CN102716002A - Seated horizontal type lower limb rehabilitation robot and corresponding passive training control method - Google Patents
Seated horizontal type lower limb rehabilitation robot and corresponding passive training control method Download PDFInfo
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- CN102716002A CN102716002A CN2012102260818A CN201210226081A CN102716002A CN 102716002 A CN102716002 A CN 102716002A CN 2012102260818 A CN2012102260818 A CN 2012102260818A CN 201210226081 A CN201210226081 A CN 201210226081A CN 102716002 A CN102716002 A CN 102716002A
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- 238000012549 training Methods 0.000 title claims abstract description 27
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 96
- 230000003993 interaction Effects 0.000 claims abstract description 16
- 210000000629 knee joint Anatomy 0.000 claims description 24
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 18
- 210000001624 hip Anatomy 0.000 claims description 16
- 210000004394 hip joint Anatomy 0.000 claims description 15
- 230000035876 healing Effects 0.000 claims description 13
- 210000003423 ankle Anatomy 0.000 claims description 9
- 238000002955 isolation Methods 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 5
- 230000002146 bilateral effect Effects 0.000 claims description 4
- 230000000737 periodic effect Effects 0.000 claims description 4
- 208000005392 Spasm Diseases 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000013523 data management Methods 0.000 claims description 3
- 239000011551 heat transfer agent Substances 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000001584 occupational therapy Methods 0.000 abstract description 3
- 238000002560 therapeutic procedure Methods 0.000 abstract description 2
- 210000003127 knee Anatomy 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 208000001738 Nervous System Trauma Diseases 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009207 exercise therapy Methods 0.000 description 2
- 208000028412 nervous system injury Diseases 0.000 description 2
- 238000013439 planning Methods 0.000 description 2
- 208000020431 spinal cord injury Diseases 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
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- 230000005021 gait Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 210000000653 nervous system Anatomy 0.000 description 1
- 230000001769 paralizing effect Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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Abstract
The invention discloses a seated horizontal type lower limb rehabilitation robot and a corresponding passive training control method. The robot comprises a chair, mechanical arms, a man-machine interaction interface and a main industrial control box. When the rehabilitation robot is utilized to assist a patient in participating in passive training, the patient reclines on the chair; the lower limbs on two sides of the patient are respectively fixed with the mechanical arms; a speed instruction signal and a position instruction signal are generated by a host computer in the main industrial control box according to a motion track preset by a user, present positions of the mechanical arms and an expected motion track; the corresponding motion control card, joint driver and motor/encoder are utilized to control the mechanical arms to drive the lower limbs on two sides of the patient to participate in the rehabilitation training; and the traditional occupational therapy and motion therapy are organically combined according to the invention, so that the rehabilitation effect of the patient is effectively improved.
Description
Technical field
The present invention relates to rehabilitation medical technique with the apparatus field, be specifically related to a kind of seat horizontal lower limb rehabilitation robot and corresponding passive exercise control method.
Background technology
Spinal cord injury and apoplexy be cause nervous system injury and and then cause the two big main causes of paralysing, suitable rehabilitation training can alleviate or avoid deformity after the nervous system injury.According to nervous system plasticity principle, Therapeutic Method commonly used clinically at present comprises physiotherapy, occupational therapy, exercise therapy etc., yet; Domestic most convalescent home still carries out above treatment by means of artificial or simple passive rehabilitation armarium; When carrying out rehabilitation training, though the rehabilitation form is comparatively flexible, because labor intensity is very big by means of artificial mode; Limited patient's the single training time, and can't simulate the physiology gait and train; Employed simple passive rehabilitation medicine equipment of convalescent home such as bicycle can only help the patient to carry out single treadmill training at present, and the training track can't be regulated, and has therefore also limited its rehabilitation efficacy.
Summary of the invention
The objective of the invention is to provides the horizontal lower limb rehabilitation of a kind of seat robot for spinal cord injury or paralytic; And a kind of corresponding passive exercise control method; Adapting to different patients or different rehabilitation stages, thereby improve patient's enthusiasm, and improve its rehabilitation process.
