CN108309528B - A correction type pedal device for low limbs rehabilitation training device - Google Patents
A correction type pedal device for low limbs rehabilitation training device Download PDFInfo
- Publication number
- CN108309528B CN108309528B CN201710029905.5A CN201710029905A CN108309528B CN 108309528 B CN108309528 B CN 108309528B CN 201710029905 A CN201710029905 A CN 201710029905A CN 108309528 B CN108309528 B CN 108309528B
- Authority
- CN
- China
- Prior art keywords
- lower limb
- rehabilitation training
- training device
- foot
- limb rehabilitation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/0104—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation
- A61F5/0111—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation for the feet or ankles
- A61F5/0113—Drop-foot appliances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/0104—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation
- A61F5/0111—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation for the feet or ankles
Landscapes
- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (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
A corrective pedal device for a lower limb rehabilitation training device comprises a pedal plate position adjusting mechanism and a pedal plate. The foot plate position adjusting mechanism comprises a bottom frame which is used for being rotationally connected with the tail end of the crus exoskeleton of the lower limb rehabilitation training device, and a transverse sliding rail, a transverse sliding plate, a vertical sliding rail and a vertical sliding plate are sequentially arranged on the bottom frame from bottom to top. The footrest includes a base, a forefoot assembly and a heel assembly. The invention introduces the front sole assembly and the rear heel assembly, can realize the adjustment of the inner and outer turning of the front sole, and ensures the placement and the correction of the functional position of the lower limb exercise training limb. The introduction of the foot plate position adjusting mechanism can realize the position and size adjustment, and meet the requirements of the lower limb rehabilitation degree and the size of feet of different trainers.
Description
Technical Field
The invention relates to a medical rehabilitation instrument, in particular to a correction type pedal device for a lower limb rehabilitation training device.
Background
Patients with stroke and brain trauma often cause limb dysfunction, and such patients can also cause limb muscular atrophy, foot drop, foot varus, foot valgus or muscle spasm and the like due to long-term bed rest, thereby increasing difficulty for disease recovery and later rehabilitation training. The recovery of the walking ability of the stroke patient is closely related to the recovery of the lower limb movement function of the affected side, the joint movement amplitude of the patient can be kept and recovered by using the lower limb movement recovery training, and the recovery of the main movement function of the limb is facilitated. There are currently commercialized gait lower limb rehabilitation robots. Such as Handy1, made by MikeTopping, Inc. in UK in 1987. Another rehabilitation robot that has successfully entered the market is MANUS rehabilitation robot developed by Exact Dynamics, netherlands, the american NUSTEP rehabilitation machine, the thermal intelligent rehabilitation training robot in germany, the motinmake developed by WORTEC, switzerland. In addition, the inclined bed weight reduction lower limb rehabilitation training device adopts a horizontal type weight reduction mode, can well solve the initial rehabilitation of a seriously ill patient, and can realize exercise training and joint training.
When the device is used for exercise training, patients with the symptoms of foot drop, foot varus, foot valgus and the like often exist, feet of the patients cannot be placed on the pedals well, the rehabilitation exercise training degree is often insufficient, even the safety problems of foot sprain or fracture and the like can be caused seriously, and the difficulty is increased for the recovery of diseases and the rehabilitation training in the future. Therefore, the device has great significance for regulating and correcting the body position of the lower limb during exercise training, and effectively preventing foot drop, foot varus, foot valgus or muscle spasm and the like.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide an orthotic pedal device for a lower limb rehabilitation training device.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a correction type pedal device for low limbs rehabilitation training device for rotate with the terminal connection that rotates of shank ectoskeleton of low limbs rehabilitation training device, includes sole position control mechanism and running-board, sole position control mechanism be used for with the terminal rotation connection of shank ectoskeleton of low limbs rehabilitation training device, the running-board is installed on sole position control mechanism, can realize position and size control.
The foot plate position adjusting mechanism comprises a bottom frame which is used for being rotatably connected with the tail end of a crus exoskeleton of the lower limb rehabilitation training device, and a transverse sliding rail, a transverse sliding plate, a vertical sliding rail and a vertical sliding plate are sequentially arranged on the bottom frame from bottom to top; the transverse sliding rail is fixed on the bottom frame, and the transverse sliding plate is embedded on the transverse sliding rail and can transversely move along the transverse sliding rail; the vertical slide rail is fixed on the transverse sliding plate, and the vertical slide plate is embedded on the vertical slide rail and can vertically move along the vertical slide rail and can transversely move along with the transverse sliding plate.
The footboard comprises a base, a front sole assembly and a rear heel assembly; the base is fixedly connected with a vertical sliding plate of the foot plate position adjusting mechanism, the front sole assembly is movably arranged at the front part of the base, and the rear heel assembly is fixedly arranged at the rear part of the base.
The front part of the base is provided with a sliding groove for arranging the front sole assembly, and the rear part of the base is provided with a fixing groove for fixing the rear heel assembly.
The front sole assembly comprises a front sole foot pad and a front sole connecting piece, the front sole foot pad and the front sole connecting piece are mutually nested and connected, a sliding block is arranged at the lower part of the front sole connecting piece, and the sliding block is connected with a sliding groove on the base in a sliding mode.
The lower part of the front sole foot pad is provided with a circle of cylindrical soft rubber convex block, the upper part of the front sole connecting piece is correspondingly provided with a circle of cylindrical groove, the front sole foot pad and the front sole connecting piece are mutually nested and connected through the matching of the convex block and the groove, and the connecting angle can be adjusted.
The rear heel assembly comprises a rear heel foot pad and a rear heel connecting piece; the rear heel foot pad is mutually nested and connected with the rear heel connecting piece, and the rear heel connecting piece is fixedly connected with the fixing groove on the base.
The lower part of the heel foot pad is provided with a circle of cylindrical soft rubber convex block, the upper part of the heel connecting piece is correspondingly provided with a circle of cylindrical groove, the heel foot pad and the heel connecting piece are mutually nested and connected through the matching of the convex block and the groove, and the connecting angle can be adjusted.
A row of positioning holes are respectively formed in two sides of the sliding groove in the front portion of the base, two positioning pins are correspondingly arranged on the front sole connecting piece, and the front sole connecting piece is matched with the positioning holes through the positioning pins to achieve displacement and positioning of the front sole connecting piece on the base.
The baseboard position adjusting mechanism further comprises a self-rebounding bolt, positioning holes are formed in the bottom frame and the vertical sliding plate respectively, fixing holes are formed in the transverse sliding plate, the self-rebounding bolt is installed on the transverse sliding plate and is connected with the positioning holes in the bottom frame and the vertical sliding plate in a matched mode through the fixing holes in the transverse sliding plate, and free movement and fixation of the horizontal inner position of the vertical sliding plate are achieved.
Compared with the prior art, the invention has the following advantages:
1) adopt preceding sole subassembly, back heel subassembly isotructure, preceding sole callus on the sole links to each other with preceding sole connecting piece, can realize that the inside and outside regulation of turning over of preceding sole foot, and back heel callus on the sole links to each other with back heel connecting piece, realizes adjusting whole callus on the sole size, guarantees that low limbs motion training limb function position puts and corrects.
2) The position adjusting mechanism is introduced into the structure to realize position and size adjustment, so that the requirements of lower limb degrees and feet of different trainers are met, discomfort caused by fixed length and different feet is avoided, the training intensity and safety of the patient are ensured, and comfortable and personalized training is realized.
Drawings
FIG. 1 is a schematic structural view of a foot plate position adjustment mechanism according to the present invention;
FIG. 2 is a schematic view of the structure of the footrest in the present invention;
FIG. 3 is a schematic view of the structure of the bottom plate of the footrest in the present invention;
FIG. 4 is a schematic diagram of a front sole assembly of the present invention;
fig. 5 is a schematic diagram of a rear heel assembly according to the present invention.
Detailed Description
The device can be arranged at the ankle joint at the tail end of the crus exoskeleton of the lower limb rehabilitation training device, and can also be independently used as an appliance to be arranged on any support which can be fixed, and the fixed support only needs to be erected on a corresponding mounting hole. Fig. 1 shows 101 a mounting hole of the device.
The invention relates to a correction type pedal device for a lower limb rehabilitation training device, which comprises a pedal plate position adjusting mechanism 1 and a pedal plate 2, wherein the pedal plate position adjusting mechanism 1 is used for being rotatably connected with the tail end of a crus exoskeleton of the lower limb rehabilitation training device, and the pedal plate 2 is arranged on the pedal plate position adjusting mechanism and can realize position and size adjustment.
