CN105167959A - Multifunctional gait rehabilitation training device - Google Patents
Multifunctional gait rehabilitation training device Download PDFInfo
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- CN105167959A CN105167959A CN201510658258.5A CN201510658258A CN105167959A CN 105167959 A CN105167959 A CN 105167959A CN 201510658258 A CN201510658258 A CN 201510658258A CN 105167959 A CN105167959 A CN 105167959A
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- pedal
- connecting rod
- gait
- crank
- rehabilitation training
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
Abstract
The invention provides a multifunctional gait rehabilitation training device, and aims to provide a multifunctional gait rehabilitation training robot. The multifunctional gait rehabilitation training device adopts a step length adjustable, ankle gesture controllable and phalanx joint trainable multifunctional gait rehabilitation training robot structure, and comprises four main components, namely, a rack playing a supporting function, a gait movement simulating mechanism for realizing gait track, an ankle gesture adjusting mechanism for realizing ankle gesture real-time adjustment and a phalanx rehabilitation mechanism for conducting phalanx joint rehabilitation training. The multifunctional gait rehabilitation training robot can be applied to a series of lower limb rehabilitation training of gait track walking, ankle joint rehabilitation training, phalanx joint rehabilitation and the like by patients with lower limb dyskinesia.
Description
Technical field
The present invention relates to a kind of therapeutic medical device for healing and training, particularly relate to a kind of multi-functional gait rehabilitation trainer.
Background technology
In recent years, recovery exercising robot shows increasing advantage to the mode that patient carries out science and effective rehabilitation training.Carry out rehabilitation training early can not only maintain range of motion, prevent arthrogryposis, and the final recovery extent of patient moving function can be significantly improved.Wherein passive exercise is a kind of basic skills in limb motion rehabilitation training therapy.
Existing about gait rehabilitation training robot be generally to be swung by thigh, shank and the rotation of ankle realizes simulation to human gait, have ignored different step-length different also not identical with the attitude of ankle attitude different times to the rehabilitation training effect of leg muscle motion function, the more important thing is the pivotal role that have ignored phalangeal joint and play in whole rehabilitation training.One group of perfect gait, must allow patient correctly can carry out walking movement like a cork, for a long time, just can reach the Expected Results of rehabilitation training.
Summary of the invention
Step-length is adjustable, the trainable multi-functional gait rehabilitation trainer of ankle controlled attitude, phalangeal joint to the object of the present invention is to provide one to have.
The object of the present invention is achieved like this: comprise frames, gait motion simulation mechanism, ankle attitude-adjusting system and phalangeal joint rehabilitation institution, front, described frames lower end is provided with two universal wheels, rear, lower end is provided with two rubber blankets, the front of described frames is installed with electric motor stand and U-shaped riser, and described U-shaped riser is positioned at directly over electric motor stand, the lateral symmetry at the rear of described frames is provided with roller groove;
Described gait motion simulation mechanism comprises the drive motors be arranged on described electric motor stand, be arranged on the small pulley on drive motors output shaft, be arranged on the main shaft between U-shaped riser, be sleeved on the large belt wheel on main shaft and be arranged on the Timing Belt between small pulley and large belt wheel, the two ends of described main shaft are separately installed with crank, each crank is provided with three holes, one end of each first connecting rod is inserted in one of them hole by crank-pin and realizes and being articulated and connected of crank, the other end of each first connecting rod is fixed with second connecting rod, the end of each second connecting rod is hinged is provided with big roller, two big rollers are arranged in corresponding roller groove respectively, also hinged on each second connecting rod pedal is installed,
Described ankle attitude-adjusting system comprises two electric pushrods being hingedly mounted on frames both sides by pusher bar support symmetry, the outfan of each electric pushrod is hingedly connected with third connecting rod and double leval jib, end and the frames of each third connecting rod are hinged, the end of each double leval jib is hinged with long fork, end and the frame end support of each long fork are hinged, and described frame end support is arranged on the rear of frames, each long fork is provided with slide rail, slide rail is provided with slide block, slide block is provided with slider bracket, slider bracket by bearing pin and pedal hinged,
Described phalangeal joint rehabilitation institution comprises two pair roller guide grooves and is arranged on two pairs of trundles on corresponding roller guide groove, every pair roller guide groove is installed in parallel in roller groove upper end, each described pedal comprises plate and pedal header board after the pedal with connector, after pedal plate by connector and second connecting rod hinged, be connected by hinge and torque spring between pedal header board with plate after pedal, often pair of described trundle symmetry is arranged on the below of corresponding pedal header board.
