CN106176128A - Support robot and operational approach thereof for rehabilitation training - Google Patents
Support robot and operational approach thereof for rehabilitation training Download PDFInfo
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- CN106176128A CN106176128A CN201610564249.4A CN201610564249A CN106176128A CN 106176128 A CN106176128 A CN 106176128A CN 201610564249 A CN201610564249 A CN 201610564249A CN 106176128 A CN106176128 A CN 106176128A
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- 230000033001 locomotion Effects 0.000 claims abstract description 116
- 230000005021 gait Effects 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 210000001624 hip Anatomy 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 5
- 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
- 238000005516 engineering process Methods 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003205 muscle Anatomy 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
-
- 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
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
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)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of support robot for rehabilitation training and operational approach thereof, this device includes base, crawler type pedipulator, balance weight mechanism and motion parts；Motion parts includes up and down motion platform, side-to-side movement platform and parallel four-bar type motion platform.Each motion platform is constituted by motor, platform fixed plate, gear train and outfan.Present invention can be implemented in during gait training two linear degrees of freedom of hipbone and the rehabilitation training of a revolution degree of freedom；Can altitude simulation hip physiological movement in gait training, effectively enhancing rehabilitation training effect.
Description
Technical field
The invention belongs to technical field of medical instruments, be specifically related to a kind of support robot for rehabilitation training and behaviour thereof
Make method.
Background technology
China's Aging Problem is day by day serious, and apoplectic hemiplegia is the high morbidity in old people, therefore for old people
Posthemiplegic rehabilitation is particularly important.Hemiplegic patient's gait is normally the mark of rehabilitation, and therefore gait training is in rehabilitation
Status in training is especially pronounced.
Traditional Rehabilitation means for hemiplegic patient need Physical Therapist's hand steered patient hip to carry out gait training, consume a large amount of
Time with muscle power, and cannot ensure abundance training time and enough training strength.Existing gait training rehabilitation sets
Standby is to assist patient in training, does not analyze the physiological structure of human body, and the Ipsilateral often bringing patient can not
Effectively being trained, this equipment is the rehabilitation training that the gait according to patient combines that physiological structure is carried out, and can reach effective
Training objectives.
Summary of the invention
In order to solve that traditional gait rehabilitation training amount that prior art exists is big, inefficiency and common rehabilitation equipment
The problems such as training is comprehensive, training mode is single, the present invention is by analyzing hip physiological structure, it is provided that a kind of for rehabilitation training
Support robot and operational approach, for patient train offer one efficient training platform.
Its technical scheme is
A kind of support robot for rehabilitation training, including base 3, crawler type pedipulator 1, balance weight mechanism and motion portion
Point.Motion parts includes up and down motion platform, side-to-side movement platform and parallel four-bar type motion platform.
Balance weight mechanism includes balancing weight 2 and steel wire rope 5；Lower motion platform includes the first motor 27, the first motor gear 25,
First screw gear the 24, first screw block 28 and up and down motion platform fixed plate 26；Side-to-side movement platform includes the second motor 21,
Second motor gear 20 and second screw gear the 19, second leading screw 22 and side-to-side movement platform fixed plate the 18, second lead screw transmission
Part 23；Parallel four-bar type motion platform includes the 3rd motor 14, the 3rd motor fixing plate the 17, the 3rd motor gear 16, the 3rd
Thick stick gear the 15, the 3rd lead screw transmission part the 12, the 3rd leading screw 13, parallel four-bar rear bar 9, parallel leading screw slew gear 10, right hinge
Structure 8, left hinge arrangement the 11, first movement output bar 6 and the second movement output bar 7.
Further, crawler type pedipulator 1 is fixing on the base 3；Motion parts is connected with base 3 by support bar 4；Counterweight
Mechanism is connected with base 3 by balancing weight 2, is connected with motion platform by steel wire rope 5.
Further, the first motor 27 is fixed in up and down motion platform fixed plate 26, is driven by the first motor gear 25
First screw gear 24 moves up and down, and the first screw gear 24 is fixed on up and down motion screw block 28, the first screw block 28 with
Up and down motion platform fixed plate 26 is fixed, thus drives whole up and down motion platform to move up and down.
