CN106473897A - The four limbs linkage recovery exercising robot of achievable normal gait track - Google Patents
The four limbs linkage recovery exercising robot of achievable normal gait track Download PDFInfo
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- CN106473897A CN106473897A CN201610988300.4A CN201610988300A CN106473897A CN 106473897 A CN106473897 A CN 106473897A CN 201610988300 A CN201610988300 A CN 201610988300A CN 106473897 A CN106473897 A CN 106473897A
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- 230000005021 gait Effects 0.000 title claims abstract description 21
- 238000011084 recovery Methods 0.000 title claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 238000012549 training Methods 0.000 abstract description 29
- 210000003414 extremity Anatomy 0.000 description 9
- 210000002683 foot Anatomy 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000007996 neuronal plasticity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000036301 sexual development Effects 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
- 210000004233 talus Anatomy 0.000 description 1
Classifications
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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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
- A61H1/001—Apparatus for applying movements to the whole body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
-
- 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
- A61H2001/0211—Walking coordination of arms and legs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B2022/0092—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for training agility or co-ordination of movements
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Vascular Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Cardiology (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of four limbs linkage recovery exercising robot that can realize normal gait track, including frame, power set, transmission system and two pedals；Transmission system is made up of drive sprocket, chain, driven sprocket and power transmission shaft；The left and right sides of frame has been symmetrically distributed two sets of motion assistant systems of structure identical, the cam link mechanism that often set motion assistant system is made up of cam mechanism and four-bar mechanism connection；The end of two sets of motion assistant systems is respectively connecting to two pedals；1 point of C on connecting rod is hinged with pedal；Cam mechanism is used for controlling the length of crank；Crank in two sets of motion assistant systems is installed with 180 ° of phase difference.The present invention can produce accurately gait track, solve the problems, such as that general gait rehabilitation mechanism path is larger with normal gait trajector deviation.Can both select with motor drive motion assistant system passive complete rehabilitation training, it is also possible to selection hand operation handrail complete rehabilitation training on one's own initiative.
Description
Technical field
The present invention relates to the robot of a kind of rehabilitation medical instrument and field of exercise, and in particular to one kind just can achieve
The four limbs linkage recovery exercising robot of normal gait track.
Background technology
Investigation shows have a considerable amount of people to cause lower limb disorder due to reasons such as disease, traffic accidents every year.
Correlative study shows, for the crowd of motion disability, carries out rational rehabilitation training as early as possible, can promote corticocerebral plastic
Sexual development, recovers limb function, effectively alleviates illness, reduces disabled degree, reduces complication.With neural plasticity principle it is
The Repetitive training on basis can achieve brain in patients function integrity, be expected to make patient's gradually health by mechanical device supplemental training
Multiple.Part body weight support treadmill training (PBWSTT) application clinically is namely based on above-mentioned principle.Patient carries out Unweighting walking instruction
When practicing, generally require two rehabilitations teacher to aid in, but the limited amount of rehabilitation teacher, it is difficult to meet the demand of patient, also cannot
Ensure the rehabilitation training time and intensity of patient, this makes the actual efficacy of the rehabilitation training for needing human assistance be restricted.For
This, the researcher of the developed country such as American-European, Japanese and medical institutions take the lead in expanding the research to healing robot technology,
At present research is more ripe Lokomat, LOPES, ALEX and NaTUre-gaits etc..These robots are multiple due to structure
Miscellaneous, expensive, it is difficult to be applied in the middle of general family.
In addition to minority exoskeleton-type lower limb rehabilitation robot can approximately realize normal gait track, most of foot drives
There is certain deviation track achieved by healing robot and human normal gait track, cause user prolonged exercise it
Gait is not corresponded with natural gait afterwards, and muscle launch modes differ from ordinary person, affects rehabilitation training effect.
