CN103054690A - Intelligent recovery device for lower limb spasm - Google Patents
Intelligent recovery device for lower limb spasm Download PDFInfo
- Publication number
- CN103054690A CN103054690A CN201210573043XA CN201210573043A CN103054690A CN 103054690 A CN103054690 A CN 103054690A CN 201210573043X A CN201210573043X A CN 201210573043XA CN 201210573043 A CN201210573043 A CN 201210573043A CN 103054690 A CN103054690 A CN 103054690A
- Authority
- CN
- China
- Prior art keywords
- motor
- analysis unit
- data analysis
- lower limb
- supporting mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention relates to an intelligent recovery device for lower limb spasm. The intelligent recovery device comprises a chassis, a seat, a thigh supporting mechanism, a shank supporting mechanism, a motor driving mechanism, a foot plate fixing mechanism, a mechanical safety position-limit mechanism and a control module. The thigh supporting mechanism comprises a support rod and a T-shaped support, the shank supporting mechanism comprises a front-back translation rod, a left-right translation rod, a lower support rod, a vertical translation rod, an arc support and a bandage, and the motor driving mechanism comprises a front-back translation support, a motor support, a bearing seat and a motor external member. The foot plate fixing mechanism comprises a foot plate, a plurality of bandages, a tilt angle sensor, a foot lateral plate, a torsion sensor and a coupler, the control module comprises three electrode plates, a data acquisition unit, a motor driver and a data analysis unit arranged on a computer, and the data analysis unit comprises a calculation module and a circuit safety position-limit module. The intelligent recovery device enables a patient to participate in recovery control through feedback of electrical signals and joint moment on surfaces of muscles of the patient, increases initiative intervention of the patient, and accordingly promotes rehabilitation efficacy. The intelligent recovery device can be widely applied to recovery of the lower limb spasm.
Description
Technical field
This device relates to a kind of intelligent rehabilitation device, particularly about a kind of lower limb spasm intelligent rehabilitation device.
Background technology
Cerebrovascular is one of the highest disease of China's mortality rate and disability rate.In the rehabilitation course of patients with cerebral apoplexy, the spasm of muscle and/or walking and the independent living ability that contracture has seriously limited them around the ankle joint.
The generation of patients with cerebral apoplexy spasm and/or contracture owing to cerebrovascular disease after the variation of neural reflex, and the excessive related muscles that causes of persistence muscular tension/tendon tissue cripetura.Common prevention and Therapeutic Method are the passive exercises in joint clinically, the therapist moves back and forth in its range of movement with the ankle joint that hands or utilization " continuous passive stretching " device drive patient, reaches the purpose of preventing or improving spasm and/or contracture by the stretching to muscle around the ankle joint.Studies show that experimenter's ankle joint is stiff a certain effect to reducing for passive exercise that ankle joint continues.Yet the limitation of these two kinds of methods also clearly.At first, the subjective feeling of determining to depend on therapist or patient of ankle moving scope, so muscle often can not be stretched under the largest motion scope in joint fully.Secondly, existing " continuous passive stretching " device lacks the Real-time Feedback of the nerve signal of related muscles in the motor process, is that simple drive ankle moves back and forth, and rehabilitation efficacy is not clearly.
Summary of the invention
For the problems referred to above, the purpose of this invention is to provide the designed lower limb spasm intelligent rehabilitation device of a kind of neural reflex according to patients with cerebral apoplexy and muscular biomechanics characteristic.
