CN110353952B - Anti-falling walking aid vehicle for lower limb rehabilitation training and rehabilitation training method - Google Patents
Anti-falling walking aid vehicle for lower limb rehabilitation training and rehabilitation training method Download PDFInfo
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- CN110353952B CN110353952B CN201910627643.1A CN201910627643A CN110353952B CN 110353952 B CN110353952 B CN 110353952B CN 201910627643 A CN201910627643 A CN 201910627643A CN 110353952 B CN110353952 B CN 110353952B
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- 238000012549 training Methods 0.000 title claims abstract description 66
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title abstract description 30
- 230000001681 protective effect Effects 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 14
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- 208000012661 Dyskinesia Diseases 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
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- 210000003414 extremity Anatomy 0.000 description 3
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- 230000009967 tasteless effect Effects 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 210000001364 upper extremity Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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Abstract
The invention discloses an anti-falling rollator for lower limb rehabilitation training and a rehabilitation training method, comprising a frame which is designed to be wide at the top and narrow at the bottom; the universal wheel is positioned at the bottom of the frame; the anti-collision frame is positioned at the bottom of the frame; a cushion located in the interior space of the frame; the elastic rope is connected with the cushion and the frame, the cushion and the elastic adjusting device; the tray frame is positioned at the top of the frame; the front end of the tray frame and the frame connecting rod can be opened. The invention ensures that the rehabilitation training process is not limited by the environment any more, and the patient can carry out the rehabilitation training activities in the outdoor environment. Moreover, the walking aid vehicle is based on the original lower limb exoskeleton rehabilitation robot, combines the robot control technology and the anti-falling walking aid vehicle, is based on an effective dyskinesia rehabilitation method commonly used in clinic, and can bring better experience to the rehabilitation training process of patients.
Description
Technical Field
The invention relates to the field of health medical robots, in particular to a medical robot for lower limb rehabilitation training of a human body, and more particularly to an anti-falling rollator for lower limb rehabilitation training and a rehabilitation training method.
Background
China is gradually aging, the number of people with hemiplegia of middle-aged and old patients caused by cardiovascular and cerebrovascular diseases is more and more, and the number of people with nerve injury or limb injury caused by traffic accidents is not less, so that the normal life of the patients is influenced, and huge burden is caused to families and society. Relevant clinical medical practices and studies have shown that: rehabilitation training of patients with such motor dysfunction, in addition to surgery and medical treatment, can also restore to some extent their impaired motor abilities. Of the patients, the patients with paralysis of lower limbs account for the majority, so the rehabilitation training of the lower limbs becomes a research hotspot.
The exoskeleton robot is an intelligent wearable medical device, has a structural appearance similar to that of a biological skeleton, can coordinate with a human body, and is called as an exoskeleton robot. The lower limb exoskeleton rehabilitation robot is one of exoskeleton robots, is used for rehabilitation training and walking assistance of lower limb maladjusted people, and is already applied to some hospitals in economically developed areas. The traditional lower limb exoskeleton rehabilitation training method is carried out indoors, doctors, patients and family members of the patients need to participate in the training process, and the patients wear the exoskeleton robots and generally carry out rehabilitation training on running machines. However, the traditional rehabilitation training method is too rigid, cannot really realize the interaction between the environment and the human body, lacks the interactive fun, has serious defects in the aspect of overall coordination training of the whole body of the patient, and is limited by the training environment.
Therefore, in summary, the traditional rehabilitation training method based on the lower limb exoskeleton rehabilitation robot has many disadvantages, such as limitation to indoor environment; the cost is higher because of the matched running machine and other equipment; because the human gait is simulated on the treadmill, the coordination interaction between the human body and the environment can not be really realized after all, and the characteristic of human limb coordination training is not reflected; the whole training process is relatively boring and tasteless, and the whole training process is a set of actions all the time, so that the interestingness is lacked.
Therefore, it is necessary to develop an economical and efficient rehabilitation training system and method to meet the needs of patients, improve the efficiency of rehabilitation training treatment and reduce the treatment cost.
