CN108211243A - A kind of lower limb rehabilitation training detecting system detection squats up trained method - Google Patents
A kind of lower limb rehabilitation training detecting system detection squats up trained method Download PDFInfo
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- CN108211243A CN108211243A CN201611133735.7A CN201611133735A CN108211243A CN 108211243 A CN108211243 A CN 108211243A CN 201611133735 A CN201611133735 A CN 201611133735A CN 108211243 A CN108211243 A CN 108211243A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B2023/0411—Squatting exercises
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/17—Counting, e.g. counting periodical movements, revolutions or cycles, or including further data processing to determine distances or speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/18—Inclination, slope or curvature
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of detections of lower limb rehabilitation training detecting system to squat up trained method, and the lower limb rehabilitation training detecting system detection squats up trained method and includes the following steps：（1）It sends out and squats up training directive,（2）The pressure of pressure checking device detection user's both feet simultaneously sends data to data processing module；（3）Data processing module calculates user and squats up trained number and the motoricity of user is converted into oscillogram；（4）User is squatted up into trained number and dynamics waveform and the time is included in display screen.A kind of present invention lower limb rehabilitation training detecting system detection, which squats up trained method and can detect patient, to be squatted up trained data and exercise regime intuitively is presented on patient at the moment, and rehabilitation training is allowed to become positive interesting.
Description
Technical field
The present invention relates to lower limb rehabilitation training field, especially a kind of lower limb rehabilitation training detecting system detection squats up training
Method.
Background technology
The patient that lower limb are damaged（Such as hemiplegia, paraplegia and other patients with severe symptoms）Long-term bed can lead to useless syndrome, meeting
There are a series of time group's diseases such as the contracture of joint, pulmonary infection, bedsore, constipation, muscular atrophy, decline in pulmonary function.
Most of give up can be prevented, such as lower limb rehabilitation training with the performance of syndrome by positive rehabilitation training
In squat up training.
Preceding ten kinds of muscle of amount of exercise maximum are the ratio mesh in group after Calf muscle successively in lower limb muscles when squatting up trained
Before biceps muscle of thigh, shank after semimembranosus, thigh after quadriceps muscle of thigh, thigh before fish flesh, thigh in outer side group in group in group
Rectus, the long adductor muscle of femoribus internus group and hip flesh before the tibialis anterior of group, the great adductor muscle of femoribus internus group, thigh in outer side group
In gluteus minimus and gluteus maximus.
It can be seen that the rehabilitation training of lower limb impaired subjects can be played very big help, and hemiplegia, paraplegia by squatting up training
Or other severe sickbed patients often squat up training can be effectively prevented muscular atrophy and the failure of organ.
But rehabilitation training equipment currently on the market is also immature, and the meaning with mandatory rehabilitation training, lacks
Weary effectively to guide, patient, which carries out rehabilitation training, can feel dry as dust, be a very painful process.
Invention content
The present invention provides a kind of lower limb rehabilitation training detecting system detection and squats up trained method, using including pressure detecting
Equipment, data processing module, display screen, the lower limb rehabilitation training detecting system that squats up training directive carry out squatting up trained detection；
Include the following steps：（1）It sends out and squats up training directive,（2）The pressure of pressure checking device detection user's both feet and by data
It is transmitted to data processing module；（3）Data processing module calculates user and squats up trained number and by the fortune of user
Power-conversion is oscillogram；（4）User is squatted up into trained number and dynamics waveform and the time is included in display screen.
Preferably, the data processing module usage time calculates user with dynamic threshold binding analysis calculating method and does
It squats up trained number and the motoricity of user is converted into oscillogram, the time and dynamic threshold binding analysis calculating method
Refer to, the value that complete waveform and wave crest are collected in the range of executeaaafunction value is then calculated as once squatting in the range of experience force value
Play training.
Preferably, the executeaaafunction value includes initial time empirical value t and real time empirical value t1, the experience power
It is 8-12 seconds that value, which includes initial experience force value D and practical experience force value D1, the executeaaafunction value t, the initial experience force value D
It squats up trained actual time value t0 for 250N, the real time empirical value t1 for the collected last time and passes through calculation formula
t1=（1±0.2）* the data that t0 is obtained, the practical experience force value D1 squat up trained practical force value for the collected last time
D0 by calculation formula D1=（1±0.2）* the data that D0 is obtained.