For achieving the above object, the present invention takes following technical scheme: a kind of lower limb spasm intelligent rehabilitation device is characterized in that: it comprises the underframe of being made by the section bar with mounting groove, and described underframe rear portion end face is fixedly connected with a seat; Be connected with thigh supporting mechanism, shank supporting mechanism, motor-driven mechanism, sole fixed mechanism and control module on the underframe in described seat the place ahead; Described thigh supporting mechanism comprises that one is fixedly connected on the support bar on the described underframe, be inserted with the vertical end of a T shape frame in the described support bar, and the two is slidingly connected by locking member; Described shank supporting mechanism comprises a front and back translation bar, it is slidingly connected on the described underframe by locking member, one side of described front and back translation bar is by the locking member left and right sides translation bar that is slidingly connected, described left and right sides translation masthead face is fixedly connected with a lower support bar, described lower support bar is by the locking member upper and lower translation bar that is slidingly connected, described upper and lower translation masthead section is rotationally connected an arc bracing frame by locking member, is fixedly connected with a bandage in the described arc bracing frame; Described motor-driven mechanism comprises a front and back pan carriage, it is slidingly connected on the described underframe by locking member, pan carriage top, described front and back is by the locking member electric machine support that is slidingly connected, the top of described electric machine support is fixedly connected with one and has the motor external member of encoder and decelerator, is connected to one the output shaft rotation of described motor external member and is arranged on the bearing block at described electric machine support top; Described sole fixed mechanism comprises a sole, is provided with some bandages on the described sole, and described sole back is provided with an obliquity sensor; One side of described sole is provided with a foot side plate, and the top of described foot side plate connects a shaft coupling by a torque sensor, and the other end of described shaft coupling is connected on the output shaft of described motor external member; Described control module comprises three electrode slices, a data acquisition unit, a motor driver and a data analysis unit that arranges on computers, and described data analysis unit comprises a computing module; Three described electrode slices are separately positioned on patient's musculus soleus, gastrocnemius, tibialis anterior place, are used for gathering the signal of telecommunication on patient's respective muscle surface, and send to described data acquisition unit; Described data acquisition unit also gathers the dip angle signal that torque signal that described torque sensor transmits and described obliquity sensor transmit, and import the signal of telecommunication, torque signal and the dip angle signal of each muscle surface in the computer data analysis unit, the computing module of described data analysis unit by calculate described motor at the drawing process medium velocity, turn to the value of calculation with output torque, and value of calculation sent to described motor driver, with the speed of controlling described motor motor in drawing process and turn to, output torque.
It also comprises the machine security position-limit mechanism of the described foot side plate hunting range of a restriction, and described machine security position-limit mechanism comprises a rocking pin and two alignment pins; Described rocking pin is arranged on the described shaft coupling, and the side of described bearing block is provided with row's installing hole, and two described alignment pins are separately positioned in the installing hole of described bearing block of described rocking pin both sides.
Described data analysis unit also is provided with the spacing module of a circuit safety, the spacing module of described circuit safety be used for setting described motor at the drawing process medium velocity, turn to the maximum with output torque; This moment described data analysis unit computing module with the speed of described motor, turn to the value of calculation of output torque and the corresponding maximum of the spacing module settings of described circuit safety and compare: if exceed its corresponding maximum, then export its corresponding maximum to described motor driver; If do not exceed, then value of calculation is exported to described motor driver, with the speed of controlling described motor motor in drawing process and turn to, output torque.
Translation bar, left and right sides translation bar, lower support bar and upper and lower translation bar before and after in the described shank supporting mechanism, front and back pan carriage and electric machine support in the described motor-driven mechanism all adopt the section bar with mounting groove to be made.
Described data analysis unit is to adopt the computer program of LabVIEW software programming.