Content of the invention
The present invention in view of the shortcomings of the prior art part, there is provided a kind of health of new achievable normal gait track
Multiple image training robot.Can be designed according to the physical trait of rehabilitation training person and rehabilitation theory using the present invention, solve
Rehabilitation training track and the unmatched problem in natural gait track so as to the standard gait that mates with rehabilitation training person can be produced
Track, further completes the rehabilitation exercise motion of whole lower limb by driving foot motion.The inventive structure is simple, it is only necessary to one
Motor can complete rehabilitation training, and cost is relatively low, is well suited for for average family.Additionally, the present invention both can be driven by motor
The dynamic rehabilitation training for completing four limbs linkage for driving patient passive, it is also possible to which rehabilitation instruction is completed on one's own initiative by hand rotary handle
Practice process, be suitable for rehabilitation or the fitness training object of different demands.Simple structure, cost are relatively low, are suitable for being extended to general family
Use.
In order to solve existing technical problem, a kind of four limbs linkage health of achievable normal gait track proposed by the present invention
Multiple image training robot, including frame, power set, transmission system and two pedals；The transmission system is by drive sprocket, chain
Bar, driven sprocket and power transmission shaft composition, the drive sprocket are arranged on the output shaft of the reducing motor；A left side for the frame
Right both sides have been symmetrically distributed two sets of motion assistant systems, and the end of two sets of motion assistant systems is respectively connecting to two pin
Pedal；The structure of two sets of motion assistant systems is identical；Often set motion assistant system be by cam mechanism and four-bar mechanism connection group
The cam-link mechanism for becoming；The cam mechanism includes the fluted cam of the band that is bolted in the frame, institute
State in the groove of cam and be provided with cam bawl；The linkage includes connecting rod connected with adjustable length crank and pendulum successively
Bar；The adjustable length crank is made up of first paragraph crank and second segment crank, one end of the first paragraph crank with described
Transmission shaft bond connects, and one end of the second segment crank is hinged with the cam bawl, is provided with slide rail in the second segment crank,
The other end of the first paragraph crank is inserted in the slide rail of the second segment crank, and can be along the length direction of second segment crank
Slide；One end of the connecting rod is hinged with the other end of second segment crank, and the connecting rod other end is cut with scissors with one end of the fork
Connect, the fork is articulated with point B with frame, and the other end of the fork is provided with handrail, on the connecting rod point C and the pin
Pedal is hinged；The cam mechanism is used for controlling the length of crank；Crank in two sets of motion assistant systems is with 180 ° of phase place
Difference is installed.The power set are the handrails of reducing motor or two swing link end parts for being arranged on two sets of motion assistant systems.
The present invention is with respect to the advantage of prior art：The present invention can realize the gait track of human normal, compared to which
His end drives recovery exercising robot to have more preferable rehabilitation performance.Patient can both select to drive motion auxiliary system with motor
What system was passive completes rehabilitation training, it is also possible to which selection hand operation handrail completes rehabilitation training on one's own initiative.The present invention can be realized
Limb coordination is trained, and both can be used for rehabilitation training, it is also possible to for fitness training, and simple structure, cost are relatively low, is suitable for promoting
Use in general family.
Description of the drawings
Fig. 1 is the overall structure diagram of four limbs of the present invention linkage recovery exercising robot.
Fig. 2 is the structural representation of unilateral motion assistant system.
In figure：
1- frame 2- power transmission shaft 3- driven sprocket
4- motion assistant system 5- chain 6- drive sprocket
7- reducing motor 40- cam 41- first paragraph crank
42- cam bawl 43- second segment crank 44- handrail
45- fork 46- connecting rod 47- pedal
A- crank pivot B- fork pivot C- connecting rod and the pin joint of pedal
The movement locus of G-C point
Specific embodiment
With reference to the accompanying drawings and detailed description technical solution of the present invention is described in detail.
