CN108186280A - Muscle force recovering training system - Google Patents
Muscle force recovering training system Download PDFInfo
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- CN108186280A CN108186280A CN201711462315.8A CN201711462315A CN108186280A CN 108186280 A CN108186280 A CN 108186280A CN 201711462315 A CN201711462315 A CN 201711462315A CN 108186280 A CN108186280 A CN 108186280A
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 238000002567 electromyography Methods 0.000 claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims abstract description 18
- 230000003750 conditioning effect Effects 0.000 claims description 11
- 230000003387 muscular Effects 0.000 abstract description 17
- 238000012360 testing method Methods 0.000 abstract description 15
- 230000000694 effects Effects 0.000 abstract description 3
- 230000003068 static effect Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 7
- 206010033799 Paralysis Diseases 0.000 description 3
- 230000003321 amplification Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 210000000746 body region Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004615 ingredient Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 206010033885 Paraparesis Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 210000001513 elbow Anatomy 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004118 muscle contraction Effects 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 210000001226 toe joint Anatomy 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4519—Muscles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4528—Joints
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- 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
- A61H2201/01—Constructive details
- A61H2201/0165—Damping, vibration related features
-
- 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
- A61H2201/5058—Sensors or detectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- 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
- A61H2205/10—Leg
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Dentistry (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Rheumatology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
Abstract
The present invention discloses muscle force recovering training system, the electromyography signal of the external human body of electromyographic signal collection module acquisition is set, power generating module is set to drive the region of interest rotation of human body, and angular velocity detection module is installed on power generating module, Angular Displacement Detecting module, moment inspecting module, detect angular speed caused by power generating module, angular displacement and torque, the applied force that power generating module generates is the stress for treating rehabilitation position of human body, the present invention both can directly detect the stressing conditions of external related parts of human body, this acquisition, control, the combination of feedback, the mode that static data detects simultaneously with dynamic data, effective data basis can be provided for muscular strength test and appraisal, help to improve the training effect of the present invention.
Description
Technical field
The present invention relates to rehabilitation equipment fields, and in particular to muscle force recovering training system.
Background technology
Muscular strength refers to strength, amplitude and the speed during muscle active movement.Human body 6 grades of muscular strength point：Normal person can resist
Powerful resistance；Centrifugal force can be resisted close to normal people and fights the resistance of some strength；The people of paraparesis can resist
Centrifugal force linear joint, but cannot be to resistive drag force；People's contraction of muscle of poisoning paralysis can drive articulation level direction to move, but
Centrifugal force cannot be fought；There are slight shrinkage, but immovable joint close to the people's muscle paralysed completely；The people's flesh paralysed completely
Meat ungauged regions.As it can be seen that improper crowd carries out muscular strength test and appraisal to muscular strength, i.e., by measuring the information of muscular strength, carry out grade and comment
It is fixed, and rehabilitation training mode is provided according to evaluation result.
Existing muscle force recovering training system, it is typically corresponding to human body under stationary state when testing and assessing to muscular strength
Position acquires muscular strength signal, does not carry out signal acquisition during the motion, i.e., tests and assesses to muscular strength, only according to static
The muscle of state, joint information rather than combine muscle, joint information under dynamical state.Human body is huge, complicated to be
The test and appraisal of human body muscular strength need to be combined various information by system.Therefore, existing muscle force recovering training system should be muscular strength test and appraisal
Effective data basis is provided.
Invention content
The present invention provides muscle force recovering training system, solves of the existing technology cannot test and assess for muscular strength and provides effectively
The problem of data basis.
The present invention solves the above problems by the following technical programs：
Muscle force recovering training system, including electromyographic signal collection module, power generating module, angular velocity detection module, angle
Displacement detection module, moment inspecting module and controller module；The myoelectricity letter of the electromyographic signal collection module acquisition human body
Number, it is input in controller module；The control terminal of the power generating module is connect with controller module；The angular velocity detection
The output terminal of module is connect with controller module；The output terminal of the Angular Displacement Detecting module is connect with controller module；It is described
The output terminal of moment inspecting module is connect with controller module.
