CN101579282A - Pneumatic drive mode of limbs joint rehabilitation training and pneumatic type upper limbs rehabilitation training device - Google Patents
Pneumatic drive mode of limbs joint rehabilitation training and pneumatic type upper limbs rehabilitation training device Download PDFInfo
- Publication number
- CN101579282A CN101579282A CNA2009100530223A CN200910053022A CN101579282A CN 101579282 A CN101579282 A CN 101579282A CN A2009100530223 A CNA2009100530223 A CN A2009100530223A CN 200910053022 A CN200910053022 A CN 200910053022A CN 101579282 A CN101579282 A CN 101579282A
- Authority
- CN
- China
- Prior art keywords
- pneumatic
- rehabilitation training
- joint
- support
- cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012549 training Methods 0.000 title claims abstract description 53
- 210000003414 extremity Anatomy 0.000 title claims abstract description 26
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 26
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 35
- 210000000245 forearm Anatomy 0.000 claims abstract description 28
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims abstract 10
- 238000005452 bending Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims 1
- 239000011499 joint compound Substances 0.000 claims 1
- 210000003857 wrist joint Anatomy 0.000 claims 1
- 230000000750 progressive effect Effects 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 description 11
- 210000004247 hand Anatomy 0.000 description 8
- 230000001105 regulatory effect Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 3
- 239000002131 composite material Substances 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 206010019468 Hemiplegia Diseases 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000001145 finger joint Anatomy 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 206010025482 malaise Diseases 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000005180 public health Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
本发明涉及一种肢体关节康复训练的气动驱动方式及气动式上肢康复训练装置，由靠背(1)，肩关节直线气缸(2)，肩关节摆动气缸(3)，肘关节直线气缸(4)，肩部关节支架(8)，大臂支架(5)，小臂支架(6)，手支架(13)小臂摆动气缸(7)组成，所述的肩关节直线气缸(2)固定于靠背(1)上部，所述的肩关节摆动气缸(3)固定于肩部关节支架(8)且与肩关节直线气缸(2)的活塞杆铰接，所述的肘关节直线气缸(4)固定于大臂支架(5)上，所述的小臂摆动气缸(7)固定于小臂支架(6)下部。本发明的气动式上肢康复训练装置易于控制，能很好适应渐进性康复训练；气动元器件更安全、运动平稳、舒适；本装置易于产业化。
The invention relates to a pneumatic driving method for limb joint rehabilitation training and a pneumatic upper limb rehabilitation training device, comprising a backrest (1), a shoulder joint linear cylinder (2), a shoulder joint swing cylinder (3), and an elbow joint linear cylinder (4) , the shoulder joint support (8), the upper arm support (5), the forearm support (6), the hand support (13) and the forearm swing cylinder (7), and the shoulder joint linear cylinder (2) is fixed on the backrest (1) upper part, the shoulder joint swing cylinder (3) is fixed on the shoulder joint support (8) and hinged with the piston rod of the shoulder joint linear cylinder (2), and the elbow joint linear cylinder (4) is fixed on On the boom support (5), the forearm swing cylinder (7) is fixed on the bottom of the forearm support (6). The pneumatic upper limb rehabilitation training device of the present invention is easy to control and can well adapt to progressive rehabilitation training; the pneumatic components are safer, and the movement is stable and comfortable; the device is easy to industrialize.
Description
Technical field
The invention belongs to the rehabilitation medical instrument field, particularly relate to a kind of pneumatic actuation mode and pneumatic type exercising apparatus for recovery of upper limb of limbs joint rehabilitation training, also can expand as the healthy human body joint and take exercise and the training of athlete's limb motion.
Background technology
Cerebrovascular (claiming apoplexy again) is commonly encountered diseases, the frequently-occurring disease of China.According to the Ministry of Public Health incomplete statistics, the average annual sickness rate of China's various places cerebrovascular is 21,9/1,000,000 at present, and more than 200 ten thousand people's new cases are arranged every year approximately.In left dyskinesia, the ratio of upper limb disorder is brought huge burden and influence up to more than 90% to family and society.Along with China's population aging degree constantly increases, the cerebrovascular sickness rate can be more and more higher, estimates will reach 25,0/1,000,000 in 10 years.Rehabilitation is to improve one of handicapped main Therapeutic Method behind the cerebrovascular at present.External studies show that, can improve cerebrovascular hemiplegia of limb patient's motor function greatly by effective rehabilitation equipment treatment, improves patient's quality of life.