Be respectively arranged with the flexible thing of overstriking on two horizontal ends of the T shape frame of described thigh supporting mechanism, the bandage that described T shape frame is also joined by other carries out thigh to be fixed.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention is owing to be provided with a torque sensor, one angular transducer and one comprises three electrode slices, one data acquisition unit, the control module of one data analysis unit and a motor driver, data analysis unit is according to the signal of telecommunication of the muscle surface of three electrode slices measurements, and the moment of ankle motion and angle signal, calculate motor speed and turn to, output torque, therefore the present invention has proposed the thought of active drawing first, no longer be that patient is pulled the simple stretching blindly of equipment, but the feedback by self muscle signal of telecommunication and joint moment, allow and oneself participate in the rehabilitation control by nerve, increase patient's pro-active intervention, promote rehabilitation efficacy.2, the present invention is owing to be provided with the T shape frame of upper and lower translation in the thigh supporting mechanism, in the shank supporting mechanism, be provided with all around, upper and lower translation bar, pan carriage and electric machine support before and after in motor-driven mechanism, being provided with, in motor-driven mechanism, be provided with can be movable the foot side plate, all has more degree of freedom in these mechanisms, therefore the present invention can make the patient be in comparatively comfortable sitting posture and leg position, and translational adjustment is very simple.3, the present invention is except arranging a machine security position-limit mechanism, also in data analysis unit, be provided with the spacing module of a circuit safety, the spacing module of circuit safety can set motor at the drawing process medium velocity, turn to the maximum with output torque, therefore the present invention can guarantee effectively that motor-driven mechanism rotates in the human body limit range of movement, has improved safety.4, the present invention is because base, translation bar, left and right sides translation bar, lower support bar, upper and lower translation bar before and after in the shank supporting mechanism, front and back pan carriage in the motor-driven mechanism, electric machine support all adopt section bar to make, so the present invention connects simple and is easy to dismounting.The present invention can be widely used in the research of lower limb spasm intelligent rehabilitation, serves the patients with cerebral apoplexy recovering undertaking.
Description of drawings
Fig. 1 is structural representation of the present invention
Fig. 2 is the structural representation of control module of the present invention
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As shown in Figure 1 and Figure 2, the present invention includes a underframe 1 by section bar connection making, on the section bar of underframe 1, all have the mounting groove that extends along the profile length direction.Be fixedly connected with a seat 2 at underframe 1 rear portion end face, the underframe 1 in seat 2 the place aheads is connected with a thigh supporting mechanism 3, a shank supporting mechanism 4, a motor-driven mechanism 5, a sole fixed mechanism 6 and a control module 7.
Thigh supporting mechanism 3 comprises that one is fixedly connected on the support bar 31 on the underframe 1, is inserted with one and is used for the vertical end of the T shape frame 32 of support thigh in support bar 31, and be slidingly connected by locking member between the two; Be respectively arranged with the flexible thing of overstriking on two horizontal ends of T shape frame 32, T shape frame 32 can also be joined in addition bandage and be carried out thigh and fix.
Shank supporting mechanism 4 comprises that one is slidingly connected at front and back translation bar 41 on the underframe 1 by locking member, and by the locking member left and right sides translation bar 42 that is slidingly connected, left and right sides translation bar 42 end faces are fixedly connected with a lower support bar 43 in a side of front and back translation bar 41; Lower support bar 43 is by the locking member upper and lower translation bar 44 that is slidingly connected, and upper and lower translation bar 44 is rotationally connected an arc bracing frame 45 by locking member, is fixedly connected with a bandage 46 in the arc bracing frame 45.
Motor-driven mechanism 5 comprises a front and back pan carriage 51, and front and back pan carriage 51 is slidingly connected on the underframe 1 by locking member, and pan carriage 51 tops in front and back are by the locking member electric machine support 52 that is slidingly connected, and electric machine support 52 tops are fixedly connected with a motor external member 53; Motor external member 53 comprises an encoder 54, a motor 55 and a reduction box 56; Be connected to one is arranged on the bearing block 57 at electric machine support 52 tops the output shaft rotation of motor external member 53.
Sole fixed mechanism 6 comprises a sole 61, is provided with some bandages 62 on the sole 61, and sole 61 backs are provided with an obliquity sensor 63; One side of sole 61 is provided with a foot side plate 64, and the top of foot side plate 64 connects a shaft coupling 66 by a torque sensor 65, and the other end of shaft coupling 66 connects on the output shaft of motor external member 53.Be fixedly installed a rocking pin 67 on the shaft coupling 66, the side of bearing block 57 is provided with row's installing hole, is separately installed with an alignment pin 68 in the installing hole of the bearing block 57 of rocking pin 67 both sides.
