CN106333823A - Robot - Google Patents
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- CN106333823A CN106333823A CN201510417171.9A CN201510417171A CN106333823A CN 106333823 A CN106333823 A CN 106333823A CN 201510417171 A CN201510417171 A CN 201510417171A CN 106333823 A CN106333823 A CN 106333823A
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Abstract
The invention relates to the field of robots, in particular to a robot. The robot is used for acquiring relevant parameters for representing a stressed situation or a motion situation of a biological limb in the motional process, and intuitively displaying the relevant parameters. The robot provided by the embodiment of the invention comprises a control system, a display, a main body, a first knuckle arm, a second knuckle arm and an end executor, wherein one end of the first knuckle arm is connected with the main body in a pivoting manner through a shaft driven by a first motor; the other end of the first knuckle arm is connected with the second knuckle arm in a pivoting manner through a shaft driven by a second motor; the other end of the second knuckle arm is connected with the end executor; the control system controls running of the robot; in the running process of the robot, the end executor drives the biological limb to motion, and the control system acquires running parameters of the first motor and the second motor, determines stressed parameters and/or motion parameters of the biological limb according to a functional relationship between the running parameters and the stressed parameters and/or the motion parameters of the biological limb, and displays the determined stressed parameters and/or the determined motion parameters on the display.
Description
Technical field
The present invention relates to robotics, more particularly, to a kind of robot.
Background technology
With the continuous progress of roboticses, various types of healing robots of alternate physical therapist are wide
It is applied in upper limb, lower limb and trunk rehabilitation training generally.But inventors herein have recognized that, in rehabilitation
During the use of robot, because the biological limbs of patient place one's entire reliance upon the mechanical mechanism of healing robot
Drive to carry out rehabilitation training, thus result in rehabilitation training, user cannot judge health effectively
The rehabilitation efficacy that refreshment is practiced.
Content of the invention
The embodiment of the present invention provides a kind of robot, characterizes the stress during biological limb motion for acquisition
Situation or the relevant parameter of motion conditions, and intuitively show.
For solving the above problems, the embodiment of the present invention provide a kind of robot include: control system, display,
Main body, the first joint arm and the second joint arm, and end effector, wherein: one end of described first joint arm leads to
The axle crossing the first motor-driven is pivotally connected described main body, and the other end passes through the axle pivot of the second motor-driven
Turn and connect described second joint arm, the other end of described second joint arm connects described end effector；Described control
System controls the operation of described robot, and in described robot running, described end effector drives
Biological limb motion, the operational factor of described control system described first motor of acquisition and the second motor is simultaneously
Described biology is determined according to the functional relationship by force parameter and/or kinematic parameter of operational factor and biological limbs
Limbs by force parameter and/or kinematic parameter, and be shown in institute by determine by force parameter and/or kinematic parameter
State on display.
Wherein, described biology limbs can be included by force parameter described biology limbs end in the horizontal direction
Joint force with stress in vertical direction.
More, described robot is used for the healing robot of human body recovery, and at this moment, described biology limbs are
The lower limb of human body, the kinematic parameter of described biology limbs can include hip joint or kneed operating angle.
Further, the kinematic parameter of described biology limbs be hip joint or kneed operating angle maximum with
Minima.
When the robot of the embodiment of the present invention is used for the rehabilitation training of human body limb, described end effector can
To include: little leg holder, described little leg holder and described second joint arm pass through what three-motor drove
Axle is pivotally connected；Foot holder, described foot holder and described second joint arm pass through the 4th motor-driven
Axle is pivotally connected.
And, described control system can also obtain being subject to of ankle joint according to the operational factor of the 4th motor
Force parameter and/or operating angle, and show on the display.Wherein said ankle joint by force parameter bag
Include the torsional moment of described ankle joint.
In the embodiment of the present invention, for meeting base of principle of human engineering, described control system controls described robot
Operation when, make described first joint arm and the second joint arm, and the movable boundary of end effector be without departing from setting
Determine scope, this set point is according to determined by the extreme sport scope of biological limbs.
