CN109846680B - Ankle rehabilitation exoskeleton device - Google Patents
Ankle rehabilitation exoskeleton device Download PDFInfo
- Publication number
- CN109846680B CN109846680B CN201910189147.2A CN201910189147A CN109846680B CN 109846680 B CN109846680 B CN 109846680B CN 201910189147 A CN201910189147 A CN 201910189147A CN 109846680 B CN109846680 B CN 109846680B
- Authority
- CN
- China
- Prior art keywords
- pedal
- lantern ring
- lever
- ankle rehabilitation
- telescopic adjusting
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the field of ankle rehabilitation devices, in particular to an ankle rehabilitation exoskeleton device which comprises a base, a first pedal, a second pedal and telescopic adjusting stand columns, wherein the telescopic adjusting stand columns are respectively installed on the left side and the right side of the base, the first pedal and the second pedal are respectively arranged between the two telescopic adjusting stand columns, an upper cross rod is fixedly installed on the upper portion between the two telescopic adjusting stand columns, a lower cross rod is further arranged below the upper cross rod, the lower side of the middle portion of the lower cross rod is connected with a vertical rod through a rotary connecting piece, the lower end of the vertical rod is rotatably connected with a lever, a second lantern ring and a third lantern ring are respectively sleeved on the left side and the right side of the lever, and the second lantern ring and the third lantern ring are further respectively connected with the first pedal and the second pedal through a. The ankle rehabilitation device is beneficial to the adaptability adjustment of the device at different stages of rehabilitation, improves the ankle rehabilitation effect and has wide application range.
Description
Technical Field
The invention relates to the field of ankle rehabilitation devices, in particular to an ankle rehabilitation exoskeleton device.
Background
Ankle fractures are common in daily life, people do not pay attention to self protection in life, particularly during sports, and ankle fractures are easy to occur. Ankle fractures, however, require a period of recovery during which walking is not possible. When the ankle is to be healed soon, the patient needs to carry out a series of rehabilitation exercises to accelerate the healing, wherein the walking rehabilitation exercise is the simplest and the most effective. However, if the user walks for a long time, the burden of the recovered ankle is too large, and the ankle is not favorable for further recovery.
Most of the existing devices play a role in restoring force through material shock absorption, or provide fixed torque through a motor, so that the movement strength and range of ankle joints are limited. Application publication No.: the ankle rehabilitation exoskeleton device disclosed in CN 106880469 a cannot adjust the adaptability of the device in different stages of rehabilitation, which affects the ankle rehabilitation effect, and is inconvenient to use and control.
Therefore, in view of the above situation, there is an urgent need to develop an ankle rehabilitation exoskeleton device that can perform adaptive adjustment of the device at different stages of rehabilitation, improve ankle rehabilitation effect, and have a wide application range, so as to overcome the disadvantages in the current practical application.
Disclosure of Invention
The present invention is directed to an ankle rehabilitation exoskeleton device, which solves the above problems of the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
an ankle rehabilitation exoskeleton device comprises a base, a first pedal, a second pedal and telescopic adjusting stand columns, wherein the telescopic adjusting stand columns are respectively installed on the left side and the right side of the base, the first pedal and the second pedal are respectively arranged between the two telescopic adjusting stand columns, the rear ends of the first pedal and the second pedal are hinged to the base, U-shaped elastic pieces used for elastically supporting the first pedal and the second pedal are respectively arranged on the lower sides of the first pedal and the second pedal, an upper cross rod is fixedly installed on the upper portion between the two telescopic adjusting stand columns, a sheath is sleeved on the upper cross rod, and a plurality of pull rings are further arranged on the lower portion of the front side of the sheath;
the utility model discloses a telescopic adjusting device, including last horizontal pole, first lantern ring, but go up horizontal pole, the below of going up the horizontal pole still is provided with the sheer pole, and the both ends installation of sheer pole is fixed with first lantern ring, and first lantern ring is installed on scalable regulation stand, the middle part downside of sheer pole is connected with the montant through swivel connected coupler, the lower extreme of montant rotates and is connected with the lever, the left and right sides of lever is overlapped respectively and is equipped with the second lantern ring and the third lantern ring, the second lantern ring and the third lantern ring still are connected with first footboard and second footboard through second connection rope and.
As a further scheme of the invention: the telescopic adjusting upright post comprises a supporting cylinder fixed on the base, a supporting rod is arranged in the supporting cylinder in a matched and sliding mode, and a first adjusting knob used for adjusting and locking the supporting rod is further arranged on the supporting cylinder.
As a further scheme of the invention: the rear ends of the first pedal and the second pedal are hinged with the base through a hinge seat.
As a further scheme of the invention: the upside of first footboard and second footboard still is provided with a plurality of massage archs, and the upside of first footboard and second footboard still is equipped with the foot bandage, the massage arch is the rubber material, and the massage arch is hemisphere or four pyramid shape structure.
As a further scheme of the invention: the protective sleeve is made of rubber, the protective sleeve is of a cylindrical barrel structure, the protective sleeve is fixedly connected with the upper cross rod, the pull ring is made of plastic, the pull ring is a semicircular ring, and the pull ring is rotatably connected with the protective sleeve.
As a further scheme of the invention: the first lantern ring is matched with the sliding sleeve and is arranged on the supporting rod of the telescopic adjusting stand column, and a second adjusting knob used for adjusting and locking the first lantern ring is arranged on the first lantern ring.
As a further scheme of the invention: the lower extreme of montant passes through the articulated shaft and is connected with the lever rotation, and montant and the hookup location of lever are located the middle part of lever, still be provided with the scale on the lever, still be equipped with on the second lantern ring and the third lantern ring and be used for adjusting the third adjust knob of locking to the second lantern ring and third lantern ring.
As a further scheme of the invention: the second connecting rope and the first connecting rope are steel wire ropes, and the lower ends of the second connecting rope and the first connecting rope are respectively connected to the middle positions of the front ends of the first pedal and the second pedal.
Compared with the prior art, the invention has the beneficial effects that:
1) the height of the telescopic adjusting upright post is adjustable, and the positions of the first lantern ring, the second lantern ring and the third lantern ring are adjustable, so that the application range is wide, the adaptability adjustment of the device at different stages of rehabilitation is facilitated, and the ankle recovery effect is improved;
2) the vertical rod is connected with the lower cross rod through the rotary connecting piece and is rotatably connected with the lever, so that the adaptability change in the process of recovering exercise is facilitated, the stress of the injured ankle can be reduced by adjusting the positions of the second lantern ring and the third lantern ring through the lever principle, the stress is distributed to the normal ankle, and the ankle recovering effect can be obviously improved;
3) the first pedal and the second pedal can be elastically supported through the U-shaped elastic sheet, and the ankles can be massaged through the massage bulges arranged on the first pedal and the second pedal, so that the ankle recovery effect is further improved;
4) make things convenient for patient's hand to control through the pull ring, through the setting of sheath, make things convenient for the patient to lie prone on the sheath, reduce the bearing of ankle part, do benefit to the recovery.
Drawings
Fig. 1 is a schematic front view of the present invention.
Fig. 2 is a left side view structural diagram of the present invention.
Fig. 3 is an enlarged schematic view of a lever portion according to the present invention.
In the figure: 1-base, 2-hinged base, 3-first pedal, 4-U-shaped elastic sheet, 5-second pedal, 6-telescopic adjusting upright post, 7-supporting cylinder, 8-first adjusting knob, 9-supporting rod, 10-first connecting rope, 11-second connecting rope, 12-second adjusting knob, 13-first lantern ring, 14-upper cross bar, 15-sheath, 16-pull ring, 17-rotary connecting piece, 18-lower cross bar, 19-foot bandage, 20-massage bulge, 21-lever, 22-scale, 23-hinged shaft, 24-second lantern ring, 25-third adjusting knob, 26-third lantern ring and 27-vertical rod.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
Example 1
Referring to fig. 1-3, in an embodiment of the present invention, an ankle rehabilitation exoskeleton device includes a base 1, a first pedal 3, a second pedal 5, and telescopic adjustment columns 6, wherein the telescopic adjustment columns 6 are respectively installed on left and right sides of the base 1, the first pedal 3 and the second pedal 5 are respectively disposed between the two telescopic adjustment columns 6, rear ends of the first pedal 3 and the second pedal 5 are hinged to the base 1, U-shaped elastic pieces 4 for elastically supporting the first pedal 3 and the second pedal 5 are respectively disposed on lower sides of the first pedal 3 and the second pedal 5, an upper cross bar 14 is installed and fixed on an upper portion between the two telescopic adjustment columns 6, a sheath 15 is installed on the upper cross bar 14 in a sleeved manner, a plurality of pull rings 16 are further disposed on a lower portion of a front side of the sheath 15, the pull rings 16 are convenient for a patient to hold, and the sheath 15 is disposed, make things convenient for the patient to lie prone on sheath 15, reduce the bearing of ankle part, do benefit to the recovery.
Go up the below of horizontal pole 14 and still be provided with sheer pole 18, the both ends installation of sheer pole 18 is fixed with first lantern ring 13, and first lantern ring 13 is installed on scalable regulation stand 6, the middle part downside of sheer pole 18 is connected with montant 27 through swivel connected coupler 17, and swivel connected coupler 17's effect is so that montant 27 can sheer pole 18 free rotation relatively, the lower extreme of montant 27 is rotated and is connected with lever 21, the left and right sides of lever 21 overlaps respectively and is equipped with second lantern ring 24 and third lantern ring 26, second lantern ring 24 and third lantern ring 26 still are connected with first footboard 3 and second footboard 5 through second connection rope 11 and first connection rope 10 respectively.
Example 2
Referring to fig. 1-3, the present embodiment is different from embodiment 1 in that:
in this embodiment, the telescopic adjusting upright post 6 comprises a supporting cylinder 7 fixed on the base 1, a supporting rod 9 is arranged in the supporting cylinder 7 in a matching and sliding manner, a first adjusting knob 8 for adjusting and locking the supporting rod 9 is further arranged on the supporting cylinder 7, the telescopic adjusting upright post 6 is convenient to adjust in height, and the telescopic adjusting upright post is suitable for patients with different heights to use.
In this embodiment, the rear ends of the first pedal 3 and the second pedal 5 are hinged to the base 1 through the hinge base 2.
In this embodiment, the upper sides of the first pedal 3 and the second pedal 5 are further provided with a plurality of massage protrusions 20, and the upper sides of the first pedal 3 and the second pedal 5 are further provided with foot straps 19.
Specifically, the massage protrusion 20 is made of rubber, and the massage protrusion 20 has a hemispherical or quadrangular pyramid structure, so that the massage protrusion 20 can play a role in preventing slipping and massaging the foot.
In this embodiment, the sheath 15 is made of rubber, the sheath 15 is of a cylindrical tube structure, the sheath 15 is fixedly connected with the upper cross rod 14, the pull ring 16 is made of plastic, the pull ring 16 is a semicircular ring, and the pull ring 16 is rotatably connected with the sheath 15.
In this embodiment, the first collar 13 is slidably sleeved on the support rod 9 of the telescopic adjusting column 6, and the first collar 13 is provided with a second adjusting knob 12 for adjusting and locking the first collar 13, so as to conveniently adjust the position of the first collar 13 and further adjust the position of the lower cross bar 18.
In this embodiment, the lower end of the vertical rod 27 is rotatably connected with the lever 21 through the hinge shaft 23, the connecting position of the vertical rod 27 and the lever 21 is located in the middle of the lever 21, the lever 21 is further provided with a scale 22, the positions of the second collar 24 and the third collar 26 are conveniently indicated through the scale 22, and the second collar 24 and the third collar 26 are further provided with a third adjusting knob 25 for adjusting and locking the second collar 24 and the third collar 26.
In this embodiment, the second connecting rope 11 and the first connecting rope 10 are steel wire ropes, and the lower ends of the second connecting rope 11 and the first connecting rope 10 are respectively connected to the middle positions of the front ends of the first pedal 3 and the second pedal 5.
