CN105362035A - Armor apparatus of multimodal consciousness promoting system for passive rehabilitation training of patients in vegetative states - Google Patents
Armor apparatus of multimodal consciousness promoting system for passive rehabilitation training of patients in vegetative states Download PDFInfo
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- CN105362035A CN105362035A CN201510653642.6A CN201510653642A CN105362035A CN 105362035 A CN105362035 A CN 105362035A CN 201510653642 A CN201510653642 A CN 201510653642A CN 105362035 A CN105362035 A CN 105362035A
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Classifications
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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
-
- 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
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
- A61M2021/0083—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus especially for waking up
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The invention discloses an armor apparatus of a multimodal consciousness promoting system for passive rehabilitation training of patients in vegetative states and relates to the field of medical instruments. The armor apparatus comprises a set of armor covering the whole human body. Ankle joints, knee joints, hip joints, shoulder joints and elbow joints of the armor are respectively connected with each other movably. Motion simulation driving mechanisms are respectively arranged between parts, at movably connected positions of the ankle joints, the knee joints, the hip joints, the shoulder joints and the elbow joints, of the armor. The armor is combined of two halves of casings which are closed with each other; one side of one half of casing is hinged to one side of the other half of casing; close lockers are arranged between the other sides of the two halves of casings; and close driving mechanisms are arranged at hinged positions of the two halves of casings. With the armor apparatus, infective complications and the like can be avoided while neural restoration is achieved for consciousness promoting. The armor apparatus is of high automation degree as different driving mechanisms thereof are controlled to work by a smart system.
Description
Technical field
The present invention relates to medical instruments field, in particular to a kind of naturopathy being mainly used in rehabilitation department, also can be applicable to the manufacturing technology field of the armor of the short robot system of waking up of the medical spaces such as the neural ICU ward of situation of all-level hospitals, gerontal rehabilitation center, community rehabilitation center, specialized rehabilitation hospital, each large (level) hospital Neurology Department, orthopaedics simultaneously.
Background technology
Vegetative state has awakening but the permanent lesion caused without the state of awareness after the serious cerebral injury caused due to the various cause of disease (wound, non-wound), and non-traumatic disease is because comprising infection, apoplexy, poisoning, hypoxic-ischemic, electric shock, tumor and cerebral retrogressive disease etc.It has the features such as strict therapeutic time window, expensive medical expense and burden on society, is subject to people and greatly pays close attention to.
At present in the Therapy study for many years of such disease, there is the problem that two are hindered this disease treatment curative effect always:
One is do not detect, treat sophisticated equipment needed for this disease;
Two is lack short technology and the means of waking up that experienced specialty urgees the awake talent and system, and the therapeutic effect of patient is very low.
Treatment means to long-term coma or vegetative patient waken treatment and deficiency is still familiar with in rehabilitation aspect, also drop into not, traditional treatment persistent vegetable state is had by the method for active adoption: use the medicine, electricity irritation, hyperbaric oxygen, music therapy, mechanical-physical therapy etc. of ventilating to the medicine of the nutritious effect of cranial nerve, the acupuncture of the traditional Chinese medical science and fragrance.In traditional mechanical physiotherapy, healing robot mainly can be divided into following main three classes: 1. auxiliary type robot, 2. artificial limb type, 3. orthosis (brace type).Auxiliary type robot can substitute the equipment that people completes a certain task.Artificial limb type can replace the equipment of people's limb function.Orthosis (brace type) is then by load-supporting, assists or relative motion between antagonism (body each several part) body segment strengthens the weak or paralyzed limbs of power.
There are some defects in existing treatment means:
In view of the defect in prior art, need many people doctor and assistant and family members jointly to help patient to carry out rehabilitation training, labor intensive and time in traditional treatment, the artificial limb on market, assistive device, orthosis use and comparatively limit to.
The multi-form training such as physical instrument rehabilitation can help patient to complete to bend and stretch, gait simulation, these only can realize conscious patients and initiatively bend and stretch the training with passive flexion and extension, treadmill ambulation training cannot be carried out, can not carry out testing and statistical analysis the plantar pressure under active exercise and passive exercise state, kinematic parameter, physiological function, also cannot accept the other treatments such as drugs delivery, biofeedback, electricity irritation, eeg monitoring, cardioelectric monitor, defecation nursing in motor process more simultaneously, reduce the effectiveness of rehabilitation and extend the awakening time.
Single therapy mode can not solve the following complication of unconscious vegetative patient:
One, pulmonary infection: the pharyngeal areflexia of vegetative patient, causes mouth, nose, pharyngeal secretions, vomitus to suck in air flue by mistake, causes pulmonary infection; Patient is the operation such as mouth breathing or tracheal intubation, tracheotomy, suction sputum, and respiratory tract defense function is declined, and antibacterial invades pulmonary and infects; When carrying out respiratory therapy, therapeutic device is polluted, and the pollution as nebulizer, sputum aspirator etc. is also the key factor causing pulmonary infection.
Two, urinary system infection: vegetative patient's long-term bed, gatism, perineal position sanitary condition is not good or stimulate urethra and bladder because of urethral catheterization, causes bacterial invasion and injury of urethra and accompanying infection; Bladder irrigation also can cause retrograde infection.
Three, dermatological complications: vegetative patient's long-term bed, local organization suffers persistence pressure at right angle; Gatism, skin is by moist stimulation, pollution, and under Abwehrkraft des Koepers, degradation all can cause pressure ulcer.
Four, oral cavity, eyes complication: vegetative patient disappears due to swallowing reflex, and mouth and nose secretions gathers and adds that mouth breathing sputum is easily formed a scab, and can cause oral cavity bacterium or fungal infection; Due to hypophasis, eyeball is exposed in air for a long time, causes bitot's patches, the complication such as keratitis.
, there is continuous ischemia, anoxia, malnutrition and cause tissue fester's necrosis in five, decubital ulcer: the long-term pressurized of local organization.Long-term bed or wheelchair, that clamping plate inner liner is placed is improper, in Gypsum Fibrosum out-of-flatness or have slag to consider to be worth doing, local bears the compressing exceeding normal terminal vessels for a long time, all can cause pressure ulcer.
Six, limbs complication: vegetative patient is due to long-term bed, and limbs maintain static, makes joint maintain a certain posture time oversize, causes arthrogryposis and stiff, commonly has intersection point, hang down wrist, hip joint flexion contracture, a hip outward turning etc.
Summary of the invention
The invention provides the polymorphic short system armor device of waking up of a kind of vegetative patient's passive rehabilitation training, object is that solution causes the defect of multi-infection and multiple complications because of long-term bed, reaches short eye-catching simultaneously.
The present invention includes the armor of coated Whole Body, the ankle of the described armor, knee joint place, hip joint place, shoulder joint place, elbow joint place are flexibly connected respectively mutually, between the armor that the ankle of the described armor, knee joint place, hip joint place, shoulder joint place, elbow joint place are flexibly connected, arrange plan motion driving mechanism; The described armor by mutually cover and two halves housing form, the side of housing described in two halves is hinged; Arrange closed and locked device between another side, described in two halves, the hinged place of housing arranges closed driving mechanism.
The armor of the present invention comprises the leg armor, the upper body armor, the arm armor, the described leg armor, the arm armor is respectively with hip joint place, shoulder joint place and the described upper body armor pass through pinned connection, the described leg armor, the junction of the arm armor and the described upper body armor arranges plan motion driving mechanism respectively, the described leg armor comprises foot's armor, the calf armor, the huckle armor, describedly draw together foot's armor, the calf armor, the huckle armor is connected by rotating shaft successively, the described foot armor, the calf armor, the junction of the huckle armor arranges plan motion driving mechanism respectively, the described arm armor comprises vambrace, the upper arm armor, and described vambrace is connected by rotating shaft with the described upper arm armor, arranges plan motion driving mechanism between described vambrace and the described upper arm armor.
The upper body armor of the present invention comprises and mutually covers the shirtfront armor, the back armor, the shoulder position of the described shirtfront armor is fixedly connected with two connecting rods, one end of each described connecting rod is fixedly connected with the described shirtfront armor respectively, the other end of each described connecting rod is connected respectively by the shoulder position of bearing pin with the described back armor, arranges the first driving mechanism covering for the described shirtfront armor, the back armor, be separated between described connecting rod with the described back armor.