As shown in Figure 2, control module 7 of the present invention comprises three electrode slices 71,72,73, one data acquisition unit 74, is arranged on data analysis unit 76 and the motor driver 77 on the computer 75, and data analysis unit 76 comprises the spacing module of a circuit safety and a computing module; The spacing module of circuit safety be used for to set motor 55 at the drawing process medium velocity, turn to the maximum with output torque; Computing module be used for drawing motor 55 at the drawing process medium velocity, turn to the value of calculation with output torque, and after the corresponding maximum of setting in value of calculation and the spacing module of circuit safety compared, export at last motor driver 77.
In above-described embodiment, base 1, translation bar 41, left and right sides translation bar 42, lower support bar 43, upper and lower translation bar 44 before and after in the shank supporting mechanism 4, front and back pan carriage 51 in the motor-driven mechanism 5, electric machine support 52 all adopt the section bar that has along its length mounting groove to make, and connect simple and are easy to dismounting.
In above-described embodiment, rocking pin 67 and two alignment pins 68 form a machine security position-limit mechanism.The patient can limit by the position that two alignment pins 68 are set the range of activity of rocking pin 67, and then reaches the scope that restrict foot side plate 64 swings.
In above-described embodiment, data analysis unit 76 is to adopt the computer program of LabVIEW software programming.
When utilizing the present invention to carry out lower limb spasm intelligent rehabilitation, may further comprise the steps:
1) patient is sitting on the seat 2;
2) unclamp locking member in the thigh supporting mechanism 3, patient's thigh is placed on the large leg support 31, adjust large leg support 31 behind correct position, the locking locking member;
3) unclamp locking member in the shank supporting mechanism 4, patient's shank is placed on the arc bracing frame 45, translation bar 41, left and right sides translation bar 42, upper and lower translation bar 44 and arc bracing frame 45 are locked locking member bandage 46 immobilized patients shanks before and after adjusting respectively behind correct position;
4) foot with the patient is placed on the sole 61, is fixed on the sole 61 by the foot of bandage 62 with the patient;
5) unclamp the locking member of motor-driven mechanism 5, pan carriage 51 and electric machine support 52 before and after adjusting respectively, make sole fixed mechanism 6 move to correct position after, the locking locking member;
6) patient arranges the position of two alignment pins 68, limits the range of activity of rocking pin 67, thereby reaches the scope that restrict foot side plate 64 swings;
7) set in the spacing module of the circuit safety of patient in data analysis unit 76 speed of motor 55 in drawing process, turn to the maximum with output torque;
8) patient can observe the signal of telecommunication of own muscle surface, the angle signal of obliquity sensor 63 inductions and the torque signal of torque sensor 65 inductions at the computing module of data analysis unit 76, computing module in the data analysis unit 76 draw the speed of motor 55 in drawing process according to these signals and turn to, the value of calculation of output torque, and compare setting corresponding maximum in value of calculation and the spacing module of circuit safety: if exceed its corresponding maximum, then computing module is exported its corresponding maximum to motor driver 77; If do not exceed, then computing module is exported to motor driver 77 with value of calculation, by the speed of motor driver 77 control motors 55 motor in drawing process and turn to, output torque;
9) motor 55 drives foot side plate 64 by shaft coupling 66 and rotates through reduction box 56 outputting powers; Foot side plate 64 drives sole 61 motions, and patient's foot is with sole 61 motions.
The present invention only describes with above-described embodiment, and the structure of each parts, setting position and connection thereof all can change to some extent, especially the method for active drawing.Every on the basis of technical solution of the present invention, according to improvement and the equivalents that the principle of the invention is carried out individual component, all should not get rid of outside protection scope of the present invention.
Claims (10)
1. lower limb spasm intelligent rehabilitation device is characterized in that: it comprises the underframe of being made by the section bar with mounting groove, and described underframe rear portion end face is fixedly connected with a seat; Be connected with thigh supporting mechanism, shank supporting mechanism, motor-driven mechanism, sole fixed mechanism and control module on the underframe in described seat the place ahead;
Described thigh supporting mechanism comprises that one is fixedly connected on the support bar on the described underframe, be inserted with the vertical end of a T shape frame in the described support bar, and the two is slidingly connected by locking member;
Described shank supporting mechanism comprises a front and back translation bar, it is slidingly connected on the described underframe by locking member, one side of described front and back translation bar is by the locking member left and right sides translation bar that is slidingly connected, described left and right sides translation masthead face is fixedly connected with a lower support bar, described lower support bar is by the locking member upper and lower translation bar that is slidingly connected, described upper and lower translation masthead section is rotationally connected an arc bracing frame by locking member, is fixedly connected with a bandage in the described arc bracing frame;
Described motor-driven mechanism comprises a front and back pan carriage, it is slidingly connected on the described underframe by locking member, pan carriage top, described front and back is by the locking member electric machine support that is slidingly connected, the top of described electric machine support is fixedly connected with one and has the motor external member of encoder and decelerator, is connected to one the output shaft rotation of described motor external member and is arranged on the bearing block at described electric machine support top;
Described sole fixed mechanism comprises a sole, is provided with some bandages on the described sole, and described sole back is provided with an obliquity sensor; One side of described sole is provided with a foot side plate, and the top of described foot side plate connects a shaft coupling by a torque sensor, and the other end of described shaft coupling is connected on the output shaft of described motor external member;
Described control module comprises three electrode slices, a data acquisition unit, a motor driver and a data analysis unit that arranges on computers, and described data analysis unit comprises a computing module; Three described electrode slices are separately positioned on patient's musculus soleus, gastrocnemius, tibialis anterior place, are used for gathering the signal of telecommunication on patient's respective muscle surface, and send to described data acquisition unit; Described data acquisition unit also gathers the dip angle signal that torque signal that described torque sensor transmits and described obliquity sensor transmit, and import the signal of telecommunication, torque signal and the dip angle signal of each muscle surface in the computer data analysis unit, the computing module of described data analysis unit by calculate described motor at the drawing process medium velocity, turn to the value of calculation with output torque, and value of calculation sent to described motor driver, with the speed of controlling described motor motor in drawing process and turn to, output torque.
2. a kind of lower limb spasm intelligent rehabilitation device as claimed in claim 1 is characterized in that: it also comprises the machine security position-limit mechanism of the described foot side plate hunting range of a restriction, and described machine security position-limit mechanism comprises a rocking pin and two alignment pins; Described rocking pin is arranged on the described shaft coupling, and the side of described bearing block is provided with row's installing hole, and two described alignment pins are separately positioned in the installing hole of described bearing block of described rocking pin both sides.
3. a kind of lower limb spasm intelligent rehabilitation device as claimed in claim 1, it is characterized in that: described data analysis unit also is provided with the spacing module of a circuit safety, the spacing module of described circuit safety be used for setting described motor at the drawing process medium velocity, turn to the maximum with output torque; This moment described data analysis unit computing module with the speed of described motor, turn to the value of calculation of output torque and the corresponding maximum of the spacing module settings of described circuit safety and compare: if exceed its corresponding maximum, then export its corresponding maximum to described motor driver; If do not exceed, then value of calculation is exported to described motor driver, with the speed of controlling described motor motor in drawing process and turn to, output torque.
4. a kind of lower limb spasm intelligent rehabilitation device as claimed in claim 2, it is characterized in that: described data analysis unit also is provided with the spacing module of a circuit safety, the spacing module of described circuit safety be used for setting described motor at the drawing process medium velocity, turn to the maximum with output torque; This moment described data analysis unit computing module with the speed of described motor, turn to the value of calculation of output torque and the corresponding maximum of the spacing module settings of described circuit safety and compare: if exceed its corresponding maximum, then export its corresponding maximum to described motor driver; If do not exceed, then value of calculation is exported to described motor driver, with the speed of controlling described motor motor in drawing process and turn to, output torque.
