CN103316452A - Foldable and rail-changeable upper limb and lower limb coordinate exercise training mechanism - Google Patents
Foldable and rail-changeable upper limb and lower limb coordinate exercise training mechanism Download PDFInfo
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- CN103316452A CN103316452A CN2013102914243A CN201310291424A CN103316452A CN 103316452 A CN103316452 A CN 103316452A CN 2013102914243 A CN2013102914243 A CN 2013102914243A CN 201310291424 A CN201310291424 A CN 201310291424A CN 103316452 A CN103316452 A CN 103316452A
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Abstract
The invention discloses a foldable and rail-changeable upper limb and lower limb coordinate exercise training mechanism. The foldable and rail-changeable upper limb and lower limb coordinate exercise training mechanism comprises a crank, a first connecting rod, a second connecting rod, a connecting frame, a third connecting rod, a rocking bar, a machine frame, a foot support and a hand shank. One end of the crank is hinged to the machine frame to form a rotating pair, the other end of the crank is hinged to the head end of the first connecting rod to form a rotating pair, the tail end of the first connecting rod is hinged to the head end of the second connecting rod to form a rotating pair, the tail end of the second connecting rod is hinged to the head end of the connecting frame to form a rotating pair, the tail end of the connecting frame is hinged to the machine frame to form a rotating pair, one end of the third connecting rod is hinged to the crank or the first connecting rod or the second connecting rod to form a rotating pair, the other end of the third connecting rod is hinged to the bottom end of the rocking rod or the middle of the rocking bar to form a rotating pair, the middle or the bottom of the rocking bar is hinged to the machine frame to form a rotating pair, the foot support is installed on the first connecting rod or the second connecting rod, and the hand shank is installed at the upper end of the rocking bar. The foldable and rail-changeable upper limb and lower limb coordinate exercise training mechanism is simple and compact in structure and wide in application range.
Description
Technical field:
The present invention relates to a kind of upper and lower extremities coordinated movement of various economic factors training institution of collapsible, variable rail, belong to rehabilitation medical and sport and body-building instrument field.
Background technology:
" 2010 annual Chinese programs for the elderly statistical communique of development " pointed out the whole nation 60 years old and above elderly population have reached 1.7765 hundred million, the ratio that accounts for total population weighs 13.26%, compare with the 5th national census in 2000, risen 2.93 percentage points, visible China aging degree is continuing to deepen; Along with social development, the crowd of sitting work constantly increases, and the number with white-collar occupations disease also constantly increases.The prevention of the prevention of disease of old people and rehabilitation, white-collar occupations disease and improvement have become the serious problems that current society faces.The research of rehabilitation in recent years and fitness training apparatus has also had many achievements, the research of training aids such as for example end effector is towed, ectoskeleton Wearable and various sport and body-buildings and use development has significantly been arranged.But they exist following deficiency: need the special and professional care personnel to accompany training, exercising device complex structure in the whole journey, use that the place is big, forms of motion is single, lack the upper and lower extremities coordinated movement of various economic factors, can not fold, track is constant, so do not have general applicability, be difficult to satisfy rehabilitation, the body-building demand of different crowd, Different Individual.
Summary of the invention:
For overcoming the defective of prior art, the object of the present invention is to provide a kind of upper and lower extremities coordinated movement of various economic factors training institution of collapsible, variable rail, it is simple and compact for structure, have wide range of applications, also but grafting can be satisfied rehabilitation, the fitness training demand of the space environment upper and lower extremities coordinated movements of various economic factors less, that amplitude is adjustable such as family, office on other rehabilitations and health and fitness facilities.
Technical solution problem of the present invention adopts following technical scheme:
The upper and lower extremities coordinated movement of various economic factors training institution of collapsible, variable rail, it comprises:
Crank, first connecting rod, second connecting rod, side link, third connecting rod, rocking bar, frame, foot support, handle;
The hinged formation revolute pair of one end of described crank and described frame, the hinged formation revolute pair of the other end of crank and the head end of first connecting rod, the hinged formation revolute pair of the end of described first connecting rod and the head end of second connecting rod, the hinged formation revolute pair of the end of described second connecting rod and the head end of side link, the hinged formation revolute pair of the end of described side link and described frame, the hinged formation revolute pair of one end of described third connecting rod and described crank or described first connecting rod or described second connecting rod, the hinged formation revolute pair in the bottom of the third connecting rod other end and described rocking bar or middle part, the hinged formation revolute pair of the middle part of described rocking bar or bottom and frame;
At described first connecting rod or second connecting rod foot support is installed, in the upper end of described rocking bar handle is installed.
