CN109481234B - Double-freedom-degree rehabilitation training device capable of simulating human gait - Google Patents
Double-freedom-degree rehabilitation training device capable of simulating human gait Download PDFInfo
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- CN109481234B CN109481234B CN201811546374.8A CN201811546374A CN109481234B CN 109481234 B CN109481234 B CN 109481234B CN 201811546374 A CN201811546374 A CN 201811546374A CN 109481234 B CN109481234 B CN 109481234B
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- 230000005021 gait Effects 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 230000033001 locomotion Effects 0.000 claims abstract description 32
- 238000009434 installation Methods 0.000 claims description 26
- 230000000694 effects Effects 0.000 abstract description 8
- 210000003141 lower extremity Anatomy 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 7
- 210000003414 extremity Anatomy 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
- A61H2201/1472—Planetary gearing
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (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 a double-freedom-degree rehabilitation training device capable of simulating human gait, which comprises a supporting mechanism and two pairs of motion mechanisms symmetrically arranged on the supporting mechanism, wherein the two pairs of motion mechanisms are arranged on the supporting mechanism; the motion mechanism comprises a ring gear with internal teeth, a planet carrier and a planet gear, wherein the ring gear is rotatably arranged on the support mechanism, the planet carrier is rotatably arranged on the support mechanism, the planet gear is rotatably arranged on the planet carrier and is provided with external teeth, the rotation axis of the ring gear is collinear with the rotation axis of the planet carrier, and the planet gear is meshed with the internal teeth of the ring gear. The invention can make the rehabilitation training device move in any track in the movement plane, changes a single training mode of the circular movement track, changes the movement track of the output part by changing the speed relation of the planet wheel and the ring gear through different eccentric positions B, achieves the effect of simulating the normal gait track of the lower limb of the human body, and greatly improves the training effect of a user.
Description
Technical Field
The invention relates to rehabilitation training equipment, in particular to a double-freedom-degree rehabilitation training device capable of simulating human gait.
Background
At present, the number of hemiplegia patients in China is increased, and limb rehabilitation training also becomes a research hot spot. The motion trail of the low limb rehabilitation training device commonly existing in the market is a circular trail with a single mode, and the gait trail of the human body is in an elliptical-like shape, so that the rehabilitation training requirement of a patient cannot be met by only making single circular trail motion, and the rehabilitation training effect of the low limb of the patient is greatly reduced.
Therefore, it is particularly important to develop a humanoid gait rehabilitation training device.
Disclosure of Invention
The invention aims to solve the technical problem of providing a double-freedom-degree rehabilitation training device capable of simulating human gait.
In order to solve the technical problems, the invention adopts the following technical scheme: a double-freedom-degree rehabilitation training device capable of simulating human gait comprises a supporting mechanism and a movement mechanism arranged on the supporting mechanism;
the motion mechanism comprises a ring gear with internal teeth, a planet carrier and a planet gear, wherein the ring gear is rotatably arranged on the support mechanism, the planet carrier is rotatably arranged on the support mechanism, the planet gear is rotatably arranged on the planet carrier and is provided with external teeth, the rotation axis of the ring gear is collinear with the rotation axis of the planet carrier, and the planet gear is meshed with the internal teeth of the ring gear.
Further, the planetary gear further comprises a sun gear with external teeth rotatably mounted on the support mechanism, the rotation axis of the sun gear and the rotation axis of the ring gear are collinear, and the planetary gear is meshed with the sun gear.
Further, the support mechanism comprises a support frame, a first installation shaft is rotatably installed on the support frame, the sun gear is rotatably installed on the first installation shaft, the planet carrier is fixedly installed on the first installation shaft, or the sun gear is fixedly installed on the first installation shaft, and the planet carrier is rotatably installed on the first installation shaft.
Further, the support frame comprises two support plates which are arranged at intervals, a first bearing seat is fixedly arranged at the top of each support plate, and the first installation shaft is rotatably arranged in the first bearing seat through a bearing.
