CN110051978A - Four limbs linkage rehabilitation medical instrument, control method and exchange method - Google Patents

Four limbs linkage rehabilitation medical instrument, control method and exchange method Download PDF

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Publication number
CN110051978A
CN110051978A CN201910456077.2A CN201910456077A CN110051978A CN 110051978 A CN110051978 A CN 110051978A CN 201910456077 A CN201910456077 A CN 201910456077A CN 110051978 A CN110051978 A CN 110051978A
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CN
China
Prior art keywords
user
motor
linkage
medical instrument
limbs
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
Application number
CN201910456077.2A
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Chinese (zh)
Inventor
胡先君
邓旭柏
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Suzhou Hongtianpao Photoelectric Technology Co Ltd
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Suzhou Hongtianpao Photoelectric Technology Co Ltd
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Application filed by Suzhou Hongtianpao Photoelectric Technology Co Ltd filed Critical Suzhou Hongtianpao Photoelectric Technology Co Ltd
Priority to CN201910456077.2A priority Critical patent/CN110051978A/en
Publication of CN110051978A publication Critical patent/CN110051978A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/03575—Apparatus used for exercising upper and lower limbs simultaneously
    • A63B23/03583—Upper and lower limbs acting simultaneously on the same operating rigid member
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A61H2201/1269—Passive exercise driven by movement of healthy limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/04—Heartbeat characteristics, e.g. E.G.C., blood pressure modulation
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/50—Temperature
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/04—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations
    • A63B2230/06—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations heartbeat rate only
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/50—Measuring physiological parameters of the user temperature

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Human Computer Interaction (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Multimedia (AREA)
  • Rehabilitation Tools (AREA)

Abstract

It include a base, two linkage units, a motor and a control unit the invention discloses a kind of four limbs linkage rehabilitation medical instrument, control method and exchange method, instrument, two linkage units are respectively arranged in the two sides of pedestal；Every group of linkage unit includes handhold portion, pedal position and driving crank；It is installed between two driving cranks with 180 ° of phase difference；Motor is double output shaft electric machines, and ontology is fixedly mounted on base, is respectively fixed with a driving crank on the motor shaft that two sides are stretched out；Control unit is electrically connected with motor.Four limbs linkage rehabilitation medical instrument, control method and exchange method of the invention, by the way that two groups of linkage units are arranged on base, so that the four limbs tunable linkage action of user, user can be one of unable using drive one of strong in upper and lower limb, furthermore user also may be selected to open motor assist exercise or rotation be driven by motor completely, functional mode is more, and washability is strong, so that user independently can effectively be taken exercise.

Description

Four limbs linkage rehabilitation medical instrument, control method and exchange method
Technical field
The present invention relates to medical instruments field, more particularly to a kind of four limbs linkage rehabilitation medical instrument, control method and Exchange method.
Background technique
For upper and lower limb has obstacle, needs the patient of rehabilitation, rehabilitation training is a critically important rehabilitation link, The main purpose of rehabilitation training is that the upper and lower limb joint of patient is made to obtain activity, is gradually recovered its muscle function and nervous function. Current rehabilitation training mainly passes through manual massage or carries out by necessary instrument, and manual massage's mode depends on artificial massage Duration is more difficult to get stable, the enough rehabilitation trainings of duration, current city since the recovering massage personnel of profession are less Rehabilitation medical instrument on face is also mostly relatively simple, typically carries out rehabilitation training individually for upper limb or lower limb, deposits In problem inconvenient for use, that experience is poor.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of easy to use, user and can press It need to select four limbs linkage rehabilitation medical instrument, control method and the exchange method of training mode.
Technical solution: to achieve the above object, four limbs linkage rehabilitation medical instrument of the invention, comprising:
One base；
Two linkage units, the two are respectively arranged in the two sides of the pedestal；Linkage unit described in every group includes handhold portion And pedal position, additionally comprising the driving crank for power input；With 180 ° between the driving crank of two groups of linkage units Phase difference installation；
One motor, for double output shaft electric machines, ontology is fixedly mounted on the base, on the motor shaft that two sides are stretched out Respectively it is fixed with the driving crank；And
One control unit is electrically connected with the motor.
Further, the linkage unit further include:
First connecting rod, one end is hinged on the driving crank, and the pedal position is fixed with respect to it；
And
Second connecting rod, middle part are hinged on the base, and lower end and the first connecting rod are hinged, and the handhold portion It is formed thereon end.
Further, the ontology of the motor includes motor section and commutation portion；
The motor shaft is stretched out by the both ends end face in the commutation portion；
The motor section is mounted in the commutation portion, and the rotation axis of its rotor is perpendicular to the motor shaft.