Described crank drives rotation by the driving shaft of being located on the frame by the main transmission chain; Described side link drives rotation by the asessory shaft of being located on the frame by auxilliary driving-chain; Described main transmission chain and auxilliary driving-chain are formed driving-chain jointly.
The pin joint of one end of described third connecting rod on described crank or described first connecting rod or described second connecting rod is with accent; The pin joint of described rocking bar on described frame is with accent; The position of described foot support on first connecting rod or second connecting rod is with accent.
The upper and lower extremities coordinated movement of various economic factors training institution of collapsible, variable rail, it comprises:
Crank, first connecting rod, second connecting rod, side link, third connecting rod, rocking bar, frame, foot support, handle, linear actuators;
The hinged formation revolute pair of one end of described crank and described frame, the hinged formation revolute pair of the other end of crank and the head end of first connecting rod, the hinged formation revolute pair of the end of described first connecting rod and the head end of second connecting rod, the hinged formation revolute pair of the end of described second connecting rod and the head end of side link, the end of described side link is articulated on the described frame, the hinged formation revolute pair of one end of described third connecting rod and described crank or described first connecting rod or described second connecting rod, the hinged formation revolute pair in the bottom of the third connecting rod other end and described rocking bar or middle part, the hinged formation revolute pair of the middle part of described rocking bar or bottom and frame; Linear actuators is set, and an end and the frame of described linear actuators are hinged to revolute pair, the hinged formation revolute pair in the middle part of the other end and side link.
At described first connecting rod or second connecting rod foot support is installed, in the upper end of described rocking bar handle is installed.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention simple in structure, be convenient to be integrated on other rehabilitation and fitness training apparatus, seat, massage armchair, wheelchair and the bed.
2, applied range of the present invention can be used for the coordinated movement of various economic factors of upper and lower limb and trunk, reaches athletic rehabilitation and body-building purpose.
3, exercise mode of the present invention is various, in the use two pairs of devices is symmetrically arranged in the right and left, can realize the synchronous/asynchronous training.
4, compact conformation of the present invention is flexible, can free folding and unfolding, can fold when not using, and it is little to take up room.
5, the present invention has controllability, the initial position of rocking bar, foot support position and the angle of side link on first connecting rod or second connecting rod can realize that combined type regulates, realize the training of different tracks, different amplitudes, make it can adapt to same position trainer in the situation of the exercise of different convalescences and physical training condition, the trainer that can satisfy different heights again carries out the demand of rehabilitation and exercise.
6, control driven by motor crank or side link by clutch, the drive motors of crank and side link can be same.
7, just can carry out the active training if in driving-chain, be provided with the resistance link, not only can drive people's quadruped locomotion, and can produce resistance, use as health and fitness facilities.
8, the pin joint of rocking bar on frame is adjustable, and the pin joint of third connecting rod on first connecting rod or second connecting rod or crank is also adjustable, can change movement locus by regulating pin joint, adjusts the motion amplitude of hand.
Description of drawings:
Fig. 1 is that the hinged master of third connecting rod of the present invention and first connecting rod looks schematic diagram; Fig. 2 is that schematic diagram is looked on the hinged right side of third connecting rod of the present invention and first connecting rod; Fig. 4 is the hinged front view of third connecting rod of the present invention and crank; Fig. 3 is the front view of alternative plan of the present invention, adopts linear actuators to replace asessory shaft and auxilliary driving-chain; Fig. 5 is the front view that the crank of alternative plan of the present invention is installed in top, adopts linear actuators to replace asessory shaft and auxilliary driving-chain; Fig. 6 position a kind of horizontal mounting means of the present invention.
Number in the figure: 1 crank, 2 first connecting rods, 3 second connecting rods, 4 side links, 5 third connecting rods, 6 rocking bars, 7 frames, 8 foot support, 9 handles, 10 asessory shafts, 11 main transmission chains, 12 driving shafts, 13 auxilliary driving-chains, 14 transmission devices, 15 linear actuators.
