CN105597278A - Pelvis mechanism capable of being adjusted and locked fast and used for gait rehabilitation training - Google Patents
Pelvis mechanism capable of being adjusted and locked fast and used for gait rehabilitation training Download PDFInfo
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- CN105597278A CN105597278A CN201610125469.7A CN201610125469A CN105597278A CN 105597278 A CN105597278 A CN 105597278A CN 201610125469 A CN201610125469 A CN 201610125469A CN 105597278 A CN105597278 A CN 105597278A
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- fork
- pelvis
- transverse axis
- vertical pivot
- connecting rod
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0482—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs primarily by articulating the hip joints
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/09—Adjustable dimensions
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A pelvis mechanism capable of being adjusted and locked fast and used for gait rehabilitation training comprises a base, connecting rods, a connecting box, a horizontal shaft, vertical shafts, swing rods and support arms, wherein the connecting rods are rotatably connected to the base and the connecting box, the rotary shafts of hinges are parallel, the horizontal shaft penetrates the connecting box, the axis of the horizontal shaft is vertical to rotary shafts of the hinges and parallel to the motion trajectory plane where the connecting rod rotates relative to the base, the vertical shafts are connected with the horizontal shaft, the axes of the vertical shafts are vertical to the axis of the horizontal shaft, the swing rods rotate around the vertical shafts, and the support arms are arranged at two ends of the swing rods and swing along with the rotation of the swing rods. The pelvis mechanism has the advantages that the pelvis mechanism can be manually adjusted conveniently and fast without special tools to adapt to pelvises of different widths; the left-right translation, twisting and lateral inclining of a pelvis can be respectively locked independently so as to satisfy the rehabilitation requirements of different patients.
Description
Technical field
The present invention relates to rehabilitation medical instrument, relate in particular to a kind of can quick adjustment and locking for gait rehabilitationThe pelvis mechanism of training.
Background technology
In recent years, aging population aggravation, various unsound life style and traffic accident, industrial injury etc. are continuousIncrease, the patient of the walking function obstacle being caused by apoplexy, spinal injury or contingency etc. has become modern societyCommon colony. To this class patient, except adopting medicine and operative treatment, what mainly rely on is physical treatment,Carry out rehabilitation training, substitute working strength that traditional Physical Therapist can effectively alleviate Physical Therapist also by healing robotImprove patient's rehabilitation efficiency.
On the pelvis of human body, be connected with lumbar vertebrae, lower and femur forms hip joint, is the bridge between backbone and lower limb,The weight of health is delivered to lower limb by pelvis, and the vibrations of lower limb are also uploaded to backbone by pelvis, and therefore, it bothEncircle and move as one of backbone, doing with respect to lower extremity movement taking hip joint as axle again. Normal human's pelvic areaThere is six-freedom degree, be respectively torsion, pitching and three rotational freedoms of inclination and the walking process at hip joint placeThe one-movement-freedom-degree of left and right, front and back and upper and lower three directions of midpelvis. Research shows, pelvis is capable at human bodyWalk, wear the clothes, have a bath, play important balanced action in the various daily routines such as motion, when pelvis produces improperWhen movement locus, the motion feature of gait will directly be had influence on. According to neural facilitation know-why, the control of strengthening pelvisAbility processed can promote the motor function of lower limb, and the training of pelvis can improve the balanced capacity of health both sides, accelerates partiallyParalysis patient's rehabilitation efficiency. Existing lower limb rehabilitation robot majority does not have pelvis mechanism, and patient is subject in training processTo very large constraint, the health of activity freely oneself, has ignored the weight of balance training to hemiplegia patientThe property wanted, has affected rehabilitation process.
Current pelvis mechanism does not possess the locking mechanism of each free degree, and when patient trains, each free degree is to decontrol, can be freely movable, and the rehabilitation stage different according to patient need to lock one or several free degree, limitThe motion of the corresponding free degree of patient's pelvis processed, to reach better rehabilitation efficacy.
The width difference at different patient's pelvis places, the width that need to adjust pelvis mechanism in the time carrying out rehabilitation training withAdapt to different patients' build, current guiding mechanism relies on screw thread to clamp more, need to be by special work when operationTool---spanner, operation inconvenience.
Summary of the invention
Because the above-mentioned defect of prior art, technical problem to be solved by this invention is, provides the one can be fastThe pelvis mechanism for gait rehabilitation training of velocity modulation joint and locking, can adjust easily and fast and adapt to different bonesBasin width, need be by special tool(s), manually adjustable; The left and right translation of pelvic movement, torsion, inclination energyLocking separately, meets the rehabilitation demand that patient is different respectively.
For achieving the above object, the invention provides a kind of can quick adjustment and the training for gait rehabilitation of lockingPelvis mechanism, comprising:
Pedestal, connecting rod and connecting box, described connecting rod is rotationally connected with described pedestal and described connecting box, and hingeThe rotating shaft of chain is parallel to each other;
Latch, it movably inserts described pedestal and described connecting rod, thereby limits the phase of described pedestal and described connecting rodTo rotating;
Transverse axis, it is arranged in described connecting box, and the axis of described transverse axis is perpendicular to the rotating shaft of described hinge, and parallelThe movement locus plane of rotating relative to described pedestal in described connecting rod;
Vertical pivot, it is connected with described transverse axis, and the axis of described vertical pivot is perpendicular to the axis of described transverse axis;
Fork, it rotates around described vertical pivot;
Support arm, its quantity is two, is arranged at the two ends of described fork, and follows described fork around described vertical pivotRotation and swing;
Connecting-rod locking mechanism, connecting rod is with respect to the rotation of described pedestal described in its lock timing restriction;
Transverse axis locking mechanism, transverse axis is with respect to the rotation of described connecting box described in its lock timing restriction;
Fork locking mechanism, fork is with respect to the rotation of described vertical pivot described in its lock timing restriction.
Further, described vertical pivot is through described transverse axis.
Further, described transverse axis locking mechanism comprises transverse axis plunger, described transverse axis plunger by described mounting box from outsidePortion inserts.
Further, described transverse axis plunger inserts described vertical pivot.
Further, the quantity of described vertical pivot is two, and described fork and described vertical pivot are correspondingly set to two,The support arm of each side is all articulated with the respective end of two forks.
Further, described fork locking mechanism comprises fork plunger, described fork plunger by described support arm in instituteState fork outside one side and insert, and successively through described support arm and described fork, thereby it is relative to limit described forkIn the rotation of described vertical pivot.
Further, described pelvis mechanism also comprises extension rod, cam handle and clamp, described clamp settingIn described swing link end part, sheathed two extension rods in every fork, described extension rod passes described clamp, described inSupport arm is pressed in described extension rod surface by described cam handle by described clamp to the distance of described forkAnd fix.
Further, the quantity of described connecting rod is two and is parallel to each other.
Further, described connecting-rod locking mechanism comprises latch, and described latch inserts described pedestal and described connecting rod,Thereby limit the rotation of described connecting rod with respect to described pedestal.
Provided by the invention can be fast and the pelvis mechanism for gait rehabilitation training of locking, can be easily and fastAdjust and adapt to different pelvis width, need be by special tool(s), manually adjustable; The left and right of pelvic movementTranslation, torsion, inclination can be distinguished locking separately, meet the rehabilitation demand that patient is different.
Below with reference to accompanying drawing, the technique effect of design of the present invention, concrete structure and generation is described further,To understand fully object of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is that the present invention is a kind of can quick adjustment and the knot of the pelvis mechanism for gait rehabilitation training of lockingStructure schematic diagram;
The C-C direction cross section structure schematic diagram of Tu2Shi Tu1 midpelvis mechanism;
The structural representation that Tu3Shi Tu1 midpelvis mechanism cam handle and clamp are used in conjunction with;
In Fig. 1-Fig. 3,1-pedestal, 2-connecting rod, 3-latch, 4-connecting box, 5-cover plate, 6-transverse axis, 7-transverse axis postPlug, 8-vertical pivot, 9-fork, 10-outrigger shaft, 11-fork plunger, 12-cam handle, 13-clamp, 14-pendulumBar rotating shaft, 15-gripper shoe, 16-support arm.