Further,
One piece of fixed plate is respectively fixed on commutation portion both ends end face；
There is motor mounting rod on the base, be formed with the vacancy for accommodating motor in the middle part of the motor mounting rod, two pieces The fixed plate is separately fixed at the two sides of the motor mounting rod；Every piece of fixed plate is across the vacancy and both ends are fixed respectively On the body of rod on vacancy both sides.
To realize goal of the invention, the present invention also provides a kind of control method of four limbs linkage rehabilitation medical instrument, applications In control unit, described control unit is also electrically connected sensor group and information exchange unit, which comprises
The specific run data under current state are acquired by sensor group；Wherein, the specific run data include four The physical sign parameters of the operating parameter of itself and/or user in limb linkage rehabilitation medical instrument operational process；
Whether there is control instruction input by information exchange unit monitors；
Judged whether to constitute the trigger condition for triggering a certain functional mode according to the specific run data, if constituting, touching Send out functional mode corresponding；And
When there is control instruction input, the corresponding functional mode of the control instruction is executed according to the type of control instruction；
Wherein, the functional mode includes Passive Mode, assistant mode and aggressive mode, and each functional mode respectively corresponds to one Set is directed to the control strategy of motor, and the control strategy includes starting, accelerates, slows down and stop.
Further, the operating parameter includes the revolving speed of motor and/or the running current of motor and/or motor shaft and drive Driving torque between dynamic crank；It is described to be judged whether to constitute the touching for triggering a certain functional mode according to the specific run data Clockwork spring part includes:
It reads the operating parameter and is compared with the threshold value of preset each trigger condition；
If judging that user is weak without autokinetic movement ability or autokinetic movement ability according to operating parameter, Passive Mode is executed；
If judging being short of physical strength for user according to operating parameter, assistant mode is executed；
If judging that the physical strength of user is sufficient according to operating parameter, aggressive mode is executed.
Further, the physical sign parameters include that the heart rate of user and/or rate of perspiration and/or body temperature and/or calorie disappear It is consumption and/or training time, described to be judged whether to constitute the triggering for triggering a certain functional mode according to the specific run data Condition further include:
Judge whether current functional mode or operating frequency match with the physical efficiency of user according to the physical sign parameters；
If the physical efficiency of current functional mode or operating frequency and user mismatch, matched functional mode or corresponding is switched to Adjust operating frequency.
It is described the present invention also provides a kind of exchange method of four limbs linkage rehabilitation medical instrument to realize goal of the invention Control unit and display equipment communication connection, which comprises
The display end for exporting interaction data to the display equipment makes to show that the display end of equipment shows initial interaction picture Face；
After user begins to use four limbs linkage rehabilitation medical instrument, above-mentioned control method is executed, and read motor Speed revolution value；
Theoretical mileage numerical value is calculated according to the speed revolution value, and updates the content of the interactive picture accordingly with by user Motion conditions feed back to user to visualize picture.
Further, the output interaction data makes to show that equipment shows initial interactive picture to the display equipment Before further include:
Obtain the identity information of user；
Corresponding user data is read according to the identity information of user, wherein the user data includes the rehabilitation of user Drill program and training process；
The training content of this training is confirmed according to the user data.
Further, the training content that this training is confirmed according to the user data includes:
The process data generated in acquisition four limbs linkage rehabilitation medical instrument operational process；Wherein, process data includes using The physical sign parameters at family；
The parameter being successively read in the process data, and each parameter is compared with corresponding preset threshold, Judge whether to reach specific trigger condition；
When reaching trigger condition, according to the trigger condition reached, corresponding adjustment process is triggered to being currently executing Training content be updated；Wherein, update mode includes: the instruction of increasing, add deduct few training stage and/or adjusting training stage Practice task.
The utility model has the advantages that four limbs linkage rehabilitation medical instrument, control method and exchange method of the invention, by base Two groups of linkage units are set, so that the four limbs tunable linkage action of user, user can utilize one of strong in upper and lower limb Drive one of unable, furthermore user also may be selected to open motor assist exercise or be driven by motor rotation, function completely Mode is more, and washability is strong, so that user independently can effectively be taken exercise.
Detailed description of the invention
Attached drawing 1 is the structure chart of the four limbs linkage rehabilitation medical instrument of the embodiment of the present invention one；
Attached drawing 2 is the structure chart of the motor of the embodiment of the present invention one；
Attached drawing 3 is the connection structure diagram between the motor and crank and base three of the embodiment of the present invention one；
Attached drawing 4 is the flow diagram of the control method of the four limbs linkage rehabilitation medical instrument of the embodiment of the present invention two；
Attached drawing 5 is the flow diagram of the exchange method of the four limbs linkage rehabilitation medical instrument of the embodiment of the present invention three.
