CN108433953A - A kind of rehabilitation training walk helper - Google Patents

A kind of rehabilitation training walk helper Download PDF

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Publication number
CN108433953A
CN108433953A CN201810207292.4A CN201810207292A CN108433953A CN 108433953 A CN108433953 A CN 108433953A CN 201810207292 A CN201810207292 A CN 201810207292A CN 108433953 A CN108433953 A CN 108433953A
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CN
China
Prior art keywords
controller
poppet
rehabilitation training
pedestal
seat
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Granted
Application number
CN201810207292.4A
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Chinese (zh)
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CN108433953B (en
Inventor
孙丽萍
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Weifang University of Science and Technology
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Priority to CN201810207292.4A priority Critical patent/CN108433953B/en
Publication of CN108433953A publication Critical patent/CN108433953A/en
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Publication of CN108433953B publication Critical patent/CN108433953B/en
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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H3/04Wheeled walking aids for disabled persons
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/0405Exercising 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
    • A63B23/0464Walk exercisers without moving parts
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H3/04Wheeled walking aids for disabled persons
    • A61H2003/043Wheeled walking aids for disabled persons with a drive mechanism
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H3/04Wheeled walking aids for disabled persons
    • A61H2003/046Wheeled walking aids for disabled persons with braking means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00Measuring of physical parameters relating to sporting activity
    • A63B2220/17Counting, e.g. counting periodical movements, revolutions or cycles, or including further data processing to determine distances or speed
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00Measuring of physical parameters relating to sporting activity
    • A63B2220/80Special sensors, transducers or devices therefor
    • A63B2220/806Video cameras

Abstract

The invention discloses a kind of rehabilitation training walk helpers, it include mainly main body rack, after-poppet, controller, after-poppet is located at the rear end of main body rack, controller is located at the front end of main body rack, main body rack is made of pedestal lower end and pedestal upper end, the centre of pedestal upper end is equipped with band wheel apparatus and button of standing up, it is equipped with seat unit among after-poppet and leans on shoulder strap, the lower end of after-poppet is equipped with castor and locking device, the input of controller is terminated with physical activity sensor, touching display screen and camera, the output of controller is terminated with band wheel apparatus, locking device and seat unit, it is connected to USB interface at the two-port of controller.In short, reasonable design of the present invention, the psychological shade generated after effective solution patient injury's rehabilitation, excitation patient carries out rehabilitation training, and optimizes patient and carry out autonomous operation, and can avoid patient that unexpected situation occurs as possible.