Second motor 21 is fixed in side-to-side movement platform fixed plate 18, drives the second leading screw by the second motor gear 20
Gear 19 rotates, and the second screw gear 19 drives the second leading screw 22 to rotate, and it is flat that the second lead screw transmission part 23 is fixed on up and down motion
In platform fixed plate 26, so that side-to-side movement platform side-to-side movement.
3rd motor 14 is fixed on the 3rd motor fixing plate 17, drives the 3rd screw gear by the 3rd motor gear 16
15 rotate, and the 3rd screw gear 15 drives the 3rd leading screw 13 to move, and the 3rd leading screw 13 drives the by the 3rd lead screw transmission part 12
Two take-off levers 7, the second take-off lever 7 rear end linkage 11 is connected with parallel four-bar rear bar 9 left end, in parallel four-bar rear bar 9
Point is connected with gyration mechanism 10, and parallel four-bar rear bar 9 right-hand member is connected with the first take-off lever 6 by hinge 8, thus constitutes flat
Row four-bar mechanism, forms parallel four-bar gyration.
As improving further, balance weight mechanism is connected with motion platform by steel wire rope 5, and is drawn by balancing weight 2 offer
Power, acts on whole motion platform, has been effectively accomplished the effect exempting from weight.
Further, to two linear degrees of freedom of hipbone and a revolution during this device may be implemented in gait training
The rehabilitation training of degree of freedom, altitude simulation hip physiological movement in gait training, effectively strengthen rehabilitation training effect.
A kind of operational approach helping robot for rehabilitation training, comprises the following steps:
First fixed hip with bandage by instruction person, be connected on the first movement output bar 6 and the second movement output bar 7.
When implementing by instruction person's gait training, coordinating crawler type pedipulator 1, motor is operated under torque mode: the first motor
27 are fixed in up and down motion platform fixed plate 26, drive the first screw gear 24 to move up and down by the first motor gear 25,
First screw gear 24 is fixed on up and down motion screw block 28, and the first screw block 28 is solid with up and down motion platform fixed plate 26
Fixed, thus drive whole up and down motion platform to move up and down；Second motor 21 is fixed in side-to-side movement platform fixed plate 18, logical
Crossing the second motor gear 20 drives the second screw gear 19 to rotate, and the second screw gear 19 drives the second leading screw 22 to rotate, and second
Lead screw transmission part 23 is fixed in up and down motion platform fixed plate 26, so that side-to-side movement platform side-to-side movement；3rd electricity
Machine 14 is fixed on the 3rd motor fixing plate 17, drives the 3rd screw gear 15 to rotate by the 3rd motor gear 16, the 3rd
Thick stick gear 15 drives the 3rd leading screw 13 to move, and the 3rd leading screw 13 drives the second take-off lever 7 by the 3rd lead screw transmission part 12, and second
Take-off lever 7, rear end linkage 11 is connected with parallel four-bar rear bar 9 left end, parallel four-bar rear bar 9 midpoint and gyration machine
Structure 10 is connected, and parallel four-bar rear bar 9 right-hand member is connected with the first take-off lever 6 by hinge 8, thus constitutes parallelogram lindage, shape
Become parallel four-bar gyration.
Compared with prior art, beneficial effects of the present invention:
One, has two linear degrees of freedom and the rehabilitation training of a revolution degree of freedom, and altitude simulation hip is in gait
Physiological movement in training；Its two, symmetrical expression exempts from heavy-duty machine structure, to alleviate burden during patient's gait training；Its three, the rotation of device
The center of rotation turning center and human hip overlaps, can be with the rehabilitation training of altitude simulation body gait training.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation helping robot for rehabilitation training of the present invention；Wherein, 1 crawler type walking
Machine, 2 balancing weights, 3 bases, 4 support bars, 5 steel wire ropes, 6 first movement output bars, 7 second movement output bars, 8 right hinge arrangements,
9 parallel four-bar rear bars, 10 parallel leading screw slew gears, 11 left hinge arrangements, 12 the 3rd lead screw transmission parts, 13 the 3rd leading screws, 14
3rd motor, 15 the 3rd screw gears, 16 the 3rd motor gears, 17 gyration platform motor fixing plates, 18 side-to-side movements are put down
Platform fixed plate, 19 second screw gears, 20 second motor gears, 21 second motors, 22 second leading screws, 23 second lead screw transmission
Part, 24 first screw gears, 25 first motor gears, 26 up and down motion platform fixed plates, 27 first motors, 28 first leading screws
Seat.
Detailed description of the invention
With detailed description of the invention, the present invention is described in more detail below in conjunction with the accompanying drawings.
With reference to Fig. 1, a kind of support robot for rehabilitation training of the embodiment of the present invention, including including base 3, crawler belt
Formula pedipulator 1, balance weight mechanism and motion parts.Motion parts includes up and down motion platform, side-to-side movement platform and parallel four-bar
Formula motion platform.
Balance weight mechanism includes balancing weight 2 and steel wire rope 5.Up and down motion platform includes the first motor 27, the first motor gear
25, the first screw gear the 24, first screw block 28 and up and down motion platform fixed plate 26；Side-to-side movement platform includes the second motor
21, the second motor gear 20 and second screw gear the 19, second leading screw 22 and side-to-side movement platform fixed plate the 18, second leading screw pass
Moving part (23)；Parallel four-bar type motion platform includes the 3rd motor 14, the 3rd motor fixing plate (17), the 3rd motor gear 16,
3rd screw gear the 15, the 3rd lead screw transmission part the 12, the 3rd leading screw 13, parallel four-bar rear bar 9, parallel leading screw slew gear 10,
Right hinge arrangement 8, left hinge arrangement the 11, first movement output bar 6 and the second movement output bar 7.
As improving further, crawler type pedipulator 1 is fixing on the base 3；Motion parts is by support bar 4 and base 3
It is connected；Balance weight mechanism is connected with base 3 by balancing weight 2, is connected with motion platform by steel wire rope 5.
As improving further, the first motor 27 is fixed in up and down motion platform fixed plate 26, by the first motor tooth
Wheel 25 drive the first screw gear 24 moves up and down, and the first screw gear 24 is fixed on up and down motion screw block 28, first
Thick stick seat 28 is fixed with up and down motion platform fixed plate 26, thus drives whole up and down motion platform to move up and down.
Second motor 21 is fixed in side-to-side movement platform fixed plate 18, drives the second leading screw by the second motor gear 20
Gear 19 rotates, and the second screw gear 19 drives the second leading screw 22 to rotate, and it is flat that the second lead screw transmission part 23 is fixed on up and down motion
In platform fixed plate 26, so that side-to-side movement platform side-to-side movement.
3rd motor 14 is fixed on the 3rd motor fixing plate 17, drives the 3rd screw gear by the 3rd motor gear 16
15 rotate, and the 3rd screw gear 15 drives the 3rd leading screw 13 to move, and the 3rd leading screw 13 drives the by the 3rd lead screw transmission part 12
Two take-off levers 7, the second take-off lever 7 rear end linkage 11 is connected with parallel four-bar rear bar 9 left end, in parallel four-bar rear bar 9
Point is connected with gyration mechanism 10, and parallel four-bar rear bar 9 right-hand member is connected with the first take-off lever 6 by hinge 8, thus constitutes flat
Row four-bar mechanism, forms parallel four-bar gyration.
As improving further, balance weight mechanism is connected with motion platform by steel wire rope 5, and is drawn by balancing weight 2 offer
Power, acts on whole motion platform, has been effectively accomplished the effect exempting from weight.
As improving further, this device may be implemented in during gait training two linear degrees of freedom of hipbone and
The rehabilitation training of one revolution degree of freedom, altitude simulation hip physiological movement in gait training, effectively strengthen rehabilitation training
Effect.
When using the present invention, first fixed hip with bandage by instruction person, be connected to the first movement output bar 6 and the second motion
On take-off lever 7.
When implementing by instruction person's gait training, coordinate crawler type pedipulator 1, motor is operated under torque mode: the first motor
27 are fixed in up and down motion platform fixed plate 26, drive the first screw gear 24 to move up and down by the first motor gear 25,
First screw gear 24 is fixed on up and down motion screw block 28, and the first screw block 28 is solid with up and down motion platform fixed plate 26
Fixed, thus drive whole up and down motion platform to move up and down；Second motor 21 is fixed in side-to-side movement platform fixed plate 18, logical
Crossing the second motor gear 20 drives the second screw gear 19 to rotate, and the second screw gear 19 drives the second leading screw 22 to rotate, and second
Lead screw transmission part 23 is fixed in up and down motion platform fixed plate 22, so that side-to-side movement platform side-to-side movement；3rd electricity
Machine 14 is fixed on the 3rd motor fixing plate 17, drives the 3rd screw gear 15 to rotate by the 3rd motor gear 16, the 3rd
Thick stick gear 15 drives the 3rd leading screw 13 to move, and the 3rd leading screw 13 drives the second take-off lever 7 by the 3rd lead screw transmission part 12, and second
Take-off lever 7, rear end linkage 11 is connected with parallel four-bar rear bar 9 left end, parallel four-bar rear bar 9 midpoint and gyration machine
Structure 10 is connected, and parallel four-bar rear bar 9 right-hand member is connected with the first take-off lever 6 by hinge 8, thus constitutes parallelogram lindage, shape
Become parallel four-bar gyration.
