CN104382702A - Multifunctional rehabilitation wheelchair - Google Patents

Multifunctional rehabilitation wheelchair Download PDF

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Publication number
CN104382702A
CN104382702A CN201410605968.7A CN201410605968A CN104382702A CN 104382702 A CN104382702 A CN 104382702A CN 201410605968 A CN201410605968 A CN 201410605968A CN 104382702 A CN104382702 A CN 104382702A
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China
Prior art keywords
push rod
support
electric push
plate
hinged
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CN201410605968.7A
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Chinese (zh)
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CN104382702B (en
Inventor
张利
李肖漫
刘征宇
张建军
魏振春
张帅
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Hefei University of Technology
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Hefei University of Technology
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Publication of CN104382702A publication Critical patent/CN104382702A/en
Application granted granted Critical
Publication of CN104382702B publication Critical patent/CN104382702B/en
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Abstract

The invention discloses a multifunctional rehabilitation wheelchair, which comprises a support, a hoisting mechanism, a bed body mechanism and a power plant; multiple functions of intelligent walking, walking rehabilitation, multi-pose adjustment and the like are integrated in the multifunctional rehabilitation wheelchair; under the action of an electric push rod, switchover of three poses of sitting, lying and standing and walking rehabilitation training can be realized. The multifunctional rehabilitation wheelchair is complete in function, convenient in operation and compact in structure; different needs of different people can be met, the manual physical therapy and nursing difficulty is relieved, a patient is promoted to get well soon, and the social burden and the family burden are relieved.