As shown in Figure 1：A kind of four limbs linkage recovery exercising robot of achievable normal gait track proposed by the present invention,
Including frame 1, power set, transmission system and two pedals 47；The transmission system is by drive sprocket 6, chain 5, driven
Sprocket wheel 3 and power transmission shaft 2 constitute, and the drive sprocket 6 is arranged on the output shaft of the reducing motor 7；The left and right of the frame 1
Both sides have been symmetrically distributed two sets of motion assistant systems 4, and the power set are by transmission system and 4 phase of motion assistant system
Even, it is that the motion auxiliary decorum 4 provides driving force.
The end of two sets of motion assistant systems is respectively connecting to two pedals 47.
In the present invention, the structure of two sets of motion assistant systems 4 is identical, as shown in Fig. 2 often set motion assistant system be by convex
Wheel mechanism and the cam-link mechanism of four-bar mechanism connection composition；The cam mechanism includes to be bolted on the machine
The fluted cam 40 of band on frame 1, is provided with cam bawl 42 in the groove of the cam 40；The linkage is included successively
Connecting rod 46 connected with adjustable length crank and fork 45；The adjustable length crank is by first paragraph crank 41 and second segment
Crank 43 is constituted, and one end of the first paragraph crank 41 is bonded with the power transmission shaft 2, one end of the second segment crank 43 with
The cam bawl 42 is hinged, is provided with slide rail in the second segment crank 43, and the other end of the first paragraph crank 41 is inserted into
In the slide rail of the second segment crank 43, and can slide along the length direction of second segment crank 43；One end of the connecting rod 46 with
The other end of second segment crank 43 is hinged, and 46 other end of the connecting rod is hinged with one end of the fork 45, the fork 45 with
Frame 1 is articulated with point B, and the other end of the fork 45 is provided with handrail 44, on the connecting rod 46 point C and the pedal 47
Hinged；The cam mechanism is used for controlling the length of crank.As shown in figure 1, the crank in two sets of motion assistant systems 4 is with 180 °
Phase difference install.Reducing motor 7 drives power transmission shaft 2 to rotate to drive whole crank to rotate by Chain conveyer, and crank was rotated
In journey, its length changes with the rotation of cam 40, and motion assistant system 4 drives two pedals 47 respectively according in such as Fig. 2
Movement locus do action shown in G, completes rehabilitation training so as to help to stand in the user on two pedals 47.
The present invention both can drive user to complete passive rehabilitation training by reducing motor 7, it is also possible to by rotating
Handrail 44 completes rehabilitation training on one's own initiative, i.e., described power set are that reducing motor 7 or two are arranged on two sets of motion auxiliary
The handrail 44 of the swing link end part of system 4.If the power set are reducing motors 7, by transmission device and motion auxiliary system
System is connected, and is that the motion auxiliary decorum provides driving force (described above).If driving without reducing motor 7, can be helped by rotating
Hand 44 completes rehabilitation training on one's own initiative.
During rehabilitation training, first paragraph crank 41 produces rotation under the drive of power set and transmission system
Motion, the rotation for rotating on the one hand drive first paragraph crank 43 of first paragraph crank 41, in pedal 47 and the pin joint of connecting rod 46
Place produces specific movement locus, on the other hand by cam bawl 42 along crank pivot A in the groove of cam 40
Roll, and then drive first paragraph crank 41 to move along the length direction of second segment crank 43, so as to change second segment crank 43
Distance with the pin joint between connecting rod 46 to crank pivot A.The present invention is by being designed as adjustable length song by crank
Handle, so as to be modified to the track of C point, makes the track of pedal 47 be more nearly human normal gait track.In the present invention
The motion assistant system of both sides is designed as identical structure, and is installed for 180 ° according to the phase difference of crank, user
Foot is connected with the pedal 47 of motion assistant system 4, guides the foot movement of user by pedal 47, using the present invention
Rehabilitation training is carried out, Anklebone track is overlapped with target trajectory point, hand is connected with two handrails 44, and then complete four limbs linkage
Rehabilitation training.