Preferably, the lower limb rehabilitation training detecting system is set on standing rehabilitation wheelchair vehicle, and the pressure detecting is set
Standby to be set on the foot pedal of the standing rehabilitation wheelchair vehicle, the data processing module and display screen are set to protection structure
On.
Preferably, user bundlees cushion block and aiding upright mechanism by the buttocks of the standing rehabilitation wheelchair vehicle and helps
Hand is stood on the foot pedal, the handrail of the standing rehabilitation wheelchair vehicle is caught, by the swing of the aiding upright mechanism
Function squats up training, and the lower limb rehabilitation training detecting system detection user squats up trained time and number.
Preferably, the lower limb rehabilitation training detecting system further includes angular transducer, and the angular transducer is set to
In the aiding upright mechanism.
Preferably, using the combination of pressure checking device and angular transducer trained number is squatted up to detect user
And the time.
Preferably, a kind of lower limb rehabilitation training detecting system detection squats up trained method, includes the following steps：（1）Hair
Go out to squat up training directive；（2）Pressure checking device detects the pressure of user's both feet, angular transducer detection aiding upright machine
The swing angle of structure；（3）Data processing module is calculated by time and dynamic threshold binding analysis calculating method and angular deflection method
Go out user to squat up trained number and the motoricity of user is converted into oscillogram；（5）User is squatted up into training
Number and dynamics waveform and time be shown in display screen.
Preferably, the time refers to collect in the range of executeaaafunction value with dynamic threshold binding analysis calculating method
The whole waveform and value of wave crest is in the range of experience force value, the angular deflection method refer to collect complete waveform when
Jian Nei aiding uprights mechanism swings back and forth more than 50 degree, is calculated as when the data in data processing module meet a cassation two conditions
Once squat up training.
In summary：A kind of lower limb rehabilitation training detecting system detection of the present invention squats up trained method detection patient and squats
It plays the data of training and training data is intuitively presented on patient at the moment, rehabilitation training is allowed to become positive interesting.
It should be appreciated that aforementioned description substantially and follow-up description in detail are exemplary illustration and explanation, it should not
As the limitation to the claimed content of the present invention.
Description of the drawings
Below in conjunction with accompanying drawings and embodiments, the invention will be further described, in attached drawing：
Fig. 1 is the structure diagram of lower limb rehabilitation training detecting system；
Fig. 2 is the structure diagram of data processing module；
Fig. 3 is the flow chart that angular transducer squats up collecting training data module；
Fig. 4 is the flow chart that pressure checking device squats up collecting training data module；
Fig. 5 is the flow chart that angular transducer and pressure checking device combination squat up collecting training data module；
Fig. 6 is the schematic diagram that lower limb rehabilitation training detecting system is combined with standing rehabilitation wheelchair vehicle.
Specific embodiment
By reference to exemplary embodiment, the purpose of the present invention and function and the side for being used to implement these purposes and function
Method will be illustrated.However, the present invention is not limited to exemplary embodiment as disclosed below；Can by different form come
It is realized.The essence of specification is only to aid in the detail of the various equivalent modifications Integrated Understanding present invention.
The present invention provides a kind of lower limb rehabilitation training detecting system detection and squats up trained method, and detection patient squats up instruction
It experienced data and is intuitively presented on patient at the moment, rehabilitation training is allowed to become positive interesting.
A kind of lower limb rehabilitation training detecting system, the patient that can be damaged for lower limb, which provides, squats up training and standing exercise inspection
It surveys, as shown in Figure 1, including data acquisition equipment, data processing module and display screen, further includes and squat up training directive button.
Data acquisition equipment squats up trained data for acquiring user.
It is pressure checking device that acquisition, which squats up trained data acquisition equipment,.
Pressure checking device is set in aiding upright equipment and is contacted with the lower limb of user, for detecting user
It squats up training or squats up the delta data of trained leg muscle.
For user when carrying out rehabilitation training, the muscle of lower limb can move contraction, and both feet can also make power, therefore by pressure
Detection device, which is placed under the both feet of user or tied up on the leg of user, can detect that it does the power of rehabilitation training
Variation.
