CN106109180A - A kind of rehabilitation training apparatus - Google Patents
A kind of rehabilitation training apparatus Download PDFInfo
- Publication number
- CN106109180A CN106109180A CN201610811794.9A CN201610811794A CN106109180A CN 106109180 A CN106109180 A CN 106109180A CN 201610811794 A CN201610811794 A CN 201610811794A CN 106109180 A CN106109180 A CN 106109180A
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- China
- Prior art keywords
- torsion spring
- rehabilitation training
- spring
- supporting construction
- training apparatus
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- 238000010276 construction Methods 0.000 claims abstract description 38
- 238000000926 separation method Methods 0.000 claims abstract description 9
- 230000009977 dual effect Effects 0.000 claims description 5
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 230000003542 behavioural effect Effects 0.000 abstract description 3
- 230000002708 enhancing effect Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 11
- 230000006399 behavior Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004660 morphological change Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—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
- A61H2201/1602—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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- 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
- A61H2205/10—Leg
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
A kind of rehabilitation training apparatus of the present invention, torsion spring, returning spring and the supporting construction made including marmem, described supporting construction includes two parts separated, and the two ends of described torsion spring and described returning spring are separately mounted in the part of two separation of described supporting construction.The rehabilitation training apparatus of the present embodiment, there is portable, economic, autonomous feature, by torsion spring being energized and power-off realizes rehabilitation training, simple to operate, both met noneffectives's limbs joint later stage rehabilitation training, and ability to act can have been acted on again and lose behavior auxiliary and the enhancing of old people's behavioral competence of crowd.
Description
Technical field
The present invention relates to medical instruments field, be specifically related to rehabilitation training medical instruments field.
Background technology
Traffic accident, sports etc. all may cause the disability of human body, additionally along with the aggravation of aged tendency of population, old people's
Daily behavior inconvenient activity problem highlights the most day by day, so old people's daily behavior auxiliary has been increasingly becoming important society and has asked
Topic.In order to help sick or by wound patient to recover limbs or the normal shape of organ and function, and strengthen old people's behavior
Ability, the limb motion of power-assisted inner directed behavior scarce capacity crowd, improves its independently life efficiency and quality, it is necessary to carry out health
Refreshment is practiced.
Rehabilitation training apparatus is to aid in sick and wounded patient, people with disability solves a kind of instrument of movable difficulty in life, and rehabilitation is instructed
The use practicing apparatus can allow a lot of sufferer and people with disability obtain higher independent living ability, makes their life matter simultaneously
Measured is greatly to improve.But, patient is in the while in hospital, and its rehabilitation training is typically carried out under medical personnel instruct, and
Owing to current doctors and patients' ratio is unreasonable, number of patients far surpasses medical personnel, and the intensity causing nursing staff to work is too high, thus makes
Sufferer be forced the persistent period of formula rehabilitation training, intensity is difficult to ensure that with rehabilitation efficacy.And for those sick sleeping trouble being in
For person, affected by factors such as economic condition and entourage's shortages, it more difficult to ensure and the most quantitative be forced motion.Except this
Outside, the reason such as lacking and medical expense is high due to care-giving professional, the patient of major part China would rather be voluntarily in family precepts
Practice, but due to training method not to or there is no rational training tool so that a lot of patients miss best rehabilitation opportunity.
At present, the rehabilitation training apparatus for clinical treatment that domestic market commonly uses, by investigation and patient couple
Use the reflection of function, there is problems: rehabilitation training accessory and system are excessively heavy at present, system is the most complicated；Sick
People hospital complete treatment leave hospital time, still without reaching to recover completely state, still face rehabilitation training outside institute；Existing market
Rehabilitation training accessory portable, easy can not realize active rehabilitation exercise motion.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of rehabilitation training apparatus, to solve the rehabilitation appliances of use the most excessively
Heavy and complicated, it has not been convenient to carry, the also inconvenient technical problem carrying out rehabilitation training outside institute.
A kind of rehabilitation training apparatus of the present invention, torsion spring, returning spring and the support knot made including marmem
Structure, described supporting construction includes two parts separated, and the two ends of described torsion spring and described returning spring are separately mounted to described
In the part of two separation of supporting construction.
Preferably, described torsion spring is that one-way shape memory alloy makes.
Preferably, described torsion spring is for placing side by side torsion spring, and the part extended from coil forms V-shaped, the two of described V-shaped
End is arranged in the part of two separation of described supporting construction.
Preferably, described returning spring is dual spring, is arranged on above described torsion spring, described returning spring and described torsion spring
It is parallel to each other between the part of two separation being arranged in described supporting construction.