Detailed description of the invention
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, wherein ad initio extremelyWhole same or similar label represents same or similar element or has the element of identical or similar functions. Logical belowIt is exemplary crossing the embodiment being described with reference to the drawings, and is intended to for explaining the present invention, and can not be interpreted as thisBright restriction.
In description of the invention, it will be appreciated that, term " " center ", " longitudinally ", " laterally ", " length "," width ", " thickness ", " on ", D score, 'fornt', 'back', " left side ", " right side ", " vertically ", " level "," top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise " etc. instruction orientation or position relationship be based onOrientation shown in the drawings or position relationship, be only the present invention for convenience of description and simplified characterization, instead of instruction orThe device of hint indication or element must have specific orientation, construct and operation with specific orientation, therefore can notBe interpreted as limitation of the present invention.
In addition, term " first ", " second " be only for describing object, and can not be interpreted as instruction or hint relativelyImportance or the implicit quantity that indicates indicated technical characterictic. Thus, be limited with " first ", " second "One or more these features can be expressed or impliedly be comprised to feature. In description of the invention, " multiple "Implication be two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ",The term such as " fixing " should be interpreted broadly, and for example, can be to be fixedly connected with, and can be also to removably connect, orConnect integratedly; Can be mechanical connection, can be also electrical connection; Can be to be directly connected, in also can passing throughBetween medium be indirectly connected, can be the connection of two element internals. For the ordinary skill in the art,Can understand as the case may be above-mentioned term concrete meaning in the present invention.
In the present invention, unless otherwise clearly defined and limited, First Characteristic Second Characteristic it " on " or itD score can comprise that the first and second features directly contact, and also can comprise that the first and second features are not directly to connectThe other feature of touching but pass through between them contacts. And, First Characteristic Second Characteristic " on ", " onSide " and " above " comprise First Characteristic directly over Second Characteristic and oblique upper, or only represent First Characteristic waterFlat height is higher than Second Characteristic. First Characteristic Second Characteristic " under ", " below " and " below " comprise firstFeature directly over Second Characteristic and oblique upper, or only represents that First Characteristic level height is less than Second Characteristic.
The pelvis mechanism that the present embodiment provides has the multiple free degree, and can control respectively.
As Fig. 1 and Fig. 2, connecting box 4 is connected on pedestal 1 by connecting rod 2, between pedestal 1 and connecting rod 2,Between connecting rod 2 and connecting box 4, be all connected through the hinge. Pedestal 1 is fixed on firm perpendicular, connecting rod 2For parallel two, equal in length, in the time that connecting box 4 moves with respect to pedestal 1, hinged pedestal1, the parallelogram sturcutre generation deformation that connecting rod 2 and connecting box 4 form, connecting box 4 can be around by connecting rod 2Pedestal 1 rocks from side to side, to realize the free degree that moves left and right at patient's pelvis place.
Pedestal 1 is inserted with latch 3. Need to stop using the above-mentioned free degree, restriction the moving left and right of patient's pelvis place time, pressLower latch 3, inserts connecting rod 2 by latch, and aforementioned parallelogram sturcutre is fixed, and connecting rod 2 cannot be around pedestal1 rocks from side to side, patient's pelvis place to move left and right the free degree locked.
In connecting box 4, be equipped with rotating transverse axis 6, the axis of transverse axis 6 is firm flat perpendicular to mounting base 1Face. Transverse axis 6 perforate on its axis direction, is equipped with two vertical pivots 8 in it. The each comfortable lower end of vertical pivot 8 connectsHave fork 9, fork 9 can rotate around vertical pivot 8, and its turning cylinder is arranged at the middle part of fork 9 in the longitudinal direction.Two forks 9 rotate in same plane, and equal in length.
