CN104398365A - Three-degree-of-freedom ankle joint exercising device - Google Patents
Three-degree-of-freedom ankle joint exercising device Download PDFInfo
- Publication number
- CN104398365A CN104398365A CN201410674478.2A CN201410674478A CN104398365A CN 104398365 A CN104398365 A CN 104398365A CN 201410674478 A CN201410674478 A CN 201410674478A CN 104398365 A CN104398365 A CN 104398365A
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- ankle
- pedal
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- degree
- slide rail
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 210000003423 ankle Anatomy 0.000 claims abstract description 27
- 210000000689 upper leg Anatomy 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 210000002683 foot Anatomy 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 7
- 206010019468 Hemiplegia Diseases 0.000 description 2
- 241000469816 Varus Species 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 description 2
- 229960001030 mephenoxalone Drugs 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000004233 talus Anatomy 0.000 description 1
Abstract
The invention relates to a three-degree-of-freedom ankle joint exercising device, which comprises a bottom frame, a foot ankle support mechanism, a slide rail mechanism, a connecting mechanism and a driving mechanism, wherein the foot ankle support mechanism is used for putting a foot bottom plate, the foot ankle support mechanism is connected with the slide rail mechanism through the connecting mechanism, and the foot ankle support mechanism and the slide rail mechanism are fixedly arranged on the bottom frame. The three-degree-of-freedom ankle joint exercising device has the advantages that the telescopic connecting mechanism is connected with the foot ankle support mechanism and the slide rail mechanism, so the exercising of the ankle joint in a three-degree-of-freedom space is realized, and the rehabilitation exercising of dorsiflexion/straight flexion, inward turning/outward turning and inward rotating/outward rotating of the ankle joint of a human body is realized; the integral structure is simple, the production and manufacturing are easy, and the maintenance is convenient.
Description
Technical field
The invention belongs to medical instruments field, be specifically related to a kind of three-degree of freedom ankle joint training devices.
Background technology
China's Aging Problem is day by day serious, and apoplectic hemiplegia is the height morbidity in old people, therefore seems particularly important for the posthemiplegic rehabilitation of old people.Hemiplegic patient's ankle dorsiflex obstacle can not overcome drop foot owing to swinging mutually in walking, thus has a strong impact on the recovery of its walking ability, and therefore the globality rehabilitation of rehabilitation to hemiplegic patient of ankle joint has extremely important meaning.
Traditional Rehabilitation means for hemiplegic patient need Physical Therapist to carry out by doing and illustrating, consume a large amount of time and muscle power, and cannot ensure sufficient training time and enough training strength.Existing rehabilitation of anklebone instrument is mostly single-degree-of-freedom, and its training mode is single, cannot carry out efficient rehabilitation training.
Summary of the invention
The object of the invention is to solve that traditional ankle joint hemiparalysis recovery workload is large, inefficiency and the training of common rehabilitation equipment not comprehensively, the problem such as training mode is single, a kind of three-degree of freedom ankle joint training devices is provided.
For achieving the above object, the technical solution used in the present invention is as follows:
Three-degree of freedom ankle joint training devices, its special character is, comprising: underframe, for placing the ankle support mechanism of sole, sliding track mechanism, bindiny mechanism and driving mechanism; Described ankle support mechanism is connected with sliding track mechanism by bindiny mechanism, and described ankle support mechanism and sliding track mechanism are fixed on underframe;
Described ankle support mechanism comprises the support column be positioned on underframe, bearing, rocking arm, to be arranged on rocking arm rotating pedal base and to be positioned at turnover pedal above pedal base; Described support column is connected with rocking arm by bearing, and described pedal is connected with pedal base by rotating shaft;
Described sliding track mechanism is by slide rail fixed frame and be arranged on vertical carriage on slide rail fixed frame, horizontal slip device forms; Described horizontal slip device comprise move horizontally slide block and with move horizontally the matching used lead screw I of slide block; Described vertical carriage comprise vertical sliding shoe, with the matching used lead screw II of vertical sliding shoe, and for the slide rail that horizontal slip device moves up and down; Described horizontal slip device is moved up and down on slide rail fixed frame by vertical sliding shoe and slide rail;
The universal joint that described bindiny mechanism comprises shrinking connecting-rod and is connected with shrinking connecting-rod; One end of the pedal base of ankle support mechanism is connected with shrinking connecting-rod, universal joint with move horizontally slide block and be connected;
Described driving mechanism comprises motor I, motor II and motor II I, and motor I is fixed on pedal base by torque sensor, and motor I output shaft is connected with the rotating shaft of pedal by shaft coupling, drives pedal to rotate; Motor II is installed on lead screw II top and is connected with it by shaft coupling, drives horizontal slip device to move up and down in overall; Motor II I is installed on lead screw I right-hand member, moves horizontally slide block move left and right by shaft coupling driving.