Further, a pulley, a sprocket or a gear is fixedly installed on the first installation shaft to indirectly drive the first installation shaft, or the first installation shaft is directly driven by a motor with a speed reducer.
Further, the ring gear is rotatably mounted on the support mechanism by: the annular guide rail is arranged on one side face of the annular gear and is coaxial with the annular guide rail, a supporting block is fixed on the supporting mechanism, a guide groove matched with the annular guide rail is formed in the supporting block, and the annular guide rail is clamped into the guide groove.
Further, the ring gear further includes an external tooth, and the worm is meshed with the external tooth of the ring gear.
Further, a second mounting shaft is rotatably mounted on the planet carrier, and the planet gears are fixedly mounted on the second mounting shaft, so that the planet gears are rotatably mounted on the planet carrier.
Further, the device also comprises a motion output mechanism, wherein the motion output mechanism comprises a crank, an output shaft and a second bearing seat, one end of the crank is fixedly arranged on the second installation shaft, the output shaft is fixedly arranged at the other end of the crank, and the second bearing seat is rotatably arranged on the output shaft through a bearing.
Further, the output shaft is fixedly mounted at the other end of the crank by the following structure: the other end of the crank is provided with a circular mounting hole with a notch, clamping plates are respectively outwards extended from two sides of the notch of the circular mounting hole, a disc matched with the circular mounting hole is arranged in the circular mounting hole, the clamping plates on two sides are clamped by clamping bolts, so that the disc is clamped in the circular mounting hole, and the output shaft is eccentrically fixed on the disc.
The beneficial effects of the invention are as follows:
the invention can make the rehabilitation training device move in any track in the movement plane, changes a single training mode of the circular movement track, changes the movement track of the output part by changing the speed relation of the planet wheel and the ring gear through different eccentric positions B, achieves the effect of simulating the normal gait track of the lower limb of the human body, and greatly improves the training effect of a user.
The invention has the advantages of simple structure, easy manufacture, economy, practicability, easy operation, good function and high practicability, and is suitable for users to use in various occasions to help the users to recover health.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic top view of an embodiment of the present invention.
Fig. 3 is a schematic front view of an embodiment of the present invention.
Fig. 4 is a schematic structural view of a supporting mechanism and a planet carrier according to an embodiment of the invention.
Fig. 5 and 6 are schematic structural views of the motion output mechanism from different perspectives according to an embodiment of the present invention.
Fig. 7 is a schematic structural view of a first mounting shaft according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of a second mounting shaft according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of the operation of an embodiment of the present invention.
FIG. 10 is a schematic diagram of an embodiment of the invention without a sun gear.
Fig. 11 is a schematic diagram of the operation of an embodiment of the invention without a sun gear.
The components in the drawings are marked as follows: the device comprises an 11 supporting plate, a 12 first bearing seat, a 13 first mounting shaft, a 14 supporting block, a 141 guide groove, a 15 first end cover, 16, 17 flat keys, a 21 ring gear, a 211 ring guide rail, a 22 sun gear, a 23 planetary gear, a 24 planetary carrier, a 25 second mounting shaft, a 26 second end cover, a 31 crank, a 32 output shaft, a 33 second bearing seat, a 34 disc, a 311 circular mounting hole, a 312 clamping plate, a 313 clamping bolt, a 314 abutting bolt, 315, a 316 flat key, a 41 belt pulley and a 42 worm.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
See fig. 1 to 8 below.
The invention relates to a double-freedom-degree rehabilitation training device capable of simulating human gait, which comprises a supporting mechanism and a movement mechanism arranged on the supporting mechanism;
the movement mechanism includes a ring gear 21 having internal teeth rotatably mounted on the support mechanism, a carrier 24 rotatably mounted on the support mechanism, and a planetary gear 23 having external teeth rotatably mounted on the carrier 24, and the rotational axis of the ring gear 21 and the rotational axis of the carrier 24 are collinear, the planetary gear 23 intermeshes with the internal teeth of the ring gear 21.
In an embodiment, the sun gear 22 with external teeth rotatably mounted on the support mechanism is further comprised, the rotation axis of the sun gear 22 and the rotation axis of the ring gear 21 are collinear, and the planetary gears 23 and the sun gear 22 are also meshed with each other. The sun gear that sets up can make each part atress better, and overall structure is more reasonable, firm, has guaranteed the stability of device.
As shown in FIG. 9, the sun gear is circle I, the ring gear is circle II, the center of the first mounting shaft is O point, the center of the second mounting shaft is A point, when in use, the planet carrier is driven to rotate, the planet gear can do circular motion between the ring gear and the sun gear around the rotation axis O of the planet carrier and rotate around the rotation axis A of the planet carrier, and then the ring gear is driven to rotate at the same time, so that the device generates two degrees of freedom, and because the two degrees of freedom can reach any position in one plane, any track can be output in the motion plane through different eccentric positions B and changing the speed relationship of the planet wheel and the ring gear, thereby achieving the requirement of obtaining an elliptical track simulating the gait of the lower limbs of a human body.
When the device is specifically used, the two copies of the device are adopted, and the two pairs of the devices are symmetrically arranged, so that the device is suitable for simultaneous training of two limbs, a patient is more comfortable when using the device for training, and the rehabilitation effect is improved; when the device is used, the initial phases of the planet carrier and the planet gear of the motion mechanisms of the two pairs of devices are adjusted to 180 degrees, so that the device is more in accordance with the motion law of a human body.
In one embodiment, the support mechanism includes a support frame on which the first mounting shaft 13 is rotatably mounted, the sun gear 22 is rotatably mounted on the first mounting shaft 13, the planet carrier 24 is fixedly mounted on the first mounting shaft 13, or the sun gear 22 is fixedly mounted on the first mounting shaft 13, and the planet carrier 24 is rotatably mounted on the first mounting shaft 13. The design is reasonable in structure, reliable and stable, and when the planetary gear is used, the motor drives the first installation shaft to rotate, the first installation shaft transmits the rotating speed to the planet carrier, the planet carrier drives the planet gears to revolve, or the first installation shaft transmits the rotating speed to the sun gear, and the sun gear drives the planet gears to revolve.
Of course, there is a case where there is no sun gear, in which case, for the above-described support frame, the carrier 24 is fixedly mounted on the first mounting shaft 13.
Preferably, in order to facilitate transmission of the drive, a pulley 41 or a sprocket or a gear is fixedly mounted on the first mounting shaft 13. The belt wheel or the chain wheel or the gear can be used as a power input mechanism of the device to indirectly drive the first installation shaft, and when the device is used, the belt wheel is provided with a rotating speed through the motor, so that the first installation shaft can be driven to rotate, and the higher the rotating speed is, the faster the running speed of the device is; or the first mounting shaft 13 is directly driven by a motor including a reduction gear.
More preferably, the pulley 14 is disposed between two support plates 11, which will be described later, and the force is more reasonable.
In one embodiment, the ring gear 21 is rotatably mounted on the support mechanism by: a side surface of the ring gear 21 is provided with a ring guide rail 211 coaxial with the ring guide rail, the supporting mechanism is fixedly provided with a supporting block 14, the supporting block 14 is provided with a guide groove 141 matched with the ring guide rail 211, and the ring guide rail 211 is clamped into the guide groove 141. The planet wheel mechanism is simple in structure, easy to manufacture and install, free of interference to movement of the planet wheel, and good in practicability.