The mechanism size of motion assistant system of the present invention 4 can be designed according to human normal gait track, so as to can
To realize personalized rehabilitation training demand.First, according to human normal gait track, optimize the size for obtaining four-bar mechanism, so
Afterwards with crank length as dependent variable, obtain accurately passing through the change of the crank length needed for target trajectory point by Inverse Kinematics Solution
Amount, the as pitch curve of cam.Slided using first paragraph crank and the inserting of second segment crank so that whole crank is with cam
Rotation and change length, so as to reduce the size of cam in the case of kinematics performance is met.
Although above in conjunction with accompanying drawing, invention has been described, but the invention is not limited in above-mentioned being embodied as
Mode, above-mentioned specific embodiment are only schematic rather than restricted, and one of ordinary skill in the art is at this
Under the enlightenment of invention, without deviating from the spirit of the invention, many variations can also be made, these belong to the present invention's
Within protection.
Claims (1)
1. a kind of achievable normal gait track four limbs linkage recovery exercising robot, including frame (1), power set, biography
Dynamic system and two pedals (47)；The transmission system is by drive sprocket (6), chain (5), driven sprocket (3) and power transmission shaft
(2) constitute, drive sprocket (6) are arranged on the output shaft of the reducing motor (7)；The left and right sides of frame (1)
Two sets of motion assistant systems (4) are symmetrically distributed, the end of two sets of motion assistant systems is respectively connecting to two and rides
Plate (47)；It is characterized in that：
The structure of two sets of motion assistant systems (4) is identical；
The cam-link mechanism that often set motion assistant system is made up of cam mechanism and four-bar mechanism connection；The cam machine
Structure includes that the band being bolted in the frame (1) is fluted cam (40), sets in the groove of cam (40)
There is cam bawl (42)；The linkage includes connected with adjustable length crank connecting rod (46) and fork (45) successively；
The adjustable length crank is made up of first paragraph crank (41) and second segment crank (43), and the one of first paragraph crank (41)
End is bonded with the power transmission shaft (2), and one end of the second segment crank (43) is hinged with the cam bawl (42), and described the
Slide rail is provided with two sections of cranks (43), the other end of first paragraph crank (41) is inserted into the cunning of second segment crank (43)
In rail, and can slide along the length direction of second segment crank (43)；The one end of connecting rod (46) and second segment crank (43)
The other end is hinged, and connecting rod (46) other end is hinged with one end of the fork (45), and the fork (45) is cut with scissors with frame (1)
Point B is connected to, the other end of fork (45) is provided with handrail (44), 1 point of C on connecting rod (46) and the pedal
(47) hinged；The cam mechanism is used for controlling the length of crank；
Crank in two sets of motion assistant systems (4) is installed with 180 ° of phase difference.
The power set are helping for reducing motor (7) or two swing link end parts for being arranged on two sets of motion assistant systems (4)
Hand (44).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610988300.4A CN106473897A (en) | 2016-11-09 | 2016-11-09 | The four limbs linkage recovery exercising robot of achievable normal gait track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610988300.4A CN106473897A (en) | 2016-11-09 | 2016-11-09 | The four limbs linkage recovery exercising robot of achievable normal gait track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106473897A true CN106473897A (en) | 2017-03-08 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610988300.4A Pending CN106473897A (en) | 2016-11-09 | 2016-11-09 | The four limbs linkage recovery exercising robot of achievable normal gait track |
Country Status (1)
| Country | Link |
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| CN (1) | CN106473897A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107174486A (en) * | 2017-07-17 | 2017-09-19 | 衢州学院 | The full-automatic four limbs rehabilitation trainer of clutch luffing type |
| CN107397633A (en) * | 2017-08-21 | 2017-11-28 | 浙江工业大学 | Gait rehabilitation training machine |
| CN107496135A (en) * | 2017-08-18 | 2017-12-22 | 濮阳市安阳地区医院 | A kind of adjustable four limbs recovery training appliance for recovery of resistance positions |
| CN109200536A (en) * | 2018-11-27 | 2019-01-15 | 魏英梅 | The synchronous device for healing and training of limbs above and below a kind of |
| CN109833184A (en) * | 2017-11-29 | 2019-06-04 | 上海理工大学 | A kind of compound crank link mechanism and lower limb rehabilitation training device |
| CN110051978A (en) * | 2019-05-29 | 2019-07-26 | 苏州轰天炮光电科技有限公司 | Four limbs linkage rehabilitation medical instrument, control method and exchange method |
| CN111420349A (en) * | 2020-05-06 | 2020-07-17 | 合肥工业大学 | Sole drive formula gait trainer |
| CN114767462A (en) * | 2022-04-13 | 2022-07-22 | 福州大学 | End-driven lower limb gait rehabilitation training device |
| CN115300326A (en) * | 2022-08-11 | 2022-11-08 | 合肥工业大学 | Six-rod system and method capable of simulating motion tracks of different rod lengths |
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| FR2670382A1 (en) * | 1990-12-17 | 1992-06-19 | Peigne Roger | Physical exercise apparatus for a person with a locomotor handicap |
| CN2431870Y (en) * | 2000-07-12 | 2001-05-30 | 王健 | Recovery device for hemiplegic paralysis |
| CN2925455Y (en) * | 2006-07-21 | 2007-07-25 | 哈尔滨工程大学 | Stood rehabilitation exerciser for lower limbs |
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| CN105477829A (en) * | 2015-12-28 | 2016-04-13 | 芜湖天人智能机械有限公司 | Track-variable weight losing rehabilitation robot |
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| CN206630838U (en) * | 2016-11-09 | 2017-11-14 | 天津大学 | The four limbs linkage recovery exercising robot of normal gait track can be achieved |
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| CN2431870Y (en) * | 2000-07-12 | 2001-05-30 | 王健 | Recovery device for hemiplegic paralysis |
| CN2925455Y (en) * | 2006-07-21 | 2007-07-25 | 哈尔滨工程大学 | Stood rehabilitation exerciser for lower limbs |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107174486A (en) * | 2017-07-17 | 2017-09-19 | 衢州学院 | The full-automatic four limbs rehabilitation trainer of clutch luffing type |
| CN107496135A (en) * | 2017-08-18 | 2017-12-22 | 濮阳市安阳地区医院 | A kind of adjustable four limbs recovery training appliance for recovery of resistance positions |
| CN107496135B (en) * | 2017-08-18 | 2019-08-30 | 濮阳市安阳地区医院 | A kind of adjustable four limbs recovery training appliance for recovery of resistance positions |
| CN107397633A (en) * | 2017-08-21 | 2017-11-28 | 浙江工业大学 | Gait rehabilitation training machine |
| CN109833184A (en) * | 2017-11-29 | 2019-06-04 | 上海理工大学 | A kind of compound crank link mechanism and lower limb rehabilitation training device |
| CN109833184B (en) * | 2017-11-29 | 2021-05-04 | 上海理工大学 | Compound crank-link mechanism and lower limb rehabilitation training device |
| CN109200536A (en) * | 2018-11-27 | 2019-01-15 | 魏英梅 | The synchronous device for healing and training of limbs above and below a kind of |
| CN110051978A (en) * | 2019-05-29 | 2019-07-26 | 苏州轰天炮光电科技有限公司 | Four limbs linkage rehabilitation medical instrument, control method and exchange method |
| CN111420349A (en) * | 2020-05-06 | 2020-07-17 | 合肥工业大学 | Sole drive formula gait trainer |
| CN114767462A (en) * | 2022-04-13 | 2022-07-22 | 福州大学 | End-driven lower limb gait rehabilitation training device |
| CN115300326A (en) * | 2022-08-11 | 2022-11-08 | 合肥工业大学 | Six-rod system and method capable of simulating motion tracks of different rod lengths |
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Application publication date: 20170308 |