CN105902271B - Lower limb side force line measuring device and method - Google Patents
Lower limb side force line measuring device and method Download PDFInfo
- Publication number
- CN105902271B CN105902271B CN201610216489.5A CN201610216489A CN105902271B CN 105902271 B CN105902271 B CN 105902271B CN 201610216489 A CN201610216489 A CN 201610216489A CN 105902271 B CN105902271 B CN 105902271B
- Authority
- CN
- China
- Prior art keywords
- side force
- force line
- lower limb
- measuring device
- limb side
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Dentistry (AREA)
- Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
Present invention discloses a kind of lower limb side force line measuring devices comprising protection shell, circuit board, switch, power supply and steel nail, steel nail are movably arranged on protection shell, and the inside for protecting shell is arranged in circuit board and power supply, and the outside of protection shell is arranged in switch；Microprocessor, accelerometer, gyroscope, magnetometer and Bluetooth communication modules are welded on circuit board, accelerometer, gyroscope and magnetometer are electrically connected with microprocessor respectively, and microprocessor is also electrically connected with Bluetooth communication modules；Accelerometer, gyroscope and the corresponding data of magnetometer measures, and algorithm process is carried out to data by microprocessor, then show human body lower limbs side force line in external connection display equipment by Bluetooth communication modules.
Description
Technical field
The present invention relates to the field of medical instrument technology, in particular to a kind of lower limb side force line measuring device and method.
Background technique
Lower limb side force line is that orthopedist compares concern during knee prosthesis, is pacified according to lower limb side force line
Body of having a holiday or vacation is the key that successful surgery.Currently, doctor often relies on personal experience to judge that joint prosthesis is plugged into position, is had larger several
Rate causes to replace improper or even failure, will lead to limited pain, joint motion, loosening, abrasion and joint instability phenomenon, gives and suffer from
Person and its family members, which bring, to be seriously affected.For replacement knee in arthroplasty, if wanting to improve success rate, keep joint replacement more acurrate,
Key is to find human tibia side force line position.
Currently, dedicated the equipment or instrument not yet occur is used to measure lower limb side force line, and then assist completing joint
Precise permutation, and have biggish uncertain and artificial parallax based on experience and subjective judgement, is also easy to produce fault, give patient with
Come painful, it is to perform the operation to provide judgment basis that this, which just needs a kind of efficient device,.
Summary of the invention
Simple and automatic measurement the lower limb side force line measurement the main purpose of the present invention is to provide a kind of reliable, structure
Device, and can be widely used.
Another object of the present invention is to provide a kind of lower limb side force line measurement methods, by microprocessor according to lower limb
The motion state of side force line measuring device obtains the measured value of accelerometer, gyroscope and magnetometer respectively, and by external aobvious
Show that equipment shows the location information of lower limb side force line.Measurement is accurate, and high degree of automation.
To achieve the above objectives, the present invention provides a kind of lower limb side force line measuring devices comprising protection shell, circuit
Plate, switch, power supply and steel nail, the steel nail are movably arranged on the protection shell, the circuit board and power supply setting
In the inside of the protection shell, the protection shell is arranged in the circuit board and the power electric connection, the switch
Outside, and with the circuit board electrical connection；
Microprocessor, accelerometer, gyroscope, magnetometer and Bluetooth communication modules are welded on the circuit board, it is described
Accelerometer, the gyroscope and magnetometer are electrically connected with the microprocessor respectively, the microprocessor also with it is described
Bluetooth communication modules electrical connection；
The protection shell includes upper cover and lower cover, and the upper cover and the lower cover mutually fasten and form several fixing grooves,
The circuit board is fixed in the fixing groove, and the lower cover is internally provided with battery case, and the power supply is arranged in the battery
In slot, and it is located at the lower section of the circuit board, switch hole is provided on the lower cover outer wall, the switch is arranged in the switch
Kong Shang.
It correspondingly, further include external connection display equipment, the external connection display equipment and the Bluetooth communication modules communication connection.
Correspondingly, it is provided with several first support columns on the inner wall of the upper cover, is arranged on the inner wall of the lower cover several
Second support column, first support column and second support column cooperatively form the fixing groove.
Correspondingly, the battery case is made of two annular bars, and two annular bars are oppositely arranged.
Correspondingly, it is provided with slot on the protection shell, the steel nail is movably arranged in the slot.
Specifically, the bottom of the steel nail is provided with pedestal, and the pedestal is movably arranged in the slot.As excellent
Choosing, the pedestal are triangular in shape.
Specifically, the outside of the upper cover is arranged in the steel nail, and is located at the center of the upper cover.
Correspondingly, the switch is located at the side of the protection shell.
Correspondingly, the protection shell is that shell is protected made of plastic resin material.Preferably, the protection shell is
Shell is protected made of ABS material.
Correspondingly, the protection shell is in square, cuboid or cylindrical body.
The present invention also provides a kind of lower limb side force line measurement methods, specifically includes the following steps:
(1) lower limb side force line measuring device is fixed on tested position by steel nail, and microprocessor establishes three-dimensional system of coordinate,
The fixed point of middle steel nail is coordinate origin, and the axis of steel nail is Z axis；
(2) using coordinate origin as center of circle O (0,0,0), circular motion is tested position, forms lower limb side force line measuring device fortune
Moving axes A (a, b, c), then directed quantity
(3) microprocessor is according to the motion state of lower limb side force line measuring device, obtain respectively accelerometer, gyroscope and
The measured value of magnetometer, and the coordinate value of A is obtained, wherein the line when movement of speedometer measurement lower limb side force line measuring device accelerates
Degree；Gyroscope measures the angular acceleration when movement of lower limb side force line measuring device；Magnetometer measures lower limb side force line measuring device
Magnetic field strength when movement；
(4) microprocessor is calculated according to the measured value of accelerometer, gyroscope and magnetometerθ and γ are formed, then are counted
It is as follows to calculate formula:
In formula,For vectorWith the angle of X-axis, θ is vectorWith the angle of Y-axis, γ is vectorWith Z axis
Angle.
Correspondingly, external connection display equipment obtains the folder between lower limb side force line and steel nail axis by Bluetooth communication modules
Angle.
According to preferred embodiment, the present invention provides following advantages:
(1) structure is simple, small in size, at low cost, and easy to operate.
(2) present invention is by accelerometer, gyroscope and the corresponding data of magnetometer measures, and passes through microprocessor logarithm
Human femur under loading side force line is shown in external connection display equipment according to progress algorithm process, then by Bluetooth communication modules.Aforesaid operations are only
Switch control operation is needed, high degree of automation is conducive to promote and apply.
(3) present invention is communicated using Bluetooth communication modules with external world's display equipment, in the communicating requirement for meeting device itself
While, the limited appearance for avoiding external cable winds.
(4) protection shell of the invention is made of ABS material, has the function of waterproof and dustproof.
The present invention is further illustrated with reference to the accompanying drawings and embodiments.
Detailed description of the invention
Fig. 1 is the explosive view of lower limb side force line measuring device of the present invention；
Fig. 2 is the main view of lower limb side force line measuring device of the present invention；
Fig. 3 be Fig. 2 in along the sectional view of A-A；
Fig. 4 is the structural schematic diagram of lower casing of the present invention；
Fig. 5 is the structural block diagram of circuit board of the present invention.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
As shown in Figures 1 to 5, a kind of lower limb side force line measuring device comprising protection shell 3, circuit board, switch 4, electricity
Source and steel nail 1, steel nail 1 are movably arranged on protection shell 3, and the inside for protecting shell 3, circuit board is arranged in circuit board and power supply
And power electric connection, the power supply are button cell, provide electric energy for circuit board operation, the outer of protection shell 3 is arranged in switch 4
Portion, and and circuit board electrical connection, the switch is for opening or closing the work of lower limb side force line measuring device；
Microprocessor 17, accelerometer 14, gyroscope 15, magnetometer 16 and Bluetooth communication modules are welded on circuit board
18, accelerometer 14, gyroscope 15 and magnetometer 16 are electrically connected with microprocessor 17 respectively, and microprocessor 17 is gone back and Bluetooth transmission
Module 18 is electrically connected；
Protecting shell 3 includes upper cover 6 and lower cover 7, and upper cover 6 and lower cover 7, which mutually fasten, forms several fixing grooves 13, circuit board
It is fixed in fixing groove 13, lower cover 7 is internally provided with battery case 9, and power supply is arranged in battery case 9, and is located under circuit board
It is square, switch hole 8 is provided on 7 outer wall of lower cover, switch 4 is arranged on switch hole 8.
It in one embodiment, further include external connection display equipment, external connection display equipment and the communication of Bluetooth communication modules 18 connect
It connects.The data that microprocessor generates can be transferred to external connection display equipment by Bluetooth communication modules 18, intuitively understand convenient for user
The position of lower limb side force line.
Above-mentioned accelerometer and gyroscope use the MEMS sensor of the BMI160 model of Germany BOSCH (Bosch) company,
BMI160 is integrated with accelerometer and gyroscope.Magnetometer uses the MEMS of the BMM150 model of Germany BOSCH (Bosch) company
Sensor.Microprocessor uses the microprocessor of the STM32F401CEU6 model of ST Microelectronics.Bluetooth communication modules are adopted
With the BlueNRG-MS Bluetooth processor of ST Microelectronics, BlueNRG-01D3 bluetooth transceiver and Shenzhen 999sunlord electronics
Bluetooth ceramic antenna SLDA31-2R800G.
Lower limb side force line measuring device working principle of the present invention is as described below: the present apparatus being fixed on people by steel nail first
Bluetooth in the present apparatus is attached by body distal femur after opening the switch on protection shell with external equipment.If connection is not
It is successful then connection can be reattempted to, if success, can control and gently rotate knee joint, at this time accelerometer, gyroscope and magnetic force
Meter acquisition joint motions data are simultaneously issued after microprocessor processes by Bluetooth communication modules.At this point it is possible to be set in external display
The standby position data for reading femur side force line, last closure switch, using terminating.Wherein speedometer measurement lower limb side force line measurement
Linear acceleration when device moves；Gyroscope measures the angular acceleration when movement of lower limb side force line measuring device；Magnetometer measures
Magnetic field strength when lower limb side force line measuring device moves.
In one embodiment, it is provided with several first support columns 12 on the inner wall of upper cover 6, is arranged on the inner wall of lower cover 7
Several second support columns 11, the first support column 12 and the second support column 11 cooperatively form fixing groove 13.The surrounding of circuit board is fixed
In fixing groove 13, make the fixing-stable of circuit board, effectively prevent device wobble effects accelerometer 14, gyroscope 15 and magnetic force
16 measurement structures are counted, and easy for installation, structure is simple.Preferably, the quantity of fixing groove 13 is 6.
In one embodiment, battery case 9 is made of two annular bars 10, and two annular bars 10 are oppositely arranged.
In one embodiment, it protects on shell 3 and is provided with slot 2, steel nail 1 is movably arranged in the slot 2.Further
Ground, the bottom of steel nail 1 are provided with pedestal 5, and pedestal 5 is movably arranged in slot 2.Preferably, pedestal 5 is triangular in shape.
It, can pedestal that is first that steel nail 1 is fixed on knee joint, then shell 3 will being protected to be fixed on slot 2 when specifically used
On 5, convenient for the fixation of device, if steel nail 1 is set up directly on protection shell 3, difficulty is brought to device fixation.
Further, the outside of upper cover 6 is arranged in steel nail 1, and is located at the center of upper cover 6.
Correspondingly, switch 4 is located at the side of protection shell 3.The switch 4 is ship type switch.
In one embodiment, protection shell 3 is that shell is protected made of plastic resin material.Preferably, protection shell 3 is
Shell is protected made of ABS material, and there is good biocompatibility, have the water proof and dust proof ability of IP6.5 rank.
In one embodiment, protection shell 3 is in square, cuboid or cylindrical body.
The present invention also provides a kind of lower limb side force line measurement methods, specifically includes the following steps:
(5) lower limb side force line measuring device is fixed on tested position by steel nail, and microprocessor establishes three-dimensional system of coordinate,
The fixed point of middle steel nail is coordinate origin, and the axis of steel nail is Z axis；
(6) using coordinate origin as center of circle O (0,0,0), circular motion is tested position, forms lower limb side force line measuring device fortune
Moving axes A (a, b, c), then directed quantity
(7) microprocessor is according to the motion state of lower limb side force line measuring device, obtain respectively accelerometer, gyroscope and
The measured value of magnetometer, and the coordinate value of A is obtained, wherein the line when movement of speedometer measurement lower limb side force line measuring device accelerates
Degree；Gyroscope measures the angular acceleration when movement of lower limb side force line measuring device；Magnetometer measures lower limb side force line measuring device
Magnetic field strength when movement；
(8) microprocessor is calculated according to the measured value of accelerometer, gyroscope and magnetometerθ and γ are formed, then are counted
It is as follows to calculate formula:
In formula,For vectorWith the angle of X-axis, θ is vectorWith the angle of Y-axis, γ is vectorWith Z axis
Angle.
In one embodiment, external connection display equipment by Bluetooth communication modules obtain lower limb side force line and steel nail axis it
Between angle.
When measuring the angle between the femur line of force and steel nail axis, lower limb side force line measuring device is fixed on knee by steel nail
Joint keeps patient's hip motionless, and experiencing small oscillating movements knee joint, is considered as circular motion up and down；Microprocessor is under
The motion state of limb side force line measuring device obtains the measured value of accelerometer, gyroscope and magnetometer respectively, and by external
Show that equipment shows the angle information between the lower limb line of force and steel nail axis.
When measuring the angle between the shin bone line of force and steel nail axis, the measurement of lower limb side force line is fixed on tibial spine by steel nail
Middle position, protection patient's ankle position is constant, proximal tibia experiencing small oscillating movements；Microprocessor is measured according to lower limb side force line and is filled
The motion state set, obtains the measured value of accelerometer, gyroscope and magnetometer respectively, and is shown down by external connection display equipment
Angle information between the limb line of force and steel nail axis.
Embodiment described above is merely to illustrate technical idea and feature of the invention, in the art its object is to make
Technical staff can understand the content of the present invention and implement it accordingly, patent model of the invention only cannot be limited with the present embodiment
Enclose use, i.e., it is all according to same changes or modifications made by disclosed spirit, it still falls in the scope of the patents of the invention.
Claims (7)
1. a kind of lower limb side force line measuring device, it is characterised in that: including protection shell (3), circuit board, switch (4), power supply and
Steel nail (1), the steel nail (1) are movably arranged on the protection shell (3), and the circuit board and the power supply are arranged described
The inside of shell (3), the circuit board and the power electric connection are protected, the switch (4) is arranged in the protection shell (3)
Outside, and with the circuit board electrical connection；
Microprocessor (17), accelerometer (14), gyroscope (15), magnetometer (16) and bluetooth is welded on the circuit board to pass
Defeated module (18), the accelerometer (14), the gyroscope (15) and magnetometer (16) respectively with the microprocessor (17)
Electrical connection, the microprocessor (17) are also electrically connected with the Bluetooth communication modules (18)；
The microprocessor (17) obtains the accelerometer according to the motion state of the lower limb side force line measuring device respectively
(14), the measured value of the gyroscope (15) and the magnetometer (16), and using the fixed point of the steel nail (1) as coordinate original
The axis of point, the steel nail (1) is Z axis, obtains the coordinate value of the lower limb side force line measuring device coordinates of motion A (a, b, c),
The microprocessor (17) according to the accelerometer (14), the measured value of the gyroscope (15) and the magnetometer (16),
It calculatesθ and γ, then calculation formula is as follows:
The microprocessor (17) is according to calculatingθ and γ obtains the angle between lower limb side force line and the steel nail axis；
The protection shell (3) includes upper cover (6) and lower cover (7), and the upper cover (6) and the lower cover (7), which mutually fasten, to be formed
Several fixing grooves (13), the circuit board are fixed on the fixing groove (13), and the lower cover (7) is internally provided with battery case
(9), the power supply setting is in the battery case (9), and is located at the lower section of the circuit board, sets on lower cover (7) outer wall
It is equipped with switch hole (8), the switch (4) is arranged on the switch hole (8), and the steel nail (1) is arranged in the upper cover (6)
Outside, and it is located at the center of the upper cover (6).
2. lower limb side force line measuring device as described in claim 1, it is characterised in that: it further include external connection display equipment, it is described
External connection display equipment and the Bluetooth communication modules (18) communication connection.
3. lower limb side force line measuring device as described in claim 1, it is characterised in that: be arranged on the inner wall of the upper cover (6)
There are several first support columns (12), several second support columns (11), first support column are set on the inner wall of the lower cover (7)
(12) and second support column (11) cooperatively forms the fixing groove (13).
4. lower limb side force line measuring device as described in claim 1, it is characterised in that: the battery case (9) is by two annular bars
(10) it forms, two annular bars (10) are oppositely arranged.
5. lower limb side force line measuring device frame as described in claim 1, it is characterised in that: be arranged on the protection shell (3)
Having slot (2), the steel nail (1) is movably arranged in the slot (2), and the bottom of the steel nail (1) is provided with pedestal (5),
The pedestal (5) is movably arranged in the slot (2).
6. lower limb side force line measuring device as described in claim 1, it is characterised in that: the switch (4) is located at the protection
The side of shell (3).
7. lower limb side force line measuring device as described in claim 1, it is characterised in that: the protection shell (3) is ABS material
Manufactured protection shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610216489.5A CN105902271B (en) | 2016-04-08 | 2016-04-08 | Lower limb side force line measuring device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610216489.5A CN105902271B (en) | 2016-04-08 | 2016-04-08 | Lower limb side force line measuring device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105902271A CN105902271A (en) | 2016-08-31 |
| CN105902271B true CN105902271B (en) | 2019-09-17 |
Family
ID=56745690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610216489.5A Active CN105902271B (en) | 2016-04-08 | 2016-04-08 | Lower limb side force line measuring device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105902271B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107913065B (en) * | 2017-12-08 | 2021-01-15 | 清华大学 | Three-dimensional joint angle measuring device |
| CN110236640B (en) * | 2019-07-04 | 2020-07-03 | 北京大学人民医院(北京大学第二临床医学院) | Intelligent bone cutting navigation device for orthopedics department and use method thereof |
| CN117770906B (en) * | 2024-02-23 | 2024-05-28 | 爱乔（上海）医疗科技有限公司 | Guide, inclination angle measurement and osteotomy positioning system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203619557U (en) * | 2013-10-15 | 2014-06-04 | 北京飞渡朗颐医疗器械有限公司 | Valgus angle measurement block |
| CN204708941U (en) * | 2015-04-24 | 2015-10-21 | 嘉思特华剑医疗器材(天津)有限公司 | A kind of adjustable type distal femur osteotomy guider |
| WO2015196131A1 (en) * | 2014-06-19 | 2015-12-23 | Polaris Surgical, LLC | Systems and methods for measuring performance parameters related to artificial orthopedic joints |
| CN105361883A (en) * | 2014-08-22 | 2016-03-02 | 方学伟 | Method for determining lower limb biological force line in three-dimensional space for total knee arthroplasty |
| CN205612453U (en) * | 2016-04-08 | 2016-10-05 | 爱乔（上海）医疗科技有限公司 | Low limbs side force line measuring device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140063220A1 (en) * | 2012-08-29 | 2014-03-06 | Ossur Hf | Method and Device for Ordering a Custom Orthopedic Device |
-
2016
- 2016-04-08 CN CN201610216489.5A patent/CN105902271B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203619557U (en) * | 2013-10-15 | 2014-06-04 | 北京飞渡朗颐医疗器械有限公司 | Valgus angle measurement block |
| WO2015196131A1 (en) * | 2014-06-19 | 2015-12-23 | Polaris Surgical, LLC | Systems and methods for measuring performance parameters related to artificial orthopedic joints |
| CN105361883A (en) * | 2014-08-22 | 2016-03-02 | 方学伟 | Method for determining lower limb biological force line in three-dimensional space for total knee arthroplasty |
| CN204708941U (en) * | 2015-04-24 | 2015-10-21 | 嘉思特华剑医疗器材(天津)有限公司 | A kind of adjustable type distal femur osteotomy guider |
| CN205612453U (en) * | 2016-04-08 | 2016-10-05 | 爱乔（上海）医疗科技有限公司 | Low limbs side force line measuring device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105902271A (en) | 2016-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Lambrecht et al. | Miniature low-power inertial sensors: Promising technology for implantable motion capture systems | |
| US9558399B1 (en) | Feedback device to improve arm swing | |
| US9622686B1 (en) | Gait perturbation system and a method for testing and/or training a subject using the same | |
| KR101751760B1 (en) | Method for estimating gait parameter form low limb joint angles | |
| CN107115114A (en) | Human Stamina evaluation method, apparatus and system | |
| JP2017080484A (en) | Patient positioning system and method | |
| Cereatti et al. | Accurately measuring human movement using magneto-inertial sensors: techniques and challenges | |
| CN103735303B (en) | The inner Real time visible aided positioning system of hip joint in replacement of total hip | |
| CN105902271B (en) | Lower limb side force line measuring device and method | |
| CN105688396A (en) | Exercise information display system and exercise information display method | |
| CN208677399U (en) | Intelligent switch joint angle measurement unit and system | |
| KR20190014641A (en) | System and method for Gait analysis | |
| CN106037752A (en) | Portable cervical vertebra rehabilitation auxiliary device and system | |
| Sardini et al. | Smart vest for posture monitoring in rehabilitation exercises | |
| CN105534500A (en) | Physiological-parameter-monitoring integrating balance function evaluating device and method | |
| Shull et al. | Magneto-gyro wearable sensor algorithm for trunk sway estimation during walking and running gait | |
| CN105559884B (en) | A kind of total hip arthroplasty midpelvis attitude acquisition method and system | |
| JP6491121B2 (en) | Body strain detection system | |
| JP2020054433A (en) | Body posture detection system | |
| CN205612453U (en) | Low limbs side force line measuring device | |
| Zhang et al. | Human back movement analysis using bsn | |
| Bethi et al. | Wearable inertial sensors for exergames and rehabilitation | |
| CN106112997B (en) | Ectoskeleton clothes | |
| Lee et al. | Development of haptic bracelets based arm swing feedback system for stroke survivors | |
| CN209564121U (en) | Intelligent clothing and compensatory activity detection system based on it |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |