CN105943312B - One kind driving integrated hip joint healing auxiliary device based on sensing - Google Patents
One kind driving integrated hip joint healing auxiliary device based on sensing Download PDFInfo
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- CN105943312B CN105943312B CN201610415631.9A CN201610415631A CN105943312B CN 105943312 B CN105943312 B CN 105943312B CN 201610415631 A CN201610415631 A CN 201610415631A CN 105943312 B CN105943312 B CN 105943312B
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- 210000004394 hip joint Anatomy 0.000 title claims abstract description 89
- 230000035876 healing Effects 0.000 title claims abstract description 15
- 230000001360 synchronised effect Effects 0.000 claims abstract description 58
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 24
- 230000000694 effects Effects 0.000 claims abstract description 12
- 210000000689 upper leg Anatomy 0.000 claims description 45
- 210000001624 hip Anatomy 0.000 claims description 12
- 230000005021 gait Effects 0.000 abstract description 12
- 238000012549 training Methods 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 5
- 230000001351 cycling effect Effects 0.000 description 4
- 230000008447 perception Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011540 hip replacement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- 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
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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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
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- Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
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- General Health & Medical Sciences (AREA)
- Physiology (AREA)
- Pathology (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Rehabilitation Therapy (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The invention discloses one kind driving integrated hip joint healing auxiliary device based on sensing, including seat unit, attachment device, hip joint driving mechanism, sensing device and lower limb lever apparatus, seat unit is installed in attachment device, hip joint driving mechanism is connected and fixed with attachment device and sensing device, lower limb lever apparatus and sensing device activity attaching, sensing device includes Synchronous Transmission plate, hip joint axis, magnet and Hall sensor, hip joint axis one end is fixedly mounted in Synchronous Transmission plate, other end activity is installed in attachment device, magnet is inlaid in along hip joint axis radial direction in the hip joint axis, Hall sensor is mounted in attachment device, Synchronous Transmission plate is connect with hip joint driving mechanism.The present invention can provide the rehabilitation trainings modes such as walking, bicycle, home seating, medical wheelchair for lower limb hemiplegic patient, and gait rehabilitation synkinesia is provided for disability side lower limb using the healthy side lower limb gait of patient.
Description
Technical field
The invention belongs to rehabilitation medical instrument and power-assisted instrument field, more particularly to one kind are integrated based on sensing driving
Hip joint healing auxiliary device.
Background technology
With the aggravation of social senilization, lower limb hip joint muscular atrophy patient and hip joint hemiplegic patient are on the increase,
Rehabilitation training, the demand of normal walking are strong.Simultaneously as daily traffic accident takes place frequently, the number of patients with paralyzed lower limbs
Amount is on the increase, the athletic rehabilitations task getting worse such as hip replacement.Existing human lower limb hip joints rehabilitation auxiliary
Training mainly reservation Physical Therapist carries out the limb motion of teach-by-doing in hospital rehabilitation department with personal experience.This rehabilitation mode：
On the one hand, time, place limitation are very big, are only limitted on sick bed or the hand steered training of parallel bars, and working efficiency is low, and labor intensity is big,
Medical treatment cost is high, is not suitable for larger scale clinical application；On the other hand, the subjectivity of Physical Therapist personal experience is larger, each rehabilitation
Action multiplicity it is relatively low, the walking habits of individual patients consider it is insufficient, without the history of normal walking early period and training rehabilitation
Database can refer to, method of rehabilitation not science.However it is different from difficulty in walking institute, some lower limb hemiplegic patient is in bicycle
On can more normally ride, many lower limb hemiplegic patients are also more likely on family seat activity or in medical treatment
Rehabilitation exercise is carried out on wheelchair.
Invention content
The technical problem to be solved in the present invention is to provide a kind of easy for installation, hip joint healing auxiliary is more scientifically provided
Movement drives integrated hip joint healing auxiliary device based on sensing.
In order to solve the above-mentioned technical problem, the present invention takes following technical scheme：
One kind drives integrated hip joint healing auxiliary device, including seat unit, attachment device, hip to close based on sensing
Section driving mechanism, sensing device and lower limb lever apparatus, seat unit are installed in attachment device, hip joint driving mechanism with connect
Device and sensing device are connected and fixed, lower limb lever apparatus and sensing device activity attaching.
The sensing device includes Synchronous Transmission plate, hip joint axis, magnet and Hall sensor, and hip joint axis one end is fixed
In Synchronous Transmission plate, other end activity be installed in attachment device, magnet is inlaid in this along hip joint axis radial direction
In hip joint axis, Hall sensor is mounted in attachment device, and Synchronous Transmission plate is connect with hip joint driving mechanism.
The sensing device further includes inertia measuring module, which is installed in lower limb lever apparatus.
The hip joint driving mechanism includes motor, motor support base, torque sensor, synchronous pulley and synchronous belt, motor
Bearing is fixed in attachment device, and motor is mounted on motor support base, and synchronous pulley is sleeved on the output shaft of motor, and torque passes
Sensor is sleeved on the output shaft of motor, and synchronous belt is sleeved on synchronous pulley and the synchronous belt is fixed with Synchronous Transmission plate and connected
It connects.
It is connected with engagement system between the synchronous belt and synchronous pulley.
The lower limb lever apparatus includes hip joint loose-leaf, loose-leaf connecting plate, thigh bar and thigh bandage, hip joint active page
Be fixedly connected with Synchronous Transmission plate, shaft be installed in hip joint loose-leaf, loose-leaf connecting plate upper end movable set in the shaft,
Thigh bar is connect with loose-leaf connecting plate, and thigh bandage is mounted on thigh bar, and inertia measuring module is mounted in thigh bar.
The thigh bar is made of thigh upper boom and thigh lower beam, and thigh upper boom upper end is connect with loose-leaf connecting plate, on leg
Bar lower part inserts interior into thigh lower beam and is fixedly connected.
The attachment device includes motor upper connecting base and motor lower connecting base, and motor upper connecting base, which is mounted under motor, to be connected
On joint chair, hip joint axis activity is installed in the motor lower connecting base, and Hall sensor is mounted in the motor lower connecting base.
The attachment device further includes the bicycle saddle being connect with seat unit, which is equipped with connection
Hole.
The seat unit includes human body waist bandage, seat harness, seat and crossbeam, and seat harness one end is solid with seat
Fixed connection, the other end are fixedly connected with human body waist bandage, and seat is mounted on crossbeam, crossbeam be mounted on motor upper connecting base and
Between motor lower connecting base, bicycle saddle is mounted on crossbeam.
Beneficial effects of the present invention are：It is transported when healthy human body walking, cycling or on home seating, medical wheelchair
When dynamic, perception left and right side hip joint establishes the hip joint gait in health period in the swing angle of sagittal plane and frontal plane
Database, to provide the scientific basis of rehabilitation auxiliary when human hip illness.When hemiplegic patient walking, cycling or
In home seating, medical wheelchair when rehabilitation training, the hip joint sagittal plane for monitoring hemiplegic patient's health side in real time moves gait, with
This healthy side step state is to drive patient's disability side hip joint according to half of the gait cycle that is delayed, and the hip joint gait of healthy side is answered
It makes and realizes that the gait of both sides lower limb is coordinated to the hip joint of disability side.Torque sensor control, detection patient's disability side hip joint
Motor driving moment, perception, evaluation patient rehabilitation efficacy.Meanwhile this device can frame bicycle seat vertical beam
It on the beams such as upper or home seating, medical wheelchair, and easily and safely locks and unloads, lower limb hemiplegic patient's disability side is provided
Synkinesia.
Description of the drawings
Attached drawing 1 is dimensional structure diagram of the present invention；
Attached drawing 2 is that the present invention removes the decomposing state structural schematic diagram after seat unit；
Attached drawing 3 is the dimensional structure diagram of bicycle saddle of the present invention.
Specific implementation mode
For the ease of the understanding of those skilled in the art, the invention will be further described below in conjunction with the accompanying drawings.
As shown in attached drawing 1~3, present invention is disclosed one kind driving integrated hip joint healing auxiliary dress based on sensing
It sets, including seat unit 1, attachment device 2, hip joint driving mechanism 3, sensing device 4 and lower limb lever apparatus 5, seat unit 1 blocks
In attachment device 2, hip joint driving mechanism 3 is connected and fixed with attachment device 2 and sensing device 4, lower limb lever apparatus 5 and biography
4 activity attaching of induction device.