Further, described three-degree of freedom ankle joint training devices also comprises the thigh support mechanism for immobilized patients thigh, described thigh support mechanism comprises the support bar of fixed frame side and is located at the bracket of post upper, and the support column of described support bar and ankle support mechanism is spaced in intervals and is arranged on underframe.
Further, described universal joint and move horizontally between slide block and be provided with six axle mechanics sensors, universal joint by six axle mechanics sensors with move horizontally slide block and be connected; In vertical carriage and horizontal slip device moving process, bindiny mechanism regulates the bar length of shrinking connecting-rod and the direction of universal joint automatically, and six axle mechanics sensors detect the mechanical information being transmitted out by pedal base simultaneously.
Further, the height of described support bar is higher than the height of support column.
Three-degree of freedom ankle joint training devices provided by the invention, telescopic bindiny mechanism is used to connect described ankle support mechanism and sliding track mechanism, realize ankle joint to train in 3DOF space, the rehabilitation training of, varus in the wrong to model of human ankle dorsiflex/open up/turn up and internal/external rotations Three Degree Of Freedom can be realized, compared to prior art, the present invention has the following advantages: one, and described ankle joint rehabilitation training device overall structure is simple, it is easy, easy to maintenance to manufacture; Its two, described ankle joint rehabilitation training device replaces two traditional rotary motions with two rectilinear motions, the compound motion such as make pedal can complete that ring turns easily, flexibly and easily, enhances rehabilitation efficacy; Its three, described ankle joint rehabilitation training device is applicable to the early, middle and late phase patient of hemiplegia, strong adaptability.
Accompanying drawing explanation
Fig. 1 is the structural representation of the three-degree of freedom ankle joint training devices of the embodiment of the present invention;
Wherein, 1-underframe, 2-support bar, 3-bracket, 4-motor I, 5-torque sensor, 6-shaft coupling, 7-Ta Ban Zuo ﹑ 8-pedal, 9-shrinking connecting-rod, 10-universal joint, 11-slide rail, 12-motor II, the vertical sliding shoe of 13-lead screw II, 14-, 15-six axle mechanics sensor, 16-moves horizontally slide block, 17-lead screw I, 18-motor II I, 19-slide rail fixed frame, 20-rocking arm, 21-bearing, 22-support column, 23-rotating shaft.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is described in detail.
See Fig. 1, the three-degree of freedom ankle joint training devices of the embodiment of the present invention, comprising: underframe 1, for placing the ankle support mechanism of sole, sliding track mechanism, bindiny mechanism and driving mechanism; Described ankle support mechanism is connected with sliding track mechanism by bindiny mechanism, and described ankle support mechanism and sliding track mechanism are fixed on underframe 1.
Ankle support mechanism comprises the support column 22 be positioned on underframe 1, bearing 21, rocking arm 20, to be arranged on rocking arm 20 rotating pedal base 7 and to be positioned at turnover pedal 8 above pedal base 7, wherein, pedal base 7 can be connected with rocking arm 20 rotation up and down realizing pedal base 7 by axle; Support column 22 is connected with rocking arm 20 by bearing 21, and by the use of bearing 21, rocking arm 20 can rotate on support column 22, and pedal 8 is connected with pedal base 7 by rotating shaft 23, can realize the flexible upset of pedal 8 above pedal base 7.
Sliding track mechanism is by slide rail fixed frame 19 and be arranged on vertical carriage on slide rail fixed frame 19, horizontal slip device forms; Horizontal slip device comprise move horizontally slide block 16 and with move horizontally the matching used lead screw I17 of slide block 16; Vertical carriage comprise vertical sliding shoe 14, with the matching used lead screw II13 of vertical sliding shoe 14, and for the slide rail 11 that horizontal slip device moves up and down; As shown in Figure 1, horizontal slip device is overall is placed in vertical carriage front with vertical carriage decussation, vertical sliding shoe 14 can be fixed on horizontal slip device rear, and horizontal slip device is moved up and down on slide rail fixed frame 19 by vertical sliding shoe 14 and slide rail 11.
The universal joint 10 that bindiny mechanism comprises shrinking connecting-rod 9 and is connected with shrinking connecting-rod 9; One end of the pedal base 7 of ankle support mechanism is connected with shrinking connecting-rod 9, universal joint 10 with move horizontally slide block 16 and be connected, by moving horizontally slide block 16 moving left and right and relying on the connection of bindiny mechanism to realize the side-to-side movement of pedal base 7 on horizontal slip device, carry out moving up and down on slide rail fixed frame 19 realizing moving up and down of pedal base 7 by horizontal slip device entirety, realize pedal base 7 side-to-side movement or while moving up and down, also can realize the flexible upset of pedal 8 above pedal base 7, complete more fully ankle joint training action.
Driving mechanism comprises motor I 4, motor II 12 and motor II I18, and motor I 4 is fixed on pedal base 7 by torque sensor 5, and motor I 4 output shaft is connected with the rotating shaft 23 of pedal 8 by shaft coupling 6, drives pedal 8 to rotate; Motor II 12 is installed on lead screw II13 top and is connected with it by shaft coupling, drives horizontal slip device to move up and down in overall; Motor II I18 is installed on lead screw I17 right-hand member, moves horizontally slide block 16 move left and right by shaft coupling driving.
As further improvement, this three-degree of freedom ankle joint training devices also comprises the thigh support mechanism for immobilized patients thigh, thigh support mechanism comprises the support bar 2 of fixed frame 1 side and is located at the bracket 3 of support bar 2 upper end, support bar 2 is spaced in intervals with the support column 22 of ankle support mechanism and is arranged on underframe 1, the height of support bar 2 is higher than the height of support column 22, the placement of person's thigh easy to use and unfolding of shank, the embodiment of the present invention is by the setting of thigh support mechanism, eliminate the use of other instruments of external support thigh, and thigh support mechanism and this device miscellaneous part are wholely set, device is made to become as a whole, use convenient.
Universal joint 10 and move horizontally between slide block 16 and be provided with six axle mechanics sensors 15, universal joint 10 by six axle mechanics sensors 15 with move horizontally slide block 16 and be connected; In vertical carriage and horizontal slip device moving process, bindiny mechanism regulates the bar length of shrinking connecting-rod 9 and the direction of universal joint 10 automatically, and six axle mechanics sensors 15 detect the mechanical information being transmitted out by pedal base 7 simultaneously.
When using three-degree of freedom ankle joint training devices of the present invention to carry out rehabilitation training, fixing on the pedal 8 first sole being positioned over ankle support mechanism by instruction person, then fix by the bracket 3 of the thigh of instruction person and upper end.
When implementing to be trained by instruction person, motor I 4, motor II 12 and motor II I18 can be controlled by control system, drive pedal 8 to produce different positions realize varus/training of turning up by the angle position controlling motor I4; Drive lead screw II13 to rotate by the angle position controlling motor II12, realize moving up and down of sliding track mechanism center and horizontal slip device; Drive lead screw I17 to rotate by the angle position controlling motor III18, realize moving left and right of sliding track mechanism center; Because pedal base 7 centre of gyration is fixed, drive bindiny mechanism one end motion, the spatial attitude of controllable pedal seat 7 by the central point controlling sliding track mechanism, realize being carried on the back song/toe by instruction person bent, internal/external rotations is trained; The various combination that ankle joint trains in 3DOF space can be realized by the different motion controlling three motors.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. three-degree of freedom ankle joint training devices, is characterized in that, comprising: underframe (1), for placing the ankle support mechanism of sole, sliding track mechanism, bindiny mechanism and driving mechanism; Described ankle support mechanism is connected with sliding track mechanism by bindiny mechanism, and described ankle support mechanism and sliding track mechanism are fixed on underframe (1);
Described ankle support mechanism comprises the support column (22) be positioned on underframe (1), bearing (21), rocking arm (20), is arranged on the upper rotating pedal base (7) of rocking arm (20) and is positioned at pedal base (7) the turnover pedal in top (8); Described support column (22) is connected with rocking arm (20) by bearing (21), and described pedal (8) is connected with pedal base (7) by rotating shaft (23);
Described sliding track mechanism is by slide rail fixed frame (19) and be arranged on vertical carriage on slide rail fixed frame (19), horizontal slip device forms; Described horizontal slip device comprise move horizontally slide block (16) and with move horizontally slide block (16) matching used lead screw I (17); Described vertical carriage comprise vertical sliding shoe (14), with vertical sliding shoe (14) matching used lead screw II (13), and for the slide rail (11) that horizontal slip device moves up and down; Described horizontal slip device is moved up and down on slide rail fixed frame (19) by vertical sliding shoe (14) and slide rail (11);
The universal joint (10) that described bindiny mechanism comprises shrinking connecting-rod (9) and is connected with shrinking connecting-rod (9); One end of the pedal base (7) of ankle support mechanism is connected with shrinking connecting-rod (9), universal joint (10) with move horizontally slide block (16) and be connected;
Described driving mechanism comprises motor I (4), motor II (12) and motor II I (18), motor I (4) is fixed on pedal base (7) by torque sensor (5), motor I (4) output shaft is connected with the rotating shaft (23) of pedal (8) by shaft coupling (6), drives pedal (8) to rotate; Motor II (12) is installed on lead screw II (13) top and is connected with it by shaft coupling, drives horizontal slip device to move up and down in overall; Motor II I (18) is installed on lead screw I (17) right-hand member, moves horizontally slide block (16) move left and right by shaft coupling driving.
2. three-degree of freedom ankle joint training devices according to claim 1, it is characterized in that, described three-degree of freedom ankle joint training devices also comprises the thigh support mechanism for immobilized patients thigh, described thigh support mechanism comprises the support bar (2) of fixed frame (1) side and is located at the bracket (3) of support bar (2) upper end, and described support bar (2) is spaced in intervals with the support column (22) of ankle support mechanism and is arranged on underframe (1).
3. three-degree of freedom ankle joint training devices according to claim 1 and 2, it is characterized in that, described universal joint (10) and move horizontally between slide block (16) and be provided with six axle mechanics sensors (15), universal joint (10) by six axle mechanics sensors (15) with move horizontally slide block (16) and be connected; In vertical carriage and horizontal slip device moving process, bindiny mechanism regulates the bar length of shrinking connecting-rod (9) and the direction of universal joint (10) automatically, and six axle mechanics sensors (15) detect by pedal base (7) transmission mechanical information out simultaneously.
4. three-degree of freedom ankle joint training devices according to claim 2, is characterized in that, the height of described support bar (2) is higher than the height of support column (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410674478.2A CN104398365B (en) | 2014-11-21 | 2014-11-21 | The main passive exercise device of three-degree of freedom ankle joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410674478.2A CN104398365B (en) | 2014-11-21 | 2014-11-21 | The main passive exercise device of three-degree of freedom ankle joint |
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| Publication Number | Publication Date |
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| CN104398365A true CN104398365A (en) | 2015-03-11 |
| CN104398365B CN104398365B (en) | 2017-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410674478.2A Active CN104398365B (en) | 2014-11-21 | 2014-11-21 | The main passive exercise device of three-degree of freedom ankle joint |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104970945A (en) * | 2015-06-25 | 2015-10-14 | 中国矿业大学 | Robot system for lower limb rehabilitation training |
| CN105342804A (en) * | 2015-07-26 | 2016-02-24 | 广东铭凯医疗机器人有限公司 | Internal and external ankle rotation rehabilitation training apparatus integrating training and motion state detections |
| CN105853144A (en) * | 2016-04-08 | 2016-08-17 | 王春宝 | Training and motion state detection integrated ankle dorsiflexion and plantarflexion rehabilitation training device |
| CN106236510A (en) * | 2016-08-31 | 2016-12-21 | 山东泽普医疗科技有限公司 | A kind of ankle and foot intelligent rehabilitation robot |
| CN106377390A (en) * | 2016-11-22 | 2017-02-08 | 哈尔滨理工大学 | Link-type foot rehabilitation mechanism |
| CN106618968A (en) * | 2017-02-20 | 2017-05-10 | 安阳市翔宇医疗设备有限责任公司 | Ankle joint training device |
| CN107137206A (en) * | 2017-07-04 | 2017-09-08 | 山东省文登整骨医院 | ankle-foot orthosis |
| CN107469297A (en) * | 2017-09-15 | 2017-12-15 | 南京鼎世医疗器械有限公司 | A kind of creeping exerciser and its application method |
| CN107569361A (en) * | 2017-08-28 | 2018-01-12 | 哈尔滨理工大学 | A kind of exoskeleton-type rehabilitation training machine for ankle joint device people |
| CN107595546A (en) * | 2017-09-12 | 2018-01-19 | 宁德师范学院 | A kind of rehabilitation of anklebone mechanism based on RRR PaRPS RHJ |
| CN107928993A (en) * | 2016-10-13 | 2018-04-20 | 上海理工大学 | Shank drives training institution |
| CN108095975A (en) * | 2018-01-29 | 2018-06-01 | 安阳市翔宇医疗设备有限责任公司 | Combined type ankle-joint training device |
| CN108309528A (en) * | 2017-01-16 | 2018-07-24 | 上海理工大学 | Correction type foot pedal apparatus for lower limb rehabilitation training device |
| CN108744413A (en) * | 2018-03-12 | 2018-11-06 | 杭州虚现科技有限公司 | A kind of limit type Two Dimensional Free movement adapting mechanism |
| CN109893145A (en) * | 2017-12-08 | 2019-06-18 | 深圳市第二人民医院 | The torsion-testing apparatus of rat shoulder joint |
| CN110522604A (en) * | 2019-09-04 | 2019-12-03 | 河北大艾智能科技股份有限公司 | Ankle-joint training device |
| CN110522582A (en) * | 2019-09-23 | 2019-12-03 | 天津科技大学 | Multi-function rotating moving device |
| CN111773035A (en) * | 2020-08-22 | 2020-10-16 | 麦顺 | Multifunctional ankle joint rehabilitation training equipment |
| KR20200137325A (en) * | 2019-05-29 | 2020-12-09 | 건양대학교산학협력단 | A active and passive rehabilitation training device capable of multi-directional exercise |
| CN112206125A (en) * | 2020-09-28 | 2021-01-12 | 杨海玲 | Leg movement adjusting device for neurology department nursing |
| CN112691340A (en) * | 2020-12-23 | 2021-04-23 | 吉林农业科技学院 | Ankle joint rehabilitation robot |
| CN112933543A (en) * | 2021-02-07 | 2021-06-11 | 河南师范大学新联学院 | Ankle joint rehabilitation training device |
| CN113827439A (en) * | 2020-06-08 | 2021-12-24 | 陈佑相 | Ankle machine |
| CN114177567A (en) * | 2021-12-20 | 2022-03-15 | 北京石油化工学院 | Ankle joint rehabilitation training device |
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Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104970945A (en) * | 2015-06-25 | 2015-10-14 | 中国矿业大学 | Robot system for lower limb rehabilitation training |
| CN105342804A (en) * | 2015-07-26 | 2016-02-24 | 广东铭凯医疗机器人有限公司 | Internal and external ankle rotation rehabilitation training apparatus integrating training and motion state detections |
| CN105853144B (en) * | 2016-04-08 | 2017-12-19 | 王春宝 | The ankle dorsal flexion plantar flexion device for healing and training of integration trainingt and motion state detection |
| CN105853144A (en) * | 2016-04-08 | 2016-08-17 | 王春宝 | Training and motion state detection integrated ankle dorsiflexion and plantarflexion rehabilitation training device |
| CN106236510A (en) * | 2016-08-31 | 2016-12-21 | 山东泽普医疗科技有限公司 | A kind of ankle and foot intelligent rehabilitation robot |
| CN106236510B (en) * | 2016-08-31 | 2019-01-18 | 山东泽普医疗科技有限公司 | A kind of ankle and foot intelligent rehabilitation robot |
| CN107928993A (en) * | 2016-10-13 | 2018-04-20 | 上海理工大学 | Shank drives training institution |
| CN106377390A (en) * | 2016-11-22 | 2017-02-08 | 哈尔滨理工大学 | Link-type foot rehabilitation mechanism |
| CN108309528A (en) * | 2017-01-16 | 2018-07-24 | 上海理工大学 | Correction type foot pedal apparatus for lower limb rehabilitation training device |
| CN108309528B (en) * | 2017-01-16 | 2020-02-18 | 上海理工大学 | A correction type pedal device for low limbs rehabilitation training device |
| CN106618968A (en) * | 2017-02-20 | 2017-05-10 | 安阳市翔宇医疗设备有限责任公司 | Ankle joint training device |
| CN107137206A (en) * | 2017-07-04 | 2017-09-08 | 山东省文登整骨医院 | ankle-foot orthosis |
| CN107569361A (en) * | 2017-08-28 | 2018-01-12 | 哈尔滨理工大学 | A kind of exoskeleton-type rehabilitation training machine for ankle joint device people |
| CN107569361B (en) * | 2017-08-28 | 2019-10-25 | 哈尔滨理工大学 | A kind of exoskeleton-type rehabilitation training machine for ankle joint device people |
| CN107595546A (en) * | 2017-09-12 | 2018-01-19 | 宁德师范学院 | A kind of rehabilitation of anklebone mechanism based on RRR PaRPS RHJ |
| CN107595546B (en) * | 2017-09-12 | 2023-10-20 | 宁德师范学院 | Ankle joint rehabilitation mechanism based on RRR-PaRPS-RHJ |
| CN107469297A (en) * | 2017-09-15 | 2017-12-15 | 南京鼎世医疗器械有限公司 | A kind of creeping exerciser and its application method |
| CN109893145A (en) * | 2017-12-08 | 2019-06-18 | 深圳市第二人民医院 | The torsion-testing apparatus of rat shoulder joint |
| CN108095975A (en) * | 2018-01-29 | 2018-06-01 | 安阳市翔宇医疗设备有限责任公司 | Combined type ankle-joint training device |
| CN108744413A (en) * | 2018-03-12 | 2018-11-06 | 杭州虚现科技有限公司 | A kind of limit type Two Dimensional Free movement adapting mechanism |
| KR102220856B1 (en) | 2019-05-29 | 2021-02-25 | 건양대학교 산학협력단 | A active and passive rehabilitation training device capable of multi-directional exercise |
| KR20200137325A (en) * | 2019-05-29 | 2020-12-09 | 건양대학교산학협력단 | A active and passive rehabilitation training device capable of multi-directional exercise |
| CN110522604A (en) * | 2019-09-04 | 2019-12-03 | 河北大艾智能科技股份有限公司 | Ankle-joint training device |
| CN110522582A (en) * | 2019-09-23 | 2019-12-03 | 天津科技大学 | Multi-function rotating moving device |
| CN113827439A (en) * | 2020-06-08 | 2021-12-24 | 陈佑相 | Ankle machine |
| CN113827439B (en) * | 2020-06-08 | 2023-09-12 | 陈佑相 | ankle machine |
| CN111773035B (en) * | 2020-08-22 | 2022-09-06 | 山东康盛医疗器械有限公司 | Multifunctional ankle joint rehabilitation training equipment |
| CN111773035A (en) * | 2020-08-22 | 2020-10-16 | 麦顺 | Multifunctional ankle joint rehabilitation training equipment |
| CN112206125A (en) * | 2020-09-28 | 2021-01-12 | 杨海玲 | Leg movement adjusting device for neurology department nursing |
| CN112691340A (en) * | 2020-12-23 | 2021-04-23 | 吉林农业科技学院 | Ankle joint rehabilitation robot |
| CN112933543A (en) * | 2021-02-07 | 2021-06-11 | 河南师范大学新联学院 | Ankle joint rehabilitation training device |
| CN114177567A (en) * | 2021-12-20 | 2022-03-15 | 北京石油化工学院 | Ankle joint rehabilitation training device |
| CN114177567B (en) * | 2021-12-20 | 2023-02-21 | 北京石油化工学院 | Ankle joint rehabilitation training device |
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