Below pass through the specific embodiment, and the invention will be further described by reference to the accompanying drawings.
The specific embodiment:
Embodiment: in conjunction with Fig. 1,2, the upper and lower extremities coordinated movement of various economic factors training institution of collapsible, the variable rail of present embodiment, it comprises: crank 1, first connecting rod 2, second connecting rod 3, side link 4, third connecting rod 5, rocking bar 6, frame 7, foot support 8, handle 9;
One end of crank 1 and frame 7 hinged formation revolute pairs, the hinged formation revolute pair of the head end of the other end of crank and first connecting rod 2, the hinged formation revolute pair of the head end of the end of first connecting rod 2 and second connecting rod 3, the hinged formation revolute pair of the head end of the end of second connecting rod 3 and side link 4, the end of side link 4 and frame 7 hinged formation revolute pairs, one end of third connecting rod 5 and first connecting rod 2 hinged formation revolute pairs, the hinged formation revolute pair in the bottom of third connecting rod 5 other ends and rocking bar 6, the middle part of rocking bar 6 and frame 7 hinged formation revolute pairs;
At first connecting rod 2 foot support 8 is installed, in the upper end of rocking bar 6 handle 9 is installed.
In conjunction with Fig. 4, an end of third connecting rod 5 and crank 1 hinged formation revolute pair, the hinged formation revolute pair in the bottom of the third connecting rod other end and described rocking bar 6, the middle part of rocking bar 6 and frame 7 hinged formation revolute pairs.
In specifically arranging, crank 1 drives rotation by the driving shaft of being located on the frame 7 12 by main transmission chain 11; Side link 4 drives rotation by the asessory shaft of being located on the frame 7 10 by auxilliary driving-chain 13; Main transmission chain 11 and the auxilliary driving-chain 13 common driving-chains of forming are selected main transmission chain 11 and auxilliary driving-chain 13 by solenoidoperated cluthes, and by motor-driven.Be the convenient movement locus of regulating hand, foot, the pin joint of an end of third connecting rod 5 on crank 1 or first connecting rod 2 or second connecting rod 3 is with accent; The pin joint of rocking bar 6 on frame 7 is with accent; The position of foot support 8 on first connecting rod 2 or second connecting rod 3 is with accent, can be between two revolute pairs of first connecting rod 2 or second connecting rod 3 (as Fig. 1,2,3, shown in) or overhanging go up (shown in Fig. 4,5,6), this adjusting can realize by hole, the groove of diverse location, or move realization by lead screw guide rails, or rotate by worm and gear and to realize.
In concrete the application, main transmission chain 11 and the auxilliary driving-chain 13 common transmission devices 14 of forming are selected main transmission chain 11 and auxilliary driving-chain 13 by solenoidoperated cluthes, and by motor-driven.Main transmission chain 11 is formed by combining by gear, belt wheel or sprocket wheel with auxilliary driving-chain 13, and is provided with brake or self-locking device.
If on driving shaft 12 and asessory shaft 10, load onto clutch respectively, then can control driven by motor crank or side link by clutch, like this, the drive motors of crank and side link can be same.
In conjunction with Fig. 3,5, as another embodiment of the present invention, this is collapsible, the upper and lower extremities coordinated movement of various economic factors training institution of variable rail, and it comprises: crank 1, first connecting rod 2, second connecting rod 3, side link 4, third connecting rod 5, rocking bar 6, frame 7, foot support 8, handle 9, linear actuators 15; One end of crank 1 and frame 7 hinged formation revolute pairs, the hinged formation revolute pair of the head end of the other end of crank and first connecting rod 2, the hinged formation revolute pair of the head end of the end of first connecting rod 2 and second connecting rod 3, the hinged formation revolute pair of the head end of the end of second connecting rod 3 and side link 4, the end of side link 4 and frame 7 hinged formation revolute pairs, one end of third connecting rod 5 and crank 1 hinged formation revolute pair, the hinged formation revolute pair in the middle part of third connecting rod 5 other ends and rocking bar 6, the bottom of rocking bar 6 and frame 7 hinged formation revolute pairs; Linear actuators 15 1 ends and frame 7 are hinged to revolute pair, the hinged formation revolute pair in the middle part of the other end and side link 4.This linear actuators also has self-lock ability, and the angle of regulating side link 4 by elongation, shortening changes.In concrete the enforcement, the linear actuators that linear actuators 15 can adopt the little System of being of big Silver limited company to produce, model can adopt serial linear actuators such as LAM, LAS, LAN.