Description

A kind of Multifunction restoring wheelchair
Technical field
The present invention relates to rehabilitation wheelchair field, specifically a kind of Multifunction restoring wheelchair.
Background technology
Huge physical disabilities crowd and increasingly serious social senilization's problem, create and expedited the emergence of limb rehabilitating medical equipment new industry, the ability to act that old people and disabled mostly exist in various degree is lost, and its medical treatment and nursing has been become to the immense pressure of society.High-end healing robot domestic is at present based on foreign import, but it is expensive, general family is difficult to bear, and the rehabilitation machines care appliances technology that domestic independent research is produced is ripe not enough, mechanization, automaticity are not high, need extra artificial assistance.
For existing situation, the present invention devises a Multifunction restoring wheelchair, is intended to the work replacing people with robot, alleviates artificial physical therapy and nursing difficulty, to promote the rehabilitation of patient, thus alleviates the burden of society and family.
summary of the inventionthe object of this invention is to provide a kind of Multifunction restoring wheelchair, to overcome deficiency of the prior art, be devoted to the rehabilitation and the nursing problem that solve the elderly and the disabled, alleviate rehabilitation nursing difficulty.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of Multifunction restoring wheelchair, is characterized in that: include support, lifting mechanism, lathe bed mechanism, power set, wherein:
Described support comprises the underframe U-tube keeping flat setting, each U-shaped arm of underframe U-tube is welded with respectively the vertical bracing frame arranged, forms support by underframe U-tube, two bracing frames;
Described lifting mechanism comprises keeping flat respectively and arranges and U-shaped fixed support, travel(l)ing rest, and the electric push rod that hoists for a pair, rear between described fixed support is arranged in the middle part of two bracing frames, and fixed support two U-shaped arm arm end one_to_one corresponding is welded on two bracing frame inside middle portion, described travel(l)ing rest is arranged on rear between two bracing frame tops, travel(l)ing rest two U-shaped arm arm end is connected to the connecting rod to downward-extension, and connecting rod bottom one_to_one corresponding is hinged on fixed support two U-shaped arm arm end, the two electric push rods that hoist are symmetrical arranged, two stiff ends hoisting electric push rod are hinged on the U-shaped beam of underframe U-tube respectively, two hoist the expansion link of electric push rod respectively to upper extension, and two rod ends hoisting electric push rod expansion link are hinged on the U-shaped beam of travel(l)ing rest respectively, by fixed support, travel(l)ing rest, two hoist electric push rod form lifting mechanism,
Described lathe bed organization establishes is between two bracing frames, lathe bed mechanism comprise vertical arrange back mechanism plate, the head support board being fixedly connected on back mechanism plate top, be arranged on large leg mechanism plate bottom back mechanism plate by same axis of rotation a pair, be rotatably installed in little leg mechanism plate bottom large leg mechanism plate respectively, to be rotatably installed in bottom little leg mechanism plate respectively foot-operated, and the axis of rotation that back structures plate is connected with two large leg mechanism plates is arranged in the U-shaped mouth of travel(l)ing rest;
Described power set comprise the vertical electric push rod of upper support arranged respectively, one centering supports electric push rod and a pair lower support electricity push rod, described upper support electric push rod stiff end is hinged on the U-shaped top surface of the beam of travel(l)ing rest in lifting mechanism, in the electric push rod of upper support, expansion link upwards extends, and the expansion link rod end of the electric push rod of upper support to be hinged in lathe bed mechanism on rear side of back mechanism plate, the U-shaped soffit that electric push rod stiff end is hinged on travel(l)ing rest in lifting mechanism is respectively supported in two, expansion link is supported in electric push rod to downward-extension in two, and the expansion link rod end one_to_one corresponding supporting electric push rod in two to be hinged in lathe bed mechanism on rear side of two large leg mechanism plates, two lower support electricity push rods lay respectively in two and support electric push rod lower outer, the stiff end one_to_one corresponding of two lower supports electricity push rods to be hinged in lathe bed mechanism on rear side of two large leg mechanism plates, in two lower support electricity push rods, expansion link is to downward-extension, and the expansion link rod end one_to_one corresponding of two lower supports electricity push rods to be hinged in lathe bed mechanism on rear side of two little leg mechanism plates.
Described a kind of Multifunction restoring wheelchair, is characterized in that: in the underframe U-tube of support, and two U-shaped arm arm ends of underframe U-tube are rotatablely equipped with universal wheel respectively, and the U-shaped beam two ends of underframe U-tube are rotatablely equipped with driving wheel respectively.
Described a kind of Multifunction restoring wheelchair, it is characterized in that: described power set also comprise a pair motor, the supporting accumulator supplying power to motor, motor and supporting accumulator thereof are separately positioned in the underframe U-tube outside every side stand component, and two motors and two driving wheel one_to_one corresponding are in transmission connection, described accumulator also supplies power to the electric push rod that hoists, upper support electricity push rod, middle support electricity push rod, lower support electricity push rod respectively.
Described a kind of Multifunction restoring wheelchair, is characterized in that: in support, two bracing frame tops are fixed with handrail arm respectively, and each handrail arm front end is separately installed with handrail.
Compared with prior art, advantage of the present invention is: 1) adopt modular design concept, has the features such as multiple functional, easy to operate, compact conformation, meets the different needs of different crowd; 2) be integrated with intelligent walking, carry out multiple function such as step rehabilitation, the adjustment of multidigit appearance etc., the work replacing people with robot, alleviates artificial physical therapy difficulty; 3) meet Human Engineering Principle, embody the design concept of " people-oriented ".
Accompanying drawing explanation
Fig. 1 is the organization of human body five-rod principle schematic of a kind of Multifunction restoring wheelchair setting of the present invention.
Fig. 2 is the lifting mechanism structure principle chart of a kind of Multifunction restoring wheelchair of the present invention.
Fig. 3 is the sitting posture schematic diagram of a kind of Multifunction restoring wheelchair of the present invention.
Fig. 4 is the prone position schematic diagram of a kind of Multifunction restoring wheelchair of the present invention.
Fig. 5 is that the vertical of a kind of Multifunction restoring wheelchair of the present invention throws off restraint schematic diagram.
Fig. 6 is the shoe step rehabilitation training schematic diagram of a kind of Multifunction restoring wheelchair of the present invention.
Detailed description of the invention
As shown in figures 3 to 6, a kind of Multifunction restoring wheelchair, includes support A, lifting mechanism B, lathe bed mechanism C, power set D, wherein:
Support A comprises the underframe U-tube A1 keeping flat setting, each U-shaped arm of underframe U-tube A1 is welded with respectively the vertical bracing frame A2 arranged, forms support A by underframe U-tube A1, two bracing frame A2;
Lifting mechanism B comprises keeping flat respectively and arranges and U-shaped fixed support B2, travel(l)ing rest B1, and the electric push rod D6 that hoists for a pair, D7, rear between fixed support B2 is arranged in the middle part of two bracing frame A2, and fixed support B2 two U-shaped arm arm end one_to_one corresponding is welded on two bracing frame A2 inside middle portion, travel(l)ing rest B1 is arranged on rear between two bracing frame A2 tops, travel(l)ing rest B1 two U-shaped arm arm end is connected to the connecting rod to downward-extension, and connecting rod bottom one_to_one corresponding is hinged on fixed support B2 two U-shaped arm arm end, two hoist electric push rod D6, D7 is symmetrical arranged, two hoist electric push rod D6, the stiff end of D7 is hinged on the U-shaped beam of underframe U-tube A1 respectively, two hoist electric push rod D6, the expansion link of D7 is respectively to upper extension, and two hoist electric push rod D6, the rod end of D7 expansion link is hinged on the U-shaped beam of travel(l)ing rest B1 respectively, by fixed support B2, travel(l)ing rest B1, two hoist electric push rod D6, D7 forms lifting mechanism,
Lathe bed mechanism C is arranged between two bracing frame A2, lathe bed mechanism C comprise vertical arrange back mechanism plate C2, the head support board C1 being fixedly connected on back mechanism plate C2 top, be arranged on large leg mechanism plate C3 bottom back mechanism plate C2 by same axis of rotation, be rotatably installed in little leg mechanism plate C4 bottom large leg mechanism plate C3 respectively, be rotatably installed in foot-operated C5 bottom little leg mechanism plate C4 respectively for a pair, and the axis of rotation that back structures plate C2 is connected with two large leg mechanism plate C3 is arranged in the U-shaped mouth of travel(l)ing rest B1;
Power set D comprises the vertical electric push rod D1 of upper support arranged respectively, one centering supports electric push rod D2, D3 and a pair lower support electricity push rod D4, D5, upper support electric push rod D1 stiff end is hinged on the U-shaped top surface of the beam of travel(l)ing rest B1 in lifting mechanism B, in the electric push rod D1 of upper support, expansion link upwards extends, and the expansion link rod end of the electric push rod D1 of upper support to be hinged in lathe bed mechanism C on rear side of back mechanism plate C2, electric push rod D2 is supported in two, D3 stiff end is hinged on the U-shaped soffit of travel(l)ing rest B1 in lifting mechanism B respectively, electric push rod D2 is supported in two, in D3, expansion link is to downward-extension, and in two, support electric push rod D2, the expansion link rod end one_to_one corresponding of D3 to be hinged in lathe bed mechanism C on rear side of two large leg mechanism plate C3, two lower support electricity push rod D4, D5 lays respectively in two and supports electric push rod D2, D3 lower outer, two lower support electricity push rod D4, the stiff end one_to_one corresponding of D5 to be hinged in lathe bed mechanism C on rear side of two large leg mechanism plate C3, two lower support electricity push rod D4, in D5, expansion link is to downward-extension, and two lower support electricity push rod D4, the expansion link rod end one_to_one corresponding of D5 to be hinged in lathe bed mechanism C on rear side of two little leg mechanism plate C4.
In the underframe U-tube A1 of support A, the two U-shaped arm arm ends of underframe U-tube A1 are rotatablely equipped with universal wheel 4 respectively, and the U-shaped beam two ends of underframe U-tube A1 are rotatablely equipped with driving wheel 3 respectively.
Power set D also comprises a pair motor D 9, the supporting storage batteries D 8 supplying power to motor D 9, motor D 9 and supporting storage batteries D 8 thereof are separately positioned on the underframe U-tube A1 outside every side stand component A2, and two motor D 9 and two driving wheel 3 one_to_one corresponding are in transmission connection, storage batteries D 8 also supplies power to the electric push rod that hoists, upper support electricity push rod, middle support electricity push rod, lower support electricity push rod respectively.
In support A, two bracing frame A2 tops are fixed with handrail arm 1 respectively, and each handrail arm 1 front end is separately installed with handrail 2.
In the present invention, in lathe bed mechanism, foot-operated, little leg mechanism plate, large leg mechanism plate are paired setting, and each several part installs electric push rod all respectively, and each motor controls separately, can realize the independently moving of back, thigh and shank; Under the effect of the electric push rod D1 of upper support, the adjustment of back angle can be realized; Under the effect of middle support electric push rod D2, D3, the adjustment of large leg mechanism angle can be realized; Under the effect of lower support electricity push rod D4, D5, the adjustment of little leg mechanism angle can be realized.
In lifting mechanism, under the effect of hoist electric push rod D6, D7, travel(l)ing rest can rotate rising around fixed support, thus wheelchair integral lathe bed is raised, and becomes upright posture.
Multifunction restoring wheelchair, under the effect of the electric push rod of difference, not only can use as common electric wheelchair, also can realize the switching of seat, sleeping, vertical three kinds of attitudes, and can carry out the rehabilitation training of shoe portion.
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail:
As shown in Figure 1, for the organization of human body five-rod simplified, according to the skeletal structure of the person, anthropometric dummy is reduced to five-rod model, conveniently, model ignores the head of people and the effect of arm, upper half of human body is reduced to a rigid bar, every bar lower limb is reduced to two rigid bars be connected by the Hinge joint that sagittal plane is vertical, and omit foot affect part, Multifunction restoring wheelchair according to this design can simulate normal gait, provides rehabilitation training effect to the patient of lower limb disability
As shown in Figure 2, be lifting mechanism structure principle chart.Lifting mechanism B comprises fixed support B1, travel(l)ing rest B2 and the electric push rod D6 that hoists, hoist electric push rod D7, travel(l)ing rest B1 and fixed support B2 is hinged, under the effect of electric push rod, travel(l)ing rest B2 can rotate around fixed support B1 and raise, thus wheelchair integral lathe bed is raised.
A kind of Multifunction restoring wheelchair as shown in Fig. 3-Fig. 6, include support A, lifting mechanism B, lathe bed mechanism C and power set D, its medium-height trestle A comprises the bracing frame A2 of underframe U-tube A1 and both sides, bracing frame A2 is welded on underframe U-tube A1 both sides, universal wheel 4 and driving wheel 3 are housed before and after underframe U-tube respectively, and handrail 2 is fixedly connected on the bracing frame A2 of both sides, lifting mechanism B comprises fixed support B2, travel(l)ing rest B1 and the electric push rod D6 that hoists, hoist electric push rod D7, fixed support B2 two ends are welded on the bracing frame A2 of both sides, travel(l)ing rest B1 and fixed support B2 is hinged, hoist electric push rod D6, the electric push rod D7 that hoists expansion link be hinged on travel(l)ing rest B1, stiff end is hinged on underframe U-tube A1, lathe bed mechanism C is hinged on the travel(l)ing rest B1 of lifting mechanism B, comprise foot-operated C5, little leg mechanism plate C4, large leg mechanism plate C3, back mechanism plate C2 and head support board C1, foot-operated close little leg mechanism plate end is connected with little leg mechanism plate axle, little leg mechanism plate is connected with large leg mechanism plate axle near large leg mechanism plate end, large leg mechanism plate is connected with back mechanism plate axle near back mechanism plate, and back mechanism plate is fixedly connected with head support board, power set comprise storage batteries D 8, motor D 9 and electric push rod D1-D7, motor D 9, storage batteries D 8 is installed on underframe U-tube A1, the expansion link of the electric push rod D1 of upper support is hinged on backboard C2, the travel(l)ing rest B1 of stiff end and lifting mechanism B is hinged, the electric push rod D2 of middle support, middle support electric push rod D3 expansion link is hinged on a left side respectively, on right thigh mechanism plate C3, stiff end is hinged on the travel(l)ing rest B1 of lifting mechanism B, lower support electricity push rod D4, lower support electricity push rod D5 stiff end is hinged on the large leg mechanism C3 in left and right respectively, telescopic end is hinged on a left side, on right leg mechanism plate C4.Under the effect of different push-rod electric machine, Multifunction restoring wheelchair can realize the switching of seat, sleeping, vertical three kinds of attitudes, and can carry out shoe portion reconditioning.
As shown in Figure 3, for the sitting posture schematic diagram of Multifunction restoring wheelchair, when upper support electric push rod D1 expansion link stretches out, when all the other electric push rods are in original state, Multifunction restoring wheelchair presents chair state, can be used as common electric wheelchair to use, under the effect of stick, can realize advancing, fall back, turn left, the function such as right-hand rotation.
As shown in Figure 4, for the prone position schematic diagram of Multifunction restoring wheelchair, when lower support electricity push rod D4, lower support electricity push rod D5 expansion link stretch out, when all the other electric push rods are in original state, little leg mechanism plate, large leg mechanism plate and back mechanism plate are in alignment, Multifunction restoring wheelchair can be changed into a state, takes a break for user.
It is tired and multiple uncomfortable that the sitting and lying of long-time constant posture can make wheelchair user produce, the Multifunction restoring wheelchair of the present invention's design, by the reciprocating motion of electric push rod, back angle, little leg mechanism angle can regulate arbitrarily, according to the situation of user, wheelchair can be adjusted to best angle in use.By conversion health pose, certain nursing role is served to the leg of user, back, strengthens the activity of human body, reach best recovering aid effect, improve physical rehabilitation speed.
As shown in Figure 5, for the vertical of Multifunction restoring wheelchair throws off restraint schematic diagram, when lower support electricity push rod D4, lower support electricity push rod D5, the electric push rod D6 that hoists, the electric push rod D7 expansion link that hoists stretch out, when all the other electric push rods are in original state, Multifunction restoring wheelchair can become erectility, is available for users to take exceed article or viewing landscape at a distance.
As shown in Figure 6, when Multifunction restoring wheelchair is in erectility, electric push rod D2, middle support electricity push rod D3, the electric motion pushing away D4, lower support electricity push rod D5 expansion link of lower support is supported in controlling, control the swing of left and right thigh, shank, can swing by single lower limb, also can swing by both legs simultaneously, realize carrying out step rehabilitation training.

Claims (4)

1. a Multifunction restoring wheelchair, is characterized in that: include support, lifting mechanism, lathe bed mechanism, power set, wherein:
Described support comprises the underframe U-tube keeping flat setting, each U-shaped arm of underframe U-tube is welded with respectively the vertical bracing frame arranged, forms support by underframe U-tube, two bracing frames;
Described lifting mechanism comprises keeping flat respectively and arranges and U-shaped fixed support, travel(l)ing rest, and the electric push rod that hoists for a pair, rear between described fixed support is arranged in the middle part of two bracing frames, and fixed support two U-shaped arm arm end one_to_one corresponding is welded on two bracing frame inside middle portion, described travel(l)ing rest is arranged on rear between two bracing frame tops, travel(l)ing rest two U-shaped arm arm end is connected to the connecting rod to downward-extension, and connecting rod bottom one_to_one corresponding is hinged on fixed support two U-shaped arm arm end, the two electric push rods that hoist are symmetrical arranged, two stiff ends hoisting electric push rod are hinged on the U-shaped beam of underframe U-tube respectively, two hoist the expansion link of electric push rod respectively to upper extension, and two rod ends hoisting electric push rod expansion link are hinged on the U-shaped beam of travel(l)ing rest respectively, by fixed support, travel(l)ing rest, two hoist electric push rod form lifting mechanism,
Described lathe bed organization establishes is between two bracing frames, lathe bed mechanism comprise vertical arrange back mechanism plate, the head support board being fixedly connected on back mechanism plate top, be arranged on large leg mechanism plate bottom back mechanism plate by same axis of rotation a pair, be rotatably installed in little leg mechanism plate bottom large leg mechanism plate respectively, to be rotatably installed in bottom little leg mechanism plate respectively foot-operated, and the axis of rotation that back structures plate is connected with two large leg mechanism plates is arranged in the U-shaped mouth of travel(l)ing rest;
Described power set comprise the vertical electric push rod of upper support arranged respectively, one centering supports electric push rod and a pair lower support electricity push rod, described upper support electric push rod stiff end is hinged on the U-shaped top surface of the beam of travel(l)ing rest in lifting mechanism, in the electric push rod of upper support, expansion link upwards extends, and the expansion link rod end of the electric push rod of upper support to be hinged in lathe bed mechanism on rear side of back mechanism plate, the U-shaped soffit that electric push rod stiff end is hinged on travel(l)ing rest in lifting mechanism is respectively supported in two, expansion link is supported in electric push rod to downward-extension in two, and the expansion link rod end one_to_one corresponding supporting electric push rod in two to be hinged in lathe bed mechanism on rear side of two large leg mechanism plates, two lower support electricity push rods lay respectively in two and support electric push rod lower outer, the stiff end one_to_one corresponding of two lower supports electricity push rods to be hinged in lathe bed mechanism on rear side of two large leg mechanism plates, in two lower support electricity push rods, expansion link is to downward-extension, and the expansion link rod end one_to_one corresponding of two lower supports electricity push rods to be hinged in lathe bed mechanism on rear side of two little leg mechanism plates.
2. a kind of Multifunction restoring wheelchair according to claim 1, is characterized in that: in the underframe U-tube of support, and two U-shaped arm arm ends of underframe U-tube are rotatablely equipped with universal wheel respectively, and the U-shaped beam two ends of underframe U-tube are rotatablely equipped with driving wheel respectively.
3. a kind of Multifunction restoring wheelchair according to claim 1 and 2, it is characterized in that: described power set also comprise a pair motor, the supporting accumulator supplying power to motor, motor and supporting accumulator thereof are separately positioned in the underframe U-tube outside every side stand component, and two motors and two driving wheel one_to_one corresponding are in transmission connection, described accumulator also supplies power to the electric push rod that hoists, upper support electricity push rod, middle support electricity push rod, lower support electricity push rod respectively.
4. a kind of Multifunction restoring wheelchair according to claim 1, is characterized in that: in support, two bracing frame tops are fixed with handrail arm respectively, and each handrail arm front end is separately installed with handrail.
CN201410605968.7A 2014-10-30 2014-10-30 A kind of Multifunction restoring wheelchair Active CN104382702B (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104814840A (en) * 2015-04-08 2015-08-05 合肥工业大学 Robot mechanism for lower-limb rehabilitation
CN105476815A (en) * 2015-12-28 2016-04-13 芜湖天人智能机械有限公司 Lower limb movement type balanced standing bed
CN105943263A (en) * 2016-03-23 2016-09-21 合肥工业大学 Lower limb rehabilitation wheelchair capable of adjusting three postures
CN105945993A (en) * 2016-03-23 2016-09-21 合肥工业大学 Leg mechanical support rod mechanism capable of automatically moving
CN106176143A (en) * 2016-08-30 2016-12-07 合肥工业大学 A kind of healthy plint of multi-pose lower limb
CN106236508A (en) * 2016-08-30 2016-12-21 合肥工业大学 One crouches, sits, stands the three healthy training devicess of attitude lower limb
CN106389065A (en) * 2016-08-30 2017-02-15 合肥工业大学 Lower limb rehabilitation training equipment for lying, standing and sitting postures
CN109758340A (en) * 2019-03-01 2019-05-17 湖南文理学院 A kind of lower extremity movement rehabilitation apery body athletic rehabilitation device
CN111515929A (en) * 2020-04-15 2020-08-11 深圳航天科技创新研究院 Human motion state estimation method, device, terminal and computer readable storage medium