5. as claimed in claim 1 or 2 or 3 or 4 a kind of lower limb spasm intelligent rehabilitation device, it is characterized in that: translation bar, left and right sides translation bar, lower support bar and upper and lower translation bar before and after in the described shank supporting mechanism, front and back pan carriage and electric machine support in the described motor-driven mechanism all adopt the section bar with mounting groove to be made.
6. as claimed in claim 1 or 2 or 3 or 4 a kind of lower limb spasm intelligent rehabilitation device, it is characterized in that: described data analysis unit is to adopt the computer program of LabVIEW software programming.
7. a kind of lower limb spasm intelligent rehabilitation device as claimed in claim 5 is characterized in that: described data analysis unit is to adopt the computer program of LabVIEW software programming.
8. such as claim 1 or 2 or 3 or 4 or 7 described a kind of lower limb spasm intelligent rehabilitation devices, it is characterized in that: be respectively arranged with the flexible thing of overstriking on two horizontal ends of the T shape frame of described thigh supporting mechanism, the bandage that described T shape frame is also joined by other carries out thigh to be fixed.
9. a kind of lower limb spasm intelligent rehabilitation device as claimed in claim 5, it is characterized in that: be respectively arranged with the flexible thing of overstriking on two horizontal ends of the T shape frame of described thigh supporting mechanism, the bandage that described T shape frame is also joined by other carries out thigh to be fixed.
10. a kind of lower limb spasm intelligent rehabilitation device as claimed in claim 6, it is characterized in that: be respectively arranged with the flexible thing of overstriking on two horizontal ends of the T shape frame of described thigh supporting mechanism, the bandage that described T shape frame is also joined by other carries out thigh to be fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210573043.XA CN103054690B (en) | 2012-12-25 | 2012-12-25 | Intelligent recovery device for lower limb spasm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210573043.XA CN103054690B (en) | 2012-12-25 | 2012-12-25 | Intelligent recovery device for lower limb spasm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103054690A true CN103054690A (en) | 2013-04-24 |
| CN103054690B CN103054690B (en) | 2014-11-19 |
Family
ID=48097798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210573043.XA Active CN103054690B (en) | 2012-12-25 | 2012-12-25 | Intelligent recovery device for lower limb spasm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103054690B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103519971A (en) * | 2013-10-15 | 2014-01-22 | 东南大学常州研究院 | Lower limb rehabilitation training mechanism self-adaption lift control method based on patient gait measurement |
| CN105596130A (en) * | 2016-03-13 | 2016-05-25 | 中山市丰申电器有限公司 | Medical equipment |
| CN105832495A (en) * | 2016-03-17 | 2016-08-10 | 中山市丰申电器有限公司 | Therapeutic apparatus provided with screw rod |
| CN105832494A (en) * | 2016-03-13 | 2016-08-10 | 中山市丰申电器有限公司 | Electric therapeutic instrument |
| CN106821678A (en) * | 2017-01-22 | 2017-06-13 | 北京大学 | A kind of ankle joint rehabilitation device of adjustable leg attitude |
| CN106821677A (en) * | 2017-01-22 | 2017-06-13 | 北京大学 | A kind of children cerebral palsy ankle joint rehabilitation device of adjustable leg attitude |
| CN108578178A (en) * | 2018-06-27 | 2018-09-28 | 杭州风行医疗器械有限公司 | A kind of lower limbs of children intelligent rehabilitation system |