The above, the only present invention preferably detailed description of the invention, protection scope of the present invention is not limited to this, any ripe
Know those skilled in the art in the technical scope of present disclosure, the letter of the technical scheme that can become apparent to
Altered or equivalence are replaced and are each fallen within protection scope of the present invention.
Claims (5)
1. the support robot for rehabilitation training, it is characterised in that: include base (3), crawler type pedipulator (1), join
Heavy-duty machine structure and motion parts；
Described balance weight mechanism includes balancing weight (2) and steel wire rope (5)；
Described motion parts includes up and down motion platform, side-to-side movement platform and parallel four-bar type motion platform；
Described up and down motion platform includes the first motor (27), the first motor gear (25), the first screw gear (24), first
Thick stick seat (28) and up and down motion platform fixed plate (26)；Described side-to-side movement platform includes the second motor (21), the second motor tooth
Wheel (20) and the second screw gear (19), the second leading screw (22) and side-to-side movement platform fixed plate (18), the second lead screw transmission part
(23)；Described parallel four-bar type motion platform includes the 3rd motor (14), the 3rd motor fixing plate (17), the 3rd motor gear
(16), the 3rd screw gear (15), the 3rd lead screw transmission part (12), the 3rd leading screw (13), parallel four-bar rear bar (9), parallel silk
Thick stick slew gear (10), right hinge arrangement (8), left hinge arrangement (11), the first movement output bar (6) and the second movement output bar
(7)。
Support robot for rehabilitation training the most according to claim 1, it is characterised in that: described crawler type pedipulator
(1) it is fixed on base (3)；Motion parts is connected with base (3) by support bar (4)；Balance weight mechanism by balancing weight (2) with
Base (3) is connected, and is connected with motion platform by steel wire rope (5).
Support robot for rehabilitation training the most according to claim 1, it is characterised in that: described first motor (27)
It is fixed in up and down motion platform fixed plate (26), drives the first screw gear (24) to transport up and down by the first motor gear (25)
Dynamic, the first screw gear (24) is fixed on up and down motion screw block (28), and the first screw block (28) is solid with up and down motion platform
Determine plate (26) to fix, thus drive whole up and down motion platform to move up and down；
Described second motor (21) is fixed in side-to-side movement platform fixed plate (18), drives the by the second motor gear (20)
Two screw gears (19) rotate, and the second screw gear (19) drives the second leading screw (22) to rotate, and the second lead screw transmission part (23) is solid
It is scheduled in up and down motion platform fixed plate (26), so that side-to-side movement platform side-to-side movement；
Described 3rd motor (14) is fixed on the 3rd motor fixing plate (17), drives the 3rd by the 3rd motor gear (16)
Thick stick gear (15) rotates, and the 3rd screw gear (15) drives the 3rd leading screw (13) motion, and the 3rd leading screw (13) passes through the 3rd leading screw
Driving member (12) drives the second take-off lever (7), the second take-off lever (7) rear end linkage (11) and parallel four-bar rear bar (9)
Left end is connected, and parallel four-bar rear bar (9) midpoint is connected with gyration mechanism (10), and parallel four-bar rear bar (9) right-hand member is by hinge
Chain (8) is connected with the first take-off lever (6), thus constitutes parallelogram lindage, forms parallel four-bar gyration.
Support robot for rehabilitation training the most according to claim 1, it is characterised in that: described balance weight mechanism passes through
Steel wire rope (5) is connected with motion platform, and provides pulling force by balancing weight (2).