The ankle rehabilitation exoskeleton device has the following advantages:
1) the height of the telescopic adjusting upright post 6 can be adjusted, and the positions of the first sleeve ring 13, the second sleeve ring 24 and the third sleeve ring 26 can be adjusted, so that the application range is wide, the adaptability adjustment of the device at different stages of rehabilitation is facilitated, and the ankle recovery effect is improved;
2) the vertical rod 27 is connected with the lower cross rod 18 through the rotary connecting piece 17, the vertical rod 27 is rotatably connected with the lever 21, the adaptability change in the recovery exercise process is facilitated, the stress of the injured ankle can be adjusted and reduced by utilizing the lever principle through adjusting the positions of the second sleeve ring 24 and the third sleeve ring 26, the stress is distributed to the normal ankle, and the ankle recovery effect can be obviously improved;
3) the first pedal 3 and the second pedal 5 can be elastically supported through the U-shaped elastic sheet 4, and the ankles can be massaged through the massage bulges 20 arranged on the first pedal 3 and the second pedal 5, so that the ankle recovery effect is further improved;
4) make things convenient for the patient hand to hold through pull ring 16, through the setting of sheath 15, make things convenient for the patient to lie prone on sheath 15, reduce the bearing of ankle part, do benefit to the recovery.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make several variations and modifications without departing from the concept of the present invention, and these should be considered as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the utility of the patent.
Claims (7)
1. An ankle rehabilitation exoskeleton device comprises a base (1), a first pedal (3), a second pedal (5) and a telescopic adjusting upright post (6), it is characterized in that the left side and the right side of the base (1) are respectively provided with a telescopic adjusting upright post (6), a first pedal (3) and a second pedal (5) are respectively arranged between the two telescopic adjusting upright posts (6), the rear ends of the first pedal (3) and the second pedal (5) are hinged on the base (1), the lower sides of the first pedal (3) and the second pedal (5) are respectively provided with a U-shaped elastic sheet (4) for elastically supporting the first pedal (3) and the second pedal (5), the upper part between the two telescopic adjusting upright posts (6) is fixedly provided with an upper cross rod (14), the upper cross rod (14) is sleeved with a sheath (15), and the lower part of the front side of the sheath (15) is also provided with a plurality of pull rings (16);
a lower cross rod (18) is further arranged below the upper cross rod (14), first lantern rings (13) are fixedly mounted at two ends of the lower cross rod (18), the first lantern rings (13) are mounted on the telescopic adjusting upright columns (6), the lower side of the middle of the lower cross rod (18) is connected with a vertical rod (27) through a rotary connecting piece (17), the lower end of the vertical rod (27) is rotatably connected with a lever (21), a second lantern ring (24) and a third lantern ring (26) are respectively sleeved on the left side and the right side of the lever (21), and the second lantern ring (24) and the third lantern ring (26) are further connected with the first pedal (3) and the second pedal (5) through a second connecting rope (11) and a first connecting rope (10) respectively;
the lower extreme of montant (27) passes through articulated shaft (23) and is connected with lever (21) rotation, and the hookup location of montant (27) and lever (21) is located the middle part of lever (21), still be provided with scale (22) on lever (21), still be equipped with on second lantern ring (24) and the third lantern ring (26) and be used for adjusting the third adjust knob (25) of locking to second lantern ring (24) and third lantern ring (26).
2. The ankle rehabilitation exoskeleton device as claimed in claim 1, wherein the telescopic adjusting column (6) comprises a supporting cylinder (7) fixed on the base (1), a supporting rod (9) is arranged in the supporting cylinder (7) in a matching and sliding manner, and a first adjusting knob (8) for adjusting and locking the supporting rod (9) is further arranged on the supporting cylinder (7).
3. The ankle rehabilitation exoskeleton device according to claim 1, wherein the rear ends of the first pedal (3) and the second pedal (5) are hingedly connected to the base (1) through a hinge base (2).
4. The ankle rehabilitation exoskeleton device as claimed in claim 1 or 3, wherein the upper sides of the first pedal (3) and the second pedal (5) are further provided with a plurality of massage protrusions (20), the upper sides of the first pedal (3) and the second pedal (5) are further provided with foot straps (19), the massage protrusions (20) are made of rubber, and the massage protrusions (20) are of hemispherical or quadrangular pyramid structures.
5. The ankle rehabilitation exoskeleton device as claimed in claim 1, wherein the sheath (15) is made of rubber, the sheath (15) is a cylindrical tube structure, the sheath (15) and the upper cross bar (14) are fixedly connected, the pull ring (16) is made of plastic, the pull ring (16) is a semicircular ring, and the pull ring (16) and the sheath (15) are rotatably connected.
6. The ankle rehabilitation exoskeleton device as claimed in claim 2, wherein the first collar (13) is slidably fitted on the support rod (9) of the telescopic adjusting column (6), and the first collar (13) is provided with a second adjusting knob (12) for adjusting and locking the first collar (13).
7. The ankle rehabilitation exoskeleton device as claimed in claim 4, wherein the second connecting rope (11) and the first connecting rope (10) are steel wire ropes, and the lower ends of the second connecting rope (11) and the first connecting rope (10) are respectively connected to the middle positions of the front ends of the first pedal (3) and the second pedal (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910189147.2A CN109846680B (en) | 2019-03-13 | 2019-03-13 | Ankle rehabilitation exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910189147.2A CN109846680B (en) | 2019-03-13 | 2019-03-13 | Ankle rehabilitation exoskeleton device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109846680A CN109846680A (en) | 2019-06-07 |
| CN109846680B true CN109846680B (en) | 2021-02-19 |
Family
ID=66900662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910189147.2A Expired - Fee Related CN109846680B (en) | 2019-03-13 | 2019-03-13 | Ankle rehabilitation exoskeleton device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109846680B (en) |
Family Cites Families (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3598404A (en) * | 1969-07-07 | 1971-08-10 | George E Bowman | Exercising apparatus including pivotally connected weight-supporting units |
| JPS4855953U (en) * | 1971-10-25 | 1973-07-18 | ||
| US5069445A (en) * | 1990-09-13 | 1991-12-03 | Mai Phuong N | Foot and leg exercise device |
| US20030073550A1 (en) * | 2001-10-11 | 2003-04-17 | Hank Hsu | Foot tendon exercising apparatus |
| NO20032568D0 (en) * | 2003-06-05 | 2003-06-05 | Flexiped As | Device by training apparatus |
| GB0318891D0 (en) * | 2003-08-12 | 2003-09-17 | Solomons Patrick L H | Deep vein exerciser |
| CN102836529A (en) * | 2011-06-25 | 2012-12-26 | 山东理工大学 | Stepping waist turning frame |
| CN202438060U (en) * | 2012-01-19 | 2012-09-19 | 宁波市镇海西门专利技术开发有限公司 | Plate spring type stepping machine |
| CN202538247U (en) * | 2012-02-08 | 2012-11-21 | 宁波市镇海西门专利技术开发有限公司 | Pumped-air massage type stepping machine |
| KR101384223B1 (en) * | 2012-07-17 | 2014-04-10 | 박준용 | Leg portion training device |
| CN202682672U (en) * | 2012-07-23 | 2013-01-23 | 立本实业有限公司 | Walker with rotary pedal plates |
| KR20140030567A (en) * | 2012-09-03 | 2014-03-12 | 조형제 | A movement machine for rehabilitation medical cure |
| US8979712B2 (en) * | 2012-10-21 | 2015-03-17 | Yuan-Hung Lo | Leg exerciser |
| US9295876B2 (en) * | 2013-04-18 | 2016-03-29 | Ashok K. Singh | Foot exercise device |
| JP5654165B1 (en) * | 2014-06-20 | 2015-01-14 | 株式会社 ｉ ｐｌｕｓ | Exercise aid |
| US9403049B2 (en) * | 2014-08-04 | 2016-08-02 | Active Ideas Llc | Exercise device |
| CN204337637U (en) * | 2014-12-26 | 2015-05-20 | 赵瑞山 | Footstep body-building and energy storing and electricity generating integrated apparatus |
| CN204411605U (en) * | 2015-02-10 | 2015-06-24 | 南通大学附属医院 | A kind of ankle-joint device for healing and training |
| CN205849725U (en) * | 2016-05-25 | 2017-01-04 | 张肃 | A kind of ankle joint self-rehabilitation device |
| CN108114407A (en) * | 2016-11-29 | 2018-06-05 | 天津市顺天盛典运动器材有限公司 | Sports equipment is freely combined in multi-mode |
