CN109009873A - The recovery training method and its rehabilitation training system of upper-limbs rehabilitation training robot - Google Patents
The recovery training method and its rehabilitation training system of upper-limbs rehabilitation training robot Download PDFInfo
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- CN109009873A CN109009873A CN201810935744.0A CN201810935744A CN109009873A CN 109009873 A CN109009873 A CN 109009873A CN 201810935744 A CN201810935744 A CN 201810935744A CN 109009873 A CN109009873 A CN 109009873A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 93
- 238000011084 recovery Methods 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000001514 detection method Methods 0.000 claims description 5
- 238000007639 printing Methods 0.000 claims description 5
- 230000005055 memory storage Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003447 ipsilateral effect Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
- A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
- A61H2201/5012—Control means thereof computer controlled connected to external computer devices or networks using the internet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses the recovery training methods of upper-limbs rehabilitation training robot, comprising: connects the server of the controller of multiple upper limb robots and recovery centre, each controller can receive the training of other controllers；Controller starts upper limb robot, and the user that the instruction of driving upper limb robot is fixed in upper limb robot executes calibration task, and calibration task situation is sent to server；Server obtains the assessment information of user's range of motion according to the calibration task situation received, and according to assessment information, target rehabilitation modality is matched in rehabilitation modality list from prestoring in controller, and target rehabilitation modality is sent to controller；Controller carries out corresponding rehabilitation training according to the target rehabilitation modality received.The recovery training method efficiently solves the problems such as general joint training aids is unable to satisfy complicated rehabilitation training requirement.The invention also discloses the rehabilitation training systems for using above-mentioned recovery training method.
Description
Technical field
The present invention relates to rehabilitation training technical fields, more particularly to a kind of rehabilitation training of upper-limbs rehabilitation training robot
Method.Moreover, it relates to a kind of rehabilitation training system using above-mentioned recovery training method.
Background technique
Existing upper-limbs rehabilitation training robot product technology realization on require ectoskeleton greatly as mechanical arm and
Bulky support base；User only feeds back joint position for more easy joint training aids etc. with sensor, but cannot
Complicated rehabilitation training requirement is realized by technologies such as motor controls.
The shortcomings that conventional ectoskeleton upper limb rehabilitation robot product is: ectoskeleton mechanical arm size is big, training joint number
More multiple-length direction size is bigger.The support base of installation and the fixation of mechanical arm dimensionally in weight all very greatly and very
Weight.The shortcomings that joint training aids of routine is: the driving of joint training is seldom to be driven and carried out position control by motor
It makes to complete, so that general joint training aids is unable to satisfy complicated rehabilitation training requirement.
It is asked in conclusion how to efficiently solve general joint training aids and be unable to satisfy complicated rehabilitation training requirement etc.
Topic, is current those skilled in the art's urgent problem.
Summary of the invention
The object of the present invention is to provide a kind of recovery training method of upper-limbs rehabilitation training robot, the recovery training methods
Efficiently solve the problems such as general joint training aids is unable to satisfy complicated rehabilitation training requirement；Another object of the present invention
It is to provide a kind of rehabilitation training system using above-mentioned recovery training method.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of recovery training method of upper-limbs rehabilitation training robot, comprising:
The server of the controller of multiple upper limb robots and recovery centre is connected, each controller can
Receive the training of other controllers；
The controller starts upper limb robot, and the upper limb robot instruction is driven to be fixed in the upper limb robot
User execute calibration task, and by calibration task situation be sent to the server；
The server obtains the assessment letter of user's range of motion according to the calibration task situation received
Breath, and according to the assessment information, target rehabilitation modality is matched in rehabilitation modality list from prestoring in the controller, and will
The target rehabilitation modality is sent to the controller；
The controller carries out corresponding rehabilitation training according to the target rehabilitation modality received, and the rehabilitation training includes
Patient is individually trained, the use of play with the users of other controllers user and other controllers
Person, which cooperates, carries out rehabilitation training.
Preferably, the upper limb robot instruction is driven described in the starting upper limb robot of the controller described in step and step
It is fixed on the user in the upper limb robot to execute between calibration task, further includes that the upper limb robot is driven to carry out certainly
I detects.
Preferably, it obtains described in the assessment information and step of user's range of motion from the controller described in the step
In prestore and matched in rehabilitation modality list between target rehabilitation modality, further include driving the upper limb robot that can return to initially
Position.
Preferably, the assessment information of user's range of motion is stored in memory, and generates user joint
The reference information database of mobility.
Preferably, the target rehabilitation modality and training record are shown on a display screen, and are printed by printer.
The present invention also provides a kind of rehabilitation training system of upper-limbs rehabilitation training robot, the service including recovery centre
Device, connect with the server of the recovery centre by multiple upper limb robots, the controller of the upper limb robot with it is described
Server connection, each controller can receive the training of other controllers；
The controller drives the upper limb robot instruction to be fixed on the upper limb machine for starting upper limb robot
User on people executes calibration task, and calibration task situation is sent to the server；
The server is used to obtain the assessment of user's range of motion according to the calibration task situation received
Information, and according to the assessment information, target rehabilitation modality is matched in rehabilitation modality list from prestoring in the controller, and
The target rehabilitation modality is sent to the controller；
The controller is used to carry out corresponding rehabilitation training, the rehabilitation training according to the target rehabilitation modality received
It is individually trained including patient, play with the users of other controllers user and other controllers
User, which cooperates, carries out rehabilitation training.
Preferably, the upper limb robot instruction is driven described in the starting upper limb robot of the controller described in step and step
It is fixed on the user in the upper limb robot to execute between calibration task, the controller is also used to drive the upper limb machine
Device people carries out self detection.
Preferably, it obtains described in the assessment information and step of user's range of motion from the controller described in the step
In prestore and matched in rehabilitation modality list between target rehabilitation modality, the controller is also used to drive the upper limb robot
Initial position can be returned to.
It preferably, further include memory, the memory stores the assessment information of user's range of motion, and raw
At the reference information database of user's range of motion.
It preferably, further include display screen and printer, the display screen is for showing the target rehabilitation modality and training
Record, the printer is for printing the target rehabilitation modality and training record.
The recovery training method of upper-limbs rehabilitation training robot provided by the present invention, comprising:
The server of the controller of multiple upper limb robots and recovery centre is connected, each controller can receive
The training of other controllers；Patient can at home or before recovery centre takes the table where the upper limb robot, and will
Ipsilateral upper limb is fixed in upper limb robot.
Controller starts upper limb robot, and the user that the instruction of driving upper limb robot is fixed in upper limb robot executes
Calibration task, and calibration task situation is sent to server, usual patient executes simple calibration task to complete calibration ring
Section.
Server obtains the assessment information of user's range of motion according to the calibration task situation received, and according to
Information is assessed, matches target rehabilitation modality in rehabilitation modality list from prestoring in controller, and target rehabilitation modality is sent
To controller；
Controller carries out corresponding rehabilitation training according to the target rehabilitation modality received, does to rehabilitation procedure and accordingly matches
Set, can remotely carried out by network, rehabilitation training include patient be individually trained, with the users of other controllers progress
Match user cooperates with the user of other controllers carries out rehabilitation training.
Recovery training method provided by the present invention, different patients can stay at home respectively and carry out rehabilitation training, and this
A little patients can be connected in inside the same network by server, and such as virtual recovery centre, i.e., different patients can carry out simultaneously
Rehabilitation training, normal person can also be connected into the same network by traditional input equipment such as control stick and keyboard etc., receive it
The situation that other people train, and can play or cooperate with other patients and carry out rehabilitation training, rehabilitation training is diversified,
Or training will not be uninteresting, passes through rehabilitation training effect.
The present invention also provides a kind of rehabilitation training system of upper-limbs rehabilitation training robot, the service including recovery centre
Device, connect with the server of recovery centre by multiple upper limb robots, the controller of upper limb robot is connect with server, often
A controller can receive the training of other controllers；Controller drives upper limb robot for starting upper limb robot
It indicates that the user being fixed in upper limb robot executes calibration task, and calibration task situation is sent to server；Service
Device is used for according to the calibration task situation that receives, obtains the assessment information of user's range of motion, and according to assessment information,
Target rehabilitation modality is matched in rehabilitation modality list from prestoring in controller, and target rehabilitation modality is sent to controller；
Controller is used to carry out corresponding rehabilitation training according to the target rehabilitation modality received, and rehabilitation training includes that patient individually carries out
Training, the user that plays with the user of other controllers cooperate with the user of other controllers carries out rehabilitation training.
The rehabilitation training system is trained by any of the above-described kind of recovery training method.Since above-mentioned recovery training method is with upper
Technical effect is stated, should also have corresponding technical effect by the rehabilitation training system of recovery training method training.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of schematic diagram of recovery training method provided by specific embodiment in the present invention.
Specific embodiment
Core of the invention is to provide a kind of recovery training method of upper-limbs rehabilitation training robot, the recovery training method
Efficiently solve the problems such as general joint training aids is unable to satisfy complicated rehabilitation training requirement；Another core of the invention
It is to provide a kind of rehabilitation training system using above-mentioned recovery training method.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to FIG. 1, schematic diagram of the Fig. 1 for recovery training method provided by specific embodiment a kind of in the present invention.
In a specific embodiment, the recovery training method of upper-limbs rehabilitation training robot provided by the present invention,
Include:
S100: the server of the controller of multiple upper limb robots and recovery centre is connected, each controller energy
Enough receive the training of other controllers；Patient can at home or recovery centre takes the table where the upper limb robot
Before, and ipsilateral upper limb is fixed in upper limb robot.
S200: controller starts upper limb robot, and driving upper limb robot indicates the use being fixed in upper limb robot
Person executes calibration task, and calibration task situation is sent to server, and usual patient executes simple calibration task to complete
Demarcate link.
S300: server obtains the assessment information of user's range of motion according to the calibration task situation received, and
According to assessment information, target rehabilitation modality is matched in rehabilitation modality list from prestoring in controller, and by target rehabilitation modality
It is sent to controller；
S400: controller carries out corresponding rehabilitation training according to the target rehabilitation modality received, does phase to rehabilitation procedure
Should configure, can remotely by network carry out, rehabilitation training include patient be individually trained, and other controllers user
The user that plays cooperates with the user of other controllers carries out rehabilitation training.
Recovery training method provided by the present invention, different patients can stay at home respectively and carry out rehabilitation training, and this
A little patients can be connected in inside the same network by server, and such as virtual recovery centre, i.e., different patients can carry out simultaneously
Rehabilitation training, normal person can also be connected into the same network by traditional input equipment such as control stick and keyboard etc., receive it
The situation that other people train, and can play or cooperate with other patients and carry out rehabilitation training, rehabilitation training is diversified,
Or training will not be uninteresting, passes through rehabilitation training effect.
Above-mentioned recovery training method is only a kind of preferred embodiment, is specifically not limited thereto, on this basis can be according to reality
Border, which needs to make to have, targetedly to be adjusted, to obtain different embodiments, starts upper limb robot in step controller
And the user that the instruction of step driving upper limb robot is fixed in upper limb robot executes between calibration task, further includes control
Device driving upper limb robot carries out self detection, it is ensured that upper limb robot can work normally.
On the basis of above-mentioned specific embodiment, those skilled in the art can be according to the difference of specific occasion, to health
Multiple training method carries out several changes, show that the assessment information of user's range of motion and step are pre- from controller in step
It deposits and is matched in rehabilitation modality list between target rehabilitation modality, further include that controller driving upper limb robot can return to initial bit
It sets, facilitates next use, simplify the process for returning to initial position next time, save the time.
Obviously, under the guidance of this thought, those skilled in the art can be according to the difference of specific occasion to above-mentioned
Specific embodiment carries out several changes, and the assessment information of user's range of motion is stored in memory, and generates use
The reference information database of person's range of motion, can be with reference to utilizing, more targetedly, more just when later rehabilitation training
Just.
It is important to note that recovery training method provided by the present invention is not intended to be limited to such situation, target
Rehabilitation modality and training record are shown on a display screen, and are printed by printer, and display screen can be liquid crystal display, picture
It is relatively clear, facilitate patient and rehabilitation teacher to check target rehabilitation modality and training record at any time, printing saves corresponding rehabilitation information,
It stays shelves to save, conveniently checks.
The present invention also provides a kind of rehabilitation training system of upper-limbs rehabilitation training robot, the service including recovery centre
Device, connect with the server of recovery centre by multiple upper limb robots, the controller of upper limb robot is connect with server, often
A controller can receive the training of other controllers；Controller drives upper limb robot for starting upper limb robot
It indicates that the user being fixed in upper limb robot executes calibration task, and calibration task situation is sent to server；Service
Device is used for according to the calibration task situation that receives, obtains the assessment information of user's range of motion, and according to assessment information,
Target rehabilitation modality is matched in rehabilitation modality list from prestoring in controller, and target rehabilitation modality is sent to controller；
Controller is used to carry out corresponding rehabilitation training according to the target rehabilitation modality received, and rehabilitation training includes that patient individually carries out
Training, the user that plays with the user of other controllers cooperate with the user of other controllers carries out rehabilitation training.
The rehabilitation training system is trained by any of the above-described kind of recovery training method.Since above-mentioned recovery training method is with upper
Technical effect is stated, should also have corresponding technical effect by the rehabilitation training system of recovery training method training.
Recovery training method provided by the present invention starts in the immovable situation of other components in step controller
The user that upper limb robot and the instruction of step driving upper limb robot are fixed in upper limb robot executes between calibration task,
Controller is also used to that upper limb robot is driven to carry out self detection, it is ensured that upper limb robot can work normally.
For the recovery training method in above-mentioned each embodiment, the assessment letter of user's range of motion is obtained in step
Breath and step match between target rehabilitation modality from being prestored in rehabilitation modality list in controller, and controller is also used in driving
Limb robot can return to initial position, facilitate next use, simplify the process for returning to initial position next time, save the time.
It in order to further optimize the above technical scheme, further include memory, memory stores user's range of motion
Information is assessed, and generates the reference information database of user's range of motion, when later rehabilitation training can be with reference to utilizing, more
It is more convenient with specific aim.
It further include display screen and printer on the basis of above-mentioned each specific embodiment, display screen is used for displaying target
Rehabilitation modality and training record, printer facilitate patient and rehabilitation teacher at any time for printing target rehabilitation modality and training record
Check target rehabilitation modality and training record, printing saves corresponding rehabilitation information, stays shelves to save, conveniently check.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of recovery training method of upper-limbs rehabilitation training robot characterized by comprising
The server of the controller of multiple upper limb robots and recovery centre is connected, each controller can receive
The training of other controllers；
The controller starts upper limb robot, and driving the upper limb robot instruction to be fixed in the upper limb robot makes
User executes calibration task, and calibration task situation is sent to the server；
The server obtains the assessment information of user's range of motion according to the calibration task situation received, and
According to the assessment information, target rehabilitation modality is matched in rehabilitation modality list from prestoring in the controller, and will be described
Target rehabilitation modality is sent to the controller；
The controller carries out corresponding rehabilitation training according to the target rehabilitation modality received, and the rehabilitation training includes patient
It is individually trained, the user of play with the users of other controllers user and other controllers assists
Make carry out rehabilitation training.
2. recovery training method according to claim 1, which is characterized in that the controller described in step starts upper limb machine
The upper limb robot is driven to indicate that the user being fixed in the upper limb robot executes calibration task described in people and step
Between, it further include that the upper limb robot is driven to carry out self detection.
3. recovery training method according to claim 1, which is characterized in that obtain user's joint motion described in the step
It matches between target rehabilitation modality described in the assessment information and step of degree from being prestored in rehabilitation modality list in the controller,
It further include driving the upper limb robot that can return to initial position.
4. recovery training method according to claim 1, which is characterized in that the assessment of user's range of motion is believed
Breath is stored in memory, and generates the reference information database of user's range of motion.
5. recovery training method according to claim 1, which is characterized in that the target rehabilitation modality and training record are aobvious
Show on a display screen, and is printed by printer.
6. a kind of rehabilitation training system of upper-limbs rehabilitation training robot, which is characterized in that server including recovery centre, with
The server connection of the recovery centre by multiple upper limb robots, the controller and the server of the upper limb robot
Connection, each controller can receive the training of other controllers；
The controller drives the upper limb robot instruction to be fixed in the upper limb robot for starting upper limb robot
User execute calibration task, and by calibration task situation be sent to the server；
The server is used to obtain the assessment letter of user's range of motion according to the calibration task situation received
Breath, and according to the assessment information, target rehabilitation modality is matched in rehabilitation modality list from prestoring in the controller, and will
The target rehabilitation modality is sent to the controller；
The controller is used to carry out corresponding rehabilitation training according to the target rehabilitation modality received, and the rehabilitation training includes
Patient is individually trained, the use of play with the users of other controllers user and other controllers
Person, which cooperates, carries out rehabilitation training.
7. rehabilitation training system according to claim 6, which is characterized in that the controller described in step starts upper limb machine
The upper limb robot is driven to indicate that the user being fixed in the upper limb robot executes calibration task described in people and step
Between, the controller is also used to that the upper limb robot is driven to carry out self detection.
8. rehabilitation training system according to claim 6, which is characterized in that obtain user's joint motion described in the step
It matches between target rehabilitation modality described in the assessment information and step of degree from being prestored in rehabilitation modality list in the controller,
The controller is also used to drive the upper limb robot that can return to initial position.
9. rehabilitation training system according to claim 6, which is characterized in that it further include memory, the memory storage
The assessment information of user's range of motion, and generate the reference information database of user's range of motion.
10. rehabilitation training system according to claim 6, which is characterized in that it further include display screen and printer, it is described aobvious
Display screen is for showing the target rehabilitation modality and training record, and the printer is for printing the target rehabilitation modality and instruction
Practice record.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810935744.0A CN109009873A (en) | 2018-08-16 | 2018-08-16 | The recovery training method and its rehabilitation training system of upper-limbs rehabilitation training robot |
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| CN201810935744.0A CN109009873A (en) | 2018-08-16 | 2018-08-16 | The recovery training method and its rehabilitation training system of upper-limbs rehabilitation training robot |
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| CN109009873A true CN109009873A (en) | 2018-12-18 |
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| CN201810935744.0A Pending CN109009873A (en) | 2018-08-16 | 2018-08-16 | The recovery training method and its rehabilitation training system of upper-limbs rehabilitation training robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113130040A (en) * | 2021-04-23 | 2021-07-16 | 动优科技信息服务(南京)有限公司 | Internet rehabilitation training method and system based on rehabilitation medical digitization |
| CN114272562A (en) * | 2022-01-13 | 2022-04-05 | 上海健指树智能系统有限公司 | Human body activity degree evaluation method and device, electronic equipment and storage medium |
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| CN102184322A (en) * | 2011-04-26 | 2011-09-14 | 江苏科技大学 | Networked rehabilitation robot system based on virtual training environment |
| CN106491309A (en) * | 2016-11-17 | 2017-03-15 | 合肥工业大学 | A kind of limb rehabilitation training system |
| CN107080672A (en) * | 2017-03-30 | 2017-08-22 | 北京精密机电控制设备研究所 | A kind of rehabilitation ectoskeleton training mode control system and method |
| CN107753241A (en) * | 2017-11-20 | 2018-03-06 | 中航创世机器人（东莞）有限公司 | A kind of control method of lower limb rehabilitation treatment intelligent exoskeleton robot |
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2018
- 2018-08-16 CN CN201810935744.0A patent/CN109009873A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102184322A (en) * | 2011-04-26 | 2011-09-14 | 江苏科技大学 | Networked rehabilitation robot system based on virtual training environment |
| CN106491309A (en) * | 2016-11-17 | 2017-03-15 | 合肥工业大学 | A kind of limb rehabilitation training system |
| CN107080672A (en) * | 2017-03-30 | 2017-08-22 | 北京精密机电控制设备研究所 | A kind of rehabilitation ectoskeleton training mode control system and method |
| CN107753241A (en) * | 2017-11-20 | 2018-03-06 | 中航创世机器人（东莞）有限公司 | A kind of control method of lower limb rehabilitation treatment intelligent exoskeleton robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113130040A (en) * | 2021-04-23 | 2021-07-16 | 动优科技信息服务(南京)有限公司 | Internet rehabilitation training method and system based on rehabilitation medical digitization |
| CN114272562A (en) * | 2022-01-13 | 2022-04-05 | 上海健指树智能系统有限公司 | Human body activity degree evaluation method and device, electronic equipment and storage medium |
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