At first connecting rod 2 foot support 8 is installed, in the upper end of rocking bar 6 handle 9 is installed.
In specifically arranging, crank 1 drives rotation by the driving shaft of being located on the frame 7 12 by main transmission chain 11.
In the use, according to body parameter and the training requirement of training objects, adjustment foot support 8 moves to the correct position on the first connecting rod 2, adjusts side links 4 to correct position by linear actuators 15, adjusts the initial position of rocking bar 6 to suitable position; Brake work or auto-lock function play a role and keep side link 4 motionless.Two hands of trainer's upper limbs respectively with about handle 9 contact, two pin of lower limb respectively with about foot support 8 contact, driving shaft 12 drives the revolution of crank 1 complete cycle by main transmission chain 11, and crank drives handle, foot support by the track of expecting and speed motion, reaches training goal; If the movement locus of the handle (riding) that supports is not in user's suitable range of movement, then side link 4 is turned an angle and realize the position adjustment of respective range, make the movement locus of handle, foot support in user's suitable range of movement, thereby also can satisfy different crowd or individual training demand.In order to realize more complicated forms of motion, can allow side link 4 and crank 1 rotate simultaneously.
If in driving shaft 12 and main transmission chain 11 or the outside adjustable friction brake of drag devices such as moment etc. of loading onto, can control the size of the moment of resistance, for training initiatively provides resistance, be implemented in the purpose of carrying out strength building in the active movement of regulation track; In conjunction with the passive exercise of motor, thereby can satisfy the needs of main passive exercise.
If in driving shaft 12 or main transmission chain 11, brake is housed, can adjusts the initial phase of both sides respectively and remain unchanged, thereby realize the synchronous/asynchronous training.
For whole training institution, the shape of crank 1 can adopt shaft-like (shown in Fig. 1,2,3,4,5); Also can be shapes (as shown in Figure 6) such as disk.Crank 1 can be arranged in mechanism bottom (shown in Fig. 1,2,3,4); Also can be arranged in mechanism top (as shown in Figure 5).
Whole training institution can vertically use (shown in 1,2,3,4,5); Also can horizontally use (as shown in Figure 6).
Claims (4)
1. the upper and lower extremities coordinated movement of various economic factors training institution of collapsible, variable rail is characterized in that comprising:
Crank (1), first connecting rod (2), second connecting rod (3), side link (4), third connecting rod (5), rocking bar (6), frame (7), foot support (8), handle (9);
One end of described crank (1) and the hinged formation revolute pair of described frame (7), the hinged formation revolute pair of the head end of the other end of crank and first connecting rod (2), the hinged formation revolute pair of the head end of the end of described first connecting rod (2) and second connecting rod (3), the hinged formation revolute pair of the head end of the end of described second connecting rod (3) and side link (4), the end of described side link (4) and the hinged formation revolute pair of described frame (7), one end of described third connecting rod (5) and described crank (1) or described first connecting rod (2) or the hinged formation revolute pair of described second connecting rod (3), the hinged formation revolute pair in the bottom of the third connecting rod other end and described rocking bar (6) or middle part, the middle part of described rocking bar (6) or bottom and the hinged formation revolute pair of frame (7);
At described first connecting rod (2) or second connecting rod (3) foot support (8) is installed, in the upper end of described rocking bar (6) handle (9) is installed.
2. the upper and lower extremities coordinated movement of various economic factors training institution of collapsible, variable rail according to claim 1 is characterized in that, described crank (1) drives by main transmission chain (11) and rotates by being located at driving shaft (12) on the frame (7); Described side link (4) drives rotation by the asessory shaft of being located on the frame (7) (10) by auxilliary driving-chain (13); Described main transmission chain (11) is formed driving-chain jointly with auxilliary driving-chain (13).
3. the upper and lower extremities coordinated movement of various economic factors training institution of collapsible, variable rail according to claim 1, it is characterized in that the pin joint of an end of described third connecting rod (5) on described crank (1) or described first connecting rod (2) or described second connecting rod (3) is with accent; The pin joint of described rocking bar (6) on described frame (7) is with accent; The position of described foot support (8) on first connecting rod (2) or second connecting rod (3) is with accent.