In the domestic relevant healing robot research and development, for the product that solves the training of cerebrovascular hemiplegia of limb patient moving dysfunction healing robot, especially upper extremity function training rehabilitation robot also is in the starting stage, mainly be that colleges and universities of a few institute are in research and development, mostly come from the robot technology transplant, volume is big, cost is high, and specific aim, comfortableness are poor.
Summary of the invention
Technical problem to be solved by this invention provides a kind of pneumatic actuation mode and pneumatic type exercising apparatus for recovery of upper limb of limbs joint rehabilitation training, with realize shoulder, elbow, wrist, refer to multiarticulate passive, half initiatively and the active exercise rehabilitation training, be intended to satisfy patient safety, comfortable, finish the hands of given range, regulation amplitude, various modes, the training of arm composite move selectively.
The technical solution adopted for the present invention to solve the technical problems is: pneumatic actuation mode and pneumatic type exercising apparatus for recovery of upper limb that a kind of limbs joint rehabilitation training is provided, by backrest, the shoulder joint straight line cylinder, the shoulder joint oscillating cylinder, the elbow joint straight line cylinder, the shoulder knuckle support, big arm support; little arm support; hands support and forearm oscillating cylinder are formed, and described shoulder joint straight line cylinder is fixed in backrest top, and described shoulder joint oscillating cylinder is fixed in the shoulder knuckle support and fixedlys connected with the shoulder joint straight line cylinder; described elbow joint straight line cylinder is fixed on the big arm support, and described forearm oscillating cylinder is fixed in forearm support bottom.
The rehabilitation training in each joint all drives by pneumatic execution original paper and realizes, realize passive, half active and the active exercise in each joint respectively by regulating pneumatic components and parts air pressure, realize the training of given range, amplitude easily by the stroke of regulating cylinder, the cooperation of each pneumatic components and parts can realize the training of joint composite move.
Antivibrator and driver unite two into one, and are easy to control.
Pneumatic drive mechanism by the shoulder knuckle support is realized lifting, fall and oscillating motion of shoulder joint.
Realize bending, the stretching of forearm by the pneumatic drive mechanism of big arm support lower end.
The bindiny mechanism of the bottom by little arm support drives the rotation that realizes wrist and arm.
Described hands support is realized the motion in each joint of finger by finger-joint oscillating cylinder or air bag.
Described shoulder joint straight line cylinder, the shoulder joint oscillating cylinder, the elbow joint straight line cylinder, the shoulder knuckle support, big arm support, little arm support, hands support and forearm oscillating cylinder can be left and right sides mirror image symmetry and be installed on two arms, realize the rehabilitation training, exercise of both arms or realize the follow-up motion of monolateral arm, also monolateral arm can only be installed by control system.
The pneumatic actuation mode of limbs joint rehabilitation training and pneumatic type exercising apparatus for recovery of upper limb can be expanded as the exercise of healthy people's limbs joint and the training of athletic limb motion.
The pneumatic type exercising apparatus for recovery of upper limb provides a kind of machinery that is used for patient's upper limb hands, arm rehabilitation of pneumatic type, can realize shoulder, elbow, wrist, refer to multiarticulate passive, half initiatively and progressive rehabilitation such as active train.
Beneficial effect
Pneumatic type exercising apparatus for recovery of upper limb antivibrator of the present invention and driver unite two into one, and are easy to control, progressive rehabilitation training such as the fine adaptation of energy is passive, half active, active; The soft drive characteristic of pneumatic components and parts is safer, comfortable, is more suitable for the rehabilitation exercise of human body; This device adopts standardization, the pneumatic components and parts of modularity, and compact conformation is easy to industrialization; Further extend, also can take into account miscellaneous functions such as massage.