Preferably, the material of described returning spring, structure, size and rigidity set according to the physical parameter of described torsion spring
Meter.
Preferably, described torsion spring is double one arm curl torsion springs, and two described one arm curl torsion springs be arranged in parallel, prolong from coil
The part stretched out forms V-shaped, and the two ends of described V-shaped are arranged in the part of two separation of described supporting construction.
Preferably, described returning spring is dual spring, is arranged on above described torsion spring, described returning spring and described torsion spring
It is parallel to each other between the part of two separation being arranged in described supporting construction.
Preferably, rehabilitation training apparatus also includes power device, and described torsion spring connects described power device, by external electricity
Torsion spring is heated by source.
Preferably, the part of two separation of described supporting construction is connected on human body different parts.
Preferably, the part of two separation of described supporting construction is connected to upper arm and the underarm of human body.
Using technique scheme, the present invention at least can obtain following technique effect:
The invention provides a kind of rehabilitation training apparatus, there is portable, economic, autonomous feature, by torsion spring is carried out
Energising and power-off realize rehabilitation training, simple to operate, have both met noneffectives's limbs joint later stage rehabilitation training, and can act on again
Behavior auxiliary and the enhancing of old people's behavioral competence of crowd is lost in ability to act, power-assisted inner directed behavior scarce capacity crowd's
Limb motion, improves its independently life efficiency and quality.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, institute in the embodiment of the present invention being described below
The accompanying drawing used is needed to be briefly described, it should be apparent that, the accompanying drawing in describing below is only some enforcements of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to implements according to the present invention
The content of example and these accompanying drawings obtain other accompanying drawing.
Fig. 1 is the axonometric chart of the rehabilitation training apparatus described in the present embodiment；
Fig. 2 is the structural representation of the rehabilitation training apparatus described in the present embodiment.
Accompanying drawing acceptance of the bid note is respectively as follows: 1, torsion spring；2, returning spring；3, supporting construction.
Run through accompanying drawing, it should be noted that similar label is used for describing same or analogous element, feature and structure.
Detailed description of the invention
There is provided description referring to the drawings to help to understand the disclosure limited by claim and equivalent thereof comprehensively
Various embodiments.Hereinafter describe the various details including helping to understand, but these details will be considered to be only example
Property.Therefore, it will be appreciated by those of ordinary skill in the art that in the case of without departing from the scope of the present disclosure and spirit, can be right
Various embodiments described herein makes various changes and modifications.It addition, in order to clear and succinct, retouching of known function and structure
State and can be omitted.
Term and vocabulary used in following description and claims are not limited to document implication, but only by inventor
It is used for enabling the disclosure clearly and as one man to be understood.Therefore, to those skilled in the art it should be apparent that carry
For the description of following various embodiments of this disclosure merely to exemplary purpose, and unrestricted by claims and
The purpose of the disclosure that equivalent limits.
As it is shown in figure 1, the rehabilitation training apparatus of the present invention, including torsion spring 1, returning spring 2 and supporting construction 3.Torsion spring 1 is
Marmem, and be one-way shape memory alloy, torsion spring 1 uses and places side by side torsion spring form, from Fig. 2 in the present embodiment
It can be seen that the part that torsion spring 1 extends from coil forms V-shaped, the two ends of V-shaped be arranged on both sides supporting construction 31,
In 32.Torsion spring 1 is alternatively double single armed torsion spring in other alternative-embodiments, installs abreast before and after two one arm curl torsion springs
Between supporting construction 3.Equally, the part that single armed torsion spring extends from coil forms V-shaped, and the two ends of V-shaped are arranged on two
In the supporting construction 31,32 of side.Torsion spring 1 connects power device, drives it to become its heating by external power supply (depending on going out)
Shape.
Returning spring 2 two ends are arranged in the supporting construction 31,32 of both sides, and returning spring 2 can use common spring, elastic
Part can be waveform, it is also possible to for other shapes such as spiral types.Returning spring 2 and the installation of torsion spring 1 in the present embodiment
Position is corresponding, for placing side by side dual spring form, is installed in parallel between the supporting construction 31,32 of both sides before and after two returning springs 2.
Two returning springs 2 are arranged on above the torsion spring of torsion spring 1, and returning spring 2 and the torsion spring 1 installation position in supporting construction 3
Put and be parallel to each other.The material of returning spring 2, structure, size, rigidity and quantity etc. are according to marmem after torsion spring 1 energising
The physical parameters such as the input torque of deformation generation and stiffness coefficient are designed.