But the variation of the power of its both feet is the most apparent, therefore pressure checking device is placed in the both feet of user by the present invention
Under, that is, acquire the pressure under user's both feet.
It is preferable to use pressure sensors for pressure checking device, and the data collector of spring and sensor composition also can be selected.
Data processing module is electrically connected with data acquisition module, is set in aiding upright equipment, for pressure detecting
The collected data of equipment carry out data calculating, calculate user and squat up trained number and time or processing user
Do the data of standing exercise.
As shown in Fig. 2, data processing module include instruction reception unit, squat up trained computing unit, count converting unit,
Data accumulation output unit, standing exercise computing unit and standing exercise data outputting unit.
User, which does, once squats up training, be one from standing to semi-crouch again to the reciprocating motion of standing, therefore user
The power of foot is maximum when semi-crouch, and the analysis of dynamic force is similar to a continuous waveform, foot when wave crest is semi-crouch
Stress.
As shown in figure 3, pressure checking device, which will collect, squats up trained data transmission to after squatting up trained computing unit,
Trained computing unit is squatted up to calculate the crest value in a waveform with the time for collecting waveform.
User can generate many motion states and the power of variation when using aiding upright equipment, be not each change
The power of change can be included in lower limb rehabilitation training, therefore the trained computing unit that squats up in the data processing module of the present invention can be with
Remaining motoricity is filtered.
Whether lower limb rehabilitation training system detectio user of the present invention is squatting up trained method using time and dynamic
Threshold value binding analysis calculating method.
Time and the principle of dynamic threshold binding analysis calculating method are：
The first step, maximum, force when setting one squats up trained first（That is wave crest）Initial experience force value D and do and once squat up instruction
Practice（Collect primary complete waveform）Initial experience time t, when time t ranging from acquire a complete waveform and
The value of wave crest is more than D, then is calculated as once squatting up training；
Second step, using collected maximum, force D0 for the first time and warp of the time t0 as user oneself for collecting complete waveform
Test value；
Third walks, and the value that a complete waveform and wave crest are collected in practical experience time t1 is D1, and wherein t1=（1±
0.2）*t0、D1=（1±0.2）* D0 is then calculated as once squatting up training；
Wherein：D is done according to 50 people once to be squatted up the average value of trained maximum, force and remains and acquired with coefficient 0.8, and t is according to 50
Individual, which does, once to be squatted up trained average time and remains and acquired with 0.8, sets t=8 ~ 12 second, D=250N.
Time using the present invention can squat up trained movement to exclude with dynamic threshold binding analysis calculating method, subtract
Few False Rate.
It is more accurate to make to squat up trained judgement, as shown in figure 4, pressure checking device and angular transducer can also be used
The mode judged simultaneously.
Aiding upright part, which is swung up and down, drives user to squat up training, angular transducer detection aiding upright part
Swing angle, binding time judge whether user completes once to squat up training with dynamic threshold binding analysis calculating method.
As shown in Figure 3, Figure 4, trained range is squatted up when squatting up trained computing unit and calculate collected data and belong to
When, just waveform and data input are counted in converting unit, converting unit is counted and does+1 calculating.
Converting unit is counted by waveform and squats up frequency of training and the data transmission of time to data accumulation output unit
Middle storage is simultaneously accumulated, and data accumulation output unit will squat up trained number and the time is output in display screen.
Display screen, including squatting up trained display area and standing exercise display area, display screen is it is preferable to use mobile phone or sets
Put the LED electronic curtains in aiding upright equipment.
It squats up trained display area preferred display user and squats up trained number and time.
To make training more interesting, user is allowed to be more clearly visible that the exercise regime of oneself, squats up trained display area also
It can show the waveform of power when user squats up trained.
There is no the patient of sensing capability for lower limb, it is seen that its exercise can be increased by oneself squatting up trained real-time condition
Enthusiasm.
It is provided on display screen and squats up training directive button, squatted up at training directive button and pressure checking device and data
Manage module electrical connection.
As Figure 3-Figure 4, pressure checking device receive squat up training directive start acquire user's both feet under pressure
Power, the trained computing unit that squats up in data processing module start to calculate user and squat up trained number and time.