Above-mentioned robot provided in an embodiment of the present invention, can obtain biological according to the operational factor of robot
Limbs by force parameter, or kinematic parameter, and the robot that these parameters are intuitively shown.Actual
The motor capacity objectively being characterized biological limbs by force parameter of upper biology limbs, for motor capacity difference
Biological limbs, robot needs to apply larger power to make it move, for motor capacity preferable biology limbs,
Identical motion only need to apply less power, and biological limbs are through training after a while, the change of stress
Change can objectively reflect rehabilitation result.Same reason, kinematic parameter is also to reflect rehabilitation result,
The stretching, extension of such as limbs and the increase of flexion angle, also reflect the increasing of limb activity ability to a certain extent
Plus.In addition the embodiment of the present invention not adopts the measuring cells such as sensor to obtain biological limbs and is subject to force parameter, and
The operational factor according to robot, obtain biological limbs by force parameter, or kinematic parameter, is very
Objective and accurate parameter, therefore for the rehabilitation efficacy judging rehabilitation training, has extraordinary referential.
Brief description
The backsight structural representation of robot one embodiment that Fig. 1 provides for the present invention；
The electric control system structural representation of the robot that Fig. 2 provides for Fig. 1；
The kinetic model of robot shown in Fig. 1 for the Fig. 3 biological limbs and robot in running
Sketch；
The electric control system structural representation of another embodiment of robot that Fig. 4 provides for the present invention；
The schematic diagram of display picture one embodiment of the robot that Fig. 5 provides for the present invention.
Specific embodiment
It is used for the occasion of rehabilitation training in robot, how to obtain the physical quantity of the result characterizing rehabilitation training simultaneously
Intuitively show, be a problem needing to solve, the embodiment of the present invention can provide one kind being capable of basis
The operational factor of robot, obtain biological limbs by force parameter, or kinematic parameter, and by these parameters
The robot intuitively showing.Actually biological limbs by force parameter, objectively characterize biological limbs
Motor capacity, for the biological limbs of motor capacity difference, robot needs to apply larger power to make it move,
For motor capacity preferable biology limbs, identical motion only need to apply less power, and biological limbs pass through
The training of a period of time, the change of stress can objectively reflect rehabilitation result.Same reason,
Kinematic parameter is also to reflect rehabilitation result, the stretching, extension of such as limbs and the increase of flexion angle, also one
Determine the increase of limb activity ability is reflected on degree.In addition the embodiment of the present invention not adopts sensor etc. to measure
Element obtains biological limbs and is subject to force parameter, but the operational factor according to robot, obtain being subject to of biological limbs
Force parameter, or kinematic parameter, are that non-regular guest sees and accurate parameter, therefore for judging rehabilitation training
Rehabilitation efficacy, has extraordinary referential.
For being more clearly understood that embodiment of the present invention, referring to the drawings, carried out specifically with specific embodiment
Bright.
First, in conjunction with the machine that can adopt in the embodiment of the present invention, shown in Fig. 1, Fig. 2 and Fig. 3, is described
The primary structure of people.Wherein: Fig. 1 is that the frame for movement of the robot in the first embodiment of the present invention is shown
It is intended to, Fig. 2 is the electric control system structural representation of robot；Knowable to diagram, this robot includes
Main body 11, the first joint arm 122a, the second joint arm 122b, end effector 13, control system 14, and
Display 15, wherein:
First axle j1 that the first motor (not shown in figure 1) drives is passed through in one end of first joint arm 122a
It is pivotally connected main body 11, the other end of the first joint arm 122a passes through the second motor (not shown in figure 1)
The the second axle j2 driving is pivotally connected the second joint arm 122b, and the other end of the second joint arm 122b connects end and holds
Row device 13, wherein first axle j1 and the second axle j2 are parallel, and keep horizontal direction, in actual motion
The initial position of robot and form, need to make first axle j1 and the second axle j2 respectively with biological limbs 200
Direction of extension substantially vertical, so driving the biological limb motion can be in the natural stretching, extension side of biological limbs
Bring up its motion, more meet base of principle of human engineering.
Wherein end effector 13 can also be able to be pivot for being fixedly connected with the other end of the second joint arm 122b
Turn and connect, here is not specifically limited.
See figures.1.and.2, present embodiment provide robot in running, control system 14
Output starts control signal, so that the first motor and the second motor start-up is run, the rotating shaft of the first motor
Drive first axle j1 to rotate, the rotating shaft of the second motor drives the second axle j2 to rotate, and then pass through the respectively
The first joint arm 122a that one axle j1 and the second axle j2 correspondingly drives and the second joint arm 122b are rotated,
So that the overall of mechanical arm mechanism is rotated in xz plane, and then drive end effector 13 to move, thus
Biological limbs lower limb 200 are driven to move.
To illustrate present embodiment below, from above-mentioned machine taking the lower limb as patient for the biological limbs 200 as a example
The running of device people understands the stressing conditions (with reference to shown in Fig. 3) of biological limbs, being moved through in lower limb
Cheng Zhong, the torque at first axle j1 is t1, the torque at the second axle j2 is t2, then ankle joint 400 be subject to
Perpendicular acting force component be fz, horizontal force force component is fx, according to principle of moment balance,
Perpendicular acting force component can be obtained is:
Horizontal force force component is:
Wherein, l1For the length of the first joint arm, l2For the length of the second arm, θ1For the first joint arm and level side
To angle, θ2Angle for the second arm and horizontal direction.
It is hereby achieved that in robot running,
(formula 3)
It should be noted that power in the present embodiment, moment are vector, t1For the first motor
The torque of rotating shaft output, t2For the torque of the rotating shaft output of the second motor, θ1Determination can be according to
The angle that one axle j1 is rotated is determining, that is, can be the rotating shaft of the first motor with respect to level side
To corner, θ in the same manner2For the second motor rotating shaft with respect to horizontal direction corner.Therefore ankle joint
The joint force f that 400 are subject toCloseThere is and the operational factor of motor between certain functional relationship.
Because the robot that present embodiment provides is used for the motion of biological limbs, being moved through according to robot
Cheng Zhong, the first joint arm 122a is fixed at first axle j1, and the hip joint of patient is also on bed 300
Fixed position, exists between the therefore first joint arm, the second joint arm, end effector and biological limbs and meets
The Motion Controlling Model of human engineering.The structural parameters not phase of biological limbs for different patients
With, in order to adapt to each patient, in present embodiment, on the display being connected with control system, can
To show human-computer interaction interface, using human-computer interaction interface, can be before robot runs, by patient's
The structural parameters of biological limbs input to control system, so that control system can be according to the first segment of storage
Motion Controlling Model between arm, the second joint arm, end effector and biological limbs and the life being inputted
The structural parameters of thing limbs, each of concrete control robot motor is so that biological limbs are realized accordingly
Motion.For example when biological limbs are lower limb, structural parameters include greater trochanter height, thigh length, shank
(ankle closes for length, ankle bone height a (distance of ankle joint center of rotation to heel), ankle bone height b
Save center of rotation to the distance of sole)；Wherein, thigh length refers to from hip joint center of rotation to knee joint
The length of center of rotation, lower-leg length refers to the length from knee joint center of rotation to ankle joint center of rotation.
In application process, it generally also includes being assemblied in turning of motor for the robot that present embodiment provides
Encoder on axle, to measure the real-time corner with respect to horizontal direction for the rotating shaft of motor.Control system 14
The corresponding of the first motor, the real-time torque of rotating shaft output of the second motor and encoder measurement can be obtained
The real-time corner (i.e. the operational factor of motor) of motor, and according to acquired operational factor and prestore
The operational factor of motor in control system 14 for the storage is true with the functional relationship by force parameter of biological limbs
Fixed biology limbs by force parameter；And control system 14 by determined by biological limbs defeated by force parameter
Go out to display 15 display.
The functional relationship by force parameter of the wherein operational factor of such as motor and biological limbs can adopt
The functional relation of aforementioned formula 3, now, being closed for ankle by force parameter of biological limbs that control system determines
The joint force f that section 400 is subject toClose；Can certainly using meet kinetics and kinematic foundation its
His functional relation come to calculate biological limbs accordingly by force parameter, what such as ankle joint 400 was subject to hangs down
Straight active force and horizontal applied force etc..
Certainly, in the present embodiment, control system 14 can also be according to the structure of the biological limbs of patient
Motor control between parameter, the first joint arm of storage, the second joint arm, end effector and biological limbs
Model determining the kinematic parameter of biological limbs, and by determined by the kinematic parameter of biological limbs export to aobvious
Show display on device 15.
This Motion Controlling Model can pass through the first joint arm, the folder of the second joint arm, the first joint arm and horizontal direction
The angle of the angle at angle, the second joint arm and horizontal direction and the first joint arm and horizontal direction, the second joint arm
To set up with the structural parameters of biological limbs with the angle of horizontal direction, such as hip joint (or knee joint)
The Motion Controlling Model of operating angle α functional relationship be α=f (θ1, θ2), thus by control being
System determines the real-time action angle (i.e. the kinematic parameter of biological limbs) of hip joint (or knee joint), and
By determined by the operating angle of hip joint (or knee joint) export to display 15 display.
Thus, user can learn the motion of the biology limbs such as operating angle of hip joint (or knee joint)
Parameter, and because biological limbs can be characterized the motion flexibility ratio of biological limbs by force parameter, for example,
When the active force being subject to is larger, illustrates that the motion flexibility ratio of biological limbs is poor, otherwise preferably, therefore use
Active force that family can be subject to according to the biological limbs of display on display 15 etc. is learnt biological limb by force parameter
The motion flexibility ratio of body, and whether effectively rehabilitation is judged according to the change of stressing conditions, whether biological limbs have
The trend taking a turn for the better to rehabilitation direction.
Above-mentioned embodiment to be illustrated with lower limb thing limbs of making a living, but for people in the art
Member understands, biological limbs can also be upper limb, and the active force that ankle joint is subject to can also be subject to for upper limb carpal joint
The active force arriving, or the active force being subject to for the end of biological limbs.
Further, on the basis of first embodiment, there is provided second embodiment of the present invention, should
Second embodiment is with the difference of first embodiment, control system according to set hip joint or
Knee joint angle (hip joint in such as 1 ° rehabilitation action or knee joint angle) as the sampling interval,
Set sampling interval in each sample point determine biological limbs by force parameter, (for example ankle joint is subject to
To joint force) carry out mean value calculation, using the meansigma methodss being calculated as ankle joint in this sampling interval
The joint force being subject to exports to display and shows that is to say, that in this embodiment, being subject to of biological limbs
Force parameter is the meansigma methodss of the multiple repairing weld result in the sampling interval setting according to the sampling interval setting.
Further, on the basis of first embodiment, there is provided third embodiment of the present invention, should
Second embodiment is with the difference of first embodiment, and control system is in the sampling interval setting
Determine the maxima and minima in the real-time action angle of hip joint (or knee joint), and will be determined
The real-time action angle of hip joint (or knee joint) in maxima and minima export to display show
Show.
Sampling interval to determine with specific reference to the form of biological limb motion, and here is simultaneously not specifically limited；If
Fixed sampling interval can have various ways, for example, can be one of single rehabilitation exercise of biological limbs
Action cycle, a single rehabilitation exercise includes multiple action cycles, when the lower limb that biological limbs are human body,
The maximum of the such as operating angle of hip joint in one of them action cycle is 53 ° and minima is
11°；Or the sampling interval setting can also be one of the full rehabilitation exercise action of biological limbs single
Rehabilitation exercise, wherein once full rehabilitation exercise action includes multiple single rehabilitation exercises, for example one of single
The maximum of the operating angle of the hip joint in secondary rehabilitation exercise is that 53 ° and minima are 11 °, Ling Yidan
The maximum of the operating angle of the hip joint in secondary rehabilitation exercise is that 57 ° and minima are 9 °.
With reference to shown in Fig. 5, in the display pattern of the single rehabilitation exercise action of biological limbs, control system
Can be by the biological limbs determining by force parameter, kinematic parameter (hip joint or kneed real-time action
Maxima and minima in angle) export according to sampling interval (action cycle) and show to display, example
As shown every five action cycles.Specifically, when biological limbs are lower limb, ankle joint is in an action
Maximum in the joint force being subject in cycle, the real-time action angle of hip joint (or knee joint)
Show over the display every five action cycles with minima.
In the display pattern of the full rehabilitation exercise action of biological limbs, the biology that control system can will determine
Limbs by force parameter, kinematic parameter (maximum in hip joint or kneed real-time action angle with
Minima) export according to every sampling interval (single rehabilitation exercise action) and show to display.
In addition, on the basis of any of the above-described embodiment, there is provided the 4th embodiment of the present invention, ginseng
According to shown in Fig. 1, its main body 11 also includes the lifting unit 121 of vertically slidable fit, wherein first segment
Arm 122a is pivotally connected by first axle j1 of the first motor-driven with lifting unit 121.
The robot that present embodiment provides can in use, by lifting unit come in the vertical direction
Integrated regulation first joint arm, the position of the second joint arm are to adapt to the environment that it is applied.
In addition, the rehabilitation of the lower limb in human body for the robot application providing when the aforementioned any embodiment of the present invention
When, then with continued reference to shown in Fig. 1, Fig. 3 and Fig. 4, in another embodiment of the invention, end is held
Row device 13 includes little leg holder 123 and foot holder 124, wherein little leg holder 123 and the second joint arm
122b is pivotally connected by the 3rd axle j3 that three-motor drives；Foot holder 124 and the second joint arm 122b
It is pivotally connected by the 4th axle j4 of the 4th motor-driven, the 3rd axle j3 and the 4th axle j4 are coaxially disposed.
Present embodiment provide robot, control system 14 output control signal, make the first motor,
Second motor, three-motor and the 4th motor start-up run, and the rotating shaft of the first motor drives first
Axle j1 rotates, and the rotating shaft of the second motor drives the second axle j2 to rotate, so pass through respectively first axle j1 and
The first joint arm 122a that second axle j2 correspondingly drives and the second joint arm 122b are rotated, i.e. driving machine
The overall of tool arm mechanism rotates in xz plane, the rotating shaft of three-motor drive the 3rd axle j3 to rotate and then
Little leg holder 123 is driven to be rotated, the rotating shaft of the 4th motor drives the 4th axle j4 and then drives foot
Holder 124 is rotated, thus realizing the rehabilitation training of hip joint in lower limb, knee joint and ankle joint.
Therefore, in the course of the work, control system is according to the motion of storage for the robot that present embodiment provides
Learn model aforesaid four motor are operated accordingly, such that it is able to realize six kinds of fortune of different purposes
Dynamic model formula, specifically includes: 3 joint 1 pattern, that is, keep the generally horizontal state of shank, simultaneously drive hip
The rehabilitation exercise pattern of joint, knee joint and ankle joint；Continuous passive motion (continous passive
Motion, cpm) pattern, even if heel generally remains moving horizontally, simultaneously drive hip joint, knee joint
Rehabilitation exercise pattern with ankle joint；3 joint 2 pattern, that is, keep the generally horizontal state of shank, simultaneously
Drive the rehabilitation exercise pattern of hip joint, knee joint and ankle joint；The high lift of straight legs (straight leg raising,
Slr) pattern, i.e. knee extension, drive whole lower limb to move up and down, now ankle joint also can same luck
Dynamic；Ankle joint pattern, that is, be operated alone ankle joint, makes foot do sole of the foot song, the pattern of dorsiflex campaign；Mixing
Pattern, selects the rehabilitation exercise pattern of two kinds of alternately and repeatedly actions from aforesaid five kinds of motor patterns.
In this embodiment, control system 14 is except can determine joint force that ankle is subject to simultaneously
Export and show to display 15, can also be corresponded to according to the torque of the rotating shaft output of the 4th motor, corner
Ground determines the torsional moment that is subject to of ankle joint 400 and operating angle, and by the torsional moment determining and operating angle
Export and show to display；Certainly, control system 14 can also be according to the hip joint setting or knee angle
Spend as the sampling interval, the torsion to the ankle that each sample point determines in the sampling interval setting
Square carry out mean value calculation, set sampling interval in determine ankle operating angle maximum with
Minima, and show being worth determined by control system 14 to export according to the sampling interval setting to display.
In this embodiment, the Hip Angle in typically 1 ° rehabilitation exercise action of sampling interval,
And under cpm motor pattern, the sampling interval is preferably the knee joint angle in 1 ° of rehabilitation exercise action.
Further, since the artificial healing robot of machine, therefore typically require limit robot the first joint arm,
The range of movement of the second joint arm, little leg holder and foot holder, to meet human engineering, therefore at this
In one embodiment of invention, each motor has brake, when control system receives encoder
Detected corresponding motor rotates to human synovial institute energy on a direction of rotation is (for example clockwise)
During the maximum angle bearing, control system exports corresponding control signal, controls corresponding motor in this rotation
Turn and stop and start reversely rotating or braking so that the machinery that formed of the first joint arm and the second joint arm on direction
Arm mechanism, and the movable boundary of end effector is without departing from set point, such as single dotted broken line in FIG
Action (wherein reference 300 is therapeutic bed) in shown scope.
In addition, in any of the above-described embodiment of the present invention, biological limbs by force parameter determined by control system
And/or kinematic parameter can show in the display in many ways, shown in reference Fig. 5, for example biological limbs
Can be shown with bar diagram or forms mode by force parameter, the kinematic parameter of biological limbs is with numeral or form
Form shows；And in order that user intuitively learn robot in running biological limbs by Radix Talini Paniculati
Biological limbs can be shown by force parameter is corresponding with kinematic parameter by the relations between number and kinematic parameter,
And biological limbs determined by can showing by force parameter and the corresponding display pattern of kinematic parameter (for example
Single rehabilitation exercise or full rehabilitation exercise) and shown project etc..The particular type of control system 14
Do not limit, for example, programmable control system or CPU or microcomputer etc., control system 14
Upper control machine and the robot controller being connected with upper control machine can be included, wherein upper control machine is used
To input control command, and control command is transmitted to robot controller, and then robot controller controls
The motion of each motor in robot, to realize corresponding control command.The particular type of display 15
Do not limit, it is preferred to use there is the touch-screen display of input function.
In addition, previously described embodiment of the invention can as needed combination in any so as to have corresponding work(
Energy.
Above by reference to accompanying drawing, the specific implementation of the present invention is described in detail it is clear that this area
Technical staff the present invention can be carried out various change and modification without departing from the spirit and scope of the present invention.This
Sample, if these modifications of the present invention and modification belong to the claims in the present invention and its equivalent technologies scope it
Interior, then the present invention is also intended to comprise these changes and modification.
Claims (10)
1. a kind of robot is it is characterised in that include control system, display, main body, the first joint arm
With the second joint arm, and end effector, wherein:
One end of described first joint arm is pivotally connected described main body, the other end by the axle of the first motor-driven
Described second joint arm is pivotally connected by the axle of the second motor-driven, the other end of described second joint arm connects
Described end effector；
Described control system controls the operation of described robot, in described robot running, described end
End executor drives biological limb motion, and described control system obtains described first motor and the second motor
Operational factor and the functional relationship by force parameter and/or kinematic parameter according to operational factor and biological limbs
Determine described biology limbs by force parameter and/or kinematic parameter, and will determine by force parameter and/or motion
Parameter shows on the display.
2. robot as claimed in claim 1 it is characterised in that described biology limbs by force parameter
Joint force including the end stress in the horizontal direction and the vertical direction of described biology limbs.
3. robot as claimed in claim 1 it is characterised in that described biology limbs by force parameter
For the multiple meansigma methodss determining result.
4. robot as claimed in claim 2 is it is characterised in that described robot is healing robot,
Described biology limbs are the lower limb of human body, and the kinematic parameter of described biology limbs includes hip joint or kneed
Operating angle.
5. robot as claimed in claim 4 it is characterised in that described biology limbs kinematic parameter
Maxima and minima for hip joint or kneed operating angle.
6. robot according to claim 1 is it is characterised in that described main body is also included along vertically
The lifting unit of direction slidable fit, described first joint arm and described lifting unit are pivotally connected.
7. the robot according to any one of claim 1～6 is it is characterised in that described robot is
Healing robot, described biology limbs are the lower limb of human body, and described end effector includes:
Little leg holder, described little leg holder and described second joint arm pass through the axle pivot that three-motor drives
Turn and connect；
Foot holder, described foot holder and described second joint arm are pivoted even by the axle of the 4th motor-driven
Connect.
8. robot as claimed in claim 7 is it is characterised in that described control system is always according to the 4th
The operational factor of motor, obtain ankle joint by force parameter and/or operating angle, and be shown in described display
On device.
9. robot as claimed in claim 8 it is characterised in that described ankle joint by force parameter bag
Include the torsional moment of described ankle joint.
10. robot as claimed in claim 1 is it is characterised in that described control system controls described machine
During the operation of device people, make described first joint arm and the second joint arm, and the movable boundary of end effector does not surpass
Go out set point.
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| CN108553834A (en) * | 2018-06-25 | 2018-09-21 | 广州康医疗设备实业有限公司 | A kind of Isokinetic muscle strength training system and its control method |
| CN109545020A (en) * | 2018-11-01 | 2019-03-29 | 内蒙古医科大学 | Training device and training method for the reduction of the fracture |
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| CN110678157A (en) * | 2017-05-26 | 2020-01-10 | 墨尔本大学 | Electromechanical robot manipulator device |
| CN108553834A (en) * | 2018-06-25 | 2018-09-21 | 广州康医疗设备实业有限公司 | A kind of Isokinetic muscle strength training system and its control method |
| CN108553834B (en) * | 2018-06-25 | 2023-12-12 | 广州一康医疗设备实业有限公司 | Constant-speed muscle strength training system and control method thereof |
| CN109545020A (en) * | 2018-11-01 | 2019-03-29 | 内蒙古医科大学 | Training device and training method for the reduction of the fracture |
| CN109545020B (en) * | 2018-11-01 | 2024-01-12 | 内蒙古医科大学 | Training device and training method for fracture reduction |
| CN113499221A (en) * | 2021-07-14 | 2021-10-15 | 合肥技加医疗科技有限公司 | Lower limb multidimensional rehabilitation training device |
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