CN106377396B - Device for healing and training - Google Patents
Device for healing and training Download PDFInfo
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- CN106377396B CN106377396B CN201611099172.4A CN201611099172A CN106377396B CN 106377396 B CN106377396 B CN 106377396B CN 201611099172 A CN201611099172 A CN 201611099172A CN 106377396 B CN106377396 B CN 106377396B
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- training
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
- A61B5/225—Measuring muscular strength of the fingers, e.g. by monitoring hand-grip force
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Biophysics (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Physics & Mathematics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to device for healing and training, including device frame and driving mechanism, driving mechanism includes the driving motor with motor casing and motor output shaft, the rotation axis that pivot center extends along the longitudinal direction is rotatably equipped on device frame, torque export structure is provided in rotation axis, motor output shaft and rotation axis are sequentially connected, and are provided with the pull pressure sensor being supported to the motor casing on device frame.The present invention solves the problems, such as in the prior art using torque sensor dynamometry value because of jitter caused by brush wear.
Description
Technical field
The present invention relates to the device for healing and training in a kind of rehabilitation mechanical.
Background technique
Cerebral apoplexy or apoplexy are a kind of sudden Cerebrovascular disorders obstacle diseases, and cerebral apoplexy typically results in componental movement
Dysfunction, paralytic especially occupy the hemiplegic patient of significant proportion, how bring heavy burden to family and society
Effective rehabilitation is carried out to hemiplegia patient, restores or the basic motion function for restoring hemiplegic patient is one long-term and difficult
Huge task.
In order to realize the recovery of motion function, re -training must be just carried out to muscle, traditional rehabilitation means are main
Will be based on the one-to-one manual treatment for the treatment of physician, this rehabilitation mode, therapeutic effect is unobvious, and treatment cycle is long,
Not only the amount of labour of therapist is big, while also expending patient's energy, increases the burden of medical worker.
Therefore correctly convalescence device and correct method of rehabilitation are most important, I has applied for theme in June, 2016
The application for a patent for invention of entitled " a kind of device for healing and training and its training stand ", Publication No. CN104887457, in the hair
Disclosed in bright patent a kind of my invention method of rehabilitation and with the matched convalescence device of the method for rehabilitation, in the method for rehabilitation
Take the lead in introducing primitive concept, according to organization of human body and movement characteristic, complicated movement, can be decomposed into several single positions,
This most basic unit is referred to as primitive by the single degree of freedom, the rotary motion rotated around corresponding joint, this movement is named
Elementary motions are done, by training step by step to each primitive, to restore final locomitivity.
Convalescence device for above-mentioned method of rehabilitation includes driving mechanism and fixator, the torque output of driving mechanism
End is sequentially connected by torque transfer arrangement and fixator, is provided in the drive path of torque output and driving mechanism
Torque sensor, fixator are sole fixed frame or palm fixed frame, when use the axis of torque transfer arrangement respectively at
Accordingly the axis of the correspondence freedom degree in the joint of limbs to be trained is overlapped, and active and passive by driving mechanism waits operating modes
To realize the training to limbs.Existing this convalescence device has the following problems: 1, torque sensor needs to rotate to measure
Data will rotate and be less susceptible to be arranged, and the brush of torque sensor can be worn, jitter, and furthermore either photoelectricity is still
The Costco Wholesale of wireless torque sensor is all higher；2, existing this fixator is only capable of having one to sole, palm etc.
The main joint (or for compared with large joint) of a freedom degree is trained, and for a finger, freedom degree is more, it is not necessary that every
A freedom degree is individually trained, and needs every finger completely to be trained as a training unit, existing limbs are fixed
Frame can not be trained the articulations digitorum manus of finger.
Summary of the invention
The object of the present invention is to provide a kind of device for healing and training, to solve to use torque sensor dynamometry in the prior art
Caused by being worth because of brush wear the problem of jitter.
To achieve the goals above, the technical scheme adopted by the invention is that:
Device for healing and training, including device frame and driving mechanism, driving mechanism include having motor casing and motor output shaft
Driving motor, be rotatably equipped with the rotation axis that pivot center extends along the longitudinal direction on device frame, torsion be provided in rotation axis
Square export structure, motor output shaft and rotation axis are sequentially connected, and are provided with the drawing being supported to the motor casing on device frame
Pressure sensor.
Device frame includes preceding riser, rear riser, and the rear and front end difference rolling assembling of rotation axis is on forward and backward riser, electricity
Machine output shaft is the hollow shaft that extends along the longitudinal direction of axis, rotation axis coaxial line be arranged in the hollow shaft and with the sky
Mandrel is fixedly connected.
The motor casing is located at the left side of the rotation axis, and motor casing is arranged in left-right direction, be fixed on motor casing with
The suspension that motor casing is set side by side, pull pressure sensor support the motor casing and being connected with the suspension.
Device for healing and training further includes articulations digitorum manus training institution, and articulations digitorum manus training institution includes mechanism rack, is set in mechanism rack
Be equipped with the guide frame of guide direction arc extension, on guide frame guiding movement be equipped with for the torsion in the rotation axis
The training piece of square export structure transmission connection is provided with the finger connection being connected for accordingly finger train in training piece and ties
Structure.
The guide direction of guide frame is moved towards to extend along involute.
The finger connection structure includes the fingerstall being inserted into for the finger belly of the finger to be trained, fingerstall and the training
Part is connected.
Fingerstall is connected by connecting plate with the training piece, and one end and the fingerstall of connecting plate are hinged and connected, connecting plate it is another
One end is hinged and connected with training piece.
Guide frame includes two spaced needle bearing groups, each needle bearing group includes along guide frame
The multiple needle bearings for moving towards sequence and arranging, the axis of needle bearing extends along the longitudinal direction, and training piece, which has, is located at two
The guide section that guiding cooperation is rolled with corresponding needle bearing between needle bearing group.
Articulations digitorum manus training institution is located at the right side of rotation axis, and torque export structure includes the rotation being fixedly arranged in rotation axis
Wheel, training piece have the linkage section being fixed on the rotating wheel.
The invention has the benefit that the power of trainer passes through rotation when being trained using this device for healing and training
Axis back transfer is to motor output shaft, and to motor casing, motor casing has to carry out the power acting in opposition of motor output shaft around rotation axis
The trend of rotation supports the pull pressure sensor of motor casing that can accurately measure the force value, the use of pressure sensing, drop
The low cost of product, while the setting structure of pull pressure sensor is relatively easy, there is no the brushes in such as torque sensor
Equal easily worn parts, signal stabilization.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of device for healing and training in the present invention；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is the structural schematic diagram of Tu1Zhong articulations digitorum manus training institution；
Fig. 5 is the cooperation schematic diagram of training band and fingerstall in Fig. 4；
Fig. 6 is the finger tip trajectory diagram of finger to be trained in the present invention.
Specific embodiment
The embodiment of device for healing and training is as shown in figures 1 to 6: including driving mechanism and articulations digitorum manus training institution, driving mechanism
Including device frame and horizontally disposed driving motor 1, driving motor 1 is the decelerating motor for capableing of vertical output, driving motor packet
It includes the motor casing arranged in left-right direction and motor that the axis that is assemblied on motor casing by bearing extends along the longitudinal direction is defeated
Shaft, motor output shaft are hollow shaft, and rotation is provided with the rotation axis 10 that pivot center extends along the longitudinal direction on device frame, fills
Setting frame includes bottom plate 3 and the preceding vertical version 4 being fixedly arranged on bottom plate, rear riser 13, and the both ends rolling assembling of rotation axis 10 is in forward and backward perpendicular
On plate, rotation axis is passed through by the center of motor output shaft, and rotation axis is connected by driving key and the transmission of motor output shaft coaxial line
It connects.Coaxial line is installed with rotating wheel 12 in rotation axis, and rotating wheel is a circular wheel in the present embodiment, and rotating wheel 12 is by nylon material
Material is made, and the position limiting structure for limiting rotating wheel slewing area is additionally provided on device frame, and convex block is provided on rotating wheel, limit
Bit architecture includes the forward and backward block at left and right sides of convex block, and positive stop can limit the suitable of rotating wheel with the cooperation of convex block block
What hour hands rotational limitation, backstop and the cooperation of convex block block can limit rotating wheel rotates counterclockwise the limit, passes through position limiting structure
Cooperation with convex block is to limit in a certain range the rotational travel of rotating wheel.Motor casing is located at a left side for rotation axis 10
Side, be installed on motor casing with motor casing suspension 14 disposed in parallel, be provided with pull pressure sensor between suspension 14 and bottom plate 3
2, upper end and the suspension 14 of pull pressure sensor 2 are hinged and connected, and lower end and the bottom plate 3 of pull pressure sensor 2 are hinged and connected, suspension
Belong to be relatively rotatable to each other the rotating turret that axis has rotation trend with motor casing.When not in use, pull pressure sensor is formed
One supporting leg, to be supported to motor casing, preceding, riser forms a supporting leg, to guarantee that the placement of entire driving mechanism is steady
It is qualitative.
Articulations digitorum manus training institution includes the mechanism rack 5 on the right side of rotation axis, and mechanism rack 5 is fixedly arranged on the bottom plate of device frame
On, mechanism rack includes the front vertical plate and back vertical plate of time interval setting, and the upper right side of forward and backward vertical plate is provided with arc-shaped notch 30,
There is gap 31 between the upper end and rotating turret of forward and backward vertical plate.Guide frame, the guide direction of guide frame are set in mechanism rack
It moves towards arc along involute to extend, guide frame includes two spaced needle bearing groups, two needle rollers in the present embodiment
Bearing group is setting up and down, and the top needle bearing group in position is known as upper needle bearing group 9, and the needle bearing group of position on the lower is known as
Lower needle bearing group 8, each needle bearing group include the multiple needle bearings 6 for moving towards sequence and arranging along guide frame,
The axis of needle bearing extends along the longitudinal direction, and the both ends of each needle bearing are rotatably dispose in respectively on forward and backward vertical plate.Guiding knot
Guiding is equipped with training piece on structure, and training piece is a bent training band made of nylon or plastics in the present invention
11, training band made of nylon or plastics, which can bend but also transmit, draws thrust, and the instruction in the both direction of finger may be implemented
Practice, training band includes the linkage section 11-1 being fixedly linked with the outer peripheral surface of rotating wheel 12 and between two needle bearing groups
The guide section 11-2 of guiding cooperation is rolled with corresponding needle bearing, linkage section can be fixed on rotation by screw or adhesive means
On wheel 12, it is also equipped with is similarly used for the needle bearing group in mechanism rack to training band in the present embodiment, on rotating turret
The device frame needle bearing of upper end guiding.Finger connection structure includes the fingerstall being inserted into for the finger belly of the finger to be trained
23, fingerstall 23 is connected by connecting plate 24 with the training band 11, and one end and the fingerstall 23 of connecting plate 24 are hinged and connected, connecting plate
24 other end is hinged and connected with training band.The upper right side of forward and backward vertical plate is provided with horizontal carriage 20, and palm can be placed when use
In in horizontal carriage 20.In Fig. 4, Fig. 5, Fig. 6, item 21 indicates that finger, item 22 indicate finger-joint, and dotted line indicates in Fig. 4, Fig. 5
One of state.
Why the guide direction of guide frame is not that the arc-shaped direction of standard extends, and is because as shown in fig. 6, finger
For three sections, that is to say, that the freedom degree of complete finger is multiple degrees of freedom rather than one degree of freedom, the bending and stretching process of finger
Naturally it is the movement of a multivariant compound motion rather than a single-degree-of-freedom, finger is depicted in figure and is being bent or is stretching
Fingertip motions track in the process, show finger tip motion profile 25 be not be one regular arc-shaped, but one is gradually opened
Wire shaped, therefore the guide direction of the guide frame in the present invention also uses involute direction to extend, and is more in line with human body in this way
Engineering science, it is consistent with the actual motion track of finger, guarantee training effect；Motor casing and articulations digitorum manus training institution are placed in rotation
The rational deployment in space may be implemented in the two sides of axis, facilitates the setting of driving motor and articulations digitorum manus training institution.