| CN108904247A (en) * | 2018-07-24 | 2018-11-30 | 李代全 | A kind of simple calf massage apparatus of household |
| CN111068254A (en) * | 2019-12-24 | 2020-04-28 | 博灵(常州)机器人科技有限公司 | Data acquisition control system for fitness stretching equipment |
| CN114145963A (en) * | 2021-12-01 | 2022-03-08 | 广州穗海新峰医疗设备制造股份有限公司 | Sitting type lower limb rehabilitation training robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1843320A (en) * | 2006-05-11 | 2006-10-11 | 北京联合大学 | Passive type exerciser for lower limbs |
| CN101061984A (en) * | 2006-04-29 | 2007-10-31 | 香港理工大学 | Recovery robot system for providing mechanical assistant by using myoelectric signal and the training method thereof |
| CN101874758A (en) * | 2010-05-07 | 2010-11-03 | 中国科学院深圳先进技术研究院 | Supplementary motion system and control method thereof |
| CN201692244U (en) * | 2010-03-31 | 2011-01-05 | 上海电机学院 | Multifunctional health chair |
| CN102038491A (en) * | 2009-10-19 | 2011-05-04 | 上海理工大学 | Intellectualized passive lower-limb function testing and training method |
| CN102138860A (en) * | 2011-01-10 | 2011-08-03 | 西安交通大学 | Intelligentized rehabilitation training equipment for hand functions of patients suffering from cerebral injury |
| CN102614066A (en) * | 2010-12-14 | 2012-08-01 | 雷哈博泰克有限责任公司 | Wearable and convertible passive and active movement training robot: apparatus and method |
| CN102614061A (en) * | 2012-03-01 | 2012-08-01 | 上海理工大学 | Human body upper limb functional rehabilitation training implement method based on muscle tone signals |
| CN102813518A (en) * | 2012-09-11 | 2012-12-12 | 昆山市工业技术研究院有限责任公司 | Intelligent rehabilitation training instrument |
-
2012
- 2012-12-25 CN CN201210573043.XA patent/CN103054690B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101061984A (en) * | 2006-04-29 | 2007-10-31 | 香港理工大学 | Recovery robot system for providing mechanical assistant by using myoelectric signal and the training method thereof |
| CN1843320A (en) * | 2006-05-11 | 2006-10-11 | 北京联合大学 | Passive type exerciser for lower limbs |
| CN102038491A (en) * | 2009-10-19 | 2011-05-04 | 上海理工大学 | Intellectualized passive lower-limb function testing and training method |
| CN201692244U (en) * | 2010-03-31 | 2011-01-05 | 上海电机学院 | Multifunctional health chair |
| CN101874758A (en) * | 2010-05-07 | 2010-11-03 | 中国科学院深圳先进技术研究院 | Supplementary motion system and control method thereof |
| CN102614066A (en) * | 2010-12-14 | 2012-08-01 | 雷哈博泰克有限责任公司 | Wearable and convertible passive and active movement training robot: apparatus and method |
| CN102138860A (en) * | 2011-01-10 | 2011-08-03 | 西安交通大学 | Intelligentized rehabilitation training equipment for hand functions of patients suffering from cerebral injury |
| CN102614061A (en) * | 2012-03-01 | 2012-08-01 | 上海理工大学 | Human body upper limb functional rehabilitation training implement method based on muscle tone signals |
| CN102813518A (en) * | 2012-09-11 | 2012-12-12 | 昆山市工业技术研究院有限责任公司 | Intelligent rehabilitation training instrument |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103519971A (en) * | 2013-10-15 | 2014-01-22 | 东南大学常州研究院 | Lower limb rehabilitation training mechanism self-adaption lift control method based on patient gait measurement |
| CN103519971B (en) * | 2013-10-15 | 2015-01-07 | 东南大学常州研究院 | Lower limb rehabilitation training mechanism self-adaption lift control method based on patient gait measurement |
| CN105596130A (en) * | 2016-03-13 | 2016-05-25 | 中山市丰申电器有限公司 | Medical equipment |
| CN105832494A (en) * | 2016-03-13 | 2016-08-10 | 中山市丰申电器有限公司 | Electric therapeutic instrument |
| CN105832495A (en) * | 2016-03-17 | 2016-08-10 | 中山市丰申电器有限公司 | Therapeutic apparatus provided with screw rod |
| CN105832495B (en) * | 2016-03-17 | 2017-07-28 | 中山市丰申电器有限公司 | A kind of therapeutic equipment with screw rod |