The present invention also comprises the head armor, between the described head armor and the described back armor, neck support rod member is set, described neck support rod member one end and the detachable rigid connection of the described helmet, the other end of described neck support rod member and the described back armor, by hinge, arrange the second driving mechanism being used for the helmet and moving between described neck support rod member and described back armor outer wall.
When the present invention works, drive relative motion between the armor by intending motion driving mechanism, course of action during the normal walking of simulation, can keep the tension force of muscle like this, avoid amyotrophy, can avoid arthrogryposis and stiff simultaneously; The pulldown bed body that this armor device is main and corresponding and bed body support frame with the use of, pulldown bed body drives the duty of this armor device, as stood, standing upside down, horizontally-inclined, the state such as to lie on one's side, and the complication such as can to protect from infection, play the effect of CO2 laser weld simultaneously, and then reach short object of waking up; This armor plant automation degree is high, and control each driving mechanism action by intelligence system, its automaticity is high.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the armor of the present invention;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the rearview of Fig. 1;
Fig. 4 is the axonometric chart of Fig. 1;
Fig. 5 is the partial schematic diagram of Fig. 4;
Fig. 6 is the partial schematic diagram of Fig. 4;
Fig. 7 is the partial schematic diagram of Fig. 4;
Fig. 8 is the partial schematic diagram of Fig. 1;
Fig. 9 is the partial schematic diagram of Fig. 2.
Detailed description of the invention
As shown in Fig. 1,2,3,4,5,6,7,8,9, the polymorphic short system armor device of waking up of this vegetative patient passive rehabilitation training, comprise the armor 7 of coated Whole Body, the ankle of the armor 7, knee joint place, hip joint place, shoulder joint place, elbow joint place are flexibly connected respectively mutually, arrange respectively and intend motion driving mechanism 8 between the armor that the ankle of the armor 7, knee joint place, hip joint place, shoulder joint place, elbow joint place are flexibly connected; The armor 7 by mutually cover and two halves housing 9 form, two halves housing 9 one sides are hinged; Closed and locked device 10 is set between another side.In the hinged place of two halves housing 9, closed driving mechanism 11 is set.
Preferably, the armor 7 comprises the leg armor 12, the upper body armor 13, the arm armor 14, the leg armor 12, the arm armor 14 is respectively with hip joint place, shoulder joint place and the upper body armor 13 pass through pinned connection, the leg armor 12, the arm armor 14 arranges respectively with the junction of the upper body armor 13 and intends motion driving mechanism 8-1, 8-2, the leg armor 12 comprises foot's armor 15, the calf armor 16, the huckle armor 17, foot's armor 15, the calf armor 16, the huckle armor 17 is connected by rotating shaft successively, foot's armor 15, the calf armor 16, the junction of the huckle armor 17 is arranged respectively intends motion driving mechanism 8-3, 8-4, the arm armor 14 comprises vambrace 18, the upper arm armor 19, and vambrace 18 is connected by rotating shaft with the upper arm armor 19, arranges and intend motion driving mechanism 8-5 between vambrace 18 and the upper arm armor 19.
Preferably, the upper body armor 13 comprises and mutually covers the shirtfront armor 20, the back armor 21, the shoulder position of the shirtfront armor 20 is fixedly connected with two connecting rods 22, one end of each connecting rod 22 is fixedly connected with the shirtfront armor 20 respectively, the other end of each connecting rod 22 is connected respectively by the shoulder position of bearing pin with the back armor 21, arranges the first driving mechanism 23 covering for the shirtfront armor 20, the back armor 21, be separated between connecting rod 22 with the back armor 21.
Further, robot housing 3 also comprises the head armor 24, neck support rod member 25 is set between the head armor 24 and the back armor 21, neck support rod member 25 one end and the detachable rigid connection of the head armor 24, the other end of neck support rod member 25 and the back armor 21, by hinge, arrange the second driving mechanism 26 being used for the head armor 24 and moving between neck support rod member 25 and the back armor 21 outer wall.
Plan motion driving mechanism 8-3 between the above-mentioned foot armor 15 and the calf armor 16 comprises servomotor 37, shaft coupling 38, drive screw 39, servomotor 37 is fixed on the rear portion of the calf armor 16, the outfan of servomotor 37 is by shaft coupling 38 connection for transmission screw rod 39, drive screw 39 pass through bearing, bearing block is supported on the calf armor 16, the bottom of the calf armor 16 arranges one with the slide block 40 of otic placode, one is arranged with the lower connecting base 41 of otic placode in the rear end of foot's armor 15, one connecting rod 42 is set between slide block 40 and Connection Block 41, the two ends of connecting rod 42 respectively by pinned connection at slide block 40, on the otic placode of Connection Block 41, slide block 40 is threaded on drive screw 39.
Above-mentioned two calf armors 16 comprise with the plan motion driving mechanism 8-4 between two huckle armors 17 and are connected the calf armor 16, rotating shaft 43 between the huckle armor 17, gear 44, tooth bar 45, servomotor 46, one end of rotating shaft 43 is fixed on the upper end of the calf armor 16, gear 44 is fixed on the other end of rotating shaft 43, servomotor 46 is fixed on the huckle armor 17 by support, shaft coupling connection for transmission screw rod 47 is passed through at the outfan of servomotor 46, drive screw 47 passes through bearing, bearing block 50, 51 are supported on the huckle armor 17, drive screw 47 is threaded a driving block 49, bearing block 51 is fixedly connected with one with the gripper shoe 53 of chute 52, driving block 49 is engaged in chute 52, tooth bar 45 engages with gear 44.
Above-mentioned two huckle armors 17 comprise with the plan motion driving mechanism between the upper body armor 13 rotating shaft 54 being connected the upper body armor and the huckle armor, gear 55, tooth bar 56, servomotor 57, drive screw 58, one end of rotating shaft 54 is fixed on the upper end of the huckle armor 17, gear 55 is fixed on the other end of rotating shaft 54, servomotor 57 is fixed on the upper of the huckle armor 17 by support, servomotor 57 is by shaft coupling connection for transmission screw rod 58, drive screw 58 passes through bearing, bearing block 60, 61 are supported on the huckle armor 17, drive screw 58 is threaded a driving block 59, bearing block 61 is fixedly connected with one with the guide plate 63 of chute 62, driving block 59 is engaged in chute 62, tooth bar 56 is fixed on driving block 59, tooth bar 56 engages with gear 55.
Above-mentioned two upper arm armors 19 and the plan motion driving mechanism 8-2 between the upper body armor 13 to comprise for upper arm relative to the servomotor 63 of trunk sideshake, tooth bar 64, gear 65, are connected rotating shaft 66 between the upper body armor 13 and the upper arm armor 19, upper arm relative to the servomotor 67 of trunk swing, gear ring 68, gear 69, gear shaft 70, connect rotating shaft 71 between the upper body armor and the upper arm armor, upper arm regulates the servomotor 72 of shoulder width, drive screw 73, shift fork 74 to connect the upper body armor 13 and the upper arm armor 19 relative to shoulder horizontal reciprocating, upper arm is relative to the servomotor 63 of trunk sideshake, tooth bar 64, gear 65, connect the rotating shaft 66 between the upper body armor and the upper arm armor, one end of rotating shaft 66 is fixed on the gear ring 68 of the upper body armor 13 with horizontal float, gear 65 is fixed on the other end of rotating shaft 66, servomotor 63 is fixed on the upper arm armor 19 by support, drive screw 75 is connected to the outfan of servomotor 63 by shaft coupling, drive screw 75 passes through bearing, bearing block is supported on the upper arm armor 19, drive screw 75 is threaded a driving block, tooth bar 64 is fixed on driving block, tooth bar 64 engages with gear 65, realize large arm relative to trunk sideshake.Large arm, relative to the servomotor 67 of trunk swing, gear ring 68, gear 69, connects rotating shaft 71 between the upper body armor 13 and the upper arm armor 19, one end of rotating shaft 71 utilizes two parallel guide rods to float to be fixed on the upper body armor 13, stiff end sets two parallel guide rods as the upper arm armor 19 and regulates the servomotor 72 of shoulder width, drive screw 73, shift fork 74 to provide the guiding of horizontal movement relative to shoulder horizontal reciprocating, and namely the upper arm armor 19 is that integral level is adjustable relative to trunk swing relative to trunk, gear 78 is fixed on the back armor 21, servomotor 67 is fixed on the back armor 21 by support, drive screw 76 is connected to the outfan of servomotor 67 by shaft coupling, drive screw 76 passes through bearing, bearing block is supported on the back armor 21, drive screw 76 is threaded a driving block, tooth bar 77 is fixed on driving block, tooth bar 77 engages with gear 78, driven gear axle rotates, by power transmission to gear, on the gear 69 of 70 other ends, gear 69 drives the gear ring 68 of the upper arm armor 19 end, gear ring 68 and the upper arm armor are fixed together by the rotating shaft 71 between the upper arm armor 19 and the upper body armor 13 and realize large arm relative to trunk sideshake.
Above-mentioned two vambraces 18 and the plan motion driving mechanism 8-5 between two upper arm armors 19 comprise the rotating shaft 80 being connected the upper arm armor 19 and vambrace 18, servomotor 81, gear 82, tooth bar 83, drive screw 85, one end of rotating shaft 80 is fixed on vambrace 18, gear 82 is fixed on the other end of rotating shaft 80, servomotor 81 is fixed on the upper arm armor 19 by support, drive screw 85 is connected to the outfan of servomotor 81 by shaft coupling, drive screw 85 passes through bearing, bearing block 86, 87 are supported on the upper arm armor 19, drive screw 85 is threaded a driving block 88, tooth bar 83 is fixed on driving block 88, tooth bar 83 engages with gear 82.
The above-mentioned foot armor 15 comprises sole housing 90, instep housing 91, instep housing 91 comprises the cambered surface housing 92 of the mutual split of two panels, hinged respectively by closed rotating shaft 91 between two panels cambered surface housing 92 and sole housing 90, single-revolution cylinder 93 is connected respectively in one end of each closed rotating shaft 91, rotary cylinder 93 is separately fixed at the rear portion of sole housing 90, retaining mechanism 94 is set between the two panels cambered surface housing 92 of same instep housing 91, retaining mechanism 94 comprises cylinder 95, float cut somebody's hair 96, bearing pin 97, buckling piece 98; When rotary cylinder does gyration, output shaft connects shaft coupling, by power transmission to buckling piece, drive buckling piece rotates, and when buckling piece fastens, it is coaxial that fastening place realizes two buckling pieces fastening pin-and-holes, now locking cylinder action, drive motion of cutting somebody's hair of floating, floating cuts somebody's hair drives bearing pin to realize wearing pin action, by locked for coaxial buckling piece pin-and-hole.And then realize the locking function of retaining mechanism.
Above-mentioned for the shirtfront armor 20, the back armor 21 covers, the first driving mechanism 23 be separated comprises two bearing pins 99 between the shirtfront armor 20 and the back armor 21, also comprise two gears 100, two tooth bars 101, two servomotors 102, one end of each bearing pin 99 is fixed with the shirtfront armor 20 respectively, each gear 100 is fixed on the other end of the bearing pin 99 of homonymy, each servomotor 102 is fixed on the both sides shoulder position of the back armor 21 by bearing, two toothed rack 101 are separately fixed at the outfan of servomotor 102, each tooth bar 101 engages with the gear 101 of homonymy respectively.
The closed driving mechanism 11 of the above-mentioned calf armor 16, the huckle armor 17, the upper arm armor 19, vambrace 18 comprises the hinged bearing pin of two halves housing 9 103 respectively, gear 106 is fixedly connected with respectively at the middle part of each bearing pin 103, two halves housing 9 is respectively stationary housing 107, movable housing 108, stationary housing 107 arranges servomotor 109, connect tooth bar 110 at the outfan of servomotor 109, tooth bar 110 engages with gear 106.
The above-mentioned calf armor 16, the huckle armor 17, the upper arm armor 19, the closed and locked mechanism 10 of vambrace 18 comprises locking cylinder 111, the latch segment 112 of through hole is provided with in edge freely at stationary housing 107, the latch segment 113 of through hole is provided with in edge freely at movable housing 108, stationary housing 107, latch segment 112 on movable housing 108, 113 corresponding settings mutually, stationary housing 107 and latch segment 112 on movable housing 108, the through hole of 113 is communicated with when closed, the piston rod of locking cylinder 111 is detachable is plugged on two latch segments 112, in 113 through holes be communicated with.
Claims (4)
1. the polymorphic short system armor device of waking up of vegetative patient's passive rehabilitation training, it is characterized in that the armor comprising coated Whole Body, the ankle of the described armor, knee joint place, hip joint place, shoulder joint place, elbow joint place are flexibly connected respectively mutually, between the armor that the ankle of the described armor, knee joint place, hip joint place, shoulder joint place, elbow joint place are flexibly connected, arrange plan motion driving mechanism; The described armor by mutually cover and two halves housing form, the side of housing described in two halves is hinged; Arrange closed and locked device between another side, described in two halves, the hinged place of housing arranges closed driving mechanism.
2. the polymorphic short system armor device of waking up of vegetative patient's passive rehabilitation training according to claim 1, it is characterized in that the described armor comprises the leg armor, the upper body armor, the arm armor, the described leg armor, the arm armor is respectively with hip joint place, shoulder joint place and the described upper body armor pass through pinned connection, the described leg armor, the junction of the arm armor and the described upper body armor arranges plan motion driving mechanism respectively, the described leg armor comprises foot's armor, the calf armor, the huckle armor, describedly draw together foot's armor, the calf armor, the huckle armor is connected by rotating shaft successively, the described foot armor, the calf armor, the junction of the huckle armor arranges plan motion driving mechanism respectively, the described arm armor comprises vambrace, the upper arm armor, and described vambrace is connected by rotating shaft with the described upper arm armor, arranges plan motion driving mechanism between described vambrace and the described upper arm armor.
3. the polymorphic short system armor device of waking up of vegetative patient's passive rehabilitation training according to claim 2, it is characterized in that the described upper body armor comprises and mutually cover the shirtfront armor, the back armor, the shoulder position of the described shirtfront armor is fixedly connected with two connecting rods, one end of each described connecting rod is fixedly connected with the described shirtfront armor respectively, the other end of each described connecting rod is connected respectively by the shoulder position of bearing pin with the described back armor, arrange between described connecting rod and the described back armor and be used for the described shirtfront armor, the back armor covers, the first driving mechanism be separated.
4. the polymorphic short system armor device of waking up of vegetative patient's passive rehabilitation training according to claim 1, characterized by further comprising the head armor, between the described head armor and the described back armor, neck support rod member is set, described neck support rod member one end and the detachable rigid connection of the described helmet, the other end of described neck support rod member and the described back armor, by hinge, arrange the second driving mechanism being used for the helmet and moving between described neck support rod member and described back armor outer wall.
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| CN201510653642.6A CN105362035B (en) | 2015-10-12 | 2015-10-12 | The polymorphic armor device for promoting awake system of vegetative patient's passive rehabilitation training |
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| CN201510653642.6A CN105362035B (en) | 2015-10-12 | 2015-10-12 | The polymorphic armor device for promoting awake system of vegetative patient's passive rehabilitation training |
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| CN105362035A true CN105362035A (en) | 2016-03-02 |
| CN105362035B CN105362035B (en) | 2018-09-25 |
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| CN201510653642.6A Expired - Fee Related CN105362035B (en) | 2015-10-12 | 2015-10-12 | The polymorphic armor device for promoting awake system of vegetative patient's passive rehabilitation training |
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| CN106112989B (en) * | 2016-08-18 | 2018-10-16 | 黄河科技学院 | The wearable decompression power-assisted machinery exoskeleton device of human body |
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| CN110063875A (en) * | 2019-05-22 | 2019-07-30 | 东北大学 | A kind of exoskeleton robot for whole body rehabilitation training |
| CN110227020A (en) * | 2018-09-29 | 2019-09-13 | 广州哈罗博康复机器人生产有限公司 | A kind of fixed device of rehabilitation appliances folding |
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