CN106618954A - Series parallel ankle recovery machinery and using method thereof - Google Patents
Series parallel ankle recovery machinery and using method thereof Download PDFInfo
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- CN106618954A CN106618954A CN201611035430.2A CN201611035430A CN106618954A CN 106618954 A CN106618954 A CN 106618954A CN 201611035430 A CN201611035430 A CN 201611035430A CN 106618954 A CN106618954 A CN 106618954A
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- 210000003423 ankle Anatomy 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000011084 recovery Methods 0.000 title abstract description 6
- 230000033001 locomotion Effects 0.000 claims abstract description 68
- 230000009471 action Effects 0.000 claims abstract description 8
- 230000008859 change Effects 0.000 claims abstract description 5
- 210000002683 foot Anatomy 0.000 claims abstract description 5
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 241000469816 Varus Species 0.000 claims description 10
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims description 10
- 229960001030 mephenoxalone Drugs 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims 1
- 150000001875 compounds Chemical class 0.000 abstract description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 208000034657 Convalescence Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- 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
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a series parallel ankle recovery machinery and using method thereof. The series parallel ankle recovery machinery comprises a supporting platform driven by a rotating driving device, wherein the supporting platform is vertically provided with three or more than three longitudinal lifting driving devices, and a ball joint at the top of the longitudinal lifting driving device is used for an action platform for placing feet. The series parallel ankle recovery machinery has the advantages of simple structure, small volume and light weight. As the movement trajectory planning controls four motor drives, the series parallel ankle recovery machinery can not only realize the patient's ankle rehabilitation of plantar flexion, dorsiflexion, introversion, extroversion, abduction and adduction movement, but also by controlling the cooperation change of motor output to achieve complex compound motion to promote the repair of damaged parts.
Description
Technical field
The present invention relates to a kind of series-parallel connection ankle rehabilitation machines and its using method.
Background technology
Biped is one of most important limbs of human body, and biped supports human body to complete a series of daily routines, and ankle-joint
It is again one of most important joint of foot, ankle-joint is maximum joint of bearing a heavy burden in human body.Due to the growth at age, ankle-joint
Recovery capability constantly declines, and abrasion is continuously increased, and affects daily life, accordingly, it would be desirable to carry out ankle health to patient
Refreshment is practiced, and research shows that kinesiatrics is one of main method of rehabilitation training, motion is completed under rational working space and is appointed
Business, and then promote the reparation of damaged part.But existing convalescence device volume is big, it is often necessary to manually helped through
Rehabilitation training, it is relatively costly.
The content of the invention
The present invention is improved the problems referred to above, i.e., the technical problem to be solved in the present invention is existing ankle rehabilitation side
Using artificial operation, high cost, and wayward dynamics and angle more than formula.
Specific embodiments of the present invention are：A kind of series-parallel connection ankle rehabilitation machines, rotate including being driven by rotating driving device
Support platform, be vertically provided with longitudinal lifting drive of three or more than three in the support platform, the longitudinal direction rises
The top bulb of drop driving means is hinged with the movement platform for placing foot.
Further, the lifting drive includes screw pair and the stepper motor being fixed in support platform,
The output shaft of institute's stepper motor is provided with drive gear, and the drive gear is engaged with travelling gear and realizes silk with threads of lead screw cooperation
The lifting of thick stick, the leading screw upper end bulb hinged movement platform.
Further, the rotating driving device includes the motor reducer that motor is connected with motor, described
Motor reducer upper end is provided with Hooks coupling universal coupling, and the shaft coupling upper end Jing splines and one are arranged at support platform and movement platform
Between rotation platform coordinate, the rotation platform is provided with the through hole passed through for longitudinal lifting drive, rotation platform
Upper and lower Jing support bars are connected with support platform.
Further, connecting rod is vertically arranged with the rotation platform, the connecting rod is provided with a pair, between a pair of links
Connected by rocking bar, the rocking bar middle part is provided with Jing tops and is provided with S type connecting rods, in the middle part of S types connecting rod one end insertion rocking bar, separately
One end is connected with the pedal being arranged above movement platform, and one end of the S types connecting rod insertion rocking bar is movable end with pedal
Rotation is synchronously realized during rotation.
Further, longitudinal lifting drive is provided with 3 and one of longitudinal direction lifting drive is correspondingly arranged in
Pedal front end, two other is symmetricly set in pedal rear both sides, and 3 longitudinal lifting drives are uniformly distributed along the circumference.
Further, the support platform periphery is arranged with circular base, and the circular base lower section is provided with for fixing
The boss of rotating driving device, circular base has circular orbit with support platform mating surface.
Further, the pedestal the week side of boss is provided with hollow slots.
Further, the pedal is provided with friction rubber pad.
Present invention additionally comprises a kind of series-parallel connection ankle rehabilitation machines using method, including a kind of above-mentioned series-parallel connection ankle rehabilitation machines,
Methods described includes making plantar flexion and dorsiflex campaign of patient's ankle around the rotation of X-axis, around the varus and fortune of turning up of Y-axis rotary motion
Dynamic, rotary motion about the z axis is defined as abduction and the motion of interior receipts：
（1）Plantar flexion and the realization of dorsiflex campaign：The longitudinal lifting drive of three vertical with pedestal is by controlling stepper motor
Output quantity come corresponding to pushing action platform position and move up and down, and control the motor reducer that rotation platform is moved about the z axis
Output quantity is zero, and in addition, the output quantity of two stepper motors on rear side of moving platform is identical, and the stepper motor of front side
Motion is opposite to that, when two motor pushing movement platform correspondence positions of rear side are moved upwards and the action of front side motor control
When platform correspondence position is moved downward, realize that plantar flexion is moved；Equally, when two motor control movement platform correspondence positions of rear side
Move downward and front side motor pushing movement platform correspondence position is when moving upwards, realize dorsiflex campaign.
（2）Varus and the realization of motion of turning up：Stepper motor and control rotation platform positioned at sole front end is moved about the z axis
Motor reducer output quantity be zero, two on rear side of movement platform motor output quantity is just the opposite.When positioned at Y-axis left side
Motor pushing movement platform correspondence position move upwards and the movement platform correspondence position of the motor control on right side is moved downward
When, realize that varus is moved；When the movement platform correspondence position of the motor control on the left of Y-axis is moved downward and the motor on right side
When pushing action platform correspondence position is moved upwards, motion of turning up is realized.
（3）Abduction and the realization of interior receipts motion：The three stepper motor output quantities perpendicular with pedestal are zero, and control
The motor reducer output quantity change that rotation platform is moved about the z axis drives rotatable platform rotation, and then is driven by rotation platform
Moving platform rotates around X-axis, realizes abduction and the motion of interior receipts.
Compared with prior art, the invention has the advantages that：The series-parallel connection ankle rehabilitation institution is simple, small volume,
Light weight, by Motion trajectory four Motor drives are controlled, and not only can realize plantar flexion, the dorsiflex fortune of patient's ankle rehabilitation
Dynamic, varus, motion of turning up, abduction, the motion of interior receipts, can also cooperate change realizing by each motor output quantity of control
Complicated compound motion promotes the reparation of damaged part.In addition, mechanism is provided with support bar below rotation platform, it is to avoid
Being stressed directly for motor, pressure in the gravity for being born and ankle rehabilitation course of mechanism has been passed to by support bar
On support platform, the demand that can meet patient's ankle each stage of rehabilitation can be applicable to family, hospital, gymnasium and carry out ankle
Work of rehabilitation.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is drive member part-structure schematic diagram of the present invention.
Specific embodiment
With reference to the accompanying drawings and detailed description the present invention will be further described in detail.
As shown in Fig. 1～2, a kind of series-parallel connection ankle rehabilitation machines, including the support platform that rotation is driven by rotating driving device
10, longitudinal lifting drive of three or more than three is vertically provided with the support platform 10, the longitudinal direction lifting drives
The top bulb of device is hinged with the movement platform 20 for placing foot, the lifting drive include screw pair and
The stepper motor 110 being fixed in support platform 10, the output shaft of institute's stepper motor 110 is provided with drive gear, the sliding tooth
Wheel is engaged with travelling gear and coordinates the lifting for realizing leading screw 120, the hinge action of leading screw upper end bulb 121 to put down with threads of lead screw
Platform.
Certainly in practical application, longitudinal lifting drive can also be using cylinder or other elevating mechanisms.
In the present embodiment, the rotating driving device includes the motor reducer 30 that motor is connected with motor,
The upper end of the motor reducer 30 is provided with Hooks coupling universal coupling 310, and the upper end Jing spline 311 of the shaft coupling 310 and is arranged at
Rotation platform 40 between support platform 10 and movement platform 20 coordinates, and the rotation platform 40 is provided with so that longitudinal direction lifting drives
The through hole that device is passed through, the upper and lower Jing support bars 410 of rotation platform 40 are connected with support platform 10.
In the present embodiment, connecting rod 420 is vertically arranged with the rotation platform 40, connecting rod 420 is provided with a pair, a pair of links
Connected by rocking bar 421 between 420, the middle part of the rocking bar 421 is provided with Jing tops and is provided with S types connecting rod 430, the S types connecting rod
The middle part of 430 one end insertion rocking bar 421, the other end is connected with the pedal 50 for being arranged at the top of movement platform 20, the S types connecting rod
One end of 430 insertion rocking bars 421 is movable end synchronously to realize rotation when pedal 50 is rotated.
In the present embodiment, longitudinal lifting drive is provided with 3 and one of longitudinal direction lifting drive is correspondingly arranged
In pedal front end, two other is symmetricly set in pedal rear both sides, and 3 longitudinal lifting drives are uniformly distributed along the circumference.
In the present embodiment, the support platform periphery is arranged with circular base 60, and the lower section of the circular base 60 is provided with use
In the boss of fixed rotating driving device, circular base 60 has circular orbit with the mating surface of support platform 10.
In the present embodiment, the pedestal the week side of boss and rotation platform 40 are equipped with the hollow slots 70 of arc shape, hollow slots 70
On the one hand design can reduce weight savings material, on the other hand be also convenient for the setting of cable.
In the present embodiment, in order to improve frictional force, friction rubber pad or shoe cover are additionally provided with the pedal 50.
Present invention additionally comprises a kind of series-parallel connection ankle rehabilitation machines using method, including a kind of above-mentioned series-parallel connection ankle rehabilitation machines,
Methods described includes making plantar flexion and dorsiflex campaign of patient's ankle around the rotation of X-axis, around the varus and fortune of turning up of Y-axis rotary motion
Dynamic, rotary motion about the z axis is defined as abduction and the motion of interior receipts：
（1）Plantar flexion and the realization of dorsiflex campaign：The longitudinal lifting drive of three vertical with pedestal is by controlling stepper motor
Output quantity come corresponding to pushing action platform 20 position and move up and down, and control the motor that rotation platform 40 moves about the z axis and subtract
Fast device output quantity is zero, and in addition, the output quantity of two stepper motors on rear side of moving platform is identical, and the stepping of front side
Motor movement is opposite to that, when two correspondence positions of motor pushing movement platform 20 of rear side are moved and front side motor control upwards
The correspondence position of movement platform 20 when moving downward, realize that plantar flexion is moved；Equally, when two motor control movement platforms of rear side
20 correspondence positions are moved downward and the correspondence position of front side motor pushing movement platform 20 is when moving upwards, realize dorsiflex campaign.
（2）Varus and the realization of motion of turning up：Stepper motor and control rotation platform 40 positioned at sole front end is transported about the z axis
Dynamic motor reducer output quantity is zero, and two motor output quantities positioned at the rear side of movement platform 20 are just the opposite.When positioned at Y-axis
The correspondence position of motor pushing movement platform 20 in left side is moved upwards and the correspondence position of movement platform 20 of the motor control on right side
When moving downward, realize that varus is moved；Move downward when the correspondence position of movement platform 20 of the motor control on the left of the Y-axis and
When the correspondence position of motor pushing movement platform 20 on right side is moved upwards, motion of turning up is realized.
（3）Abduction and the realization of interior receipts motion：The three stepper motor output quantities perpendicular with pedestal are zero, and control
The motor reducer output quantity change that rotation platform 40 is moved about the z axis drives rotatable platform rotation, and then by rotation platform 40
Drive moving platform to rotate around X-axis, realize abduction and the motion of interior receipts.
Meanwhile, if the invention described above discloses or relate to the parts or structural member of connection fastened to each other, then, except another
There is statement outer, be fixedly connected and can be understood as：(such as using bolt or mode connects for screw) can be releasably fixedly connected, also may be used
To be interpreted as：Non-removable to be fixedly connected (such as riveting, welding), certainly, connection fastened to each other can also be tied for integral type
Structure (for example manufacturing using casting technique is integrally formed) replaces (substantially cannot be using except integrally formed technique).
