CN106924008A - The integrated spinal rehabilitation robot of seat of standing and its control method - Google Patents

The integrated spinal rehabilitation robot of seat of standing and its control method Download PDF

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Publication number
CN106924008A
CN106924008A CN201511009817.6A CN201511009817A CN106924008A CN 106924008 A CN106924008 A CN 106924008A CN 201511009817 A CN201511009817 A CN 201511009817A CN 106924008 A CN106924008 A CN 106924008A
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CN
China
Prior art keywords
seat
chest
rotating shaft
clamping device
rehabilitation robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201511009817.6A
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Chinese (zh)
Inventor
韩朝慧
曹景艳
李峰
刘晓宇
李丰堂
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Diehe Technology (Hainan) Co.,Ltd.
Original Assignee
Beijing Delivering Inspiration & Health Technology Medical Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Beijing Delivering Inspiration & Health Technology Medical Technology Co Ltd filed Critical Beijing Delivering Inspiration & Health Technology Medical Technology Co Ltd
Priority to CN201511009817.6A priority Critical patent/CN106924008A/en
Publication of CN106924008A publication Critical patent/CN106924008A/en
Pending legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218Drawing-out devices
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0292Stretching or bending or torsioning apparatus for exercising for the spinal column

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Neurology (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention provides one kind station integrated spinal rehabilitation robot of seat and its control method, the integrated spinal rehabilitation robot of station seat includes:Base;Seat, movable can be arranged on the base;Chest and back clamping device, positioned at the top of the seat, the chest and back clamping device are hinged on the base by first rotating shaft, and the first rotating shaft is located at horizontal direction;First transmission device, connects the first rotating shaft;First driving means, connect first transmission device.The control method is using the foregoing station integrated spinal rehabilitation robot of seat.The present invention it is integrated it is anteflexion, after stretch, rotate three training dimensions, while providing erect-position training attitude, with broader market application, can not only carry out common spinal function recovery and test, lumbago rehabilitation, it is particularly important for Post lumbar surgery rehabilitation.