4. the upper and lower extremities coordinated movement of various economic factors training institution of collapsible, variable rail is characterized in that comprising:
Crank (1), first connecting rod (2), second connecting rod (3), side link (4), third connecting rod (5), rocking bar (6), frame (7), foot support (8), handle (9), linear actuators (15);
One end of described crank (1) and the hinged formation revolute pair of described frame (7), the hinged formation revolute pair of the head end of the other end of crank and first connecting rod (2), the hinged formation revolute pair of the head end of the end of described first connecting rod (2) and second connecting rod (3), the hinged formation revolute pair of the head end of the end of described second connecting rod (3) and side link (4), the end of described side link (4) is articulated on the described frame (7), one end of described third connecting rod (5) and described crank (1) or described first connecting rod (2) or the hinged formation revolute pair of described second connecting rod (3), the hinged formation revolute pair in the bottom of the third connecting rod other end and described rocking bar (6) or middle part, the middle part of described rocking bar (6) or bottom and the hinged formation revolute pair of frame (7); Linear actuators (15) is set, and an end of described linear actuators and frame (7) are hinged to revolute pair, the hinged formation revolute pair in the middle part of the other end and side link (4).
At described first connecting rod (2) or second connecting rod (3) foot support (8) is installed, in the upper end of described rocking bar (6) handle (9) is installed.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510208803.0A CN104801011A (en) | 2013-04-03 | 2013-07-12 | Upper and lower limb coordinated exercise training mechanism capable of changing rails and folding |
| CN201310291424.3A CN103316452B (en) | 2013-04-03 | 2013-07-12 | The upper and lower extremities coordinated movement of various economic factors training institution of collapsible, rail-variable |
| CN201510209767.XA CN104888415B (en) | 2013-04-03 | 2013-07-12 | A kind of rail-variable, folding upper and lower extremities coordinated movement of various economic factors trainer |
| CN201510208784.1A CN104801009A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb and lower limb coordinate exercise training mechanism |
| CN201510208769.7A CN104801008A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb and lower limb coordinate exercise training mechanism |
| CN201510208785.6A CN104801010A (en) | 2013-04-03 | 2013-07-12 | Upper and lower limb coordinated exercise training device capable of changing rails and folding |
| CN201510209781.XA CN104815415A (en) | 2013-04-03 | 2013-07-12 | Orbit-changing folding type upper and lower limbs coordinate exercise training instrument |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310116120.3 | 2013-04-03 | ||
| CN2013101161203 | 2013-04-03 | ||
| CN 201310116120 CN103191543A (en) | 2013-04-03 | 2013-04-03 | Foldable and orbital transfer upper and lower limb coordinate exercise training mechanism |
| CN201310291424.3A CN103316452B (en) | 2013-04-03 | 2013-07-12 | The upper and lower extremities coordinated movement of various economic factors training institution of collapsible, rail-variable |
Related Child Applications (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510208803.0A Division CN104801011A (en) | 2013-04-03 | 2013-07-12 | Upper and lower limb coordinated exercise training mechanism capable of changing rails and folding |
| CN201510208785.6A Division CN104801010A (en) | 2013-04-03 | 2013-07-12 | Upper and lower limb coordinated exercise training device capable of changing rails and folding |
| CN201510209781.XA Division CN104815415A (en) | 2013-04-03 | 2013-07-12 | Orbit-changing folding type upper and lower limbs coordinate exercise training instrument |
| CN201510208784.1A Division CN104801009A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb and lower limb coordinate exercise training mechanism |
| CN201510208769.7A Division CN104801008A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb and lower limb coordinate exercise training mechanism |
| CN201510209767.XA Division CN104888415B (en) | 2013-04-03 | 2013-07-12 | A kind of rail-variable, folding upper and lower extremities coordinated movement of various economic factors trainer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103316452A true CN103316452A (en) | 2013-09-25 |
| CN103316452B CN103316452B (en) | 2015-07-29 |
