CN107157704B - Pelvis exercise auxiliary structure - Google Patents
Pelvis exercise auxiliary structure Download PDFInfo
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- CN107157704B CN107157704B CN201710471493.0A CN201710471493A CN107157704B CN 107157704 B CN107157704 B CN 107157704B CN 201710471493 A CN201710471493 A CN 201710471493A CN 107157704 B CN107157704 B CN 107157704B
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- rotating
- guide rail
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- sliding seat
- rotary
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- 210000004197 pelvis Anatomy 0.000 title claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 210000001624 hip Anatomy 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005021 gait Effects 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 210000003141 lower extremity Anatomy 0.000 description 11
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010071368 Psychological trauma Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Images
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
- A61H1/005—Moveable platforms, e.g. vibrating or oscillating platforms for standing, sitting, laying or leaning
-
- 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
- A61H1/003—Rocking or oscillating around a horizontal axis transverse to the 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- 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 is suitable for the field of medical equipment, and provides a pelvis movement auxiliary structure which comprises a base, a sliding seat, a rotary guide rail and a pelvis support, wherein the base is arranged on a vertical guide rail in a vertically movable manner; the sliding seat is movably arranged at the top of the base along the length direction of the base, first elastic return pieces are symmetrically arranged on two sides of the sliding seat, a rotating shaft is further arranged on the sliding seat along the width direction of the base, and the rotating shaft can rotate around the axis of the rotating shaft; the center of the rotary guide rail is rotatably arranged on the rotary shaft around the vertical direction, the bottoms of the rotary guide rails are symmetrically provided with second elastic return pieces, the pelvis support is relatively rotatably arranged on the rotary guide rail around the vertical direction, and the pelvis support is always parallel to the width direction of the base. The auxiliary structure can realize the free movement of four degrees of freedom of the patient, and compared with the prior art, the patient can only move singly along the front and back directions of the human body, the auxiliary structure is more beneficial to the omnibearing movement of the patient and is closer to the normal gait.
Description
Technical Field
The invention belongs to the field of medical equipment, and particularly relates to a pelvis movement auxiliary structure.
Background
Aging of the population has gradually become a global trend, and in the elderly, cerebrovascular and nervous system diseases cause dysfunction of the lower limbs. Besides affecting daily life, patients suffer great psychological trauma and seriously affect physical and mental health of the patients, so how to maximally recover the exercise ability of the patients is an important content of clinical rehabilitation therapy.
Research on lower limb rehabilitation equipment has been developed abroad, and so far, more mature products have been developed. Lokomat is a lower limb rehabilitation device invented by swiss engineers of jieli-columbon, and is also the first lower limb rehabilitation medical device in the world, and is used for providing rehabilitation training for patients with lower limb paralysis. The device mainly comprises a lower limb exoskeleton, a support system for reducing the dead weight of a human body and a belt motion table, and the gait of a patient is gradually matched with the gait of normal walking by applying a decompression flat plate therapy.
The domestic lower limb rehabilitation equipment starts later, and the existing representative similar product mainly comprises an exoskeleton type corrector for fixing the hip and the double lower limbs, a weight reduction system and a medical running table. The motion range of the hip joint and the knee joint, gait deflection, guiding force of the two lower limbs, movement speed and other parameters are controlled in real time by a computer. The therapist needs to comprehensively solve the lower limb rehabilitation robot training and evaluating system and continuously adjust the training parameters according to the exercise function condition of the patient.
However, rehabilitation devices, both domestic and foreign, have certain limitations in practical use. The above-mentioned rehabilitation device is unreasonable to design the pelvis and lower limb exercise assisting structure, only provides a single motion path of a preset sagittal plane (i.e. the front-back direction of the human body), the existing rehabilitation device fixes the patient on a platform, limits the spatial motion of the pelvis, and can lead to single exercise habit due to lack of feedback of omnibearing motion and sensory motion, and finally easily forms abnormal gait.
Disclosure of Invention
The invention aims to provide a pelvis movement auxiliary structure, which aims to solve the problem that rehabilitation equipment in the prior art can only be used for a patient to singly move along the front and back directions of a human body.
In order to solve the technical problems, the invention is realized in such a way that the pelvis motion assisting structure comprises a base, a sliding seat, a rotary guide rail and a pelvis support, wherein the base is arranged on a vertical guide rail in a vertically movable manner; the sliding seat is horizontally arranged at the top of the base and can move along the length direction of the base; the sliding seat is symmetrically provided with first elastic return pieces along two sides of the horizontal moving direction of the sliding seat, a rotating shaft is further arranged on the sliding seat along the width direction of the base, and the rotating shaft can rotate around the axis of the rotating shaft; the center of the rotary guide rail is rotatably arranged on the rotary shaft around the vertical direction, second elastic return pieces are symmetrically arranged at the bottom of the rotary guide rail, the pelvis support is relatively rotatably arranged on the rotary guide rail around the vertical direction, and the pelvis support is always parallel to the width direction of the base.
Further, a boss is fixed at the top of the rotating shaft, and a rotating groove is formed in the top of the boss; the center of the rotary guide rail is rotatably installed in the rotary groove around the vertical direction.
Further, the rotating shaft is provided with two bosses, the connecting line of the two bosses is parallel to the axis of the rotating shaft, the rotating guide rail comprises a first rotating guide rail and a second rotating guide rail which are parallel to each other, and the center of the first rotating guide rail and the center of the second rotating guide rail are respectively rotatably arranged in the rotating grooves of the two bosses around the vertical direction.
Further, two sliders are respectively arranged on the first rotating guide rail and the second rotating guide rail, one slider on the first rotating guide rail and one slider on the second rotating guide rail form a first slider group, the other slider on the first rotating guide rail and the other slider on the second rotating guide rail form a second slider group, the pelvis support comprises two hip side frames which are parallel to each other and two fixing rods which are parallel to each other, two rotating seats which can rotate around the vertical direction are respectively arranged at the top of each hip side frame, the two hip side frames are respectively and relatively rotatably arranged on the first slider group and the second slider group around the vertical direction, a first fixing plate and a second fixing plate which are used for limiting the relative positions of the two fixing rods are respectively fixed at the center of the first rotating guide rail and the center of the second rotating guide rail, two ends of the two fixing rods are respectively arranged in the rotating seats above the two hip side frames which are parallel to each other in a penetrating way, and the middle parts of the two fixing rods respectively penetrate through the first fixing plate and the second fixing plate to form a common parallelogram structure.
Further, the gear sets are arranged on the first fixing plate and the second fixing plate, the two fixing rods are screw rods, the two ends of the screw rods are provided with reverse threads, the middle parts of the screw rods are smooth round rods, threaded through holes are formed in the rotating seats, first bevel gears are fixed on the smooth round rods in the middle parts of the two screw rods, the two ends of the two screw rods are respectively in threaded connection with the rotating seats, the middle parts of the two screw rods respectively penetrate through the first fixing plate and the second fixing plate, the first bevel gears on the two screw rods are respectively meshed with the gear sets on the first fixing plate and the second fixing plate, and the gear sets on the two fixing plates are in transmission connection.
Further, one end of one of the two screw rods is fixed with a crank handle.
Further, the auxiliary structure further comprises a first rotary encoder, a second rotary encoder and a linear encoder, wherein the first rotary encoder is installed on one side of the rotary shaft, the second rotary encoder is arranged between the first rotary guide rail and the second rotary guide rail and is in transmission connection with the gear sets on the first fixing plate and the second fixing plate, and the linear encoder is installed on one side of the sliding seat.
Further, the top of the base is provided with a horizontal guide rail along the length direction thereof, and the sliding seat is movably arranged on the horizontal guide rail.
Compared with the prior art, the invention has the beneficial effects that: the invention relates to a pelvis motion assisting structure, which comprises a base, a sliding seat, a rotary guide rail and a pelvis support. The crotch of the patient is supported on the pelvis support, and the upward and downward movement of the patient can be realized through the upward and downward movement of the base along the vertical guide rail; the left and right movement of the patient is realized by the horizontal movement of the sliding seat along the length direction of the base; the patient can shake left and right along the rotating shaft through the rotating shaft arranged on the sliding seat along the width direction of the base; meanwhile, through the rotation of the rotary guide rail along the vertical direction, the patient can be helped to twist the crotch. Therefore, the pelvis motion auxiliary structure can realize the free motion of four degrees of freedom of the patient, and compared with the prior art, the pelvis motion auxiliary structure has the advantages that the patient can only move singly along the front and back directions of the human body, the auxiliary structure is more beneficial to the omnibearing motion of the patient, and the patient is more similar to the normal gait.
Drawings
Fig. 1 is a schematic structural view of a pelvic exercise assisting structure according to an embodiment of the present invention.
Fig. 2 is a schematic view of the overall structure of the pelvic exercise assisting structure and the vertical rail.
Fig. 3 is a schematic view of the slide mount, swivel rail and pelvic bracket of fig. 1.
Fig. 4 is a schematic structural view of the sliding seat in fig. 1.
Fig. 5 is a schematic view of the rotating rail and pelvic bracket of fig. 1.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a pelvic exercise assisting structure 100 according to an embodiment of the present invention includes a base 1, a slide base 2, a rotating rail 3, and a pelvic bracket 4. The base 1 is used for realizing the movement of a patient in the up-down direction; the sliding seat 2 is arranged on the base 1 and is used for realizing the left and right movement and the left and right swinging of a patient; the rotary guide rail 3 is arranged on the sliding seat 2 and is used for realizing the rotation of a patient along the vertical direction so that the crotch of the patient can twist; the pelvic support 4 is mounted on the swivel rails 3 for supporting the crotch of the patient. The pelvic motion assist structure 100 is capable of achieving a total of four degrees of freedom of movement of the patient.
Specifically, referring to fig. 2, the base 1 is movably mounted on the vertical guide rail 50, and the base 1 may be driven by a motor or an air cylinder to move up and down along the vertical guide rail 50, so as to drive the pelvis motion assisting structure 100 to move up or down as a whole, and further drive the patient to move freely in the up-down direction.
Referring to fig. 3, the top of the base 1 is provided with a horizontal guide rail 11 along the length direction thereof, the sliding seat 2 is movably disposed on the horizontal guide rail 11, and first elastic return members 21 are symmetrically disposed on both sides of the sliding seat 2 along the horizontal movement direction thereof, so that a patient can freely move in the left-right direction by the horizontal movement of the sliding seat 2 on the base 1, and the sliding seat 2 can return to the original position when sliding to any side by the first elastic return members 21 on both sides of the sliding seat 2.
Meanwhile, a rotating shaft 22 is further arranged on the sliding seat 2 along the width direction of the base 1, and the rotating shaft 22 can rotate around the axis of the rotating shaft. The rotating guide rail 3 is mounted on the rotating shaft 22, and the rotating guide rail 3 and the pelvis support 4 mounted on the rotating guide rail 3 rotate together through the rotation of the rotating shaft 22, so that a patient can shake left and right along with the rotation of the pelvis support 4, and the bottom of the rotating guide rail 3 is provided with symmetrical second elastic return pieces 23, so that the patient can return to the original position when shaking to any side. The sliding seat 2 can realize the motion of two degrees of freedom of left and right movement and left and right shaking of a patient.
Referring to fig. 4 and 5, in the embodiment of the present invention, two bosses 221 are fixed on the top of the rotating shaft 22, and the connecting line direction of the two bosses 221 is parallel to the axis of the rotating shaft 22, and a rotating groove 222 is formed on the top of the boss 221. The rotating guide 3 includes a first rotating guide 31 and a second rotating guide 32 parallel to each other, and the centers of the first rotating guide 31 and the second rotating guide 32 are rotatably installed in the rotating grooves 222 of the two bosses 221, respectively, about the vertical direction. By rotation of the midpoint of the first rotating rail 31 and the midpoint of the second rotating rail 32 about the vertical direction, the crotch of the patient can be twisted about the vertical direction.
Meanwhile, two sliding blocks 33 are respectively arranged on the first rotating guide rail 31 and the second rotating guide rail 32. One slider 33 on the first rotating rail 31 forms a first slider group with one slider 33 on the second rotating rail 32, and the other slider 33 on the first rotating rail 31 forms a second slider group with the other slider 33 on the second rotating rail 32. The pelvis support 4 comprises two hip side frames 41 parallel to each other and two fixing rods 42 parallel to each other, two rotating seats 43 capable of rotating around the vertical direction are arranged at the top of each hip side frame 41, and the two hip side frames 41 are installed on the first sliding block set and the second sliding block set in a relatively rotatable manner around the vertical direction. The center of the first rotating guide rail 31 and the center of the second rotating guide rail 32 are respectively fixed with a first fixing plate 44 and a second fixing plate 45 for limiting the relative positions of the two fixing rods 42, two ends of the two fixing rods 42 are respectively penetrated in a rotating seat 43 above the two mutually parallel hip side frames 41, and the middle parts of the two fixing rods 42 respectively penetrate through and are limited on the first fixing plate 44 and the second fixing plate 45 to jointly form a parallelogram structure. So that the two hip side frames 41 can always face directly in front of the patient's body when the first and second rotating rails 31 and 32 are rotated around the vertical direction.
In the embodiment of the present invention, the first fixing plate 44 and the second fixing plate 45 are provided with gear sets 46, the two fixing rods 42 are screw rods, two ends of the screw rod 42 are provided with reverse threads, and the middle part of the screw rod 42 is a smooth round rod. The screw thread through holes are formed in the rotating seat 43, first bevel gears 47 are fixed on smooth round rods in the middle of the two screw rods 42, two ends of the two screw rods 42 are respectively in threaded connection with the rotating seat 43, the middle of the two screw rods 42 respectively penetrates through the first fixing plate 44 and the second fixing plate 45, the first bevel gears 47 on the two screw rods 42 are respectively meshed with gear sets 46 on the first fixing plate 44 and the second fixing plate 45, and the gear sets 46 on the two fixing plates are in transmission connection through a gear belt. Because the middle parts of the two screw rods 42 are respectively limited and fixed by the first fixing plate 44 and the second fixing plate 45, the two hip side frames 41 are always parallel to the front-back direction of the running table, and a clear walking direction is provided for a patient.
One end of one screw 42 of the two screws 42 is fixed with a crank 48. Because the two ends of the screw rod 42 are provided with reverse threads, force can be transmitted to the other screw rod through the first bevel gear 47 on the screw rod 42 and the force transmission gear set 46 by shaking the hand crank 48, so that the two screw rods 42 rotate simultaneously to drive the two hip side frames 41 to shrink inwards or expand outwards simultaneously, thereby realizing the width adjustment of the two hip side frames 41 and being used for adapting to different fat and thin patients.
Referring to fig. 1, the auxiliary structure further includes a first rotary encoder 5, a second rotary encoder 6, and a linear encoder 7. The first rotary encoder 5 is installed at one side of the rotation shaft 22; the second rotary encoder 6 is arranged between the first rotary guide rail 31 and the second rotary guide rail 32, and is in transmission connection with a gear set 46 on the first fixed plate 44 and the second fixed plate 45; the linear encoder 7 is installed at one side of the sliding seat 2. The first rotary encoder 5, the second rotary encoder 6 and the linear encoder 7 are all electrically connected with the control center, and the first rotary encoder 5, the second rotary encoder 6 and the linear encoder 7 are used for collecting data of rotation angles and linear displacement, and the collected data are used for analyzing and evaluating rehabilitation effects.
In summary, according to the pelvic exercise assisting structure 100 provided by the embodiment of the invention, the patient can freely move in four degrees of freedom, and compared with the prior art, the pelvic exercise assisting structure 100 is more beneficial to the omnibearing exercise of the patient and is closer to the normal gait because the patient can only singly move along the front and back directions of the human body.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (5)
1. The pelvis movement auxiliary structure is characterized by comprising a base, a sliding seat, a rotary guide rail and a pelvis support, wherein the base is arranged on the vertical guide rail in a vertically movable manner; the sliding seat is horizontally arranged at the top of the base and can move along the length direction of the base; the sliding seat is symmetrically provided with first elastic return pieces along two sides of the horizontal moving direction of the sliding seat, a rotating shaft is further arranged on the sliding seat along the width direction of the base, and the rotating shaft can rotate around the axis of the rotating shaft; the center of the rotary guide rail is rotatably arranged on the rotary shaft around the vertical direction, the bottom of the rotary guide rail is symmetrically provided with second elastic return pieces, the pelvis support is relatively rotatably arranged on the rotary guide rail around the vertical direction, and the pelvis support is always parallel to the width direction of the base; a boss is fixed at the top of the rotating shaft, and a rotating groove is formed in the top of the boss; the center of the rotary guide rail is rotatably arranged in the rotary groove around the vertical direction; the rotating shaft is provided with two bosses, the connecting line of the two bosses is parallel to the axis of the rotating shaft, the rotating guide rail comprises a first rotating guide rail and a second rotating guide rail which are parallel to each other, and the center of the first rotating guide rail and the center of the second rotating guide rail are respectively and rotatably arranged in the rotating grooves of the two bosses around the vertical direction; the top of base is equipped with the horizontal guide rail along its length direction, the sliding seat movably sets up on the horizontal guide rail.
2. The pelvic exercise assisting structure as set forth in claim 1, wherein two sliders are provided on the first and second rotating rails, respectively, one slider on the first rotating rail and one slider on the second rotating rail form a first slider group, the other slider on the first rotating rail and the other slider on the second rotating rail form a second slider group, the pelvic bracket includes two hip side frames parallel to each other and two fixing bars parallel to each other, the top of each hip side frame is provided with two rotating seats rotatable around a vertical direction, the two hip side frames are mounted on the first and second slider groups relatively rotatable around a vertical direction, the centers of the first and second rotating rails are respectively fixed with a first fixing plate and a second fixing plate for limiting the relative positions of the two fixing bars, both ends of the two fixing bars are respectively penetrated in the rotating seats above the two parallel portion side frames, and the two hip side frames are respectively penetrated through the first and second fixing plates and form a common parallel structure.
3. The pelvic exercise assisting structure according to claim 2, wherein the first fixing plate and the second fixing plate are provided with gear sets, the two fixing rods are screw rods, two ends of the screw rods are provided with reverse threads, the middle parts of the screw rods are smooth round rods, threaded through holes are formed in the rotating seats, first bevel gears are fixed on the smooth round rods at the middle parts of the two screw rods, two ends of the two screw rods are respectively in threaded connection with the rotating seats, the middle parts of the two screw rods respectively penetrate through the first fixing plate and the second fixing plate, the first bevel gears on the two screw rods are respectively meshed with the gear sets on the first fixing plate and the second fixing plate, and the gear sets on the two fixing plates are in transmission connection.
4. A pelvic exercise assisting structure according to claim 3, wherein one of the two screw rods is fixed at one end thereof with a crank.
5. The pelvic motion assist structure of claim 3, further comprising a first rotary encoder mounted on one side of the rotation shaft, a second rotary encoder disposed between the first and second rotary rails and in driving connection with the gear sets on the first and second fixed plates, and a linear encoder mounted on one side of the slide mount.
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CN201710471493.0A CN107157704B (en) | 2017-06-20 | 2017-06-20 | Pelvis exercise auxiliary structure |
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CN201710471493.0A CN107157704B (en) | 2017-06-20 | 2017-06-20 | Pelvis exercise auxiliary structure |
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CN107157704B true CN107157704B (en) | 2023-06-27 |
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CN108042313B (en) * | 2018-01-12 | 2023-10-27 | 深圳市迈步机器人科技有限公司 | Pelvis exercise auxiliary structure |
CN109009614A (en) * | 2018-07-17 | 2018-12-18 | 陈元振 | A kind of children's whole body scoliosis traction orthoses |
CN110584945B (en) * | 2019-09-20 | 2021-08-10 | 杨慧 | Rehabilitation training device for fixing hip and shoulder of cerebral palsy patient |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
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IT1281584B1 (en) * | 1996-01-02 | 1998-02-20 | Benito Ferrati | ORTHOPEDIC EQUIPMENT FOR WALKING AND REHABILITATION OF MOTU-INJURED PEOPLE WITH THE USE OF ELECTRONIC AND REALITY UNITS |
US7556606B2 (en) * | 2006-05-18 | 2009-07-07 | Massachusetts Institute Of Technology | Pelvis interface |
JP2011015323A (en) * | 2009-07-06 | 2011-01-20 | Canon It Solutions Inc | Image forming apparatus, processing method thereof and program |
EP2815734A1 (en) * | 2013-06-21 | 2014-12-24 | Hocoma AG | Apparatus for automated walking training |
EP3133998B1 (en) * | 2014-04-21 | 2019-07-03 | The Trustees of Columbia University in the City of New York | Human movement research, therapeutic, and diagnostic devices, methods, and systems |
CN207979955U (en) * | 2017-06-20 | 2018-10-19 | 深圳市迈步机器人科技有限公司 | A kind of pelvic movement supplementary structure |
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