CN109223436A - A kind of upper limb rehabilitation robot - Google Patents
A kind of upper limb rehabilitation robot Download PDFInfo
- Publication number
- CN109223436A CN109223436A CN201810942349.5A CN201810942349A CN109223436A CN 109223436 A CN109223436 A CN 109223436A CN 201810942349 A CN201810942349 A CN 201810942349A CN 109223436 A CN109223436 A CN 109223436A
- Authority
- CN
- China
- Prior art keywords
- sliding block
- upper limb
- circular arc
- cabinet
- hole location
- 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.)
- Withdrawn
Links
Classifications
-
- 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
- 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
- A61H2001/0207—Nutating movement of a body part around its articulation
-
- 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
- A61H2201/123—Linear drive
Abstract
The invention discloses a kind of upper limb rehabilitation robots, including pedestal and the robot boxboard being mounted on the base, the robot boxboard is made of cabinet and cover board, the upper end of cover board plate face offers circular arc hole location and parallel hole location, one end of the circular arc hole location is provided with holding rod, the bottom of holding rod is equipped with first connecting rod, and one end of first connecting rod passes through circular arc hole location and extends in cabinet；Upper limb supporting plate is provided in the parallel hole location, the both ends in upper limb board bottom portion are equipped with the second connecting rod, and one end of the second connecting rod passes through parallel hole location and extends in cabinet；The lower end of cover board plate face passes through screw installation seat plate.Upper limb rehabilitation robot of the invention, achievable patient handled by itself indoors, carry out reasonable reconditioning, due to without consuming a large amount of human resources and time, and trained intensity can be distributed according to Rehabilitation state, it thus improves and tempers efficiency, enable the patient to keep stablizing effective rehabilitation efficacy.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of upper limb rehabilitation robot.
Background technique
Upper limb fracture can not be move freely during treating since limb arm is fixed, and will lead to muscle deadlock under long-time
Normal carry arm movement can not be carried out firmly, is brought inconvenience to the life of patient.The patient of upper limb fracture is in later period training at present
It is by human assistance equipment training in treatment, this process not only needs to consume a large amount of human resources and time, but also
Trained intensity is not can guarantee, inefficiency of exercising, to influence the rehabilitation efficacy of patient.
Summary of the invention
The purpose of the present invention is to provide a kind of upper limb rehabilitation robot, patient can handled by itself indoors, it is reasonable to carry out
Reconditioning, due to without consuming a large amount of human resources and time, and training can be distributed according to Rehabilitation state
Intensity, thus improve take exercise efficiency, enable the patient to keep stablize effective rehabilitation efficacy, solve in the prior art ask
Topic.
To achieve the above object, the invention provides the following technical scheme: a kind of upper limb rehabilitation robot, including pedestal and
The robot boxboard being mounted on the base, the robot boxboard are made of cabinet and cover board, wherein are installed in the inner cavity of cabinet
There are upper limb hoisting mechanism and upper limb swing mechanism, upper limb hoisting mechanism is by fixing seat, cylinder, parallel sliding track, the first sliding block, second
Sliding block and connecting plate composition, wherein fixing seat is screwed in the intracorporal bottom of case, and cylinder is screwed in fixation
On seat, parallel sliding track is screwed in installing the first sliding block and the second sliding block respectively on the intracorporal middle part of case, parallel sliding track,
The bottom of first sliding block and the second sliding block is mounted on pulley, and the track slot of pulley and parallel sliding track matches, and pulley insertion is parallel
Slot is offered in the corresponding end of sliding in the track slot of sliding rail, the first sliding block and the second sliding block, slot matches with connecting plate,
The both ends of connecting plate are inserted into the slot of the first sliding block and the second sliding block respectively and are screwed；Upper limb swing mechanism is by justifying
Arc sliding rail, third sliding block, telescopic rod, screw rod, nut seat, motor and motor cabinet composition, wherein circular arc is screwed
In the intracorporal upper end of case, in circular arc install third sliding block, telescopic rod between third sliding block and nut seat, telescopic rod
One end is connect by screw with third sliding block, and the jack opened up on the other end of telescopic rod and the nut seat matches, and is stretched
The other end of bar is plugged in the jack and is screwed, and nut seat is movably installed on screw rod, and screw rod passes through support base
It is installed on circular arc side, one end of screw rod is engaged with the gear shaft being mounted on the motor, and motor is pacified by motor cabinet
On side wall loaded on cabinet；
The upper end of cover board plate face offers circular arc hole location and parallel hole location, and the circular arc hole location is corresponding with circular arc,
One end of circular arc hole location is provided with holding rod, and the bottom of the holding rod is equipped with first connecting rod, and one end of first connecting rod passes through
Circular arc hole location extends in cabinet, and connect with third sliding block；The parallel hole location is corresponding with parallel sliding track, in parallel hole location
It is provided with upper limb supporting plate, the both ends in upper limb board bottom portion are equipped with the second connecting rod, and one end of the second connecting rod passes through flat
Row hole location extends in cabinet, and connect with the first sliding block and the second sliding block；The lower end of cover board plate face passes through screw installation seat plate.