Description of drawings
Fig. 1 is a pneumatic type exercising apparatus for recovery of upper limb front view;
Fig. 2 is a pneumatic type exercising apparatus for recovery of upper limb side schematic view.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used to the present invention is described and be not used in and limit the scope of the invention.Should be understood that in addition those skilled in the art can make various changes or modifications the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
A kind of pneumatic actuation mode of limbs joint rehabilitation training and pneumatic type exercising apparatus for recovery of upper limb, by backrest 1, shoulder joint straight line cylinder 2, shoulder joint oscillating cylinder 3, elbow joint straight line cylinder 4, shoulder knuckle support 8, big arm support 5; forearm support 6; hands support 13 and forearm oscillating cylinder 7 are formed, and shoulder joint straight line cylinder 2 is fixed in backrest 1 top, and shoulder joint oscillating cylinder 3 is fixed on the shoulder knuckle support 8 and with shoulder joint straight line cylinder 2 fixedlys connected; elbow joint straight line cylinder 4 is fixed on the big arm support 5, and forearm oscillating cylinder 7 is fixed in forearm support 6 bottoms.
The rehabilitation training in each joint all drives by pneumatic execution original paper and realizes, realize passive, half active and the active exercise in each joint respectively by regulating pneumatic components and parts air pressure, realize the training of given range, amplitude easily by the stroke of regulating cylinder, the cooperation of each pneumatic components and parts gas can realize the training of joint composite move.Antivibrator and driver unite two into one, and are easy to control.
Pneumatic drive mechanism by shoulder knuckle support 8 is realized lifting, fall and oscillating motion of shoulder joint.Realize bending, the stretching of forearm by the pneumatic drive mechanism of big arm support 5 lower ends.Realize the rotation of wrist and arm by the pneumatic drive mechanism of forearm support 6 bottoms.Hands support 13 is realized the motion in each joint of finger by finger-joint oscillating cylinder or air bag.Shoulder joint straight line cylinder 2, shoulder joint oscillating cylinder 3, elbow joint straight line cylinder 4, shoulder knuckle support 8, big arm support 5, forearm support 6, hands support 13 and forearm oscillating cylinder 7 can be left and right sides mirror image symmetry and be installed on two arms, realize the rehabilitation training, exercise of both arms or realize the follow-up motion of monolateral arm, also monolateral arm can only be installed by control system.
The pneumatic actuation mode of limbs joint rehabilitation training and pneumatic type exercising apparatus for recovery of upper limb can be expanded as the exercise of healthy people's limbs joint and the training of athletic limb motion.
During rehabilitation training, the patient is sitting on the seat 1, is separately fixed in big arm support 5 and the forearm support 6 by the big arm and the forearm of arm bandage 11 with the patient, fastens position seat belt 10.Air cylinder driven control just can drive the straight line under certain amplitude and the oscillating motion in each joint of patient's arm down.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100530223A CN101579282B (en) | 2009-06-12 | 2009-06-12 | Pneumatic driving method for limb joint rehabilitation training and pneumatic upper limb rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100530223A CN101579282B (en) | 2009-06-12 | 2009-06-12 | Pneumatic driving method for limb joint rehabilitation training and pneumatic upper limb rehabilitation training device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101579282A true CN101579282A (en) | 2009-11-18 |
| CN101579282B CN101579282B (en) | 2011-02-09 |
Family
ID=41361692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100530223A Expired - Fee Related CN101579282B (en) | 2009-06-12 | 2009-06-12 | Pneumatic driving method for limb joint rehabilitation training and pneumatic upper limb rehabilitation training device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101579282B (en) |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102499855A (en) * | 2011-11-25 | 2012-06-20 | 沈阳理工大学 | Pneumatic composite arm rehabilitation mechanical arm |
| CN103143140A (en) * | 2013-03-19 | 2013-06-12 | 李立 | Device for rehabilitating functions of elbow joint of upper limb after operation |
| CN104116613A (en) * | 2014-07-17 | 2014-10-29 | 蒋文庆 | Intelligent upper limb auxiliary motion device |
| CN104307154A (en) * | 2014-10-17 | 2015-01-28 | 王跃特 | Posture rectification device |
| CN104887458A (en) * | 2015-06-23 | 2015-09-09 | 天津科技大学 | Human body upper limb function automatic auxiliary recovery apparatus |
| CN105415353A (en) * | 2016-01-26 | 2016-03-23 | 哈尔滨工业大学 | Upper limb structure for pneumatic power assisting device |
| CN105476739A (en) * | 2016-02-15 | 2016-04-13 | 鲁俊东 | Elbow joint external fixing apparatus used in department of orthopaedics |
| CN105662785A (en) * | 2016-04-08 | 2016-06-15 | 中国石油大学(北京) | Arm correction device and method |
| CN107157706A (en) * | 2017-05-15 | 2017-09-15 | 巢湖学院 | A kind of adjustable upper limb device for healing and training |
| CN107212996A (en) * | 2017-04-24 | 2017-09-29 | 合肥工业大学 | A kind of active/passive formula finger wrist joint device for healing and training and method |
| CN107224385A (en) * | 2017-05-19 | 2017-10-03 | 山东建筑大学 | Active/passive both arms upper limb rehabilitation robot |
| CN107224384A (en) * | 2017-05-19 | 2017-10-03 | 山东建筑大学 | Principal and subordinate's arm robot and its control system and control method |
| CN107233189A (en) * | 2017-05-15 | 2017-10-10 | 巢湖学院 | A kind of combined type device for healing and training |
| CN107648011A (en) * | 2017-10-31 | 2018-02-02 | 大连大学 | A kind of the elderly trains mechanical device with fixed exoskeleton rehabilitation |
| CN107671847A (en) * | 2017-11-22 | 2018-02-09 | 航天科工智能机器人有限责任公司 | A kind of Three Degree Of Freedom pneumatic mechanical manipulator |
| CN108743230A (en) * | 2018-06-19 | 2018-11-06 | 武汉理工大学 | It is a kind of to stretch the chair type robot assisted device restored for four limbs |
| CN108744422A (en) * | 2018-06-08 | 2018-11-06 | 重庆大学 | A kind of wearable upper extremity exercise auxiliary device of four-degree-of-freedom of degree of freedom optimization |
| CN108852740A (en) * | 2018-02-09 | 2018-11-23 | 湖北工业大学 | A kind of pneumatic upper limb rehabilitation robot |
| CN108926457A (en) * | 2018-07-25 | 2018-12-04 | 京东方科技集团股份有限公司 | Device for healing and training |
| CN108938335A (en) * | 2018-08-30 | 2018-12-07 | 李艳红 | Elbow joint recovering device |
| CN109044737A (en) * | 2018-08-31 | 2018-12-21 | 东莞海特帕沃液压科技有限公司 | A kind of upper-limb recovery training device with neck and the function that relaxes one's shoulders |
| CN109078302A (en) * | 2018-07-02 | 2018-12-25 | 北可精密机械（上海）有限公司 | A kind of active multi-joint strength building instrument of upper limb |
| CN109172264A (en) * | 2018-08-31 | 2019-01-11 | 东莞海特帕沃液压科技有限公司 | A kind of upper-limb recovery training device with shoulder massage functions |
| CN109223432A (en) * | 2018-08-01 | 2019-01-18 | 广州中医药大学(广州中医药研究院) | wrist joint rehabilitation intelligent robot |
| CN109248043A (en) * | 2018-08-31 | 2019-01-22 | 东莞海特帕沃液压科技有限公司 | A kind of upper-limb recovery training device |
| CN109350922A (en) * | 2018-10-08 | 2019-02-19 | 上海理工大学 | The soft exoskeleton rehabilitation training device of shoulder elbow towards Acute Stroke Patients |
| CN111759662A (en) * | 2020-07-03 | 2020-10-13 | 浙江工业大学 | arm assist device |
| CN111870475A (en) * | 2020-09-04 | 2020-11-03 | 北京石油化工学院 | Taiji rehabilitation training instrument |
| CN111904794A (en) * | 2020-08-17 | 2020-11-10 | 大连理工江苏研究院有限公司金坛分公司 | Arm rehabilitation equipment for medical care and rehabilitation |
| CN112587874A (en) * | 2020-12-08 | 2021-04-02 | 南京昕陌智能科技有限公司 | Portable intelligent exercise equipment and use method |
| CN112656646A (en) * | 2021-01-12 | 2021-04-16 | 李文国 | Muscle strength recovery equipment used after cerebral hemorrhage operation in neurosurgery of hospital |
| CN112914808A (en) * | 2021-03-15 | 2021-06-08 | 谭桂山 | Gypsum fixing device is exempted from in fracture first aid |
| CN113018793A (en) * | 2019-12-09 | 2021-06-25 | 北京智融康成科技有限公司 | Upper limb rehabilitation exercise assisting system |
| CN113082640A (en) * | 2021-04-23 | 2021-07-09 | 西安交通大学医学院第一附属医院 | Joint surgery postoperative rehabilitation training device for sports medicine |
| CN113616473A (en) * | 2021-07-29 | 2021-11-09 | 新疆维吾尔自治区人民医院 | Upper limb rehabilitation device |
| CN114569976A (en) * | 2022-04-13 | 2022-06-03 | 山东海天智能工程有限公司 | Comprehensive training device for brain-controlled upper limbs |
-
2009
- 2009-06-12 CN CN2009100530223A patent/CN101579282B/en not_active Expired - Fee Related
Cited By (58)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102499855A (en) * | 2011-11-25 | 2012-06-20 | 沈阳理工大学 | Pneumatic composite arm rehabilitation mechanical arm |
| CN102499855B (en) * | 2011-11-25 | 2015-01-14 | 沈阳理工大学 | Pneumatic composite arm rehabilitation mechanical arm |
| CN103143140B (en) * | 2013-03-19 | 2015-04-22 | 山东省文登整骨医院 | Device for rehabilitating functions of elbow joint of upper limb after operation |
| CN103143140A (en) * | 2013-03-19 | 2013-06-12 | 李立 | Device for rehabilitating functions of elbow joint of upper limb after operation |
| CN104116613B (en) * | 2014-07-17 | 2016-05-25 | 蒋文庆 | A kind of Intelligent upper limb synkinesia device |
| CN104116613A (en) * | 2014-07-17 | 2014-10-29 | 蒋文庆 | Intelligent upper limb auxiliary motion device |
| CN104307154A (en) * | 2014-10-17 | 2015-01-28 | 王跃特 | Posture rectification device |
| CN104887458A (en) * | 2015-06-23 | 2015-09-09 | 天津科技大学 | Human body upper limb function automatic auxiliary recovery apparatus |
| CN104887458B (en) * | 2015-06-23 | 2017-04-19 | 天津科技大学 | Human body upper limb function automatic auxiliary recovery apparatus |
| CN105415353A (en) * | 2016-01-26 | 2016-03-23 | 哈尔滨工业大学 | Upper limb structure for pneumatic power assisting device |
| CN105415353B (en) * | 2016-01-26 | 2018-01-30 | 哈尔滨工业大学 | A kind of Pneumatic power-assisted device Arm structure |
| CN105476739A (en) * | 2016-02-15 | 2016-04-13 | 鲁俊东 | Elbow joint external fixing apparatus used in department of orthopaedics |
| CN105476739B (en) * | 2016-02-15 | 2018-06-29 | 鲁俊东 | Orthopedic fixer outside a kind of elbow joint |
| CN105662785B (en) * | 2016-04-08 | 2017-11-14 | 中国石油大学(北京) | The control method of arm apparatus for correcting and arm apparatus for correcting |
| CN105662785A (en) * | 2016-04-08 | 2016-06-15 | 中国石油大学(北京) | Arm correction device and method |
| CN107212996A (en) * | 2017-04-24 | 2017-09-29 | 合肥工业大学 | A kind of active/passive formula finger wrist joint device for healing and training and method |
| CN107157706A (en) * | 2017-05-15 | 2017-09-15 | 巢湖学院 | A kind of adjustable upper limb device for healing and training |
| CN107233189A (en) * | 2017-05-15 | 2017-10-10 | 巢湖学院 | A kind of combined type device for healing and training |
| CN107157706B (en) * | 2017-05-15 | 2019-07-05 | 巢湖学院 | An adjustable upper limb rehabilitation training device |