A kind of lower limb rehabilitation training detecting system detection of the present invention squats up trained method, is set using including pressure detecting
Standby, data processing module, display screen, the lower limb rehabilitation training detecting system that squats up training directive carry out squatting up trained detection, wrap
Include following steps：
（1）It sends out and squats up training directive；
（2）The pressure of pressure checking device detection user's both feet simultaneously sends data to data processing module；
（3）Data processing module usage time calculates user with dynamic threshold binding analysis calculating method and squats up trained time
The motoricity of user is simultaneously converted into oscillogram by number；
（4）User is squatted up into trained number and dynamics waveform and the time is included in display screen.
In order to more accurately carry out squatting up trained detection, a kind of lower limb rehabilitation training detecting system detection of the present invention squats up instruction
Experienced method, it is preferable to use including pressure checking device, data processing module, display screen, squat up training directive and angle passes
The lower limb rehabilitation training system of sensor, includes the following steps：
（1）It sends out and squats up training directive；
（2）Pressure checking device starts to detect the pressure of user's both feet, the swing of angular transducer detection aiding upright mechanism
Angle；
（3）Data processing module calculates user with dynamic threshold binding analysis calculating method and angular deflection method by the time and does
It squats up trained number and the motoricity of user is converted into oscillogram；
（4）User is squatted up into trained number and dynamics waveform and the time is included in display screen.
Lower limb rehabilitation training detecting system can be set on lower limb rehabilitation equipment or in aiding upright equipment, such as Fig. 5
It is shown, it is preferably disposed on standing rehabilitation wheelchair vehicle 100（Number of patent application：201610715530.3）.
Pressure checking device is set on the foot pedal 10 of standing rehabilitation wheelchair vehicle, and data processing module is set to control dress
It puts in 1 and is electrically connected with pressure checking device, display screen is set to 1 front of control device and is electrically connected with pressure checking device.
User bundlees cushion block 41 and aiding upright mechanism 2, protection mechanism 15 by the buttocks of standing rehabilitation wheelchair vehicle 100
And armrest mechanism 3 is stood on the footrests, the mechanism that the gets a grip on the rail 3 and oscillating function by aiding upright mechanism 2 squats up
Training squats up trained time and number with the detection of lower limb rehabilitation training detecting system.
Training is squatted up in order to preferably detect, can also one angular transducer be set in the end of aiding upright mechanism 2,
The swing angle of aiding upright mechanism 2 can be detected.
Training directive is squatted up using squatting up training directive button and sending out, starts to squat up by standing rehabilitation wheelchair vehicle 100
The power detected is transferred to data processing module by training, pressure checking device, and angular transducer transmits collected data
To data processing module, data processing module starts to do data calculation processing and be transferred in display screen.
User can see that do-it-yourself squats up the waveform variation of trained time, number and power by display screen.
User can independently carry out squatting up training by standing rehabilitation wheelchair vehicle 100, not need to other people help so that
Training is actively interesting, and positive psychological hint can be brought to patient, contributes to lower limb rehabilitation.
In conclusion lower limb rehabilitation training detecting system detection of the present invention squats up whether trained method can detect patient
Training is being squatted up, and is counting patient and squats up trained number and time, by the way that actively enjoyably mode guides patient to accumulate
Rehabilitation training is done in pole, to the psychological condition that patient is positive.
Although having been combined preferred embodiment, invention has been described, it is to be understood that protection scope of the present invention is simultaneously
It is not limited to embodiment as described herein.
Explanation and practice with reference to the present invention disclosed here, the other embodiment of the present invention is for those skilled in the art
It all will be readily apparent and understand.Illustrate and embodiment is regarded only as being exemplary, true scope of the invention and purport are equal
It is defined in the claims.
Claims (9)
1. a kind of lower limb rehabilitation training detecting system detection squats up trained method, at including pressure checking device, data
Reason module, display screen, the lower limb rehabilitation training detecting system that squats up training directive carry out squatting up trained detection；Including following step
Suddenly：（1）It sends out and squats up training directive,（2）The pressure of pressure checking device detection user's both feet simultaneously sends data to data
Processing module；（3）Data processing module calculates user and squats up trained number and be converted into the motoricity of user
Oscillogram；（4）User is squatted up into trained number and dynamics waveform and the time is included in display screen.