The sensing device 4 includes Synchronous Transmission plate 44, hip joint axis 41, magnet 43 and Hall sensor 42, hip joint
41 one end of axis is fixedly mounted in Synchronous Transmission plate 44, other end activity is installed in attachment device 2, and magnet 43 is along hip joint axis
41 radial directions are inlaid in the hip joint axis 41, and Hall sensor 42 is mounted in attachment device 2, Synchronous Transmission plate 44 and hip
Joint driving mechanism 3 connects.The rotation in attachment device 2 of hip joint axis 41, to drive Synchronous Transmission plate to rotate, due to magnet
It is to be inlaid in hip joint axis, therefore, magnet is followed the rotation of hip joint axis and rotated, and Hall sensor is positioned close to magnet
Region, Hall sensor is used for induction level when detecting magnet rotors to measure hip joint sagittal plane rotation angle
Degree.Sensing device 4 further includes inertia measuring module 45, which is installed in lower limb lever apparatus 5.The inertia is surveyed
Amount module is for measuring hip joint frontal plane rotation angle.
The hip joint driving mechanism 3 includes motor 32, motor support base 31, torque sensor 33, synchronous pulley 35 and same
Band 34 is walked, motor support base 31 is fixed in attachment device 2, and motor 32 is mounted on motor support base 31, and synchronous pulley 35 is sleeved on
On the output shaft of motor 32, torque sensor 33 is sleeved on the output shaft of motor 32, and synchronous belt 34 is sleeved on synchronous pulley 35
The upper and synchronous belt 34 is fixedly connected with Synchronous Transmission plate 44.It is connected with engagement system between synchronous belt 34 and synchronous pulley 35.
Synchronous pulley 35, torque sensor 33 are sleeved on the output shaft of motor 32 successively from outside to inside.Torque sensor is for detecting
The output torque of motor.Synchronous belt one end is fixedly attached with Synchronous Transmission plate, and when synchronous pulley rotates, synchronous belt, which drives, to be synchronized
Driver plate is rotated using hip joint axis as center of rotation so that Synchronous Transmission plate turns an angle.Torque sensor control,
Detect the motor driving moment of patient disabilities' side hip joint, the rehabilitation efficacy of perception and evaluation patient.
The lower limb lever apparatus 5 includes hip joint loose-leaf 51, loose-leaf connecting plate 52, thigh bar and thigh bandage 55, and hip closes
Section loose-leaf 51 is fixedly connected with Synchronous Transmission plate 44, and hip joint loose-leaf 51 is specifically the bottom for being fixed on Synchronous Transmission plate 44
Face is installed with shaft in hip joint loose-leaf 51, and in the shaft, thigh bar connects 52 upper end movable set of loose-leaf connecting plate with loose-leaf
Fishplate bar 52 connects, and thigh bandage 55 is mounted on thigh bar, and inertia measuring module 45 is mounted in thigh bar.Thigh bar is by thigh
Upper boom 53 and thigh lower beam 54 form, and 53 upper end of thigh upper boom is connect with loose-leaf connecting plate 52,53 lower part of thigh upper boom insert into
In thigh lower beam 54 and it is fixedly connected.Inertial Measurement Unit is typically the upper port position for being installed on thigh upper boom.Loose-leaf connects
Plate is rotated relative to shaft, to drive lower limb lever apparatus and inertia measuring module in the movement in frontal plane direction.
The attachment device 2 includes motor upper connecting base 21 and motor lower connecting base 22, and motor upper connecting base 21 is mounted on
On motor lower connecting base 22,41 activity of hip joint axis is installed in the motor lower connecting base 22, and Hall sensor 42 is mounted on should
In motor lower connecting base 22, and the bicycle saddle 23 that is connected and fixed with seat unit 1, which, which is equipped with, connects
Hole 231 is connect, the connecting hole 231 is passed through, it may be convenient to clamping on the vertical beam of bicycle or home seating, medical seat
Etc. on the beam of equipment, locking and dismounting are all more convenient.One can be opened up on motor lower connecting base 22 for installing hip joint
The through-hole of axis and a card slot for installing Hall sensor, facilitate installation.Synchronous Transmission plate 44 is located under motor and connects
In seat 22, and the Synchronous Transmission plate 44 is connect by hip joint axis 41 with motor lower connecting base 22.Synchronous Transmission plate 44 by
The transmission of synchronous belt 34 is in sagittal plane, that is, swing in the front-back direction, since 41 one end of hip joint axis is fixedly mounted on Synchronous Transmission plate
On 44, the other end be then to be movably arranged in motor lower connecting base 22, therefore hip joint axis 41 can be in motor lower connecting base 22
Rotation, can be arranged a through-hole in motor lower connecting base 22 in advance, and hip joint axis is movably arranged in the through-hole.It equally can be
One mounting groove is set on motor lower connecting base, Hall sensor is installed in the mounting groove.
The seat unit 1 includes human body waist bandage 11, seat harness 12, seat 13 and crossbeam 14, seat harness 12
One end is fixedly connected with seat 13, the other end is fixedly connected with human body waist bandage 11, and seat 13 is mounted on crossbeam 14, crossbeam
14 are mounted between motor upper connecting base 21 and motor lower connecting base 22.Bicycle saddle 23 is fixedly mounted on crossbeam 14.
In addition, in the present invention, sensing device and lower limb lever apparatus are symmetrically arranged two, with human body left thigh and the right side
Thigh is consistent.
The present invention utilizes motor and each sensor, forms integrated structure design, realizes preferably control, there is power-assisted health
Refreshment is practiced.
In the present invention, when human body walking, it is only necessary to tie up human body waist bandage in human body waist, thigh bandage is tied up
On the thigh of people.When the devices such as people's cycling or home seating, medical seat, then bicycle saddle is mounted on
It, can be compared with using the connecting hole on bicycle saddle in the respective beams of devices such as bicycle vertical beam, home seating, medical seat
Easily to mount and dismount.People sits on the seat, and human leg's bandage is tied up in the leg of people, and the foot of people is then tied up across thigh
Band, which ties up on the thigh of people, so that apparatus of the present invention are assembled together with human body.Or directly this is sent out
Bright device is tightened with human body, is not connect with bicycle, home seating or medical seat etc..
When healthy human body is walked, rides a bicycle or moved on the devices such as home seating, medical seat, before and after thigh
It swings, motor exports suitable torque according to the amplitude of swing, and when motor operation drives synchronous pulley rotation, synchronous pulley to drive
Toothed belt transmission, and then Synchronous Transmission plate axis swing, torque sensor centered on hip joint axis is driven to detect electricity in real time
The output torque of machine.The magnet that hip joint is radially inlaid in when rotating in the hip joint axis also follows rotation, and Hall sensor is then
Induction level when magnet rotors is detected, hip joint sagittal plane rotation angle is obtained to measure, it is used in thigh bar
Property measurement module then retrieves hip joint frontal plane rotation angle with the swing of thigh bar, when to establish health
The hip joint gait data library of phase, to provide the scientific basis of rehabilitation auxiliary when human hip illness.
Walking, cycling or the health on home seating, medical wheelchair after hemiplegic patient is worn by apparatus of the present invention
When refreshment is practiced, monitors the hip joint sagittal plane movement gait of hemiplegic patient's health side in real time also according to Hall sensor, utilize
Inertia measuring module monitors hip joint frontal plane rotation angle in real time, is according to half of gait cycle of delay with this healthy side step state
The movement of patient's disability side hip joint is driven, the hip joint gait of healthy side is copied to the hip joint of disability side, is realized under both sides
The gait of limb is coordinated.Torque sensor control, the motor driving moment for detecting patient's disability side hip joint, perception, evaluation patient
Rehabilitation efficacy.
It should be noted that described above is not the restriction to inventive technique scheme, in the creation for not departing from the present invention
Under the premise of design, any obvious replacement is within protection scope of the present invention.
Claims (7)
1. one kind driving integrated hip joint healing auxiliary device, including seat unit based on sensing, which is characterized in that also wrap
It includes attachment device, hip joint driving mechanism, sensing device and lower limb lever apparatus, seat unit to be installed in attachment device, hip closes
Section driving mechanism is connected and fixed with attachment device and sensing device, lower limb lever apparatus and sensing device activity attaching；
The hip joint driving mechanism includes motor, motor support base, torque sensor, synchronous pulley and synchronous belt, motor support base
It is fixed in attachment device, motor is mounted on motor support base, and synchronous pulley is sleeved on the output shaft of motor, torque sensor
It is sleeved on the output shaft of motor, synchronous belt is sleeved on synchronous pulley and the synchronous belt is fixedly connected with Synchronous Transmission plate；
The sensing device includes Synchronous Transmission plate, hip joint axis, magnet and Hall sensor, and hip joint axis one end is fixedly mounted
In Synchronous Transmission plate, other end activity be installed in attachment device, magnet along hip joint axis radial direction be inlaid in the hip close
In nodal axisn, Hall sensor is mounted in attachment device, and Synchronous Transmission plate is connect with hip joint driving mechanism；
The sensing device further includes inertia measuring module, which is installed in lower limb lever apparatus.
2. according to claim 1 drive integrated hip joint healing auxiliary device based on sensing, which is characterized in that institute
It states and is connected with engagement system between synchronous belt and synchronous pulley.
3. according to claim 2 drive integrated hip joint healing auxiliary device based on sensing, which is characterized in that institute
It includes hip joint loose-leaf, loose-leaf connecting plate, thigh bar and thigh bandage to state lower limb lever apparatus, hip joint loose-leaf and Synchronous Transmission plate
It is fixedly connected, shaft is installed in hip joint loose-leaf, loose-leaf connecting plate upper end movable set is in the shaft, thigh bar and loose-leaf
Connecting plate connects, and thigh bandage is mounted on thigh bar, and inertia measuring module is mounted in thigh bar.
4. according to claim 3 drive integrated hip joint healing auxiliary device based on sensing, which is characterized in that institute
It states thigh bar to be made of thigh upper boom and thigh lower beam, thigh upper boom upper end is connect with loose-leaf connecting plate, and thigh upper boom lower part is inserted
It is packed into thigh lower beam and is fixedly connected.
5. according to claim 4 drive integrated hip joint healing auxiliary device based on sensing, which is characterized in that institute
It includes motor upper connecting base and motor lower connecting base to state attachment device, and motor upper connecting base is mounted on motor lower connecting base, hip
Joint shaft activity is installed in the motor lower connecting base, and Hall sensor is mounted in the motor lower connecting base.
6. according to claim 5 drive integrated hip joint healing auxiliary device based on sensing, which is characterized in that institute
It further includes the bicycle saddle being connect with seat unit to state attachment device, which is equipped with connecting hole.
7. according to claim 6 drive integrated hip joint healing auxiliary device based on sensing, which is characterized in that institute
It includes human body waist bandage, seat harness, seat and crossbeam to state seat unit, and seat harness one end is fixedly connected, separately with seat
One end is fixedly connected with human body waist bandage, and seat is mounted on crossbeam, and crossbeam, which is mounted under motor upper connecting base and motor, to be connected
Between joint chair, bicycle saddle is mounted on crossbeam.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610415631.9A CN105943312B (en) | 2016-06-15 | 2016-06-15 | One kind driving integrated hip joint healing auxiliary device based on sensing |
| PCT/CN2016/086593 WO2017215014A1 (en) | 2016-06-15 | 2016-06-21 | Hip joint rehabilitation assisting apparatus based on sensing and driving integration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610415631.9A CN105943312B (en) | 2016-06-15 | 2016-06-15 | One kind driving integrated hip joint healing auxiliary device based on sensing |
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| Publication Number | Publication Date |
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| CN105943312A CN105943312A (en) | 2016-09-21 |
| CN105943312B true CN105943312B (en) | 2018-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610415631.9A Active CN105943312B (en) | 2016-06-15 | 2016-06-15 | One kind driving integrated hip joint healing auxiliary device based on sensing |
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| Country | Link |
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| CN (1) | CN105943312B (en) |
| WO (1) | WO2017215014A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109549816B (en) * | 2017-09-24 | 2024-04-02 | 湖北职业技术学院 | Lower limb passive and active rehabilitation training device of entertainment body-building rehabilitation vehicle |
| CN107981866A (en) * | 2018-01-10 | 2018-05-04 | 中山大学附属第医院 | Measuring device for hip joint replacement |
| CN108992304A (en) * | 2018-06-21 | 2018-12-14 | 洛阳师范学院 | A kind of Straight pull old age finger joint recovery training device |
| CN110251365A (en) * | 2019-06-12 | 2019-09-20 | 中北大学 | A kind of spherical surface ectoskeleton hip joint healing mechanism |
| CN112386447B (en) * | 2020-11-18 | 2021-12-31 | 同济大学 | Asymmetric lower limb autonomous rehabilitation device for hemiplegic patient |
| CN113476277A (en) * | 2021-08-23 | 2021-10-08 | 中山大学附属第三医院（中山大学肝脏病医院） | Multi-functional lower limb trainer |
| CN114523465A (en) * | 2022-03-22 | 2022-05-24 | 山东建筑大学 | Riding type rope wheel driven lower limb walking aid exoskeleton robot |
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| CN102078228A (en) * | 2010-12-30 | 2011-06-01 | 霍启英 | Intelligent mechanical leg |
| CN104825306A (en) * | 2015-04-29 | 2015-08-12 | 东南大学 | Hip joint assisting rehabilitation device based on sleeve rope transmission |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105943312A (en) | 2016-09-21 |
| WO2017215014A1 (en) | 2017-12-21 |
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