CN106038171A - Lower limb rehabilitation robot and foot fixing device thereof - Google Patents
Lower limb rehabilitation robot and foot fixing device thereof Download PDFInfo
- Publication number
- CN106038171A CN106038171A CN201610473332.0A CN201610473332A CN106038171A CN 106038171 A CN106038171 A CN 106038171A CN 201610473332 A CN201610473332 A CN 201610473332A CN 106038171 A CN106038171 A CN 106038171A
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- CN
- China
- Prior art keywords
- foot
- fixing device
- patient
- sole
- gripper shoe
- 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.)
- Pending
Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 25
- 210000002683 foot Anatomy 0.000 claims abstract description 89
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 210000003423 ankle Anatomy 0.000 claims description 17
- 230000003592 biomimetic effect Effects 0.000 claims description 8
- 239000002184 metal Substances 0.000 claims description 4
- 229920003023 plastic Polymers 0.000 claims description 4
- 239000004033 plastic Substances 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims 1
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract description 18
- 238000012549 training Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 5
- 238000005452 bending Methods 0.000 abstract 2
- 239000011664 nicotinic acid Substances 0.000 abstract 2
- 239000013585 weight reducing agent Substances 0.000 abstract 2
- 208000020442 loss of weight Diseases 0.000 description 7
- 230000006378 damage Effects 0.000 description 6
- 230000037396 body weight Effects 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 description 2
- 229960001030 mephenoxalone Drugs 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003387 muscular Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- 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
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/80—Weight
- A61H2230/805—Weight used as a control parameter for the apparatus
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)
Abstract
The invention discloses a foot fixing device of a lower limb rehabilitation robot. The foot fixing device includes a sole supporting board connected with a bionic ankle joint fixedly and a foot fixing piece arranged on the sole supporting board. A pressure sensor used for monitoring sole pressure is arranged between the sole supporting board and the sole fixing piece. When using, the foot of a patient is fixed with the foot fixing piece, the sole supporting board realizes a supporting function. At the same time, the bionic ankle joint drives the ankle joint of the patient to make toe bending and instep bending motion through the sole supporting board. The pressure sensor between the sole supporting piece and the sole fixing piece can monitor sole pressure of the patient in real time. Weight reduction ratio during training can be controlled precisely through pressure value feedback in combination with a weight reduction system, so that overlarge pressure applied on the ankle joint of the patient is prevented and an effect of protecting the ankle joint of the patient is achieved. The invention also discloses a lower limb rehabilitation robot including the above foot fixing device.
Description
Technical field
The present invention relates to medical rehabilitation instrument field, particularly relate to the fixing dress of foot of a kind of lower limb rehabilitation robot
Put.Moreover, it relates to a kind of lower limb rehabilitation robot including above-mentioned foot fixing device.
Background technology
Healing robot technology is the emerging technology developed rapidly in recent years, is that robotics is led in medical science
The new opplication in territory, it serves mainly to facilitate the inconvenient patient of limb motion and completes various action, to reach the mesh such as reconditioning
's.
Lower limb rehabilitation robot is the one of healing robot, and it can make the paces rule of patient simulation normal person make health
Motion is practiced in refreshment, reaches exercise muscle and then recovers the purpose of function on foot.Current lower limb rehabilitation robot, during use
Patient feet directly contacts with training treadmill, and the ankle portion of lower limb rehabilitation robot is many adds bandage to go out at toe cap with spring
Fixing mode holds ankle, to prevent drop foot, owing to major part patient's muscular strength cannot support own body weight, if equipment debugging
Improper, during use, the ankle joint of patient is highly prone to injury.
It is that those skilled in the art are presently required the technology of solution and ask that the ankle joint the most how preventing patient comes to harm
Topic.
Summary of the invention
It is an object of the invention to provide the foot fixing device of a kind of lower limb rehabilitation robot, its structure is designed to protection
The ankle joint of patient does not comes to harm.It is a further object of the present invention to provide a kind of lower limb health including above-mentioned foot fixing device
Multiple robot so that it is the ankle joint of patient can be protected not come to harm.
For solve above-mentioned technical problem, the present invention provides the foot fixing device of a kind of lower limb rehabilitation robot, including with
The vola gripper shoe that biomimetic ankle fixes connection and the foot fixture being located in the gripper shoe of described vola, described vola supports
The pressure transducer for monitoring plantar pressure it is provided with between plate and described foot fixture.
Preferably, described vola gripper shoe includes fixing the lower plate being connected with described biomimetic ankle, and with described foot
The upper plate of connection fixed by fixture, and described pressure transducer is located between described upper plate and described lower plate.
Preferably, described foot fixture is detachably fixed with described upper plate and is connected, described pressure transducer with described on
It is between plate and described lower plate and is detachably fixed connection.
Preferably, all removably connected by screw between described pressure transducer and described upper plate and described lower plate.
Preferably, described vola gripper shoe is metal vola gripper shoe, and described foot fixture is plastics foot fixtures.
Preferably, described foot fixture includes the base plate suitable with human foot shape, and fixes with described base plate
Connect and the ankle bracket element suitable with human body heel shape.
The present invention also provides for a kind of lower limb rehabilitation robot, and including foot fixing device, described foot fixing device is concrete
For the foot fixing device described in above-mentioned any one.
The foot fixing device of the lower limb rehabilitation robot that the present invention provides, including fixing the foot being connected with biomimetic ankle
End gripper shoe and the foot fixture being located in the gripper shoe of vola, be provided with for monitoring between vola gripper shoe and foot fixture
The pressure transducer of plantar pressure；During use, by the foot of foot fixture immobilized patients, vola gripper shoe plays support and makees
With, simultaneously biomimetic ankle by vola gripper shoe drive patient's ankle joint make toe bend and dorsiflex campaign, vola gripper shoe with
Pressure transducer between foot fixture can monitor the plantar pressure of patient constantly, by feedback pressure value, coordinates loss of weight
System can in real time accurately controlled training time loss of weight ratio, prevent patient's ankle joint pressure excessive, thus play protection patient
The effect of ankle joint.
The lower limb rehabilitation robot that the present invention provides includes above-mentioned foot fixing device, owing to above-mentioned foot fixing device has
Having above-mentioned technique effect, above-mentioned lower limb rehabilitation robot also should have same technique effect, is no longer discussed in detail at this.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of detailed description of the invention of foot fixing device provided by the present invention；
Fig. 2 is the structural representation of a kind of detailed description of the invention of vola provided by the present invention gripper shoe；
Fig. 3 is the structural representation of a kind of detailed description of the invention of lower plate provided by the present invention and pressure transducer.
Detailed description of the invention
The core of the present invention is to provide the foot fixing device of a kind of lower limb rehabilitation robot, and its structure is designed to protection
The ankle joint of patient does not comes to harm.Another core of the present invention is to provide a kind of lower limb health including above-mentioned foot fixing device
Multiple robot.
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with the accompanying drawings and detailed description of the invention
The present invention is described in further detail.
Refer to the knot of a kind of detailed description of the invention that Fig. 1 to Fig. 3, Fig. 1 are foot fixing device provided by the present invention
Structure schematic diagram；Fig. 2 is the structural representation of a kind of detailed description of the invention of vola provided by the present invention gripper shoe；Fig. 3 is this
The structural representation of a kind of detailed description of the invention of lower plate and the pressure transducer provided is provided.
The foot fixing device of lower limb rehabilitation robot that the specific embodiment of the invention provides, including with biomimetic ankle
The 1 fixing vola gripper shoe 2 connected and the foot fixture 3 being located in vola gripper shoe 2, vola gripper shoe 2 and foot are fixed
The pressure transducer 4 for monitoring plantar pressure it is provided with between part 3.
During use, by the foot of foot fixture 3 immobilized patients, vola gripper shoe 2 is played a supporting role, the most bionical
Ankle joint 1 drives patient's ankle joint to make toe by vola gripper shoe 2 and bends and dorsiflex campaign, and vola gripper shoe 2 and foot are fixed
Pressure transducer 4 between part 3 can monitor the plantar pressure of patient constantly, and by feedback pressure value, cooperation loss of weight system can
The most accurately loss of weight ratio during controlled training, prevents patient's ankle joint pressure excessive, thus plays protection patient's ankle joint
Effect.
Wherein it should be noted that the most muscular strength of the user of lower limb rehabilitation robot cannot support own body weight, doing
During rehabilitation training, for ensureing that patient will not be needed to use bandage upwards to lift patient with loss of weight suspention etc. by secondary injury, subtract
Going patient part's body weight, the device upwards lifting patient is loss of weight system；Time actually used, can be according to pressure transducer 4
The physical condition of force value and the patient of feedback, adjusts the loss of weight system lifting power to patient, to reach best training effect
Really.
The foot fixing device that the specific embodiment of the invention provides, vola gripper shoe 2 specifically can include upper plate 21 He
Lower plate 22, lower plate 22 is fixing with biomimetic ankle 1 to be connected, and upper plate 21 is fixing with foot fixture 3 to be connected, and by pressure transducer
4 are located between upper plate 21 and lower plate 22, will top and the upper plate 21 of pressure transducer 4 is fixing is connected, the end of pressure transducer 4
Portion and lower plate 22 is fixing to be connected, in order to make pressure transducer 4 can monitor the plantar pressure of patient accurately, upper plate 21 with under
Need to leave gap between plate 22；So can protect pressure transducer 4 so that it is be susceptible to infringement.Fix to reduce foot
The volume of device, and protect pressure transducer 4, the relevant position of lower plate 22 and upper plate 21 can be provided with for placement force
The groove of sensor 4.
In the foot fixing device that the specific embodiment of the invention provides, owing to the foot of different patients varies in size,
In order to increase comfort, different patients can change correspondingly sized foot fixture 3, therefore foot fixture when using
3 can be detachably fixed with upper plate 21 and are connected, and foot fixture 3 needs to be disassembled with upper plate 21 by foot fixture 3 when changing
?.Foot fixture 3 can be connected by screw with upper plate 21, it would however also be possible to employ other connected modes such as welding are fixing even
It is connected together, all within protection scope of the present invention.
Can also all use between this external pressure sensor 4 and upper plate 21, pressure transducer 4 and lower plate 22 and be detachably fixed
Connect, in order to the installation of pressure transducer 4, safeguard and change.Specifically, pressure transducer 4 and upper plate 21 and lower plate 22 it
Between all can be removably connected by screw, screw secure and reliable connection, naturally it is also possible to choosing is connected with, welding etc. other
Connected mode, as long as ensureing to connect reliably, all within protection scope of the present invention.
The foot fixing device that the specific embodiment of the invention provides, vola gripper shoe 2 can select metal vola to support
Plate 2, foot fixture 3 can be selected plastics foot fixture, metal vola gripper shoe to can ensure that structural strength, carry patient
Weight, plastics foot fixture use light, it is simple to processing, low cost, certain vola gripper shoe 2 and foot fixture 3 are also
Other materials can be selected, as long as ensureing its security performance, all within protection scope of the present invention.
On the basis of above-mentioned each detailed description of the invention, foot fixture 3 can include the base plate 31 for supporting foot,
And fix, with base plate 31, the ankle bracket element 32 being connected, base plate 31 is suitable with human foot shape, ankle bracket element 32
Suitable with human body heel shape, during use, human foot steps down on base plate 31, human foot with embed ankle bracket element 32,
By bandage, patients feet front end is fixed with ankle bracket element 32 again；Use this foot fixture 3, make patient vola
Completely attaching to base plate 31, ankle bracket element 32 can protect patient's ankle joint to preserve from, and fixed form is safe and reliable.Foot
Portion's fixture 3 can also select skis special foot holder, and patients feet can also be protected equally to preserve from, also at this
Within the protection domain of invention.
Except above-mentioned foot fixing device, the detailed description of the invention of the present invention also provides for one and includes the fixing dress of above-mentioned foot
The lower limb rehabilitation robot put, the structure of these other each several parts of lower limb rehabilitation robot refer to prior art, the most superfluous
State.
Above lower limb rehabilitation robot provided by the present invention and foot fixing device thereof are described in detail.Herein
In apply specific case principle and the embodiment of the present invention be set forth, the explanation of above example is only intended to side
Assistant solves method and the core concept thereof of the present invention.It should be pointed out that, for those skilled in the art, not
On the premise of departing from the principle of the invention, it is also possible to the present invention is carried out some improvement and modification, these improve and modification also falls into
In the protection domain of the claims in the present invention.
Claims (7)
1. the foot fixing device of a lower limb rehabilitation robot, it is characterised in that include be connected fixing with biomimetic ankle (1)
Vola gripper shoe (2) and the foot fixture (3) that is located on described vola gripper shoe (2), described vola gripper shoe (2) and institute
State the pressure transducer (4) being provided with between foot fixture (3) for monitoring plantar pressure.
Foot fixing device the most according to claim 1, it is characterised in that described vola gripper shoe (2) includes with described
The fixing lower plate (21) connected of biomimetic ankle (1), and the upper plate (22) that be connected fixing with described foot fixture (3), described
Pressure transducer (4) is located between described upper plate (22) and described lower plate (21).
Foot fixing device the most according to claim 2, it is characterised in that described foot fixture (3) and described upper plate
(22) it is detachably fixed connection, is removable between described pressure transducer (4) and described upper plate (22) and described lower plate (21)
Unload fixing connection.
Foot fixing device the most according to claim 3, it is characterised in that described pressure transducer (4) and described upper plate
(22) and all removably connected by screw between described lower plate (21).
Foot fixing device the most according to claim 4, it is characterised in that described vola gripper shoe (2) is metal vola
Gripper shoe, described foot fixture (3) is plastics foot fixtures.
6. according to the foot fixing device described in claim 1 to 5 any one, it is characterised in that described foot fixture (3)
Including the base plate (31) suitable with human foot shape, and fixing with described base plate (31) be connected and with human body heel shape phase
Adaptive ankle bracket element (32).
7. a lower limb rehabilitation robot, including foot fixing device, it is characterised in that described foot fixing device is specially power
Profit requires the foot fixing device described in 1 to 6 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610473332.0A CN106038171A (en) | 2016-06-24 | 2016-06-24 | Lower limb rehabilitation robot and foot fixing device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610473332.0A CN106038171A (en) | 2016-06-24 | 2016-06-24 | Lower limb rehabilitation robot and foot fixing device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106038171A true CN106038171A (en) | 2016-10-26 |
Family
ID=57165635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610473332.0A Pending CN106038171A (en) | 2016-06-24 | 2016-06-24 | Lower limb rehabilitation robot and foot fixing device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106038171A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726356A (en) * | 2017-01-22 | 2017-05-31 | 北京大学 | A kind of power rehabilitation of anklebone driver element of fast changeable sole |
| CN107822834A (en) * | 2017-11-21 | 2018-03-23 | 中国地质大学（武汉） | A kind of pedal lower limb rehabilitation robot of bilateral independent control |
| CN110368167A (en) * | 2019-08-14 | 2019-10-25 | 刘航宇 | One kind is intellectual to help ankle device |
| CN111821084A (en) * | 2019-04-19 | 2020-10-27 | 厦门再奔医疗科技有限公司 | Load-free controllable lower limb rehabilitation device |
| CN112754745A (en) * | 2021-02-01 | 2021-05-07 | 上海市同济医院 | Foot and ankle fixing device of lower limb traction bed |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009053704A1 (en) * | 2007-10-23 | 2009-04-30 | Shadowfax Medical Ltd | Improvements in or relating to footwear |
| CN101548925A (en) * | 2009-05-05 | 2009-10-07 | 浙江大学 | Gait phase detection apparatus with ankle joint angle self-rectification function |
| US20120289870A1 (en) * | 2010-10-05 | 2012-11-15 | The Board Of Trustees Of The University Of Illinois | Portable active pneumatically powered ankle-foot orthosis |
| CN205007211U (en) * | 2015-09-17 | 2016-02-03 | 山东经典医疗器械科技有限公司 | Low limbs rehabilitation training robot mechanical legs's ankle joint mechanism |
| CN205145027U (en) * | 2015-09-17 | 2016-04-13 | 山东经典医疗器械科技有限公司 | Seat movable low limbs ectoskeleton rehabilitation training device |
-
2016
- 2016-06-24 CN CN201610473332.0A patent/CN106038171A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009053704A1 (en) * | 2007-10-23 | 2009-04-30 | Shadowfax Medical Ltd | Improvements in or relating to footwear |
| CN101548925A (en) * | 2009-05-05 | 2009-10-07 | 浙江大学 | Gait phase detection apparatus with ankle joint angle self-rectification function |
| US20120289870A1 (en) * | 2010-10-05 | 2012-11-15 | The Board Of Trustees Of The University Of Illinois | Portable active pneumatically powered ankle-foot orthosis |
| CN205007211U (en) * | 2015-09-17 | 2016-02-03 | 山东经典医疗器械科技有限公司 | Low limbs rehabilitation training robot mechanical legs's ankle joint mechanism |
| CN205145027U (en) * | 2015-09-17 | 2016-04-13 | 山东经典医疗器械科技有限公司 | Seat movable low limbs ectoskeleton rehabilitation training device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726356A (en) * | 2017-01-22 | 2017-05-31 | 北京大学 | A kind of power rehabilitation of anklebone driver element of fast changeable sole |
| CN107822834A (en) * | 2017-11-21 | 2018-03-23 | 中国地质大学（武汉） | A kind of pedal lower limb rehabilitation robot of bilateral independent control |
| CN111821084A (en) * | 2019-04-19 | 2020-10-27 | 厦门再奔医疗科技有限公司 | Load-free controllable lower limb rehabilitation device |
| CN111821084B (en) * | 2019-04-19 | 2024-04-30 | 中国人民解放军联勤保障部队第九O九医院 | Lower limb load-free controllable rehabilitation device |
| CN110368167A (en) * | 2019-08-14 | 2019-10-25 | 刘航宇 | One kind is intellectual to help ankle device |
| CN112754745A (en) * | 2021-02-01 | 2021-05-07 | 上海市同济医院 | Foot and ankle fixing device of lower limb traction bed |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20161026 |