Description

A kind of rehabilitation training walk helper
Technical field
The present invention relates to rehabilitation appliances technical fields, are specifically related to a kind of rehabilitation training walk helper.
Background technology
At present because the unexpected crowd for injuring limbs is numerous, after Rehabilitation if without rehabilitation training, it will make walking Ability is gradually degenerated, and walk helper is the main rehabilitation training equipment of these crowds.Walk helper is to assist some because of disease, bone Folding, traffic accident lose the instrument of people's progress rehabilitation training of independent locomotor activity.Common walk helper is divided into no wheel, two-wheeled and four-wheel Walk helper, different walk helpers can facilitate different types of sufferer to use.
But during routine use, it is found that some problems, patient injure limbs by unexpected, often leave certain Psychic trauma is obtained, the psychological shade in walking is often will appear, dare not or be reluctant to carry out the reconditioning of limbs, which increase The difficulty of accompanying and attending to of hospital or relatives family members reduce independent ambulation but also patient cannot obtain punctual accurate rehabilitation training Ability, so that patient's locomotor activity is gradually degenerated;And find in the training process, patient, which sits down, to carry out when rest being difficult alone It stands up to be trained again, people is needed to assist patient to regain one's feet from side mostly, while may also can go out in training walking process Now the fortuitous events such as tumble bring more psychic traumas to patient again.
Root according to data, when baby walking, needs them with some to think curiosity to attract them, they are just It can distract attention, not fear on foot, so that them is learnt to walk, effect is more notable, these related datas show to swash by certain Means are encouraged, equally patient can be made to complete basic requirement in rehabilitation training, makes the completion training that patient is conscientious, reaches rehabilitation Trained purpose.
In order to design invention walk helper, patent CN201410465169.4 proposes a kind of orthopaedics walk helper, simple in structure, Reasonable design, but this equipment is not well solved to middle lead to the problem of used above, therefore now need a kind of energy Effectively excitation patient carries out rehabilitation training, and patient is assisted independently to stand up the health sat down and prevent patient from the unexpected situations such as falling down Multiple walk helper.
Invention content
For the above technical problem, the present invention provides a kind of rehabilitation training walk helpers, can effectively encourage patient to carry out Rehabilitation training.
The technical scheme is that:A kind of rehabilitation training walk helper, mainly include main body rack, after-poppet, controller, The after-poppet is located at the rear end of main body rack, and the controller is located at the front end of main body rack;The main body rack is by holder The centre of lower end and pedestal upper end composition, the pedestal upper end is equipped with band wheel apparatus, and the band wheel apparatus is equipped with band wheel Gear lever, the Belt-typing device bar are equipped with band mouth, and the top of pedestal upper end is equipped with handrail, and the centre of pedestal upper end is equipped with Body button;It is equipped with seat unit among the after-poppet and shoulder strap, the seat unit is leaned on to be made of left seat board and right seat board, institute The bottom for stating left seat board and right seat board is equipped with battery block, and movable axle sleeve, the movable axis are respectively equipped in the both sides of two seat plates It is connected by seat motor between set and two seat plates, the seat motor both sides are equipped with triangle strut, under the after-poppet End is equipped with castor and locking device, and the controller lower end is power lever, and the power lever both sides are respectively provided with a sensor, electricity Be equipped with camera and USB interface among source bar, power lever right end is equipped with charging interface, controller upper end be equipped with touching display screen, Loud speaker, switch button, start button, rest button, distress call button, the physical activity sensor, touching display screen and Camera is connect with controller input terminal, and the band wheel apparatus, locking device and seat unit are connect with controller output end, It is connect at the USB interface and controller two-port;The pedestal lower end and pedestal upper end are to be detachably connected, the main body branch Frame is to be flexibly connected with after-poppet, and the activity axle sleeve is to be flexibly connected with after-poppet.
Further, the left seat board and right seat board surface are equipped with cushion, and user can be more in rehabilitation training rest Comfortably.
Further, it is equipped with the sliding rail to match with the after-poppet on the inside of the end of the pedestal upper end, can adjusted The longitudinal separation of after-poppet and main body rack, space is more reasonable during the break by user.
Further, the backrest band is equipped with air hole, and user is more comfortable in rehabilitation training rest.
Further, upper end is equipped with multiple buckles in the after-poppet, described to be connected by a snap with after-poppet by shoulder strap, The height by shoulder strap can be adjusted according to the height of user.
Further, the lowermost end of the pedestal lower end is equipped with universal wheel, convenient for being adjusted in user's rehabilitation training Direction.