In addition, the art for representing position relationship or shape applied in arbitrary technical scheme disclosed in the invention described above
Unless otherwise stated its implication includes approximate with its, similar or close state or shape to language.
The either component that the present invention is provided can be assembled by multiple single parts, it is also possible to be integrated
The separate part that forming technology is manufactured.
Finally it should be noted that:Above example is only to illustrate technical scheme rather than a limitation；To the greatest extent
Pipe has been described in detail with reference to preferred embodiment to the present invention, and those of ordinary skill in the art should be understood：Still
The specific embodiment of the present invention can be modified or equivalent is carried out to some technical characteristics；Without deviating from this
The spirit of bright technical scheme, it all should cover in the middle of the technical scheme scope being claimed in the present invention.
Claims (9)
1. a kind of series-parallel connection ankle rehabilitation machines, it is characterised in that include being driven the support platform of rotation by rotating driving device, it is described
Longitudinal lifting drive of three or more than three, the top of longitudinal lifting drive are vertically provided with support platform
Bulb hinged has the movement platform for placing foot.
2. a kind of series-parallel connection ankle rehabilitation machines according to claim 1, it is characterised in that the lifting drive includes silk
Thick stick pair of nut and the stepper motor being fixed in support platform, the output shaft of institute's stepper motor is provided with drive gear, the driving
Gear is engaged with travelling gear and coordinates the lifting for realizing leading screw, the leading screw upper end bulb hinged movement platform with threads of lead screw.
3. a kind of series-parallel connection ankle rehabilitation machines according to claim 2, it is characterised in that the rotating driving device includes driving
The motor reducer that dynamic motor is connected with motor, the motor reducer upper end is provided with Hooks coupling universal coupling, the shaft coupling
Upper end Jing splines and one are arranged at rotation platform between support platform and movement platform and coordinate, the rotation platform be provided with
For the through hole that longitudinal lifting drive is passed through, rotation platform upper and lower Jing support bars are connected with support platform.
4. a kind of series-parallel connection ankle rehabilitation machines according to claim 3, it is characterised in that be vertically arranged on the rotation platform
There is connecting rod, the connecting rod is provided with a pair, connected by rocking bar between a pair of links, the rocking bar middle part is provided with Jing tops and is provided with
S type connecting rods, S types connecting rod one end insertion rocking bar middle part, the other end is connected with the pedal being arranged above movement platform, described
One end of S types connecting rod insertion rocking bar is movable end synchronously to realize rotation when pedal is rotated.
5. a kind of series-parallel connection ankle rehabilitation machines according to claim 4, it is characterised in that longitudinal lifting drive is provided with 3
Individual and one of longitudinal direction lifting drive is correspondingly arranged in pedal front end, and two other is symmetricly set in pedal rear two
Side, 3 longitudinal lifting drives are uniformly distributed along the circumference.
6. a kind of series-parallel connection ankle rehabilitation machines according to claim 5, it is characterised in that the support platform periphery is arranged with
Circular base, the circular base lower section is provided with the boss for fixing rotating driving device, and circular base is matched somebody with somebody with support platform
Conjunction face has circular orbit.
7. a kind of series-parallel connection ankle rehabilitation machines according to claim 6, it is characterised in that the pedestal the week side of boss is provided with hollow out
Groove.
8. a kind of series-parallel connection ankle rehabilitation machines according to claim 5, it is characterised in that the pedal is provided with friction rubber
Pad.
9. a kind of series-parallel connection ankle rehabilitation machines using method, it is characterised in that including a kind of series-parallel connection ankle as claimed in claim 5
Rehabilitation machines, methods described includes making plantar flexion and dorsiflex campaign of patient's ankle around the rotation of X-axis, around the varus of Y-axis rotary motion
And motion of turning up, about the z axis rotary motion is defined as abduction and interior receipts are moved：
（1）Plantar flexion and the realization of dorsiflex campaign：The longitudinal lifting drive of three vertical with pedestal is by controlling stepper motor
Output quantity come corresponding to pushing action platform position and move up and down, and control the motor reducer that rotation platform is moved about the z axis
Output quantity is zero, and in addition, the output quantity of two stepper motors on rear side of moving platform is identical, and the stepper motor of front side
Motion is opposite to that, when two motor pushing movement platform correspondence positions of rear side are moved upwards and the action of front side motor control
When platform correspondence position is moved downward, realize that plantar flexion is moved；Equally, when two motor control movement platform correspondence positions of rear side
Move downward and front side motor pushing movement platform correspondence position is when moving upwards, realize dorsiflex campaign；
（2）Varus and the realization of motion of turning up：The electricity that stepper motor and control rotation platform positioned at sole front end is moved about the z axis
Machine decelerator output quantity is zero, and two on rear side of movement platform motor output quantity is just the opposite；
When the motor pushing movement platform correspondence position on the left of Y-axis is moved upwards and the movement platform of the motor control on right side
When correspondence position is moved downward, realize that varus is moved；When the movement platform correspondence position of the motor control on the left of the Y-axis it is downward
Motion and the motor pushing movement platform correspondence position on right side be when moving upwards, and realization is turned up motion；
（3）Abduction and the realization of interior receipts motion：The three stepper motor output quantities perpendicular with pedestal are zero, and control rotation
The motor reducer output quantity change that platform is moved about the z axis drives rotatable platform rotation, and then is driven by rotation platform dynamic flat
Platform rotates around X-axis, realizes abduction and the motion of interior receipts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611035430.2A CN106618954A (en) | 2016-11-23 | 2016-11-23 | Series parallel ankle recovery machinery and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611035430.2A CN106618954A (en) | 2016-11-23 | 2016-11-23 | Series parallel ankle recovery machinery and using method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106618954A true CN106618954A (en) | 2017-05-10 |
Family
ID=58811052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611035430.2A Pending CN106618954A (en) | 2016-11-23 | 2016-11-23 | Series parallel ankle recovery machinery and using method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106618954A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107753244A (en) * | 2017-11-25 | 2018-03-06 | 福州大学 | A kind of series parallel type ankle joint therapeutic machine motion control method based on Nutation Principle |
| CN107823807A (en) * | 2017-11-24 | 2018-03-23 | 北京新核医疗科技有限公司 | Treat bed system and control method |
| CN109820696A (en) * | 2019-04-09 | 2019-05-31 | 合肥工业大学 | A kind of ankle rehabilitation institution based on human body association driving |
| CN111096872A (en) * | 2020-02-28 | 2020-05-05 | 福州大学 | Parallel ankle rehabilitation robot with adjustable platform height and using method thereof |
| CN111904801A (en) * | 2020-09-21 | 2020-11-10 | 东北大学秦皇岛分校 | Series-parallel flexible ankle joint rehabilitation device |
| CN113558928A (en) * | 2021-06-21 | 2021-10-29 | 浙江工业大学 | Ankle joint motion rehabilitation robot |
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| CN203244559U (en) * | 2013-01-21 | 2013-10-23 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN206543259U (en) * | 2016-11-23 | 2017-10-10 | 福州大学 | Series-parallel connection ankle rehabilitation machines |
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2016
- 2016-11-23 CN CN201611035430.2A patent/CN106618954A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203244559U (en) * | 2013-01-21 | 2013-10-23 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN206543259U (en) * | 2016-11-23 | 2017-10-10 | 福州大学 | Series-parallel connection ankle rehabilitation machines |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107823807A (en) * | 2017-11-24 | 2018-03-23 | 北京新核医疗科技有限公司 | Treat bed system and control method |
| CN107753244A (en) * | 2017-11-25 | 2018-03-06 | 福州大学 | A kind of series parallel type ankle joint therapeutic machine motion control method based on Nutation Principle |
| CN109820696A (en) * | 2019-04-09 | 2019-05-31 | 合肥工业大学 | A kind of ankle rehabilitation institution based on human body association driving |
| CN109820696B (en) * | 2019-04-09 | 2021-04-13 | 合肥工业大学 | Ankle rehabilitation mechanism based on human body correlation drive |
| CN111096872A (en) * | 2020-02-28 | 2020-05-05 | 福州大学 | Parallel ankle rehabilitation robot with adjustable platform height and using method thereof |
| CN111904801A (en) * | 2020-09-21 | 2020-11-10 | 东北大学秦皇岛分校 | Series-parallel flexible ankle joint rehabilitation device |
| CN113558928A (en) * | 2021-06-21 | 2021-10-29 | 浙江工业大学 | Ankle joint motion rehabilitation robot |
| CN113558928B (en) * | 2021-06-21 | 2023-12-22 | 浙江工业大学 | Ankle joint motion rehabilitation robot |
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Application publication date: 20170510 |
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| RJ01 | Rejection of invention patent application after publication |