CN102499854A - Parallel structure type ankle joint rehabilitation training device - Google Patents
Parallel structure type ankle joint rehabilitation training device Download PDFInfo
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- CN102499854A CN102499854A CN2011103696919A CN201110369691A CN102499854A CN 102499854 A CN102499854 A CN 102499854A CN 2011103696919 A CN2011103696919 A CN 2011103696919A CN 201110369691 A CN201110369691 A CN 201110369691A CN 102499854 A CN102499854 A CN 102499854A
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Abstract
The invention relates to a parallel structure type ankle joint rehabilitation training device, which comprises a thigh support, an inner thigh support rod, an outer thigh support rod, a shank connecting sleeve, a foot support plate, a base plate, a flexible first movement branch chain, a flexible second movement branch chain and a third movement branch chain. The upper ends of the first movement branch chain and the second movement branch chain are connected with the foot support plate through ball hinges, and the lower ends of the first movement branch chain and the second movement branch chain are connected with the base plate through hook hinges; and one end of the third movement branch chain can rotate around the extension direction of the third movement branch chain, and the upper end and the lower end of the third movement branch chain are respectively connected with the foot support plate and the base plate through hook hinges. The 2-UPS/UCU/S type parallel structure is adopted, three degrees of freedom of rotation can be provided, the center of rotation is the ankle joint, the dorsiflexion/plantar flexion, inward turning/outward turning and inward rotation/outward rotation of the ankle joint can be truly realized, and the bionic performance is good. Moreover, the device has a symmetric structure, and the movement can be realized easily.
Description
Technical field
What the present invention relates to is the device in a kind of rehabilitative engineering technology field, specifically is a kind of parallel-connection structure formula ankle joint rehabilitation training device.
Background technology
Annual all have a large amount of people in the world because reasons such as accident or disease cause physical disabilities or paralysis, loses normal ability to act.The clinical medicine experience shows that rehabilitation training correct, science recovers extremity motor function and improves and can play important effect.At present, limb rehabilitation training mainly is the joint motions realization through special and professional care personnel manual simulation patient limbs, and this method is higher to special and professional care personnel's competency profiling; Special and professional care personnel's labor intensity is bigger; For patients, medical expense is high, and motility is relatively poor.In order to address this problem, various active rehabilitation equipments are designed and develop, to improve effectiveness, the motility and comprehensive of rehabilitation training.
What the present invention was primarily aimed at is the rehabilitation training equipment of ankle joint.Can know that by human anatomy ankle joint can be considered the sphere joint of rotating around fixed point, can realize the back of the body stretch/sole of the foot bends, in turn over/turn up, three kinds of motions of internal/external rotations.At present the primary structure form of ankle joint rehabilitation training device is the turning joint of single-degree-of-freedom, only realize that the back of the body of ankle joint is stretched/and the sole of the foot bends motion, is difficult to satisfy the requirement of the comprehensive rehabilitation training of ankle joint.Retrieval through to existing correlation technique document is found; One Chinese patent application number is: 200810034002.7; Name is called " parallel type multi-freedom artificial limb exoskeleton ankle joint "; Though this exoskeleton ankle joint has adopted multiple freedom parallel mechanism, 3-RPS type parallel institution only can be realized the rotation of both direction, and center of rotation is unfixing.One Chinese patent application number is: 200820073836.4; Name is called " a kind of robot for rehabilitation of anklebone "; Though this robot for rehabilitation of anklebone has adopted the parallel institution with three rotational freedoms; But its fixed center of rotation does not overlap with ankle joint, therefore is difficult to effectively realize the rehabilitation training of ankle joint.One Chinese patent application number is: 201010600198.9, name is called " parallel ankle joint rehabilitation training device ", the center of rotation of this recovery training appliance for recovery overlaps with ankle joint, but only realize carrying on the back stretch/sole of the foot is in the wrong, in turn over/turn up motion, so rehabilitation training is not comprehensive.
Summary of the invention
The objective of the invention is to overcome the above-mentioned shortcoming that exists in the prior art; A kind of multiple degrees of freedom ankle joint rehabilitation training device is provided; Can satisfy the needs that three directions of ankle joint are rotated, and center of rotation overlaps with ankle joint, provide active drive help patient to carry out ankle joint rehabilitation training.
The present invention realizes through following technical scheme: a kind of parallel-connection structure formula ankle joint rehabilitation training device; Comprise: bar, the outer bar of thigh supporting seat, shank adapter sleeve, vola gripper shoe, substrate in thigh supporting seat, the thigh supporting seat; Wherein, the outer bar of thigh supporting seat is fixedly connected with substrate; The thigh supporting seat is fixedly connected with the interior bar of thigh supporting seat, and bar is connected on the outer bar of said thigh supporting seat in the thigh supporting seat; The shank adapter sleeve is fixedly connected with the outer bar of thigh supporting seat; It is characterized in that; Also comprise first movement branched chain and second movement branched chain that length can be stretched; Said first movement branched chain all is connected with the vola gripper shoe through ball pivot with the upper end of second movement branched chain, and first movement branched chain all is connected with substrate through Hooke's hinge with the lower end of second movement branched chain; And the 3rd movement branched chain, an end of said the 3rd movement branched chain can be around self bearing of trend revolution, and the upper end of said the 3rd movement branched chain and lower end are connected with vola gripper shoe and substrate through Hooke's hinge respectively.
Preferably, the outer bar of bar and said thigh supporting seat is slidingly connected in the said thigh supporting seat, and lock-screw is fixedly connected the outer bar of bar in the said thigh supporting seat and said thigh supporting seat.
Preferably; Described first movement branched chain comprises: first expansion link, first linear bearing, first outer sleeve, first ball-screw, first ball nut, clutch shaft bearing seat, clutch shaft bearing, the first leading screw synchronous pulley, first branch sleeve, the first Hooke's hinge output shaft, the first Hooke's hinge fixed pedestal, first synchronous cog belt, the first motor synchronous belt wheel, first connecting plate for electric motor, first servomotor, first feather key; Wherein: it is inner that first expansion link is socketed in first linear bearing, and first linear bearing is installed on first outer sleeve upper end; The first expansion link lower end also is fixedly connected with first ball nut, and the first ball nut thread bush is connected on first ball-screw, and first ball nut also is fixedly connected first feather key and first outer sleeve inwall slip setting with first feather key; The first ball-screw lower end is supported on the clutch shaft bearing seat through clutch shaft bearing; The clutch shaft bearing seat is fixed in the first outer sleeve lower end; The first leading screw synchronous pulley is installed on the first ball-screw lower end; The first leading screw synchronous pulley is connected with the first motor synchronous belt wheel through first synchronous cog belt; The first motor synchronous belt wheel is installed on the output shaft of first servomotor, and first servomotor is fixedly connected with first outer sleeve through first connecting plate for electric motor, and first outer sleeve, first connecting plate for electric motor are fixedly connected with the first Hooke's hinge output shaft through first branch sleeve; The first Hooke's hinge output shaft is rotatably connected on the first Hooke's hinge fixed pedestal, and the first Hooke's hinge fixed pedestal is fixed on the substrate.Described second movement branched chain is identical with the first movement branched chain structure.
Preferably; Described the 3rd movement branched chain comprises: Hooke's hinge on the 3rd, the 3rd expansion link, the 3rd linear bearing, the 3rd outer sleeve, gyroaxis, the 3rd bearing block, the 3rd bearing, gyroaxis synchronous pulley, the 3rd branch sleeve, the 3rd time Hooke's hinge output shaft, the 3rd time Hooke's hinge fixed pedestal, the 3rd synchronous cog belt, the 3rd motor synchronous belt wheel, the 3rd connecting plate for electric motor, the 3rd servomotor; Wherein: it is inner that the 3rd expansion link is socketed in the 3rd linear bearing, and the 3rd linear bearing is installed on the 3rd outer sleeve upper end; The prismatic pair socket is also passed through with gyroaxis in the 3rd expansion link lower end; Revolution shaft lower end passes through the 3rd bearings on the 3rd bearing block; The 3rd bearing block is fixed in the 3rd outer sleeve lower end; The gyroaxis synchronous pulley is installed on revolution shaft lower end; The gyroaxis synchronous pulley is connected with the 3rd motor synchronous belt wheel through the 3rd synchronous cog belt; The 3rd motor synchronous belt wheel is installed on the output shaft of the 3rd servomotor, and the 3rd servomotor is fixedly connected with the 3rd outer sleeve through the 3rd connecting plate for electric motor, and the 3rd outer sleeve, the 3rd connecting plate for electric motor are fixedly connected with the 3rd time Hooke's hinge output shaft through the 3rd branch sleeve; The upper end of the 3rd expansion link is hinged with the vola gripper shoe through tiger hinge on the 3rd; The 3rd time Hooke's hinge output shaft is rotatably connected on the 3rd time Hooke's hinge fixed pedestal, and the 3rd time the Hooke's hinge fixed pedestal is fixed on the substrate.
The present invention adopts 2-UPS/UCU/S type parallel institution, has three rotational freedoms, and its center of rotation is ankle joint, really realize the ankle joint back of the body stretch/sole of the foot bends, in turn over/turn up, three kinds of motions of internal/external rotations, bio-imitability is high; Symmetrical configuration, motion realization is simple.
Description of drawings
Fig. 1 is an overall structure sketch map of the present invention;
Fig. 2 is the structural representation of first movement branched chain;
Fig. 3 is the structural representation of the 3rd movement branched chain;
Fig. 4 is equivalent 2-UPS/UCU/S type parallel principle figure of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
As shown in Figure 1; Present embodiment comprises: bar 2 in the thigh supporting seat 1, thigh supporting seat, lock-screw 3, the outer bar 4 of thigh supporting seat, shank adapter sleeve 10, vola gripper shoe 9, first movement branched chain 7, second movement branched chain 8, the 3rd movement branched chain 6, substrate 5, and wherein: the outer bar 4 of thigh supporting seat is fixedly connected with substrate 5; Thigh supporting seat 1 is fixedly connected with the interior bar 2 of thigh supporting seat; Bar 2 is slidingly connected with the outer bar 4 of said thigh supporting seat in the thigh supporting seat; Particularly, bar 2 stretches in the bar 4 the thigh supporting seat outside adjusting suitable thigh bearing height in the thigh supporting seat, and is locked through lock-screw 3; Shank adapter sleeve 10 is fixedly connected with the outer bar 4 of thigh supporting seat; The upper end of first movement branched chain 7, second movement branched chain 8 and the 3rd movement branched chain 6 that length can be stretched all is connected with vola gripper shoe 9, and the lower end of first movement branched chain 7, second movement branched chain 8 and the 3rd movement branched chain 9 all is connected with substrate 5.
First movement branched chain 7 as shown in Figure 2, the left side is the upper end of first movement branched chain 7 among the figure.Described first movement branched chain 7 comprises: first expansion link 11, first linear bearing 12, first outer sleeve 13, first ball-screw 14, first ball nut 15, clutch shaft bearing seat 16, clutch shaft bearing 17, the first leading screw synchronous pulley 18, first branch sleeve 19, the first Hooke's hinge output shaft 20, the first Hooke's hinge fixed pedestal 21, first synchronous cog belt 22, the first motor synchronous belt wheel 23, first connecting plate for electric motor 24, first servomotor 25, first feather key 26; Wherein: first expansion link 11 is socketed in first linear bearing, 12 inside, and first linear bearing 12 is installed on first outer sleeve, 13 upper ends; First expansion link, 11 lower ends also are fixedly connected with first ball nut 15; First ball nut, 15 thread bush are connected on first ball-screw 14; And first ball nut 15 is fixedly connected with first feather key 26; First feather key 26 and first outer sleeve, 13 inwalls slide and are provided with, and then first ball nut 15 also slides with first outer sleeve, 13 inwalls and is provided with; First ball-screw, 14 lower ends are supported on the clutch shaft bearing seat 16 through clutch shaft bearing 17; Clutch shaft bearing seat 16 is fixed in first outer sleeve, 13 lower ends; The first leading screw synchronous pulley 18 is installed on first ball-screw, 14 lower ends; The first leading screw synchronous pulley 18 is connected with the first motor synchronous belt wheel 23 through first synchronous cog belt 22; The first motor synchronous belt wheel 23 is installed on the output shaft of first servomotor 25, and first servomotor 25 is fixedly connected with first outer sleeve 13 through first connecting plate for electric motor 24, and first outer sleeve 13, first connecting plate for electric motor 24 pass through first branch sleeve 19 and be fixedly connected with the first Hooke's hinge output shaft 20.The upper end of first expansion link 11 is hinged with vola gripper shoe 9 through first ball pivot 43; The first Hooke's hinge output shaft 20 is rotatably connected on the first Hooke's hinge fixed pedestal 21, and the first Hooke's hinge fixed pedestal 21 is fixed on the substrate 5.
Described second movement branched chain 8 is identical with first movement branched chain, 7 structures, and the upper end of second movement branched chain 8 is 9 hinged through second ball pivot 45 and vola gripper shoe, the lower end is fixed on the substrate 5 through the second Hooke's hinge fixed pedestal 44.
The 3rd movement branched chain 6 as shown in Figure 3, the right side is the upper end of first movement branched chain 6 among the figure.Described the 3rd movement branched chain 6 comprises: Hooke's hinge 27 on the 3rd, the 3rd expansion link 28, the 3rd linear bearing 29, the 3rd outer sleeve 30, gyroaxis 31, the 3rd bearing block 32, the 3rd bearing 33, gyroaxis synchronous pulley 34, the 3rd branch sleeve 35, the 3rd time Hooke's hinge output shaft 36, the 3rd time Hooke's hinge fixed pedestal 37, the 3rd synchronous cog belt 38, the 3rd motor synchronous belt wheel 39, the 3rd connecting plate for electric motor 40, the 3rd servomotor 41; Wherein: the 3rd expansion link 28 is socketed in the 3rd linear bearing 29 inside, and the 3rd linear bearing 29 is installed on the 3rd outer sleeve 30 upper ends; The prismatic pair socket is also passed through with gyroaxis 31 in the 3rd expansion link 28 lower ends; Gyroaxis 31 lower ends are supported on the 3rd bearing block 32 through the 3rd bearing 33; The 3rd bearing block 32 is fixed in the 3rd outer sleeve 30 lower ends; Gyroaxis synchronous pulley 34 is installed on gyroaxis 31 lower ends; Gyroaxis synchronous pulley 34 is connected with the 3rd motor synchronous belt wheel 39 through the 3rd synchronous cog belt 38; The 3rd motor synchronous belt wheel 39 is installed on the output shaft of the 3rd servomotor 41, and the 3rd servomotor 41 is fixedly connected with the 3rd outer sleeve 30 through the 3rd connecting plate for electric motor 40, and the 3rd outer sleeve 30, the 3rd connecting plate for electric motor 40 pass through the 3rd branch sleeve 35 and be fixedly connected with the 3rd time Hooke's hinge output shaft 36.The upper end of the 3rd expansion link 28 is hinged with vola gripper shoe 9 through tiger hinge 27 on the 3rd; The 3rd time Hooke's hinge output shaft 36 is rotatably connected on the 3rd time Hooke's hinge fixed pedestal 37, and the 3rd time Hooke's hinge fixed pedestal 37 is fixed on the substrate 5.
Said first movement branched chain 7, second movement branched chain 8, the 3rd movement branched chain 6 are hinged with vola gripper shoe 9 through Hooke's hinge 27 on first ball pivot 43, second ball pivot 45, the 3rd respectively.
Said first movement branched chain 7, second movement branched chain 8, the 3rd movement branched chain 6 are fixedly connected with substrate 5 through the first Hooke's hinge fixed pedestal 21 (42), the second Hooke's hinge fixed pedestal 44, the 3rd time Hooke's hinge fixed pedestal 37 respectively.
Present embodiment is through adopting said structure; Form 2-UPS/UCU/S type parallel institution (U-Hooke's hinge wherein; The P-moving sets, S-ball pivot, C-cylindrical pair); Its equivalent structure sketch map is as shown in Figure 4, and the lower end of first movement branched chain 7, second movement branched chain 8, the 3rd movement branched chain 6 links to each other with silent flatform through Hooke's hinge at a B1, B2, B3 place; First movement branched chain 7, second movement branched chain, 8 upper ends link to each other with moving platform through ball pivot at a P1, P2 place, and the 3rd movement branched chain 6 upper ends are passed through Hooke's hinge at the O point and linked to each other with moving platform; First movement branched chain 7, second movement branched chain 8 itself form moving sets, and 6 of the 3rd movement branched chain are as cylindrical pair; Can between moving platform and silent flatform, form equivalent ball-joint 46 (being so-called 2-UPS/UCU/S) through above-mentioned 3 nested structures, ball pivot 46 is the constraint hinge between silent flatform and the moving platform, i.e. moving platform silent flatform rotation relatively.Length through changing three movement branched chain produces the motion with respect to silent flatform to drive moving platform, and under the constraint of ball pivot 46, moving platform can be realized the rotation around x axle, y axle and z axle.Present embodiment is elected silent flatform as substrate 5; Moving platform is elected vola gripper shoe 9 as; And constraint ball pivot 46 is elected trainer's ankle joint as, thus moving platform around the rotation of ball pivot 46 just equivalence stretch for the back of the body of ankle joint/sole of the foot is in the wrong, in turn over/turn up, three kinds of motions of internal/external rotations.
During present embodiment work, the trainer is sitting posture, and thigh is placed on the thigh supporting seat 1, and foot is positioned over vola gripper shoe 9, and shank is connected with shank adapter sleeve 10.For first movement branched chain, second movement branched chain, drive ball-screw by servomotor through motor synchronous belt wheel and leading screw synchronous pulley and rotate, and then realize that ball nut and expansion link produce the stretching motion with respect to outer sleeve; For the 3rd movement branched chain, drive gyroaxis and expansion link rotation by servomotor through motor synchronous belt wheel and gyroaxis synchronous pulley, and then realize the revolution of moving platform through last Hooke's hinge.When whole recovery training appliance for recovery is carried out motor control; Ball pivot 46 is based upon trainer's ankle; For each trainer, need concrete its physique parameter of measuring just can obtain the position of its ankle joint, thereby set up ball pivot 46 with respect to vola gripper shoe 9.Under the constraint of ankle joint, when first movement branched chain, when the flexible direction of second movement branched chain is identical, the back of the body that produces ankle joint is stretched/sole of the foot motion in the wrong; Flexible when in the opposite direction when first movement branched chain, second movement branched chain, produce ankle joint in turn over/turn up motion; When the 3rd movement branched chain is turned round, produce the internal/external rotations motion of ankle joint.
The ankle joint rehabilitation training device of present embodiment is owing to can realize three rotations; And center of rotation overlaps with ankle joint; Thereby the back of the body that can the realistic simulation ankle joint stretch/sole of the foot bends, in turn over/turn up, the internal/external rotations motion, improved the comprehensive and effectiveness of ankle joint rehabilitation training.First movement branched chain, second movement branched chain are in a symmetrical arrangement, can realize three kinds of motions with simple mode.
Though the present invention with preferred embodiment openly as above; But it is not to be used for limiting claim; Any those skilled in the art are not breaking away from the spirit and scope of the present invention; Can make possible change and modification, so protection scope of the present invention should be as the criterion with the scope that claim of the present invention was defined.
Claims (5)
1. parallel-connection structure formula ankle joint rehabilitation training device comprises: bar, the outer bar of thigh supporting seat, shank adapter sleeve, vola gripper shoe, substrate in thigh supporting seat, the thigh supporting seat, and wherein, the outer bar of thigh supporting seat is fixedly connected with substrate; The thigh supporting seat is fixedly connected with the interior bar of thigh supporting seat, and bar is connected on the outer bar of said thigh supporting seat in the thigh supporting seat; The shank adapter sleeve is fixedly connected with the outer bar of thigh supporting seat; It is characterized in that; Also comprise first movement branched chain and second movement branched chain that length can be stretched; Said first movement branched chain all is connected with the vola gripper shoe through ball pivot with the upper end of second movement branched chain, and first movement branched chain all is connected with substrate through Hooke's hinge with the lower end of second movement branched chain; And the 3rd movement branched chain, an end of said the 3rd movement branched chain can be around self bearing of trend revolution, and the upper end of said the 3rd movement branched chain and lower end are connected with vola gripper shoe and substrate through Hooke's hinge respectively.
2. parallel-connection structure formula ankle joint rehabilitation training device as claimed in claim 1; It is characterized in that: the outer bar of bar and said thigh supporting seat is slidingly connected in the said thigh supporting seat, and lock-screw is fixedly connected the outer bar of bar in the said thigh supporting seat and said thigh supporting seat.
3. parallel-connection structure formula ankle joint rehabilitation training device as claimed in claim 1; It is characterized in that: described first movement branched chain comprises: first expansion link, first linear bearing, first outer sleeve, first ball-screw, first ball nut, clutch shaft bearing seat, clutch shaft bearing, the first leading screw synchronous pulley, first branch sleeve, the first Hooke's hinge output shaft, the first Hooke's hinge fixed pedestal, first synchronous cog belt, the first motor synchronous belt wheel, first connecting plate for electric motor, first servomotor, first feather key; Wherein: it is inner that first expansion link is socketed in first linear bearing, and first linear bearing is installed on first outer sleeve upper end; The first expansion link lower end also is fixedly connected with first ball nut, and the first ball nut thread bush is connected on first ball-screw, and first ball nut also is fixedly connected first feather key and first outer sleeve inwall slip setting with first feather key; The first ball-screw lower end is supported on the clutch shaft bearing seat through clutch shaft bearing; The clutch shaft bearing seat is fixed in the first outer sleeve lower end; The first leading screw synchronous pulley is installed on the first ball-screw lower end; The first leading screw synchronous pulley is connected with the first motor synchronous belt wheel through first synchronous cog belt; The first motor synchronous belt wheel is installed on the output shaft of first servomotor, and first servomotor is fixedly connected with first outer sleeve through first connecting plate for electric motor, and first outer sleeve, first connecting plate for electric motor are fixedly connected with the first Hooke's hinge output shaft through first branch sleeve; The first Hooke's hinge output shaft is rotatably connected on the first Hooke's hinge fixed pedestal, and the first Hooke's hinge fixed pedestal is fixed on the substrate.
4. parallel-connection structure formula ankle joint rehabilitation training device as claimed in claim 3 is characterized in that: described second movement branched chain is identical with the first movement branched chain structure.
5. parallel-connection structure formula ankle joint rehabilitation training device as claimed in claim 1; It is characterized in that: described the 3rd movement branched chain comprises: Hooke's hinge on the 3rd, the 3rd expansion link, the 3rd linear bearing, the 3rd outer sleeve, gyroaxis, the 3rd bearing block, the 3rd bearing, gyroaxis synchronous pulley, the 3rd branch sleeve, the 3rd time Hooke's hinge output shaft, the 3rd time Hooke's hinge fixed pedestal, the 3rd synchronous cog belt, the 3rd motor synchronous belt wheel, the 3rd connecting plate for electric motor, the 3rd servomotor; Wherein: it is inner that the 3rd expansion link is socketed in the 3rd linear bearing, and the 3rd linear bearing is installed on the 3rd outer sleeve upper end; The prismatic pair socket is also passed through with gyroaxis in the 3rd expansion link lower end; Revolution shaft lower end passes through the 3rd bearings on the 3rd bearing block; The 3rd bearing block is fixed in the 3rd outer sleeve lower end; The gyroaxis synchronous pulley is installed on revolution shaft lower end; The gyroaxis synchronous pulley is connected with the 3rd motor synchronous belt wheel through the 3rd synchronous cog belt; The 3rd motor synchronous belt wheel is installed on the output shaft of the 3rd servomotor, and the 3rd servomotor is fixedly connected with the 3rd outer sleeve through the 3rd connecting plate for electric motor, and the 3rd outer sleeve, the 3rd connecting plate for electric motor are fixedly connected with the 3rd time Hooke's hinge output shaft through the 3rd branch sleeve; The upper end of the 3rd expansion link is hinged with the vola gripper shoe through tiger hinge on the 3rd; The 3rd time Hooke's hinge output shaft is rotatably connected on the 3rd time Hooke's hinge fixed pedestal, and the 3rd time the Hooke's hinge fixed pedestal is fixed on the substrate.
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| CN201110369691.9A CN102499854B (en) | 2011-11-18 | 2011-11-18 | Parallel structure type ankle joint rehabilitation training device |
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Cited By (17)
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| CN103816028A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Active and passive ankle joint combination training rehabilitation system |
| CN103961240A (en) * | 2014-05-16 | 2014-08-06 | 哈尔滨工程大学 | Ankle foot rehabilitation training device and balance training system |
| CN105030479A (en) * | 2015-07-10 | 2015-11-11 | 哈尔滨天愈康复医疗机器人有限公司 | Ankle rehabilitation robot based on three-freedom-degree parallel mechanism |
| CN105342804A (en) * | 2015-07-26 | 2016-02-24 | 广东铭凯医疗机器人有限公司 | Internal and external ankle rotation rehabilitation training apparatus integrating training and motion state detections |
| CN105476819A (en) * | 2016-01-16 | 2016-04-13 | 北京工业大学 | Ankle joint rehabilitation mechanism with driving branch chains arranged obliquely |
| CN105997439A (en) * | 2016-07-26 | 2016-10-12 | 郑州轻工业学院 | Three-freedom-degree angle joint recovery assisting device controlled by electromyographic signals and provided with sphere pairs |
| 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 |
| CN108542703A (en) * | 2018-03-05 | 2018-09-18 | 北京工业大学 | A kind of double UPS types ankle joint rehabilitation devices |
| CN109875837A (en) * | 2019-03-06 | 2019-06-14 | 西安石油大学 | A kind of platform-type lower limb rehabilitation robot in vola based on parallel institution |
| CN110711109A (en) * | 2019-09-24 | 2020-01-21 | 燕山大学 | Metamorphic parallel mechanism suitable for ankle joint rehabilitation |
| CN111759680A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Robot for training human ankle joint |
| CN111759677A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Leg joint rehabilitation series-parallel robot |
| CN111789741A (en) * | 2020-06-23 | 2020-10-20 | 华南师范大学 | Intelligent voice control arm rehabilitation training device |
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| CN112353643A (en) * | 2020-11-11 | 2021-02-12 | 武汉轻工大学 | Ankle joint rehabilitation device |
| CN114310849A (en) * | 2022-01-19 | 2022-04-12 | 燕山大学 | Two-rotation two-movement parallel mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN103961240A (en) * | 2014-05-16 | 2014-08-06 | 哈尔滨工程大学 | Ankle foot rehabilitation training device and balance training system |
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| CN105030479A (en) * | 2015-07-10 | 2015-11-11 | 哈尔滨天愈康复医疗机器人有限公司 | Ankle rehabilitation robot based on three-freedom-degree parallel mechanism |
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| CN105476819A (en) * | 2016-01-16 | 2016-04-13 | 北京工业大学 | Ankle joint rehabilitation mechanism with driving branch chains arranged obliquely |
| 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 |
| CN105997439B (en) * | 2016-07-26 | 2018-09-21 | 郑州轻工业学院 | The three-degree of freedom ankle joint auxiliary rehabilitation device with ball pair of electromyography signal control |
| CN105997439A (en) * | 2016-07-26 | 2016-10-12 | 郑州轻工业学院 | Three-freedom-degree angle joint recovery assisting device controlled by electromyographic signals and provided with sphere pairs |
| 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 |
| CN108542703A (en) * | 2018-03-05 | 2018-09-18 | 北京工业大学 | A kind of double UPS types ankle joint rehabilitation devices |
| CN109875837A (en) * | 2019-03-06 | 2019-06-14 | 西安石油大学 | A kind of platform-type lower limb rehabilitation robot in vola based on parallel institution |
| CN110711109A (en) * | 2019-09-24 | 2020-01-21 | 燕山大学 | Metamorphic parallel mechanism suitable for ankle joint rehabilitation |
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| CN111759677A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Leg joint rehabilitation series-parallel robot |
| CN111759680A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Robot for training human ankle joint |
| CN112353643A (en) * | 2020-11-11 | 2021-02-12 | 武汉轻工大学 | Ankle joint rehabilitation device |
| CN112155949A (en) * | 2020-11-13 | 2021-01-01 | 宜春学院 | Stretching equipment for outdoor exercises |
| CN114310849A (en) * | 2022-01-19 | 2022-04-12 | 燕山大学 | Two-rotation two-movement parallel mechanism |
| CN114732675A (en) * | 2022-05-10 | 2022-07-12 | 哈尔滨工业大学 | Rehabilitation robot for assisting in resetting ankle joint |
| CN114732675B (en) * | 2022-05-10 | 2024-02-09 | 哈尔滨工业大学 | Ankle joint auxiliary resetting rehabilitation robot |
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