Further, electromyography signal conditioning module is further included；The collected signal of electromyographic signal collection module is through flesh
After the conditioning of electric signal conditioning module, it is input in controller module.
Further, wireless transport module and terminal are further included；The signal of the controller module output is through wireless transmission
Module is sent to terminal.
Further, the power generating module mainly includes motor drive module, motor submodule and power arm；
The control terminal of the motor drive module is connect with controller module；The control terminal and motor drive of the motor submodule
The output terminal connection of module；The motor submodule drives the power arm operation.
Further, at least 1 elastic resistance band, the elastic resistance band is installed removably to connect on the power arm
It is connected on the power arm.
Further, curved detection module is further included, the curved detection module is connect with controller module.
Further, the electromyographic signal collection module mainly includes epidermic muscle-electricity transducer；The epidermic muscle-electricity sensing
The output terminal of device is connect with controller module.
Further, electromyography signal conditioning module includes differential amplifier circuit and active filter circuit；The electromyography signal
Active filter circuit is input to after differential amplifier circuit is amplified to be filtered, then is input in controller module.
Compared with prior art, there are following features：
1st, the electromyography signal of the external human body of setting electromyographic signal collection module acquisition, setting power generating module drive human body
Region of interest rotation, and angular velocity detection module, Angular Displacement Detecting module, moment inspecting mould are installed on power generating module
Block, detects angular speed, angular displacement and torque caused by power generating module, and the applied force that power generating module generates is people
The stress for treating rehabilitation position of body, the present invention both can directly detect the stressing conditions of external related parts of human body, this acquisition, control
The combination of system, feedback, the mode that static data detects simultaneously with dynamic data can test and assess for muscular strength and provide effective data
Basis helps to improve the training effect of the present invention；
2nd, power arm is equipped in power generating module, at least 1 elastic resistance band is also equipped on power arm, by human body
Region of interest be directly placed at elastic resistance and take, power arm drives the movement of related parts of human body by elastic resistance band,
Suitable for the weaker crowd of muscular strength, expand target user；
3rd, curved detection module is provided with, muscle or the bending degree in joint is detected, is used as feedback rehabilitation situation.
Description of the drawings
Fig. 1 is structural principle block diagram of the present invention.
Fig. 2 is the structural principle block diagram of power generating module.
Specific embodiment
The invention will be further described with reference to embodiments, but the invention is not limited in these embodiments.
Muscle force recovering training system, including electromyographic signal collection module, power generating module, angular velocity detection module, angle
Displacement detection module, moment inspecting module and controller module；The myoelectricity letter of the electromyographic signal collection module acquisition human body
Number, it is input in controller module；The control terminal of the power generating module is connect with controller module；The angular velocity detection
The output terminal of module is connect with controller module；The output terminal of the Angular Displacement Detecting module is connect with controller module；It is described
The output terminal of moment inspecting module is connect with controller module.
Under electromyographic signal collection module either stationary state or in the dynamic process of rehabilitation training, to human body into
Row electromyographic signal collection.Electromyographic signal collection module carries out electromyographic signal collection by bipolar electrode, and is input to controller
In module.The matrix of electrode plates is copper, and electroplate is inserted into a reference electrode between two electrode plates, i.e., without powered-down
Pole advantageously reduces noise, improves the rejection ability to common-mode signal.
The electromyographic signal collection module mainly includes epidermic muscle-electricity transducer；The output terminal of the epidermic muscle-electricity transducer
It is connect with controller module.The signal of bipolar electrode is input to epidermic muscle-electricity transducer, and epidermic muscle-electricity transducer, which will acquire, to be believed
It number is input in controller module.Epidermic muscle-electricity transducer is by prestage, four amplifying stage, trap grade and output stage part groups
Into.
Power generating module mainly includes motor drive module, motor submodule and power arm；The motor driving
The control terminal of submodule is connect with controller module；The control terminal of the motor submodule and the output terminal of motor drive module
Connection；The motor submodule drives the power arm operation.Controller module can send pwm signal to electrode drive submodule
Control will control signal amplification, driving motor submodule drives power arm to motor drive module by motor drive module
Movement, can change the rotational frequency of motor and rotating speed by changing frequency, the duty ratio of pwm signal.It is generated by power
Module drives the joint of human body, muscular movement, achievees the purpose that rehabilitation training.
Further, at least 1 elastic resistance band, the elastic resistance band is installed removably to connect on the power arm
It is connected on the power arm.Elastic resistance band is removably installed on power arm, is mainly used for fettering big Minor articulus, foot
The positions such as ankle, wrist, knee, elbow, convenient for the exercise for power concentrated, optimized to each position so that muscle and rehabilitation obtain
To better training.
Angular velocity detection module is angular-rate sensor, detects the angular speed that power arm moves in power generating module, should
Angular speed reflection is the angular speed run to human body.While measuring human body operation angular speed, also pass through myoelectricity
Electromyography signal under signal acquisition module detection rehabilitation training state, the two signals are input in controller module, are used as
The data basis of muscular strength test and appraisal.
Angular Displacement Detecting module is angular displacement sensor, detects the angular displacement that power arm moves in power generating module, should
Angle angular displacement reflection is the angular displacement run to human body, and human body carries out different degrees of angular displacement campaign, skin
The electromyography signal on surface is different.While measuring human body operation angular displacement, health is also detected by electromyographic signal collection module
Electromyography signal under multiple physical training condition, the two signals are input in controller module, the data basis as muscular strength test and appraisal.
Moment inspecting module is torque sensor, and the power that motor generates will not be entirely applied to dynamic in power generating module
On the arm of force, torque signals can be utilized, to determine maximum moment restricted information that human body can be born.
Further, the invention also includes electromyography signal conditioning modules；The collected letter of electromyographic signal collection module
Number through electromyography signal conditioning module conditioning after, be input in controller module.Further, electromyography signal conditioning module includes
Differential amplifier circuit and active filter circuit；The electromyography signal is input to active power filtering after differential amplifier circuit is amplified
Circuit is filtered, then is input in controller module.
The signal of two motors is performed by " subtracting each other " operation using differential amplifier circuit, " common mode " ingredient is rejected, only amplifies
" differential mode " ingredient helps to eliminate the noise from electric wire.This is because if any noise is far from test point, in test point
On will appear as " common mode " signal, and detect the signal near surface and show as difference, will be amplified.Therefore, relatively at a distance
Power line noise will be eliminated, and electromyography signal relatively nearby will be amplified.The differential mode amplification circuit master of the present invention
To use ADI chips AD8222, AD8222 work that electromyography signal is converted into the voltage of 0-5V.AD8222 is a binary channels, height
Performance instrument amplifier, each amplifier only need a non-essential resistance to set gain, and gain ranging is 1 to 10000.
AD8222 common-mode rejection ratios keep more than 80dB, AD8222 that can effectively inhibit broadband interference and line harmonic, can be significantly simple
Change the structure of active filter circuit, good circuit effect can be obtained.
Electromyography signal exports 4 road voltage signals, control is input to after analog-to-digital conversion after differential amplification and active power filtering
In device module processed.
The present invention further comprises wireless transport module and terminal；The signal of the controller module output is through wireless transmission
Module is sent to terminal.The detection data of each sensor can be transmitted to terminal by wireless transport module and be stored, be checked.Nothing
Line transmission module is bluetooth radio circuit.
Further comprise curved detection module, the curved detection module is connect with controller module.Curved detection mould
Block is at least ten bending sensor, detects the curvature at the positions such as finger-joint, toe joint, elbow joint.To flexible
Position carry out rehabilitation training test and appraisal when, it is necessary to take into account the factor.
The present invention the course of work be：
No matter whether human body is carrying out rehabilitation training, and electromyographic signal collection module acquires the myoelectricity letter of external human body
Number, electromyography signal be input in controller module after differential amplifier circuit and active power filtering, tests and assesses as muscle force recovering
Data basis；Controller module sends control signal to power generating module, and power arm movement is driven, and then drive by motor
Human body carries out rehabilitation training；Human body is when carrying out rehabilitation training, the angular speed of detection power arm movement, torque, angular displacement,
The curvature in joint is detected, above-mentioned detection information is input to controller module, the data basis as muscle force recovering test and appraisal.
Claims (8)
1. muscle force recovering training system, it is characterised in that：
Including electromyographic signal collection module, power generating module, angular velocity detection module, Angular Displacement Detecting module, moment inspecting
Module and controller module；
The electromyography signal of the electromyographic signal collection module acquisition human body, is input in controller module；The power generates mould
The control terminal of block is connect with controller module；The output terminal of the angular velocity detection module is connect with controller module；The angle
The output terminal of displacement detection module is connect with controller module；The output terminal of the moment inspecting module connects with controller module
It connects.
2. muscle force recovering training system according to claim 1, it is characterised in that：
Further comprise electromyography signal conditioning module；The collected signal of electromyographic signal collection module is improved through electromyography signal
After module conditioning, it is input in controller module.
3. muscle force recovering training system according to claim 1, it is characterised in that：
Further comprise wireless transport module and terminal；The signal of the controller module output is sent to through wireless transport module
Terminal.
4. muscle force recovering training system according to claim 1, it is characterised in that：
The power generating module mainly includes motor drive module, motor submodule and power arm；The motor driving
The control terminal of submodule is connect with controller module；The control terminal of the motor submodule and the output terminal of motor drive module
Connection；The motor submodule drives the power arm operation.
5. the muscle force recovering training system according to right wants 4, it is characterised in that：
At least 1 elastic resistance band, the elastic resistance band on the power arm are installed and are detachably connected to the power
On arm.
6. muscle force recovering training system according to claim 1, it is characterised in that：Curved detection module is further included, it is described
Curved detection module is connect with controller module.
7. muscle force recovering training system according to claim 1, it is characterised in that：The electromyographic signal collection module is main
Including epidermic muscle-electricity transducer；The output terminal of the epidermic muscle-electricity transducer is connect with controller module.
8. muscle force recovering training system according to claim 2, it is characterised in that：
Electromyography signal conditioning module includes differential amplifier circuit and active filter circuit；The electromyography signal is through differential amplifier circuit
Active filter circuit is input to after being amplified to be filtered, then be input in controller module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711462315.8A CN108186280A (en) | 2017-12-28 | 2017-12-28 | Muscle force recovering training system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711462315.8A CN108186280A (en) | 2017-12-28 | 2017-12-28 | Muscle force recovering training system |
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| Publication Number | Publication Date |
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| CN108186280A true CN108186280A (en) | 2018-06-22 |
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ID=62585765
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711462315.8A Pending CN108186280A (en) | 2017-12-28 | 2017-12-28 | Muscle force recovering training system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111700773A (en) * | 2020-06-30 | 2020-09-25 | 江苏理工学院 | Finger rehabilitation training device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101061984A (en) * | 2006-04-29 | 2007-10-31 | 香港理工大学 | Recovery robot system for providing mechanical assistant by using myoelectric signal and the training method thereof |
| CN105411817A (en) * | 2015-12-23 | 2016-03-23 | 微迈森惯性技术开发（北京）有限公司 | Power driving method and system of external power machine |
| CN106618965A (en) * | 2017-01-22 | 2017-05-10 | 无锡智开医疗机器人有限公司 | Wearable extremity rehabilitation training system and control method |
| CN209154394U (en) * | 2017-12-28 | 2019-07-26 | 广西师范大学 | Muscle force recovering training system |
-
2017
- 2017-12-28 CN CN201711462315.8A patent/CN108186280A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101061984A (en) * | 2006-04-29 | 2007-10-31 | 香港理工大学 | Recovery robot system for providing mechanical assistant by using myoelectric signal and the training method thereof |
| CN105411817A (en) * | 2015-12-23 | 2016-03-23 | 微迈森惯性技术开发（北京）有限公司 | Power driving method and system of external power machine |
| CN106618965A (en) * | 2017-01-22 | 2017-05-10 | 无锡智开医疗机器人有限公司 | Wearable extremity rehabilitation training system and control method |
| CN209154394U (en) * | 2017-12-28 | 2019-07-26 | 广西师范大学 | Muscle force recovering training system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111700773A (en) * | 2020-06-30 | 2020-09-25 | 江苏理工学院 | Finger rehabilitation training device |
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