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Family Applications (8)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201310116120 Pending CN103191543A (en) | 2013-04-03 | 2013-04-03 | Foldable and orbital transfer upper and lower limb coordinate exercise training mechanism |
| CN201510209781.XA Pending CN104815415A (en) | 2013-04-03 | 2013-07-12 | Orbit-changing folding type upper and lower limbs coordinate exercise training instrument |
| CN201510208803.0A Pending CN104801011A (en) | 2013-04-03 | 2013-07-12 | Upper and lower limb coordinated exercise training mechanism capable of changing rails and folding |
| CN201510208784.1A Pending CN104801009A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb and lower limb coordinate exercise training mechanism |
| CN201310291424.3A Active CN103316452B (en) | 2013-04-03 | 2013-07-12 | The upper and lower extremities coordinated movement of various economic factors training institution of collapsible, rail-variable |
| CN201510208769.7A Pending CN104801008A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb and lower limb coordinate exercise training mechanism |
| CN201510209767.XA Active CN104888415B (en) | 2013-04-03 | 2013-07-12 | A kind of rail-variable, folding upper and lower extremities coordinated movement of various economic factors trainer |
| CN201510208785.6A Pending CN104801010A (en) | 2013-04-03 | 2013-07-12 | Upper and lower limb coordinated exercise training device capable of changing rails and folding |
Family Applications Before (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201310116120 Pending CN103191543A (en) | 2013-04-03 | 2013-04-03 | Foldable and orbital transfer upper and lower limb coordinate exercise training mechanism |
| CN201510209781.XA Pending CN104815415A (en) | 2013-04-03 | 2013-07-12 | Orbit-changing folding type upper and lower limbs coordinate exercise training instrument |
| CN201510208803.0A Pending CN104801011A (en) | 2013-04-03 | 2013-07-12 | Upper and lower limb coordinated exercise training mechanism capable of changing rails and folding |
| CN201510208784.1A Pending CN104801009A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb and lower limb coordinate exercise training mechanism |
Family Applications After (3)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510208769.7A Pending CN104801008A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb and lower limb coordinate exercise training mechanism |
| CN201510209767.XA Active CN104888415B (en) | 2013-04-03 | 2013-07-12 | A kind of rail-variable, folding upper and lower extremities coordinated movement of various economic factors trainer |
| CN201510208785.6A Pending CN104801010A (en) | 2013-04-03 | 2013-07-12 | Upper and lower limb coordinated exercise training device capable of changing rails and folding |
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| CN (8) | CN103191543A (en) |
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| CN110916981A (en) * | 2019-12-17 | 2020-03-27 | 许崇兰 | Intelligent seat for rehabilitation training |
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| CN103191543A (en) * | 2013-04-03 | 2013-07-10 | 芜湖天人智能机械有限公司 | Foldable and orbital transfer upper and lower limb coordinate exercise training mechanism |
| CN108635752B (en) * | 2018-05-09 | 2019-12-06 | 浙江伍兹科技有限公司 | pedal body-building device |
| CN108578988B (en) * | 2018-06-20 | 2019-11-19 | 山东海天智能工程有限公司 | A kind of sense organ and limbs coordinate device for healing and training |
| CN111067752A (en) * | 2018-10-18 | 2020-04-28 | 长春工业大学 | Upper limb end guiding type rehabilitation structure based on class II gear plane five-bar mechanism |
| CN111150538B (en) * | 2020-02-27 | 2021-09-24 | 温州医科大学附属第一医院 | Multifunctional correcting device for lower limbs |
| CN111419560B (en) * | 2020-04-22 | 2022-06-14 | 广东博方众济医疗科技有限公司 | Wheelchair bed and deformation method thereof |
| CN114569942B (en) * | 2021-07-09 | 2023-04-25 | 合肥工业大学 | Support type rehabilitation training machine |
| CN216497277U (en) * | 2021-07-09 | 2022-05-13 | 合肥工业大学 | Training assembly and rehabilitation training device capable of meeting joint training requirements |
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|---|---|
| CN103191543A (en) | 2013-07-10 |
| CN104801009A (en) | 2015-07-29 |
| CN103316452B (en) | 2015-07-29 |
| CN104801008A (en) | 2015-07-29 |
| CN104888415B (en) | 2017-11-14 |
| CN104888415A (en) | 2015-09-09 |
| CN104801011A (en) | 2015-07-29 |
| CN104801010A (en) | 2015-07-29 |
| CN104815415A (en) | 2015-08-05 |
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