CN103083157A - 一种五自由度混联下肢康复机器人 - Google Patents
一种五自由度混联下肢康复机器人 Download PDFInfo
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- CN103083157A CN103083157A CN2013100226253A CN201310022625A CN103083157A CN 103083157 A CN103083157 A CN 103083157A CN 2013100226253 A CN2013100226253 A CN 2013100226253A CN 201310022625 A CN201310022625 A CN 201310022625A CN 103083157 A CN103083157 A CN 103083157A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 53
- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 238000012549 training Methods 0.000 claims abstract description 31
- 210000003423 ankle Anatomy 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 210000002683 foot Anatomy 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 230000035876 healing Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 206010019468 Hemiplegia Diseases 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 201000008482 osteoarthritis Diseases 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103505342A (zh) * | 2013-10-16 | 2014-01-15 | 河北工业大学 | 一种外骨骼式步态康复训练装置 |
CN103744297A (zh) * | 2014-01-07 | 2014-04-23 | 北京工业大学 | 小型自平衡机器人姿态模拟器 |
CN105997436A (zh) * | 2016-07-06 | 2016-10-12 | 燕山大学 | 一种四自由度多姿态下肢康复机器人 |
WO2019180453A1 (en) * | 2018-03-23 | 2019-09-26 | Uea Enterprises Limited | Apparatus to aid walking |
CN110772398A (zh) * | 2019-11-12 | 2020-02-11 | 上海电气集团股份有限公司 | 步态训练器 |
CN111728749A (zh) * | 2020-07-03 | 2020-10-02 | 张强 | 一种手足畸形矫正机器人 |
CN111904801A (zh) * | 2020-09-21 | 2020-11-10 | 东北大学秦皇岛分校 | 一种混联式柔性踝关节康复装置 |
CN112957691A (zh) * | 2021-02-04 | 2021-06-15 | 哈尔滨工业大学 | 融合人体深感觉与前庭觉的体感模拟并联运动平台 |
CN113350124A (zh) * | 2021-07-09 | 2021-09-07 | 北京航空航天大学 | 一种十自由度部分解耦合的深感觉训练平台 |
Citations (9)
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FR2635457B1 (fr) * | 1988-08-18 | 1990-12-07 | Materiel Orthopedique Cie Gle | Appareil de mobilisation passive des articulations de l'arriere-pied |
DE9312252U1 (de) * | 1993-08-17 | 1994-01-20 | Hoffmann Siegfried | Übungsgerät für Fußgelenke |
US6878102B1 (en) * | 2001-08-21 | 2005-04-12 | Luis Alberto Commisso | Leg-ankle-foot exercise assembly |
WO2005060913A1 (de) * | 2003-12-22 | 2005-07-07 | Austria Wirtschaftsservice Gesellschaft mit beschränkter Haftung | Einrichtung zur rehabilitation oder zum training der unteren extremitäten |
CN101999970A (zh) * | 2010-12-24 | 2011-04-06 | 上海电机学院 | 并联式多自由度踝关节康复训练器 |
CN102058465A (zh) * | 2011-02-22 | 2011-05-18 | 福州大学 | 单自由度脚踝康复训练装置 |
CN102166751A (zh) * | 2011-05-20 | 2011-08-31 | 汕头大学 | 少支链六自由度并联机器人 |
CN102743270A (zh) * | 2012-07-27 | 2012-10-24 | 中国科学院自动化研究所 | 一种坐卧式个性化下肢康复训练机器人 |
CN203060235U (zh) * | 2013-01-22 | 2013-07-17 | 江苏大学 | 一种五自由度混联下肢康复机器人 |
-
2013
- 2013-01-22 CN CN201310022625.3A patent/CN103083157B/zh active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2635457B1 (fr) * | 1988-08-18 | 1990-12-07 | Materiel Orthopedique Cie Gle | Appareil de mobilisation passive des articulations de l'arriere-pied |
DE9312252U1 (de) * | 1993-08-17 | 1994-01-20 | Hoffmann Siegfried | Übungsgerät für Fußgelenke |
US6878102B1 (en) * | 2001-08-21 | 2005-04-12 | Luis Alberto Commisso | Leg-ankle-foot exercise assembly |