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Publication number Priority date Publication date Assignee Title
US4431076A (en) * 1981-06-24 1984-02-14 Simpson Robert C Adjustable collapsible wheelchair
US20080266744A1 (en) * 2007-04-24 2008-10-30 Li-Lan Yan Electricity conducting wheel structure
CN202459172U (en) * 2011-12-30 2012-10-03 太仓市康辉科技发展有限公司 Wrist rehabilitation training mechanism
CN202568663U (en) * 2011-08-12 2012-12-05 高慧生 A relaxation wheelchair allowing one to sit down and lie down

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4431076A (en) * 1981-06-24 1984-02-14 Simpson Robert C Adjustable collapsible wheelchair
US20080266744A1 (en) * 2007-04-24 2008-10-30 Li-Lan Yan Electricity conducting wheel structure
CN202568663U (en) * 2011-08-12 2012-12-05 高慧生 A relaxation wheelchair allowing one to sit down and lie down
CN202459172U (en) * 2011-12-30 2012-10-03 太仓市康辉科技发展有限公司 Wrist rehabilitation training mechanism

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104814840A (en) * 2015-04-08 2015-08-05 合肥工业大学 Robot mechanism for lower-limb rehabilitation
CN105476815A (en) * 2015-12-28 2016-04-13 芜湖天人智能机械有限公司 Lower limb movement type balanced standing bed
CN105943263A (en) * 2016-03-23 2016-09-21 合肥工业大学 Lower limb rehabilitation wheelchair capable of adjusting three postures
CN105945993A (en) * 2016-03-23 2016-09-21 合肥工业大学 Leg mechanical support rod mechanism capable of automatically moving
CN105943263B (en) * 2016-03-23 2018-03-13 合肥工业大学 Can tri-state regulation lower limb recovery wheelchair
CN106176143A (en) * 2016-08-30 2016-12-07 合肥工业大学 A kind of healthy plint of multi-pose lower limb
CN106236508A (en) * 2016-08-30 2016-12-21 合肥工业大学 One crouches, sits, stands the three healthy training devicess of attitude lower limb
CN106389065A (en) * 2016-08-30 2017-02-15 合肥工业大学 Lower limb rehabilitation training equipment for lying, standing and sitting postures
CN106176143B (en) * 2016-08-30 2019-03-19 合肥工业大学 A kind of healthy plint of multi-pose lower limb
CN109758340A (en) * 2019-03-01 2019-05-17 湖南文理学院 A kind of lower extremity movement rehabilitation apery body athletic rehabilitation device
CN111515929A (en) * 2020-04-15 2020-08-11 深圳航天科技创新研究院 Human motion state estimation method, device, terminal and computer readable storage medium

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