Description

The integrated spinal rehabilitation robot of seat of standing and its control method
Technical field
The present invention relates to rehabilitation equipment field, and in particular to a kind of healing robot, a kind of especially station integrated vertebra health of seat Multiple robot and its control method.
Background technology
Currently marketed spinal rehabilitation robot localization recovers and tests in spinal function, the DD such as lumbago, presses Motor function is divided into " anteflexion ", " stretching afterwards ", " rotation ".By structure, it is an equipment to have according to each functional independence, Also there are the several functions of set and are together equipment, but all seat training of these equipment.
In sum, there is problems with the prior art:Existing spinal rehabilitation robot can only seat training, it is impossible to stand Position training.
The content of the invention
The present invention provides a kind of the station integrated spinal rehabilitation robot of seat and its control method, to solve existing spinal rehabilitation machine Device people can only seat training, it is impossible to the problem of erect-position training.
Therefore, the present invention proposes a kind of station integrated spinal rehabilitation robot of seat, the integrated spinal rehabilitation robot of station seat Including:
Base;
Seat, movable can be arranged on the base;
Chest and back clamping device, positioned at the top of the seat, the chest and back clamping device pass through first rotating shaft It is hinged on the base, the first rotating shaft is located at horizontal direction;
First transmission device, connects the first rotating shaft;
First driving means, connect first transmission device.
Further, the station integrated spinal rehabilitation robot of seat also includes:First guide rail splice, is arranged on the bottom On seat and connect the first rotating shaft;First transmission device includes:First annular guide rail, the first synchronous pulley and first Timing Belt, wherein, first annular guide rail is fixedly connected on the outer rim of first guide rail splice;First synchronous pulley is set On the base;First Timing Belt is connected between the first annular guide rail and first synchronous pulley.
Further, the first driving means are the first motor, and the first synchronous pulley described in first motor connection simultaneously sets Put on the base.
Further, the base includes:Base plate and the side plate being laterally positioned on base plate, the first rotating shaft are arranged on institute State on side plate.
Further, the seat movable can be arranged on the base by way of front and rear upset or slide anteroposterior.
Further, the station integrated spinal rehabilitation robot of seat also includes:It is connected to the chest and back clamping device With the connecting rod between the first rotating shaft, the connecting rod is bending.
Further, the plane where the first annular guide rail is perpendicular, and the first annular guide rail is located at the chest Portion and back clamping device are lateral with seat.
Further, the angular range that the first annular guide rail is rotated is 70 degree to 30 degree backward forward.
Further, the station integrated spinal rehabilitation robot of seat also includes:It is arranged on same to described first on the side plate The first directive wheel with being oriented to is walked, first directive wheel is arranged on the outside of the first annular guide rail, and described first is oriented to Wheel is generally aligned in the same plane interior with the first annular guide rail.
Further, the chest and back clamping device are hinged in the connecting rod by the second rotating shaft, described second turn Axle is vertically arranged;
The station integrated spinal rehabilitation robot of seat also includes:
Second guide rail splice, is arranged in the connecting rod and connects second rotating shaft;
Second ring-shaped guide rail, is fixedly connected on the outer rim of second guide rail splice;
Second synchronous pulley, is arranged in the connecting rod;
Second motor, is arranged in the connecting rod;
Second Timing Belt, is connected on second synchronous pulley and the second ring-shaped guide rail.
The present invention also proposes a kind of control method of the integrated spinal rehabilitation robot of seat of standing, and the control method is using above institute The integrated spinal rehabilitation robot of station seat for stating, the control method includes:Chest and back clamping device are arranged on described Seat top, is rotated by driving chest and back clamping device around first rotating shaft, realizes the chest and back clamping device Anteflexion under seat attitude or after stretch.
Further, the control method also includes:Complete seat attitude under it is anteflexion or after stretch after, by the seat from The chest and back clamping device moved out from beneath, raise the first rotating shaft, then again by driving the chest and back Clamping device is rotated around first rotating shaft, realize anteflexion under erect-position attitude of the chest and back clamping device or after stretch.
In the present invention, chest and back clamping device are hinged on the base by first rotating shaft, and the first rotating shaft is located at Horizontal direction, thus chest and back clamping device can anterior flexion and rear stretching, on this basis, seat, can activity is arranged on On the base, what chest and back clamping device can be lifted is arranged on the base, can be to seat and chest and back The adjustment of clamping device, can be such that human body is adjusted between seat and erect-position, and rehabilitation can be realized in seat and erect-position Training, thus, solving existing spinal rehabilitation robot can only seat training, it is impossible to the problem that erect-position is trained.
The present invention it is integrated it is anteflexion, after stretch, rotate three training dimensions, while provide erect-position train attitude, with broader Market is applied, and can not only carry out common spinal function recovery and test, lumbago rehabilitation, outstanding for Post lumbar surgery rehabilitation For important.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the station integrated spinal rehabilitation robot of seat of the invention;
Fig. 2 is the attachment structure of the first Timing Belt of the invention and first annular guide rail;
Fig. 3 is the structure of the second ring-shaped guide rail of the invention.
Drawing reference numeral explanation:
The chest of 1 base, 2 motor, 3 seat 4 and the guide plate 8 of 5 directive wheel of back clamping device, 6 first synchronizing wheel 7 first The synchronizing wheel 72 second of one 41 connecting rod of guide rail 9 first Timing Belt, 10 first rotating shaft, 11 base plate, 13 side plate 62 second is led The Timing Belt of 82 second guide rail of plate 92 second
Specific embodiment
In order to be more clearly understood to technical characteristic of the invention, purpose and effect, now control brief description of the drawings is of the invention.
As shown in figure 1, the integrated spinal rehabilitation robot of the station seat of the embodiment of the present invention includes:
Base 1;
Seat 3 (hip is fixed and seat modular), movable can be arranged on the base 1;
Chest and back clamping device 4 (also referred to as cervical vertebra and brain supporting module, or be that back accommodates and rotary module), position In the top of the seat 3, chest and back clamping device 4 can be fixed by bandage with the chest of human body, be realized to people The connection or clamping of body cervical vertebra or chest, and chest and back clamping device 4 can also simultaneously for the back of human body provides branch Support, has backed function, so that the rehabilitation training to cervical vertebra or chest is realized, and the chest and back clamping dress Put 3 to be connected with first rotating shaft 10, chest and back clamping device 4 are hinged on the base 1 by first rotating shaft 10, The first rotating shaft is located at horizontal direction, therefore, chest and back clamping device 3 being capable of anterior flexion and rear stretchings;Additionally, chest and Back clamping device 4 can be arranged on the base with what can be lifted, and so, chest and back clamping device can be upper and lower It is mobile, offer space can be adjusted between seat and erect-position for human body, chest and back clamping device are raised can be real The now conversion of station seat;
First transmission device, connects the first rotating shaft;
First driving means, connect first transmission device.
By the transmission of the first transmission device, first driving means drive first rotating shaft 10 to rotate, first rotating shaft 10 and chest And the connection of back clamping device, so, chest and back clamping device 4 are moved relative to base anterior flexion and rear stretching, herein basis On, seat movable can be arranged on the base, human body can be made to be adjusted between seat and erect-position, in seat Rehabilitation training can be realized with erect-position, thus, solving existing spinal rehabilitation robot can only seat training, it is impossible to stand The problem of position training.What chest and back clamping device can be lifted is arranged on the base, can be to seat and chest and the back of the body The adjustment of portion's clamping device, makes human body be adjusted between seat and erect-position and more facilitates.
Further, as depicted in figs. 1 and 2, the station integrated spinal rehabilitation robot of seat also includes:First guide rail connects Fishplate bar 7, is arranged on the base 1 and connects the first rotating shaft 10, and the first guide rail splice 7 drives first rotating shaft 10 Synchronous axial system;First transmission device includes:First annular guide rail 8, the first synchronous pulley 6 and the first Timing Belt 9, its In, first annular guide rail 8 is fixedly connected on the outer rim of first guide rail splice 7;First synchronous pulley 6 is arranged on institute State on base 1;First Timing Belt 9 is connected between the first annular guide rail 8 and first synchronous pulley 6.First Guide rail splice is coupled with guide rail screw, and the first Timing Belt 9 is placed in guide rail external arc side, is formed with the first synchronous pulley 6 and passed Dynamic relation, drives chest and back clamping device 4 to be rotated around first rotating shaft 10 by the first Timing Belt, realizes chest and back The anterior flexion and rear stretching of clamping device.The anterior flexion and rear stretching of chest and back clamping device is realized using the first Timing Belt, stable transmission is fast Speed, action is soft, with positive, reverse convenient conversion, and can occupy little space.
Further, the first driving means are the first motor (not shown), first described in first motor connection Synchronous pulley 6 is simultaneously arranged on the base 1.First synchronous pulley 6 connects the motor shaft of the first motor, when the first motor During front and rear rotation, the anterior flexion and rear stretching of chest and back clamping device is realized by the first Timing Belt.It is driven by motor, is driven Stabilization is rapid, and space structure is compact.
Further, as shown in figure 1, the base 1 includes:Base plate 11 and the side plate 13 being laterally positioned on base plate, The first rotating shaft 10 is arranged on the side plate 13.Base plate 11 is horizontally disposed with, and side plate 13 is vertically arranged, so, just In allocation space.
Further, the seat 3 movable can be arranged on the base by way of rotating or sliding.Seat 3 Can be arranged on the base by way of front and rear upset, left and right translation or anterior-posterior translation, solve erect-position training interference Problem.For example, seat 3 can be connected by horizontally disposed hinge with base, upset before and after realizing, by base Slide rail is set, and seat 3 is slided on slide rail so that the translation of seat 3 or so or anterior-posterior translation.Additionally, the seat 3 is logical Cross the mode for rotating or sliding movable to be arranged on the base, may be referred to the design of prior art.
Further, as shown in figure 1, the station integrated spinal rehabilitation robot of seat also includes:Be connected to the chest and Connecting rod 41 between back clamping device and the first rotating shaft, the connecting rod 41 is bending, it is possible to achieve chest And the flexible setting of back clamping device.
Further, as depicted in figs. 1 and 2, the plane where the first annular guide rail 8 is perpendicular, described the One ring-shaped guide rail 8 is located at the chest and back clamping device 4 is lateral with seat 3, so, spaces compact.
Further, the angular range that the first annular guide rail 8 is rotated is 70 degree to 30 degree backward forward, so, is fitted Close rehabilitation training.It is semi-circular shape for example, first annular guide rail 8 is designed as into open loop Timing Belt, two is to disconnect fixing , the arc angle of semi-circular shape is 160 degree, is 70 degree forward to backward 30 with the range of movement for meeting the first Timing Belt Degree
Further, as depicted in figs. 1 and 2, the station integrated spinal rehabilitation robot of seat also includes:It is arranged on described The first directive wheel 5 being oriented to first Timing Belt on side plate, first directive wheel 5 is arranged on described first annular lead The outside of rail 8, first directive wheel 5 is generally aligned in the same plane interior with the first annular guide rail 8.First directive wheel 5 The effect for being oriented to and compressing, it is ensured that the stability of the first toothed belt transmission.
Further, as shown in figure 3, the chest and back clamping device 4 are hinged on the connecting rod by the second rotating shaft On 41, second rotating shaft is vertically arranged, to realize the left-right rotation of chest and back clamping device 4;
The station integrated spinal rehabilitation robot of seat also includes:
Second guide rail splice 72, is arranged in the connecting rod 41 and connects second rotating shaft;
Second ring-shaped guide rail 82, is fixedly connected on the outer rim of second guide rail splice 72;
Second synchronous pulley 62, is arranged in the connecting rod 41;
Second motor 2, is arranged in the connecting rod 41 and connects the second synchronous pulley 62;
Second Timing Belt 92, is connected on the ring-shaped guide rail 72 of second synchronous pulley 62 and second.
Chest and back clamping device 4 can realize a left side by the second motor, the second Timing Belt 92, the second ring-shaped guide rail 82 Turn right dynamic, for example, slewing area to the left and to the right is 45 degree, thus chest and back clamping device have anterior flexion and rear stretching with The training function of left-right rotation, can carry out the rehabilitation of the DD such as spinal function recovery and test, lumbago, lumbar vertebrae disease Sick postoperative rehabilitation etc. is trained.Similarly, the left-right rotation of chest and back clamping device is completed by Timing Belt, and stable transmission is fast Speed, action is soft, with positive, reverse convenient conversion, and can occupy little space.
The present invention also proposes a kind of control method of the integrated spinal rehabilitation robot of seat of standing, and the control method is using above institute The integrated spinal rehabilitation robot of station seat for stating, the control method includes:Chest and back clamping device are arranged on described Seat top, patient is sat on the seat, and the bandage of chest and back clamping device is pinioned chest and the back of patient, head rest On the back cushion of chest and back clamping device, chest and back clamping device is driven to be rotated around first rotating shaft by the first motor, Realize anteflexion under seat attitude of the chest and back clamping device or after stretch.
Further, the control method also includes:Complete seat attitude under it is anteflexion or after stretch after, by the seat from The chest and back clamping device moved out from beneath, raise the first rotating shaft, the space that patient vacates at station after seat is removed Or on working face, chest and back clamping device are pinioned chest and the back of patient, institute is then driven by the first motor again State chest and back clamping device to be rotated around first rotating shaft, before realizing the chest and back clamping device under the erect-position attitude Bend or after stretch.
Certainly, anteflexion under erect-position attitude or after stretch can also occur anteflexion under seat attitude or after stretch before, as long as Seat is removed, the height of first rotating shaft is adjusted.
The present invention recovers and tests not only for spinal function, while for the postoperative rehabilitation of lumbar disc disease.The present invention can enter Row erect-position is trained, also using erect-position training as another kind training attitude.Simultaneously the present invention be integrated with it is anteflexion, after stretch, left-right rotary Turn three motions in direction, integrate seat and erect-position, take up an area small, spaces compact.
Schematical specific embodiment of the invention is the foregoing is only, the scope of the present invention is not limited to.It is the present invention Each part can be mutually combined under conditions of not conflicting, any those skilled in the art is not departing from the present invention Design and principle on the premise of done equivalent variations and modification, the scope of protection of the invention all should be belonged to.

Claims (10)

1. a kind of station integrated spinal rehabilitation robot of seat, it is characterised in that the integrated spinal rehabilitation machine of station seat Device people include:
Base;
Seat, movable can be arranged on the base;
Chest and back clamping device, positioned at the top of the seat, and the chest and back clamping device are logical Cross first rotating shaft to be hinged on the base, the first rotating shaft is located at horizontal direction;
First transmission device, connects the first rotating shaft;
First driving means, connect first transmission device.
2. the station integrated spinal rehabilitation robot of seat as claimed in claim 1, it is characterised in that the station seat Integrated spinal rehabilitation robot also includes:First guide rail splice, is arranged on the base and connects described first turn Axle;First transmission device includes:First annular guide rail, the first synchronous pulley and the first Timing Belt, wherein, the One ring-shaped guide rail is fixedly connected on the outer rim of first guide rail splice;First synchronous pulley is arranged on the base On;First Timing Belt is connected between the first annular guide rail and first synchronous pulley.
3. the station integrated spinal rehabilitation robot of seat as claimed in claim 2, it is characterised in that described first drives Dynamic device is the first motor, and the first synchronous pulley described in first motor connection is simultaneously arranged on the base.
4. the station integrated spinal rehabilitation robot of seat as claimed in claim 2, it is characterised in that the base bag Include:Base plate and the side plate being laterally positioned on base plate, the first rotating shaft are arranged on the side plate.
5. the station integrated spinal rehabilitation robot of seat as claimed in claim 1, it is characterised in that the seat leads to The mode for crossing front and rear upset or slide anteroposterior movable can be arranged on the base.
6. the station integrated spinal rehabilitation robot of seat as claimed in claim 1, it is characterised in that the station seat Integrated spinal rehabilitation robot also includes:It is connected between the chest and back clamping device and the first rotating shaft Connecting rod, the connecting rod is bending.
7. the station integrated spinal rehabilitation robot of seat as claimed in claim 4, it is characterised in that the station seat Integrated spinal rehabilitation robot also includes:The first guiding being oriented to first Timing Belt is arranged on the side plate Wheel, first directive wheel is arranged on the outside of the first annular guide rail, first directive wheel and first ring In shape guide rail is generally aligned in the same plane.
8. the station integrated spinal rehabilitation robot of seat as claimed in claim 2, it is characterised in that the chest and Back clamping device is hinged in the connecting rod by the second rotating shaft, and second rotating shaft is vertically arranged;
The station integrated spinal rehabilitation robot of seat also includes:
Second guide rail splice, is arranged in the connecting rod and connects second rotating shaft;
Second ring-shaped guide rail, is fixedly connected on the outer rim of second guide rail splice;
Second synchronous pulley, is arranged in the connecting rod;
Second motor, is arranged in the connecting rod;
Second Timing Belt, is connected on second synchronous pulley and the second ring-shaped guide rail.
9. a kind of control method of the seat integrated spinal rehabilitation robot of standing, it is characterised in that the control method is adopted With the integrated spinal rehabilitation robot of station seat described in claim 1, the control method includes:By chest and back Clamping device is arranged on seat top, is rotated around first rotating shaft by driving chest and back clamping device, realizes Anteflexion under seat attitude of the chest and back clamping device or after stretch.
10. control method as claimed in claim 9, it is characterised in that the control method also includes:Complete Anteflexion under seat attitude or after stretch after, the seat from the chest and back clamping device moved out from beneath is raised The first rotating shaft, is then rotated by driving the chest and back clamping device around first rotating shaft again, is realized described Anteflexion under erect-position attitude of chest and back clamping device or after stretch.
CN201511009817.6A 2015-12-29 2015-12-29 The integrated spinal rehabilitation robot of seat of standing and its control method Pending CN106924008A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201511009817.6A CN106924008A (en) 2015-12-29 2015-12-29 The integrated spinal rehabilitation robot of seat of standing and its control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201511009817.6A CN106924008A (en) 2015-12-29 2015-12-29 The integrated spinal rehabilitation robot of seat of standing and its control method

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108742976A (en) * 2018-05-07 2018-11-06 青岛海泰新光科技股份有限公司 Lumbar vertebrae cervical traction system

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4802462A (en) * 1987-12-21 1989-02-07 Biodex Corporation Muscle exercise and rehabilitation apparatus for the upper lumbar region
US5324247A (en) * 1991-11-26 1994-06-28 Alaska Research And Development, Inc. Apparatus and method for multi-axial spinal testing and rehabilitation
CN102133468A (en) * 2010-01-21 2011-07-27 熊豹 Exercise machine having abdominal and dorsal effects
WO2011102578A1 (en) * 2010-02-18 2011-08-25 주식회사 휠백코리아 Spine correcting wheel-back device
CN102292060A (en) * 2009-01-23 2011-12-21 许英伯 Rehabilitation exercise apparatus
CN102512307A (en) * 2011-12-23 2012-06-27 清华大学 Multi-position lower limb rehabilitation training robot
CN102743270A (en) * 2012-07-27 2012-10-24 中国科学院自动化研究所 Sitting horizontal type individual lower limb rehabilitation training robot
CN205339457U (en) * 2015-12-29 2016-06-29 北京蝶和医疗科技有限公司 Recovered robot of integrated vertebra of seat of standing

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4802462A (en) * 1987-12-21 1989-02-07 Biodex Corporation Muscle exercise and rehabilitation apparatus for the upper lumbar region
US5324247A (en) * 1991-11-26 1994-06-28 Alaska Research And Development, Inc. Apparatus and method for multi-axial spinal testing and rehabilitation
CN102292060A (en) * 2009-01-23 2011-12-21 许英伯 Rehabilitation exercise apparatus
CN102133468A (en) * 2010-01-21 2011-07-27 熊豹 Exercise machine having abdominal and dorsal effects
WO2011102578A1 (en) * 2010-02-18 2011-08-25 주식회사 휠백코리아 Spine correcting wheel-back device
CN102512307A (en) * 2011-12-23 2012-06-27 清华大学 Multi-position lower limb rehabilitation training robot
CN102743270A (en) * 2012-07-27 2012-10-24 中国科学院自动化研究所 Sitting horizontal type individual lower limb rehabilitation training robot
CN205339457U (en) * 2015-12-29 2016-06-29 北京蝶和医疗科技有限公司 Recovered robot of integrated vertebra of seat of standing

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108742976A (en) * 2018-05-07 2018-11-06 青岛海泰新光科技股份有限公司 Lumbar vertebrae cervical traction system

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