According to an aspect of the present invention, the present invention proposes the horizontal lower limb rehabilitation of a kind of seat robot, it is characterized in that this robot comprises: seat 7, two mechanical arms 3, human-computer interaction interface 1 and main industry control casees 2, wherein,
Every mechanical arm 3 has three joints, respectively three joints of hip, knee joint, ankle of corresponding human body lower limbs;
Said human-computer interaction interface 1 is used to supply the user to import, select movement locus and sets relevant parameter, intelligent monitoring and data management are carried out in rehabilitation training;
Said main industry control case 2 is in order to the motion in each joint of control robot, the heat transfer agent that collection machine physiognomy closes;
Said main industry control case 2 comprises host computer PC 104; The left movement control card and the right motion control card that communicate through data/address bus and host computer PC 104; The left hip joint driver that is connected through corresponding interface with said left movement control card; Left side knee joint driver; Left side ankle joint driver; The right hip joint driver that is connected through corresponding interface with said right motion control card; Right knee joint driver; Right ankle joint driver; The left hip motor/encoder that is connected with said left hip joint driver; The left knee joint motor/encoder that is connected with said left knee joint driver; The left ankle motor/encoder that is connected with said left ankle joint driver; The right hip motor/encoder that is connected with said right hip joint driver; The right knee joint motor/encoder that is connected with said right knee joint driver; The right ankle motor/encoder that is connected with said right ankle joint driver; The digital signal input and output DIDO digital signal acquiring card that communicates through USB interface bus and host computer PC 104; Light-coupled isolation level shifting circuit plate with said DIDO digital signal acquiring card connection; The a plurality of absolute position encoders that are installed in each joint position of robot that are connected with said light-coupled isolation level shifting circuit plate.
According to another aspect of the present invention, the invention allows for a kind of control method of utilizing the auxiliary patient of said healing robot to carry out passive rehabilitation training, it is characterized in that this method may further comprise the steps:
Step 2 comprises the phase of collapsing from physical exhaustion and spasm period at morning, mid-term to patient's rehabilitation of living in, and the user selects to be fit to patient's terminal movement locus through human-computer interaction interface, and sets the relevant parameter of the terminal movement locus of selecting;
Step 4; Motion control card arrives corresponding joint driver according to the pulse and the direction signal of speed command that receives and position command signal output CF; Joint driver produces drive current according to pulse that receives and direction signal; The motor that drives in corresponding motor/encoder moves accordingly; Make each joint motions of mechanical arm to said desirable initial locations, simultaneously, the encoder in corresponding motor/encoder feeds back the angle information of each joint motor in real time to host computer through corresponding joint driver, motion control card;
Step 5, each joint motions of mechanical arm arrive after the said desirable initial locations, and PC104 calculates the desired trajectory in each joint according to the terminal movement locus of selecting;
Step 6; PC104 produces speed command and position command signal according to the current initial position of desired trajectory and each joint of mechanical arm in said each joint; And carry out periodic movement repeatedly through the lower limb that corresponding motion control card, joint driver, motor/encoder control robot drives the patient, finish up to the training time of setting.
Seat involved in the present invention horizontal lower limb rehabilitation robot and corresponding passive exercise control method have organically combined the characteristics of occupational therapy and exercise therapy, can improve the enthusiasm that the patient initiatively participates in dramatically, and improve its rehabilitation process.
Description of drawings
Fig. 1 is according to the horizontal lower limb rehabilitation robot construction of the seat of embodiment of the invention figure;
Fig. 2 is the electric control system population structure block diagram according to the embodiment of the invention;
Fig. 3 is that the present invention utilizes the auxiliary patient of healing robot to carry out the control method flow chart of passive exercise;
Fig. 4 is the treadmill movement end orbit of the embodiment of the invention and the track graph of a relation in each joint;
Fig. 5 is the stepping movement end orbit of the embodiment of the invention and the track graph of a relation in each joint.
The specific embodiment
For making the object of the invention, technical scheme and advantage clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, to further explain of the present invention.
Fig. 1 is according to the horizontal lower limb rehabilitation robot construction of the seat of embodiment of the invention figure; As shown in Figure 1, the horizontal lower limb rehabilitation of seat of the present invention robot is made up of basic machine and electric control system two parts, wherein; Basic machine comprises seat 7 and two mechanical arms 3; Every mechanical arm 3 has three degree of freedom (joint), three joints of hip, knee joint, ankle of the corresponding human body lower limbs of difference, and the degree of freedom of said mechanical arm is also referred to as the joint of robot or the joint of mechanical arm; Electric control system comprises human-computer interaction interface 1 and main industry control case 2.