Preferably, the cover plate lid is loaded on cabinet and is screwed.
Preferably, the connecting rod of the cylinder extends to the bottom of connecting plate, connect with connecting plate.
Preferably, the bottom of the third sliding block be equipped with mutually isostructural pulley on the first sliding block and the second sliding block,
And sliding in the track slot of pulley insertion circular arc.
Preferably, the internal screw thread on the nut seat matches with the external screw thread on the screw rod, and the aperture of nut seat
Greater than the diameter of screw rod.
Preferably, the telescopic rod is made of cylinder and slide bar, wherein one end of cylinder opens up slide opening, slide opening and slide bar
Match, slide bar is inserted into sliding in slide opening.
Preferably, the third sliding block from one end of circular arc slide into the other end distance and telescopic rod stretch away from
From equal.
Compared with prior art, beneficial effects of the present invention are as follows:
1, a kind of upper limb rehabilitation robot provided by the invention, by the upper limb hoisting mechanism of setting, when patient-side is seated at
After on seat board, the upper limb that need to be taken exercise is placed on upper limb supporting plate, then starts the air cylinder lifting connecting plate in upper limb hoisting mechanism,
To making the first sliding block and the second sliding block along parallel sliding track upward sliding, at this point, passing through the second connecting rod and the first sliding block and the
The upper limb supporting plate of two sliding blocks connection will move and upper limb is raised to holding rod, can then catch holding rod degree of progress swing
Reconditioning.
2, a kind of upper limb rehabilitation robot provided by the invention is held by the upper limb swing mechanism of setting when patient catches
After bar, start upper limb swing mechanism in motor drives screw mandrel forward or reverse, positive/negative turn of screw rod then will drive nut seat to
Up/down movement, to drive the third sliding block connected by telescopic rod to slide back and forth in circular arc, at this point, passing through first
The holding rod that connecting rod is connect with third sliding block will move and upper limb is lifted/fallen, so that constantly degree of progress swings health
It is multiple to take exercise.
To sum up, by the present apparatus, it can be achieved that patient's handled by itself indoors, carries out reasonable reconditioning, due to being not necessarily to
A large amount of human resources and time are consumed, and trained intensity can be distributed according to Rehabilitation state, thus improves and takes exercise
Efficiency enables the patient to keep stablizing effective rehabilitation efficacy.
Detailed description of the invention
Fig. 1 is overall structure figure of the invention；
Fig. 2 is the internal structure of the box of the invention；
Fig. 3 is that connecting plate and sliding block of the invention assemble；
Fig. 4 is Telescopic rod structure figure of the invention；
Fig. 5 is upper limb supporting plate and sliding block top view of the invention；
Fig. 6 is that holding rod of the invention connect top view with sliding block.
In figure: 1, pedestal；2, robot boxboard；21, cabinet；22, cover board；221, circular arc hole location；222, parallel hole location；3,
Upper limb hoisting mechanism；31, fixing seat；32, cylinder；33, parallel sliding track；34, the first sliding block；35, the second sliding block；351, pulley；
352, slot；36, connecting plate；4, upper limb swing mechanism；41, circular arc；42, third sliding block；43, telescopic rod；431, cylinder；
4311, slide opening；432, slide bar；44, screw rod；45, nut seat；451, jack；46, motor；461, gear shaft；47, motor cabinet；5,
Holding rod；51, first connecting rod；6, upper limb supporting plate；61, the second connecting rod；7, seat board.
Specific embodiment
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.
Please refer to Fig. 1-4, a kind of upper limb rehabilitation robot, including pedestal 1 and the robot boxboard being installed on pedestal 1
2, robot boxboard 2 is made of cabinet 21 and cover board 22, wherein upper limb hoisting mechanism 3 and upper is equipped in the inner cavity of cabinet 21
Limb swing mechanism 4, upper limb hoisting mechanism 3 is by fixing seat 31, cylinder 32, parallel sliding track 33, the first sliding block 34,35 and of the second sliding block
Connecting plate 36 forms, wherein fixing seat 31 is screwed in the bottom in cabinet 21, and cylinder 32 is screwed in solid
In reservation 31, the connecting rod of cylinder 32 extends to the bottom of connecting plate 36, connect with connecting plate 36, and parallel sliding track 33 is solid by screw
The first sliding block 34 and the second sliding block 35, the first sliding block 34 and are installed on parallel sliding track 33 in middle part in cabinet 21 respectively
The bottom of two sliding blocks 35 is mounted on pulley 351, and pulley 351 and the track slot of parallel sliding track 33 match, and pulley 351 is embedded in parallel
Offer slot 352 in the corresponding end of sliding in the track slot of sliding rail 33, the first sliding block 34 and the second sliding block 35, slot 352 and
Connecting plate 36 matches, and the both ends of connecting plate 36 are inserted into the slot 352 of the first sliding block 34 and the second sliding block 35 respectively and are passed through
Screw is fixed；Upper limb swing mechanism 4 is by circular arc 41, third sliding block 42, telescopic rod 43, screw rod 44, nut seat 45, motor 46
It is formed with motor cabinet 47, wherein circular arc 41 is screwed in installing the on the upper end in cabinet 21, circular arc 41
Three sliding blocks 42, and the bottom of third sliding block 42 be equipped with mutually isostructural pulley 351 on the first sliding block 34 and the second sliding block 35,
And sliding in the track slot of the pulley 351 insertion circular arc 41, telescopic rod 43 are stretched between third sliding block 42 and nut seat 45
One end of contracting bar 43 is connect by screw with third sliding block 42, the jack opened up on the other end and nut seat 45 of telescopic rod 43
451 match, and the other end of telescopic rod 43 is plugged in the jack 451 and is screwed, since telescopic rod 43 is by cylinder
431 and slide bar 432 form, wherein one end of cylinder 431 opens up slide opening 4311, and slide opening 4311 matches with slide bar 432, slide bar
Sliding in 432 insertion slide openings 4311, therefore when nut seat 45 is to up/down movement, third sliding block 42 is in order in circular arc
It is slided on 41 and pushes up/draw cylinder 431, so that slide bar 432 be made to slide to 431 inside/outside of cylinder, realize the flexible effect of telescopic rod 43
Fruit, and third sliding block 42 is equidistant from the distance that one end of circular arc 41 slides into the other end with what telescopic rod 43 stretched,
To be held with what third sliding block 42 was connect by first connecting rod 51 as third sliding block 42 is after circular arc 41 back and forth sliding
Bar 5 will move and upper limb is lifted/fallen, so that 90 degree of swing reconditionings are constantly carried out, it is interior on nut seat 45
Screw thread matches with the external screw thread on screw rod 44, and the aperture of nut seat 45 is greater than the diameter of screw rod 44, so that nut seat
45 are movably installed on screw rod 44, and screw rod 44 is installed on 41 side of circular arc, one end of screw rod 44 and installation by support base
Gear shaft 461 on motor 46 engages, and motor 46 is installed on the side wall of cabinet 21 by motor cabinet 47；
Fig. 1,5 and 6 are please referred to, the lid of cover board 22 is loaded on cabinet 21 and is screwed, and the upper end of 22 plate face of cover board is opened
Equipped with circular arc hole location 221 and parallel hole location 222, circular arc hole location 221 is corresponding with circular arc 41, one end of circular arc hole location 221
It is provided with holding rod 5, the bottom of holding rod 5 is equipped with first connecting rod 51, and one end of first connecting rod 51 passes through circular arc hole location 221 and prolongs
It extends in cabinet 21, and is connect with third sliding block 42；Parallel hole location 222 is corresponding with parallel sliding track 33, sets in parallel hole location 222
It is equipped with upper limb supporting plate 6, the both ends of 6 bottom of upper limb supporting plate are equipped with the second connecting rod 61, and one end of the second connecting rod 61 passes through flat
Row hole location 222 extends in cabinet 21, and connect with the first sliding block 34 and the second sliding block 35；The lower end of 22 plate face of cover board passes through spiral shell
Silk installation seat plate 7.
This upper limb rehabilitation robot after patient-side is seated on seat board 7, will need to forge by the upper limb hoisting mechanism 3 of setting
The upper limb of refining is placed on upper limb supporting plate 6, and the cylinder 32 then started in upper limb hoisting mechanism 3 promotes connecting plate 36, to make the
One sliding block 34 and the second sliding block 35 along 33 upward sliding of parallel sliding track, at this point, by the second connecting rod 61 and the first sliding block 34 and
Second sliding block 35 connection upper limb supporting plate 6 will move and upper limb is raised to holding rod 5, can then catch holding rod 5 into
90 degree of swing reconditionings of row.
This upper limb rehabilitation robot, by the upper limb swing mechanism 4 of setting, after patient catches holding rod 5, starting upper limb pendulum
Motor 46 in motivation structure 4 drives screw rod 44 forward or reverse, and 44 positive/negative turns of screw rod then will drive nut seat 45 and transport to up/down
It is dynamic, it is slided back and forth in circular arc 41 to drive by the third sliding block 42 that telescopic rod 43 connects, at this point, connecting by first
The holding rod 5 that extension bar 51 is connect with third sliding block 42 will move and upper limb is lifted/fallen, to constantly carry out 90 degree of pendulum
Dynamic reconditioning.
In conclusion this upper limb rehabilitation robot is, it can be achieved that patient's handled by itself indoors, carries out reasonable rehabilitation forging
Refining due to being not necessarily to consume a large amount of human resources and time, and can distribute trained intensity according to Rehabilitation state, because
And improve and temper efficiency, it enables the patient to keep stablizing effective rehabilitation efficacy.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of upper limb rehabilitation robot, including pedestal (1) and the robot boxboard (2) being installed on pedestal (1), feature
Be: the robot boxboard (2) is made of cabinet (21) and cover board (22), wherein is equipped in the inner cavity of cabinet (21)
Limb hoisting mechanism (3) and upper limb swing mechanism (4), upper limb hoisting mechanism (3) is by fixing seat (31), cylinder (32), parallel sliding track
(33), the first sliding block (34), the second sliding block (35) and connecting plate (36) composition, wherein fixing seat (31) be screwed in
Bottom in cabinet (21), cylinder (32) are screwed on fixing seat (31), and parallel sliding track (33) is screwed
The first sliding block (34) and the second sliding block (35), the first sliding block are installed on parallel sliding track (33) in middle part in cabinet (21) respectively
(34) it is mounted on pulley (351) with the bottom of the second sliding block (35), the track slot phase of pulley (351) and parallel sliding track (33)
Match, pulley (351) is embedded in the track slot of parallel sliding track (33) and slides, in the corresponding end of the first sliding block (34) and the second sliding block (35)
It offers slot (352), slot (352) matches with connecting plate (36), and it is sliding that the both ends of connecting plate (36) are inserted into first respectively
In the slot (352) of block (34) and the second sliding block (35) and it is screwed；Upper limb swing mechanism (4) is by circular arc
(41), third sliding block (42), telescopic rod (43), screw rod (44), nut seat (45), motor (46) and motor cabinet (47) composition,
In, circular arc (41) is screwed in installation third sliding block (42) on the upper end in cabinet (21), circular arc (41),
Telescopic rod (43) is located between third sliding block (42) and nut seat (45), and one end of telescopic rod (43) passes through screw and third sliding block
(42) it connects, the jack (451) opened up on the other end of telescopic rod (43) and the nut seat (45) matches, telescopic rod (43)
The other end be plugged in the jack (451) and be screwed, nut seat (45) is movably installed on screw rod (44), screw rod
(44) circular arc (41) side, one end of screw rod (44) and the tooth being mounted on the motor (46) are installed on by support base
Wheel shaft (461) engagement, motor (46) are installed on the side wall of cabinet (21) by motor cabinet (47)；
The upper end of cover board (22) plate face offers circular arc hole location (221) and parallel hole location (222), the circular arc hole location (221) with
Circular arc (41) is corresponding, and one end of circular arc hole location (221) is provided with holding rod (5), and the bottom of the holding rod (5) is equipped with
One connecting rod (51), one end of first connecting rod (51) pass through circular arc hole location (221) and extend in cabinet (21), and sliding with third
Block (42) connection；The parallel hole location (222) is corresponding with parallel sliding track (33), is provided with upper limb on parallel hole location (222)
The both ends of plate (6), upper limb supporting plate (6) bottom are equipped with the second connecting rod (61), and one end of the second connecting rod (61) passes through
Parallel hole location (222) extends in cabinet (21), and connect with the first sliding block (34) and the second sliding block (35)；Cover board (22) plate face
Lower end pass through screw installation seat plate (7).
2. a kind of upper limb rehabilitation robot according to claim 1, it is characterised in that: cover board (22) lid is loaded on cabinet (21)
And it is screwed.
3. a kind of upper limb rehabilitation robot according to claim 1, it is characterised in that: the connecting rod of the cylinder (32) extends to connection
The bottom of plate (36) is connect with connecting plate (36).
4. a kind of upper limb rehabilitation robot according to claim 1, it is characterised in that: the bottom of the third sliding block (42) is equipped with
With pulley (351) mutually isostructural on the first sliding block (34) and the second sliding block (35), and the pulley (351) be embedded in circular arc
(41) sliding in track slot.
5. a kind of upper limb rehabilitation robot according to claim 1, it is characterised in that: internal screw thread and institute on the nut seat (45)
The external screw thread stated on screw rod (44) matches, and the aperture of nut seat (45) is greater than the diameter of screw rod (44).
6. a kind of upper limb rehabilitation robot according to claim 1, it is characterised in that: the telescopic rod (43) by cylinder (431) and
Slide bar (432) composition, wherein one end of cylinder (431) opens up slide opening (4311), and slide opening (4311) matches with slide bar (432),
Slide bar (432) is inserted into sliding in slide opening (4311).
7. a kind of upper limb rehabilitation robot according to claim 1, it is characterised in that: the third sliding block (42) is from circular arc
(41) distance that one end slides into the other end is equidistant with what telescopic rod (43) stretched.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810942349.5A CN109223436A (en) | 2018-08-17 | 2018-08-17 | A kind of upper limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810942349.5A CN109223436A (en) | 2018-08-17 | 2018-08-17 | A kind of upper limb rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109223436A true CN109223436A (en) | 2019-01-18 |
Family
ID=65071539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810942349.5A Withdrawn CN109223436A (en) | 2018-08-17 | 2018-08-17 | A kind of upper limb rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109223436A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110840695A (en) * | 2019-08-06 | 2020-02-28 | 张海甄 | Rehabilitation training device |
| CN111419639A (en) * | 2020-04-22 | 2020-07-17 | 中国人民解放军联勤保障部队第九〇四医院 | Recovered branch of academic or vocational study is with recovered ware of upper limb |
| CN111449901A (en) * | 2020-03-29 | 2020-07-28 | 郑州大学 | Cerebral apoplexy paralysed patient rehabilitation exercise device |
| CN113576830A (en) * | 2021-07-09 | 2021-11-02 | 河南科技大学第一附属医院 | Training device for neurology hemiplegia patient |
| CN114652567A (en) * | 2022-02-25 | 2022-06-24 | 南京邮电大学 | Training device is corrected to hemiplegia patient's slope syndrome |
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| CN2261245Y (en) * | 1996-04-29 | 1997-09-03 | 张鸿均 | Curved rail transmission controller for massaging chair |
| WO2009063027A1 (en) * | 2007-11-13 | 2009-05-22 | Universite Libre De Bruxelles | Joint rehabilitation device and method |
| CN102599747A (en) * | 2012-03-19 | 2012-07-25 | 安徽久工科技实业有限责任公司 | Automatic leisure rocking chair |
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| CN206372264U (en) * | 2016-08-31 | 2017-08-04 | 苏州众人健身器材有限公司 | One kind pinches earphone automatically |
| CN108324498A (en) * | 2018-01-10 | 2018-07-27 | 卡斯纳（苏州）医疗设备有限公司 | A kind of electric assisting apparatus taken exercise for upper extremity function |
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| CN2261245Y (en) * | 1996-04-29 | 1997-09-03 | 张鸿均 | Curved rail transmission controller for massaging chair |
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| CN102599747A (en) * | 2012-03-19 | 2012-07-25 | 安徽久工科技实业有限责任公司 | Automatic leisure rocking chair |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110840695A (en) * | 2019-08-06 | 2020-02-28 | 张海甄 | Rehabilitation training device |
| CN111449901A (en) * | 2020-03-29 | 2020-07-28 | 郑州大学 | Cerebral apoplexy paralysed patient rehabilitation exercise device |
| CN111419639A (en) * | 2020-04-22 | 2020-07-17 | 中国人民解放军联勤保障部队第九〇四医院 | Recovered branch of academic or vocational study is with recovered ware of upper limb |
| CN113576830A (en) * | 2021-07-09 | 2021-11-02 | 河南科技大学第一附属医院 | Training device for neurology hemiplegia patient |
| CN114652567A (en) * | 2022-02-25 | 2022-06-24 | 南京邮电大学 | Training device is corrected to hemiplegia patient's slope syndrome |
| CN114652567B (en) * | 2022-02-25 | 2023-11-07 | 南京邮电大学 | Hemiplegia patient inclination syndrome correction training device |
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Application publication date: 20190118 |
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