Supporting construction 3 includes two parts separated 31,32, is respectively intended to solid shape memorial alloy torsion spring 1 and replys
The two ends of spring 2, and be connected on the different parts of human body.
The detailed description of the invention of the present invention is heated, when temperature rises to marmem after being such that torsion spring 1 energising
After phase point temperature, the marmem morphologic change of composition torsion spring, thus drive torsion spring 1 to twist deformation, produce torsion
Square, the windup-degree of torsion spring is gradually increased, and the opening angle of V-shaped becomes big, band be automatically connected in V word two ends supporting construction 31,
32 to the direction motion separated.Owing to returning spring 2 two ends are also mounted in supporting construction 31,32, two parts of supporting construction
31,32 to the direction motion separated, and will give 2 one power pulled open of returning spring, and extension recovery spring 2, until shape memory
Alloy torsion spring 1 reaches stress balance position to the power strutted and the returning spring 2 of supporting construction 3 to the pulling force of supporting construction 3.
Torsion spring electrified regulation process disconnect after, composition torsion spring 1 marmem at a temperature of be down to phase point temperature with
Under, torsion spring 1 gradually recovers the form under room temperature, thus the deformation that twists, producing moment of torsion, the windup-degree of torsion spring gradually subtracts
Little, the opening angle of V-shaped diminishes, and band is automatically connected in the supporting construction 31,32 at V word two ends to the direction motion closed up.Turning round
Under the torsion of spring 1 and the pulling force effect of returning spring 2, the supporting construction 31,32 being connected to torsion spring 1 and returning spring 2 two ends is made
Return motion, to the state being returned to torsion spring 1 before energising, supporting construction 3 also returns to initial position, thus realizes single
Reciprocatory movement.
The present embodiment can apply to human limb, such as, can be connected to by two parts 31,32 of supporting construction 3
On upper arm and underarm, by the energising of torsion spring 1 and power-off, making supporting construction 3 strut and closing movement, thus drive upper arm
It is extended with underarm and closing movement.
The rehabilitation training apparatus that the present embodiment provides, has portable, economic, autonomous feature, by leading to torsion spring
Electricity and power-off realize rehabilitation training, simple to operate, have both met noneffectives's limbs joint later stage rehabilitation training, and can act on again
Ability to act loses behavior auxiliary and the enhancing of old people's behavioral competence, the limb of power-assisted inner directed behavior scarce capacity crowd of crowd
Body moves, and improves its independently life efficiency and quality.
Although the various embodiments with reference to the disclosure illustrate and describe the disclosure, but those skilled in the art will manage
Solve, in the case of the spirit and scope without departing from the disclosure being defined by the appended claims and the equivalents thereof, it can be entered
Various changes in row form and details.
Claims (10)
1. a rehabilitation training apparatus, it is characterised in that include torsion spring, returning spring and support knot that marmem makes
Structure, described supporting construction includes two parts separated, and the two ends of described torsion spring and described returning spring are separately mounted to described
In the part of two separation of supporting construction.
2. rehabilitation training apparatus as claimed in claim 1, it is characterised in that described torsion spring is that one-way shape memory alloy makes.
3. rehabilitation training apparatus as claimed in claim 1, it is characterised in that described torsion spring, for placing side by side torsion spring, extends from coil
The part gone out forms V-shaped, and the two ends of described V-shaped are arranged in two parts of described supporting construction.
4. rehabilitation training apparatus as claimed in claim 3, it is characterised in that described returning spring is dual spring, is arranged on described
Above torsion spring, described returning spring and described torsion spring are installed in parallel between the two parts in described supporting construction.
5. as claimed in claim 1 rehabilitation training apparatus, it is characterised in that the material of described returning spring, structure, size and just
Degree is designed according to the physical parameter of described torsion spring.
6. rehabilitation training apparatus as claimed in claim 1, it is characterised in that described torsion spring is double one arm curl torsion springs, two institutes
Stating one arm curl torsion spring to be arranged in parallel, the part extended from coil forms V-shaped, and the two ends of described V-shaped are arranged on described
In two parts of supporting construction.
7. rehabilitation training apparatus as claimed in claim 6, it is characterised in that described returning spring is dual spring, is arranged on described
Above torsion spring, described returning spring and described torsion spring are installed in parallel between the two parts in described supporting construction.
8. the rehabilitation training apparatus as described in claim 1-7, it is characterised in that also include power device, described torsion spring connects
Described power device, is heated torsion spring by external power supply.
9. rehabilitation training apparatus as claimed in claim 1, it is characterised in that two parts of described supporting construction are connected to
On human body different parts.