In an embodiment, the ring gear 21 further comprises a worm 42, the worm 42 intermeshes with the external teeth of the ring gear 21. The worm also serves as a power input mechanism of the device, the worm and the ring gear form a turbine worm mechanism, when the device is used, the motor provides a rotating speed for the worm, the ring gear can be driven to rotate, and when the device is stopped, the device can be self-locked, so that the change of the initial phase of the device is avoided.
In an embodiment, the support frame comprises two support plates 11 which are arranged at intervals, a first bearing seat 12 is fixedly arranged at the top of the support plates 11, and the first mounting shaft 13 is rotatably arranged in the first bearing seat 12 through a rolling bearing. The design is simple and reasonable, the structure is easy to manufacture and install, and meanwhile, the stability of the structure can be guaranteed, and the first installation shaft is guaranteed to rotate stably and smoothly.
In practice, the sun gear 22 is rotatably mounted on the first mounting shaft 13 through a rolling bearing, so as to ensure that the sun gear stably and smoothly rotates; preferably, the first end caps 15 are disposed on the first mounting shaft 13 and on both sides of the first bearing seat 12 and between the planet carrier 24 and the sun gear 22, so that the device is more compact, and the end caps can also increase the tightness of the rolling bearing and the accuracy of positioning the bearing.
In one embodiment, the planet carrier 24 and the pulley 14 are fixedly mounted on the first mounting shaft 13 by flat keys. The fixing mode is easy to operate and stable and reliable to install. Specifically, the first mounting shaft 13 is provided with a key slot which is matched with the first mounting shaft, and is connected with the belt wheel and the key slot on the planet carrier through common flat keys 16 and 17, so that the rotation speeds of the first mounting shaft, the planet carrier and the belt wheel are consistent.
In one embodiment, the planet carrier 24 is rotatably mounted with a second mounting shaft 25, and the planet gear 23 is fixedly mounted on the second mounting shaft 25, so that the planet gear 23 is rotatably mounted on the planet carrier 24. The design is simple in structure, and the device is reliable and stable in operation.
Preferably, the second mounting shaft 25 is rotatably mounted on the planet carrier 24 through a rolling bearing to ensure that the second mounting shaft rotates stably and smoothly; more preferably, the two sides of the planet carrier 24 are respectively provided with a second end cover 26, so as to increase the tightness of the rolling bearing and the accuracy of positioning the bearing.
In an embodiment, the device further comprises a motion output mechanism, the motion output mechanism comprises a crank 31, an output shaft 32 and a second bearing seat 33, one end of the crank 31 is fixedly mounted on the second mounting shaft 25, the output shaft 32 is fixedly mounted on the other end of the crank 31, and the second bearing seat 33 is rotatably mounted on the output shaft 32 through a bearing. In such a mechanism, since the crank is fixedly mounted on the second mounting shaft, the rotation speeds of the second mounting shaft, the planetary gear and the crank are identical, and thus the crank is integrally moved, and the output shaft is positioned at a certain eccentric position of the planetary gear.
In use, a limb support, such as a foot pedal, handle, may be mounted on the second bearing housing 33 to move the patient's limb with the exercise device.
In one embodiment, the output shaft 32 is fixedly mounted to the other end of the crank 31 by: the other end of the crank 31 is provided with a circular mounting hole 311 with a notch, clamping plates 312 are respectively extended outwards from two sides of the notch of the circular mounting hole 311 at the other end of the crank 31, a disc 34 matched with the circular mounting hole 311 is arranged in the circular mounting hole 311, the clamping plates 312 at two sides are clamped by a clamping bolt 313, so that the disc 34 is clamped in the circular mounting hole 311, and the output shaft 32 is eccentrically fixed on the disc 34. By means of the design, the angle of the disc can be adjusted as long as the clamping bolt is loosened, the position of the output shaft can be adjusted, the position adjusting range of the output shaft is larger, the clamping effect is reliable after the clamping bolt is screwed down, the position of the disc can be prevented from being changed, and the movement track of the training device is prevented from being changed. Preferably, the disc 34 is provided with a threaded hole for fixedly connecting with the output shaft.
Preferably, the other end of the crank 31 is further provided with more than one threaded through hole communicated with the circular mounting hole 311, and a tightening bolt 314 for further tightening the disc is connected in the threaded through hole in a threaded manner.
In one embodiment, one end of the crank 31 is fixedly mounted to the second mounting shaft 25 by a flat key. The fixing mode is easy to operate and stable and reliable to install. Specifically, two key grooves are formed in the second mounting shaft 25, and the planetary gears and the crank are fixedly connected with the second mounting shaft through common flat keys 315 and 316.
Referring to fig. 9, which is a schematic diagram of a sun gear device, wherein the sun gear is a circle i, the planet gear is a circle ii, the ring gear is a circle iii, the center of the first mounting shaft is a point O, the center of the second mounting shaft is a point a, the center of the output shaft is a point B, before the device is used, the position of the disc is adjusted, and the disc is fastened and fixed by a clamping bolt, namely, the distance from the point O to the point B and the size of the angle OAB are changed. In different eccentric positions B, the speed relation between the planet wheel and the ring gear is changed, so that the output part can output any track in a motion plane, and the requirement of obtaining an elliptical track simulating the normal gait of the lower limb of a human body is met.
As can be seen from the schematic diagram, the training device has four movable members, four low pairs, two high pairs, according to the degree of freedom calculation formula f=3n-2P L -P H The degree of freedom of the training device is 2.
Referring to fig. 11, which is a schematic diagram of a sun-less mechanism, the ring gear is a circle i, the planetary gear is a circle ii, the center of the first mounting shaft is a point O, the center of the second mounting shaft is a point a, the center of the output shaft is a point B, before the device is used, the position of the disc is adjusted, and then the disc is fastened and fixed by the clamping bolt, i.e., the distance from the point O to the point B and the size of +oab are changed. In different eccentric positions B, the speed relation between the planet wheel and the ring gear is changed, so that the output part can output any track in a motion plane, and the requirement of obtaining an elliptical track simulating the normal gait of the lower limb of a human body is met.
As can be seen from the schematic diagram, the training device has three movable members, three low pairs and one high pair, according to the degree of freedom calculation formula f=3n-2P L -P H The degree of freedom of the training device is 2.
The invention can make the rehabilitation training device simulate the normal gait track of the lower limb of the human body to move, change the single training mode of the circular movement track and greatly improve the training effect of the user. The invention has the advantages of simple structure, easy manufacture, economy, practicability, easy operation, good function and high practicability, and is suitable for users to use in various occasions to help the users to recover health.
It should be understood that the examples and embodiments described herein are for illustrative purposes only and are not intended to limit the present invention, and that various modifications or changes in light thereof will be suggested to persons skilled in the art and are to be included within the spirit and purview of this application.
Claims (6)
1. A can imitate two degrees of freedom rehabilitation training devices of human gait which characterized in that: comprises a supporting mechanism and a moving mechanism arranged on the supporting mechanism;
the motion mechanism comprises a ring gear (21) with internal teeth, a planet carrier (24) and a planet gear (23), wherein the ring gear (21) is rotatably installed on the support mechanism, the planet carrier (24) is rotatably installed on the planet carrier (24), the rotation shaft of the ring gear (21) and the rotation shaft of the planet carrier (24) are collinear, and the planet gear (23) is meshed with the internal teeth of the ring gear (21);
the device further comprises a sun gear (22) with external teeth rotatably mounted on the supporting mechanism, the rotation axis of the sun gear (22) and the rotation axis of the ring gear (21) are collinear, and the planetary gears (23) are meshed with the sun gear (22);
a second mounting shaft (25) is rotatably mounted on the planet carrier (24), and the planet gear (23) is fixedly mounted on the second mounting shaft (25), so that the planet gear (23) is rotatably mounted on the planet carrier (24);
the device further comprises a motion output mechanism, wherein the motion output mechanism comprises a crank (31), an output shaft (32) and a second bearing (33), one end of the crank (31) is fixedly arranged on the second installation shaft (25), the output shaft (32) is fixedly arranged at the other end of the crank (31), and the second bearing seat (33) is rotatably arranged on the output shaft (32) through a bearing;
the output shaft (32) is fixedly mounted at the other end of the crank (31) by the following structure: the other end of the crank (31) is provided with a circular mounting hole (311) with a notch, clamping plates (312) are respectively outwards extended from two sides of the notch of the circular mounting hole (311), a disc (34) which is matched with the circular mounting hole (311) is arranged in the circular mounting hole (311), the clamping plates (312) on two sides are clamped through clamping bolts (313), so that the disc (34) is clamped in the circular mounting hole (311), and the output shaft (32) is eccentrically fixed on the disc (34).