Parts title representated by each appended drawing reference is as follows in attached drawing:
1- base；11- motor mounting rod；12- seat adjusts fixed link；2- linkage unit；21- drives crank；22- first Connecting rod；23- second connecting rod；24- pedal position；25- shaft；26- rolling bearing；27- shaft coupling；28- handhold portion；3- motor；31- Motor shaft；32- motor section；33- commutation portion；331- screw hole；4- control unit；5- fixed plate；6- seat portion；61- slide；7- Information exchange unit；8- projector.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
Embodiment one
In order to achieve the object of the present invention, the present invention first discloses a kind of four limbs linkage rehabilitation medical instrument.
Four limbs linkage rehabilitation medical instrument as shown in Fig. 1, including a base 1, two linkage units 2, a motor 3 and one Control unit 4；Wherein, two linkage units 2 are respectively arranged in the two sides of the pedestal 1；Linkage unit 2 described in every group includes hand Portion 28 and pedal position 24 are helped, handhold portion 28 and pedal position 24 generate scheduled linkage by mechanical structure and act on, as long as that is, 28 generation of handhold portion movement, pedal position 24 will be acted on corresponding generate due to the linkage of mechanical structure and be moved, so for body Situation it is different with can make trick by linkage unit 2 per family while move, some user legs have traumatic force amount weak, can pass through Arm strength drives leg exercise, and similarly, some invasive overstrain amounts of user's arm are weak, and arm fortune can be driven by leg power Dynamic, in addition, linkage unit 2 is also comprising the driving crank 21 for power input, driving crank 21 connects electric power element, can needle The user weaker to arm strength and leg power provides external power-assisted, allows to accessible carry out rehabilitation exercise；Two groups It is installed between the driving crank 21 of linkage unit 2 with 180 ° of phase difference, so more meets the normal characteristics of motion of people.
Specifically, above-mentioned linkage unit 2 further includes first connecting rod 22 and second other than handhold portion 28 and pedal position 24 Connecting rod 23；Wherein, one end of first connecting rod 22 is hinged on the driving crank 21, and the pedal position 24 is fixed with respect to it； The middle part of second connecting rod 23 is hinged on the base 1, and lower end and the first connecting rod 22 are hinged, and 28 shape of the handhold portion At holding thereon.Preferably, the hinge joint of first connecting rod 22 and second connecting rod 23 is located between pedal position 24 and driving crank 21, In this way, (either driven by user or driven by electric power element) when 2 overall operation of linkage unit, the operation of pedal position 24 Track meets the walking step state of people, and the linkage between handhold portion 28 and pedal position 24 is more coordinated, and meets the normal fortune of human body Dynamic rule, can play preferable rehabilitation training effect.
Above-mentioned electric power element is motor 3, and for double output shaft electric machines, ontology is fixedly mounted on the base 1, two The driving crank 21 is respectively fixed on the motor shaft 31 that side is stretched out；Control unit 4 is electrically connected with the motor 3, can Controlled to drive the rotation of driving crank 21, stopping, acceleration, deceleration etc., making linkage unit 2, correspondingly active movement drives user's forging Refining.
Specifically, as shown in Fig. 2, the ontology of the motor 3 includes motor section 32 and commutation portion 33；The motor shaft 31 are stretched out by the both ends end face in the commutation portion 33；The motor section 32 is mounted in the commutation portion 33, and turn of its rotor For moving axis perpendicular to the motor shaft 31, setting commutation component inside commutation portion 33, commutation component can be the bevel gear kind of drive To realize the transmission of intersecting axle, it is preferable that commutation component is worm and gear component, not only realizes the transmission of intersecting axle, also rises To the effect for increasing torque of slowing down so that the whole range of speeds exported from motor shaft 31 of motor 3 is smaller, and output torque compared with Greatly, meet the service condition of rehabilitation medical instrument of the invention.In addition, making the rotation axis of the rotor of motor section 32 perpendicular to described Motor shaft 31 can make the length direction of motor section 32 perpendicular to the axial direction of motor shaft 31, thus the driving crank of motor 3 and two sides Connection structure between 21 can be made more compact, not influenced by the length of motor section 32.
It is respectively provided with screw hole 331 on the 33 both ends end face of commutation portion, and is respectively fixed with one piece of fixed plate on the end face of both ends 5, as shown in Fig. 3, fixed plate 5 is fixed on the end face in commutation portion 33 by being screwed into the screw of screw hole 331；The base 1 It is upper that there is motor mounting rod 11, the vacancy for accommodating motor 2, two pieces of fixed plates 5 are formed in the middle part of the motor mounting rod 11 It is separately fixed at the two sides of the motor mounting rod 11；Every piece of fixed plate 5 is across the vacancy and both ends are separately fixed at vacancy On the body of rod on both sides.Using this structure, so that the installation of motor 3 will not occupy extra space, so that motor 3 and two sides Crank 21 is compact is reliably mounted on base 1 for driving.
