CN102579229A - Gait rehabilitation training robot - Google Patents
Gait rehabilitation training robot Download PDFInfo
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- CN102579229A CN102579229A CN2012100530494A CN201210053049A CN102579229A CN 102579229 A CN102579229 A CN 102579229A CN 2012100530494 A CN2012100530494 A CN 2012100530494A CN 201210053049 A CN201210053049 A CN 201210053049A CN 102579229 A CN102579229 A CN 102579229A
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- loss
- footmuff
- push rod
- adjustable plate
- slide rail
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- 230000005021 gait Effects 0.000 title claims abstract description 52
- 210000002683 foot Anatomy 0.000 claims abstract description 22
- 208000020442 loss of weight Diseases 0.000 claims description 63
- 230000000638 stimulation Effects 0.000 claims description 40
- 210000000689 upper leg Anatomy 0.000 claims description 17
- 230000005611 electricity Effects 0.000 claims description 11
- 230000007794 irritation Effects 0.000 claims description 11
- 210000003141 lower extremity Anatomy 0.000 claims description 7
- 210000002414 leg Anatomy 0.000 claims description 3
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract description 9
- 210000000629 knee joint Anatomy 0.000 abstract description 9
- 230000001105 regulatory effect Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 2
- 239000013585 weight reducing agent Substances 0.000 abstract 6
- 210000003414 extremity Anatomy 0.000 description 5
- 238000011156 evaluation Methods 0.000 description 4
- 210000004394 hip joint Anatomy 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 206010033799 Paralysis Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 208000035475 disorder Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000004197 pelvis Anatomy 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The invention discloses a gait rehabilitation training robot which is equipment for help recover the walking function of a patient with a walking problem. The gait rehabilitation training robot comprises a weight reduction system and a walking rail assistance system. The weight reduction system comprises a bottom plate, a weight reduction frame, a sliding rope, a motor and a hoisting belt structure. The weight reduction frame and the motor are arranged on the bottom plate. The hoisting belt structure is arranged on the weight reduction frame and is connected with the weight reduction frame by the sliding rope. The sliding rope is connected with the motor to control the lifting and descending of the hoisting belt structure. The walking rail assistance system comprises a motor wheel, push rods, sliding rails, foot sleeves and a regulating plate. The motor wheel, the sliding rails and the regulating plate are arranged on the bottom plate. The regulating plate is inclined relative to the bottom plate. Each of one ends of the push rods is connected with the motor wheel and each of the other ends of the push rods is matched with the sliding rail in a slideable mode. The motor wheel drives the push rods to slide on the sliding rails in a reciprocating mode. The foot sleeves are hinged on the push rods and the bottoms of the foot sleeves are abutted against the regulating plate, so that when the push rods drive the foot sleeves to slide, the foot sleeves slide along the regulating plate to rotate relative to the hinged positions. Therefore, the effect that the ankle joint and the knee joint are simultaneously subjected to rehabilitation training can be achieved.
Description
Technical field
The present invention relates to a kind of medical rehabilitation equipment that helps walking disorder patient rehabilitation walking, relate in particular to a kind of gait rehabilitation training robot.
Background technology
Gait rehabilitation training robot is the special equipment that patient's rehabilitation walking of obstacle is arranged for walking.The gait rehabilitation robot kind of using in the existing medical treatment is less, and existing gait rehabilitation training robot only can carry out rehabilitation training to a certain joint usually, can not carry out rehabilitation training simultaneously to ankle joint and knee joint etc. by normal gait; Or only can not realize initiatively gait rehabilitation training through the myoelectricity feedback through the training of external force passive type gait rehabilitation.
Summary of the invention
In view of the above, be necessary to provide a kind of gait rehabilitation training robot that can carry out rehabilitation training to ankle joint and knee joint etc. simultaneously by normal gait.
A kind of gait rehabilitation training robot comprises loss of weight system and walking track force aid system, and the loss of weight system comprises base plate, loss of weight frame, sliding rope, motor and sling structure; Loss of weight frame and motor are arranged on the base plate, and sling structure is arranged on the loss of weight frame and through sliding rope connection, sliding rope connects motor and passes through the up-down of Electric Machine Control sling structure; Said walking track force aid system comprises motor wheel, push rod, slide rail, footmuff and adjustable plate; Said motor wheel, slide rail and adjustable plate are arranged on the base plate, and the relative base plate of adjustable plate tilts push rod one end connection motor wheel; The other end cooperates with slide rail slidably; The motor wheel rotates the drive push rod and on slide rail, reciprocatingly slides, and footmuff is hinged on the push rod, and the bottom butt adjustable plate of footmuff; Make push rod when driving the footmuff slip, footmuff slides and hinged place rotation relatively along adjustable plate.
Further, the hinged push rod of heel end of said footmuff bottom, the toe end of footmuff bottom is extended with one and supports bar and conflict slidably on adjustable plate plate face.
Further; Said slide rail is two one slide rails and is arranged on the base plate abreast; Said adjustable plate is an adjustable plate, and adjustable plate and slide rail are arranged between two one slide rails abreast, and said adjustable plate comprises plate body and is arranged on two feets of plate body bottom; This two feets height is different, makes the relative backplate surface of plate face of adjustable plate tilt.
Further, said motor wheel comprises that disk body and two projections, two projections are arranged on the relative card of disk body and are respectively adjacent to the periphery of disk body, and two projections are positioned at diametric end positions, and each projection is used to connect an end of push rod.
Further; Said push rod comprises bar portion, two ring sets, reaches linkage section, and two ring sets are installed in bar portion two ends, and one of them is connected two ring sets with said projection; Another is used to cooperate footmuff with hinged with footmuff; Said linkage section is fixed in the end that cooperates the hinged ring set of footmuff that has of push rod, and this linkage section bottom is provided with sliding sleeve, to cooperate with slide rail.
Further, said loss of weight frame comprises two support bars and is connected the cross bar between two supporting bar tops, and said sling structure is installed on the said cross bar, is equipped with the lower trunk fixed mount on said two support bars, in order to the lower trunk of clamping location human body.
Further; Said gait rehabilitation training robot further comprises functional electric stimulation system; Functional electric stimulation system comprises that control device, thigh stimulate band and shank to stimulate band, and control device is arranged on the loss of weight frame, and thigh stimulates band and shank to stimulate band to be plugged on the control device.
Further; Said rehabilitation training robot further comprises audiovisual display system; It electrically connects said loss of weight system, walking track force aid system and functional electric stimulation system, in order to show the relevant parameter information of loss of weight system, functional electric stimulation system and walking track force aid system.
A kind of gait rehabilitation training robot; Comprise loss of weight system, functional electric stimulation system and walking track force aid system; The loss of weight system comprises base plate, loss of weight frame, sliding rope, motor and sling structure, and loss of weight frame and motor are arranged on the base plate, and sling structure is arranged on the loss of weight frame and through sliding rope and connects; Sliding rope connects motor and passes through the up-down of Electric Machine Control sling structure; Said functional electric stimulation system comprises that control device, thigh stimulate band and shank to stimulate band, and control device is arranged on the loss of weight frame, and thigh stimulates band and shank to stimulate band to be plugged on the control device; Said walking track force aid system comprises motor wheel, push rod, slide rail, footmuff and adjustable plate; Said motor wheel, slide rail and adjustable plate are arranged on the base plate, and the relative base plate of adjustable plate tilts push rod one end connection motor wheel; The other end cooperates with slide rail slidably; The motor wheel rotates the drive push rod and on slide rail, reciprocatingly slides, and footmuff is hinged on the push rod, and the bottom butt adjustable plate of footmuff; Make push rod when driving the footmuff slip, footmuff slides and hinged place rotation relatively along adjustable plate.