2. The anthropomorphic gait two-degree-of-freedom rehabilitation training device of claim 1, wherein: the support mechanism comprises a support frame, a first installation shaft (13) is rotatably installed on the support frame, a sun gear (22) is rotatably installed on the first installation shaft (13), a planet carrier (24) is fixedly installed on the first installation shaft (13), or the sun gear (22) is fixedly installed on the first installation shaft (13), and the planet carrier (24) is rotatably installed on the first installation shaft (13).
3. The anthropomorphic gait two-degree-of-freedom rehabilitation training device of claim 2, wherein: the support frame comprises two support plates (11) which are arranged at intervals, a first bearing seat (12) is fixedly arranged at the top of each support plate (11), and a first installation shaft (13) is rotatably installed in the first bearing seat (12) through a bearing.
4. The anthropomorphic gait two-degree-of-freedom rehabilitation training device of claim 2, wherein: a belt wheel (41) or a chain wheel or a gear is fixedly arranged on the first installation shaft (13) to indirectly drive the first installation shaft (13), or the first installation shaft (13) is directly driven by a motor containing a speed reducing device.
5. The two-degree-of-freedom rehabilitation training device of anthropomorphic gait according to any one of claims 1 to 4, wherein: the ring gear (21) is rotatably mounted on the support mechanism by: a side face of the ring gear (21) is provided with a ring guide rail (211) coaxial with the ring guide rail, a supporting block (14) is fixed on the supporting mechanism, a guide groove (141) matched with the ring guide rail (211) is formed in the supporting block (14), and the ring guide rail (211) is clamped into the guide groove (141).
6. The two-degree-of-freedom rehabilitation training device of anthropomorphic gait according to any one of claims 1 to 4, wherein: further comprising a worm (42), the ring gear (21) further having external teeth, the worm (42) intermeshes with the external teeth of the ring gear (21).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811546374.8A CN109481234B (en) | 2018-12-18 | 2018-12-18 | Double-freedom-degree rehabilitation training device capable of simulating human gait |
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| CN201811546374.8A CN109481234B (en) | 2018-12-18 | 2018-12-18 | Double-freedom-degree rehabilitation training device capable of simulating human gait |
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| CN109481234A CN109481234A (en) | 2019-03-19 |
| CN109481234B true CN109481234B (en) | 2024-03-19 |
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| CN111228728B (en) * | 2020-02-16 | 2023-06-06 | 华中科技大学同济医学院附属协和医院 | Lower limb venous thrombosis prevention activity instrument and control method thereof |
| CN111420349A (en) * | 2020-05-06 | 2020-07-17 | 合肥工业大学 | Sole drive formula gait trainer |
| CN112057302B (en) * | 2020-09-22 | 2024-01-30 | 郑州铁路职业技术学院 | Leg rehabilitation training system |
| CN113133879B (en) * | 2021-05-20 | 2022-05-17 | 佳木斯大学 | Endocrinology treatment bed and use method thereof |
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