CN102068367B - Lower limb multi-training mode rehabilitation robot - Google Patents
Lower limb multi-training mode rehabilitation robot Download PDFInfo
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- CN102068367B CN102068367B CN 201110043360 CN201110043360A CN102068367B CN 102068367 B CN102068367 B CN 102068367B CN 201110043360 CN201110043360 CN 201110043360 CN 201110043360 A CN201110043360 A CN 201110043360A CN 102068367 B CN102068367 B CN 102068367B
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Abstract
The invention discloses a lower limb multi-training mode rehabilitation robot, which comprises a pedal drive mechanism, a knee and hip joint movement mechanism and a foot ankle joint movement mechanism. In the pedal drive mechanism, one end of a pedal shaft is connected with a pedal and the other end of the pedal shaft is connected with the leg knee and hip joint movement mechanism and the foot ankle joint movement mechanism. In the knee and hip joint movement mechanism, a connecting rod is fixedly connected with the end part of a middle shaft, the input end of an underdrive device is connected with a brake and a drive source and the output end of the underdrive device is connected with the middle shaft. The left and right sleeves of the foot ankle joint movement mechanism are driven by drive mechanisms which drive in opposite directions, an input drive mechanism is connected with a drive source, and the output drive mechanism is connected with the pedal shaft. In the device, the drive of the knee, hip and foot ankle joint movements around the same central line is realized, the real time control of the brake and the two drive sources is adopted to realize the passive, assisting, active and damping rehabilitation training modes of the six joints on the lower limbs of a patient, the structure is compact, the control is accurate, the operation is safe, and batch production can be realized easily.
Description
Technical field
The invention belongs to the rehabilitation medical mechanical field, relate to a kind of lower limb multi-training mode rehabilitation robot, be specifically related to a kind of lower limb multi-training mode rehabilitation robot of the leg exercise dysfunction for causing because of disease, lower limb hemiplegia, various damages etc.
Background technology
Along with the development of society, the limb movement disturbance patient that aging population and various diseases, accident etc. cause is increasing.This class patient is except drug therapy or operative treatment, and the rehabilitation training of science improves extremely important for limb motro function, and simultaneously, along with the development of science and technology and improving constantly of people's quality of life, people are more and more higher to the requirement of health care.Under such background, the limb rehabilitating robot has obtained development rapidly as a kind of instrument of rehabilitation.
At present, the research of lower limb rehabilitation robot is engaged in nearly ten Yu Jia laboratories in the world, and wherein Japan and the U.S. are walked in the prostatitis.Japan has developed rotary healing robot.Berlin, Germany Free University (FREE UNIVERSITY BERLIN) has carried out leg rehabilitation device device people's research, and has developed MGT type healing robot model machine.The RUTGERS university of the U.S. has carried out the research of foot's healing robot, and has developed RUTGER foot recovery exercising robot model machine.The federal polytechnical university of Zurich, Switzerland has put on display the healing robot of LOKOMAT by name in the exhibition of Hannover 2001 world industry, the leg step that the healing robot model of LOKOMAT adopts a kind of active gait apparatus for correcting to drive the patient trains on pedal exerciser, the auxiliary walking movement of patient on whole treadmill of LOKOMAT simultaneously, and use progressive FM treatment and patient's assessment, reponse system to organically combine.China is more late to the research of healing robot starting, and the achievement in research of auxiliary type healing robot is relatively many, and the achievement in research of recovery exercising robot aspect is fewer.Tsing-Hua University takes the lead in having developed horizontal lower limbs rehabilitation training robot model machine at home.
The advantage of above-mentioned lower limb rehabilitation robot is simple in structure, be easy to control, but the robot free degree is on the low side, and during gait training, the important joint motions of some of patient can not get training or correct.Simultaneously, these lower limb rehabilitation robot motor patterns are single, are mainly to carry out various types of CPM(Continuous Passive Motion, continuous passive motion), a small amount of lower limb rehabilitation robot can be with aggressive mode work.Current research shows, the dysfunction that produces because of factors such as contingency, birth defect, disease, war and organism aging processes or the rehabilitation training of disabled patient are needed four kinds of training modes usually, be passive exercise pattern, power-assisting training pattern, active training pattern, damping training mode, do not support simultaneously both at home and abroad that at present above-mentioned multi-joint has again the healing robot of four kinds of rehabilitation training patterns simultaneously.
Summary of the invention
The purpose of this invention is to provide a kind of rehabilitation training for lower limb disorder or six joints of disabled patient lower limb (left ankle-joint, left knee joint, left hip joint, right ankle-joint, right knee joint, right hip joint), and realize the lower limb multi-training mode rehabilitation robot of passive exercise pattern, power-assisting training pattern, active training pattern, four kinds of rehabilitation training patterns of damping training mode.
Lower limb multi-training mode rehabilitation robot provided by the present invention comprises pedal rotating mechanism, knee hip joint motion and ankle arthrosis motion,
Described pedal rotating mechanism comprises pedal and pedal shaft, and pedal shaft one end is connected with pedal, and the other end is connected with the ankle arthrosis motion with knee hip joint motion, and described pedal rotating mechanism is two groups;
Described knee hip joint motion comprises axis, two connecting rods, first clutch, brake, speed reduction gearing, second clutch and the first drive motors, one end of connecting rod is fixedly connected with axis, the other end has a stomidium, pedal shaft passes stomidium and connecting rod is flexibly connected, two bar linkage structures are identical with connected mode, the central point of axis is arranged relatively, the input of speed reduction gearing is connected with brake by first clutch, and described input also is connected with the first drive motors by second clutch simultaneously; The output of speed reduction gearing is fixedly connected with in the centre position with axis, and described speed reduction gearing can positive and negative both direction transmission;
Described ankle arthrosis motion comprises left sleeve, right sleeve, input driver structure, Left Drive mechanism, right transmission mechanism, two groups of outputs transmission mechanism, three-clutch and second drive motors, left and right sleeve is placed in respectively the axis two ends and can rotates around axis, the left sleeve right-hand member is connected with the driven end of Left Drive mechanism, and the left sleeve left end is connected with the second drive motors by three-clutch with the drive end of one group of output transmission mechanism; Right sleeve left end is connected with the driven end of right transmission mechanism, right sleeve right-hand member is connected with the drive end of another group output transmission mechanism, the transmission direction of described left and right transmission mechanism is opposite, the driven end of input driver structure is connected with the drive end of Left Drive mechanism, right transmission mechanism simultaneously, the drive end of input driver structure is connected with the second drive source, the driven end of output transmission mechanism is fixedly connected with the axle head of pedal shaft away from pedal, and described input driver structure, Left Drive mechanism, right transmission mechanism, two groups export transmission mechanisms can both positive and negative both direction transmission.
Described lower limb multi-training mode rehabilitation robot, it is further characterized in that:
The gear drive that described speed reduction gearing is comprised of gear shaft and the gear of mutual external toothing and forming with sprocket transmission device that the intermeshing front sprocket wheel of driving-chain and rear sprocket wheel form, the input of speed reduction gearing is gear shaft, output is rear sprocket wheel, the gear shaft left end by first clutch be connected with brake, right-hand member is connected with the first drive motors by second clutch, gear and front sprocket wheel are fixedly connected on same rear axle.
Left Drive mechanism is comprised of driven gear and the driving gear of mutual external toothing; Right transmission mechanism is by forming with the first Timing Belt the intermeshing first driven synchronous pulley and the first active synchronization belt wheel; The input driver structure is comprised of intermeshing worm gear and worm screw, driving gear, active synchronization belt wheel and worm gear are fixedly connected on same lower shaft, driving gear, active synchronization belt wheel lay respectively at worm gear both sides, worm screw is connected with the second drive motors by three-clutch, and the second drive motors often turns 180 ° oppositely; The output transmission mechanism is by forming with intermeshing the second active synchronization belt wheel of the second Timing Belt and the second driven synchronous pulley.
Brake is magnetic powder brake.
Be provided with two axle head location divisions on axis, described axle head location division is comprised of locking back-up ring and the holding screw that screws in the locking back-up ring.
The left and right sleeve is connected with axis by bearing, and bearing is positioned at sleeve two ends, wherein is used for the axial inner ring of left bearing of location left sleeve by location, axle head location division, and the outer ring is by step location in sleeve; Be used for the axial inner ring of right bearing of location left sleeve by axis step location, the outer ring is by step location in sleeve, the connection locate mode of right sleeve and axis and left sleeve and axis to be connected locate mode identical.
Pedal shaft is connected with pedal by flat key, holding screw, and flat key has connected radial location to this, and holding screw has connected axial location to this.
The gearratio of described speed reduction gearing is 8, and the gearratio of described left and right transmission mechanism is 1.5, and the gearratio of described output transmission mechanism is 1.
Described lower limb multi-training mode rehabilitation robot also comprises the casing of placing whole mechanism, and except pedal rotating mechanism, connecting rod, output transmission mechanism are exposed at casing, other all mechanisms all are sealed in casing.
The present invention is owing to taking above technical scheme, and it has the following advantages:
1. the present invention adopts the mechanism form that on the rotation of rear axle transmission drive axis, axis, two ends active link two sleeves, lower shaft transmission drive two sleeves rotate around axis, realized the transmission of the motion of knee hip joint and ankle arthrosis motion around same center line, realized the rehabilitation training in six joints of patient's lower limb, compact conformation, space utilization is abundant, simultaneously, adopts the chain transmission to make each transmission mechanism position placement more reasonable, overall structure is compacter, and space utilization is more abundant.
2. lower limb multi-training mode rehabilitation robot provided by the invention has a plurality of frees degree, adopt the real-time control of brake and two drive motors, realized that patient's lower limb six joints are passive, power-assisted, initiatively, four kinds of training modes of damping, precise control, security of operation.
3. the part of lower limb multi-training mode rehabilitation robot provided by the invention more than 85% is standard component, is easy to realize batch production, upgrades upgrading, reduced cost.
Description of drawings
Fig. 1 is the schematic perspective view of lower limb multi-training mode rehabilitation robot of the present invention;
Fig. 2 is the half sectional view of lower limb multi-training mode rehabilitation robot part body of the present invention.
The specific embodiment
Describe the present invention below in conjunction with drawings and Examples.
As shown in Figure 1, lower limb multi-training mode rehabilitation robot comprises pedal rotating mechanism, knee hip joint motion and ankle arthrosis motion.
The pedal rotating mechanism comprises pedal 31 and pedal shaft 32.Pedal shaft 32 1 ends are connected with pedal 31 by flat key 33, holding screw 34, and 33 pairs of flat keys should connect radial location, and 34 pairs of holding screws should connect axial location, and pedal shaft 32 other ends are connected with the ankle arthrosis motion with knee hip joint motion.In this device, the pedal rotating mechanism is two groups.
Knee hip joint motion comprises axis 1, two connecting rods 2, first clutch 111, magnetic powder brake 10, speed reduction gearing, second clutch 112 and the first drive motors 121.
As shown in Figure 2, one end of connecting rod 2 is fixedly connected with the end of axis 1, and the other end of connecting rod 2 has a stomidium, and pedal shaft 32 passes stomidium and is flexibly connected by bearing 93 and connecting rod 2, two connecting rod 2 structures are identical with connected mode, and the central point of axis 1 is arranged relatively.
Be provided with two axle head location divisions 15 on axis 1, described axle head location division 15 is comprised of locking back-up ring and the holding screw that screws in the locking back-up ring.
Speed reduction gearing is by gear shaft 41, the gear 42 of mutual external toothing and form with the intermeshing front sprocket wheel 43 of driving-chain 45 and rear sprocket wheel 44, and the gearratio of speed reduction gearing is 8:1.Gear shaft 41 left ends by first clutch 111 be connected with magnetic powder brake 10, right-hand member passes through second clutch 112 and is connected with the first drive motors 121, gear 42 is fixedly connected on same rear axle 14 with front sprocket wheel 43, and rear sprocket wheel 44 is fixedly connected with in the centre position with axis 1.
The ankle arthrosis motion comprises left sleeve 51, right sleeve 52, input driver structure, Left Drive mechanism, right transmission mechanism, two groups of outputs transmission mechanism, three-clutch 113 and second drive motors 122.
Left and right sleeve 51,52 is connected with axis 1 by bearing, bearing is positioned at sleeve two ends, wherein be used for the axial inner ring of left bearing 91 of location left sleeve 51 by 15 location, axle head location division, the outer ring is by step location in sleeve, the axial inner ring of right bearing 92 that is used for location left sleeve 51 is located by axis 1 step, the outer ring is by step location in sleeve, the connection locate mode of right sleeve 52 and axis 1 and left sleeve 51 and axis 1 to be connected locate mode identical.
Left Drive mechanism is comprised of driven gear 62 and the driving gear 61 of mutual external toothing.Right transmission mechanism is by forming with the intermeshing driven synchronous pulley 64 of Timing Belt 65 and active synchronization belt wheel 63.The input driver structure is comprised of intermeshing worm gear 72 and worm screw 71.Wherein, driven gear 62 is fixedly connected with left sleeve 51 right-hand members, driven synchronous pulley 64 is fixedly connected with right sleeve 52 left ends, driving gear 61, active synchronization belt wheel 63 and worm gear 72 are fixedly connected on same lower shaft 13, driving gear 61, active synchronization belt wheel 63 lay respectively at worm gear 72 both sides, worm screw 71 is connected with the second drive motors 122 by three-clutch 113, and motor often turns 180 ° oppositely.
The gearratio of Left Drive mechanism and the gearratio of right transmission mechanism are 1.5:1.The worm and gear of described input driver structure is non-self-locking worm gear worm screw.
The output transmission mechanism is by forming with the intermeshing active synchronization belt wheel 81 of Timing Belt 83 and driven synchronous pulley 82, two active synchronization belt wheels 81 of two groups of output transmission mechanisms are fixedly connected with right sleeve 52 right-hand members with left sleeve 51 left ends respectively, driven synchronous pulley 82 is fixedly connected with away from pedal 34 axle heads with pedal shaft 32, and the gearratio of output transmission mechanism is 1:1.
Lower limb multi-training mode rehabilitation robot of the present invention, the transmission combination in speed reduction gearing can be required and the belt wheel transmission that requires of slowing down, gear drive, chain gear transmission etc. are single or the combination transmission replaces by meeting spatial.The gear drive of Left Drive mechanism can by chain gear transmission, belt wheel transmission, etc. transmission replace, the belt wheel transmission of corresponding right transmission mechanism can be replaced by transmissions such as gear drive, gear drives.The non-self-locking worm gear worm-drive of input driver structure can be by replacements such as Spur Gear Driving, Bevel Gear Transmission, chain gear transmission or various deceleration transmission.The belt wheel transmission of output transmission mechanism can be replaced by gear drive or chain gear transmission.The first drive motors and the second drive motors can single or combination driving device replacements with other.Magnetic powder brake can replace with the brake of other adjustable braking moments.
Lower limb multi-training mode rehabilitation robot of the present invention can be placed whole mechanism in casing by the location bearing that is arranged in middle, the right sleeve of left sleeve 51 52 centres, lower shaft 13 two axial ends, rear axle 14 two axial ends, worm screw 71 two axial ends, gear shaft 41 two axial ends.Whole mechanism is exposed at casing except pedal rotating mechanism, connecting rod 2, output transmission mechanism, and other all mechanisms all are sealed in casing.
Before the present embodiment is placed in wheelchair with this lower limb multi-training mode rehabilitation robot, the patient is sitting on wheelchair, pin is placed on pedal and is example, illustrate that lower limb multi-training mode rehabilitation robot realizes that six joints of patient's lower limb (left ankle-joint, left knee joint, left hip joint, right ankle-joint, right knee joint, right hip joint) are passive, power-assisted, initiatively, four kinds of training modes of damping:
(1) passive exercise pattern
The first drive motors 121 work, second clutch 112 is operated in engagement state, speed reduction gearing in knee hip joint motion drives axis 1 and rotates, the output torque of the first drive motors 121 is passed to connecting rod 2 reposefully, connecting rod 2 drives the nearly gait motion of patient's leg, thus rehabilitation training patient knee joint and hip joint.simultaneously, the second drive motors 122 work, three-clutch 113 is operated in engagement state, a left side in the ankle arthrosis motion, right transmission mechanism drives left, right sleeve 51, 52 rotate around axis 1, then by the output transmission mechanism, the output torque of the second drive motors 122 is passed to pedal 31 reposefully, pedal 31 is rotation in connecting rod 2 stomidiums together with pedal shaft 32, because the gear drive of Left Drive mechanism is the external toothing transmission, the belt wheel transmission of right transmission mechanism is interior engaged transmission, two sleeve rotation directions are just in time opposite, thereby two pedal 31 senses of rotation are opposite, the second drive motors often turns 180 ° oppositely, , pedal 31 drives patient's pin and does the motion of pin appearance, thereby rehabilitation training patient ankle arthrosis.Angle of rotation and the angle of revolving round the sun of the anthropomorphic ankle arthrosis motion of pedal 31 are controlled in real time by two drive motors.
(2) power-assisting training pattern
the first drive motors 121, the second drive motors 122 is in duty, second clutch 112, three-clutch 113 is operated in bonding state, detect the electromyographic signal of patient's lower limb nerve muscle, control the first drive motors 121, second removes the size and Orientation of the output torque of drive motors 122, speed reduction gearing in knee hip joint motion drives axis 1 and rotates, the output torque of the first drive motors 121 is passed to connecting rod 2 reposefully, connecting rod 2 applies and the consistent power of patient's leg attempt direction of motion, simultaneously, left and right transmission mechanism in the ankle arthrosis motion drives left, right sleeve 51, 52 rotate around axis 1, by the output transmission mechanism, the output torque of the second drive motors 122 is passed to pedal 31 reposefully, pedal 31 applies and the consistent power of patient's ankle attempt direction of motion, help patient's lower limb to carry out rehabilitation training.
(3) active training pattern
the first drive motors 121, the second drive motors 122 quits work, second clutch 112, three-clutch 113 is operated in released state, due to speed reduction gearing, Left Drive mechanism, right transmission mechanism, but all both forward and reverse directions transmissions of output transmission mechanism, the worm and gear of input driver structure adopts non-self-locking worm gear worm screw, the input driver structure also can the both forward and reverse directions transmission, axis 1 is in free rotary state, pedal 31 also is in free rotary state, at this moment, returning to a certain degree patient people's pin can be placed in and carry out the training of lower limb undamped initiative rehabilitation on pedal 31.
(4) damping training mode
In the active training pattern, magnetic powder brake 10 work, first clutch 111 is operated in engagement state, pedal 31 is free to rotate, by the size of current of controlling magnetic powder brake 10, thereby gear shaft 41 is applied resistance apart from regulating the moment of resistance of controlling axis 1, at this moment, returning to a certain degree patient people's pin can be placed in and carry out lower limb on pedal 31 the damping rehabilitation training is arranged.
The present invention is not limited to the above-mentioned specific embodiment; persons skilled in the art are according to content disclosed by the invention; can adopt other multiple specific embodiment to implement the present invention; therefore; every employing project organization of the present invention and thinking; do some simple designs that change or change, all fall into the scope of protection of the invention.
Claims (8)
1. lower limb multi-training mode rehabilitation robot is characterized in that: comprise pedal rotating mechanism, knee hip joint motion and ankle arthrosis motion,
Described pedal rotating mechanism comprises pedal (31) and pedal shaft (32), and pedal shaft (32) one ends are connected with pedal (31), and the other end is connected with the ankle arthrosis motion with knee hip joint motion, and described pedal rotating mechanism is two groups;
Described knee hip joint motion comprises axis (1), two connecting rods (2), first clutch (111), brake (10), speed reduction gearing, second clutch (112) and the first drive motors (121), one end of connecting rod (2) is fixedly connected with the end of axis (1), the other end has a stomidium, pedal shaft (32) passes stomidium and connecting rod (2) is flexibly connected, two connecting rods (2) structure is identical with connected mode, and the central point of axis (1) is arranged relatively; The input of speed reduction gearing is connected with brake (10) by first clutch (111), and described input also is connected with the first drive motors (121) by second clutch (112) simultaneously; The output of speed reduction gearing is fixedly connected with in the centre position with axis (1), and described speed reduction gearing can positive and negative both direction transmission;
described ankle arthrosis motion comprises left sleeve (51), right sleeve (52), input driver structure, Left Drive mechanism, right transmission mechanism, two groups of outputs transmission mechanism, three-clutch (113) and second drive motors (122), left and right sleeve (51,52) is placed in respectively axis (1) two ends and can rotates around axis (1), left sleeve (51) right-hand member is connected with the driven end of Left Drive mechanism, and left sleeve (51) left end is connected with the drive end of one group of output transmission mechanism, right sleeve (52) left end is connected with the driven end of right transmission mechanism, right sleeve (52) right-hand member is connected with the drive end of another group output transmission mechanism, a described left side, the transmission direction of right transmission mechanism is opposite, driven end while and the Left Drive mechanism of input driver structure, the drive end of right transmission mechanism connects, the drive end of input driver structure is connected with the second drive motors (122) by three-clutch (113), the driven end of output transmission mechanism is fixedly connected with the axle head of pedal shaft (32) away from pedal (31), described input driver structure, Left Drive mechanism, right transmission mechanism, two groups of output transmission mechanisms can both positive and negative both direction transmission.
2. lower limb multi-training mode rehabilitation robot according to claim 1, it is characterized in that: the gear drive that described speed reduction gearing is comprised of gear shaft (41) and the gear (42) of mutual external toothing and forming with sprocket transmission device that the intermeshing front sprocket wheel of driving-chain (45) (43) and rear sprocket wheel (44) form, the input of speed reduction gearing is gear shaft (41), output is rear sprocket wheel (44), gear shaft (41) left end is connected with brake (10) by first clutch (111), right-hand member is connected with the first drive motors (121) by second clutch (112), gear (42) is fixedly connected on same rear axle (14) with front sprocket wheel (43).
3. lower limb multi-training mode rehabilitation robot according to claim 1 and 2 is characterized in that: Left Drive mechanism is comprised of driven gear (62) and the driving gear (61) of mutual external toothing, right transmission mechanism is by forming with the first Timing Belt (65) the intermeshing first driven synchronous pulley (64) and the first active synchronization belt wheel (63), the input driver structure is comprised of intermeshing worm gear (72) and worm screw (71), driving gear (61), the first active synchronization belt wheel (63) and worm gear (72) are fixedly connected on same lower shaft (13), driving gear (61), the first active synchronization belt wheel (63) lays respectively at worm gear (72) both sides, worm screw (71) is connected with the second drive motors (122) by three-clutch (113), the second drive motors (122) often turns 180 ° oppositely, the output transmission mechanism is by forming with intermeshing the second active synchronization belt wheel (81) of the second Timing Belt (83) and the second driven synchronous pulley (82).
4. lower limb multi-training mode rehabilitation robot according to claim 1 and 2, it is characterized in that: described brake (10) is magnetic powder brake.
5. lower limb multi-training mode rehabilitation robot according to claim 1 is characterized in that: be provided with two axle head location divisions (15) on axis (1), described axle head location division (15) is comprised of locking back-up ring and the holding screw that screws in the locking back-up ring.
6. lower limb multi-training mode rehabilitation robot according to claim 5, it is characterized in that: left and right sleeve (51,52) is connected with axis (1) by bearing, bearing is positioned at sleeve two ends, wherein be used for the axial inner ring of left bearing (91) of location left sleeve (51) by location, axle head location division (15), the outer ring is by step location in left sleeve; The axial inner ring of right bearing (92) that is used for location left sleeve (51) is located by axis (1) step, the outer ring is by step location in left sleeve, the connection locate mode of right sleeve (52) and axis (1) and left sleeve (51) and axis (1) to be connected locate mode identical.
7. lower limb multi-training mode rehabilitation robot according to claim 1, it is characterized in that: pedal shaft (32) is connected with pedal (31) by flat key (33), holding screw (34), flat key (33) has connected radial location to this, and holding screw (34) has connected axial location to this.
8. lower limb multi-training mode rehabilitation robot according to claim 1, it is characterized in that: the gearratio of described speed reduction gearing is 8, and the gearratio of described left and right transmission mechanism is 1.5, the gearratio of described output transmission mechanism is 1.
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| CN 201110043360 CN102068367B (en) | 2011-02-21 | 2011-02-21 | Lower limb multi-training mode rehabilitation robot |
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| US6500094B1 (en) * | 2001-10-10 | 2002-12-31 | Unicorn Lake Enterprise Inc. | Electric rehabilitation treatment machine |
| CN2552524Y (en) * | 2002-06-04 | 2003-05-28 | 苏文正 | Electric pedal body-building apparatus |
| GB2397029A (en) * | 2003-01-09 | 2004-07-14 | Chin-Tsun Lee | Transmission for a motorised cycling exerciser |
| JP2006181114A (en) * | 2004-12-27 | 2006-07-13 | Daito Denki Kogyo Kk | Lower limb exercise assist device |
| CN101516315A (en) * | 2006-09-25 | 2009-08-26 | 松下电工株式会社 | Passive motion-type exercise assistance device |
| CN101461754A (en) * | 2007-12-17 | 2009-06-24 | 刘丽元 | Rehabilitation training device for lower limb arthrosis |
| US7662070B1 (en) * | 2008-08-14 | 2010-02-16 | Mann Michael N | Recumbent bicycle for disabled users |
| CN201624948U (en) * | 2010-01-26 | 2010-11-10 | 崔勤胜 | Hemiplegy rehabilitation machine |
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