Driving crank 21 can be directly fixedly connected on the motor shaft 31, but more preferably, as shown in Fig. 3, be driven Dynamic crank 21 is rotatably installed in fixed plate 5 by independent shaft 25, and rotation axis is configured between shaft 25 and fixed plate 5 Hold 26；In addition, shaft 25 connects motor shaft 31 by modes such as shaft couplings.Above-mentioned second of connection structure can reduce motor shaft 31 Load, reliability is relatively high.
Optionally, four limbs of the invention linkage rehabilitation medical instrument further includes seat portion 6, and seat portion 6 can be relative to institute State base 1 and adjust height and/or front-rear position, in the present embodiment, seat portion 6 can be adjusted in synchronism relative to base 1 height with it is preceding Position afterwards, concrete mode are as follows: there is the seat being obliquely installed to adjust fixed link 12, the bottom of seat portion 6 is formed with cunning on base 1 Seat 61, slide 61 adjusts fixed link 12 relative to seat and is slidably matched, and being equipped on slide 61 adjust it can with respect to seat The fixed lock cell of fixed link 12.Using the above structure, user can be according to the long height and anteroposterior position for adjusting seat portion 6 of leg It sets, compared to traditional scheme that can only be adjusted high and low position or front-rear position can only be adjusted, the use of different heights in this programme Family uses sitting posture when instrument more consistent, meets ergonomics.
Based on above-mentioned mechanical structure, user may be selected training mode, and a kind of training mode is to be in motor 3 to close shape State, user drive two groups of linkage units 2 to operate by itself strength, and another training mode is to keep motor 3 in the open state, Motor 3 operates linkage unit 2, and user passively carries out rehabilitation training, and in relatively simple embodiment, control unit 4 can be with The switch of simple control on/off, turn on the switch make 3 energization uniform rotation of motor can be realized drive user passively into Row rehabilitation training.In a preferred embodiment, in order to promote user experience, more intelligent mode will be used to control motor 3 The actual conditions of start and stop, revolving speed and user when making whether the start and stop of motor 3 and starting match, this scheme will be following It is illustrated in embodiment.
Embodiment two
It for the purposes of the present invention, should the invention also discloses a kind of control method of four limbs linkage rehabilitation medical instrument Four limbs linkage rehabilitation medical instrument of the control method based on embodiment one and the control for being applied to four limbs linkage rehabilitation medical instrument Unit 4 is also configured with sensor group and letter on four limbs linkage rehabilitation medical instrument to realize the control method of the present embodiment Interactive unit 7 is ceased, described control unit 4 is electrically connected sensor group and information exchange unit 7.Control unit 4 itself mainly includes Processor and memory are wherein stored with the program of the control method of achievable four limbs linkage rehabilitation medical instrument in memory, Program in processor run memory is to realize the control to four limbs linkage rehabilitation medical instrument.
Herein, sensor group include for detect four limbs linkage rehabilitation medical instrument operating parameter sensor and/or For detecting the sensor of the physical sign parameters of human body.Wherein, the sensor of the operating parameter for detecting instrument includes but unlimited In the current detection sensor of the running current of detectable motor 3, the Rotating speed measring sensor of the output revolving speed of detectable motor 3 Driving torque between (can be encoder or rotary transformer etc.), the motor shaft 31 of detectable motor 3 and driving crank 21 Torque detection sensor.Sensor for detecting the physical sign parameters of human body may be provided at can be communicated with control unit 4 can On wearable device, including but not limited to heart rate sensor, sweat detection sensor, temperature check sensor.
The information exchange unit 7 include but is not limited to be that (such as button, touch screen, phonetic order are defeated for instruction input module Enter microphone etc.), information display module (such as indicator light, charactron, LED light column, display screen).
As shown in Fig. 4, described method includes following steps A1-A4, it should be noted that herein the step of number not Limit each step executes sequence, is merely provided for a kind of reference for preferably being carried out step, wherein several steps are not influencing to transport Execution can be overturned or synchronized under the premise of row logic, for carrying out the reverse or synchronous skill executed for several steps of the invention Art scheme should also be as being contemplated as falling within protection scope of the present invention.
Step A1 acquires the specific run data under current state by sensor group；Wherein, the specific run data Including the physical sign parameters of the operating parameter of itself and/or user in four limbs linkage rehabilitation medical instrument operational process；
In the present embodiment, operating parameter include the revolving speed of motor 3 and/or the running current of motor 3 and/or motor shaft 31 with Drive the driving torque between crank 21；The physical sign parameters of user include user heart rate and/or rate of perspiration and/or body temperature and/ Or calorie consumption amount and/or training time.
Fig. 4, step A2 are returned to, control instruction input has been monitored whether by information exchange unit 7；
This step can it is synchronous with step A1 carry out, i.e., control unit 4 can synchronous acquisition sensor group data and monitoring Whether information exchange unit 7 has instruction input.In addition, in this step, the control instruction that information exchange unit 7 inputs can be by The trigger signal of the physical input equipments such as button, touch screen input, is also possible to the phonetic order of user's sending.