WO2005060913A1 (de) * | 2003-12-22 | 2005-07-07 | Austria Wirtschaftsservice Gesellschaft mit beschränkter Haftung | Einrichtung zur rehabilitation oder zum training der unteren extremitäten |
CN101999970A (zh) * | 2010-12-24 | 2011-04-06 | 上海电机学院 | 并联式多自由度踝关节康复训练器 |
CN102058465A (zh) * | 2011-02-22 | 2011-05-18 | 福州大学 | 单自由度脚踝康复训练装置 |
CN102166751A (zh) * | 2011-05-20 | 2011-08-31 | 汕头大学 | 少支链六自由度并联机器人 |
CN102743270A (zh) * | 2012-07-27 | 2012-10-24 | 中国科学院自动化研究所 | 一种坐卧式个性化下肢康复训练机器人 |
CN203060235U (zh) * | 2013-01-22 | 2013-07-17 | 江苏大学 | 一种五自由度混联下肢康复机器人 |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103505342A (zh) * | 2013-10-16 | 2014-01-15 | 河北工业大学 | 一种外骨骼式步态康复训练装置 |
CN103744297A (zh) * | 2014-01-07 | 2014-04-23 | 北京工业大学 | 小型自平衡机器人姿态模拟器 |
CN103744297B (zh) * | 2014-01-07 | 2016-11-23 | 北京工业大学 | 小型自平衡机器人姿态模拟器 |
CN105997436A (zh) * | 2016-07-06 | 2016-10-12 | 燕山大学 | 一种四自由度多姿态下肢康复机器人 |
WO2019180453A1 (en) * | 2018-03-23 | 2019-09-26 | Uea Enterprises Limited | Apparatus to aid walking |
CN110772398A (zh) * | 2019-11-12 | 2020-02-11 | 上海电气集团股份有限公司 | 步态训练器 |
CN111728749A (zh) * | 2020-07-03 | 2020-10-02 | 张强 | 一种手足畸形矫正机器人 |
CN111904801A (zh) * | 2020-09-21 | 2020-11-10 | 东北大学秦皇岛分校 | 一种混联式柔性踝关节康复装置 |
CN112957691A (zh) * | 2021-02-04 | 2021-06-15 | 哈尔滨工业大学 | 融合人体深感觉与前庭觉的体感模拟并联运动平台 |
CN113350124A (zh) * | 2021-07-09 | 2021-09-07 | 北京航空航天大学 | 一种十自由度部分解耦合的深感觉训练平台 |
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Address after: Lishui Economic Development Zone of Nanjing City, Jiangsu province 211215 zhe Ning Road No. 368 Applicant after: JIANGSU University Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Applicant before: Jiangsu University |
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Address after: 212114 Zhenjiang, Zhejiang Province, Dantu high capital street, Xiangshan Road, No. 1 Patentee after: JIANGSU University Address before: Lishui Economic Development Zone of Nanjing City, Jiangsu province 211215 zhe Ning Road No. 368 Patentee before: Jiangsu University |
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Inventor after: Deng Fei Inventor after: Zhang Yue Inventor before: Yang Qizhi Inventor before: Yao Binbin Inventor before: Cao Dianfeng Inventor before: Wu Weiguang Inventor before: Song Junpeng Inventor before: Zhao Jinhai |
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Effective date of registration: 20170802 Address after: 210000, industrial park, 22 North Liuzhou Road, Nanjing hi tech Industrial Development Zone, Jiangsu, China, three floors Patentee after: NANJING DING SHI MEDICAL DEVICES CO.,LTD. Address before: Science road high tech Industrial Development Zone Guangzhou city Guangdong province 510000 231, No. 233 building B1B2 building one layer, two layer, three layer, four layer Patentee before: BOAO ZONGHENG NETWORK TECHNOLOGY Co.,Ltd. Effective date of registration: 20170802 Address after: Science road high tech Industrial Development Zone Guangzhou city Guangdong province 510000 231, No. 233 building B1B2 building one layer, two layer, three layer, four layer Patentee after: BOAO ZONGHENG NETWORK TECHNOLOGY Co.,Ltd. Address before: 212114 Zhenjiang, Zhejiang Province, Dantu high capital street, Xiangshan Road, No. 1 Patentee before: Jiangsu University |
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