CN106074091A - 用于康复训练的多自由度扶持机器人及其操作方法 - Google Patents
用于康复训练的多自由度扶持机器人及其操作方法 Download PDFInfo
- Publication number
- CN106074091A CN106074091A CN201610565460.8A CN201610565460A CN106074091A CN 106074091 A CN106074091 A CN 106074091A CN 201610565460 A CN201610565460 A CN 201610565460A CN 106074091 A CN106074091 A CN 106074091A
- Authority
- CN
- China
- Prior art keywords
- platform
- hip
- motion
- motor
- fixed
- 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.)
- Granted
Links
- 238000012549 training Methods 0.000 title claims abstract description 46
- 230000005021 gait Effects 0.000 claims abstract description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 210000001624 hip Anatomy 0.000 abstract description 44
- 230000000694 effects Effects 0.000 abstract description 7
- 238000004088 simulation Methods 0.000 abstract description 5
- 210000001981 hip bone Anatomy 0.000 abstract description 3
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000007787 solid Substances 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
-
- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
-
- 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
- A61H2001/0211—Walking coordination of arms and legs
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
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610565460.8A CN106074091B (zh) | 2016-07-18 | 2016-07-18 | 用于康复训练的多自由度扶持机器人及其操作方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610565460.8A CN106074091B (zh) | 2016-07-18 | 2016-07-18 | 用于康复训练的多自由度扶持机器人及其操作方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106074091A true CN106074091A (zh) | 2016-11-09 |
CN106074091B CN106074091B (zh) | 2019-02-01 |
Family
ID=57220706
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610565460.8A Active CN106074091B (zh) | 2016-07-18 | 2016-07-18 | 用于康复训练的多自由度扶持机器人及其操作方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106074091B (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108514494A (zh) * | 2018-02-02 | 2018-09-11 | 上海交通大学 | 用于术后步态康复训练的装置 |
CN108814901A (zh) * | 2018-06-22 | 2018-11-16 | 仇申强 | 一种下肢术后康复辅助行走机器人 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102058464A (zh) * | 2010-11-27 | 2011-05-18 | 上海大学 | 下肢康复机器人运动控制方法 |
CN102961231A (zh) * | 2009-08-05 | 2013-03-13 | 广州一康医疗设备实业有限公司 | 步态训练康复机器人 |
EP2671559A1 (en) * | 2011-03-02 | 2013-12-11 | University of Tsukuba | Ambulation training device and ambulation training system |
CN105392461A (zh) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | 用于自动行走训练的设备 |
-
2016
- 2016-07-18 CN CN201610565460.8A patent/CN106074091B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102961231A (zh) * | 2009-08-05 | 2013-03-13 | 广州一康医疗设备实业有限公司 | 步态训练康复机器人 |
CN102058464A (zh) * | 2010-11-27 | 2011-05-18 | 上海大学 | 下肢康复机器人运动控制方法 |
EP2671559A1 (en) * | 2011-03-02 | 2013-12-11 | University of Tsukuba | Ambulation training device and ambulation training system |
CN105392461A (zh) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | 用于自动行走训练的设备 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108514494A (zh) * | 2018-02-02 | 2018-09-11 | 上海交通大学 | 用于术后步态康复训练的装置 |
CN108814901A (zh) * | 2018-06-22 | 2018-11-16 | 仇申强 | 一种下肢术后康复辅助行走机器人 |
CN108814901B (zh) * | 2018-06-22 | 2020-08-07 | 张克 | 一种下肢术后康复辅助行走机器人 |
Also Published As
Publication number | Publication date |
---|---|
CN106074091B (zh) | 2019-02-01 |
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Effective date of registration: 20180725 Address after: 518035 room 823, Yinhua mansion, 3002 Sungang West Road, Futian District, Shenzhen, Guangdong. Applicant after: Wang Chunbao Address before: 541200 the Guangxi Zhuang Autonomous Region Guilin Guilin eight Li street, "Sunshine beauty" District 8 Guilin Guilin Kokusai Hotel, 718, 720, 722 Applicant before: Guangxi Ying Rui Intelligent Machinery Co., Ltd. |
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Effective date of registration: 20200401 Address after: 541200 room 2203, floor 22, unit 2, building 28, "Yuchai bowangyuan", Bali Street Development Zone, Lingchuan County, Guilin City, Guangxi Zhuang Autonomous Region Patentee after: GUANGXI YINGRUI INTELLIGENT MACHINERY Co.,Ltd. Address before: 518035, room 823, Yinhua building, No. 3002, Sungang West Road, Futian District, Guangdong, Shenzhen Patentee before: Wang Chunbao |
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Effective date of registration: 20200522 Address after: 523000 No. 3 Yanhe Road, Xicheng Industrial Zone, Hengli Town, Dongguan, Guangdong Patentee after: WINTOP (DONGGUAN) INDUSTRIAL TECHNOLOGY Co.,Ltd. Address before: 541200 room 2203, floor 22, unit 2, building 28, "Yuchai bowangyuan", Bali Street Development Zone, Lingchuan County, Guilin City, Guangxi Zhuang Autonomous Region Patentee before: GUANGXI YINGRUI INTELLIGENT MACHINERY Co.,Ltd. |
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Effective date of registration: 20200818 Address after: Area C1, D1-D4 and E1-E2 of industrial accelerator in Nanhai new area, Weihai City, Shandong Province Patentee after: Weihaitai yiyingtuo Machinery Technology Co., Ltd Address before: 523000 No. 3 Yanhe Road, Xicheng Industrial Zone, Hengli Town, Dongguan, Guangdong Patentee before: WINTOP (DONGGUAN) INDUSTRIAL TECHNOLOGY Co.,Ltd. |