2. a kind of lower limb rehabilitation training detecting system detection according to claim 1 squats up trained method, feature exists
In：The data processing module usage time calculates user with dynamic threshold binding analysis calculating method and squats up trained time
The motoricity of user is simultaneously converted into oscillogram by number, and the time refers to dynamic threshold binding analysis calculating method, in experience
The value that complete waveform and wave crest are collected in the range of time value is then calculated as once squatting up training in the range of experience force value.
3. a kind of lower limb rehabilitation training detecting system detection according to claim 2 squats up trained method, feature exists
In：The executeaaafunction value includes initial time empirical value t and real time empirical value t1, and the experience force value includes initial warp
It is 8-12 seconds to test force value D and practical experience force value D1, the executeaaafunction value t, and the initial experience force value D is 250N, described
Real time empirical value t1 for the collected last time squat up trained actual time value t0 by calculation formula t1=（1±
0.2）* the data that t0 is obtained, the practical experience force value D1 squat up trained practical force value D0 for the collected last time and pass through
Calculation formula D1=（1±0.2）* the data that D0 is obtained.
4. a kind of lower limb rehabilitation training detecting system detection according to claim 3 squats up trained method, feature exists
In：The lower limb rehabilitation training detecting system is set on standing rehabilitation wheelchair vehicle, and the pressure checking device is set to described
On the foot pedal of standing rehabilitation wheelchair vehicle, the data processing module and display screen are set in protection structure.
5. a kind of lower limb rehabilitation training detecting system detection according to claim 4 squats up trained method, feature exists
In：User bundlees cushion block and aiding upright mechanism by the buttocks of the standing rehabilitation wheelchair vehicle and handrail is stood described
On foot pedal, the handrail of the standing rehabilitation wheelchair vehicle is caught, instruction is squatted up by the oscillating function of the aiding upright mechanism
Practice, the lower limb rehabilitation training detecting system detection user squats up trained time and number.
6. a kind of lower limb rehabilitation training detecting system detection squats up trained method, feature according to claim 1 or 5
It is：The lower limb rehabilitation training detecting system further includes angular transducer, and the angular transducer is set to the auxiliary station
In vertical mechanism.
7. a kind of lower limb rehabilitation training detecting system detection according to claim 6 squats up trained method, feature exists
In：Using the combination of pressure checking device and angular transducer trained number and time are squatted up to detect user.
8. a kind of lower limb rehabilitation training detecting system detection according to claim 7 squats up trained method, including following
Step：（1）It sends out and squats up training directive；（2）Pressure checking device detects the pressure of user's both feet, angular transducer detection
The swing angle of aiding upright mechanism；（3）Data processing module passes through time and dynamic threshold binding analysis calculating method and angle
Deflecting method calculates user and squats up trained number and the motoricity of user is converted into oscillogram；（5）By user
It squats up trained number and dynamics waveform and the time is shown in display screen.
9. a kind of lower limb rehabilitation training detecting system detection according to claim 8 squats up trained method, feature exists
In：The time refers to collect complete waveform and wave in the range of executeaaafunction value with dynamic threshold binding analysis calculating method
For the value at peak in the range of experience force value, the angular deflection method refers to the aiding upright within the time for collecting a complete waveform
Mechanism swings back and forth more than 50 degree, is calculated as once squatting up instruction when the data in data processing module meet a cassation two conditions
Practice.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611133735.7A CN108211243B (en) | 2016-12-10 | 2016-12-10 | A kind of detection of lower limb rehabilitation training detection system squats up trained method |
| PCT/CN2017/096021 WO2018036369A1 (en) | 2016-08-24 | 2017-08-04 | Standing rehabilitation wheelchair |
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| CN201611133735.7A CN108211243B (en) | 2016-12-10 | 2016-12-10 | A kind of detection of lower limb rehabilitation training detection system squats up trained method |
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| CN112972199A (en) * | 2021-01-22 | 2021-06-18 | 金光铭 | Orthopedics is with formula shank of squatting recovering exercise equipment |
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| JP2016019720A (en) * | 2014-06-18 | 2016-02-04 | パナソニック株式会社 | Motion assisting device |
| CN105148491A (en) * | 2015-08-28 | 2015-12-16 | 上海卓易科技股份有限公司 | Strike movement monitoring method and system |
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