Referring to fig. 1, the foot plate position adjusting mechanism 1 of the invention comprises a base frame 11 which is used for being rotatably connected with the tail end of a crus exoskeleton of a lower limb rehabilitation training device, and a transverse slide rail 12, a transverse slide plate 13, a vertical slide rail 14 and a vertical slide plate 15 are sequentially arranged on the base frame from bottom to top; the transverse sliding rail is fixed on the bottom frame, and the transverse sliding plate is embedded on the transverse sliding rail and can transversely move along the transverse sliding rail; the vertical slide rail is fixed on the transverse sliding plate, and the vertical slide plate is embedded on the vertical slide rail and can vertically move along the vertical slide rail and can transversely move along with the transverse sliding plate.
Referring to fig. 2, the footrest 2 in the present invention includes a base 21, a forefoot assembly 22 and a heel assembly 23; the base is fixedly connected with a vertical sliding plate of the foot plate position adjusting mechanism, the front sole assembly is movably arranged at the front part of the base, and the rear heel assembly is fixedly arranged at the rear part of the base.
Referring to fig. 3, the base 21 of the present invention has a sliding groove 211 for installing a forefoot assembly at the front portion thereof and a fixing groove 212 for fixing a rear heel assembly at the rear portion thereof.
Referring to fig. 4, the front sole assembly 22 of the present invention comprises a front sole pad 221 and a front sole connecting element 222, the front sole pad and the front sole connecting element are nested with each other, and a sliding block 223 is disposed at the lower part of the front sole connecting element and is slidably connected with a sliding groove on the base. A circle of cylindrical soft rubber convex blocks 224 are arranged at the lower part of the front sole foot pad 221, a circle of cylindrical grooves are correspondingly arranged at the upper part of the front sole connecting piece, the front sole foot pad and the front sole connecting piece are mutually nested and connected through the matching of the convex blocks and the grooves, and the connecting angle can be adjusted.
Referring to FIG. 5, rear heel assembly 23 of the present invention includes a rear heel foot pad 231 and a rear heel link 232; the rear heel foot pad is mutually nested and connected with the rear heel connecting piece, and the rear heel connecting piece is fixedly connected with the fixing groove on the base. The lower part of the heel foot pad is provided with a circle of cylindrical soft rubber convex blocks 233, the upper part of the heel connecting piece is correspondingly provided with a circle of cylindrical grooves, the heel foot pad and the heel connecting piece are mutually nested and connected through the matching of the convex blocks and the grooves, and the connecting angle can be adjusted.
Referring to fig. 3 and 4, a row of positioning holes 213 are respectively formed on both sides of the sliding groove in the front portion of the base, two positioning pins 225 are correspondingly formed on the front sole connecting member, and the front sole connecting member is configured to shift and position on the base through the cooperation between the positioning pins and the positioning holes.
The foot plate position adjusting mechanism 1 further comprises a self-rebounding bolt 16, positioning holes are formed in the bottom frame and the vertical sliding plate respectively, fixing holes are formed in the transverse sliding plate, the self-rebounding bolt is installed on the transverse sliding plate and is connected with the positioning holes in the bottom frame and the vertical sliding plate in a matched mode through the fixing holes in the transverse sliding plate, and free movement and fixation of the horizontal direction inner position of the vertical sliding plate are achieved.
The device can be independently fixed on a bracket or arranged at an exoskeleton ankle joint of a lower limb rehabilitation training device, and a foot plate position adjusting mechanism is connected with a foot plate, so that the position and size can be adjusted, and the drop foot, the inversion foot and the eversion foot of a patient can be prevented; the foot pedal can realize the adjustment of the heel inside and outside turning. Due to the adoption of the structures such as the heel assembly, the front sole assembly and the like, the in-and-out adjustment of the front sole can be realized, and the functional position of the lower limb exercise training limb can be ensured to be placed and corrected. The position adjusting mechanism is introduced to realize the position and size adjustment, so that the lower limb rehabilitation degree and the foot size requirements of different trainers are met.
Claims (9)
1. A correction type pedal device for a lower limb rehabilitation training device is used for being rotatably connected with the tail end of a crus exoskeleton of the lower limb rehabilitation training device and is characterized by comprising a foot plate position adjusting mechanism and a pedal plate, wherein the foot plate position adjusting mechanism is used for being rotatably connected with the tail end of the crus exoskeleton of the lower limb rehabilitation training device;
the foot plate position adjusting mechanism comprises a bottom frame which is used for being rotatably connected with the tail end of a crus exoskeleton of the lower limb rehabilitation training device, and a transverse sliding rail, a transverse sliding plate, a vertical sliding rail and a vertical sliding plate are sequentially arranged on the bottom frame from bottom to top; the transverse sliding rail is fixed on the bottom frame, and the transverse sliding plate is embedded on the transverse sliding rail and can transversely move along the transverse sliding rail; vertical slide rail is fixed on horizontal slide, and vertical slide inlays the dress and can follow vertical slide rail vertical movement on vertical slide rail to can be along with horizontal slide lateral shifting.
2. The orthotic footrest apparatus for a lower limb rehabilitation training device of claim 1, wherein said footrest includes a base, a front sole assembly and a rear heel assembly; the base is fixedly connected with a vertical sliding plate of the foot plate position adjusting mechanism, the front sole assembly is movably arranged at the front part of the base, and the rear heel assembly is fixedly arranged at the rear part of the base.
3. The orthotic footrest apparatus for a lower limb rehabilitation training device of claim 2, wherein the base has a front portion provided with a slide groove for receiving the front sole assembly and a rear portion provided with a fixing groove for fixing the rear heel assembly.
4. The corrective foot rest for a lower limb rehabilitation training device of claim 2, wherein the forefoot assembly comprises a forefoot pad and a forefoot coupler, the forefoot pad and the forefoot coupler are nested together, and a slider is disposed at a lower portion of the forefoot coupler and slidably coupled to a slide groove of the base.
5. The corrective foot rest for the lower limb rehabilitation training device of claim 4, wherein the lower part of the forefoot foot pad is provided with a circle of cylindrical soft rubber projection, the upper part of the forefoot connecting piece is correspondingly provided with a circle of cylindrical groove, and the forefoot foot pad and the forefoot connecting piece are nested with each other through the cooperation of the projection and the groove, and the connection angle can be adjusted.
6. The orthotic footrest apparatus for a lower limb rehabilitation training device of claim 2, wherein said heel assembly includes a heel pad and a heel connector; the rear heel foot pad is mutually nested and connected with the rear heel connecting piece, and the rear heel connecting piece is fixedly connected with the fixing groove on the base.
7. The corrective foot rest for the lower limb rehabilitation training device of claim 6, wherein the lower portion of the heel foot rest is provided with a circle of cylindrical soft rubber projection, the upper portion of the heel connecting piece is correspondingly provided with a circle of cylindrical groove, the heel foot rest and the heel connecting piece are nested with each other through the cooperation of the projection and the groove, and the connecting angle can be adjusted.
8. The corrective foot device for the lower limb rehabilitation training device of claim 2, wherein a row of positioning holes are respectively formed on both sides of the sliding groove in the front portion of the base, two positioning pins are respectively formed on the front sole connecting member, and the front sole connecting member is used for realizing the displacement and positioning of the front sole connecting member on the base through the matching of the positioning pins thereof with the positioning holes.
9. The orthopedic foot rest apparatus for lower limb rehabilitation training devices of claim 1, wherein the foot plate position adjusting mechanism further comprises a self-rebounding latch, positioning holes are respectively formed on the bottom frame and the vertical sliding plate, fixing holes are formed on the transverse sliding plate, and the self-rebounding latch is mounted on the transverse sliding plate and is in fit connection with the positioning holes on the bottom frame and the vertical sliding plate through the fixing holes on the transverse sliding plate, so that the horizontal inner position of the vertical sliding plate can be freely moved and fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029905.5A CN108309528B (en) | 2017-01-16 | 2017-01-16 | A correction type pedal device for low limbs rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029905.5A CN108309528B (en) | 2017-01-16 | 2017-01-16 | A correction type pedal device for low limbs rehabilitation training device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108309528A CN108309528A (en) | 2018-07-24 |
| CN108309528B true CN108309528B (en) | 2020-02-18 |
Family
ID=62891671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710029905.5A Active CN108309528B (en) | 2017-01-16 | 2017-01-16 | A correction type pedal device for low limbs rehabilitation training device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108309528B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110141410A (en) * | 2019-07-02 | 2019-08-20 | 杭州科美特传感器有限公司 | Tip-foot corrective shoes |
