CN103316452B - The upper and lower extremities coordinated movement of various economic factors training institution of collapsible, rail-variable - Google Patents
The upper and lower extremities coordinated movement of various economic factors training institution of collapsible, rail-variable Download PDFInfo
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- CN103316452B CN103316452B CN201310291424.3A CN201310291424A CN103316452B CN 103316452 B CN103316452 B CN 103316452B CN 201310291424 A CN201310291424 A CN 201310291424A CN 103316452 B CN103316452 B CN 103316452B
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Abstract
The invention discloses a kind of upper and lower extremities coordinated movement of various economic factors training institution of collapsible, rail-variable, it comprises: crank, first connecting rod, second connecting rod, side link, third connecting rod, rocking bar, frame, foot support, handle; One end of crank and the hinged formation revolute pair of frame, the other end of crank and the hinged formation revolute pair of the head end of first connecting rod, the end of first connecting rod and the hinged formation revolute pair of the head end of second connecting rod, the end of second connecting rod and the hinged formation revolute pair of the head end of side link, the end of side link and the hinged formation revolute pair of frame, one end of third connecting rod and crank or first connecting rod or the hinged formation revolute pair of second connecting rod, the hinged formation revolute pair of the other end of third connecting rod and the bottom of rocking bar or middle part, the middle part of rocking bar or bottom and the hinged formation revolute pair of frame; First connecting rod or second connecting rod are provided with foot support, in the upper end of rocking bar, handle are installed.The present invention is simple and compact for structure, applied 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, rail-variable, belong to rehabilitation medical and sport and body-building apparatus field.
Background technology:
" 2010 annual Chinese programs for the elderly statistical communique of development " points out the whole nation 60 years old and above elderly population reach 1.7765 hundred million, the ratio accounting for total population weighs 13.26%, compared with the Fifth Population Census of China in 2000, rise 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 administer the serious problems having become society and faced.The research of rehabilitation in recent years and fitness training apparatus there has also been many achievements, the research of the training aids such as such as end effector is towed, Wearable exoskeleton and various sport and body-buildings and use to have had and develop significantly.But they also exist following deficiency: training, exercising device complex structure, application place are comparatively large, forms of motion is single to need care-giving professional to accompany in the whole journey, lack the upper and lower extremities coordinated movement of various economic factors, can not fold, track is constant, so not there is general applicability, be difficult to meet different crowd, the rehabilitation of Different Individual, body-building demand.
Summary of the invention:
For overcoming the defect 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, rail-variable, it is simple and compact for structure, have wide range of applications, also can grafting in other rehabilitations and health and fitness facilities, can meet the space environment such as family, office less, the rehabilitation of the upper and lower extremities coordinated movement of various economic factors that amplitude is adjustable, fitness training demand.
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, rail-variable, it comprises:
Crank, first connecting rod, second connecting rod, side link, third connecting rod, rocking bar, frame, foot support, handle;
One end of described crank and the hinged formation revolute pair of described frame, the other end of crank and the hinged formation revolute pair of the head end of first connecting rod, the end of described first connecting rod and the hinged formation revolute pair of the head end of second connecting rod, the end of described second connecting rod and the hinged formation revolute pair of the head end of side link, the end of described side link and the hinged formation revolute pair of described frame, one end of described third connecting rod and described crank or described first connecting rod or the hinged formation revolute pair of 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 middle part of described rocking bar or bottom and the hinged formation revolute pair of frame,
Described first connecting rod or second connecting rod are provided with foot support, in the upper end of described rocking bar, handle are installed.
Described crank drives rotation by the driving shaft be located in frame by main drive chain; Described side link drives rotation by the asessory shaft be located in frame by auxiliary driving-chain; Described main drive chain and auxiliary driving-chain form driving-chain jointly.
One end of described third connecting rod pin joint on described crank or described first connecting rod or described second connecting rod is with tune; The pin joint of described rocking bar in described frame is with tune; The position of described foot support on first connecting rod or second connecting rod is with tune.
The upper and lower extremities coordinated movement of various economic factors training institution of collapsible, rail-variable, it comprises:
Crank, first connecting rod, second connecting rod, side link, third connecting rod, rocking bar, frame, foot support, handle, linear actuators;
One end of described crank and the hinged formation revolute pair of described frame, the other end of crank and the hinged formation revolute pair of the head end of first connecting rod, the end of described first connecting rod and the hinged formation revolute pair of the head end of second connecting rod, the end of described second connecting rod and the hinged formation revolute pair of the head end of side link, the end of described side link is articulated with in described frame, one end of described third connecting rod and described crank or described first connecting rod or the hinged formation revolute pair of 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 middle part of described rocking bar or bottom and the hinged formation revolute pair of frame, arrange linear actuators, one end and the frame of described linear actuators are hinged to revolute pair, the hinged formation revolute pair in middle part of the other end and side link.
Described first connecting rod or second connecting rod are provided with foot support, in the upper end of described rocking bar, handle are installed.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, structure of the present invention simple, be convenient to be integrated on other rehabilitation and fitness training apparatus, seat, massage armchair, wheelchair and 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 object.
3, exercise mode of the present invention is various, in use procedure, two pairs of devices is symmetrically arranged in the right and left, can realize synchronous/asynchronous training.
4, compact conformation of the present invention is flexible, can freedom retractable, can fold, take up room little when not using.
5, the present invention has controllability, the angle of position on first connecting rod or second connecting rod of the initial position of rocking bar, foot support and side link can realize combined regulation, realize the training of different tracks, different amplitude, make it can adapt to the situation of same position trainer in the exercise of different convalescences and physical training condition, the trainer that can meet again different height 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.
If 7 are provided with resistance link in driving-chain just can carry out active training, not only with moving quadruped locomotion, and can produce resistance, use as health and fitness facilities.
8, the pin joint of rocking bar in frame is adjustable, and the pin joint of third connecting rod on first connecting rod or second connecting rod or crank is also adjustable, by regulating pin joint to change movement locus, and the motion amplitude of adjustment hand.
Accompanying drawing illustrates:
Fig. 1 is the hinged schematic front view of third connecting rod of the present invention and first connecting rod; 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 second aspect of the present invention, adopts linear actuators to replace asessory shaft and auxiliary driving-chain; Fig. 5 is the front view that the crank of second aspect of the present invention is arranged on top, adopts linear actuators to replace asessory shaft and auxiliary driving-chain; The horizontal mounting means of Fig. 6 position one 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 drive chains, 12 driving shafts, 13 auxiliary driving-chains, 14 transmission devices, 15 linear actuators.
Below by way of detailed description of the invention, and the invention will be further described by reference to the accompanying drawings.
Detailed description of the invention:
Embodiment: composition graphs 1,2, the upper and lower extremities coordinated movement of various economic factors training institution of collapsible, the rail-variable of the 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 the hinged formation revolute pair of frame 7, the other end of crank and the hinged formation revolute pair of the head end of first connecting rod 2, the end of first connecting rod 2 and the hinged formation revolute pair of the head end of second connecting rod 3, the end of second connecting rod 3 and the hinged formation revolute pair of the head end of side link 4, the end of side link 4 and the hinged formation revolute pair of frame 7, one end of third connecting rod 5 and the hinged formation revolute pair of first connecting rod 2, the hinged formation revolute pair in bottom of third connecting rod 5 other end and rocking bar 6, the middle part of rocking bar 6 and the hinged formation revolute pair of frame 7;
First connecting rod 2 is provided with foot support 8, in the upper end of rocking bar 6, handle 9 is installed.
Composition graphs 4, one end of third connecting rod 5 and the hinged formation revolute pair of crank 1, the hinged formation revolute pair in bottom of the third connecting rod other end and described rocking bar 6, the middle part of rocking bar 6 and the hinged formation revolute pair of frame 7.
In specifically arranging, crank 1 drives rotation by the driving shaft 12 be located in frame 7 by main drive chain 11; Side link 4 drives rotation by the asessory shaft 10 be located in frame 7 by auxiliary driving-chain 13; Main drive chain 11 and auxiliary driving-chain 13 form driving-chain jointly, select main drive chain 11 and auxiliary driving-chain 13, and driven by motor by solenoidoperated cluthes.Regulate the movement locus of hand, foot for convenience, one end of third connecting rod 5 pin joint on crank 1 or first connecting rod 2 or second connecting rod 3 is with tune; The pin joint of rocking bar 6 in frame 7 is with tune; The position of foot support 8 on first connecting rod 2 or second connecting rod 3 is with tune, can between two revolute pairs of first connecting rod 2 or second connecting rod 3 (as Fig. 1,2,3, shown) or overhanging upper (as shown in Figure 4,5, 6), this adjustment realizes by the hole of diverse location, groove, or move realization by lead screw guide rails, or rotate realization by worm and gear.
In embody rule, main drive chain 11 and auxiliary driving-chain 13 form transmission device 14 jointly, select main drive chain 11 and auxiliary driving-chain 13, and driven by motor by solenoidoperated cluthes.Main drive chain 11 and auxiliary driving-chain 13 are formed by combining by gear, belt wheel or sprocket wheel, and are provided with brake or self-locking device.
If load onto clutch respectively on driving shaft 12 and asessory shaft 10, 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.
Composition graphs 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 rail-variable, 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 the hinged formation revolute pair of frame 7, the other end of crank and the hinged formation revolute pair of the head end of first connecting rod 2, the end of first connecting rod 2 and the hinged formation revolute pair of the head end of second connecting rod 3, the end of second connecting rod 3 and the hinged formation revolute pair of the head end of side link 4, the end of side link 4 and the hinged formation revolute pair of frame 7, one end of third connecting rod 5 and the hinged formation revolute pair of crank 1, the hinged formation revolute pair in middle part of third connecting rod 5 other end and rocking bar 6, the bottom of rocking bar 6 and the hinged formation revolute pair of frame 7; Linear actuators 15 one end and frame 7 are hinged to revolute pair, the hinged formation revolute pair in middle part of the other end and side link 4.This linear actuators also has self-lock ability, regulates the angle of side link 4 to change by extending, shortening.In concrete enforcement, the linear actuators that linear actuators 15 can adopt great Silver Wei Xi System limited company to produce, model can adopt the array of linear actuators such as LAM, LAS, LAN.
First connecting rod 2 is provided with foot support 8, in the upper end of rocking bar 6, handle 9 is installed.
In specifically arranging, crank 1 drives rotation by the driving shaft 12 be located in frame 7 by main drive chain 11.
In using, according to body parameter and the training requirement of training objects, adjustment foot support 8 moves to the correct position on first connecting rod 2, adjusts side link 4 to correct position by linear actuators 15, and the initial position of adjustment rocking bar 6 is to suitable position; Brake operation or auto-lock function play a role and keep side link 4 motionless.Two hands of trainer's upper limbs contact with the handle 9 of left and right respectively, two pin of lower limb contact with the foot support 8 of left and right respectively, driving shaft 12 is by the revolution of main drive chain 11 driving crank 1 complete cycle, and crank handle turns handle, foot support, by the track of expecting and speed motion, reach training goal; If the movement locus of the handle (riding) supported is not in the suitable range of movement of user, then turn an angle side link 4 the position adjustment realizing respective range, make the movement locus of handle, foot support in the suitable range of movement of user, thus also can meet the training demand of different crowd or individuality.In order to realize more complicated forms of motion, side link 4 and crank 1 can be allowed to rotate simultaneously.
If in driving shaft 12 and main drive chain 11 or outside load onto drag devices friction brake etc. as adjustable in moment, the size of the moment of resistance can be controlled, for active training provides resistance, realize the object of carrying out strength building in the active movement of regulation track; In conjunction with the passive exercise of motor, thus the needs of main passive exercise can be met.
If be equipped with brake in driving shaft 12 or main drive chain 11, can the initial phase of both sides be adjusted respectively and remain unchanged, thus realize synchronous/asynchronous training.
For whole training institution, the shape of crank 1 can adopt shaft-like (as shown in Fig. 1,2,3,4,5); Also can be the shapes such as disk (as shown in Figure 6).Crank 1 can be arranged in mechanism bottom (as shown in Figure 1,2,3, 4); Also mechanism top (as shown in Figure 5) can be arranged in.
Whole training institution can vertically use (as 1,2,3,4,5 Suo Shi); Also can horizontally use (as shown in Figure 6).
Claims (2)
1. the upper and lower extremities coordinated movement of various economic factors training institution of collapsible, rail-variable, 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 head end of the other end of crank and first connecting rod (2), the end of described first connecting rod (2) and the hinged formation revolute pair of head end of second connecting rod (3), the end of described second connecting rod (3) and the hinged formation revolute pair of head end of 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 the hinged formation revolute pair of described first connecting rod (2), the hinged formation revolute pair in bottom of the third connecting rod other end and described rocking bar (6), the middle part of described rocking bar (6) and the hinged formation revolute pair of frame (7),
Described first connecting rod (2) or second connecting rod (3) are provided with foot support (8), in the upper end of described rocking bar (6), handle (9) are installed;
Described crank (1) drives rotation by the driving shaft (12) be located in frame (7) by main drive chain (11); Described side link (4) drives rotation by the asessory shaft (10) be located in frame (7) by auxiliary driving-chain (13); Described main drive chain (11) and auxiliary driving-chain (13) form driving-chain jointly.
2. the upper and lower extremities coordinated movement of various economic factors training institution of collapsible, rail-variable according to claim 1, it is characterized in that, one end of described third connecting rod (5) pin joint on described crank (1) or described first connecting rod (2) or described second connecting rod (3) is with tune; The pin joint of described rocking bar (6) in described frame (7) is with tune; The position of described foot support (8) on first connecting rod (2) or second connecting rod (3) is with tune.
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 |
| CN201510208784.1A CN104801009A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb and lower limb coordinate exercise training mechanism |
| CN201510209781.XA CN104815415A (en) | 2013-04-03 | 2013-07-12 | Orbit-changing folding type upper and lower limbs coordinate exercise training instrument |
| CN201510208769.7A CN104801008A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb 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 |
| CN201510208785.6A CN104801010A (en) | 2013-04-03 | 2013-07-12 | Upper and lower limb coordinated exercise training device capable of changing rails and folding |
| 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 |
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 |
|---|---|---|---|
| CN201510209781.XA Division CN104815415A (en) | 2013-04-03 | 2013-07-12 | Orbit-changing folding type upper and lower limbs coordinate exercise training instrument |
| 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 |
| 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 |
| 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 |
| CN201510208769.7A Division CN104801008A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb and lower limb coordinate exercise training mechanism |
| CN201510208784.1A Division CN104801009A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb and lower limb coordinate exercise training mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103316452A CN103316452A (en) | 2013-09-25 |
| CN103316452B true CN103316452B (en) | 2015-07-29 |
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| 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 |
| CN201510208784.1A Pending CN104801009A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb 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 |
| 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 |
| 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 |
| CN201510208769.7A Pending CN104801008A (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 |
| 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 |
Family Applications Before (6)
| 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 |
| CN201510208784.1A Pending CN104801009A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb 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 |
| 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 |
| 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 |
| CN201510208769.7A Pending CN104801008A (en) | 2013-04-03 | 2013-07-12 | Orbit-changeable and foldable upper limb and lower limb coordinate exercise training mechanism |
Family Applications After (1)
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| 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 |
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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 |
| CN110916981A (en) * | 2019-12-17 | 2020-03-27 | 许崇兰 | Intelligent seat for rehabilitation training |
| 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 |
| CN113908484A (en) * | 2021-07-09 | 2022-01-11 | 合肥工业大学 | Training subassembly and can satisfy rehabilitation training device of joint training demand |
| CN114569942B (en) * | 2021-07-09 | 2023-04-25 | 合肥工业大学 | Support type rehabilitation training machine |
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2013
- 2013-04-03 CN CN 201310116120 patent/CN103191543A/en active Pending
- 2013-07-12 CN CN201510208784.1A patent/CN104801009A/en active Pending
- 2013-07-12 CN CN201510209781.XA patent/CN104815415A/en active Pending
- 2013-07-12 CN CN201510208785.6A patent/CN104801010A/en active Pending
- 2013-07-12 CN CN201510208803.0A patent/CN104801011A/en active Pending
- 2013-07-12 CN CN201510208769.7A patent/CN104801008A/en active Pending
- 2013-07-12 CN CN201310291424.3A patent/CN103316452B/en active Active
- 2013-07-12 CN CN201510209767.XA patent/CN104888415B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7806808B2 (en) * | 2008-12-12 | 2010-10-05 | Sports Art Industrial Co., Ltd. | Athletic apparatus with non-parallel linear sliding track |
| CN102078677A (en) * | 2009-11-27 | 2011-06-01 | 泰诺健股份公司 | Gymnastic machine |
| CN201832338U (en) * | 2010-05-21 | 2011-05-18 | 赖膺州 | Elliptical trainer transmission structure |
| CN102614063A (en) * | 2012-04-10 | 2012-08-01 | 芜湖天人智能机械有限公司 | Support-movable and amplitude-adjustable training device for rehabilitation of upper and lower limbs |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104888415B (en) | 2017-11-14 |
| CN104801011A (en) | 2015-07-29 |
| CN103191543A (en) | 2013-07-10 |
| CN104888415A (en) | 2015-09-09 |
| CN104801008A (en) | 2015-07-29 |
| CN104801010A (en) | 2015-07-29 |
| CN104801009A (en) | 2015-07-29 |
| CN104815415A (en) | 2015-08-05 |
| CN103316452A (en) | 2013-09-25 |
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