Further, the preceding lower end of the handrail is equipped with parking brake handle, is helped convenient for being controlled in user's rehabilitation training The gait of march of row device.
Further, recessed among the handrail, it is in circular arc type, handrail uses leather substance, improves the use of user Experience keeps patient more comfortable in rehabilitation training.
Further, the band wheel apparatus can determine band retracted position according to band length when patient stand, control Device processed can be controlled according to default step count data, halved tie pulley arrangement, seat unit, locking device.
The present invention working method be:Family members or medical staff prop up according to the physical trait of patient to rack body and afterwards The distance of frame and height are adjusted, according to the step number parameter of the own situation of patient prescription controller on touching display screen, It dismantles and leans against band, patient is made to enter walk helper from rear, seat unit is adjusted according to patient's seated position and lean on shoulder strap, when standing Band is tied up, start button is opened, patient needs to reach default step number, presses rest button ability activation system, opens seat dress Band is set and loosened, and so that patient is steadily sat on seat by band, patient is made to rest;Simultaneously patient also can independently into Walk helper rear end can be moved opposite direction oneself, fix band in loins, press by row rehabilitation training, patient when using this equipment Dynamic button of standing up can be assisted patient to stand up into walk helper suitable position, be carried out by band wheel apparatus and preset data Rehabilitation training, distress call button can also be pressed by such as encountering emergency situations, can be notified family members or hospital in time, can also be passed through USB interface downloads patient's walking posture that camera is recorded, and can provide the recovery of patient certain research and reference; When not in use, pedestal upper end and pedestal lower end can also be dismantled, main body rack and after-poppet dismounting are saved convenient for placing Space.
Compared with prior art, beneficial effects of the present invention are:A kind of rehabilitation training walk helper of the present invention, passes through control Control of the device to modules carries out patient the excitation and reward of step number, and only patient reaches default train epochs patient Seat motor can be started and band wheel apparatus is rested, this excitation can effectively overcome the psychological shade of patient, and reach To the purpose of rehabilitation training, band wheel apparatus can assist patient is autonomous to sit down or stand up simultaneously, and can effectively prevent from suffering from Person falls down equal fortuitous events, can press distress call button if encountering emergency situations patient also, timely notify family members And medical staff.The setting of camera can also record the walking posture of patient, can be carried to the recovery state of patient For that must study and refer to.In short, reasonable design of the present invention, the psychology generated after effective solution patient injury's rehabilitation is cloudy Shadow, excitation patient carry out rehabilitation training, optimize patient and carry out autonomous operation, and can avoid patient that unexpected shape occurs as possible Condition.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the overall structure side view of the present invention.
Fig. 3 is the controller architecture schematic diagram of the present invention.
Fig. 4 is the seat unit structural schematic diagram of the present invention.
Fig. 5 is controller system block diagram of the present invention.
Wherein, 1- main body racks, 1a- pedestal upper ends, 1b- pedestal lower ends, 2- controllers, 21- touching display screens, 22- are raised Sound device, 23- switch buttons, 24- start buttons, 25- charging interfaces, 26- physical activities sensor, 27-USB interfaces, 28- camera shootings Head, 29- power levers, 210- distress calls button, 211a- rests button, 211b- stand up button, 3- bands wheel apparatus, 31- beams Pulley arrangement bar, 32 band mouths, 4- seat units, 4a- left seat boards, 4b- right seat boards, 41- activities axle sleeve, 42- seat motors, 43- triangles strut, 44- power modules, 5- hand brake devices, 6- handrails, 7- lean against band, 71- buckles, 8- after-poppets, 9- sliding rails, 10- Castor, 11- telescopic rods, 12- universal wheels, 13- locking devices.
Specific implementation mode
With reference to embodiment come to the present invention be further described in detail, preferably to embody this hair Bright advantage.
As shown in Figs. 1-2, a kind of rehabilitation training walk helper includes mainly main body rack 1, after-poppet 8, controller 2, rear branch Frame 8 is located at the rear end of main body rack 1, and controller 2 is located at the front end of main body rack 1;Main body rack 1 is by pedestal lower end 1b and holder Upper end 1a is formed, and the lowermost end of pedestal lower end 1b is equipped with universal wheel 12, convenient for adjustment direction in user's rehabilitation training, branch The centre of frame upper end 1a is equipped with band wheel apparatus 3, and band wheel apparatus 3 is equipped with band wheel apparatus bar 31, is set on Belt-typing device bar 31 There are band mouth 32, the top of pedestal upper end 1a to be equipped with handrail 6,6 centre of handrail is recessed, is in circular arc type, and handrail 6 uses leather material Material, improves the usage experience of user, keeps patient more