A kind of gait rehabilitation training robot comprises loss of weight system, walking track force aid system, functional electric stimulation system and audiovisual display system, and the loss of weight system alleviates the pressure of human body body own wt to lower limb, foot; The loss of weight system comprises the loss of weight frame, and the loss of weight frame is provided with sling structure, and functional electric stimulation system is assemblied on the loss of weight frame; With with electricity irritation human leg portion, audiovisual display system electrically connects said loss of weight system, walking track force aid system and functional electric stimulation system, is used to appear the relevant parameter information of loss of weight system, functional electric stimulation system and walking track force aid system; Said walking track force aid system comprises motor wheel, push rod, slide rail, footmuff and adjustable plate; Said motor wheel, slide rail and adjustable plate are arranged on the base plate, and the relative base plate of adjustable plate tilts push rod one end connection motor wheel; One end cooperates with slide rail slidably; The motor wheel rotates the drive push rod and on slide rail, reciprocatingly slides, and footmuff is hinged on the push rod, and the bottom of footmuff is connected to adjustable plate; Make electric push rod slide simultaneously at the drive footmuff, footmuff slides and hinged place rotation relatively along adjustable plate.
Compared to prior art, when gait rehabilitation training robot of the present invention drove the footmuff slip through the motor wheel, footmuff can carry out angular adjustment under the guiding of adjustable plate, so, can realize by normal gait ankle joint, knee joint being carried out rehabilitation training simultaneously; And, can realize initiatively gait rehabilitation training through the myoelectricity feedback.
Description of drawings
Fig. 1 is the schematic perspective view of gait rehabilitation training robot of the present invention.
Fig. 2 be gait rehabilitation shown in Figure 1 training robot part disassemble sketch map.
Fig. 3 is the decomposing schematic representation that gait rehabilitation shown in Figure 1 is trained the walking track force aid system of robot.
The specific embodiment
By specifying technology contents of the present invention, structural feature, realized purpose and effect, give explanation below in conjunction with embodiment and conjunction with figs. are detailed.
See also Fig. 1 and Fig. 2, the present invention discloses a kind of gait rehabilitation training robot 100, is used to help the walking disorder patient rehabilitation training of walking, and comprises loss of weight system 10 and walking track force aid system 20.Loss of weight system 10 is used for lifting patient's when training body to alleviate the pressure of patient's own wt to lower limb, foot.Walking track force aid system 20 is used to drive patient's lower limb, foot motion, carries out rehabilitation training simultaneously with ankle joint, knee joint to the patient.
Loss of weight system 10 comprises base plate 11, loss of weight frame 12, motor 13, sliding rope 14, sling structure 15 and lower trunk fixed mount 16.Loss of weight frame 12 is arranged on the base plate 11 and an end of contiguous base plate 11, and loss of weight frame 12 comprises two support bars 121 and is connected relatively to offer on cross bar 122, two support bars 121 between two support bars, 121 tops bores a hole 1211, is used to install lower trunk fixed mount 16.Motor 13 is arranged on the base plate 11 and away from an end of loss of weight frame 12.Sliding rope 14 1 ends stretch out downwards from cross bar 122 middle parts and connect said sling structure 15, and the other end is connected to motor 13.Rotate the length that the sliding rope of scalable 14 relative cross bars 122 stretch out through control motor 13.In the present embodiment, pass in sliding rope 14 the bodies of rod (body of rod that comprises support bar 121, cross bar 122) and be connected to motor 13 from loss of weight frame 12.Be appreciated that and be provided with the pulley (figure does not show) that supplies sliding rope 14 to slide in the body of rod of loss of weight frame 12.Sling structure 15 comprises suspension rod 151, lifting rope 152 and tie 153.Suspension rod 151 connects said sliding rope 14 from the external part of cross bar 122 and parallel with cross bar 122, and lifting rope 152 vertically is connected suspension rod 151 lower ends, and in this enforcement, lifting rope 152 is two.Tie 153 is connected the lower end of lifting rope 152, the trainer's that is used to tie in last body.Lower trunk fixed mount 16 is used for helping and the lower trunk of position patient in when training, and lower trunk fixed mount 16 comprises two clamping limbs 161, two fixed covers 162 and two steady pins 163.Two clamping limbs 161 relatively are arranged on two support bars 121 of loss of weight frame 12, in order to the lower trunk of clamping position patient.Each clamping limb 161 comprises mounting rod 1611 and the clamping part 1612 that is fixed in mounting rod 1,611 one ends.Two fixed covers 162 relatively are installed on two support bars 121, and each fixed cover 162 is relative with perforation 1211, thereby mounting rod 1611 can pass fixed cover 162 and perforation 1211 clamping limb 161 are mounted on the support bar 121.Offer pin-and-hole (figure does not show) on the fixed cover 162, with matching and fixing pin 163 that clamping limb 161 is fixing.
Please combine to consult Fig. 3, walking track force aid system 20 comprises motor wheel 21, two push rods 22, two slide rails 23, two footmuffs 24 and adjustable plate 25.Said motor wheel 21 is for driving the rotating disk around its center rotation through motor or other driving devices, comprises that disk body 211 and two projections, 212, two projections 212 are arranged on the relative card of disk body 211 and are respectively adjacent to the periphery of disk body 211.In the present embodiment, two projections 212 are positioned at the diametric end positions of disk body 211, and each projection 212 is used to connect an end of push rod 22.This motor wheel 21 is arranged on the base plate 11, and in the present embodiment, disk body 211 is carried on the base plate 11 through one first backing plate 213, disk body 211 backing plate 213 rotations relatively.First backing plate 213 is fixed on the base plate 11, connects like bolt.Each said push rod 22 comprises bar portion 221, two ring sets 222 and linkage section 223; Two ring sets 222 are installed in bar portion 221 two ends; One of them of two ring sets 222 is connected with said projection 212; Another is used to cooperate footmuff 24 with hinged with footmuff 24, and said linkage section 223 is fixed in the hinged end of bar portion 221 and footmuff 24, and these linkage section 223 bottoms are provided with sliding sleeve 224.Said sliding sleeve 224 cooperates slide rail 23 to make push rod 22 slide rail 23 slips relatively.Said two slide rails 23 are arranged on the base plate 11 abreast, and in the present embodiment, two slide rails 23 are carried on the base plate 11 through one second backing plate 231.This second backing plate 231 is fixed on the base plate 11, connects like bolt.So, when disk body 211 when the axle center rotates, drive sliding sleeve 224 and on slide rail 23, reciprocatingly slide.And because two projections 212 are relative about the center of disk body 211, disk body 211 will drive two push rods 22 and do one in front and one in back swing simultaneously.
Footmuff 24 is used to accommodate patient's sufficient body, and the bottom of footmuff 24 is provided with hinge eyes 241 and butt bar 242.Hinge eyes 241 is arranged on an end of footmuff 24 bottom heels; It cooperates with the ring set 222 of contiguous linkage section 223 1 ends on the push rod 22; Make footmuff 24 rotatably be connected on the push rod 22, as, the endoporus of said hinge eyes 241 and ring set 222 passed through a coupling bar (figure do not show).Said butt bar 242 is arranged on an end of footmuff 24 bottom tiptoes, butt bar 242 be pressed against on the plate face of said adjustable plate 25 and relatively the plate face slide.
Two feets 252 that adjustable plate 25 comprises plate body 251 and is arranged on plate body 251 bottoms; This two feet 252 is highly different; Make relative base plate 11 surface tilt of plate face of adjustable plate 25, the plate face that is specially adjustable plate 25 progressively raises to toe end from the heel end of footmuff 24.So, when motor wheel 21 drive sliding sleeves 224 slided on slide rail 23, said butt bar 242 slided along the plate face of adjustable plate 25 simultaneously, thereby made the end swing of footmuff 24 relative hinge eyes 241.In the present embodiment, the quantity of adjustable plate 25 is one, and this adjustable plate 25 is arranged between two slide rails 23 and is parallel with slide rail 23.The butt bar 242 that is installed in each footmuff 24 on each push rod 22 is pressed against the plate face of adjustable plate 25.The quantity that is appreciated that adjustable plate 25 also can be two, is arranged on abreast between two slide rails 23, and the butt bar 242 of each footmuff 24 is pressed against the plate face of the adjustable plate 25 of contiguous correspondence respectively.
When the patient walked rehabilitation training, tie in trainer's body of the tie 153 through loss of weight system 10 alleviating the pressure of patient's own wt to lower limb, foot, and was helped the location through lower trunk fixed mount 16 with patient's lower trunk under the lifting of sliding rope 14.Patient's foot is inserted in respectively in two footmuffs 24.Drive push rod 22 at motor wheel 21 and do one in front and one in back swing simultaneously, one in front and one in back move, so impel the patient to walk, patient's knee joint, hip joint are trained thereby drive two footmuffs 24.Simultaneously, the butt bar 242 of said footmuff 24 bottoms compresses and the plate face of said relatively adjustable plate 25 slides, and can make footmuff 24 swing, i.e. the relative heel end swing of the toe end of footmuff 24, thus the ankle joint of patient's foot is trained.Therefore, when this gait rehabilitation training robot 100 is used for rehabilitation training, can be simultaneously patient's knee joint, hip joint, ankle joint etc. be trained.It is fixed taking turns 21 radiuses because of motor, be constant so its foot moves back and forth (being stride), and the ankle motion track also is constant.Through said lower trunk fixed mount 16 with the lower trunk relative fixed in normal range of movement, so hip joint and pelvis running orbit are normally approaching, also be constant relatively.Through the speed of control motor wheel 21 rotations, thereby the frequency of decision leg reciprocating motion can be regulated so go on foot frequently as required.Through the drive of motor wheel 21, it is non-resistance or the motion that power-assisted is arranged that foot is moved back and forth, so gait rehabilitation of the present invention training robot 100 not only is fit to the patient in the rehabilitation, also is fit to early stage or the serious patient that paralyses.
Gait rehabilitation training robot 100 of the present invention can further comprise functional electric stimulation system 30.This functional electric stimulation system 30 is used for electricity irritation patient shank related muscles, the strength when forming the shank walking.This functional electric stimulation system 30 comprise control device 31, thigh stimulate be with 32 and shank stimulate and be with 33.Control device 31 is arranged on the support bar 121 regularly, is provided with myoelectricity evaluating apparatus and feedback electricity irritation output device in the control device 31.This control device 31 is provided with some jacks 311, connect for other equipment, as thigh stimulate be with 32 and shank stimulate and be with 33 etc.The thigh stimulation respectively comprises belt body, the connecting line that with belt body be connected and plug with the shank stimulation with 33 with 32.Thigh stimulates is with 32 to be used for the bondage thigh so that thigh is carried out electricity irritation, and shank stimulates is with 33 to be used for the bondage shank so that shank is carried out electricity irritation.During training, at first thigh is stimulated and be with 32 to stimulate with shank and to be with 33 to be fixed on the corresponding position of large and small lower limb, carry out the myoelectricity evaluation and test.If any electromyographic signal, then carry out the feedback electronic stimulation.As do not have electromyographic signal, then carry out quantitative electronic stimulation.The intensity of electricity irritation is accomplished the required strength decision of walking movement by evaluation result and patient, and the frequency of electricity irritation is determined by the foot reciprocating frequency.This functional electric stimulation system 30 can further comprise simple and easy electricity irritation localizer 34; Be used to assist thigh to stimulate and stimulate shank with 33 immobilized patients with shank with 32; Promptly through simple and easy electricity irritation localizer 34 location related muscles, according to positioning result thigh is stimulated then and be with 32 to stimulate with shank and to be with 33 to be fixed on the corresponding position of large and small lower limb.
Gait rehabilitation training robot 100 of the present invention can further comprise audiovisual display system 40; Electrically connect said loss of weight system 10, walking track force aid system 20 and functional electric stimulation system 30; Be used to appear the relevant parameter information of loss of weight system 10, walking track force aid system 20, functional electric stimulation system 30; As accept control device 31 the information from myoelectricity evaluation and test and feedback electricity irritation, loss of weight system 10 loss of weight what information and accept from step of walking track force aid system 20 frequently and the information of power-assisted aspect, vola; And as required, send through control information, can with sound, as form show.
To sum up, gait rehabilitation training robot 100 of the present invention can comprise loss of weight system 10, walking track force aid system 20, functional electric stimulation system 30 and audiovisual display system 40.Wherein, loss of weight system 10 weight that can will reduce according to patient's sick and wounded situation decision.Walking track force aid system 20 can be simultaneously trained patient's knee joint, hip joint, ankle joint etc.; Functional electric stimulation system 30 can carry out electronic stimulation to the shank related muscles, forms shank walking strength; Audiovisual display system 40 with sound, as the parameter information of the relevant training of form performance.Gait rehabilitation training robot 100 of the present invention both had been applicable to incomplete paralysis; The patient that electromyographic signal is arranged, through the myoelectricity evaluation and test, the myoelectricity feedback stimulates; And imitate normal ankle joint, knee joint and pelvis running orbit, carry out the gait rehabilitation training of functional electrical stimulation formula initiatively.Also can realize following three kinds of gait rehabilitation training modes as required: one, the gait rehabilitation of the functional electrical stimulation formula of passivity training is suitable for paralysing fully no electromyographic signal, the patient that could accomplish walking who needs external functional electrical stimulation to help fully.Two, the training of the active gait rehabilitation under the power-assisted, being fit to has certain walking ability, and part needs the vola power-assisted to help the patient that could accomplish walking.Three, the passive gait rehabilitation training under the power-assisted is fit to no walking ability, needs the vola power-assisted to help the patient that could accomplish walking fully.In above four kinds of gait rehabilitation training modes; The gait rehabilitation training mode of the gait rehabilitation training mode of functional electrical stimulation formula initiatively and the functional electrical stimulation formula of passivity; Not only need the open function electric stimulation, and need wheel 21 rotations of unlatching driven by motor motor and push rod 22 to move back and forth; Passive gait rehabilitation training mode under active gait rehabilitation training mode under the power-assisted and the power-assisted does not need the open function electric stimulation, only needs to open 21 rotations of driven by motor motor wheel and push rod 22 and moves back and forth.
Be appreciated that the above gait rehabilitation training robot 100 of standing, can offer the fixedly holddown groove 111 of wheelchair on the said base plate 11, fix, make things convenient for the patient to stand and dress thereby can wheelchair be pushed on the base plate 11 for the ease of the patient.
The above is merely the preferred embodiments of the present invention; Be not so limit claim of the present invention; Every equivalent structure transformation that utilizes description of the present invention and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. a gait rehabilitation training robot comprises loss of weight system and walking track force aid system, and the loss of weight system comprises base plate, loss of weight frame, sliding rope, motor and sling structure; Loss of weight frame and motor are arranged on the base plate, and sling structure is arranged on the loss of weight frame and through sliding rope connection, sliding rope connects motor and passes through the up-down of Electric Machine Control sling structure; It is characterized in that: said walking track force aid system comprises motor wheel, push rod, slide rail, footmuff and adjustable plate; Said motor wheel, slide rail and adjustable plate are arranged on the base plate, and the relative base plate of adjustable plate tilts push rod one end connection motor wheel; The other end cooperates with slide rail slidably; The motor wheel rotates the drive push rod and on slide rail, reciprocatingly slides, and footmuff is hinged on the push rod, and the bottom butt adjustable plate of footmuff; Make push rod when driving the footmuff slip, footmuff slides and hinged place rotation relatively along adjustable plate.
2. gait rehabilitation according to claim 1 training robot is characterized in that: the hinged push rod of heel end of said footmuff bottom, the toe end of footmuff bottom are extended with one and support bar and conflict slidably on adjustable plate plate face.
3. gait rehabilitation training robot according to claim 1; It is characterized in that: said slide rail quantity is two, and two one slide rails are arranged on the base plate abreast, and said adjustable plate quantity is one; Adjustable plate and slide rail are arranged between two one slide rails abreast; Said adjustable plate comprises plate body and is arranged on two feets of plate body bottom that this two feets height is different, makes the relative backplate surface of plate face of adjustable plate tilt.
4. gait rehabilitation training robot according to claim 1; It is characterized in that: said motor wheel comprises disk body and two projections; Two projections are arranged on the relative card of disk body and are respectively adjacent to the periphery of disk body; Two projections are positioned at diametric end positions, and each projection is used to connect an end of push rod.
5. gait rehabilitation training robot according to claim 4; It is characterized in that: said push rod comprises bar portion, two ring sets and linkage section, and two ring sets are installed in bar portion two ends, and one of them is connected two ring sets with said projection; Another is used to cooperate footmuff with hinged with footmuff; Said linkage section is fixed in the end that cooperates the hinged ring set of footmuff that has of push rod, and this linkage section bottom is provided with sliding sleeve, to cooperate with slide rail.
6. gait rehabilitation training robot according to claim 1; It is characterized in that: said loss of weight frame comprises two support bars and is connected the cross bar between two supporting bar tops; Said sling structure is installed on the said cross bar; Be equipped with the lower trunk fixed mount on said two support bars, in order to the lower trunk of clamping location human body.
7. gait rehabilitation training robot according to claim 1; It is characterized in that: said gait rehabilitation training robot further comprises functional electric stimulation system; Functional electric stimulation system comprises that control device, thigh stimulate band and shank to stimulate band; Control device is arranged on the loss of weight frame, and thigh stimulates band and shank to stimulate band to be plugged on the control device.
8. gait rehabilitation training robot according to claim 1; It is characterized in that: said rehabilitation training robot further comprises audiovisual display system; It electrically connects said loss of weight system, walking track force aid system and functional electric stimulation system, in order to show the relevant parameter information of loss of weight system, functional electric stimulation system and walking track force aid system.
9. a gait rehabilitation is trained robot; Comprise loss of weight system, functional electric stimulation system, and walking track force aid system, the loss of weight system comprises base plate, loss of weight frame, sliding rope, motor and sling structure; Loss of weight frame and motor are arranged on the base plate; Sling structure is arranged on the loss of weight frame and through sliding rope connection, sliding rope connects motor and passes through the up-down of Electric Machine Control sling structure, it is characterized in that: said functional electric stimulation system comprises that control device, thigh stimulate band and shank to stimulate band; Control device is arranged on the loss of weight frame, and thigh stimulates band and shank to stimulate band to be plugged on the control device; Said walking track force aid system comprises motor wheel, push rod, slide rail, footmuff and adjustable plate; Said motor wheel, slide rail and adjustable plate are arranged on the base plate, and the relative base plate of adjustable plate tilts push rod one end connection motor wheel; The other end cooperates with slide rail slidably; The motor wheel rotates the drive push rod and on slide rail, reciprocatingly slides, and footmuff is hinged on the push rod, and the bottom butt adjustable plate of footmuff; Make push rod when driving the footmuff slip, footmuff slides and hinged place rotation relatively along adjustable plate.
10. a gait rehabilitation is trained robot, it is characterized in that: comprise loss of weight system, walking track force aid system, functional electric stimulation system and audiovisual display system, the loss of weight system alleviates the pressure of human body body own wt to lower limb, foot; The loss of weight system comprises the loss of weight frame, and the loss of weight frame is provided with sling structure, and functional electric stimulation system is assemblied on the loss of weight frame; With with electricity irritation human leg portion, audiovisual display system electrically connects said loss of weight system, walking track force aid system and functional electric stimulation system, is used to appear the relevant parameter information of loss of weight system, functional electric stimulation system and walking track force aid system; Said walking track force aid system comprises motor wheel, push rod, slide rail, footmuff and adjustable plate; Said motor wheel, slide rail and adjustable plate are arranged on the base plate, and the relative base plate of adjustable plate tilts push rod one end connection motor wheel; One end cooperates with slide rail slidably; The motor wheel rotates the drive push rod and on slide rail, reciprocatingly slides, and footmuff is hinged on the push rod, and the bottom of footmuff is connected to adjustable plate; Make electric push rod slide simultaneously at the drive footmuff, footmuff slides and hinged place rotation relatively along adjustable plate.
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| CN2012100530494A CN102579229B (en) | 2012-03-02 | 2012-03-02 | Gait rehabilitation training robot |
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| CN2012100530494A CN102579229B (en) | 2012-03-02 | 2012-03-02 | Gait rehabilitation training robot |
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| CN105125375A (en) * | 2015-07-27 | 2015-12-09 | 冯婷婷 | Pneumatic swing arm type walking assistor for hemiplegic patients |
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| CN105476820A (en) * | 2016-01-14 | 2016-04-13 | 广东义晟实业有限公司 | Intelligent system for walking rehabilitation training |
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| CN106361543B (en) * | 2016-11-14 | 2019-05-24 | 四川理工学院 | A kind of weight-loss type gait rehabilitation training robot |
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| CN106974797B (en) * | 2017-03-17 | 2018-06-12 | 黄河科技学院 | A kind of gait rehabilitation training device |
| US10639510B2 (en) | 2017-03-20 | 2020-05-05 | The Trustees Of Columbia University In The City Of New York | Human musculoskeletal support and training system methods and devices |
| CN110868982A (en) * | 2017-07-13 | 2020-03-06 | 美迪卡医学有限公司 | Walking training device for treatment |
| CN108814899A (en) * | 2018-05-10 | 2018-11-16 | 合肥工业大学 | A kind of multidigit appearance, the adjustable leg training device in track |
| CN109674615A (en) * | 2018-06-19 | 2019-04-26 | 杭州易脑复苏科技有限公司 | A kind of system and method for trained limb motion |
| CN109107039A (en) * | 2018-06-29 | 2019-01-01 | 燕山大学 | A kind of EMG feedback and electro photoluminescence assist type recovery training appliance for recovery lower limbs |
| CN108904225A (en) * | 2018-08-27 | 2018-11-30 | 广州市章和智能科技有限责任公司 | Step device and walking rehabilitation training robot |
| CN109044750A (en) * | 2018-08-31 | 2018-12-21 | 潘耀基 | A kind of health walking assistance |
| CN109966709A (en) * | 2019-04-23 | 2019-07-05 | 王盛 | A kind of gait training equipment based on view ontology feedback |
| CN113905781A (en) * | 2019-06-04 | 2022-01-07 | 格里菲斯大学 | BioSpine: digital twin nerve rehabilitation system |
| CN111228731A (en) * | 2020-02-19 | 2020-06-05 | 沈兴 | Lower limb postoperative rehabilitation therapeutic device |
| CN111710407A (en) * | 2020-05-07 | 2020-09-25 | 曼纽科健康产业(广州)有限公司 | Method and system for processing rehabilitation data based on electrical stimulation and sky-rail suspension system |
| CN111710407B (en) * | 2020-05-07 | 2024-02-06 | 曼纽科健康产业(广州)有限公司 | Rehabilitation data processing method and system based on electric stimulation and overhead rail suspension system |
| CN111920657A (en) * | 2020-08-12 | 2020-11-13 | 遂宁市中心医院 | Neural recovered motion trainer |
| CN112842811A (en) * | 2020-12-24 | 2021-05-28 | 阁步(上海)医疗科技有限公司 | Pelvis supporting mechanism for lower limb rehabilitation training device |
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