When in use, by the finger tip insertion fingerstall of finger to be trained, the use of needle bearing can for the device for healing and training
To reduce the running resistance of training band, the frictional resistance of training band can be ignored substantially, and the power of such finger can be accurate
Reaction pull pressure sensor on, be beneficial to the accurate measurement of force value.Following four can be used when to articulations digitorum manus training
Step is tested: the first step, due to patient muscle at this time also do not have locomitivity, i.e., patient muscle be in it is fully relaxed or
Person is in complete state of paralysis, so people is motionless in this step, driving mechanism provides active force, and rotation axis can rotate clockwise
It can also rotate counterclockwise, in this way after obtaining preliminary motion study, pull pressure sensor has after the generation of positive force can be into
Enter second step study；Second step, people move together with device for healing and training, the force direction of driving mechanism and the force side of human body
To consistent, the force dynamics of driving mechanism can be gradually increased, so incremental cyclic training；Third step, driving machine
Structure is failure to actuate, and people is dynamic, and human body applies static force to device for healing and training at this time, which is acted in rotation axis by rotating wheel,
The power is applied on motor output shaft by rotation axis, and reaction force, pressure sensing are generated between motor output shaft and motor casing
Device realizes the measurement to human body force value and measuring the reaction force, has gap between rotating turret and mechanism rack, in this way
Mechanism rack will not to forming active force between rotating turret, to guarantee the accurate measurement of force value, can carry out at this time power training and
Evaluation；4th step, people move together with device for healing and training, the direction of motion and the human motion direction phase of device for healing and training
Instead, with different levels in this way to train step by step, be conducive to being gradually recovered for muscle.A supporting leg of the pull pressure sensor as device frame
Structure enriches the function of pressure tactility apparatus, simplifies the structure of device frame, and pull pressure sensor can easily measure driving machine
For finger to the active force of device for healing and training, measurement is accurate when structure is failure to actuate, and structure simplifies for torque sensor, and
Cost is relatively low.
In other embodiments of the invention: when to training precision requirement is not very high, the guiding side of guide frame
To can also be along arc-shaped extension；Certain guide frame may not be needle bearing structure, for example guide barrel construction；Certainly
Training band is also possible to be made of magnetic material, can use magnetic suspension structure at this time to avoid between training band and guide frame
There is frictional force, fingerstall can also be directly hinged and connected with training band；Certain finger connection structure may not be fingerstall structure, than
A connecting hole is opened up on training band as said, the finger tip of finger passes through the connecting hole and realizes transmission phase of the finger with training piece
Even, or finger can also be tied up on training band with rope；Training band can also be by other bent flexible materials such as cloth
It is made, when training band is made of cloth, which can only realize the one direction training of finger；Certain training piece can not also be band
Shape structure, such as, training piece be only one can in guide frame guiding movement movable block；Rotating wheel can also use
Sector structure, forward and backward block can limit the slewing area of rotating wheel and cooperating with the two sides block of rotating wheel at this time；
Suspension can not also be set, and pull pressure sensor can be directly arranged between motor casing and pedestal at this time；The motor of driving motor
Output shaft is also possible to solid construction, and rotation axis can be sequentially connected by shaft coupling or spline and motor output shaft at this time；
The axis of certain motor output shaft can also extend in left-right direction, and motor output shaft can pass through bevel gear and rotation axis at this time
Transmission connection；Articulations digitorum manus training institution can not also be as a part of this device for healing and training, such as in addition consumer can be
Purchase or autogamy；When such as torque export structure may not be the rotating wheel in rotation axis, such as in the end of rotation axis
Drive splines or shaft coupling be set, and fixator in the prior art can be connected to torque export structure by when use
On.
Claims (7)
1. device for healing and training, including device frame and driving mechanism, driving mechanism include having motor casing and motor output shaft
Driving motor, it is characterised in that: the rotation axis that pivot center extends along the longitudinal direction is rotatably equipped on device frame, in rotation axis
It is provided with torque export structure, motor output shaft and rotation axis are sequentially connected, are provided on device frame and carry out to the motor casing
The pull pressure sensor of support, device for healing and training further include articulations digitorum manus training institution, and articulations digitorum manus training institution includes mechanism rack,
The guide frame of guide direction arc extension is provided in mechanism rack, on guide frame guiding movement be equipped with for described turn
The training piece of torque export structure transmission connection on moving axis, the hand connected for accordingly finger train is provided in training piece
Refer to connection structure, guide frame includes two spaced needle bearing groups, each needle bearing group includes along guiding
The multiple needle bearings for moving towards sequence and arranging of structure, the axis of needle bearing extend along the longitudinal direction, and training piece, which has, to be located at
The guide section that guiding cooperation is rolled with corresponding needle bearing between two needle bearing groups.
2. device for healing and training according to claim 1, it is characterised in that: device frame includes preceding riser, rear riser, rotation
For the rear and front end difference rolling assembling of axis on forward and backward riser, motor output shaft is the hollow shaft that axis extends along the longitudinal direction,
Rotation axis coaxial line is arranged in the hollow shaft and is fixedly connected with the hollow shaft.
3. device for healing and training according to claim 1, it is characterised in that: the motor casing is located at a left side for the rotation axis
Side, motor casing are arranged in left-right direction, and the suspension being set side by side with motor casing is fixed on motor casing, and pull pressure sensor passes through
It is connected with the suspension and supports the motor casing.
4. device for healing and training according to claim 1, it is characterised in that: the guide direction of guide frame is walked along involute
To extension.
5. device for healing and training according to claim 1, it is characterised in that: the finger connection structure includes for described
The fingerstall of the finger belly insertion of finger to be trained, fingerstall are connected with the training piece.
6. device for healing and training according to claim 5, it is characterised in that: fingerstall passes through connecting plate and the training piece phase
Even, one end and the fingerstall of connecting plate are hinged and connected, and the other end and the training piece of connecting plate are hinged and connected.
7. device for healing and training according to claim 1, it is characterised in that: articulations digitorum manus training institution is located at the right side of rotation axis
Side, torque export structure include the rotating wheel being fixedly arranged in rotation axis, and training piece has the connection being fixed on the rotating wheel
Section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611099172.4A CN106377396B (en) | 2016-12-04 | 2016-12-04 | Device for healing and training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611099172.4A CN106377396B (en) | 2016-12-04 | 2016-12-04 | Device for healing and training |
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| Publication Number | Publication Date |
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| CN106377396A CN106377396A (en) | 2017-02-08 |
| CN106377396B true CN106377396B (en) | 2019-01-08 |
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| CN201611099172.4A Active CN106377396B (en) | 2016-12-04 | 2016-12-04 | Device for healing and training |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5327882A (en) * | 1992-09-03 | 1994-07-12 | Toronto Medical Corp. | Continuous passive motion device |
| CN104887457A (en) * | 2015-06-11 | 2015-09-09 | 尚廷东 | Rehabilitation training device and training bracket thereof |
| CN105726263A (en) * | 2016-04-19 | 2016-07-06 | 西安交通大学 | Wearable hand exoskeleton rehabilitation training robot |
| CN105796283A (en) * | 2016-03-01 | 2016-07-27 | 哈尔滨工程大学 | Exoskeleton hand rehabilitation training device |
| CN205586014U (en) * | 2016-04-18 | 2016-09-21 | 朱勇 | Two -dimentional measuring device of limbs strength |
| CN206822825U (en) * | 2016-12-04 | 2018-01-02 | 郑州东辰科技有限公司 | A kind of device for healing and training |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203123429U (en) * | 2013-01-23 | 2013-08-14 | 泰山医学院 | Training device for finger stretching rehabilitation |
-
2016
- 2016-12-04 CN CN201611099172.4A patent/CN106377396B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5327882A (en) * | 1992-09-03 | 1994-07-12 | Toronto Medical Corp. | Continuous passive motion device |
| CN104887457A (en) * | 2015-06-11 | 2015-09-09 | 尚廷东 | Rehabilitation training device and training bracket thereof |
| CN105796283A (en) * | 2016-03-01 | 2016-07-27 | 哈尔滨工程大学 | Exoskeleton hand rehabilitation training device |
| CN205586014U (en) * | 2016-04-18 | 2016-09-21 | 朱勇 | Two -dimentional measuring device of limbs strength |
| CN105726263A (en) * | 2016-04-19 | 2016-07-06 | 西安交通大学 | Wearable hand exoskeleton rehabilitation training robot |
| CN206822825U (en) * | 2016-12-04 | 2018-01-02 | 郑州东辰科技有限公司 | A kind of device for healing and training |
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| Publication number | Publication date |
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| CN106377396A (en) | 2017-02-08 |
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