comfortable in rehabilitation training, and the preceding lower end of handrail 6 is equipped with parking brake handle 5, Convenient for controlling the gait of march of walk helper in user's rehabilitation training, the centres pedestal upper end 1a are equipped with the button 211b that stands up, The sliding rail 9 to match with after-poppet 8 is equipped on the inside of the end of pedestal upper end 1a, before after-poppet 8 and main body rack 1 can be adjusted Distance afterwards, space is more reasonable during the break by user, and seat unit 4 is equipped among after-poppet 8 and leans on shoulder strap 7, in after-poppet 8 Upper end is equipped with multiple buckles 71, is connect by buckle 71 with after-poppet 8 by shoulder strap 7, can be according to the height of user to backrest It is adjusted with 7 height, is equipped with air hole by shoulder strap 7, user is more comfortable in rehabilitation training rest, such as Fig. 4 institutes Show, seat unit 4 is made of left seat board 4a and right seat board 4b, and left seat board 4a and the surfaces right seat board 4b are equipped with cushion, and user exists Can be more comfortable when rehabilitation training rest, the bottom end of left seat board 4a and right seat board 4b are equipped with power module 44, and power module 44 can give seat Chair apparatus 4 and locking device 13 provide power supply, and movable axle sleeve 41, movable axle sleeve 41 and two are respectively equipped in the both sides of two seat plates It is connected by seat motor 42 between seat plate, 42 both sides of seat motor are equipped with triangle strut 43, and the lower end of after-poppet 8 is equipped with foot Wheel 10 and locking device 13, as shown in figure 3,2 lower end of controller is power lever 29,29 both sides of power lever are respectively provided with a human body and live Dynamic sensor 26,29 centre of power lever are equipped with camera 28 and USB interface 27, and camera 28 can record the walking video of patient, It is handled, can be downloaded in 27 equipment of USB interface by controller 2,29 right end of power lever is equipped with charging interface 25, controller 2 Upper end is equipped with touching display screen 21, loud speaker 22, switch button 23, start button 24, rest button 211a, distress call button 210, loud speaker 22 can be with voice prompt patient's process for using;As shown in figure 5, physical activity sensor 26, touching display screen 21 It is connect with camera 28 with 2 input terminal of controller, band wheel apparatus 3, locking device 13 and seat unit 4 are exported with controller 2 End connects, and is connect at USB interface 27 and 2 two-port of controller, and physical activity sensor 26 detects patient's walking step number, according to tactile Control display screen 21 is preset in the numerical value of commercially available controller 2 and carries out judging whether to reach requirement, if meeting the requirements, presses rest 211a buttons, could order band wheel apparatus 3, locking device 13 and the unlatching of seat unit 4;Pedestal lower end 1b and pedestal upper end 1a To be detachably connected, placed convenient for dismounting when not in use, main body rack 1 is attached with after-poppet 8 by sliding rail 9, Ke Yigen Height is adjusted with front and back according to patient reminders, movable axle sleeve 41 is that card slot is connect with after-poppet 8, can be according to patient's figure tune Whole height of seat, band wheel apparatus 3 can determine that band retracted position, controller 2 can roots according to band length when patient stand According to default step count data, halved tie pulley arrangement 3, seat unit 4, locking device 13 are controlled.
The present invention working method be:Family members or medical staff according to the physical trait of patient to rack body 1 and after The distance and height of holder 8 are adjusted, according to the step number of the own situation of patient prescription controller 2 on touching display screen 21 Parameter dismantles and leans against band 7, and patient enters walk helper, adjusts seat unit 4 according to patient's seated position and leans on shoulder strap 7, when standing Band is tied up, start button 24 is opened, patient needs to reach default step number, presses rest button 211a ability activation systems, opens Seat unit 4 simultaneously loosens band, and so that patient is steadily sat on seat by band, and patient is made to rest;Patient simultaneously Rehabilitation training can be independently carried out, walk helper rear end can be moved opposite direction oneself, be fixed in loins by patient when using this equipment Band presses the button 211b that stands up, and by band wheel apparatus 3 and preset data, patient can be assisted to stand up into walk helper and closed Suitable position carries out rehabilitation training, and distress call button 210 can also be pressed by such as encountering emergency situations, can notify family members in time Or hospital, also patient's walking posture that camera 28 is recorded can be downloaded by USB interface 27, the recovery of patient can be carried It, when not in use, can also be by pedestal upper end 1a and pedestal lower end 1b dismountings, 1 He of main body rack for certain research and reference After-poppet 8 is dismantled, and convenient for placing, saves space.
Finally it should be noted that:The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;Although Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that:It still may be used To modify to the technical solution recorded in previous embodiment or equivalent replacement of some of the technical features;And These modifications or replacements, the spirit and model of technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution It encloses.

Claims (9)

1. a kind of rehabilitation training walk helper, which is characterized in that mainly include main body rack (1), after-poppet (8), controller (2), The after-poppet (8) is located at the rear end of main body rack (1), and the controller (2) is located at the front end of main body rack (1);The master Body support frame (1) is made of pedestal lower end (1b) and pedestal upper end (1a), and the centre of the pedestal upper end (1a) is filled equipped with band wheel It sets (3), the band wheel apparatus (3) is equipped with band wheel apparatus bar (31), and the Belt-typing device bar (31) is equipped with band mouth (32), the top of pedestal upper end (1a) is equipped with handrail (6), and the centre of pedestal upper end (1a) is equipped with button (211b) of standing up;It is described It is equipped with seat unit (4) among after-poppet (8) and leans on shoulder strap (7), the seat unit (4) is by left seat board (4a) and right seat board (4b) is formed, and the left seat board (4a) and the bottom surface right seat board (4b) are equipped with battery block (44), is distinguished in the both sides of two seat plates Equipped with movable axle sleeve (41), it is connect by seat motor (42) between the activity axle sleeve (41) and two seat plates, the seat Motor (42) both sides are equipped with triangle strut (43), and the lower end of after-poppet (8) is equipped with castor (10) and locking device (13);The control Device (2) lower end processed is power lever (29), and power lever (29) both sides are respectively provided with a human body activity sensor (26), power lever (29) intermediate to be equipped with camera (28) and USB interface (27), power lever (29) right end is equipped with charging interface (25), controller (2) Upper end is equipped with touching display screen (21), loud speaker (22), switch button (23), start button (24), rest button (211a), urgent Help Point (210), the physical activity sensor (26), touching display screen (21) and camera (28) and controller (2) are defeated Enter end connection, the band wheel apparatus (3), locking device (13) and seat unit (4) are connect with controller (2) output end, institute It states and is connect at USB interface (27) and controller (2) two-port;The pedestal lower end (1b) and pedestal upper end (1a) are detachably to connect It connects, the main body rack (1) is flexibly connected with after-poppet (8), and the activity axle sleeve (41) is that activity connects with after-poppet (8) It connects.
2. a kind of rehabilitation training walk helper according to claim 1, which is characterized in that the left seat board (4a) and right seat board The surface (4b) is equipped with cushion.
3. a kind of rehabilitation training walk helper according to claim 1, which is characterized in that the controller (2) is for controlling Band wheel apparatus (3), seat unit (4), locking device (13).
4. a kind of rehabilitation training walk helper according to claim 1, which is characterized in that described to be equipped with thoroughly by shoulder strap (7) Stomata.
5. a kind of rehabilitation training walk helper according to claim 1 and 4, which is characterized in that upper end in the after-poppet (8) It is described to be connect by buckle (71) with after-poppet (8) by shoulder strap (7) equipped with multiple buckles (71).
6. a kind of rehabilitation training walk helper according to claim 1, which is characterized in that the most bottom of the pedestal lower end (1b) End is equipped with universal wheel (12).
7. a kind of rehabilitation training walk helper according to claim 1, which is characterized in that the preceding lower end of the handrail (6) is set There is parking brake handle (5).
8. a kind of rehabilitation training walk helper according to claim 1, which is characterized in that the handrail (6) is intermediate recessed, is in Circular arc type, handrail (6) use leather substance.
9. a kind of operation principle of rehabilitation training walk helper according to claim 1-8, which is characterized in that the band wheel Device (3) can determine that band retracted position, controller (2) can be according to default step number numbers according to band length when patient stand According to halved tie pulley arrangement (3), seat unit (4), locking device (13) are controlled.
CN201810207292.4A 2018-03-14 2018-03-14 Walking aid for rehabilitation training Active CN108433953B (en)

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CN108433953B CN108433953B (en) 2020-08-28

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109044750A (en) * 2018-08-31 2018-12-21 潘耀基 A kind of health walking assistance
CN110575647A (en) * 2019-09-12 2019-12-17 常州市第一人民医院 Medical anti-falling early warning device

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Publication number Priority date Publication date Assignee Title
CN101589984A (en) * 2009-07-03 2009-12-02 北京理工大学 A kind of healing robot
CN102125495A (en) * 2010-12-21 2011-07-20 西安交通大学苏州研究院 Multifunctional robot with slippage sensor for helping aged people to walk
CN103153254A (en) * 2010-10-11 2013-06-12 莫罗有限公司 Exercise and gait-training apparatus
CN105853156A (en) * 2016-04-05 2016-08-17 吕洪广 Rehabilitative mobility aid
CN107007434A (en) * 2017-04-21 2017-08-04 新乡职业技术学院 A kind of combined type hemiparalysis recovery tempers walk helper

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101589984A (en) * 2009-07-03 2009-12-02 北京理工大学 A kind of healing robot
CN103153254A (en) * 2010-10-11 2013-06-12 莫罗有限公司 Exercise and gait-training apparatus
CN102125495A (en) * 2010-12-21 2011-07-20 西安交通大学苏州研究院 Multifunctional robot with slippage sensor for helping aged people to walk
CN105853156A (en) * 2016-04-05 2016-08-17 吕洪广 Rehabilitative mobility aid
CN107007434A (en) * 2017-04-21 2017-08-04 新乡职业技术学院 A kind of combined type hemiparalysis recovery tempers walk helper

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109044750A (en) * 2018-08-31 2018-12-21 潘耀基 A kind of health walking assistance
CN110575647A (en) * 2019-09-12 2019-12-17 常州市第一人民医院 Medical anti-falling early warning device
CN110575647B (en) * 2019-09-12 2020-09-29 常州市第一人民医院 Medical anti-falling early warning device

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