Said human-computer interaction interface 1 is a touch screen further, is used to supply the user to import, select movement locus and sets relevant parameter and intelligent monitoring and data management are carried out in rehabilitation training;
Main industry control case 2 is cores that the robot motion controls, in order to the motion in control robot each joint, gather the heat transfer agent that the machine physiognomy closes, such as the joint angles signal of mechanical arm etc.;
The left movement control card that said main industry control case 2 comprises host computer PC 104, communicate through data/address bus and host computer PC 104 and right motion control card (as shown in Figure 2), the left hip joint driver that is connected through corresponding interface with said left movement control card, left knee joint driver, left ankle joint driver, the right hip joint driver that is connected through corresponding interface with said right motion control card, right knee joint driver, right ankle joint driver, the left hip motor/encoder that is connected with said left hip joint driver, the left knee joint motor/encoder that is connected with said left knee joint driver, the left ankle motor/encoder that is connected with said left ankle joint driver, the right hip motor/encoder that is connected with said right hip joint driver, the right knee joint motor/encoder that is connected with said right knee joint driver, the right ankle motor/encoder that is connected with said right ankle joint driver, the digital signal input and output DIDO digital signal acquiring card that communicates through USB interface bus and host computer PC 104, with the light-coupled isolation level shifting circuit plate of said DIDO digital signal acquiring card connection, a plurality of absolute position encoders that are installed in each joint position of robot that are connected with said light-coupled isolation level shifting circuit plate; Said motor/encoder comprises motor and the encoder that is installed together, and said encoder further is a photoelectric encoder.
Fig. 2 is the electric control system population structure block diagram according to the embodiment of the invention; As shown in Figure 2; Electric control system of the present invention is core with PC104; And through the PC104 data/address bus respectively with main industry control case 2 in left and right motion control card communicate, stick into row communication through the DIDO digital signal acquiring in USB interface and the main industry control case 2, communicate through VGA interface and human-computer interaction interface 1; Be connected with memory device, reset circuit, keyboard and mouse respectively through corresponding interface, also can be connected with Ethernet.
Said hip, knee joint, ankle joint driver are used to receive the instruction that host computer PC 104 is sent through the corresponding sports control card; And directly drive the motor in corresponding motor/encoder; Feed back to successively in corresponding joint driver and the motion control card about the photoelectric encoder signal of the angle information of each joint motor and the encoder in motor/encoder produces, host computer can read this photoelectric encoder signal from corresponding motion control card.
The light-coupled isolation level conversion that is installed in the signal process light-coupled isolation level conversion plate of a plurality of absolute position encoders generations on each joint of robot is delivered to DIDO digital signal acquiring card afterwards, is read by PC104 again.
When utilizing the auxiliary patient of robot of the present invention to carry out passive rehabilitation training; The patient reclines on robot seat 7; Patient's bilateral lower limb are fixed with two mechanical arms 3 of robot respectively, and the passive exercise control method of describing through hereinafter then realizes passive rehabilitation training.
Fig. 3 is that the present invention utilizes the auxiliary patient of above-mentioned healing robot to carry out the control method flow chart of passive exercise; As shown in Figure 3; The present invention can also utilize the auxiliary patient of above-mentioned healing robot to carry out passive exercise; In the passive exercise process, set movement locus by therapist or patient through human-computer interaction interface, then drive patient's lower limb and train by robot.
The control method that the present invention utilizes the auxiliary patient of above-mentioned healing robot to carry out passive exercise comprises following step:
Step 2, comprises the phase of collapsing from physical exhaustion and spasm period at morning, mid-term to patient's rehabilitation of living in; The user; Such as clinical treatment teacher or patient, through the suitable patient's of human-computer interaction interface selection terminal movement locus, like treadmill movement, stepping movement, simple joint motion etc.; And the relevant parameter of the terminal movement locus of setting selection; The relevant parameter of the terminal movement locus of said treadmill movement comprises speed, orbital radius and training time, and the relevant parameter of the terminal movement locus of said stepping movement comprises cycle, air line distance and training time, and said simple joint motion comprises original position, final position, cycle and training time;
Step 4; Motion control card arrives corresponding joint driver according to the pulse and the direction signal of speed command that receives and position command signal output CF; Joint driver produces drive current according to pulse that receives and direction signal; The motor that drives in corresponding motor/encoder moves accordingly; Make each joint motions of mechanical arm to said desirable initial locations, simultaneously, the encoder in corresponding motor/encoder feeds back the angle information of each joint motor in real time to host computer through corresponding joint driver, motion control card; With based on general loop control theory control and adjusting drive current, make each joint of robot exactly according to planned position and speeds; Said angle information signal can also feed back in the human-computer interaction interface, with speed and the positional information that shows each joint in real time;
The generation of said drive current further is: joint driver produces drive current according to the pulse and the direction signal that receive through proportional-integral-differential general in the prior art (PID) control method.
Step 5, each joint motions of mechanical arm are arrived after the said desirable initial locations, and PC104 carries out trajectory planning, calculates the desired trajectory in each joint according to the terminal movement locus of selecting;
The computational methods of said desired trajectory can combine Fig. 4 and Fig. 5 to carry out, and Fig. 4 is the treadmill movement end orbit of the embodiment of the invention and the track graph of a relation in each joint, and Fig. 5 is the stepping movement end orbit of the embodiment of the invention and the track graph of a relation in each joint.When calculating the desired trajectory in each joint, at first need set up the direct kinematics equation of robot, like Fig. 4 and shown in Figure 5; If with the hip joint rotating shaft is the center of circle; Setting up rectangular coordinate system, is end with the rotating shaft of ankle joint, and then the direct kinematics equation of robot can be described as:
Wherein, (x y) is respectively θ for working as hip joint and knee joint angle
HipAnd θ
Knee, thigh length and shank length are respectively l
1And l
2The time, the position of ankle joint rotating shaft in rectangular coordinate system.
This equation is carried out inverse kinematics finds the solution, can try to achieve following inverse kinematics equation:
This inverse kinematics The Representation Equation can be in the hope of the geometric locus in each joint of robot according to robot end's (ankle joint rotating shaft) movement locus.
In conjunction with Fig. 4, the end orbit when robot carries out the training of passive treadmill can be expressed as:
Wherein, (x
c, y
c) expression treadmill movement the center of circle, r representes the radius of treadmill movement, w representes the angular frequency of treadmill movement, t representes the current time.
In conjunction with Fig. 5, the end orbit when robot carries out passive stepping movement is a straight line, and its equation of motion can be expressed as:
Wherein, (x
O, y
O) expression stepping movement starting point, (x
d, y
d) terminal point of expression stepping movement, T indication cycle size promptly turns back to the used time of starting point again after starting point moves to terminal point, and k representes to carry out the k time periodic movement.
Learn equation according to above treadmill movement and stepping movement; Be updated in the inverse kinematics equation of healing robot; Can try to achieve robot robot hip joint and kneed path curves or desired trajectory when accomplishing passive treadmill and passive stepping movement respectively, the trajectory planning of ankle joint is planned in range of motion according to the principle of " near bending far stretched ".Desired trajectory during the simple joint training is directly confirmed by setup parameter, does not need Converse solved.
Step 6; PC104 produces speed command and position command signal according to the current initial position of desired trajectory and each joint of mechanical arm in said each joint; And carry out periodic movement repeatedly through the lower limb that corresponding motion control card, joint driver, motor/encoder control robot drives the patient, finish up to the training time of setting.
Above-described specific embodiment; The object of the invention, technical scheme and beneficial effect have been carried out further explain, and institute it should be understood that the above is merely specific embodiment of the present invention; Be not limited to the present invention; All within spirit of the present invention and principle, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. sit horizontal lower limb rehabilitation robot for one kind, it is characterized in that this robot comprises: seat (7), two mechanical arms (3), human-computer interaction interface (1) and main industry control case (2), wherein,
Every mechanical arm (3) has three joints, respectively three joints of hip, knee joint, ankle of corresponding human body lower limbs;
Said human-computer interaction interface (1) is used to supply the user to import, select movement locus and sets relevant parameter, intelligent monitoring and data management are carried out in rehabilitation training;
Said main industry control case (2) is in order to the motion in each joint of control robot, the heat transfer agent that collection machine physiognomy closes;
Said main industry control case (2) comprises host computer PC 104; The left movement control card and the right motion control card that communicate through data/address bus and host computer PC 104; The left hip joint driver that is connected through corresponding interface with said left movement control card; Left side knee joint driver; Left side ankle joint driver; The right hip joint driver that is connected through corresponding interface with said right motion control card; Right knee joint driver; Right ankle joint driver; The left hip motor/encoder that is connected with said left hip joint driver; The left knee joint motor/encoder that is connected with said left knee joint driver; The left ankle motor/encoder that is connected with said left ankle joint driver; The right hip motor/encoder that is connected with said right hip joint driver; The right knee joint motor/encoder that is connected with said right knee joint driver; The right ankle motor/encoder that is connected with said right ankle joint driver; The digital signal input and output DIDO digital signal acquiring card that communicates through USB interface bus and host computer PC 104; Light-coupled isolation level shifting circuit plate with said DIDO digital signal acquiring card connection; The a plurality of absolute position encoders that are installed in each joint position of robot that are connected with said light-coupled isolation level shifting circuit plate.
2. robot according to claim 1 is characterized in that, said human-computer interaction interface (1) is a touch screen.
3. robot according to claim 1 is characterized in that, said motor/encoder comprises motor and the encoder that is installed together.
4. robot according to claim 3 is characterized in that, said encoder further is a photoelectric encoder.
5. robot according to claim 1 is characterized in that, said host computer communicates through VGA interface and human-computer interaction interface (1), is connected with memory device, reset circuit, keyboard and mouse respectively through corresponding interface, can also be connected with Ethernet.
6. robot according to claim 1; It is characterized in that; Said hip, knee joint, ankle joint driver are used to receive the instruction that host computer PC 104 is sent through the corresponding sports control card; And directly drive the motor in corresponding motor/encoder, and the photoelectric encoder signal that motor/encoder produces feeds back on corresponding joint driver and the motion control card simultaneously, host computer can read this photoelectric encoder signal from corresponding motion control card;
The signal that said a plurality of absolute position encoder produces is read by host computer PC 104 through being delivered to DIDO digital signal acquiring card after the light-coupled isolation level conversion again.
7. one kind is utilized the healing robot described in the claim 1 to assist the patient to carry out the control method of passive rehabilitation training, it is characterized in that this method may further comprise the steps:
Step 1, the patient reclines on the seat of healing robot, and patient's bilateral lower limb are fixed with two mechanical arms of healing robot respectively;
Step 2 comprises the phase of collapsing from physical exhaustion and spasm period at morning, mid-term to patient's rehabilitation of living in, and the user selects to be fit to patient's terminal movement locus through human-computer interaction interface, and sets the relevant parameter of the terminal movement locus of selecting;
Step 3; Host computer PC 104 calculates the desirable initial locations in each joint of the mechanical arm of robot according to the relevant parameter of the terminal movement locus that sets; Read the current physical location in each joint of mechanical arm that absolute position encoder collects through DIDO digital signal acquiring card; And produce speed command and position command signal, and speed command and position command signal are sent to corresponding motion control card according to the position deviation of desirable initial locations and current physical location;
Step 4; Motion control card arrives corresponding joint driver according to the pulse and the direction signal of speed command that receives and position command signal output CF; Joint driver produces drive current according to pulse that receives and direction signal; The motor that drives in corresponding motor/encoder moves accordingly; Make each joint motions of mechanical arm to said desirable initial locations, simultaneously, the encoder in corresponding motor/encoder feeds back the angle information of each joint motor in real time to host computer through corresponding joint driver, motion control card;
Step 5, each joint motions of mechanical arm arrive after the said desirable initial locations, and PC104 calculates the desired trajectory in each joint according to the terminal movement locus of selecting;
Step 6; PC104 produces speed command and position command signal according to the current initial position of desired trajectory and each joint of mechanical arm in said each joint; And carry out periodic movement repeatedly through the lower limb that corresponding motion control card, joint driver, motor/encoder control robot drives the patient, finish up to the training time of setting.
8. method according to claim 7; It is characterized in that; Said terminal movement locus comprises treadmill movement, stepping movement, simple joint motion; The relevant parameter of the terminal movement locus of said treadmill movement comprises speed, orbital radius and training time, and the relevant parameter of the terminal movement locus of said stepping movement comprises cycle, air line distance and training time, and said simple joint motion comprises original position, final position, cycle and training time.
9. method according to claim 7; It is characterized in that; Position command size in the said step 3 is a position deviation, and said speed command depends on position deviation and the resetting time that sets, and be that robot moves to the used time of desirable initial locations from current location said resetting time.
10. method according to claim 7 is characterized in that, the said angle information in the said step 4 also feeds back in the human-computer interaction interface, with speed and the positional information that shows each joint in real time.
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| CN201210226081.8A CN102716002B (en) | 2012-06-29 | 2012-06-29 | Seated and recumbent type lower limb rehabilitation robot |
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| CN201210226081.8A CN102716002B (en) | 2012-06-29 | 2012-06-29 | Seated and recumbent type lower limb rehabilitation robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103393524A (en) * | 2013-08-12 | 2013-11-20 | 王子豪 | Traction rehabilitation machine for waist, back and two arms |
| CN104095736A (en) * | 2014-08-04 | 2014-10-15 | 上海理工大学 | Lower limb rehabilitation training system based on multi-position electric wheelchair |
| CN106511031A (en) * | 2016-11-21 | 2017-03-22 | 广东技术师范学院 | Multifunctional auxiliary rehabilitation instrument for lower limbs |
| CN107280912A (en) * | 2016-04-01 | 2017-10-24 | 上银科技股份有限公司 | The method for detecting of lower limb spasm |
| CN107635524A (en) * | 2015-05-12 | 2018-01-26 | 克瑞肖株式会社 | Auxiliary robot for carrying |
| CN108095976A (en) * | 2018-02-06 | 2018-06-01 | 吉林大学 | A kind of bionic knee joint device for healing and training with passively rebound |
| CN108245377A (en) * | 2018-03-18 | 2018-07-06 | 黑龙江中医药大学 | A kind of PNF movement locus training rehabilitation bed |
| CN108309687A (en) * | 2018-01-22 | 2018-07-24 | 重庆大学 | A kind of closed-loop control system of healing robot |
| CN110179622A (en) * | 2019-04-25 | 2019-08-30 | 杭州电子科技大学 | Multifunctional lower limb rehabilitation integrated system based on virtual reality |
| CN110742775A (en) * | 2019-10-12 | 2020-02-04 | 东南大学 | Upper limb active and passive rehabilitation training robot system based on force feedback technology |
| CN113558929A (en) * | 2021-06-30 | 2021-10-29 | 杭州程天科技发展有限公司 | Control method and control device for sitting-lying type lower limb rehabilitation equipment and rehabilitation equipment |
| CN114732668A (en) * | 2022-03-28 | 2022-07-12 | 上海神泰医疗科技有限公司 | Method, system, equipment and medium for measuring motion precision of limb rehabilitation training robot |
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| CN103393524A (en) * | 2013-08-12 | 2013-11-20 | 王子豪 | Traction rehabilitation machine for waist, back and two arms |
| CN104095736A (en) * | 2014-08-04 | 2014-10-15 | 上海理工大学 | Lower limb rehabilitation training system based on multi-position electric wheelchair |
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| CN108095976A (en) * | 2018-02-06 | 2018-06-01 | 吉林大学 | A kind of bionic knee joint device for healing and training with passively rebound |
| CN108245377A (en) * | 2018-03-18 | 2018-07-06 | 黑龙江中医药大学 | A kind of PNF movement locus training rehabilitation bed |
| CN110179622A (en) * | 2019-04-25 | 2019-08-30 | 杭州电子科技大学 | Multifunctional lower limb rehabilitation integrated system based on virtual reality |
| CN110179622B (en) * | 2019-04-25 | 2022-01-07 | 杭州电子科技大学 | Multifunctional lower limb rehabilitation integrated system based on virtual reality |
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| CN114732668B (en) * | 2022-03-28 | 2023-08-11 | 上海神泰医疗科技有限公司 | Method, system, equipment and medium for measuring motion precision of limb rehabilitation training robot |
| CN114732668A (en) * | 2022-03-28 | 2022-07-12 | 上海神泰医疗科技有限公司 | Method, system, equipment and medium for measuring motion precision of limb rehabilitation training robot |
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