| CN206577314U (en) * | 2017-03-16 | 2017-10-24 | 梁涛 | A kind of ankle-joint recovery functional exerciser |
| CN207024493U (en) * | 2017-06-19 | 2018-02-23 | 南通市第二人民医院 | A kind of ankle exercise for power device |
| CN107344001A (en) * | 2017-07-12 | 2017-11-14 | 深圳市南山区人民医院 | A kind of intelligent ankle joint straightener |
| CN207445469U (en) * | 2017-12-01 | 2018-06-05 | 燕山大学 | A kind of multi-functional barre |
| CN107930019A (en) * | 2018-01-04 | 2018-04-20 | 严松奎 | A kind of obstetrics and gynecology department auxiliary device for childbirth |
| CN208160930U (en) * | 2018-01-31 | 2018-11-30 | 营口春港康复辅助器具科技有限公司 | Ankle recovery training appliance for recovery |
| CN208465099U (en) * | 2018-06-22 | 2019-02-05 | 南通市肿瘤医院（南通市第五人民医院） | A kind of limbs of patient functional training rehabilitation frame |
| CN209005137U (en) * | 2018-10-16 | 2019-06-21 | 郭锦 | A kind of file clip-type spring ankle plantar song reading improvement locomotory apparatus |
| CN109550199B (en) * | 2018-12-12 | 2019-12-06 | 南通市第一人民医院 | ankle exercising device |
-
2019
- 2019-03-13 CN CN201910189147.2A patent/CN109846680B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN109846680A (en) | 2019-06-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8968163B1 (en) | Unweighted therapy and training device | |
| US20150238382A1 (en) | Robot for walking rehabilitation therapy of stroke patient | |
| CN109200536A (en) | The synchronous device for healing and training of limbs above and below a kind of | |
| CN110448863A (en) | A kind of muscle of trunk activation device for healing and training | |
| CN111110515A (en) | Waist is with multi-functional rehabilitation training device | |
| CN204601060U (en) | The bionical device for healing and training of a kind of shoulder joint kinesitherapy | |
| CN106974797A (en) | A kind of gait rehabilitation trainer | |
| CN213218813U (en) | Power-assisted walking device | |
| CN109846680B (en) | Ankle rehabilitation exoskeleton device | |
| CN209695741U (en) | A kind of multi-functional auxiliary knee joint rehabilitation device | |
| CN109316316B (en) | Flexible wearable lower limb rehabilitation exoskeleton structure device | |
| CN214435289U (en) | Walking aid with knee supporting function | |
| CN109009874B (en) | Multifunctional medical shoulder joint rehabilitation training device | |
| CN209033655U (en) | A kind of rehabilitation department knee endoprosthesis device for healing and training | |
| CN212522862U (en) | Orthopedics that possesses function of tempering low limbs helps capable ware | |
| CN2728469Y (en) | Wheeled walking aids | |
| CN212854010U (en) | Unpowered rehabilitation walking aid | |
| CN114432654A (en) | Ankle joint dynamic balance training device and training method | |
| CN209347553U (en) | One kind preventing the amyotrophic exercising apparatus of plant person, paralytic | |
| CN219764421U (en) | Shoulder joint motion rehabilitation therapeutic instrument | |
| CN221950525U (en) | Multifunctional medical rehabilitation nursing training frame | |
| CN208678269U (en) | A kind of indoor portable abdomen back hardening shelf of callisthenics performer | |
| CN209005131U (en) | With the care device for assisting patients in neurological department recovery function | |
| CN2319013Y (en) | Limbs restoring training appts. for patient | |
| CN115120473B (en) | Walking-aid exoskeleton for paraplegic patient |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210127 Address after: No.18877, Jingshi Road, Jinan City, Shandong Province Applicant after: Shandong First Medical University (Shandong Academy of Medical Sciences) Address before: 271000 619 the Great Wall Road, Tai'an high tech Development Zone, Shandong Applicant before: TAISHAN MEDICAL University |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210219 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |