CN109833600A - A kind of gait simulation lower limb rehabilitation training device based on compound crank link mechanism - Google Patents
A kind of gait simulation lower limb rehabilitation training device based on compound crank link mechanism Download PDFInfo
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- CN109833600A CN109833600A CN201711231116.6A CN201711231116A CN109833600A CN 109833600 A CN109833600 A CN 109833600A CN 201711231116 A CN201711231116 A CN 201711231116A CN 109833600 A CN109833600 A CN 109833600A
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- rehabilitation training
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- link mechanism
- lower limb
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Abstract
The present invention relates to the gaits based on compound crank link mechanism to simulate lower limb rehabilitation training device, including two compound crank link mechanisms, foot pedal and main passive exercise switch unit, pass through compound crank link mechanism, the gait skimulated motion of the circular motion of main passive exercise switch unit and foot pedal can be mutually converted, thus the initiative rehabilitation training for the person that realizes lower limb rehabilitation training and passive rehabilitation training.Compared with prior art, the circular motion of crank can be converted to the simulation gait motion on the vertex D of No. two triangular framings by the compound crank link mechanism by the present invention, and the track for simulating gait motion is best suitable for gait track when people walks；In addition, the present apparatus is equipped with initiative rehabilitation training and passive rehabilitation training both of which, training effect is more comprehensively.
Description
Technical field
The present invention relates to technical field of medical rehabilitation machinery, and in particular to a kind of gait based on compound crank link mechanism
Simulate lower limb rehabilitation training device.
Background technique
The most common sequelae of cerebral apoplexy and cerebral injury first is that limbs disturbance, such patient is due to long-term bed meeting
Lead to muscular atrophy, is hindered to the recovery of disease with recovery band in the future.The active of the movement passive exercise and later period of early period
Training is able to maintain and restores the joints' movement range of patient, is conducive to the main movement function of restoring limbs, improves the day of patient
Daily life ability.The lower limb rehabilitation training device major product of existing market has the towed recovery set for lower limbs of multi-joint and end
Two kinds of towed convalescence device: simple joint training may be implemented in the towed recovery set for lower limbs of multi-joint and multi-joint coordinates instruction
Practice, motion profile freely programmable in working space, the towed recovery set for lower limbs of multi-joint is quasi- to the simulation of gait track
Exactness is high, but machine construction is complicated, with high costs, is unfavorable for benefiting vast sufferer；Tail end traction type convalescence device is to end
Motion profile carries out a degree of simulation, and the Steel Flex XE-3700 type of mainstream product You Shidifei company production is ellipse
Circular knitting machine, the JOHNSON MX-E5X type elliptical machine etc. of Qiao Shan company production.These devices are rotation point with ankle, and motion profile is
Ellipse is unable to gait track and joint characteristic when accurate simulation people walking, can generate impact to joint, also make to generate muscle
Excessive tensile, therapeutic effect is poor, and very big harm is also resulted in patient.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of rehabilitation efficacies more to force
Really the gait based on compound crank link mechanism simulates lower limb rehabilitation training device.
The purpose of the present invention can be achieved through the following technical solutions: a kind of gait based on compound crank link mechanism
Simulate lower limb rehabilitation training device, which is characterized in that the device for healing and training includes:
Two compound crank link mechanisms: each compound crank link mechanism include crank, two triangular framings with
And more connecting rods being connect by shaft with two triangular framings and crank, wherein the vertex A of No.1 triangular framing and song
The end G of handle is connected by No.1 connecting rod, and the vertex B of No.1 triangular framing passes through the C of No. three connecting rods and No. two triangular framings
The vertex F of vertex connection, No.1 triangular framing is connect by No. four connecting rods with the vertex E of No. two triangular framings, and No. two three
The vertex E of angular frame is connected by the end G of No. two connecting rods and crank, wherein the vertex A of the No.1 triangular framing is higher than
The vertex B and the vertex F of No.1 triangular framing, the vertex D of No. two triangular framings lower than No. two triangular framings the vertex C and
The vertex E, the crank move in a circle using the end O as the center of circle, the top F of No.1 triangular framing in two compound crank link mechanisms
Point and the two end axles of connecting shaft connect；
Foot pedal: it is connect with the D zenith axis of No. two triangular framings in each compound crank link mechanism；
Main passive exercise switch unit: connecting with the end O of the crank of two compound crank link mechanisms, described for driving
Crank is rotated around the end O realizes passive rehabilitation training；Or the crank rotation for giving two compound crank link mechanisms
Resistance is to realize passive rehabilitation training.The present invention, can be by main passive exercise switch unit by compound crank link mechanism
The gait skimulated motion of circular motion and foot pedal mutually converts, thus the initiative rehabilitation training for the person that realizes lower limb rehabilitation training and
Passive rehabilitation training.
The main passive exercise switch unit includes that the driving wheel connecting with the end O of crank and driving wheel pass through belt
The belt pulley of connection, and the shaft that with belt pulley rotates jointly, active electromagnetism that both ends of the shaft be set central across belt pulley
Clutch and passive electromagnetic clutch, the electromagnetic damper connecting by gear set with active electromagnetic clutch and pass through gear
The decelerating motor that is connect with passive electromagnetic clutch of group, the active electromagnetic clutch and passive electromagnetic clutch can not and meanwhile with
Shaft engagement.Working principle of the present invention is as follows: when active electromagnetic clutch is engaged with one end of shaft, initiative rehabilitation training
It opens, the both feet of rehabilitation training person step on the track for driving foot pedal to simulate according to gait on the footrests and by way of walking
Movement, and by the transmission of compound crank link mechanism, so that driving wheel rotates, pulley rotation is driven by belt, then
Power is driven to electromagnetic damper by shaft, active electromagnetic clutch and gear set, therefore, the walking of rehabilitation training person can be by
To biggish resistance, so that the muscle of leg is taken exercise, initiative rehabilitation training is realized.When passive electromagnetic clutch and turn
Axis one end engagement when, passive rehabilitation training open, the rotation of stepper motor pass sequentially through gear set, passive electromagnetic clutch,
Shaft, belt pulley, belt drive driving wheel rotation, then by the transmitting of compound crank link mechanism, so that foot pedal is in step
The movement of state analog track realizes passive rehabilitation instruction so that station rehabilitation training person on the footrests be driven to carry out simulation on foot
Practice.
The end O of the crank of two compound crank link mechanisms and the circle core shaft of driving wheel connect, and two cranks are in
180 ° of distributions.
The gear set includes at least two pitch wheels, and away from longer, transmission is more stable and easy for transmission in this way
In control.
The No.1 of the No.1 triangular framing is (5~5.3) in the length ratio of, No. two whiles, No. three sides and crank: (4
~4.2): (3.7~4): 1, the No.1s of No. two triangular framings is in the length ratio of, No. two whiles, No. three sides and crank
(6.4~7.2): (5.2~5.5): (3.8~4): 1, the No.1 connecting rod, No. two connecting rods, No. three connecting rods, No. four connecting rods and song
The length ratio of handle is (4.5~5): (7~7.5): (4.5~4.8): (4.3~4.5): 1, by being found after computer simulation,
Meet the compound crank link mechanism of above-mentioned length ratio, the simulation gait motion on the vertex D of final No. two triangular framings
Track be best suitable for gait track when people walks.
The ratio between length and the height of lower limb rehabilitation training person of the crank are 1:(2.9~3), under the ratio, lower limb
The amplitude of fluctuation of rehabilitation training person's both feet is close with the amplitude that normal person walks, and analog track is truer, the effect of rehabilitation training
Also more preferable.
The D apex of No. two triangular framings is equipped with the stepping electricity rotated for controlling foot pedal around the vertex D
Machine rotates the foot of lower limb rehabilitation training person around ankle, with the rail walked by the way that stepper motor is arranged on the vertex D
Mark is more nearly.
The foot pedal includes the front connecting with the vertex D of No. two triangular framings, passes through circle polished rod with front
The bottom of the rear portion of connection and the protrusion that front and rear edge is arranged in, the rear portion is equipped with for plugging round polished rod
Duct, the duct are equipped with a pin hole, and the circle polished rod is equipped with multiple location holes, positioning pin pass through pin hole and
Rear portion is fixedly connected by location hole with round polished rod, and by the setting, the length of adjustable foot pedal is allowed to and rehabilitation training
The foot of person is more bonded.
The D apex of No. two triangular framings is set there are two through-hole, and is installed in two through-holes for pinioning
The bandage of lower limb rehabilitation training person's ankle.
The device for healing and training includes pedestal, bracket and handrail, and the main passive exercise switch unit and bracket are solid
Fixed connection.
Compared with prior art, the beneficial effects of the present invention are embodied in following several respects:
(1) by the compound crank link mechanism, the circular motion of crank can be converted to the D of No. two triangular framings
The simulation gait motion on vertex, and the track for simulating gait motion is best suitable for gait track when people walks；
(2) according to the height of lower limb rehabilitation training person, change the length of crank, the swing for the person's both feet that make lower limb rehabilitation training
Amplitude is close with the amplitude that normal person walks, and analog track is truer, and the effect of rehabilitation training is also more preferable；
(3) present apparatus is equipped with initiative rehabilitation training and passive rehabilitation training both of which, and training effect is more comprehensively.
Detailed description of the invention
Fig. 1 is external structure schematic diagram of the invention；
Fig. 2 is schematic diagram of internal structure of the invention；
Fig. 3 is the structural schematic diagram of the compound crank link mechanism of the present invention；
Fig. 4 is the movement locus schematic diagram of crank link mechanism in embodiment 1；
Fig. 5 is the structural schematic diagram of the main passive exercise switch unit of the present invention；
Fig. 6 is the structural schematic diagram of foot pedal of the present invention；
Fig. 7 is the movement locus schematic diagram of crank link mechanism in embodiment 2；
Fig. 8 is the movement locus schematic diagram of crank link mechanism in embodiment 3
Wherein, 1 is compound crank link mechanism, and 11 be through-hole, and 2 be foot pedal, and 21 be front, and 22 be round polished rod, 23
It is protrusion for rear portion, 24,25 be pin hole, and 26 be positioning pin, and 27 be location hole, and 3 be main passive exercise switch unit, and 31 be transmission
Wheel, 32 be belt, and 33 be belt pulley, and 34 be shaft, and 35 be active electromagnetic clutch, and 36 be passive electromagnetic clutch, 37a, 37b
It is electromagnetic damper for gear set, 38,39 be decelerating motor, and 4 be stepper motor, and 5 be pedestal, and 6 be bracket, and 7 be handrail, and 8 are
Connecting shaft, OG are crank, and AB is the No.1 side of No.1 triangular framing, and AF is No. two sides of No.1 triangular framing, BF mono-
No. three sides of number triangular framing, CD are the No.1 side of No. two triangular framings, and DE is No. two sides of No. two triangular framings, CE
For No. three sides of No. two triangular framings, AG is No.1 connecting rod, and EG is No. two connecting rods, and BC is No. three connecting rods, and EF is No. four connecting rods.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
Embodiment 1
A kind of gait simulation lower limb rehabilitation training device based on compound crank link mechanism 1, which is characterized in that the rehabilitation
Training device includes two compound crank link mechanisms 1, foot pedal 2, main passive exercise switch unit 3, pedestal 5, bracket 6 and helps
Hand 7, external structure is as shown in Figure 1.
Wherein, each compound crank link mechanism 1 including crank OG, two triangular framings and passes through shaft and two
A triangular framing and more connecting rods of crank OG connection, wherein the vertex A of No.1 triangular framing and the end G of crank OG are logical
The AG connection of No.1 connecting rod is crossed, the vertex B of No.1 triangular framing is connected by the vertex C of No. three connecting rod BC and No. two triangular framings
It connects, the vertex F of No.1 triangular framing is connect by No. four connecting rod EF with the vertex E of No. two triangular framings, No. two triangles
The vertex E of frame is connect by No. two connecting rod EG with the end G of crank OG, wherein the vertex A of No.1 triangular framing is higher than No.1
The vertex B and the vertex F of triangular framing, the vertex D of No. two triangular framings are lower than the vertex C and the top E of No. two triangular framings
Point, crank OG move in a circle using the end O as the center of circle, in two compound crank link mechanisms 1 vertex F of No.1 triangular framing with
The two end axles of connecting shaft 8 connect, as shown in Figure 2 and Figure 3；Wherein, each length of connecting rod, triangular framing side length, crank in the present embodiment
Length and the height of lower limb rehabilitation training person are as shown in table 1.
| Line segment | Length (cm) | Line segment | Length (cm) |
| Height | 175 | DE | 327.2 |
| OG | 59.7 | CE | 220 |
| AB | 310.5 | AG | 290.5 |
| AF | 248.2 | EG | 430.3 |
| BF | 229.1 | BC | 269 |
| CD | 422.36 | EF | 261.5 |
Simulated through computer, using the compound crank link mechanism of above-mentioned length, simulate gait track as shown in figure 4,
Therefrom we are it can be found that the track is walked with normal person so that gait track is very close.
Foot pedal 2: connecing with the D zenith axis of No. two triangular framings in each compound crank link mechanism 1, foot pedal 2
Structure is as shown in fig. 6, including the front 21 connecting with the vertex D of No. two triangular framings, passing through circle polished rod 22 company with front
The bottom of the rear portion 23 that connects and the protrusion 24 that 23 edge of front 21 and rear portion is arranged in, rear portion 23 is equipped with for plugging circular light
The duct of bar 22, duct are equipped with a pin hole 25, and round polished rod 22 is equipped with multiple location holes 27, and a positioning pin 26 passes through
Rear portion 23 is fixedly connected by pin hole 25 and location hole 27 with round polished rod 22, by the setting, the length of adjustable foot pedal 2
Degree, is allowed to more be bonded with the foot of rehabilitation training person.
Main passive exercise switch unit 3: it is connect with the end O of the crank of two compound crank link mechanisms 1, for driving song
Handle is rotated around the end O realizes passive rehabilitation training；Or the resistance of the crank rotation for giving two compound crank link mechanisms 1
Power is to realize passive rehabilitation training.The present invention, can be by main passive exercise switch unit 3 by compound crank link mechanism 1
The gait skimulated motion of circular motion and foot pedal 2 mutually converts, thus the initiative rehabilitation training for the person that realizes lower limb rehabilitation training
And passive rehabilitation training.
The structure of main passive exercise switch unit 3 is as shown in figure 5, include the driving wheel 31 connecting with the end O of crank and biography
Belt pulley 33 that driving wheel 31 is connected by belt 32, across 33 center of belt pulley and rotated jointly with belt pulley 33 shaft 34,
Be arranged in 34 both ends of shaft active electromagnetic clutch 35 and passive electromagnetic clutch 36, by gear set and active electromagnetic clutch
The electromagnetic damper 38 that device 35 connects and the decelerating motor 39 being connect by gear set with passive electromagnetic clutch 36, it is actively electric
Magnet clutch 35 and passive electromagnetic clutch 36 can not be engaged with shaft simultaneously, wherein driving wheel 31 and belt 32 are shown in Fig. 2
In；
When active electromagnetic clutch 35 is engaged with one end of shaft 34, initiative rehabilitation training is opened, rehabilitation training person's
Both feet step down on foot pedal 2 and foot pedal 2 are driven to move by way of walking according to the track that gait is simulated, and by compound
The transmission of crank link mechanism 1 drives belt pulley 33 to rotate, then passes through shaft so that driving wheel 31 is rotated by belt 32
34, power is driven to electromagnetic damper 38 by active electromagnetic clutch 35 and gear set, and therefore, the walking of rehabilitation training person will receive
Biggish resistance realizes initiative rehabilitation training so that the muscle of leg is taken exercise.When passive electromagnetic clutch 36 and turn
When one end engagement of axis, passive rehabilitation training is opened, and the rotation of stepper motor 4 passes sequentially through gear set, passive electromagnetic clutch
36, shaft 34, belt pulley 33, belt 32 drive driving wheel 31 to rotate, and then by the transmitting of compound crank link mechanism 1, make
Foot pedal 2 is moved in gait analog track, so that rehabilitation training person of the station on foot pedal 2 be driven to carry out simulation on foot,
Realize passive rehabilitation training.
The D apex of No. two triangular framings is equipped with the stepper motor 4 rotated for controlling foot pedal 2 around the vertex D, leads to
It crosses and stepper motor 4 is set on the vertex D, the foot of lower limb rehabilitation training person is rotated around ankle, more with track on foot
Adjunction is close.
The D apex of No. two triangular framings is set there are two through-hole, and is installed in two through-holes for pinioning lower limb health
The bandage of multiple trainer's ankle.
Embodiment 2
Using lower limb rehabilitation training device structure identical with embodiment, the difference is that:
Each length of connecting rod, triangular framing side length, crank length and the height of lower limb rehabilitation training person is such as in the present embodiment
Shown in table 2.
Simulated through computer, using the compound crank link mechanism of above-mentioned length, simulate gait track as shown in fig. 7,
Therefrom we are it can be found that the track is walked with normal person so that gait track is closer to.
Embodiment 3
Using lower limb rehabilitation training device structure identical with embodiment, the difference is that:
Each length of connecting rod, triangular framing side length, crank length and the height of lower limb rehabilitation training person is such as in the present embodiment
Shown in table 3.
| Line segment | Length (cm) | Line segment | Length (cm) |
| Height | 175 | DE | 320.82 |
| OG | 58.33 | CE | 233.32 |
| AB | 309.15 | AG | 291.65 |
| AF | 245 | EG | 437.48 |
| BF | 215.82 | BC | 279.98 |
| CD | 419.98 | EF | 262.49 |
Simulated through computer, using the compound crank link mechanism of above-mentioned length, simulate gait track as shown in figure 8,
Therefrom we are it can be found that the track is walked with normal person so that gait track is closer to.
Claims (10)
1. a kind of gait based on compound crank link mechanism simulates lower limb rehabilitation training device, which is characterized in that rehabilitation instruction
Practicing device includes:
Two compound crank link mechanisms (1): each compound crank link mechanism includes crank (OG), two triangular framings
And more connecting rods being connect by shaft with two triangular framings and crank, wherein the vertex A of No.1 triangular framing with
The end G of crank (OG) is connected by No.1 connecting rod (AG), and the vertex B of No.1 triangular framing passes through No. three connecting rods (BC) and No. two
The vertex C of triangular framing connects, and the vertex F of No.1 triangular framing passes through No. four connecting rods (EF) and No. two triangular framings
The vertex E of the connection of the vertex E, No. two triangular framings is connect by No. two connecting rods (EG) with the end G of crank (OG), wherein described
The vertex A of No.1 triangular framing is higher than the vertex B and the vertex F of No.1 triangular framing, and the vertex D of No. two triangular framings is low
In the vertex C and the vertex E of No. two triangular framings, the crank (OG) moves in a circle using the end O as the center of circle, two compound cranks
The vertex F of No.1 triangular framing and the two end axles of connecting shaft (8) connect in link mechanism；
Foot pedal (2): it is connect with the D zenith axis of No. two triangular framings in each compound crank link mechanism；
Main passive exercise switch unit (3): it is connect with the end O of the crank (OG) of two compound crank link mechanisms, for driving
The crank (OG) rotates around the end O realizes passive rehabilitation training；Or the song for giving two compound crank link mechanisms
The resistance of handle (OG) rotation is to realize passive rehabilitation training.
2. a kind of gait based on compound crank link mechanism according to claim 1 simulates lower limb rehabilitation training device,
It is characterized in that, the main passive exercise switch unit (3) include the driving wheel (31) being connect with the end O of crank (OG), with
Driving wheel (31) revolves jointly by the belt pulley (33) of belt (32) connection, across belt pulley (33) center and with belt pulley (33)
Turn shaft (34), setting shaft (34) both ends active electromagnetic clutch (35) and passive electromagnetic clutch (36), pass through
Electromagnetic damper (38) that gear set (37a) is connect with active electromagnetic clutch (35) and by gear set (37b) and passive
The decelerating motor (39) of electromagnetic clutch (36) connection, the active electromagnetic clutch (35) and passive electromagnetic clutch (36) nothing
Method is engaged with shaft (34) simultaneously.
3. a kind of gait based on compound crank link mechanism according to claim 2 simulates lower limb rehabilitation training device,
It is characterized in that, the end O of the crank (OG) of two compound crank link mechanisms and the circle core shaft of driving wheel (31) connect, and
Two cranks (OG) are in 180 ° of distributions.
4. a kind of gait based on compound crank link mechanism according to claim 2 simulates lower limb rehabilitation training device,
It is characterized in that, the gear set (37a, 37b) includes at least two pitch wheels.
5. a kind of gait based on compound crank link mechanism according to claim 1 simulates lower limb rehabilitation training device,
It is characterized in that, the No.1 of the No.1 triangular framing (AF), No. three sides (BF) and crank (OG) in (AB), No. two
Length ratio is (5~5.3): (4~4.2): (3.7~4): 1, the No.1 of No. two triangular framings is in (CD), No. two
(DE), the length ratio of No. three sides (CE) and crank (OG) are (6.4~7.2): (5.2~5.5): (3.8~4): 1, the No.1
Connecting rod (AG), No. two connecting rods (EG), No. three connecting rods (BC), No. four connecting rods (EF) and the length ratio of crank (OG) are (4.5~5):
(7~7.5): (4.5~4.8): (4.3~4.5): 1.
6. a kind of gait simulation lower limb rehabilitation training dress based on compound crank link mechanism according to claim 1 or 5
It sets, which is characterized in that the ratio between length and the height of lower limb rehabilitation training person of the crank (OG) are 1:(2.9~3).
7. a kind of gait based on compound crank link mechanism according to claim 1 simulates lower limb rehabilitation training device,
It is rotated for controlling foot pedal (2) around the vertex D it is characterized in that, the D apexes of No. two triangular framings is equipped with
Stepper motor (4).
8. a kind of gait simulation lower limb rehabilitation training dress based on compound crank link mechanism according to claim 1 or claim 7
It sets, which is characterized in that the foot pedal (2) includes the front (21) and front connecting with the vertex D of No. two triangular framings
(21) pass through the rear portion (23) of round polished rod (22) connection and the protrusion (24) at front (21) and rear portion (23) edge be set,
The bottom of the rear portion (23) is equipped with the duct for plugging round polished rod (22), and the duct is equipped with a pin hole (25),
The circle polished rod (22) is equipped with multiple location holes (27), and a positioning pin (26) passes through pin hole (25) and location hole (27) will
Rear portion (23) is fixedly connected with round polished rod (22).
9. a kind of gait based on compound crank link mechanism according to claim 1 simulates lower limb rehabilitation training device,
It is characterized in that, the D apex of No. two triangular framings is set, there are two through-hole (11), and wear in two through-holes (11)
There is the bandage for person's ankle of pinioning lower limb rehabilitation training.
10. a kind of gait based on compound crank link mechanism according to claim 1 simulates lower limb rehabilitation training device,
It is characterized in that, the device for healing and training includes pedestal (5), bracket (6) and handrail (7), the main passive exercise switching
Unit (3) is fixedly connected with bracket (6).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711231116.6A CN109833600B (en) | 2017-11-29 | 2017-11-29 | Gait simulation lower limb rehabilitation training device based on composite crank-link mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711231116.6A CN109833600B (en) | 2017-11-29 | 2017-11-29 | Gait simulation lower limb rehabilitation training device based on composite crank-link mechanism |
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| CN109833600A true CN109833600A (en) | 2019-06-04 |
| CN109833600B CN109833600B (en) | 2020-11-27 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109833184A (en) * | 2017-11-29 | 2019-06-04 | 上海理工大学 | A kind of compound crank link mechanism and lower limb rehabilitation training device |
| CN110478191A (en) * | 2019-08-28 | 2019-11-22 | 哈尔滨理工大学 | A kind of non-anthropomorphic type exoskeleton rehabilitation robot of Novel leg |
| CN113082605A (en) * | 2021-04-20 | 2021-07-09 | 佳木斯大学 | Rehabilitation training device for neurology and using method |
| CN113599782A (en) * | 2021-08-26 | 2021-11-05 | 苏州大学 | Lower limb walking rehabilitation training machine |
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| US7625318B1 (en) * | 2004-06-28 | 2009-12-01 | Steven Heyn | Exercise apparatus |
| CN204864741U (en) * | 2015-07-20 | 2015-12-16 | 赖膺州 | Oval machine of improvement |
| CN106333830A (en) * | 2016-09-20 | 2017-01-18 | 合肥工业大学 | Walking aiding mechanism of lower limb rehabilitation robot |
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| CN2342840Y (en) * | 1998-07-07 | 1999-10-13 | 郭海滨 | Elliptic roaming track sport exerciser |
| US7625318B1 (en) * | 2004-06-28 | 2009-12-01 | Steven Heyn | Exercise apparatus |
| CN204864741U (en) * | 2015-07-20 | 2015-12-16 | 赖膺州 | Oval machine of improvement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109833184A (en) * | 2017-11-29 | 2019-06-04 | 上海理工大学 | A kind of compound crank link mechanism and lower limb rehabilitation training device |
| CN109833184B (en) * | 2017-11-29 | 2021-05-04 | 上海理工大学 | Compound crank-link mechanism and lower limb rehabilitation training device |
| CN110478191A (en) * | 2019-08-28 | 2019-11-22 | 哈尔滨理工大学 | A kind of non-anthropomorphic type exoskeleton rehabilitation robot of Novel leg |
| CN113082605A (en) * | 2021-04-20 | 2021-07-09 | 佳木斯大学 | Rehabilitation training device for neurology and using method |
| CN113599782A (en) * | 2021-08-26 | 2021-11-05 | 苏州大学 | Lower limb walking rehabilitation training machine |
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| Publication number | Publication date |
|---|---|
| CN109833600B (en) | 2020-11-27 |
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Application publication date: 20190604 Assignee: SHANGHAI BERRY ELECTRONIC TECHNOLOGY Co.,Ltd. Assignor: University of Shanghai for Science and Technology Contract record no.: X2021980005109 Denomination of invention: A lower limb rehabilitation training device for gait simulation based on compound crank and connecting rod mechanism Granted publication date: 20201127 License type: Common License Record date: 20210623 |
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