Fig. 4, step A3 are returned to, is judged whether to constitute the triggering for triggering a certain functional mode according to the specific run data Condition triggers corresponding functional mode if constituting；
In this step, multiple functions mode, including Passive Mode, assistant mode and active mould are preset in control unit 4 Formula, each functional mode respectively correspond to a set of control strategy for motor 3, the control strategy includes starting, accelerate, slow down and Stop.Specifically, under aggressive mode, the control strategy to motor 3 is to stop motor 3, and user relies on itself power completely at this time Amount drives, and motor 3 is in driven state；It is at this time to control electricity according to actual conditions to the control strategy of motor 3 under assistant mode The revolving speed of machine 3 realizes appropriate power-assisted；Under Passive Mode, user fully relies on motor 3 and carries out rehabilitation training, at this time to motor 3 Control strategy is to control that motor 3 at the uniform velocity operate or intermittent start and stop or periodically speed regulation operate isotype and make the arm and leg of user It is adequately taken exercise in portion.
According to operating parameter this kind data in specific run data to the switchover policy of three kinds of functional modes in this step Specifically comprise the following steps B1-B4:
Step B1 reads the operating parameter and compares with the threshold value of preset each trigger condition；If according to operating parameter Judge that user is weak without autokinetic movement ability or autokinetic movement ability, executes step B2；If judging user according to operating parameter Be short of physical strength, execute step B3；If judging that the physical strength of user is sufficient according to operating parameter, step B4 is executed；
In this step, for the specific judgment criteria of each situation are as follows:
Start the instruction of entire rehabilitation medical instrument when control unit 4 receives and be not detected motor whithin a period of time 3 generation revolving speeds or the revolving speed for detecting that motor 3 generates are slower than particular value, or detect that the revolving speed of motor 3 substantially decays to spy Below definite value and control unit 4 does not receive the instruction for stopping entire rehabilitation medical instrument, then determines user without autokinetic movement energy Power or autokinetic movement ability are weak；
When the motor speed parameter that control unit 4 is read shows decline trend, and deceleration amplitude reaches special ratios, Then determine that user is short of physical strength；At this point, the controllable operating of motor 3 carries out power-assisted to it；
The motor speed parameter read in the case of control unit 4 is in inactive motor 3 is not less than particular value, or works as Motor 3 be higher than setting value rotational speed when detect motor 3 motor shaft 31 and driving crank 21 between driving torque Direction and motor shaft 31 rotation direction it is in the same direction, then judge that user's physical strength is sufficient.Under above-mentioned latter situation, illustrate motor The revolving speed of axis 31 does not catch up with user and thinks revolving speed to be achieved, and the revolving speed of motor shaft 31 is already higher than certain setting value, at this time Illustrate that the physical strength of user is enough to make rehabilitation medical instrument under unpowered situation with higher frequency run, non helping hand is necessary.
Step B2 executes Passive Mode；
Step B3 executes assistant mode；
Step B4 executes aggressive mode.
C1- is specifically comprised the following steps according to switchover policy of the physical sign parameters of user to three kinds of functional modes in this step C2:
Step C1, according to the physical sign parameters judge current functional mode or operating frequency and user physical efficiency whether Match；If matching, maintains current functional mode, if mismatching, step C2 is gone to；
Step C2 switches to matched functional mode or accordingly adjusts operating frequency.
Specifically, in the present embodiment, the whether matched mode of the physical efficiency of discrimination function mode and user are as follows:
When the heart rate or rate of perspiration or body temperature of user break through its corresponding threshold value, illustrate the movement of current rehabilitation medical instrument Frequency is excessively high, needs to reduce motion frequency or makes rehabilitation medical instrument stop motion, its revolving speed drops in executable control motor 3 It is low, the control strategies such as aggressive mode are switched to from Passive Mode.In addition, if to the single motion of user in preset drill program Or the movement in a stage is set with task condition, then handoff functionality mode or operating frequency after reaching task condition, such as: when The calorie consumption amount or run duration of user reaches preset value, and control unit 4 can stop according to preset drill program The only operation of instrument, or the functional mode of next motion stage is switched to, or need to adjust operating according to the movement of next stage Frequency.
To sum up, double monitoring is carried out by the physical sign parameters of operating parameter and user to rehabilitation medical instrument, can made User carries out rehabilitation training under suitable functional mode, and can accurately adjust running frequency according to the actual conditions of user, real Now preferable rehabilitation training effect.
Fig. 4, step A4 are returned to, when there is control instruction input, the control instruction pair is executed according to the type of control instruction The functional mode answered；
This step and above-mentioned steps A3 do not have a point of sequencing, i.e., which step first reaches that condition which step is first held Row.In this step, control instruction can be the trigger signal of the physical input equipments such as button, touch screen input, be also possible to use The phonetic order that family issues, phonetic order such as " aggressive mode ", " speed is slow ", " stopping ", control unit 4 refer to voice Order is converted into effective control signal and corresponding execution.
Embodiment three
In order to achieve the object of the present invention, the present invention also provides a kind of interaction sides of four limbs linkage rehabilitation medical instrument Method.
Described control unit 4 and display equipment communication connection, display equipment can be a part of information exchange unit 7 (being such as mounted on display screen, the touch screen on base 1), is also possible to display, projector of peripheral hardware etc., in the present embodiment, Show that equipment is the projector 8 being mounted on base 1.Showing can be by wired between equipment (such as projector) and control unit 4 Mode connect, can also wirelessly connect, such as WIFI connection type.
There are three types of linked manners in addition, display equipment and four limbs link between rehabilitation medical instrument, a kind of mode are as follows: four The control unit 4 of limb linkage rehabilitation medical instrument is used as main control device, and display equipment is only used as picture output equipment；Second of side Formula are as follows: display equipment comes with control system, and shows the control system of equipment as main control device, four limbs linkage rehabilitation medical The control unit 4 of instrument executes the task that it is assigned and to show that the control system of equipment provides required data；The third side Formula are as follows: the control unit 4 of four limbs linkage rehabilitation medical instrument is only that the interface that can introduce export data or signal transmission connect Device is received, all data handling procedures are completed by the included control system of display equipment.Regardless of above-mentioned four limbs linkage rehabilitation doctor Treating both instrument and display equipment, what is master control, what is assistance, and following exchange methods controls the two as a whole System is described.
Based on above-mentioned hardware facility and explanation, such as attached drawing 5, the exchange method includes the following steps D1-D3:
Step D1, the display end of output interaction data to the display equipment, makes to show that the display end of equipment is shown initially Interactive picture；
In this step, show that the display end of equipment represented display equipment finally shows the part of visual, it can be with It is the screen portions of display screen, is also possible to the part of the projection image of projector, when showing equipment as main control end, interaction Data source is in the control system of its own, and when four limbs linkage rehabilitation medical instrument is as main control end, interaction data is derived from Control unit 4.The initial interactive picture that the display end of display equipment is shown is game picture, control unit 4 or display equipment Control system memory in be stored with several games, every group of games correspond to a kind of game mode, game mould Formula can be the game modes such as race games, task game.
Step D2 executes above-mentioned control method, and read after user begins to use four limbs linkage rehabilitation medical instrument The speed revolution value of motor 3；
Step D3 calculates theoretical mileage numerical value according to the speed revolution value, and updates the content of the interactive picture accordingly The motion conditions of user are fed back to user to visualize picture.
In step D2-D3, after user starts to execute rehabilitation training task using four limbs linkage rehabilitation medical instrument, control Unit 4 processed shows that the games in the control system of equipment accordingly start, and setting corresponds to the role of user in game, leads to Crossing makes role move to synchronize with user from the movement on instrument in interactive picture and match, and has user and substitutes into Sense, enhances the interest of rehabilitation training, so that user can energetically carry out rehabilitation training.As a kind of settable race games are such as single Vehicle match, user on instrument by moving in the bicycle match that may participate in game；A kind of for another example settable task game Such as treasure hunt game, user makes game role preset treasured of motion search in the map of interactive picture by moving on instrument Object.Family can be used to carry out rehabilitation training in interesting interaction for these game, promote physical fitness.
When showing equipment as main control end, control unit 4 actively or passively (the control signal for introducing main control end) is executed Turning for the motor 3 of acquisition is provided for the control method of four limbs linkage rehabilitation medical instrument, and to the control system of display equipment Fast numerical value；When four limbs linkage rehabilitation medical instrument is as main control end, control unit 4 executes control method and the number of step D3 According to treatment process, the data of final updated interactive picture are only sent to display equipment, display equipment carries out data It decodes and finally shows.
Optionally, further include following steps E1-E3 before step D1 for the ease of being managed to user:
Step E1 obtains the identity information of user；
Step E2 reads corresponding user data according to the identity information of user, wherein the user data includes user Basic data；
In this step, the basic data of user mainly includes two levels: first is the state of an illness data of user, including obstacle The information such as type (physical disability as above hinder, inferior paraplegia etc.), obstacle grade；Second is the locomitivity level data of user, the number According to typing after being assessed by appraiser according to preset classification standard, it can also be tested and be obtained by system oneself.The control of main control device System (unit) processed first determines whether basic data is perfect, movement energy is triggered if not perfect after getting user data Power level estimate process.
Above-mentioned locomitivity level estimate process includes: firstly, individually testing the locomitivity of upper limb and lower limb, and carry out Grading；Specifically, specific instruction is issued the user with by information exchange unit or display equipment, as information exchange unit exports language Sound data " under request in person individually with upper extremity exercise 30 seconds ", the control system (unit) of main control device is by reading the rotation of motor 3 The data such as complete cycle number that the statistics available corresponding limbs of data are completed at the appointed time and crest frequency estimate corresponding The locomitivity grade of limbs；Then, it tests the cooperative motion ability of upper limb and lower limb and grades, method is same as above, and is led to It crosses to issue the user with specific instruction and acquire the operation data of motor 3 and obtains the cooperative motion ability rating of upper limb and lower limb.
When user is old user, the control system (unit) of main control device is after each user completes training, according to this The data of secondary training are updated the basic data of user, mainly raise or lower the locomitivity level data of user, In case thering is newer basic data to be referred to when operation next time, system is facilitated to formulate suitable training content for user.
Step E3 confirms the training content of this training according to the user data.
Wherein, the training content includes multiple training stages, and each training stage has the training of each training stage to appoint Business and incentive measure, incentive measure is using the excitation condition set as trigger condition；The control system (unit) of main control device exists With the process that above-mentioned step D1-D3 is executed during user interaction, and in interactive process according to the motor of acquisition 3 turn Dynamic data reduction goes out particular value (such as movement mileage, movement average speed), judges whether particular value meets excitation condition, if meeting Corresponding incentive measure is triggered, user's sense of participation and feeling of freshness so can be constantly given, promote the dynamic role of user, so that training It is no longer uninteresting.For example: such as in a kind of game, game role is competed by racing earns gold coin (incentive measure) liter Grade game article promotes match section.
The control system (unit) of main control device executes following steps F1-F while system executes above-mentioned process, and 3 with reality Now the process monitoring of user and dynamic are adjusted:
Step F1 acquires the process data generated in four limbs linkage rehabilitation medical instrument operational process；Wherein, process data Physical sign parameters including user；
Step F2, the parameter being successively read in the process data, and by each parameter and corresponding preset threshold into Row compares, and judges whether to reach specific trigger condition；When reaching trigger condition, F3 is entered step；
Step F3 triggers corresponding adjustment process in the training being currently executing according to the trigger condition reached Appearance is updated；Wherein, update mode includes: the training mission of increasing, add deduct few training stage and/or adjusting training stage.
In this step, update mode is exemplified below: when user carries out current training content, the heart rate of user is super When crossing threshold value or persistently maintaining higher state, the training stage that an intensity is smaller or suspends can be increased, in order to not influence trip Play experience can make user that can rest for the time being using intervention element in gaming, and such as setting wind and rain is big in gaming for intervention element The scene of work, so that current treasure hunt game activity can not continue, the role of user in gaming can hide into roadside restaurant Rain rest, colleague user can be rested, and when the heart rate of system detection to user maintains lower frequency, then terminate current Jie Enter element, the substitution sense of user in gaming will not be interrupted in this way, game experiencing will not interrupt.When user puts into training again When middle, if exception occurs in sign feature soon again, system be can determine whether, the movement of user has reached limit, it is possible to reduce training Stage terminates in advance training content, and the basic data of user is updated according to data such as duration, the intensity of this training.
For another example, it when user is full of physical strength, can suitably increase the training stage, such as increase following intervention element in gaming: When user, which is in, strolls the stage, periphery happens suddenly criminal activity, and prompt catches the incentive measure of criminal (as rewarded in game picture Gold coin), user may participate in into the game for chasing criminal, and corresponding reward is got after reaching task.Family can be used in this way Complete that an intensity is higher to train in short-term, so that training process balmy and bracing.
It, can be according to the sign data dynamic adjusting training task of user, not based on above-mentioned training content update mode It influences to carry out dynamic adjustment and management to the training of each user in the case of game experiencing, to reach training goal.
Through the above steps, aimed management effectively can be carried out for each user, there is the rehabilitation training of user Architecture reaches preferable systematic training, and user is facilitated to be managed game process, is more held by setting by duration Long game family can be used energetically to put into rehabilitation training, promote the efficiency of rehabilitation training.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims (10)

  1. The rehabilitation medical instrument 1. four limbs link characterized by comprising
    One base；
    Two linkage units, the two are respectively arranged in the two sides of the pedestal；Linkage unit described in every group include handhold portion and Pedal position, additionally comprising the driving crank for power input；With 180 ° of phase between the driving crank of two groups of linkage units Potential difference installation；
    One motor, for double output shaft electric machines, ontology is fixedly mounted on the base, each solid on the motor shaft that two sides are stretched out Surely there is the driving crank；And
    One control unit is electrically connected with the motor.
  2. 2. by four limbs described in claim 1 linkage rehabilitation medical instrument, which is characterized in that the linkage unit further include:
    First connecting rod, one end is hinged on the driving crank, and the pedal position is fixed with respect to it；And
    Second connecting rod, middle part are hinged on the base, and lower end and the first connecting rod are hinged, and the handhold portion is formed It holds thereon.
  3. 3. by four limbs described in claim 1 linkage rehabilitation medical instrument, which is characterized in that the ontology of the motor includes motor Portion and commutation portion；
    The motor shaft is stretched out by the both ends end face in the commutation portion；
    The motor section is mounted in the commutation portion, and the rotation axis of its rotor is perpendicular to the motor shaft.
  4. 4. by four limbs as claimed in claim 3 linkage rehabilitation medical instrument, which is characterized in that
    One piece of fixed plate is respectively fixed on commutation portion both ends end face；
    There is motor mounting rod on the base, the vacancy for accommodating motor is formed in the middle part of the motor mounting rod, described in two pieces Fixed plate is separately fixed at the two sides of the motor mounting rod；Every piece of fixed plate is across the vacancy and both ends are separately fixed at sky On the body of rod for lacking both sides.
  5. The control method of rehabilitation medical instrument 5. four limbs link, is applied to control unit, which is characterized in that described control unit is also It is electrically connected sensor group and information exchange unit, which comprises
    The specific run data under current state are acquired by sensor group；Wherein, the specific run data include four limbs connection The physical sign parameters of the operating parameter of itself and/or user in dynamic rehabilitation medical instrument operational process；
    Whether there is control instruction input by information exchange unit monitors；
    Judged whether to constitute the trigger condition for triggering a certain functional mode according to the specific run data, if constituting, triggers phase The functional mode answered；And
    When there is control instruction input, the corresponding functional mode of the control instruction is executed according to the type of control instruction；
    Wherein, the functional mode includes Passive Mode, assistant mode and aggressive mode, and each functional mode respectively corresponds to a trocar To the control strategy of motor, the control strategy includes starting, accelerates, slows down and stop.
  6. 6. the control method of the linkage rehabilitation medical instrument of the four limbs as described in claim 5, which is characterized in that the operating parameter Driving torque between the running current and/or motor shaft and driving crank of revolving speed and/or motor including motor；The basis The specific run data judge whether that constituting the trigger condition for triggering a certain functional mode includes:
    It reads the operating parameter and is compared with the threshold value of preset each trigger condition；
    If judging that user is weak without autokinetic movement ability or autokinetic movement ability according to operating parameter, Passive Mode is executed；
    If judging being short of physical strength for user according to operating parameter, assistant mode is executed；
    If judging that the physical strength of user is sufficient according to operating parameter, aggressive mode is executed.
  7. 7. the control method of the linkage rehabilitation medical instrument of the four limbs as described in claim 5, which is characterized in that the physical sign parameters Heart rate and/or rate of perspiration and/or body temperature and/or calorie consumption amount and/or training time including user, it is described according to Specific run data judge whether to constitute the trigger condition for triggering a certain functional mode further include:
    Judge whether current functional mode or operating frequency match with the physical efficiency of user according to the physical sign parameters；
    If the physical efficiency of current functional mode or operating frequency and user mismatch, matched functional mode or corresponding adjusting are switched to Operating frequency.
  8. 8. the exchange method of four limbs linkage rehabilitation medical instrument, which is characterized in that described control unit and display equipment communication link It connects, which comprises
    The display end for exporting interaction data to the display equipment makes to show that the display end of equipment shows initial interactive picture；
    After user begins to use four limbs linkage rehabilitation medical instrument, such as the described in any item controlling parties of claim 6-8 are executed Method, and read the speed revolution value of motor；
    Theoretical mileage numerical value is calculated according to the speed revolution value, and updates the content of the interactive picture accordingly with by the fortune of user Emotionally condition feeds back to user to visualize picture.
  9. 9. by the exchange method of four limbs according to any one of claims 8 linkage rehabilitation medical instrument, which is characterized in that the output interaction Data are to the display equipment, before making to show that equipment shows initial interactive picture further include:
    Obtain the identity information of user；
    Corresponding user data is read according to the identity information of user, wherein the user data includes the rehabilitation training of user Plan and training process；
    The training content of this training is confirmed according to the user data.
  10. 10. by the exchange method of four limbs as claimed in claim 9 linkage rehabilitation medical instrument, which is characterized in that described according to institute Stating the training content that user data confirms that this is trained includes:
    The process data generated in acquisition four limbs linkage rehabilitation medical instrument operational process；Wherein, process data includes user's Physical sign parameters；
    The parameter being successively read in the process data, and each parameter is compared with corresponding preset threshold, judge Whether specific trigger condition is reached；
    When reaching trigger condition, according to the trigger condition reached, corresponding adjustment process is triggered to the instruction being currently executing Practice content to be updated；Wherein, update mode includes: the training times of increasing, add deduct few training stage and/or adjusting training stage Business.
CN201910456077.2A 2019-05-29 2019-05-29 Four limbs linkage rehabilitation medical instrument, control method and exchange method Pending CN110051978A (en)

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