| CN106821677A (en) * | 2017-01-22 | 2017-06-13 | 北京大学 | A kind of children cerebral palsy ankle joint rehabilitation device of adjustable leg attitude |
| CN106821678A (en) * | 2017-01-22 | 2017-06-13 | 北京大学 | A kind of ankle joint rehabilitation device of adjustable leg attitude |
| CN106821678B (en) * | 2017-01-22 | 2019-04-09 | 北京大学 | A kind of ankle joint rehabilitation device of adjustable leg posture |
| CN106821677B (en) * | 2017-01-22 | 2019-08-02 | 北京大学 | A kind of children cerebral palsy ankle joint rehabilitation device of adjustable leg posture |
| CN108578178A (en) * | 2018-06-27 | 2018-09-28 | 杭州风行医疗器械有限公司 | A kind of lower limbs of children intelligent rehabilitation system |
| CN108578178B (en) * | 2018-06-27 | 2023-10-13 | 杭州风行医疗器械有限公司 | Intelligent rehabilitation system for lower limbs of children |
| CN108904247A (en) * | 2018-07-24 | 2018-11-30 | 李代全 | A kind of simple calf massage apparatus of household |
| CN111068254A (en) * | 2019-12-24 | 2020-04-28 | 博灵(常州)机器人科技有限公司 | Data acquisition control system for fitness stretching equipment |
| CN114145963A (en) * | 2021-12-01 | 2022-03-08 | 广州穗海新峰医疗设备制造股份有限公司 | Sitting type lower limb rehabilitation training robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103054690B (en) | 2014-11-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103054690B (en) | Intelligent recovery device for lower limb spasm | |
| US11166866B2 (en) | Lower limb training rehabilitation apparatus | |
| CN103505342B (en) | External skeleton type gait rehabilitation training device | |
| CN109846672B (en) | Variable-rigidity ankle-foot rehabilitation orthosis and motion control method thereof | |
| US20120165158A1 (en) | Wearable and convertible passive and active movement training robot: apparatus and method | |
| CN205145027U (en) | Seat movable low limbs ectoskeleton rehabilitation training device | |
| KR101385165B1 (en) | Robot-assisted Training System for Upper and Lower Extremity Rehabilitation | |
| CN104873360A (en) | Lasso drive based upper limb rehabilitation exoskeleton robot | |
| CN105125380A (en) | Ankle rehabilitation device | |
| CN106901947A (en) | Wearable lower limb exoskeleton assisted walk robot mechanism | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| CN112603764A (en) | Lower limb bedside movement rehabilitation device based on coupling driving mode | |
| KR20170139035A (en) | A device for driving a human underarm in a straight or upper or a partial upright posture with the driving of a walk in a vertical position | |
| CN101822223A (en) | Multi-function animal weight-losing running table and control system thereof | |
| KR20160106710A (en) | Vertebra Recovery Apparatus | |
| CN110292505A (en) | Lower limb rehabilitation training device and its control method | |
| CN105411809A (en) | Lumbar spinal cord massage device | |
| CN110613583A (en) | General-promotion type hemiplegic ankle joint movement function rehabilitation training device and training method | |
| CN102151187B (en) | Wearable neck power-assisted in-parallel robot | |
| CN114305898A (en) | Neurosurgery limbs rehabilitation training device | |
| CN108143585B (en) | Linkage crawling movement mechanism of linkage crawling spinal rehabilitation training device | |
| CN211301002U (en) | Shank muscle rehabilitation and nursing device | |
| CN204274930U (en) | To creep study auxiliary device | |
| CN210472555U (en) | Ankle foot bending and stretching exercise mode rehabilitation therapy machine | |
| CN211535459U (en) | Promote general formula hemiplegia ankle joint motion function rehabilitation training device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |