CN102499854B - Parallel structure type ankle joint rehabilitation training device - Google Patents
Parallel structure type ankle joint rehabilitation training device Download PDFInfo
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- CN102499854B CN102499854B CN201110369691.9A CN201110369691A CN102499854B CN 102499854 B CN102499854 B CN 102499854B CN 201110369691 A CN201110369691 A CN 201110369691A CN 102499854 B CN102499854 B CN 102499854B
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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 a kind of parallel structure type ankle joint rehabilitation training device.
Background technology
Annual have a large amount of people in the world because the reasons such as accident or disease cause physical disabilities or paralysis, loses normal ability to act.Clinical medicine experience shows, rehabilitation training correct, science recovers extremity motor function and improves and can play very important effect.At present, limb rehabilitation training is mainly that the joint motions by special and professional care personnel manual simulation limbs of patient realize, and this method is higher to special and professional care personnel's competency profiling, special and professional care personnel's labor intensity is larger, for patients, medical expense is high, and motility is poor.In order to address this problem, various active rehabilitation equipments are designed to develop, to improve effectiveness, the motility and comprehensive of rehabilitation training.
The present invention mainly for be the rehabilitation training equipment of ankle joint.From human anatomy, ankle joint can be considered the spherical joint of rotation round a fixed point, can realize the back of the body stretch/plantar flexion, in turn over/turn up, three kinds of motions of internal/external rotations.The turning joint that the primary structure form of ankle joint rehabilitation training device is single-degree-of-freedom at present, the motion of stretch/plantar flexion of the back of the body of only realizing ankle joint, is difficult to meet the requirement of the comprehensive rehabilitation training of ankle joint.Through the retrieval of existing correlation technique document is found, Chinese Patent Application No. is: 200810034002.7, name is called " parallel type multi-freedom artificial limb exoskeleton ankle joint ", although this exoskeleton ankle joint has adopted multiple freedom parallel mechanism, but 3-RPS type parallel institution only can be realized the rotation of both direction, and center of rotation is unfixing.Chinese Patent Application No. is: 200820073836.4, name is called " a kind of robot for rehabilitation of anklebone ", although this robot for rehabilitation of anklebone has adopted the parallel institution with three rotational freedoms, but its fixing center of rotation does not overlap with ankle joint, be therefore difficult to effectively realize the rehabilitation training of ankle joint.Chinese Patent Application No. is: 201010600198.9, name is called " parallel type ankle rehabilitation training apparatus ", the center of rotation of this recovery training appliance for recovery overlaps with ankle joint, but only realization carry on the back stretch/plantar flexion, in turn over/turn up motion, so rehabilitation training is not comprehensive.
Summary of the invention
The object of the invention is to overcome the above-mentioned shortcoming existing in prior art, a kind of multiple degrees of freedom ankle joint rehabilitation training device is provided, can meet 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 is achieved by the following technical solutions: a kind of parallel structure type 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, thigh supporting seat, wherein, the outer bar of thigh supporting seat is fixedly connected with substrate; Thigh supporting seat is fixedly connected with bar in thigh supporting seat, and in thigh supporting seat, bar is connected on the outer bar of described thigh supporting seat; Shank adapter sleeve is fixedly connected with the outer bar of thigh supporting seat, it is characterized in that, also comprise the first movement branched chain and the second movement branched chain that length can be stretched, described the first movement branched chain is all connected with vola gripper shoe by ball pivot with the upper end of the second movement branched chain, and the first movement branched chain is all connected with substrate by Hooke's hinge with the lower end of the second movement branched chain; And the 3rd movement branched chain, one end of described the 3rd movement branched chain can be around self bearing of trend revolution, and the upper end of described the 3rd movement branched chain and lower end are connected with vola gripper shoe and substrate by Hooke's hinge respectively.
Preferably, in described thigh supporting seat, the outer bar of bar and described thigh supporting seat is slidably connected, and lock-screw is fixedly connected with the outer bar of bar in described thigh supporting seat and described thigh supporting seat.
Preferably, the first described movement branched chain comprises: the first expansion link, the first linear bearing, the first outer sleeve, the first ball-screw, the first ball nut, clutch shaft bearing seat, clutch shaft bearing, the first screw synchronous belt wheel, the first branch sleeve, the first Hooke's hinge output shaft, the first Hooke's hinge fixed pedestal, the first synchronous cog belt, the first motor synchronous belt wheel, the first connecting plate for electric motor, the first servomotor, the first feather key, wherein: it is inner that the first expansion link is socketed in the first linear bearing, and the first linear bearing is installed on the first outer sleeve upper end; The first expansion link lower end is also fixedly connected with the first ball nut, and the first ball nut thread bush is connected on the first ball-screw, and the first ball nut is also fixedly connected with the first feather key, and the first feather key and the first outer sleeve inwall slide and arrange; The first ball-screw lower end is supported on clutch shaft bearing seat by clutch shaft bearing, clutch shaft bearing seat is fixed on the first outer sleeve lower end, the first screw synchronous belt wheel is installed on the first ball-screw lower end, the first screw synchronous belt wheel is connected with the first motor synchronous belt wheel by the first synchronous cog belt, the first motor synchronous belt wheel is installed on the output shaft of the first servomotor, the first servomotor is fixedly connected with the first outer sleeve by the first connecting plate for electric motor, and the first outer sleeve, the first connecting plate for electric motor are fixedly connected with the first Hooke's hinge output shaft by the first branch sleeve; The first Hooke's hinge output shaft rotation is connected on the first Hooke's hinge fixed pedestal, and the first Hooke's hinge fixed pedestal is fixed on substrate.The second described movement branched chain is identical with the first movement branched chain structure.
Preferably, the 3rd described 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 3rd expansion link lower end is also socketed by prismatic pair with gyroaxis; Revolution shaft lower end passes through the 3rd bearings on the 3rd bearing block, the 3rd bearing block is fixed on the 3rd outer sleeve lower end, gyroaxis synchronous pulley is installed on revolution shaft lower end, gyroaxis synchronous pulley is connected with the 3rd motor synchronous belt wheel by the 3rd synchronous cog belt, the 3rd motor synchronous belt wheel is installed on the output shaft of the 3rd servomotor, the 3rd servomotor is fixedly connected with the 3rd outer sleeve by 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 by the 3rd branch sleeve; The upper end of the 3rd expansion link is passed through tiger on the 3rd and is cut with scissors with vola gripper shoe hinged; The 3rd time Hooke's hinge output shaft rotation is connected on the 3rd time Hooke's hinge fixed pedestal, and the 3rd time Hooke's hinge fixed pedestal is fixed on 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 stretch/plantar flexion of the ankle joint back of the body, in turn over/turn up, three kinds of motions of internal/external rotations, bio-imitability is high; Symmetrical configuration, motion realizes simple.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the structural representation of the 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, the present embodiment is implemented take technical solution of the present invention under prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the present embodiment comprises: bar 2, lock-screw 3, the outer bar 4 of thigh supporting seat, shank adapter sleeve 10, vola gripper shoe 9, the first movement branched chain 7, the second movement branched chain 8, the 3rd movement branched chain 6, substrate 5 in thigh supporting seat 1, thigh supporting seat, wherein: the outer bar 4 of thigh supporting seat is fixedly connected with substrate 5; Thigh supporting seat 1 is fixedly connected with bar 2 in thigh supporting seat, in thigh supporting seat, bar 2 is slidably connected with the outer bar 4 of described thigh supporting seat, particularly, in thigh supporting seat, bar 2 is flexible to adjust suitable thigh bearing height in bar 4 outside thigh supporting seat, and is locked by lock-screw 3; Shank adapter sleeve 10 is fixedly connected with the outer bar 4 of thigh supporting seat; Jun Yu vola, the upper end gripper shoe 9 of the first movement branched chain 7, the second movement branched chain 8 and the 3rd movement branched chain 6 that length can be stretched connects, and the lower end of the first movement branched chain 7, the second movement branched chain 8 and the 3rd movement branched chain 9 is all connected with substrate 5.
The first movement branched chain 7 as shown in Figure 2, in figure, left side is the upper end of the first movement branched chain 7.The first described movement branched chain 7 comprises: the first expansion link 11, the first linear bearing 12, the first outer sleeve 13, the first ball-screw 14, the first ball nut 15, clutch shaft bearing seat 16, clutch shaft bearing 17, the first screw synchronous belt wheel 18, the first branch sleeve 19, the first Hooke's hinge output shaft 20, the first Hooke's hinge fixed pedestal 21, the first synchronous cog belt 22, the first motor synchronous belt wheel 23, the first connecting plate for electric motor 24, the first servomotor 25, the first feather key 26, wherein: the first expansion link 11 is socketed in the first linear bearing 12 inside, the first linear bearing 12 is installed on the first outer sleeve 13 upper ends, the first expansion link 11 lower ends are also fixedly connected with the first ball nut 15, the first ball nut 15 thread bush are connected on the first ball-screw 14, and the first ball nut 15 is fixedly connected with the first feather key 26, the first feather key 26 and the first outer sleeve 13 inwalls slide and arrange, and the first ball nut 15 also slides and arranges with the first outer sleeve 13 inwalls, the first ball-screw 14 lower ends are supported on clutch shaft bearing seat 16 by clutch shaft bearing 17, clutch shaft bearing seat 16 is fixed on the first outer sleeve 13 lower ends, the first screw synchronous belt wheel 18 is installed on the first ball-screw 14 lower ends, the first screw synchronous belt wheel 18 is connected with the first motor synchronous belt wheel 23 by the first synchronous cog belt 22, the first motor synchronous belt wheel 23 is installed on the output shaft of the first servomotor 25, the first servomotor 25 is fixedly connected with the first outer sleeve 13 by the first connecting plate for electric motor 24, the first outer sleeve 13, the first connecting plate for electric motor 24 is fixedly connected with the first Hooke's hinge output shaft 20 by the first branch sleeve 19.The upper end of the first expansion link 11 is hinged with vola gripper shoe 9 by the 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 substrate 5.
The second described movement branched chain 8 is identical with the first movement branched chain 7 structures, and the upper end of the second movement branched chain 8 is hinged with vola gripper shoe 9 by the second ball pivot 45, lower end is fixed on substrate 5 by the second Hooke's hinge fixed pedestal 44.
The 3rd movement branched chain 6 as shown in Figure 3, in figure, right side is the upper end of the first movement branched chain 6.The 3rd described movement branched chain 6 comprises: on the 3rd, Hooke's hinge 27, 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, the 3rd linear bearing 29 is installed on the 3rd outer sleeve 30 upper ends, the 3rd expansion link 28 lower ends are also socketed by prismatic pair with gyroaxis 31, gyroaxis 31 lower ends are supported on the 3rd bearing block 32 by the 3rd bearing 33, the 3rd bearing block 32 is fixed on 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 by the 3rd synchronous cog belt 38, the 3rd motor synchronous belt wheel 39 is installed on the output shaft of the 3rd servomotor 41, the 3rd servomotor 41 is fixedly connected with the 3rd outer sleeve 30 by the 3rd connecting plate for electric motor 40, the 3rd outer sleeve 30, the 3rd connecting plate for electric motor 40 is fixedly connected with the 3rd time Hooke's hinge output shaft 36 by the 3rd branch sleeve 35.The upper end of the 3rd expansion link 28 is hinged with vola gripper shoe 9 by 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 substrate 5.
Described the first movement branched chain 7, the second movement branched chain 8, the 3rd movement branched chain 6 are hinged with vola gripper shoe 9 by Hooke's hinge 27 on the first ball pivot 43, the second ball pivot 45, the 3rd respectively.
Described the first movement branched chain 7, the second movement branched chain 8, the 3rd movement branched chain 6 are fixedly connected with substrate 5 by 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.
The present embodiment is by adopting said structure, form 2-UPS/UCU/S type parallel institution (U-Hooke's hinge wherein, P-moving sets, S-ball pivot, C-cylindrical pair), as shown in Figure 4, the lower end of the first movement branched chain 7, the second movement branched chain 8, the 3rd movement branched chain 6 is connected with silent flatform by Hooke's hinge at a B1, B2, B3 place its equivalent structure schematic diagram; The first movement branched chain 7, the second movement branched chain 8 upper ends are connected with moving platform by ball pivot at a P1, P2 place, and the 3rd movement branched chain 6 upper ends are connected with moving platform by Hooke's hinge at O point; The first movement branched chain 7, the second movement branched chain 8 itself form moving sets, and the 3rd 6 of movement branched chain are as cylindrical pair; By above-mentioned 3 nested structures, can between moving platform and silent flatform, form equivalent ball-joint 46 (being so-called 2-UPS/UCU/S), ball pivot 46 is the constraint hinge between silent flatform and moving platform, and moving platform can only rotate relative to silent flatform.By changing the length of three movement branched chain, with driving moving platform, produce the motion with respect to silent flatform, under the constraint of ball pivot 46, moving platform can be realized the rotation around x-axis, y-axis and z-axis.The 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 with regard to be equivalent to stretch/plantar flexion of the back of the body of ankle joint, in turn over/turn up, three kinds of motions of internal/external rotations.
During the present embodiment work, trainer is sitting posture, and thigh is placed on thigh supporting seat 1, and foot is positioned over vola gripper shoe 9, and shank is connected with shank adapter sleeve 10.For the first movement branched chain, the second movement branched chain, by servomotor, by motor synchronous belt, taken turns and screw synchronous belt wheel drives ball-screw to rotate, and then realize ball nut and expansion link produces the stretching motion with respect to outer sleeve; For the 3rd movement branched chain, by servomotor, by motor synchronous belt, take turns with gyroaxis synchronous pulley and drive gyroaxis and expansion link to rotate, and then by upper Hooke's hinge, realize the revolution of moving platform.When whole recovery training appliance for recovery is carried out to motor control, ball pivot 46 is based upon to trainer's ankle, for each trainer, need concrete its physique parameter of measuring just can obtain its ankle joint with respect to the position of vola gripper shoe 9, thereby set up ball pivot 46.Under the constraint of ankle joint, when the flexible direction of the first movement branched chain, the second movement branched chain is identical, produce stretch/plantar flexion of the back of the body motion of ankle joint; When the first movement branched chain, the flexible opposite direction of the second movement branched chain, in generation ankle joint, turn over/turn up motion; When the 3rd movement branched chain revolution, produce the internal/external rotations motion of ankle joint.
The ankle joint rehabilitation training device of the present embodiment is owing to can realizing three rotations, and center of rotation overlaps with ankle joint, thereby stretch/plantar flexion of the back of the body that can realistic simulation ankle joint, in turn over/turn up, internal/external rotations motion, improved the comprehensive and effectiveness of ankle joint rehabilitation training.The first movement branched chain, the second movement branched chain are in a symmetrical arrangement, can realize three kinds of motions in simple mode.
Although the present invention with preferred embodiment openly as above; but it is not for limiting claim; any those skilled in the art without departing 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 the claims in the present invention were defined.
Claims (5)
1. a parallel structure type ankle joint rehabilitation training device, comprising: thigh supporting seat, the interior bar of thigh supporting seat, thigh supporting seat be bar, shank adapter sleeve, vola gripper shoe, substrate outward, and wherein, the outer bar of thigh supporting seat is fixedly connected with substrate; Thigh supporting seat is fixedly connected with bar in thigh supporting seat, and in thigh supporting seat, bar is connected on the outer bar of described thigh supporting seat; Shank adapter sleeve is fixedly connected with the outer bar of thigh supporting seat, it is characterized in that, also comprise the first movement branched chain and the second movement branched chain that length can be stretched, described the first movement branched chain is all connected with vola gripper shoe by ball pivot with the upper end of the second movement branched chain, and the first movement branched chain is all connected with substrate by Hooke's hinge with the lower end of the second movement branched chain; And the 3rd movement branched chain, the upper end of described the 3rd movement branched chain can be around self bearing of trend revolution, and the upper end of described the 3rd movement branched chain and lower end are connected with vola gripper shoe and substrate by Hooke's hinge respectively; Under the constraint of ankle joint, when the flexible direction of the first movement branched chain, the second movement branched chain is identical, produce stretch/plantar flexion of the back of the body motion of ankle joint; When the first movement branched chain, the flexible opposite direction of the second movement branched chain, in generation ankle joint, turn over/turn up motion; When the 3rd movement branched chain revolution, produce the internal/external rotations motion of ankle joint.
2. parallel structure type ankle joint rehabilitation training device as claimed in claim 1, it is characterized in that: in described thigh supporting seat, the outer bar of bar and described thigh supporting seat is slidably connected, lock-screw is fixedly connected with the outer bar of bar in described thigh supporting seat and described thigh supporting seat.
3. parallel structure type ankle joint rehabilitation training device as claimed in claim 1, it is characterized in that: the first described movement branched chain comprises: the first expansion link, the first linear bearing, the first outer sleeve, the first ball-screw, the first ball nut, clutch shaft bearing seat, clutch shaft bearing, the first screw synchronous belt wheel, the first branch sleeve, the first Hooke's hinge output shaft, the first Hooke's hinge fixed pedestal, the first synchronous cog belt, the first motor synchronous belt wheel, the first connecting plate for electric motor, the first servomotor, the first feather key, wherein: it is inner that the first expansion link is socketed in the first linear bearing, the first linear bearing is installed on the first outer sleeve upper end, the first expansion link lower end is also fixedly connected with the first ball nut, and the first ball nut thread bush is connected on the first ball-screw, and the first ball nut is also fixedly connected with the first feather key, and the first feather key and the first outer sleeve inwall slide and arrange, the first ball-screw lower end is supported on clutch shaft bearing seat by clutch shaft bearing, clutch shaft bearing seat is fixed on the first outer sleeve lower end, the first screw synchronous belt wheel is installed on the first ball-screw lower end, the first screw synchronous belt wheel is connected with the first motor synchronous belt wheel by the first synchronous cog belt, the first motor synchronous belt wheel is installed on the output shaft of the first servomotor, the first servomotor is fixedly connected with the first outer sleeve by the first connecting plate for electric motor, and the first outer sleeve, the first connecting plate for electric motor are fixedly connected with the first Hooke's hinge output shaft by the first branch sleeve, the first Hooke's hinge output shaft rotation is connected on the first Hooke's hinge fixed pedestal, and the first Hooke's hinge fixed pedestal is fixed on substrate.
4. parallel structure type ankle joint rehabilitation training device as claimed in claim 3, is characterized in that: the second described movement branched chain is identical with the first movement branched chain structure.
5. parallel structure type ankle joint rehabilitation training device as claimed in claim 4, it is characterized in that: the 3rd described movement branched chain comprises: the 3rd Hooke's hinge, 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 4th Hooke's hinge output shaft, the 4th 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, the 3rd linear bearing is installed on the 3rd outer sleeve upper end, the 3rd expansion link lower end is also socketed by prismatic pair with gyroaxis, revolution shaft lower end passes through the 3rd bearings on the 3rd bearing block, the 3rd bearing block is fixed on the 3rd outer sleeve lower end, gyroaxis synchronous pulley is installed on revolution shaft lower end, gyroaxis synchronous pulley is connected with the 3rd motor synchronous belt wheel by the 3rd synchronous cog belt, the 3rd motor synchronous belt wheel is installed on the output shaft of the 3rd servomotor, the 3rd servomotor is fixedly connected with the 3rd outer sleeve by the 3rd connecting plate for electric motor, and the 3rd outer sleeve, the 3rd connecting plate for electric motor are fixedly connected with the 4th Hooke's hinge output shaft by the 3rd branch sleeve, the upper end of the 3rd expansion link is hinged by the 3rd Hooke's hinge and vola gripper shoe, the 4th Hooke's hinge output shaft rotation is connected on the 4th Hooke's hinge fixed pedestal, and the 4th Hooke's hinge fixed pedestal is fixed on 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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| CN201110369691.9A CN102499854B (en) | 2011-11-18 | 2011-11-18 | Parallel structure type ankle joint rehabilitation training device |
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| CN102499854A CN102499854A (en) | 2012-06-20 |
| CN102499854B true CN102499854B (en) | 2014-04-09 |
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| CN201110369691.9A Expired - Fee Related CN102499854B (en) | 2011-11-18 | 2011-11-18 | Parallel structure type ankle joint rehabilitation training device |
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Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103816028B (en) * | 2014-01-28 | 2015-12-02 | 浙江大学 | A kind of ankle joint active-passive composite training rehabilitation system |
| CN103961240B (en) * | 2014-05-16 | 2016-09-14 | 哈尔滨工程大学 | Ankle foot healing training devices 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 |
| 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 |
| CN107157711B (en) * | 2017-06-02 | 2019-05-31 | 中国矿业大学 | A kind of rehabilitation training machine for ankle joint device people's system |
| CN108542703B (en) * | 2018-03-05 | 2021-04-30 | 北京工业大学 | Ankle joint rehabilitation device |
| CN109875837B (en) * | 2019-03-06 | 2021-05-28 | 西安石油大学 | Foot bottom platform type lower limb rehabilitation robot based on parallel mechanism |
| CN110711109B (en) * | 2019-09-24 | 2021-02-09 | 燕山大学 | Metamorphic parallel mechanism suitable for ankle joint rehabilitation |
| CN111789741A (en) * | 2020-06-23 | 2020-10-20 | 华南师范大学 | Intelligent voice control arm rehabilitation training device |
| CN111759677B (en) * | 2020-08-06 | 2022-03-29 | 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 |
| CN112353643B (en) * | 2020-11-11 | 2023-05-23 | 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 |
| 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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| CN101234045A (en) * | 2008-02-28 | 2008-08-06 | 上海交通大学 | Parallel type multi-freedom artificial limb exoskeleton ankle joint |
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| CN102028604A (en) * | 2010-12-21 | 2011-04-27 | 上海电机学院 | Parallel type ankle rehabilitation training apparatus |
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| CN201168163Y (en) * | 2008-02-02 | 2008-12-24 | 河北工业大学 | Rehabilitation robot for anklebone |
| CN101234045A (en) * | 2008-02-28 | 2008-08-06 | 上海交通大学 | Parallel type multi-freedom artificial limb exoskeleton ankle joint |
| CN102028604A (en) * | 2010-12-21 | 2011-04-27 | 上海电机学院 | Parallel type ankle rehabilitation training apparatus |
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