CN110051502A - A kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback - Google Patents
A kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback Download PDFInfo
- Publication number
- CN110051502A CN110051502A CN201910189210.2A CN201910189210A CN110051502A CN 110051502 A CN110051502 A CN 110051502A CN 201910189210 A CN201910189210 A CN 201910189210A CN 110051502 A CN110051502 A CN 110051502A
- Authority
- CN
- China
- Prior art keywords
- pedal
- rehabilitation training
- plantar pressure
- feedback
- piston bar
- 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.)
- Pending
Links
- 238000012549 training Methods 0.000 title claims abstract description 73
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 10
- 230000033001 locomotion Effects 0.000 abstract description 10
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000012806 monitoring device Methods 0.000 abstract description 3
- 230000035876 healing Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010061225 Limb injury Diseases 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000035790 physiological processes and functions Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000007794 visualization technique Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
-
- 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
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
- A61H2205/125—Foot reflex zones
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Physical Education & Sports Medicine (AREA)
- Surgery (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Epidemiology (AREA)
- Rehabilitation Therapy (AREA)
- Rheumatology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of lower limbs rehabilitation training robots assessed based on plantar pressure with feedback, including training station, display screen, device with pedal and console；The device with pedal includes pedal, detection plate, First piston bar, second piston bar, bearing block, first motor, first gear group, third piston rod, sliding rail and sliding block.When patient carries out rehabilitation training, servo motor driving sliding block moves on the slide rail, and piston rod can also adjust position and the angle of pedal by flexible and rotary motion, to realize rehabilitation training campaign.Meanwhile being mounted on the plantar pressure monitoring device above pedal and can acquire plantar pressure information during patient motion in real time, it sends computer to, the rehabilitation training effect of patient is assessed by the assessment models having had been built up.In addition, pressure data can also feed back control system, the kinematic parameter of healing robot is adjusted.The present invention also has the advantages that structure is simple and convenient to operate, is easy to implement.
Description
Technical field
The present invention relates to lower limb rehabilitation training apparatus field more particularly to it is a kind of based on plantar pressure assess with feed back under
Limbs rehabilitation training robot.
Background technique
In recent years, a large amount of patients are caused due to disease and limb injury etc., and there are a degree of motor functions to hinder
Hinder, brings inconvenience to daily life.Correlative study and clinic show that the nervous centralis of human body also has one after impaired
Fixed recovery capability and plasticity, by timely, effective rehabilitation training, most of patient can restore walking ability.Cause
This, various types of lower limbs rehabilitation training robots have been widely used for rehabilitation medical mechanism, and patient is helped to carry out rehabilitation instruction
Practice.But current most of lower limbs rehabilitation training robot, lack rehabilitation assessment and feedback control function, patient not only cannot
Obtain the rehabilitation efficacy assessment of training, it is also difficult to kinematic parameter is rationally adjusted in the training process, cannot achieve personalized training,
To influence the enthusiasm and science of Rehabilitation training.
Plantar pressure is the very important biomechanical characterization parameter of human body, and size and distribution are able to reflect out human body
The health status at the positions such as foot, leg, backbone.Currently, being analyzed with the development of biological characteristic processing technique by plantar pressure
Human body physiological state has become one of research hotspot of rehabilitation field.Plantar pressure information can provide parameter for feedback control
Foundation adjusts the kinematic parameter of recovery exercising robot in real time, guarantees the safety of rehabilitation training.Meanwhile plantar pressure information
Rehabilitation training effect can be assessed in real time, promotes patient's training enthusiasm, and nonstandard rehabilitation exercise motion is carried out timely
It corrects, to formulate scientific and reasonable rehabilitation training plans.
Therefore, the prior art requires further improvement and perfect.
Summary of the invention
Under it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of based on plantar pressure assessment and feeding back
Limbs rehabilitation training robot.
The purpose of the invention is achieved by the following technical solution:
A kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback, the robot mainly include training
Platform, the display screen for showing feedback information and assessment result for trained device with pedal and are used for control pedal device
Console.The training station fixed setting is on the ground.The display screen is arranged in front of training station.The device with pedal is set
It is two groups, side by side and is symmetrically mounted on training station.
Specifically, the device with pedal includes the pedal for support body wt, the detection for monitoring plantar pressure
Plate, the First piston bar of common support pedal up and down motion and second piston bar are used to support First piston bar and second piston
The bearing block of bar, the first motor for driving piston rod swing and first gear group and driving pedal move forward and backward the
Three piston rods, sliding rail and sliding block.The sliding rail is fixedly mounted on training station, and the sliding block setting is on the slide rail.The third
Piston rod is fixed at the side of sliding rail, and piston end is fixedly connected with a slide block, and driving sliding block slidably reciprocates on the slide rail.Institute
Bearing block is stated to be fixedly mounted on sliding block.One end of the First piston bar is mounted on bearing block, hinged with bearing block, is lived
The front end for filling in end and pedal is hinged, and driving pedal is swung up and down.One end of the second piston bar is mounted in First piston bar,
Hinged with First piston bar, the rear end of piston end and pedal is hinged, cooperates the bottom in common driving pedal with First piston bar
It is dynamic.The first motor is mounted on sliding block, is electrically connected with console, and output end passes through first gear group and First piston bar
Connection drives First piston bar along bearing block fulcrum swing.The detection plate is fixed at the top of pedal, with console
Electrical connection, and contacted with vola.
Further, in order to make user obtain better counterbalance effect, training station of the present invention on image training robot
Front end be additionally provided with the handrail being used to support.The handrail is connected and fixed on training station by cross bar and vertical bar.
Further, in order to obtain better rehabilitation efficacy, detection plate surface of the present invention is equipped with for vola of releiving
The salient point of nerve, the salient point are fixed in detection plate, are integrally designed with detection plate.
Specifically, the detection plate includes pressure sensor, wireless network module and battery module.The battery mould
Block is electrically connected with pressure sensor and wireless network module respectively.The wireless network module is logical by wireless signal and console
Letter connection.The pressure sensor is located at below vola, and pressure signal is sent to console by wireless network module.
Further, in order to limit displacement of the sole on pedal, sole is avoided to step pedal position, institute of the present invention as far as possible
The front and back side edge for stating pedal is additionally provided with chimb, and the chimb and pedal are integrally designed.
Further, it in order to further limit displacement of the sole on pedal, is additionally provided with and is used on pedal of the present invention
Limit the mobile fixing belt of sole.The fixing belt extends to the other side from the side of pedal and fixes sole.
As a preferred solution of the present invention, in order to improve the limit effect of fixing belt, fixing belt of the present invention is set as two
Root is separately positioned on the front and back side position of pedal.
Working process and principle of the invention are: plantar pressure assessment provided by the present invention and the lower limb rehabilitation of feedback are instructed
Practice robot system to be mainly made of device with pedal, plantar pressure monitoring system and feedback control system.When patient carries out rehabilitation
When training, servo motor driving sliding block moves on the slide rail, and piston rod can also adjust pedal by flexible and rotary motion
Position and angle, to realize rehabilitation training campaign.Meanwhile in rehabilitation training, the plantar pressure that is mounted on above pedal
Monitoring device can acquire the plantar pressure information during patient motion in real time, send computer to, be commented by what is had been built up
Estimate model to assess the rehabilitation training effect of patient.In addition, pressure data can also feed back control system, to rehabilitation machines
The kinematic parameter of device people is adjusted.The present invention also has the advantages that structure is simple and convenient to operate, is easy to implement.
Compared with prior art, it also have the advantage that
(1) provided by the present invention to be adopted in real time based on plantar pressure assessment and the lower limbs rehabilitation training robot of feedback
Collect plantar pressure data of the patient in rehabilitation training, and shows the plantar pressure of different zones using visualization technique
Size and distribution situation, be compared, analyzed by the plantar pressure data with healthy population, to be instructed to the rehabilitation of patient
Practice effect to be assessed.
(2) provided by the present invention assessed based on plantar pressure can also be by foot with the lower limbs rehabilitation training robot fed back
Parameter foundation of the base pressure force data as feedback regulation, the movement of lower limb rehabilitation robot is adjusted by feedback control system in real time
Parameter formulates more scientific and reasonable rehabilitation training scheme.
(3) provided by the present invention to be adopted in real time based on plantar pressure assessment and the lower limbs rehabilitation training robot of feedback
Collect the plantar pressure data in Rehabilitation training process, and passes to computer, the rehabilitation training by assessment models to patient
Effect is assessed.
Detailed description of the invention
Fig. 1 is that the structure provided by the present invention based on plantar pressure assessment and the lower limbs rehabilitation training robot fed back is shown
It is intended to.
Fig. 2 is that the part provided by the present invention based on plantar pressure assessment and the lower limbs rehabilitation training robot fed back shows
It is intended to.
Fig. 3 is that provided by the present invention assessed based on plantar pressure is stood with the part of the lower limbs rehabilitation training robot fed back
Body figure.
Fig. 4 is the control stream provided by the present invention assessed based on plantar pressure with the lower limbs rehabilitation training robot fed back
Cheng Tu.
Fig. 5 is the top view of detection plate provided by the present invention.
Label declaration in above-mentioned attached drawing:
1- training station, 2- display screen, 3- device with pedal, 4- console, 5- pedal, 6- detection plate, 7- First piston bar, 8-
Second piston bar, 9- bearing block, 10- sliding rail, 11- sliding block, 12- handrail, 13- chimb.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, right as follows in conjunction with drawings and embodiments
The present invention is described further.
Embodiment 1:
As shown in Figures 1 to 5, present embodiment discloses a kind of lower limb rehabilitation trainings assessed based on plantar pressure with feedback
Robot, the robot mainly include training station 1, the display screen 2 for showing feedback information and assessment result, for trained
Device with pedal 3 and console 4 for control pedal device 3.The fixed setting of training station 1 is on the ground.The display
2 setting of screen is in 1 front of training station.The device with pedal 3 is set as two groups, side by side and is symmetrically mounted on training station 1.
Specifically, the device with pedal 3 includes the pedal 5 for support body wt, the inspection for monitoring plantar pressure
First piston bar 7 and second piston bar 8 that drafting board 6, common support pedal 5 move up and down are used to support First piston bar 7 and the
The bearing block 9 of two piston rods 8, the first motor for driving piston rod swing and first gear group and 5 front and back of driving pedal
Third piston rod, sliding rail 10 and the sliding block 11 of movement.The sliding rail 10 is fixedly mounted on training station 1, and the sliding block 11 is arranged
On sliding rail 10.The third piston rod is fixed at the side of sliding rail 10, and piston end is fixedly connected with sliding block 11, driving
Sliding block 11 slidably reciprocates on sliding rail 10.The bearing block 9 is fixedly mounted on sliding block 11.One end of the First piston bar 7
It is mounted on bearing block 9, hinged with bearing block 9, the front end of piston end and pedal 5 is hinged, and driving pedal 5 is swung up and down.Institute
The one end for stating second piston bar 8 is mounted in First piston bar 7, hinged with First piston bar 7, after piston end and pedal 5
End is hinged, cooperates common driving pedal 5 to swing up and down with First piston bar 7.The first motor is mounted on sliding block 11, with control
Platform 4 processed is electrically connected, and output end is connect by first gear group with First piston bar 7, drives First piston bar 7 along bearing block 9
Fulcrum swing.The detection plate 6 is fixed at 5 top of pedal, is electrically connected with console 4, and contact with vola.
Further, in order to make user obtain better counterbalance effect, training station 1 of the present invention on image training robot
Front end be additionally provided with the handrail 12 being used to support.The handrail 12 is connected and fixed on training station 1 by cross bar and vertical bar.
Further, in order to obtain better rehabilitation efficacy, 6 surface of detection plate of the present invention is equipped with for vola of releiving
The salient point of nerve, the salient point are fixed in detection plate 6, are integrally designed with detection plate 6.
Specifically, the detection plate 6 includes pressure sensor, wireless network module and battery module.The battery mould
Block is electrically connected with pressure sensor and wireless network module respectively.The wireless network module passes through wireless signal and console 4
Communication connection.The pressure sensor is located at below vola, and pressure signal is sent to console 4 by wireless network module.
Further, in order to limit displacement of the sole on pedal 5, sole is avoided to step 5 position of pedal as far as possible, the present invention
The front and back side edge of the pedal 5 is additionally provided with chimb 13, and the chimb 13 is integrally designed with pedal 5.
Further, in order to further limit displacement of the sole on pedal 5, use is additionally provided on pedal 5 of the present invention
In the mobile fixing belt of limitation sole.The fixing belt extends to the other side from the side of pedal 5 and fixes sole.
As a preferred solution of the present invention, in order to improve the limit effect of fixing belt, fixing belt of the present invention is set as two
Root is separately positioned on the front and back side position of pedal 5.
Working process and principle of the invention are: plantar pressure assessment provided by the present invention and the lower limb rehabilitation of feedback are instructed
Practice robot system to be mainly made of device with pedal 3, plantar pressure monitoring system and feedback control system.When patient carries out rehabilitation
When training, servo motor driving sliding block 11 moves on sliding rail 10, and piston rod can also be adjusted by flexible and rotary motion
The position of pedal 5 and angle, to realize rehabilitation training campaign.Meanwhile in rehabilitation training, it is mounted on the foot of 5 top of pedal
Bottom pressure monitoring device can acquire the plantar pressure information during patient motion in real time, computer be sent to, by having been built up
Good assessment models assess the rehabilitation training effect of patient.In addition, pressure data can also feed back control system, it is right
The kinematic parameter of healing robot is adjusted.The present invention also has the advantages that structure is simple and convenient to operate, is easy to implement.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (7)
1. a kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback, which is characterized in that including training station, use
In display feedback information and the display screen of assessment result, for trained device with pedal and for the control of control pedal device
Platform processed；The training station fixed setting is on the ground；The display screen is arranged in front of training station；The device with pedal is set as two
Group side by side and is symmetrically mounted on training station；
The device with pedal includes for the pedal of support body wt, the detection plate for monitoring plantar pressure, common support
Pedal move up and down First piston bar and second piston bar, be used to support First piston bar and second piston bar bearing block,
Drive piston rod swing first motor and first gear group and driving pedal move forward and backward third piston rod, cunning
Rail and sliding block；The sliding rail is fixedly mounted on training station, and the sliding block setting is on the slide rail；The third piston rod fixation is set
It sets in the side of sliding rail, piston end is fixedly connected with a slide block, and driving sliding block slidably reciprocates on the slide rail；The bearing block is fixed
It is mounted on sliding block；One end of the First piston bar is mounted on bearing block, hinged with bearing block, piston end and pedal
Front end is hinged, and driving pedal is swung up and down；One end of the second piston bar is mounted in First piston bar, with First piston bar
Hingedly, the rear end of piston end and pedal is hinged, cooperates common driving pedal to swing up and down with First piston bar；First electricity
Machine is mounted on sliding block, is electrically connected with console, and output end is connect by first gear group with First piston bar, driving first
Piston rod is along bearing block fulcrum swing；The detection plate is fixed at the top of pedal, is electrically connected with console, and with foot
Bottom contact.
2. the lower limbs rehabilitation training robot according to claim 1 assessed based on plantar pressure with feedback, feature are existed
In the front end of the training station is additionally provided with the handrail being used to support；The handrail is connected and fixed to training by cross bar and vertical bar
On platform.
3. the lower limbs rehabilitation training robot according to claim 1 assessed based on plantar pressure with feedback, feature are existed
In the detection plate surface is equipped with the salient point for nervus plantaris of releiving, and the salient point is fixed in detection plate, with detection
Plate integrated design.
4. the lower limbs rehabilitation training robot according to claim 1 assessed based on plantar pressure with feedback, feature are existed
In the detection plate includes pressure sensor, wireless network module and battery module；The battery module respectively with pressure
Sensor and wireless network module electrical connection；The wireless network module is connect by wireless signal with console communication；It is described
Pressure sensor is located at below vola, and pressure signal is sent to console by wireless network module.
5. the lower limbs rehabilitation training robot according to claim 1 assessed based on plantar pressure with feedback, feature are existed
In the front and back side edge of the pedal is additionally provided with chimb, and the chimb and pedal are integrally designed.
6. the lower limbs rehabilitation training robot according to claim 1 assessed based on plantar pressure with feedback, feature are existed
In being additionally provided on the pedal for limiting the mobile fixing belt of sole；The fixing belt extends to another from the side of pedal
Sole is simultaneously fixed in side.
7. the lower limbs rehabilitation training robot according to claim 6 assessed based on plantar pressure with feedback, feature are existed
In the fixing belt is set as two, is separately positioned on the front and back side position of pedal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910189210.2A CN110051502A (en) | 2019-03-13 | 2019-03-13 | A kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910189210.2A CN110051502A (en) | 2019-03-13 | 2019-03-13 | A kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110051502A true CN110051502A (en) | 2019-07-26 |
Family
ID=67316726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910189210.2A Pending CN110051502A (en) | 2019-03-13 | 2019-03-13 | A kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110051502A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547818A (en) * | 2019-10-16 | 2019-12-10 | 合肥工业大学 | Lower limb terminal force measuring device |
| CN110890140A (en) * | 2019-11-25 | 2020-03-17 | 上海交通大学 | Virtual reality-based autism rehabilitation training and capability assessment system and method |
| CN112618297A (en) * | 2021-01-18 | 2021-04-09 | 青岛市城阳区人民医院 | Wound orthopedics postoperative rehabilitation device |
| CN112826697A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Lower limb rehabilitation training robot |
| CN112826695A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Double-foot end actuating mechanism for lower limb rehabilitation training device |
| CN113017604A (en) * | 2021-03-04 | 2021-06-25 | 长春大学 | Plantar pressure detection system for rehabilitation department |
| CN114642571A (en) * | 2020-12-17 | 2022-06-21 | 广西大学 | Combined device for lower limb rehabilitation training simulating normal human body gait track |
| CN114813198A (en) * | 2022-06-27 | 2022-07-29 | 橙象医疗科技（广州）有限公司 | Foot pressure and turnover angle detection device and detection method |
| CN115634416A (en) * | 2022-10-20 | 2023-01-24 | 橙象医疗科技（广州）有限公司 | Respiration monitoring device and respiration monitoring method of lower limb rehabilitation robot |
| WO2023185525A1 (en) * | 2022-04-02 | 2023-10-05 | 景枢(上海)科技有限公司 | Force feedback regulation and control method, system and apparatus for fitness equipment, and storage medium |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201572292U (en) * | 2009-12-30 | 2010-09-08 | 山东省立医院 | Electric ankle joint exercise device |
| CN101999970A (en) * | 2010-12-24 | 2011-04-06 | 上海电机学院 | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer |
| CN103251420A (en) * | 2013-04-26 | 2013-08-21 | 哈尔滨工程大学 | Pedal for detecting foot applied force and foot applied force detection device |
| CN203724422U (en) * | 2014-03-08 | 2014-07-23 | 河北联合大学 | Six-degree-of-freedom leg rehabilitation training robot |
| CN204582438U (en) * | 2015-04-21 | 2015-08-26 | 厦门理工学院 | A kind of leg stretching fitness equipment |
| CN105534679A (en) * | 2016-01-07 | 2016-05-04 | 南京康龙威康复医学工程有限公司 | Intelligent rehabilitation robot |
| CN105749371A (en) * | 2016-01-30 | 2016-07-13 | 李凌 | Cleaning device for nursing surgical department |
| CN106178408A (en) * | 2016-08-31 | 2016-12-07 | 秦运俭 | A kind of bed person uses lower limb exerciser |
| CN106264990A (en) * | 2016-08-26 | 2017-01-04 | 广州晓康医疗科技有限公司 | The step device of a kind of many gait pattern and there is the multi-environment gait rehabilitation training robot of this device |
| CN107174788A (en) * | 2017-07-11 | 2017-09-19 | 佛山海悦智达科技有限公司 | A kind of rehabilitation training standing-rack |
| CN108158805A (en) * | 2017-12-23 | 2018-06-15 | 中合国际知识产权股份有限公司 | A kind of Multifunctional foot massage cushion |
| CN108210252A (en) * | 2018-03-27 | 2018-06-29 | 新疆大学 | A kind of human upper limb rehabilitation platform |
| CN108309694A (en) * | 2018-03-02 | 2018-07-24 | 哈工大机器人（合肥）国际创新研究院 | A kind of foot drive-type lower limb rehabilitation training device |
| CN108904225A (en) * | 2018-08-27 | 2018-11-30 | 广州市章和智能科技有限责任公司 | Step device and walking rehabilitation training robot |
| CN208176840U (en) * | 2018-03-22 | 2018-12-04 | 金荣祥 | A kind of medical orthopaedics device for healing and training |
| CN109125837A (en) * | 2018-08-14 | 2019-01-04 | 张昆 | A kind of novel Nephrology dept.'s peritoneal dialysis locator |
| CN208591270U (en) * | 2018-01-19 | 2019-03-12 | 河西学院 | A kind of Multifunctional Chinese medical is massaging bed |
-
2019
- 2019-03-13 CN CN201910189210.2A patent/CN110051502A/en active Pending
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201572292U (en) * | 2009-12-30 | 2010-09-08 | 山东省立医院 | Electric ankle joint exercise device |
| CN101999970A (en) * | 2010-12-24 | 2011-04-06 | 上海电机学院 | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer |
| CN103251420A (en) * | 2013-04-26 | 2013-08-21 | 哈尔滨工程大学 | Pedal for detecting foot applied force and foot applied force detection device |
| CN203724422U (en) * | 2014-03-08 | 2014-07-23 | 河北联合大学 | Six-degree-of-freedom leg rehabilitation training robot |
| CN204582438U (en) * | 2015-04-21 | 2015-08-26 | 厦门理工学院 | A kind of leg stretching fitness equipment |
| CN105534679A (en) * | 2016-01-07 | 2016-05-04 | 南京康龙威康复医学工程有限公司 | Intelligent rehabilitation robot |
| CN105749371A (en) * | 2016-01-30 | 2016-07-13 | 李凌 | Cleaning device for nursing surgical department |
| CN106264990A (en) * | 2016-08-26 | 2017-01-04 | 广州晓康医疗科技有限公司 | The step device of a kind of many gait pattern and there is the multi-environment gait rehabilitation training robot of this device |
| CN106178408A (en) * | 2016-08-31 | 2016-12-07 | 秦运俭 | A kind of bed person uses lower limb exerciser |
| CN107174788A (en) * | 2017-07-11 | 2017-09-19 | 佛山海悦智达科技有限公司 | A kind of rehabilitation training standing-rack |
| CN108158805A (en) * | 2017-12-23 | 2018-06-15 | 中合国际知识产权股份有限公司 | A kind of Multifunctional foot massage cushion |
| CN208591270U (en) * | 2018-01-19 | 2019-03-12 | 河西学院 | A kind of Multifunctional Chinese medical is massaging bed |
| CN108309694A (en) * | 2018-03-02 | 2018-07-24 | 哈工大机器人（合肥）国际创新研究院 | A kind of foot drive-type lower limb rehabilitation training device |
| CN208176840U (en) * | 2018-03-22 | 2018-12-04 | 金荣祥 | A kind of medical orthopaedics device for healing and training |
| CN108210252A (en) * | 2018-03-27 | 2018-06-29 | 新疆大学 | A kind of human upper limb rehabilitation platform |
| CN109125837A (en) * | 2018-08-14 | 2019-01-04 | 张昆 | A kind of novel Nephrology dept.'s peritoneal dialysis locator |
| CN108904225A (en) * | 2018-08-27 | 2018-11-30 | 广州市章和智能科技有限责任公司 | Step device and walking rehabilitation training robot |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547818A (en) * | 2019-10-16 | 2019-12-10 | 合肥工业大学 | Lower limb terminal force measuring device |
| CN110890140A (en) * | 2019-11-25 | 2020-03-17 | 上海交通大学 | Virtual reality-based autism rehabilitation training and capability assessment system and method |
| CN110890140B (en) * | 2019-11-25 | 2022-09-23 | 上海交通大学 | Virtual reality-based autism rehabilitation training and capability assessment system and method |
| CN114642571A (en) * | 2020-12-17 | 2022-06-21 | 广西大学 | Combined device for lower limb rehabilitation training simulating normal human body gait track |
| CN112826697A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Lower limb rehabilitation training robot |
| CN112826695A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Double-foot end actuating mechanism for lower limb rehabilitation training device |
| CN112618297A (en) * | 2021-01-18 | 2021-04-09 | 青岛市城阳区人民医院 | Wound orthopedics postoperative rehabilitation device |
| CN113017604A (en) * | 2021-03-04 | 2021-06-25 | 长春大学 | Plantar pressure detection system for rehabilitation department |
| WO2023185525A1 (en) * | 2022-04-02 | 2023-10-05 | 景枢(上海)科技有限公司 | Force feedback regulation and control method, system and apparatus for fitness equipment, and storage medium |
| CN114813198A (en) * | 2022-06-27 | 2022-07-29 | 橙象医疗科技（广州）有限公司 | Foot pressure and turnover angle detection device and detection method |
| CN115634416A (en) * | 2022-10-20 | 2023-01-24 | 橙象医疗科技（广州）有限公司 | Respiration monitoring device and respiration monitoring method of lower limb rehabilitation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110051502A (en) | A kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback | |
| CN108309694A (en) | A kind of foot drive-type lower limb rehabilitation training device | |
| CN205145027U (en) | Seat movable low limbs ectoskeleton rehabilitation training device | |
| CN110151496A (en) | A kind of multidigit appearance lower limb rehabilitation robot and its application method | |
| CN209612117U (en) | A kind of Multifunctional medical equipment | |
| CN205126722U (en) | Low limbs function rehabilitation training robot | |
| CN106955217B (en) | Rehabilitation training robot | |
| CN106539666A (en) | Seat packaged type lower limb exoskeleton device for healing and training | |
| CN106539662A (en) | Lower limb function recovery exercising robot | |
| CN102028598A (en) | Multifunctional weight-reducing dynamic balance training bed | |
| CN106137681A (en) | Intelligent lower limb recovery training appliance for recovery | |
| CN103211694A (en) | Cervical vertebra recovery robot based on head self-weight traction principle | |
| CN205073233U (en) | Recovered robot of low limbs is with rotatable formula ectoskeleton mechanical legs | |
| CN109620501A (en) | A kind of neck thoracic vertebrae movable machinery system of Intelligent spine healing robot | |
| CN102028599B (en) | Digital multi-state balance training device | |
| CN208641201U (en) | A kind of foot drive-type lower limb rehabilitation training device | |
| CN109107039A (en) | A kind of EMG feedback and electro photoluminescence assist type recovery training appliance for recovery lower limbs | |
| CN211797559U (en) | Vertebra tractor | |
| CN108392777A (en) | A kind of novel gait rehabilitation robot | |
| CN209612116U (en) | A kind of leg medical rehabilitation apparatus | |
| KR102185448B1 (en) | Exercise apparatus for squat | |
| CN201500259U (en) | Multifunctional weight loss dynamic balance training bed | |
| CN206852998U (en) | One kind is used for rehabilitation training support frame after leg is broken | |
| CN206151796U (en) | Intelligence low limbs rehabilitation training device | |
| CN215536257U (en) | Multifunctional knee joint rehabilitation robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190726 |