| CN107224384A (en) * | 2017-05-19 | 2017-10-03 | 山东建筑大学 | Principal and subordinate's arm robot and its control system and control method |
| CN107224385A (en) * | 2017-05-19 | 2017-10-03 | 山东建筑大学 | Active/passive both arms upper limb rehabilitation robot |
| CN107648011B (en) * | 2017-10-31 | 2020-09-15 | 大连大学 | Fixed exoskeleton rehabilitation training mechanical device for old people |
| CN107648011A (en) * | 2017-10-31 | 2018-02-02 | 大连大学 | A kind of the elderly trains mechanical device with fixed exoskeleton rehabilitation |
| CN107671847A (en) * | 2017-11-22 | 2018-02-09 | 航天科工智能机器人有限责任公司 | A kind of Three Degree Of Freedom pneumatic mechanical manipulator |
| CN108852740A (en) * | 2018-02-09 | 2018-11-23 | 湖北工业大学 | A kind of pneumatic upper limb rehabilitation robot |
| CN108852740B (en) * | 2018-02-09 | 2020-08-07 | 湖北工业大学 | Pneumatic upper limb rehabilitation robot |
| CN108744422B (en) * | 2018-06-08 | 2020-06-09 | 重庆大学 | A four-degree-of-freedom wearable upper-limb exercise aid device with optimized degrees of freedom |
| CN108744422A (en) * | 2018-06-08 | 2018-11-06 | 重庆大学 | A kind of wearable upper extremity exercise auxiliary device of four-degree-of-freedom of degree of freedom optimization |
| CN108743230B (en) * | 2018-06-19 | 2020-07-10 | 武汉理工大学 | A seat formula robot auxiliary device for four limbs stretch to resume |
| CN108743230A (en) * | 2018-06-19 | 2018-11-06 | 武汉理工大学 | It is a kind of to stretch the chair type robot assisted device restored for four limbs |
| CN109078302B (en) * | 2018-07-02 | 2020-09-25 | 北可精密机械（上海）有限公司 | Active multi-joint strength training instrument for upper limbs |
| CN109078302A (en) * | 2018-07-02 | 2018-12-25 | 北可精密机械（上海）有限公司 | A kind of active multi-joint strength building instrument of upper limb |
| CN108926457B (en) * | 2018-07-25 | 2021-01-29 | 京东方科技集团股份有限公司 | Rehabilitation training device |
| CN108926457A (en) * | 2018-07-25 | 2018-12-04 | 京东方科技集团股份有限公司 | Device for healing and training |
| CN109223432A (en) * | 2018-08-01 | 2019-01-18 | 广州中医药大学(广州中医药研究院) | wrist joint rehabilitation intelligent robot |
| CN109223432B (en) * | 2018-08-01 | 2021-03-26 | 广州中医药大学(广州中医药研究院) | Intelligent robot for wrist joint rehabilitation |
| CN108938335A (en) * | 2018-08-30 | 2018-12-07 | 李艳红 | Elbow joint recovering device |
| CN109044737A (en) * | 2018-08-31 | 2018-12-21 | 东莞海特帕沃液压科技有限公司 | A kind of upper-limb recovery training device with neck and the function that relaxes one's shoulders |
| CN109044737B (en) * | 2018-08-31 | 2020-08-14 | 吉林大学第一医院 | An upper limb rehabilitation trainer with neck and shoulder relaxation function |
| CN109248043B (en) * | 2018-08-31 | 2020-10-16 | 徐雨锋 | Upper limb rehabilitation training device |
| CN109248043A (en) * | 2018-08-31 | 2019-01-22 | 东莞海特帕沃液压科技有限公司 | A kind of upper-limb recovery training device |
| CN109172264A (en) * | 2018-08-31 | 2019-01-11 | 东莞海特帕沃液压科技有限公司 | A kind of upper-limb recovery training device with shoulder massage functions |
| CN109172264B (en) * | 2018-08-31 | 2020-08-25 | 山东大学齐鲁医院(青岛) | Upper limb rehabilitation training device with shoulder massage function |
| CN109350922A (en) * | 2018-10-08 | 2019-02-19 | 上海理工大学 | The soft exoskeleton rehabilitation training device of shoulder elbow towards Acute Stroke Patients |
| CN113018793A (en) * | 2019-12-09 | 2021-06-25 | 北京智融康成科技有限公司 | Upper limb rehabilitation exercise assisting system |
| CN111759662A (en) * | 2020-07-03 | 2020-10-13 | 浙江工业大学 | arm assist device |
| CN111904794A (en) * | 2020-08-17 | 2020-11-10 | 大连理工江苏研究院有限公司金坛分公司 | Arm rehabilitation equipment for medical care and rehabilitation |
| CN111870475A (en) * | 2020-09-04 | 2020-11-03 | 北京石油化工学院 | Taiji rehabilitation training instrument |
| CN112587874A (en) * | 2020-12-08 | 2021-04-02 | 南京昕陌智能科技有限公司 | Portable intelligent exercise equipment and use method |
| CN112587874B (en) * | 2020-12-08 | 2022-05-03 | 南京昕陌智能科技有限公司 | Portable intelligent exercise equipment and use method |
| CN112656646A (en) * | 2021-01-12 | 2021-04-16 | 李文国 | Muscle strength recovery equipment used after cerebral hemorrhage operation in neurosurgery of hospital |
| CN112656646B (en) * | 2021-01-12 | 2023-09-15 | 福建康博医疗科技有限公司 | Postoperative muscle strength recovery equipment for neurosurgery cerebral hemorrhage in hospital |
| CN112914808A (en) * | 2021-03-15 | 2021-06-08 | 谭桂山 | Gypsum fixing device is exempted from in fracture first aid |
| CN113082640A (en) * | 2021-04-23 | 2021-07-09 | 西安交通大学医学院第一附属医院 | Joint surgery postoperative rehabilitation training device for sports medicine |
| CN113082640B (en) * | 2021-04-23 | 2022-04-19 | 西安交通大学医学院第一附属医院 | Joint surgery postoperative rehabilitation training device for sports medicine |
| CN113616473A (en) * | 2021-07-29 | 2021-11-09 | 新疆维吾尔自治区人民医院 | Upper limb rehabilitation device |
| CN113616473B (en) * | 2021-07-29 | 2023-11-28 | 新疆维吾尔自治区人民医院 | An upper limb rehabilitation device |
| CN114569976A (en) * | 2022-04-13 | 2022-06-03 | 山东海天智能工程有限公司 | Comprehensive training device for brain-controlled upper limbs |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101579282B (en) | 2011-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101579282A (en) | Pneumatic drive mode of limbs joint rehabilitation training and pneumatic type upper limbs rehabilitation training device | |
| CN102247258B (en) | Robot for rehabilitation training of upper and lower limbs | |
| CN202505695U (en) | Passive exerciser for limbs | |
| CN105167965B (en) | One kind considers joint pivot coordinated type walking aid rehabilitation robot | |
| CN102764188B (en) | Controllable variable-stiffness flexible elbow joint rehabilitation robot | |
| TW201735890A (en) | Exoskeleton apparatus of pneumatic muscle with functions of upper limb power assist and rehabilitation training | |
| CN206896706U (en) | A kind of multi-trace multidigit posture lower limb rehabilitation robot | |
| CN107822829A (en) | A kind of upper limb rehabilitation robot | |
| CN208598671U (en) | A kind of leg recovery auxiliary wheelchair | |
| CN103750979B (en) | A kind of wrist and finger recovery training appliance for recovery | |
| CN108836732A (en) | A kind of rehabilitation training of upper limbs exoskeleton mechanism with people-machine motion compatibility and passive gravitational equilibrium characteristic | |
| CN111359165A (en) | Parallel-drive lower limb rehabilitation training robot | |
| CN106420278B (en) | A portable auxiliary walking mechanism acting on the knee joint | |
| CN108814899B (en) | A multi-position, trajectory-adjustable lower limb training device | |
| CN208823350U (en) | Pneumatic finger joint restoring device | |
| CN204601060U (en) | The bionical device for healing and training of a kind of shoulder joint kinesitherapy | |
| CN208989621U (en) | A lower limb rehabilitation device for elderly stroke patients | |
| CN110711113A (en) | Cerebral apoplexy patient is recovered with recovered trainer of hand | |
| CN106214423A (en) | A kind of finger function device for healing and training | |
| CN213218751U (en) | A rehabilitation exoskeleton robot | |
| CN220256724U (en) | Joint ankylosis rehabilitation training device | |
| CN201389291Y (en) | Passive exercises fitness equipment | |
| CN206934589U (en) | A kind of back exercise aid device of bi-directional synchronization cycle movement | |
| CN111513992A (en) | Physical therapy device is tempered to recovered arm | |
| CN203777260U (en) | Wrist and finger rehabilitation trainer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110209 Termination date: 20130612 |