| CN110946686B (en) * | 2019-12-13 | 2021-08-24 | 重庆医科大学附属儿童医院 | Cerebral palsy rehabilitation using device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6036665A (en) * | 1998-03-16 | 2000-03-14 | Towsley; Harold E. | Orthopedic foot, ankle and lower leg brace |
| CN201564646U (en) * | 2009-12-04 | 2010-09-01 | 国家康复辅具研究中心 | Strephenopodia and strephexopodia orthotic device |
| CN102302404A (en) * | 2011-06-30 | 2012-01-04 | 浙江大学 | Walking type under-actuated three-degree of freedom ankle joint movement recovery exoskeleton |
| CN104083237A (en) * | 2014-06-09 | 2014-10-08 | 北京航空航天大学 | Active driving ankle foot orthosis with plantar pressure detection function |
| CN104398365A (en) * | 2014-11-21 | 2015-03-11 | 深圳市第二人民医院 | Three-degree-of-freedom ankle joint exercising device |
| CN205459253U (en) * | 2016-01-22 | 2016-08-17 | 南国新 | Ankle joint deformity unscrambler |
| US9539134B2 (en) * | 2014-02-12 | 2017-01-10 | Abdulreidha Abdulrasoul AlSaffar | Orthotic method and device for newborn babies |
| CN206950253U (en) * | 2017-01-16 | 2018-02-02 | 上海理工大学 | Correction type foot pedal apparatus for lower limb rehabilitation training device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434471A (en) * | 2014-12-24 | 2015-03-25 | 广西大学 | Leading load acting-saving exoskeleton foot device |
| CN205286330U (en) * | 2016-01-11 | 2016-06-08 | 电光防爆科技（上海）有限公司 | Improved generation low limbs postoperative rehabilitation espadrille |
| CN205307170U (en) * | 2016-01-11 | 2016-06-15 | 武汉市中心医院 | Low limbs are corrected and are helped capable ware |
-
2017
- 2017-01-16 CN CN201710029905.5A patent/CN108309528B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6036665A (en) * | 1998-03-16 | 2000-03-14 | Towsley; Harold E. | Orthopedic foot, ankle and lower leg brace |
| CN201564646U (en) * | 2009-12-04 | 2010-09-01 | 国家康复辅具研究中心 | Strephenopodia and strephexopodia orthotic device |
| CN102302404A (en) * | 2011-06-30 | 2012-01-04 | 浙江大学 | Walking type under-actuated three-degree of freedom ankle joint movement recovery exoskeleton |
| US9539134B2 (en) * | 2014-02-12 | 2017-01-10 | Abdulreidha Abdulrasoul AlSaffar | Orthotic method and device for newborn babies |
| CN104083237A (en) * | 2014-06-09 | 2014-10-08 | 北京航空航天大学 | Active driving ankle foot orthosis with plantar pressure detection function |
| CN104398365A (en) * | 2014-11-21 | 2015-03-11 | 深圳市第二人民医院 | Three-degree-of-freedom ankle joint exercising device |
| CN205459253U (en) * | 2016-01-22 | 2016-08-17 | 南国新 | Ankle joint deformity unscrambler |
| CN206950253U (en) * | 2017-01-16 | 2018-02-02 | 上海理工大学 | Correction type foot pedal apparatus for lower limb rehabilitation training device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108309528A (en) | 2018-07-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6666798B2 (en) | Therapeutic and rehabilitation apparatus | |
| CN106901947B (en) | Wearable lower limb exoskeleton assisted walking robot mechanism | |
| KR100942968B1 (en) | A movement machine for rehabilitation medical cure | |
| TW201639533A (en) | Interactive exoskeleton robotic knee system | |
| JP5884099B2 (en) | Exercise equipment | |
| US11179288B2 (en) | Leg orthosis and orthosis | |
| CN106983638B (en) | Passive weight-supporting exoskeleton device based on gait phase self-unlocking | |
| CN212548128U (en) | Ankle pump athletic training equipment | |
| US11986434B2 (en) | Medical walker | |
| RU2687573C2 (en) | Ankle link of orthosis or exoskeleton | |
| US11406859B2 (en) | Gait pattern training device | |
| CN105853041A (en) | Orthodontic correction device for legs | |
| CN111212623A (en) | Walking assistance device | |
| CN108309528B (en) | A correction type pedal device for low limbs rehabilitation training device | |
| CN107736992B (en) | Lower limb recovery training device for neurology department | |
| CN110859734B (en) | Patient rehabilitation exercise device | |
| CN106667635B (en) | Insole device for lower limb rehabilitation training device | |
| CN206950253U (en) | Correction type foot pedal apparatus for lower limb rehabilitation training device | |
| CN114733145B (en) | Intelligent multifunctional lower limb rehabilitation training integrated machine | |
| TW201330843A (en) | Gait rehabilitation device | |
| CN206950254U (en) | Insole device for lower limb rehabilitation training device | |
| CN211097339U (en) | Lower limb training device | |
| CN211213731U (en) | Adjustable ankle-foot orthosis | |
| CN209661905U (en) | A kind of gait rehabilitation training device | |
| WO2021211003A1 (en) | Universal rehabilitation device for forced movement of the legs |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |