CN106176148A - Device for healing and training - Google Patents
Device for healing and training Download PDFInfo
- Publication number
- CN106176148A CN106176148A CN201610729333.7A CN201610729333A CN106176148A CN 106176148 A CN106176148 A CN 106176148A CN 201610729333 A CN201610729333 A CN 201610729333A CN 106176148 A CN106176148 A CN 106176148A
- Authority
- CN
- China
- Prior art keywords
- training
- healing
- motor
- suspender
- controller
- 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
- 230000035876 healing Effects 0.000 title claims abstract description 27
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000007423 decrease Effects 0.000 abstract description 3
- 238000007598 dipping method Methods 0.000 abstract description 3
- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 239000000725 suspension Substances 0.000 description 7
- 230000005484 gravity Effects 0.000 description 6
- 210000003414 extremity Anatomy 0.000 description 5
- 208000020442 loss of weight Diseases 0.000 description 5
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000003321 amplification Effects 0.000 description 3
- 230000037396 body weight Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 201000010099 disease Diseases 0.000 description 3
- 239000012636 effector Substances 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 230000008736 traumatic injury Effects 0.000 description 2
- 208000016261 weight loss Diseases 0.000 description 2
- 230000004580 weight loss Effects 0.000 description 2
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001447 compensatory effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 229940056582 human hair preparation Drugs 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- 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
- A61H2201/50—Control means thereof
-
- 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
- A61H2201/5007—Control means thereof computer controlled
-
- 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)
- Rehabilitation Tools (AREA)
Abstract
Device for healing and training disclosed by the invention, including controller, controller is connected with motor, track travel device, electromagnetic lock, travel switch and encoder respectively by holding wire, controller is also connected with control device by the transmission of wired or wireless signal, and control device is connected with tension measuring appliance by holding wire.Device for healing and training, its suspender stroke range can be set, and in the range of this trip, keep stable pulling force, suspender is in the range of stroke, people's dipping and heaving in walking can be imitated, and in fluctuating, lifting power remains to keep stable, the horizontal movement velocity of the device that can set, uses more flexibly and safety.This device manually can control lifting and the decline of suspender by actuation means easily, regulates suspender lifting force, sets the most spacing of suspender, upper and lower speed limit.
Description
Technical field
The invention belongs to field of medical equipment technology, be specifically related to device for healing and training.
Background technology
Numerous disease can cause patient's walking disorder, such as: nervous system disease, cerebrovascular, leg waist disease etc., with
And contingency is injured is all likely to result in noneffectives's walking function obstacle, have impact on the daily life of patient, after stable disease,
Usually need to carry out Rehabilitation Training in Treating to help patient to recover limb function.By rehabilitation, rehabilitation training, can be effective
Promote the neural restructuring of movement of patient and the compensatory and recovery of muscle strength, skeleton and function of joint, thus part or complete
The limb function of patient is recovered on ground in portion.The more morning that rehabilitation training and treatment start, the final effect recovered is the best, but is opening
In stage beginning, patient tends to wrestling, and is difficult to bear the pain that the body weight of oneself causes, in order to make patient start limbs ahead of time
Functional rehabilitation is taken exercise, and often uses body weight support treadmill training, and it is that the one in extremity motor function rehabilitation training therapy is basic
Method.Assist in, lean on that to turn with walking in water be that to use also be at most most basic loss of weight walking therapies, but their all some limitation
Property.To this end, there is Crinis Carbonisatus to understand mechanical assistance running gear.
On market, existing lower limb walking rehabilitation training loss of weight frame is using motor as power set, including column or framework with
And suspension rod thereon, it being hung with suspension ring assembly under suspension rod, column is provided with suspension ring lifting driver part, and suspension rod inner edge is provided with one
Group fixed pulley, fixed pulley is equipped with steel wire rope, and above-mentioned suspension ring assembly is connected with motor by steel wire rope, and electric machine rotation drives steel
Cord moves along a straight line, and steel wire rope drives suspension ring assembly to move up and down by fixed pulley again, patient's appropriateness is sling, alleviates under patient
The heavy burden of limb, it is ensured that patient carry out walking, balance, safety in the carrying out of the motor capacity rehabilitation training such as stand and training.
During this device uses, still having some shortcomings, due to human body in the process of walking, gravity center of human body is not maintained at a level
On line, but in changing the most up and down, under static state, suspender belt pulling force balances each other with the human body weight being lifted,
In rehabilitation Walking, motor is in and stops rotary state, when gravity center of human body moves up, and the relative relaxation that steel wire rope will become,
Act on the pulling force on human body can reduce；When gravity center of human body moves down, steel wire rope can be tightened up, and its pulling force can tend to increase
Greatly.Ignore the elastic deformation of steel wire rope, human body in walking, center of gravity upwards time steel wire rope there is no weight loss effect, when center of gravity is downward
Can too lift again, destroy the normal gait of human body walking, during so this loss of weight frame can not be well adapted for human body walking
The requirement of gravity center shift, it is impossible to play good loss of weight effect.This kind of weight-losing device still can not apish actual walking
Training, and rehabilitation training person is strapped in narrow range, it is single that training path lacks attitude, relatively big with true walking gap,
The interest lacked in training, easily makes trainer produce and is weary of sense.
Summary of the invention
It is an object of the invention to provide device for healing and training, solve existing device for healing and training and weight loss effect difference and with
The problem that true walking gap is bigger.
The technical solution adopted in the present invention is: device for healing and training, and including controller, controller is electric with servo respectively
Machine, track travel device, electromagnetic lock, travel switch and encoder connect, and controller is by transmission of wireless signals also with control device even
Connecing, control device is connected with tension measuring appliance by holding wire.
The feature of the present invention also resides in,
Controller includes power supply, microprocessor, Flash SRAM, PWM generator and motor driver.Track travel device bag
Including mobile roof support, mobile roof support is provided with traveling speed reducer, traveling speed reducer is driven by movable motor, also includes roller.
Movable motor is direct current generator.
Movable motor is DC stepper motor.
Variator also includes the small synchronous pulley being connected with servo motor output shaft, and small synchronous pulley passes through Timing Belt with big
Synchronous pulley connects, and also includes the little gear coaxially connected with encoder.
Lifting device includes suspender, and suspender is connected with pulley by lifting rope, also includes screw mandrel, screw mandrel is provided with silk cylinder.
Being provided with metallic channel on silk cylinder, the width of described metallic channel is identical with the pitch of screw mandrel.
Tension measuring appliance is connected with lifting rope.
Motor is DC servo motor or DC stepper motor.
The invention has the beneficial effects as follows: the device for healing and training of the present invention, provide one to stablize by suspender for rehabilitation clients
Pulling force upwards, pulling force size can set as required, and this pulling force keeps stable during whole training；This device is permissible
Set its suspender stroke range, imitate people's dipping and heaving in walking, the horizontal movement velocity of the device that can set, use
Carry out more flexible and safety.Such as, the normal fluctuating in walking, then the upwards pulling force that device provides is in dynamic stability shape all the time
State, makes rehabilitation clients alleviate heavy burden, improves smoothness when walking, comfortableness, if rehabilitation training person's accident unstability, then this device
Can increase lifting power in time makes trainer slow down, until stopping, it is to avoid traumatic injury is damaged.This device can manually manipulate dress
Put lifting and the decline controlling suspender easily, regulate suspender lifting force, set the most spacing of suspender, upper and lower speed limit.Separately
Outward, this apparatus structure is simple, low cost, it is easy to promote.
Accompanying drawing explanation
Fig. 1 is the system block diagram of the device for healing and training of the present invention；
Fig. 2 is the structural representation of the device for healing and training of the present invention；
Fig. 3 is the left view of the device for healing and training of the present invention；
Fig. 4 is the schematic diagram of the device for healing and training of the present invention；
Fig. 5 is the flow chart of data processing figure of the device for healing and training of the present invention.
In figure, 1. motor, 2. controller, 3. track travel device, 31. rollers, 32. movable motors, 33. traveling speed reducers,
34. mobile roof supports, 4. variator, 41. small synchronous pulleys, 42. Timing Belts, 43. big synchronous pulleys, 44. little gear, 5. electromagnetism
Lock, 6. travel switch, 7. encoder, 8. lifting device, 81. lifting ropes, 82. suspenders, 83. pulleys, 84. screw mandrels, 85. cylinders, 9.
Tension measuring appliance, 10. control device.
Detailed description of the invention
The present invention is described in detail with detailed description of the invention below in conjunction with the accompanying drawings.
The invention provides device for healing and training, as it is shown in figure 1, include controller 2, controller 2 respectively with motor 1, rail
Road walking device 3, electromagnetic lock 5, travel switch 6 and encoder 7 connect, controller 2 by the transmission of wired or wireless signal also with behaviour
Control device 10 connects, and control device 10 is connected with tension measuring appliance 9 by holding wire, and tension measuring appliance 9 is connected with lifting device 8, control
Device 2 processed includes power supply, microprocessor, Flash SRAM, PWM generator and motor driver；
As shown in Figures 2 and 3, track travel device 3 includes mobile roof support 34, and mobile roof support 34 is provided with traveling speed reducer
33, traveling speed reducer 33 is driven by movable motor 32, also includes that roller 31, movable motor 32 are motor, and variator 4 is also
Including the small synchronous pulley 41 being connected with motor 1 output shaft, small synchronous pulley 41 is by Timing Belt 42 with big synchronous pulley 43 even
Connecing, also include the little gear 44 coaxially connected with encoder 7, lifting device 8 includes suspender 82, and suspender 82 is by lifting rope 81 and slides
Wheel 83 connection, also includes screw mandrel 84, screw mandrel 84 is provided with silk cylinder 85, silk cylinder 85 is provided with metallic channel, the width of metallic channel
Identical with the groove width of screw mandrel 84, tension measuring appliance 9 is connected with lifting rope 81.
As shown in Figure 4, device for healing and training use decentralized control, controller 2 with microprocessor as control core, its
Task is the anti-of the signal accepting control device 10 and motor 1, track travel device 3, electromagnetic lock 5, travel switch 6 and encoder 7
Feedback signal, and signal is acted upon, generate control instruction, and then control to drive lifting device 8；Controller 10 is with microprocessor
For control core, its task is that acceptance processes end effector signal and passes to controller 2, between controller 2 and control device 10
Use RS232 serial port；Examine as it is shown in figure 5, the permanent lifting force control principle of lifting device 8 is the pulling force utilizing end
Survey the lifting force that trainer is applied by instrument detection lifting device, by the online real-time process of controller 2, timely respond to operation
During the knee-action of person, the fluctuation of lifting force, adjusts motor driver in real time, lifting force is carried out Real-time and Dynamic adjustment；Pulling force is examined
Survey instrument 9 and detect the value of thrust of lifting rope 81 in real time, and the value of thrust signal after processing passes through control device 10 and passes to controller 2,
Avoid control signal to be disturbed by other noise signals in transmittance process simultaneously.
The composition of whole control system mainly has microprocessor, power amplifier module, communication module, filter circuit module etc.
Composition.Wherein the calculating of control algolithm is mainly responsible for by microprocessor, and power amplifier module realizes the amplification of pwm signal and motor
Overcurrent protection, filter amplification circuit module realizes control device and the process of pull force calculation instrument signal, and communication module is responsible for and control
Device processed carries out communication.During system is run, produce in the time that the cycle is 5ms with the intervalometer of microprocessor internal
Disconnected, in order to make sampling time task be entered running status by ready state, in sampling time task, counted by orthogonal coding
Device, through sensing, obtains motor present speed and position, and then being obtained by position and speed closed loop algorithm should be required defeated
The controlled quentity controlled variable gone out, i.e. PWM duty cycle, through power amplification, to drive motor.Drive the current sample of module in this process
Link carries out real-time detection to the electric current of motor, and when electric current exceedes setting, current cutting-off protection circuit can produce accordingly
Signal close driving module protect motor, the order of end-effector is detected by microprocessor by interruption,
Respond the various orders from end-effector with real-time, and respond.
This device has three layers of spacing safeguard protection: software limit protection, electric limiting are protected, structural level position limitation protection, protect
Demonstrate,prove the safety of operator, trainer and equipment；In the lifting process of suspender, the processor in controller 2 is according to people
Lifting force and lifting speed are controlled by by the actual impression of body engineering and operator, it is achieved smooth starting and stopping.
Microcontroller computer, by the data of pull force calculation instrument and encoder collection are analyzed process, obtains trainer's
Training data, such as speed, distance, actual, loss of weight lifting force etc., and to trainer physical training condition be analyzed judging, right
The rehabilitation state of trainer is analyzed.In the range of normal fluctuating in trainer trains, it is ensured that lifting force is in operation
In the normal range of personnel setting, and keep stable；When displacement transducer detects displacement close to the limit, device can be reported to the police and be carried
Show；When displacement transducer detects displacement break bounds, device is while reporting to the police, and microcontroller computer can be according to the feedback of sensor
Value, controls current of electric, carries out increasing or reduce the corresponding action such as motor lift force, emergency brake and in operator's setting
In the range of make suspender stop motion, it is ensured that the safety of trainer.
In this device busy, if load weight is beyond the normal range set, pull force calculation instrument sends alarm, takes
Action, until hover temporarily, after personnel to be operated or trainer do respective handling, can starter resume work.
Device for healing and training, provides a stable pulling force upwards by suspender for rehabilitation clients, and pulling force size can basis
Needing to set, this pulling force keeps stable during whole training；This device can set its suspender stroke range, imitates people and exists
Dipping and heaving in walking, the horizontal movement velocity of the device that can set, use more flexibly and safety.Such as, walking
In normal fluctuating, then the upwards pulling force that device provides is in dynamic steady state all the time, makes rehabilitation clients alleviate heavy burden, improves row
Smoothness when walking, comfortableness, if rehabilitation training person's accident unstability, then this device can increase lifting power in time and makes trainer
Slow down, until stopping, it is to avoid traumatic injury is damaged.This device can manually actuation means control easily suspender lifting and
Decline, regulate suspender lifting force, set the most spacing of suspender, upper and lower speed limit.It addition, this apparatus structure is simple, low cost, easily
In popularization.
Claims (10)
1. device for healing and training, it is characterised in that include controller (2), controller (2) respectively with motor (1), track travel device
(3), electromagnetic lock (5), travel switch (6) and encoder (7) connect, described controller (2) is transmitted by wired or wireless signal
Also being connected with control device (10), control device (10) is connected with tension measuring appliance (9) by holding wire, described tension measuring appliance (9)
It is connected with lifting device (8).
Device for healing and training the most according to claim 1, it is characterised in that described controller (2) includes power supply, micro-process
Device, Flash SRAM, PWM generator and motor driver.
Device for healing and training the most according to claim 1, it is characterised in that described track travel device (3) includes walking
Frame (34), described mobile roof support (34) is provided with traveling speed reducer (33), and traveling speed reducer (33) passes through movable motor (32)
Drive, also include roller (31).
Device for healing and training the most according to claim 3, it is characterised in that described movable motor (32) is direct current generator.
Device for healing and training the most according to claim 3, it is characterised in that described movable motor (32) is direct current stepping electricity
Machine.
Device for healing and training the most according to claim 1, it is characterised in that described variator (4) also includes and motor (1)
The small synchronous pulley (41) that output shaft connects, small synchronous pulley (41) is connected with big synchronous pulley (43) by Timing Belt (42),
Big synchronous pulley (43) is coaxially fixed with long cylinder gear (44), and roller gear (44) band movable wire cylinder gear (46) rotates, thus
Drive silk cylinder to rotate, make suspender (8) move up and down.
Device for healing and training the most according to claim 1, it is characterised in that described lifting device (8) includes suspender (82),
Suspender (82) is connected with pulley (83) by lifting rope (81), also includes that screw mandrel (84), described screw mandrel are provided with silk cylinder on (84)
(85)。
Device for healing and training the most according to claim 7, it is characterised in that be provided with metallic channel on described silk cylinder (85),
The width of described metallic channel is identical with the pitch of screw mandrel (84).
Device for healing and training the most according to claim 7, it is characterised in that described tension measuring appliance (9) and lifting rope (81)
Series connection.
Device for healing and training the most according to claim 1, it is characterised in that described motor (1) be DC servo motor or
Person's DC stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610729333.7A CN106176148A (en) | 2016-08-25 | 2016-08-25 | Device for healing and training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610729333.7A CN106176148A (en) | 2016-08-25 | 2016-08-25 | Device for healing and training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106176148A true CN106176148A (en) | 2016-12-07 |
Family
ID=57525232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610729333.7A Pending CN106176148A (en) | 2016-08-25 | 2016-08-25 | Device for healing and training |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106176148A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107970564A (en) * | 2017-12-20 | 2018-05-01 | 上海电气集团股份有限公司 | Training equipment |
| CN108542708A (en) * | 2018-04-17 | 2018-09-18 | 河北冀德远健医疗器械科技有限公司 | A kind of suspension unit |
| CN110450135A (en) * | 2019-07-30 | 2019-11-15 | 华中科技大学鄂州工业技术研究院 | A kind of dynamic suspension type weight support system |
| CN112636665A (en) * | 2021-02-08 | 2021-04-09 | 江苏绿柏智能科技有限公司 | Protection method and device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2077698U (en) * | 1989-10-05 | 1991-05-29 | 邹杰 | Rehabilitation apparatus for hemiplegia lower extremity |
| CN1391875A (en) * | 2001-06-18 | 2003-01-22 | 戴增嗣 | Universal spine recovering machine |
| KR20030016902A (en) * | 2001-08-23 | 2003-03-03 | 박승부 | medical exercise device for a patient |
| CN2691563Y (en) * | 2004-02-09 | 2005-04-13 | 捷保国际股份有限公司 | Convalescence walk training machine |
| CN203154230U (en) * | 2013-01-31 | 2013-08-28 | 昆山市工业技术研究院有限责任公司 | Electric weight-reduction training frame |
| CN203663365U (en) * | 2014-01-08 | 2014-06-25 | 上海市第七人民医院 | Rehabilitation training instrument |
| CN105473194A (en) * | 2013-01-22 | 2016-04-06 | 高博公司 | Medical rehab lift system and method with horizontal and vertical force sensing and motion control |
| CN206434545U (en) * | 2016-08-25 | 2017-08-25 | 广州龙之杰康复养老科技有限公司 | A kind of device for healing and training |
-
2016
- 2016-08-25 CN CN201610729333.7A patent/CN106176148A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2077698U (en) * | 1989-10-05 | 1991-05-29 | 邹杰 | Rehabilitation apparatus for hemiplegia lower extremity |
| CN1391875A (en) * | 2001-06-18 | 2003-01-22 | 戴增嗣 | Universal spine recovering machine |
| KR20030016902A (en) * | 2001-08-23 | 2003-03-03 | 박승부 | medical exercise device for a patient |
| CN2691563Y (en) * | 2004-02-09 | 2005-04-13 | 捷保国际股份有限公司 | Convalescence walk training machine |
| CN105473194A (en) * | 2013-01-22 | 2016-04-06 | 高博公司 | Medical rehab lift system and method with horizontal and vertical force sensing and motion control |
| CN203154230U (en) * | 2013-01-31 | 2013-08-28 | 昆山市工业技术研究院有限责任公司 | Electric weight-reduction training frame |
| CN203663365U (en) * | 2014-01-08 | 2014-06-25 | 上海市第七人民医院 | Rehabilitation training instrument |
| CN206434545U (en) * | 2016-08-25 | 2017-08-25 | 广州龙之杰康复养老科技有限公司 | A kind of device for healing and training |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107970564A (en) * | 2017-12-20 | 2018-05-01 | 上海电气集团股份有限公司 | Training equipment |
| CN108542708A (en) * | 2018-04-17 | 2018-09-18 | 河北冀德远健医疗器械科技有限公司 | A kind of suspension unit |
| CN108542708B (en) * | 2018-04-17 | 2023-11-21 | 河北冀德远健医疗器械科技有限公司 | Suspension unit |
| CN110450135A (en) * | 2019-07-30 | 2019-11-15 | 华中科技大学鄂州工业技术研究院 | A kind of dynamic suspension type weight support system |
| CN112636665A (en) * | 2021-02-08 | 2021-04-09 | 江苏绿柏智能科技有限公司 | Protection method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208573971U (en) | A kind of pedal lower limb rehabilitation robot of bilateral independent control | |
| CN106176148A (en) | Device for healing and training | |
| WO2018233322A1 (en) | Lower limb training rehabilitation apparatus | |
| CN110812130B (en) | Pelvic auxiliary walking rehabilitation training robot | |
| CN105919774A (en) | Parallel flexible cable driven robot for upper limb rehabilitation and implementation method thereof | |
| CN104582668A (en) | Movement assistance device | |
| CN104905940B (en) | A kind of multifunctional limb intelligent rehabilitation machine | |
| CN202446736U (en) | Pedal linear mobile type lower limb exercise training device | |
| CN2788795Y (en) | Intelligent exercising device for leg rehabilitation | |
| CN205019357U (en) | Go up main passive rehabilitation training device of low limbs intelligence | |
| CN102232902A (en) | Pedal type lower-limb rehabilitation training device | |
| CN101816603B (en) | Electrically powered wheelchair device with rehabilitation mechanical arm | |
| CN105342806B (en) | A kind of human body joint motion servicing unit and human motion power assisting device | |
| CN206424280U (en) | A kind of weight-loss type gait rehabilitation training robot | |
| CN106621202A (en) | Infant crawling trainer and control system and control method thereof | |
| CN102525782A (en) | Waist movement rehabilitation control mechanism | |
| CN100536809C (en) | Partial weight-reducing support device with gravity center adjustment function | |
| CN206434545U (en) | A kind of device for healing and training | |
| CN107028736A (en) | One kind is with brake function day rail ambulation training system and its operating method | |
| CN107754217A (en) | Intelligent lower limb device for rehabilitation | |
| CN102631764B (en) | Lumbar support weight-reducing device | |
| CN106965154A (en) | A kind of ectoskeleton power assistive device | |
| CN107157706B (en) | A kind of adjustable upper limb device for healing and training | |
| CN108652909A (en) | A kind of joint of robot device of pneumatic muscles driving | |
| CN106901944A (en) | The portable device for healing and training that people stands can be helped |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Gui Jianchuang Inventor after: Luo Xiaobing Inventor before: Gui Jianchuang |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170602 Address after: 201 B-2 building 81, East Yongshun Avenue, Luogang District, Guangdong, Guangzhou 510663, China Applicant after: Guangzhou longzhijie Rehabilitation Nursing Technology Co. Ltd. Address before: 712000, No. 1, automobile industrial park, Qin Qin District, Shaanxi, Xianyang Applicant before: Shaanxi Aike Rui medical instrument limited company |
|
| TA01 | Transfer of patent application right | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |
|
| RJ01 | Rejection of invention patent application after publication |