2008-02-02 | Robot for rehabilitation of anklebone |
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| CNA2008100522487A CN101292935A (en) | 2008-02-02 | 2008-02-02 | Robot for rehabilitation of anklebone |
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| CN101999970A (en) * | 2010-12-24 | 2011-04-06 | 上海电机学院 | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer |
| CN102028604A (en) * | 2010-12-21 | 2011-04-27 | 上海电机学院 | Parallel type ankle rehabilitation training apparatus |
| CN102058465A (en) * | 2011-02-22 | 2011-05-18 | 福州大学 | Ankle rehabilitation training device with single degree of freedom |
| CN102528796A (en) * | 2012-01-12 | 2012-07-04 | 广西大学 | Controllable mechanism type parallel robot platform with six degrees of freedom |
| CN103070757A (en) * | 2013-01-08 | 2013-05-01 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN103083156A (en) * | 2013-01-21 | 2013-05-08 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN103479502A (en) * | 2013-09-16 | 2014-01-01 | 北京交通大学 | Ankle joint rehabilitation device |
| CN103816028A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Active and passive ankle joint combination training rehabilitation system |
| CN104827462A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with driven branched chain |
| CN104983546A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Stewart type wearable wrist rehabilitation robot |
| CN104983545A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Wearable three-degree-of-freedom cervical vertebra rehabilitation therapy robot |
| CN104983541A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Wrist rehabilitation therapy robot based on spatial parallel drive |
| CN104983544A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Wearable cervical vertebra rehabilitation medical robot |
| CN105030480A (en) * | 2015-07-10 | 2015-11-11 | 哈尔滨天愈康复医疗机器人有限公司 | Novel six-freedom-degree wrist rehabilitation robot therapeutic apparatus |
| CN105250112A (en) * | 2015-07-10 | 2016-01-20 | 哈尔滨天愈康复医疗机器人有限公司 | Non-wearable three degree freedom wrist rehabilitation robot |
| CN105476819A (en) * | 2016-01-16 | 2016-04-13 | 北京工业大学 | Ankle joint rehabilitation mechanism with driving branch chains arranged obliquely |
| CN105796299A (en) * | 2016-05-22 | 2016-07-27 | 安庆海纳信息技术有限公司 | Special leg massage robot for nursing rehabilitation |
| CN107050763A (en) * | 2017-06-14 | 2017-08-18 | 韶关星火创客科技有限公司 | A kind of its control method of new robot for rehabilitation of anklebone |
| CN107157711A (en) * | 2017-06-02 | 2017-09-15 | 中国矿业大学 | A kind of rehabilitation training machine for ankle joint device people's system |
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| CN102028604A (en) * | 2010-12-21 | 2011-04-27 | 上海电机学院 | Parallel type ankle rehabilitation training apparatus |
| CN102028604B (en) * | 2010-12-21 | 2012-10-03 | 上海电机学院 | Parallel type ankle rehabilitation training apparatus |
| CN101999970B (en) * | 2010-12-24 | 2013-01-30 | 上海电机学院 | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer |
| CN101999970A (en) * | 2010-12-24 | 2011-04-06 | 上海电机学院 | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer |
| CN102058465A (en) * | 2011-02-22 | 2011-05-18 | 福州大学 | Ankle rehabilitation training device with single degree of freedom |
| CN102058465B (en) * | 2011-02-22 | 2013-04-17 | 福州大学 | Ankle rehabilitation training device with single degree of freedom |
| CN102528796A (en) * | 2012-01-12 | 2012-07-04 | 广西大学 | Controllable mechanism type parallel robot platform with six degrees of freedom |
| CN103070757B (en) * | 2013-01-08 | 2014-10-15 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN103070757A (en) * | 2013-01-08 | 2013-05-01 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN103083156A (en) * | 2013-01-21 | 2013-05-08 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN103083156B (en) * | 2013-01-21 | 2015-03-04 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN103479502A (en) * | 2013-09-16 | 2014-01-01 | 北京交通大学 | Ankle joint rehabilitation device |
| CN103479502B (en) * | 2013-09-16 | 2015-02-25 | 北京交通大学 | Ankle joint rehabilitation device |
| CN103816028A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Active and passive ankle joint combination training rehabilitation system |
| CN103816028B (en) * | 2014-01-28 | 2015-12-02 | 浙江大学 | A kind of ankle joint active-passive composite training rehabilitation system |
| CN104827462A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with driven branched chain |
| CN104827462B (en) * | 2015-05-07 | 2016-05-25 | 上海交通大学 | There is the three-degree-of-freedom spherical parallel mechanism of passive side chain |
| CN104983546B (en) * | 2015-07-10 | 2017-10-10 | 哈尔滨天愈康复医疗机器人有限公司 | A kind of wearable wrist healing robot of Stewart types |
| CN104983546A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Stewart type wearable wrist rehabilitation robot |
| CN105030480A (en) * | 2015-07-10 | 2015-11-11 | 哈尔滨天愈康复医疗机器人有限公司 | Novel six-freedom-degree wrist rehabilitation robot therapeutic apparatus |
| CN104983541A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Wrist rehabilitation therapy robot based on spatial parallel drive |
| CN105250112A (en) * | 2015-07-10 | 2016-01-20 | 哈尔滨天愈康复医疗机器人有限公司 | Non-wearable three degree freedom wrist rehabilitation robot |
| CN104983544A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Wearable cervical vertebra rehabilitation medical robot |
| CN104983545A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Wearable three-degree-of-freedom cervical vertebra rehabilitation therapy robot |
| CN105250112B (en) * | 2015-07-10 | 2017-11-28 | 哈尔滨天愈康复医疗机器人有限公司 | A kind of non-wearable Three Degree Of Freedom wrist robots for rehabilitation therapy |
| CN104983541B (en) * | 2015-07-10 | 2017-10-10 | 哈尔滨天愈康复医疗机器人有限公司 | A kind of Spatial Parallel drives wrist robots for rehabilitation therapy |
| CN105476819B (en) * | 2016-01-16 | 2018-10-09 | 北京工业大学 | A kind of rehabilitation of anklebone mechanism that active branched chain is in tilted layout |
| CN105476819A (en) * | 2016-01-16 | 2016-04-13 | 北京工业大学 | Ankle joint rehabilitation mechanism with driving branch chains arranged obliquely |
| CN105796299A (en) * | 2016-05-22 | 2016-07-27 | 安庆海纳信息技术有限公司 | Special leg massage robot for nursing rehabilitation |
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