Compared with prior art, the invention has the beneficial effects as follows: the present invention can realize that step-length is adjustable, ankle attitude in real time controlled, phalangeal joint can train auxiliary rehabilitation exercise.Advantage of the present invention is: adjustable step-size adaptation is in the different patient of step-length, and ankle attitude is adjustable avoids ankle from sprains to realize more real rehabilitation training, and phalangeal joint can be trained and be made rehabilitation course more complete, more close to real human body gait rule.The present invention can be applied to the patient that lower limb suffer from dyskinesia and carry out a series of lower limb rehabilitation trainings such as the walking of gait track, ankle joint rehabilitation training and phalangeal joint rehabilitation.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is gait trace simulation structural scheme of mechanism of the present invention;
Fig. 3 is crank two-dimensional structure figure of the present invention;
Fig. 4 is the installation diagram of crank-pin of the present invention;
Fig. 5 is ankle attitude-adjusting system structural representation of the present invention;
Fig. 6 is metatarsophalangeal joints rehabilitation institution of the present invention structural representation;
Fig. 7 is the structural representation of pedal of the present invention;
Fig. 8 is the johning knot composition of plate after pedal header board of the present invention and pedal.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail.
With reference to shown in Fig. 1 ~ 8, a kind of multi-functional gait rehabilitation training robot, primarily of formations such as frames, gait motion simulation mechanism, ankle attitude-adjusting system, phalangeal joint rehabilitation institution; Described frames is primarily of compositions such as frame 1, electric machine support 2, U-shaped riser 3, roller grooves 15, and two universal wheels are equipped with in front, frame 1 lower end, and respectively there is a rubber blanket at two jiaos, rear, lower end; Described electric machine support 2 is cemented in frame 1 front by bolt, and U-shaped riser 3 is by directly over soket head cap screw consolidation and electric machine support 2; Described roller groove 15 is consolidated in frame 1 rear by soket head cap screw, and two roller groove 15 Parallel Symmetrics are arranged.
With reference to Fig. 2 ~ 4, gait motion simulation mechanism comprises drive motors 4, small pulley 26, Timing Belt 24, first connecting rod 22, crank-pin 25, crank 23, second connecting rod 16, pedal 20, big roller 14;
With reference to Fig. 2, described motor 4 is consolidated in electric machine support 2 lower inside, small pulley 26 by general flat key with mark closely screw and be connected with motor 4 output shaft; Be connected by T-shaped toothed timing 24 between small pulley 26 with large belt wheel; Described large belt wheel is arranged on the main shaft 29 in the middle of U-shaped riser 3.
With reference to Fig. 3, described main shaft 29 two ends are connected with two cranks with little round nut 28 respectively by general flat key, and seal with bearing cap 27; Described two cranks are that 180 ° of phase contrasts are arranged symmetrically with, and crank 23 is connected by crank-pin with first connecting rod 22, and there are three row's dead eyes crank 23 inside, and bearing 31 one end shaft shoulder is located, and hole, one end back-up ring 30 is located.
With reference to Fig. 4, crank-pin is made up of plunger 25, bearing pin 33, Rubber end 36, spring steel plate 34, bayonet lock 35; The spring steel plate 34 that one bending is had in described crank-pin, a bayonet lock 35 is had at the end of steel disc, spring steel plate 34 naturalness downside pin withstands on crank pin 33 inwall, when spring steel plate 34 stressed bending time pin indentation crank pin 33 inner, crank-pin 25 just can inject in the hole on crank 23 smoothly, remove external force spring steel plate 34 set back and bayonet lock 35 is made, blocked the inner ring of bearing 31, prevent bearing 31 at the play of axis; Described first connecting rod 22 other end and second connecting rod 16 are by soket head cap screw consolidation, and second connecting rod 16 other end is articulated and connected by bearing pin and roller; Described pedal is articulated with centre position by bearing pin and second connecting rod; Described big roller 14 is arranged in roller groove 15, and big roller 14 lower end and roller groove 15 Structure deformation, upper end and both sides do not contact with roller groove 15.
Motor 4 drives small pulley 26 to rotate, and then drive large belt wheel to rotate, crank 23 at the uniform velocity rotates around main-shaft axis thereupon, driving first connecting rod 22, second connecting rod 16 move simultaneously, the big roller 14 being connected to second connecting rod 16 end rolls back and forth in roller groove 15, the pedal 20 be connected in the middle of second connecting rod 16 moves thereupon, and the track that pedal 20 moves is the elliptical orbit of a similar body gait rule.
Crank-pin 25 is pulled up, the link position of adjustment crank 23 and first connecting rod 22, after being alignd in the hole of diverse location on first connecting rod 22 and crank 23, crank-pin 23 is inserted the adjustment that can realize three kinds of different step-lengths.
With reference to shown in Fig. 5, it is ankle attitude-adjusting system structure chart of the present invention.Described ankle attitude-adjusting system is primarily of compositions such as two groups of electric pushrods 11, third connecting rod 6, double leval jib 7, long fork 10, slide rail 9, slide block 8, slider bracket 21, pedals 20; Described electric pushrod 11 is articulated and connected by electric pushrod 11 bottom bracket and the pusher bar support 12 be fixed in frame 1, and push rod cup is connected by hinge with third connecting rod 6, double leval jib 7; Described third connecting rod 6 other end is articulated and connected by bearing pin and the support 5 be fixed in frame 1, and double leval jib 7 other end is connected by hinge with long fork 10 front end; Described slide rail 9 is fixed on above long fork 10 by row's soket head cap screw, and slide block 8 is arranged on slide rail 9; Described slide block 8 and slider bracket 21 consolidation, slider bracket 21 is by a long pin shaft and be arranged on bearing fit below pedal 20 and use nut axial location; Described long fork 10 other end is articulated and connected by bearing pin and frame end support 13.
When electric pushrod 11 is protruding, outfan just promotes third connecting rod 6, power is applied on long fork 10 by double leval jib 7, long fork 10 is swung around tail end, while long fork 10 swings, slide block 8 slides on slide rail 9, slider bracket 21 while slide block 8 slides on slide block 8 and bearing pin promote pedal 20 and rotate around the pedal shaft being connected to second connecting rod 16, corresponding rotation will be done with the foot that pedal 20 connects together, realize the control of ankle angle.Pulled up by crank-pin 25, the position of adjustment crank 23 and first connecting rod 22, be connected first connecting rod 22 with main shaft two ends axis hole the independent rehabilitation training of ankle joint that namely can realize under 0 step-length.
With reference to shown in Fig. 6 ~ 8, it is metatarsophalangeal joints rehabilitation institution of the present invention.Metatarsophalangeal joints rehabilitation institution comprise trundle 18, roller guide groove 19, pedal header board 17, with plate after the pedal of connector 38 (it should be noted that: in accompanying drawing 6 and Fig. 7, labelling 38 refers to it is that labelling 20 is up to the integrally-built Reference numeral of pedal in order to be distinguished with labelling 20 in the position at connector place), the composition such as hinge 37 and hinge end cap 40.Described trundle 18 is positioned at the below of pedal header board 17, each one of left and right; Described roller guide groove 19 is fixed on the top of sliding-rail groove 15 in frame by soket head cap screw, have an arc transition in the front end of roller guide groove 19; Described pedal header board 17 is connected by hinge 37 with plate after pedal 38, a torque spring 39 is had in the middle of hinge 37, under naturalness, after pedal header board 17 and pedal, plate 38 is positioned at same plane, when pedal 20 moves to below, trundle 18 below pedal header board 17 will contact with roller guide groove 19, hinge 37 is forced to rotate, after pedal header board 17 and pedal, plate 38 has a certain degree, realize the function of simulation ground running, realize the rehabilitation training of phalangeal joint further.
A kind of multi-functional gait rehabilitation training robot, it is made up of frames, gait motion simulation mechanism, ankle attitude-adjusting system, phalangeal joint rehabilitation institution.
The object of the present invention is achieved like this:
1. frames described in is primarily of compositions such as frame, electric machine support, U-shaped riser, roller grooves, and two universal wheels are equipped with in front, frame lower end, and respectively there is a rubber blanket at two jiaos, rear, lower end; Described electric machine support is cemented in frame front by bolt, and U-shaped riser is by directly over soket head cap screw consolidation and electric machine support; Described roller groove is consolidated in frame rear by soket head cap screw, and two roller groove Parallel Symmetrics are arranged.
2. gait motion simulation mechanism comprises: motor, small pulley, belt, large belt wheel, crank, first connecting rod, second connecting rod, pedal, roller etc.; Described motor is consolidated in electric machine support lower inside, small pulley by general flat key with mark closely screw and be connected with motor output shaft; Be connected by T-shaped toothed timing between small pulley with large belt wheel; Described large belt wheel is arranged on the main shaft in the middle of U-shaped riser, and main shaft two ends are connected with two cranks with little round nut respectively by general flat key; Described two cranks are that 180 ° of phase contrasts are arranged symmetrically with, and crank is connected by crank-pin with first connecting rod; The spring steel plate that one bending is had in described crank-pin, a pin is had at the end of steel disc, spring steel plate naturalness downside pin withstands on crank pin inwall, when spring steel plate stressed bending time pin indentation crank pin inner, crank-pin just can inject in the hole on crank smoothly, remove external force spring steel plate set back and pin is made, blocked the inner ring of bearing, prevent bearing at the play of axis; The described first connecting rod other end and second connecting rod are by soket head cap screw consolidation, and the second connecting rod other end is articulated and connected by bearing pin and roller; Described pedal is articulated with centre position by bearing pin and second connecting rod; Described roller is arranged in roller groove, and roller lower end and roller Structure deformation, upper end and both sides do not contact with roller groove.
Further motor drives small pulley to rotate, and then drive large belt wheel to rotate, crank at the uniform velocity rotates around main-shaft axis thereupon, drive first connecting rod, second connecting rod to move simultaneously, the roller being connected to second connecting rod end rolls back and forth in roller groove, the pedal be connected in the middle of second connecting rod moves thereupon, and the track of motion of foot is the elliptical orbit of a similar body gait rule.
Further crank-pin is pulled up, the position of adjustment crank and connecting rod, after being alignd in the hole of diverse location on connecting rod and crank, crank-pin is inserted the adjustment that can realize three kinds of different step-lengths.
3. ankle attitude-adjusting system is primarily of compositions such as two groups of electric pushrods, third connecting rod, double leval jib, sliding-rail sliding combination, pedals; Described two groups of electric pushrods are articulated and connected respectively by electric pushrod bottom bracket and frame, and push rod cup is connected by hinge with third connecting rod, double leval jib; The described third connecting rod other end is articulated and connected by bearing pin and frame, and the double leval jib other end is connected by hinge with long fork front end; Described slide rail is fixed on above long fork by row's soket head cap screw, and slide block is arranged on slide rail; Described slide block and slider bracket consolidation, slider bracket is by a long pin shaft and be arranged on bearing fit below pedal and use nut axial location; The described long fork other end is articulated and connected by bearing pin and frame end support.
Further when electric pushrod is protruding, outfan just promotes connecting rod drive and is applied on long rocking bar by power, long rocking bar is swung around tail end, while long rocking bar swings, slide block slides on slide rail, support while skid on slide block and bearing pin promote pedal and rotate around the pedal shaft being connected to connecting rod, corresponding rotation will be done with the foot that pedal connects together, realize the control of ankle angle.
Further pulled up by crank-pin, the position of adjustment crank and connecting rod, be connected first connecting rod with main shaft two ends axis hole the independent rehabilitation training of ankle joint that namely can realize under 0 step-length.
4. phalanx rehabilitation institution comprises plate, trundle, roller guide groove etc. after pedal header board, pedal; Described pedal header board is connected by hinge with plate after pedal, in the middle of hinge, have a torque spring; Described trundle is positioned at the below of pedal header board, each one of left and right; Described roller guide groove is fixed on the top of sliding-rail groove in frame by soket head cap screw, have an arc transition in the front end of roller guide groove.Due to the effect of torsion spring under naturalness, pedal forefoot and pedal hind paw are positioned at same plane; Curve inwardly when forefoot is stressed angled.
Further when motion of foot is to time below, trundle below forefoot will contact with roller guide groove, forces hinge to rotate, and pedal forefoot and pedal hind paw have a certain degree, realize the function of simulation ground running, realize the rehabilitation training of phalangeal joint further.
The present invention is made up of frames, gait motion simulation mechanism, ankle attitude-adjusting system, phalangeal joint rehabilitation institution.Described frames is primarily of compositions such as frame, electric machine support, U-shaped riser, roller grooves, and two universal wheels are equipped with in front, frame lower end, and respectively there is a rubber blanket at two jiaos, rear, lower end; Described electric machine support is cemented in frame front by bolt, and U-shaped riser is by directly over soket head cap screw consolidation and electric machine support; Described roller groove is consolidated in frame rear by soket head cap screw, and two roller groove Parallel Symmetrics are arranged.
Gait motion simulation mechanism comprises: motor, small pulley, belt, large belt wheel, crank, first connecting rod, second connecting rod, pedal, roller etc.; Described motor is consolidated in electric machine support lower inside, small pulley by general flat key with mark closely screw and be connected with motor output shaft; Be connected by T-shaped toothed timing between small pulley with large belt wheel; Described large belt wheel is arranged on the main shaft in the middle of U-shaped riser, and main shaft two ends are connected with two cranks with little round nut respectively by general flat key; Described two cranks are that 180 ° of phase contrasts are arranged symmetrically with; Described connecting rod one end and crank hinged, the other end and roller hinged; Described pedal is articulated with centre position by bearing pin and second connecting rod; Described roller is arranged in roller groove, and roller lower end and roller Structure deformation, upper end and both sides do not contact with roller groove.
Ankle attitude-adjusting system is primarily of compositions such as two groups of electric pushrods, third connecting rod, double leval jib, sliding-rail sliding combination, pedals; Described two groups of electric pushrods are articulated and connected respectively by electric pushrod bottom bracket and frame, and push rod cup is connected by hinge with third connecting rod, double leval jib; The described third connecting rod other end is articulated and connected by bearing pin and frame, and the double leval jib other end is connected by hinge with long fork front end; Described slide rail is fixed on above long fork by row's soket head cap screw, and slide block is arranged on slide rail; Described slide block and slider bracket consolidation, slider bracket is by a long pin shaft and be arranged on bearing fit below pedal and use nut axial location; The described long fork other end is articulated and connected by bearing pin and frame end support.
Phalanx rehabilitation institution comprises plate, trundle, roller guide groove etc. after pedal header board, pedal; Described pedal header board is connected by hinge with plate after pedal, in the middle of hinge, have a torque spring; Described trundle is positioned at the below of pedal header board, each one of left and right; Described roller guide groove is fixed on the top of sliding-rail groove in frame by soket head cap screw, have an arc transition in the front end of roller guide groove.
By adjustment first connecting rod and the link position of crank, the gait rehabilitation training function in three kinds of different step-length situations can be realized.
Electric pushrod is flexible promotes long fork around rear connecting axle axis oscillating, makes slide block be consolidated in the slip of the slide rail on long fork, promotes pedal and rotate around pedal shaft, ankle attitude is changed, realizes ankle joint rehabilitation training.
Be connected with the output shaft hole at main shaft two ends by first connecting rod is connect, the independent rehabilitation training of ankle joint under 0 step-length can be realized.
In training, add the mechanism of a kind of phalangeal joint adjustment, the rehabilitation training of phalangeal joint can be carried out.
Claims (1)
1. a multi-functional gait rehabilitation trainer, it is characterized in that: comprise frames, gait motion simulation mechanism, ankle attitude-adjusting system and phalangeal joint rehabilitation institution, front, described frames lower end is provided with two universal wheels, rear, lower end is provided with two rubber blankets, the front of described frames is installed with electric motor stand and U-shaped riser, and described U-shaped riser is positioned at directly over electric motor stand, the lateral symmetry at the rear of described frames is provided with roller groove;
Described gait motion simulation mechanism comprises the drive motors be arranged on described electric motor stand, be arranged on the small pulley on drive motors output shaft, be arranged on the main shaft between U-shaped riser, be sleeved on the large belt wheel on main shaft and be arranged on the Timing Belt between small pulley and large belt wheel, the two ends of described main shaft are separately installed with crank, each crank is provided with three holes, one end of each first connecting rod is inserted in one of them hole by crank-pin and realizes and being articulated and connected of crank, the other end of each first connecting rod is fixed with second connecting rod, the end of each second connecting rod is hinged is provided with big roller, two big rollers are arranged in corresponding roller groove respectively, also hinged on each second connecting rod pedal is installed,
Described ankle attitude-adjusting system comprises two electric pushrods being hingedly mounted on frames both sides by pusher bar support symmetry, the outfan of each electric pushrod is hingedly connected with third connecting rod and double leval jib, end and the frames of each third connecting rod are hinged, the end of each double leval jib is hinged with long fork, end and the frame end support of each long fork are hinged, and described frame end support is arranged on the rear of frames, each long fork is provided with slide rail, slide rail is provided with slide block, slide block is provided with slider bracket, slider bracket by bearing pin and pedal hinged,
Described phalangeal joint rehabilitation institution comprises two pair roller guide grooves and is arranged on two pairs of trundles on corresponding roller guide groove, every pair roller guide groove is installed in parallel in roller groove upper end, each described pedal comprises plate and pedal header board after the pedal with connector, after pedal plate by connector and second connecting rod hinged, be connected by hinge and torque spring between pedal header board with plate after pedal, often pair of described trundle symmetry is arranged on the below of corresponding pedal header board.
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| CN105476820A (en) * | 2016-01-14 | 2016-04-13 | 广东义晟实业有限公司 | Intelligent system for walking rehabilitation training |
| CN105477831A (en) * | 2015-12-28 | 2016-04-13 | 芜湖天人智能机械有限公司 | Multi-angle adjusting rehabilitation robot with two-level bed bodies |
| CN105496726A (en) * | 2015-12-28 | 2016-04-20 | 芜湖天人智能机械有限公司 | Lying and standing multi-angle adjusting rehabilitation robot |
| CN106798627A (en) * | 2017-03-01 | 2017-06-06 | 哈尔滨理工大学 | A kind of hand knee-joint rehabilitation training mechanism |
| CN106963598A (en) * | 2017-04-10 | 2017-07-21 | 丽水市日峰电器有限公司 | A kind of adjustable legs and feet telecontrol equipment of rehabilitation machines |
| CN107582331A (en) * | 2017-10-17 | 2018-01-16 | 璧靛惫 | A kind of gait rehabilitation trainer |
| CN107899198A (en) * | 2017-12-25 | 2018-04-13 | 安阳市翔宇医疗设备有限责任公司 | A kind of main passive exercise device of ankle-joint |
| US10022587B1 (en) | 2016-12-27 | 2018-07-17 | Hiwin Technologies Corp. | Walking trainer |
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| CN110974630A (en) * | 2020-01-17 | 2020-04-10 | 浙江福祉医疗器械有限公司 | Rehabilitation training device |
| CN112169259A (en) * | 2019-07-04 | 2021-01-05 | 北京力泰克科技有限公司 | Elliptical machine for rehabilitation and step length adjusting mechanism thereof |
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