5. the operational approach helping robot for rehabilitation training, it is characterised in that comprise the following steps:
First fixed hip with bandage by instruction person, be connected on the first movement output bar (6) and the second movement output bar (7)；
When implementing by instruction person's gait training, coordinating crawler type pedipulator (1), motor is operated under torque mode: the first motor
(27) it is fixed in up and down motion platform fixed plate (26), is driven on the first screw gear (24) by the first motor gear (25)
Lower motion, the first screw gear (24) is fixed on up and down motion screw block (28), and the first screw block (28) is put down with moving up and down
Platform fixed plate (26) is fixed, thus drives whole up and down motion platform to move up and down；Second motor (21) is fixed on side-to-side movement
In platform fixed plate (18), the second screw gear (19) is driven to rotate by the second motor gear (20), the second screw gear
(19) driving the second leading screw (22) to rotate, the second lead screw transmission part (23) is fixed in up and down motion platform fixed plate (26), from
And make side-to-side movement platform side-to-side movement；3rd motor (14) is fixed on the 3rd motor fixing plate (17), by the 3rd electricity
Machine gear (16) drives the 3rd screw gear (15) to rotate, and the 3rd screw gear (15) drives the 3rd leading screw (13) to move, and the 3rd
Leading screw (13) drives the second take-off lever (7), the second take-off lever (7) rear end linkage by the 3rd lead screw transmission part (12)
(11) being connected with parallel four-bar rear bar (9) left end, parallel four-bar rear bar (9) midpoint is connected with gyration mechanism (10), parallel
Four bar rear bar (9) right-hand members are connected with the first take-off lever (6) by hinge (8), thus constitute parallelogram lindage, form parallel four
Bar gyration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610564249.4A CN106176128B (en) | 2016-07-18 | 2016-07-18 | Support robot and its operating method for rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610564249.4A CN106176128B (en) | 2016-07-18 | 2016-07-18 | Support robot and its operating method for rehabilitation training |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106176128A true CN106176128A (en) | 2016-12-07 |
| CN106176128B CN106176128B (en) | 2018-08-31 |
Family
ID=57492879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610564249.4A Active CN106176128B (en) | 2016-07-18 | 2016-07-18 | Support robot and its operating method for rehabilitation training |
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| Country | Link |
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| CN (1) | CN106176128B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108514494A (en) * | 2018-02-02 | 2018-09-11 | 上海交通大学 | Device for the training of postoperative gait rehabilitation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| CN102961231A (en) * | 2009-08-05 | 2013-03-13 | 广州一康医疗设备实业有限公司 | Gait rehabilitation training robot |
| EP2671559A1 (en) * | 2011-03-02 | 2013-12-11 | University of Tsukuba | Ambulation training device and ambulation training system |
| CN105392461A (en) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | Apparatus for automated walking training |
-
2016
- 2016-07-18 CN CN201610564249.4A patent/CN106176128B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102961231A (en) * | 2009-08-05 | 2013-03-13 | 广州一康医疗设备实业有限公司 | Gait rehabilitation training robot |
| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| EP2671559A1 (en) * | 2011-03-02 | 2013-12-11 | University of Tsukuba | Ambulation training device and ambulation training system |
| CN105392461A (en) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | Apparatus for automated walking training |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108514494A (en) * | 2018-02-02 | 2018-09-11 | 上海交通大学 | Device for the training of postoperative gait rehabilitation |
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| Publication number | Publication date |
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| CN106176128B (en) | 2018-08-31 |
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Effective date of registration: 20191114 Address after: 523000 Room 401, building 1, No.7, Lane 1, Guangming 1st ring road, Dongcheng Street, Dongguan City, Guangdong Province Patentee after: Guangdong Huirong Network Technology Co., Ltd Address before: Lingchuan County, Guilin City, the Guangxi Zhuang Autonomous Region 541200 eight Street in the Patentee before: Guangxi Ying Rui Intelligent Machinery Co., Ltd. |
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Effective date of registration: 20220329 Address after: 523000 No. 3 Yanhe Road, Xicheng Industrial Zone, Hengli Town, Dongguan, Guangdong Patentee after: WINTOP (DONGGUAN) INDUSTRIAL TECHNOLOGY Co.,Ltd. Address before: 523000 Room 401, building 1, No. 7, Lane 1, Guangming 1st ring road, Dongcheng Street, Dongguan City, Guangdong Province Patentee before: Guangdong Huirong Network Technology Co.,Ltd. |