Fork 9 tubular structure that be hollow, both ends open, and be fixedly installed clamp 13 at opening part, folderTight piece coordinates cam handle 12 to use. The structure of cam handle 12 and clamp 13 as shown in Figure 3. Clamp13 are provided with an opening, and cam handle 12 has eccentric structure, and its axle is connected with a stayed mast, stayed mastThe other end compress clamp 13 surfaces at the opposite side of cam handle 12. The direction of arrow is depressed protruding in by Fig. 3When wheel handle 12, eccentric cam handle circular arc portion, by the respective surfaces of extruding clamp 13, is strained stayed mast,Clamp 13 is compacted, its openings get smaller, and inner tubular space is squeezed.
Outrigger shaft 10 is inserted respectively in end at fork 9, and through clamp 13. Compress as mentioned above clampAfter 13, clamp 13 inner volume diminish, and the contact-making surface of clamp 13 and outrigger shaft 10 pushes, and extendAxle 10 is fixed with the relative position of clamp 13, thereby outrigger shaft 10 is also fixing with the relative position of fork 9. Need to regulate outrigger shaft 10 to stretch out the length outside fork 9, unclamp cam handle 12 and regulate again, adjustAfter joint, repeat said process, locking outrigger shaft 10.
Outrigger shaft 10 ends are provided with fork rotating shaft 14, and contiguous fork rotating shaft 14 is hinged with gripper shoe 15, as figureShown in 1. Gripper shoe 15 outsides are connected with support arm 16 by screw, and support arm 16 is for safety harness etc., andBe connected to patient's pelvis place. Regulate outrigger shaft 10 to stretch out between the adjustable in length support arm 16 outside fork 9Distance, adapts to the different pelvis width of different patients quickly and easily.
This pelvis mechanism except connecting box 4 by connecting rod 2 around pedestal 1 left side at patient's pelvis place of realizing that rocks from side to sideMove right outside the free degree, also there is the banking degree of freedom at patient's pelvis place and the twist motion at patient's pelvis place certainlyBy spending.
The banking degree of freedom at patient's pelvis place is rotated and is realized around transverse axis 6 axle center by the vertical pivot 8 that penetrates transverse axis 6.The inclination of patient's pelvis is delivered to fork 9 by support arm 16, gripper shoe 15, then is delivered to vertical pivot 8. PassConnecting box 4 is provided with transverse axis plunger 7, and transverse axis plunger 7 is in the time inserting state, and as Fig. 2, its end is inserted inIn its nearer vertical pivot 8, restriction vertical pivot 8 is with respect to the swing of transverse axis 6 axis, thus banking degree of freedomBe limited; Need to recover this free degree time, transverse axis plunger 7 is extracted. For avoiding transverse axis plunger 7 patientWhile carrying out rehabilitation training, insert voluntarily vertical pivot 8 and cause danger, transverse axis plunger 7 has special construction design, extracts transverse axisAfter plunger 7, its half-twist cannot be inserted, avoid maloperation to keep extracting state.
The twist motion free degree at patient's pelvis place surrounds parallelogram and pendulum by support arm 16 and fork 9Bar 9 rotates and realizes around vertical pivot 8. The torsion of patient's pelvis is delivered to fork by support arm 16, gripper shoe 159. Be provided with fork plunger 11 through support arm 16, fork plunger 11 is in the time inserting state, and insert its endIn the inside of outrigger shaft 10, restriction support arm 16 is with respect to the rotation of outrigger shaft 10, and then support arm 16, pendulumThe parallelogram that bar 9 surrounds is fixed, and fork cannot rotate around vertical pivot 8, thereby the twist motion free degree is limitSystem; Need to recover this free degree time, fork plunger 11 is extracted. For avoiding fork plunger 11 to enter patientWhen row rehabilitation training, insert voluntarily outrigger shaft 10 and cause danger, fork plunger 11 has special construction design, extracts pendulumAfter roofbolt plug 11, its half-twist cannot be inserted, avoid maloperation to keep extracting state.
Because the pelvis mechanism in this example has the parts of more relative motion, structure is comparatively complicated, and it is right to need at ordinary timesIt maintains, and such as visual examination, lubricated etc., therefore connecting box 4 is provided with an opening, as Fig. 1 and Fig. 2Shown in, on it, be stamped cover plate 5. Cover plate 5 seals the opening of connecting box 4 at ordinary times, avoids foreign matter, dust etc. to enterEnter motion inside; Need to carry out maintenance time, cover plate 5 is opened, can be approached the motion of connecting box 4 insideStructure.
More than describe preferred embodiment of the present invention in detail. Should be appreciated that those of ordinary skill in the artJust can design according to the present invention make many modifications and variations without creative work. Therefore, all technology neckIn territory, technical staff is under this invention's idea on the basis of existing technology by logic analysis, reasoning or limitedTest available technical scheme, all should be in by the determined protection domain of claims.
Claims (9)
1. can quick adjustment and the pelvis mechanism for gait rehabilitation training of locking, it is characterized in that bagDraw together:
Pedestal, connecting rod and connecting box, described connecting rod is rotationally connected with described pedestal and described connecting box, andThe rotating shaft of hinge is parallel to each other;
Latch, it movably inserts described pedestal and described connecting rod, thereby limits described pedestal and described connecting rodRelatively rotate;
Transverse axis, it is arranged in described connecting box, and the axis of described transverse axis is perpendicular to the rotating shaft of described hinge, and flatThe movement locus plane that row rotates relative to described pedestal in described connecting rod;
Vertical pivot, it is connected with described transverse axis, and the axis of described vertical pivot is perpendicular to the axis of described transverse axis;
Fork, it rotates around described vertical pivot;
Support arm, its quantity is two, is arranged at the two ends of described fork, and follows described fork around described perpendicularThe rotation of axle and swinging;
Connecting-rod locking mechanism, connecting rod is with respect to the rotation of described pedestal described in its lock timing restriction;
Transverse axis locking mechanism, transverse axis is with respect to the rotation of described connecting box described in its lock timing restriction;
Fork locking mechanism, fork is with respect to the rotation of described vertical pivot described in its lock timing restriction.
2. pelvis according to claim 1 mechanism, is characterized in that, described vertical pivot is through described transverse axis.
3. pelvis according to claim 1 and 2 mechanism, is characterized in that, described transverse axis locking mechanism comprisesTransverse axis plunger, described transverse axis plunger is inserted from outside by described mounting box.
4. pelvis according to claim 3 mechanism, is characterized in that, described transverse axis plunger inserts described vertical pivot.
5. pelvis according to claim 1 and 2 mechanism, is characterized in that, the quantity of described vertical pivot is two,Described fork and described vertical pivot are correspondingly set to two, and the support arm of each side is all articulated with two forksRespective end.
6. pelvis according to claim 5 mechanism, is characterized in that, described fork locking mechanism comprises forkPlunger, described fork plunger is inserted in described fork outside one side by described support arm, and successively through instituteState support arm and described fork, thereby limit the rotation of described fork with respect to described vertical pivot.
7. pelvis according to claim 1 mechanism, is characterized in that, also comprise extension rod, cam handle andClamp, described clamp is arranged at described swing link end part, sheathed two extension rods in every fork, instituteState extension rod through described clamp, described support arm passes through described cam handle to the distance of described forkDescribed clamp is pressed in to described extension rod surface and fixes.
8. pelvis according to claim 1 mechanism, is characterized in that, the quantity of described connecting rod is two and phasesParallel mutually.
9. pelvis according to claim 8 mechanism, is characterized in that, described connecting-rod locking mechanism comprises latch,Described latch inserts described pedestal and described connecting rod, thereby limits described connecting rod turning with respect to described pedestalMoving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610125469.7A CN105597278B (en) | 2016-03-04 | 2016-03-04 | The pelvis mechanism for gait rehabilitation training that quickly can be adjusted and lock |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610125469.7A CN105597278B (en) | 2016-03-04 | 2016-03-04 | The pelvis mechanism for gait rehabilitation training that quickly can be adjusted and lock |
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| CN105597278A true CN105597278A (en) | 2016-05-25 |
| CN105597278B CN105597278B (en) | 2019-08-23 |
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| CN201610125469.7A Active CN105597278B (en) | 2016-03-04 | 2016-03-04 | The pelvis mechanism for gait rehabilitation training that quickly can be adjusted and lock |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107537136A (en) * | 2017-02-13 | 2018-01-05 | 上海电气集团股份有限公司 | A kind of rehabilitation training apparatus and method |
| CN107538470A (en) * | 2017-02-13 | 2018-01-05 | 上海电气集团股份有限公司 | A kind of width adjusting and locking device applied to pelvic support mechanism |
| CN107970564A (en) * | 2017-12-20 | 2018-05-01 | 上海电气集团股份有限公司 | Training equipment |
| CN108245842A (en) * | 2018-03-27 | 2018-07-06 | 上海金矢机器人科技有限公司 | Pelvic movement controls balance training machine people |
| CN109199800A (en) * | 2018-10-24 | 2019-01-15 | 上海电气集团股份有限公司 | Healing robot and its fall down detection and means of defence |
| CN110812130A (en) * | 2019-11-21 | 2020-02-21 | 湖北文理学院 | Pelvic auxiliary walking rehabilitation training robot |
| CN111013084A (en) * | 2019-12-26 | 2020-04-17 | 上海金矢机器人科技有限公司 | Spring damping system for pelvic rehabilitation training |
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| US5931767A (en) * | 1997-09-11 | 1999-08-03 | Morales; Luis | Shoulder exercise machine |
| CN103315876A (en) * | 2013-06-17 | 2013-09-25 | 上海大学 | Pelvis mechanism for gait rehabilitation training |
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| CN2279163Y (en) * | 1996-11-26 | 1998-04-22 | 王俊华 | Walking exercising device |
| US5931767A (en) * | 1997-09-11 | 1999-08-03 | Morales; Luis | Shoulder exercise machine |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107537136A (en) * | 2017-02-13 | 2018-01-05 | 上海电气集团股份有限公司 | A kind of rehabilitation training apparatus and method |
| CN107538470A (en) * | 2017-02-13 | 2018-01-05 | 上海电气集团股份有限公司 | A kind of width adjusting and locking device applied to pelvic support mechanism |
| CN107537136B (en) * | 2017-02-13 | 2019-09-27 | 上海电气集团股份有限公司 | A kind of rehabilitation training device and method |
| CN107538470B (en) * | 2017-02-13 | 2020-12-15 | 上海电气集团股份有限公司 | Width adjusting and locking device applied to pelvis supporting mechanism |
| CN107970564A (en) * | 2017-12-20 | 2018-05-01 | 上海电气集团股份有限公司 | Training equipment |
| CN108245842A (en) * | 2018-03-27 | 2018-07-06 | 上海金矢机器人科技有限公司 | Pelvic movement controls balance training machine people |
| CN108245842B (en) * | 2018-03-27 | 2023-06-27 | 上海金矢机器人科技有限公司 | Pelvis motion control balance training robot |
| CN109199800A (en) * | 2018-10-24 | 2019-01-15 | 上海电气集团股份有限公司 | Healing robot and its fall down detection and means of defence |
| CN110812130A (en) * | 2019-11-21 | 2020-02-21 | 湖北文理学院 | Pelvic auxiliary walking rehabilitation training robot |
| CN111013084A (en) * | 2019-12-26 | 2020-04-17 | 上海金矢机器人科技有限公司 | Spring damping system for pelvic rehabilitation training |
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| CN105597278B (en) | 2019-08-23 |
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Application publication date: 20160525 Assignee: SHANGHAI ELECTRIC INTELLIGENT REHABILITATION MEDICAL TECHNOLOGY Co.,Ltd. Assignor: Shanghai Electric Group Co.,Ltd. Contract record no.: X2019310000013 Denomination of invention: Pelvis mechanism capable of being adjusted and locked fast and used for gait rehabilitation training Granted publication date: 20190823 License type: Exclusive License Record date: 20191008 |
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Application publication date: 20160525 Assignee: SHANGHAI ELECTRIC INTELLIGENT REHABILITATION MEDICAL TECHNOLOGY Co.,Ltd. Assignor: Shanghai Electric Group Co.,Ltd. Contract record no.: X2023310000146 Denomination of invention: Pelvic mechanism for gait rehabilitation training that can be quickly adjusted and locked Granted publication date: 20190823 License type: Exclusive License Record date: 20230919 |
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