10. rehabilitation training apparatus as claimed in claim 9, it is characterised in that two parts of described supporting construction connect respectively
Upper arm and underarm at human body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610811794.9A CN106109180A (en) | 2016-09-09 | 2016-09-09 | A kind of rehabilitation training apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610811794.9A CN106109180A (en) | 2016-09-09 | 2016-09-09 | A kind of rehabilitation training apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106109180A true CN106109180A (en) | 2016-11-16 |
Family
ID=57271761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610811794.9A Pending CN106109180A (en) | 2016-09-09 | 2016-09-09 | A kind of rehabilitation training apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106109180A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107224386A (en) * | 2017-07-20 | 2017-10-03 | 陈红卫 | A kind of new elbow joint function rehabilitation device |
| CN107510577A (en) * | 2017-09-29 | 2017-12-26 | 南京昱晟机器人科技有限公司 | A kind of lower limbs rehabilitation training robot and its training method |
| CN108553799A (en) * | 2018-06-28 | 2018-09-21 | 陈天阳 | A kind of leg sports-training apparatus tool |
| CN108858136A (en) * | 2018-05-16 | 2018-11-23 | 大连交通大学 | A kind of variation rigidity joint assistance mechanism of distributed driving |
| CN109758338A (en) * | 2019-02-15 | 2019-05-17 | 深圳职业技术学院 | A kind of postoperative arm recovery device |
| CN110524527A (en) * | 2017-11-09 | 2019-12-03 | 上海司羿智能科技有限公司 | Ectoskeleton driving device and ectoskeleton driving method |
| CN111658436A (en) * | 2020-07-01 | 2020-09-15 | 长春工业大学 | Knee joint exoskeleton rehabilitation robot mechanism based on integral tensioning structure |
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| CN201782926U (en) * | 2010-07-27 | 2011-04-06 | 山东省立医院 | Intelligent limb rehabilitation device |
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| CN203263743U (en) * | 2013-01-24 | 2013-11-06 | 西安交通大学 | Elbow medical rehabilitation device based on pneumatic artificial muscle drive |
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| JP2014159251A (en) * | 2013-02-20 | 2014-09-04 | Nippon Soken Inc | Driving device |
| CN204618765U (en) * | 2015-03-27 | 2015-09-09 | 厦门理工学院 | Exercising apparatus for recovery of upper limb |
| CN205198399U (en) * | 2015-11-25 | 2016-05-04 | 殷波 | Recovered training system |
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| JP3162679U (en) * | 2009-07-02 | 2010-09-09 | 謝 榮 寶 | Fitness training equipment |
| CN201743876U (en) * | 2010-06-02 | 2011-02-16 | 浙江师范大学 | Training device for knee joint rehabilitation |
| CN201782926U (en) * | 2010-07-27 | 2011-04-06 | 山东省立医院 | Intelligent limb rehabilitation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107224386A (en) * | 2017-07-20 | 2017-10-03 | 陈红卫 | A kind of new elbow joint function rehabilitation device |
| CN107510577A (en) * | 2017-09-29 | 2017-12-26 | 南京昱晟机器人科技有限公司 | A kind of lower limbs rehabilitation training robot and its training method |
| CN110524527A (en) * | 2017-11-09 | 2019-12-03 | 上海司羿智能科技有限公司 | Ectoskeleton driving device and ectoskeleton driving method |
| CN110524527B (en) * | 2017-11-09 | 2022-07-12 | 上海司羿智能科技有限公司 | Exoskeleton driving device and exoskeleton driving method |
| CN108858136A (en) * | 2018-05-16 | 2018-11-23 | 大连交通大学 | A kind of variation rigidity joint assistance mechanism of distributed driving |
| CN108858136B (en) * | 2018-05-16 | 2021-11-05 | 大连交通大学 | Distributed driven variable-stiffness joint power assisting mechanism |
| CN108553799A (en) * | 2018-06-28 | 2018-09-21 | 陈天阳 | A kind of leg sports-training apparatus tool |
| CN109758338A (en) * | 2019-02-15 | 2019-05-17 | 深圳职业技术学院 | A kind of postoperative arm recovery device |
| CN111658436A (en) * | 2020-07-01 | 2020-09-15 | 长春工业大学 | Knee joint exoskeleton rehabilitation robot mechanism based on integral tensioning structure |
| CN111658436B (en) * | 2020-07-01 | 2022-08-02 | 长春工业大学 | Knee joint exoskeleton rehabilitation robot mechanism based on integral tensioning structure |
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