Disclosure of Invention
In view of the above, the invention provides an anti-falling rollator for lower limb rehabilitation training and a rehabilitation training method, aiming at the defects of the traditional lower limb exoskeleton-based rehabilitation robot training method, and aiming at the purpose of rehabilitation therapy.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, the present invention provides a fall-resistant rollator for lower limb rehabilitation training, comprising,
the frame is integrally designed to be wide at the top and narrow at the bottom;
the universal wheels are arranged at the bottom of the frame;
the anti-collision frame is connected with the bottom of the frame and is higher than the universal wheels, and the range of the anti-collision frame in space is larger than that of the frame;
the cushion is positioned in the inner space of the frame and close to the middle;
the elastic rope comprises a front elastic rope and a rear elastic rope, one end of the front elastic rope is connected with the cushion, and the other end of the front elastic rope is connected with a frame connecting rod transversely arranged in front of the frame; one end of the rear elastic rope is connected with the cushion, and the other end of the rear elastic rope penetrates through a pulley fixed behind the frame and is connected with an elastic adjusting device;
the tray frame is positioned at the top of the frame and used for placing articles and installing and fixing other functional structures; the front end of the tray frame and the frame connecting rod can be opened.
The anti-falling rollator for lower limb rehabilitation training enables the rehabilitation training process not to be limited by the environment any more, and a patient can perform rehabilitation training activities in an outdoor environment. The walking aid vehicle is based on the original lower limb exoskeleton rehabilitation robot, combines a robot control technology and an anti-falling walking aid vehicle, is based on an effective dyskinesia rehabilitation method commonly used clinically, and can bring better experience to the rehabilitation training process of a patient.
On the basis of the technical scheme, the invention can be improved as follows:
preferably, the elasticity adjusting device comprises a protective shell, a guide rail, a spring, an upper elasticity control fixing block, a lower elasticity control fixing block, a lifting screw rod, a screw rod fixing block, a bearing end cover and an adjusting hand wheel, wherein,
the protective shell is positioned at the outermost part of the elasticity adjusting device, is used for integrally covering other structures on the elasticity adjusting device to play a role in protection, and is used for supporting and fixing the upper elasticity control fixed block and the lower elasticity control fixed block;
the guide rail is fixed on the frame, and the upper elastic control fixing block and the lower elastic control fixing block can slide up and down along the guide rail, namely the guide rail plays a role in guiding and bearing;
the upper elastic force control fixing block is connected with the adjusting hand wheel through the lifting screw rod, and the position of the upper elastic force control fixing block on the lifting screw rod can be adjusted by rotating the adjusting hand wheel; the upper elastic force control fixing block moves up and down along the guide rail to change the compression amount of the spring, so that the elastic force of the cushion is adjusted; in the process of moving the rollator, the position of the upper elastic control fixing block on the guide rail is fixed due to the action of the lifting screw rod;
the lower elastic force control fixed block is connected with the upper elastic force control fixed block through the spring, and the lower elastic force control fixed block is connected with the cushion through the rear elastic rope; in the process of moving the rollator, the position of the lower elastic force control fixing block on the guide rail can move up and down, so that the cushion has certain elastic force;
and the guide rail is provided with a limiting block for limiting the lower elastic force to control the fixing block to move downwards.
Preferably, the elasticity adjusting device further comprises a lead screw fixing block for fixing the lower end of the lifting lead screw.
Preferably, the elasticity adjusting device further comprises a bearing fixed on the lifting screw, the bearing is axially fixed through the bearing end cover, the bearing can ensure that the lifting screw can smoothly rotate, and the bearing has a thrust effect on the lifting screw.
Preferably, the other functional structures arranged on the tray frame comprise a multifunctional controller, a function key, an emergency alarm button, a cup frame groove, a mobile phone support and the like, and a manufacturer can install the corresponding functional structures according to specific requirements of customers, wherein the function key is control signal input equipment of the electronic equipment of the rollator, and the emergency alarm button is used for providing calling and alarm services in emergency.
Preferably, the multifunctional controller is internally provided with an attitude sensor for monitoring the motion attitude of the rollator in real time, a positioning chip for detecting the position information of the patient in real time, a wireless generator for communicating with a terminal device and the like.
Preferably, a series of devices with entertainment functions, such as music and broadcast playing devices, are also installed in the multifunctional controller.
Preferably, the walking aid vehicle further comprises handrails, and the handrails are positioned on the tray frame and are convenient for a patient to hold with both hands in the rehabilitation training process.
Preferably, the height of the frame is adjustable to accommodate the height of different patients.
Preferably, the cushion is the saddle, and "stool" of patient is regarded as on the one hand to the saddle cushion, makes the patient more laborsaving, and on the other hand when the patient falls down, the patient can in time be supported to the cushion, guarantees that the patient can not fall down or the slope.
In another aspect, the invention further provides a method for performing rehabilitation training by using the anti-falling rollator for lower limb rehabilitation training, which comprises the following steps:
s1, firstly, the patient wears the lower limb exoskeleton rehabilitation robot outside the anti-falling rollator;
s2, before the patient enters the anti-falling rollator, the frame connecting rod connected with the front end of the tray frame and the front elastic rope is opened, so that the patient can conveniently enter the anti-falling rollator;
and S3, after the patient wears the exoskeleton robot for the upper and lower limbs, the patient enters the exoskeleton robot for rehabilitation training under the assistance of family members or doctors.
According to the technical scheme, compared with the prior art, the invention discloses the anti-falling rollator for the lower limb rehabilitation training and the rehabilitation training method, and the anti-falling rollator has at least the following beneficial effects:
1) the cost of matched equipment for performing rehabilitation training based on the lower limb exoskeleton rehabilitation robot is reduced;
2) when the anti-falling rollator is used for rehabilitation training, the use field is not limited by the environment, and outdoor rehabilitation training can be carried out;
3) based on the unique structural design of the anti-falling rollator, the safety of a patient can be ensured to a great extent in the rehabilitation training process;
4) the outdoor rehabilitation training is developed, the coordination interaction between the human body and the environment is really realized, and the characteristic of human limb coordination training is embodied;
5) the interactivity of rehabilitation training is increased, and the training is not as boring and tasteless as fixed indoor field training.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram showing a specific structure of an anti-falling rollator for lower limb rehabilitation training according to the present invention.
Fig. 2 is a schematic external structural diagram of the elasticity adjusting device provided by the invention.
Fig. 3 is a schematic diagram of the internal structure of the elasticity adjusting device provided by the invention.
Fig. 4 is a schematic diagram of the lower limb exoskeleton rehabilitation robot and the anti-falling rollator used in cooperation.
Wherein, in the figure,
1-vehicle frame, 2-universal wheel, 3-collision avoidance frame, 4-cushion, 5-elastic rope, 6-tray frame, 7-handrail, 8-elastic force adjusting device, 9-multifunctional controller, 10-emergency alarm button, 11-function button, 12-cup frame groove, 13-mobile phone support, 14-pulley, 15-protective shell, 16-guide rail, 17-spring, 18-upper elastic force control fixed block, 19-lower elastic force control fixed block, 20-lifting screw, 21-screw fixed block, 22-bearing, 23-bearing end cover, 24-adjusting hand wheel, 25-lower limb exoskeleton rehabilitation robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
the technical solution of the anti-falling rollator for lower limb rehabilitation training according to the embodiment of the present invention will be described below with reference to the lower limb exoskeleton rehabilitation robot 25.
As shown in figures 1-4, the embodiment of the invention discloses an anti-falling rollator for lower limb rehabilitation training, which comprises a frame 1, universal wheels 2, an anti-collision frame 3, a cushion 4, an elastic rope 5, a tray frame 6 and handrails 7, wherein,
the whole frame 1 is designed to be wide at the top and narrow at the bottom, so that the stability of the vehicle body can be ensured, and the height of the frame 1 can be adjusted according to the height of a patient.
The universal wheels 2 are provided with a plurality of universal wheels which are all positioned at the bottom of the frame 1 and are used for walking and changing directions of the walking aid vehicle.
The anti-collision frame 3 is connected with the bottom of the frame 1, the position of the anti-collision frame 3 is higher than the universal wheels 2, the range of the anti-collision frame 3 in space is larger than that of the frame 1, and the safety of the walking aid vehicle and patients can be guaranteed.
The elastic rope 5 comprises a front elastic rope and a rear elastic rope according to the front and rear positions of the frame 1, one end of the front elastic rope is connected with the cushion 4, and the other end of the front elastic rope is connected with a frame connecting rod transversely arranged in front of the frame 1; one end of the rear elastic rope is connected with the cushion 4, and the other end of the rear elastic rope passes through a pulley 14 fixed at the rear part of the frame 1 and is connected with an elastic force adjusting device 8; the front elastic rope and the rear elastic rope have certain elasticity, so that the comfort of a patient can be ensured.
The tray frame 6 is positioned at the top of the frame 1 and used for placing articles and installing and fixing other functional structures; the front end of the tray frame 6 and the frame connecting rod can be opened so as to facilitate the patient to enter the walking aid vehicle.
The armrests 7 are positioned above the tray frame 6 to place the patient's hands during the rehabilitation training process.
In order to further optimize the technical solution of the above embodiment, as shown in fig. 2 and 3, the elasticity adjusting device 8 includes a protective casing 15, a guide rail 16, a spring 17, an upper elasticity control fixing block 18, a lower elasticity control fixing block 19, a lifting screw 20, a screw fixing block 21, a bearing 22, a bearing end cover 23, and an adjusting hand wheel 24, wherein,
the protective casing 15 is located at the outermost part of the elasticity adjusting device 8, and is used for integrally covering other structures on the elasticity adjusting device 8, playing a protective role, and supporting and fixing the upper elasticity control fixing block 18 and the lower elasticity control fixing block 19.
The guide rail 16 is fixed on the frame 1, and the upper elastic force control fixing block 18 and the lower elastic force control fixing block 19 can slide up and down along the guide rail 16, namely, the guide rail 16 plays a role in guiding and bearing.
The upper elastic force control fixing block 18 is connected with an adjusting hand wheel 24 through a lifting screw rod 20, and the rotation of the lifting screw rod 20 can be controlled by rotating the adjusting hand wheel 24, so that the position of the upper elastic force control fixing block 18 on the lifting screw rod 20 is adjusted; the upper elastic force control fixing block 18 moves up and down along the guide rail 16 to change the compression amount of the spring 17, so as to adjust the elastic force of the cushion 4; during the movement of the rollator, the position of the upper elastic force control fixing block 18 on the guide rail 16 is fixed due to the action of the lifting screw 20.
The lower elasticity control fixing block 19 is connected with the upper elasticity control fixing block 18 through a spring 17, and the lower elasticity control fixing block 19 is connected with the cushion 4 through a rear elastic rope; the guide rail 16 is provided with a limiting block for limiting the downward movement of the lower elastic control fixing block 19, and in the process of moving the walking aid vehicle, the position of the lower elastic control fixing block 19 on the guide rail 16 can move up and down, so that the seat cushion 4 has certain elastic force.
In order to further optimize the technical solution of the above embodiment, the elastic force adjusting device 8 further includes a screw fixing block 21 for fixing the lower end of the lifting screw 20.
In order to further optimize the technical solution of the above embodiment, the elasticity adjusting device 8 further includes a bearing 22 fixed on the lifting screw 20 and a bearing end cover 23 axially fixing the bearing 22, and the bearing 22 can ensure that the lifting screw 20 can smoothly rotate and has a thrust function on the lifting screw 20.
In order to further optimize the technical scheme of the embodiment, other functional structures installed on the tray frame 6 comprise a multifunctional controller 9, a functional key 11, an emergency alarm button 10, a cup holder groove 12, a mobile phone support 13 and the like, so as to ensure the requirement of the patient for brief daily life, and a manufacturer can install the corresponding functional structures according to the specific requirement of the customer, wherein the functional key 11 is a control signal input device of the electronic device of the rollator, and the emergency alarm button 10 is used for providing calling and alarm service in case of emergency.
In order to further optimize the technical solution of the above embodiment, a posture sensor for monitoring the moving posture of the walker in real time, a positioning chip for detecting the position information of the patient in real time, a wireless generator for communicating with the terminal device, and the like are further installed in the multifunctional controller 9.
In order to further optimize the technical scheme of the embodiment, a series of devices with entertainment functions, such as music and broadcast playing devices, are also installed in the multifunctional controller, so that the patient can perform rehabilitation training with pleasure.
The specific use process of the anti-falling rollator for lower limb rehabilitation training in cooperation with the lower limb exoskeleton rehabilitation robot 25 for rehabilitation training and treatment is as follows:
1. firstly, a patient wears a lower limb exoskeleton rehabilitation robot 25 outside the anti-falling rollator;
2. before the patient enters the anti-falling rollator, a frame connecting rod connected with the front end of the tray frame 6 and the front elastic rope is opened, so that the patient can conveniently enter the anti-falling rollator;
3. after the patient wears the lower limb exoskeleton rehabilitation robot 25, the patient enters the exoskeleton robot with the assistance of family members or doctors to perform rehabilitation training.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. An anti-falling rollator for lower limb rehabilitation training is characterized by comprising,
the bicycle frame (1), the whole bicycle frame (1) is designed to be wide at the top and narrow at the bottom;
the universal wheels (2) are arranged, and the universal wheels (2) are arranged at the bottom of the frame (1);
the anti-collision frame (3) is connected with the bottom of the frame (1), the position of the anti-collision frame (3) is higher than that of the universal wheel (2), and the spatial range of the anti-collision frame (3) is larger than that of the frame (1);
the cushion (4) is positioned in the inner space of the frame (1) and close to the middle of the inner space;
the elastic rope (5) comprises a front elastic rope and a rear elastic rope, one end of the front elastic rope is connected with the cushion (4), and the other end of the front elastic rope is connected with a frame connecting rod transversely arranged in front of the frame (1); one end of the rear elastic rope is connected with the cushion (4), and the other end of the rear elastic rope passes through a pulley (14) fixed at the rear part of the frame and is connected with an elastic adjusting device (8);
the pallet frame (6) is positioned at the top position of the frame (1) and is used for placing articles and installing and fixing other functional structures; the front end of the tray frame (6) and the frame connecting rod can be opened;
the elasticity adjusting device (8) comprises a protective shell (15), a guide rail (16), a spring (17), an upper elasticity control fixing block (18), a lower elasticity control fixing block (19), a lifting screw (20), a screw fixing block (21), a bearing (22), a bearing end cover (23) and an adjusting hand wheel (24), wherein,
the protective shell (15) is positioned at the outermost part of the elasticity adjusting device (8) and is used for integrally covering other structures on the elasticity adjusting device (8) and supporting and fixing the upper elasticity control fixing block (18) and the lower elasticity control fixing block (19);
the guide rail (16) is fixed on the frame (1), and the upper elastic control fixing block (18) and the lower elastic control fixing block (19) can slide up and down along the guide rail (16);
the upper elastic force control fixing block (18) is connected with the adjusting hand wheel (24) through the lifting screw rod (20), and the position of the upper elastic force control fixing block (18) on the lifting screw rod (20) can be adjusted by rotating the adjusting hand wheel (24);
the lower elastic force control fixing block (19) is connected with the upper elastic force control fixing block (18) through the spring (17), and the lower elastic force control fixing block (19) is connected with the cushion (4) through the rear elastic rope;
and the guide rail (16) is provided with a limiting block for limiting the downward movement of the lower elastic control fixing block (19).
2. The fall-resistant rollator for lower limb rehabilitation training according to claim 1, wherein the elasticity adjustment device (8) further comprises a screw fixing block (21) for fixing the lower end of the lifting screw (20).
3. The fall-resistant rollator for lower limb rehabilitation training according to claim 1 or 2, wherein the spring force adjustment device (8) further comprises a bearing (22) fixed on the lifting screw (20), the bearing (22) being axially fixed by the bearing end cap (23).
4. The fall-resistant rollator for lower limb rehabilitation training according to claim 1, wherein the other functional structures mounted on the tray frame (6) comprise a multifunctional controller (9), a function key (11), an emergency alarm button (10), a cup holder groove (12), and a mobile phone support (13), wherein the function key (11) is a control signal input device of rollator electronic equipment, and the emergency alarm button (10) is used for providing calling and alarm services in case of emergency.
5. The anti-falling rollator for lower limb rehabilitation training according to claim 4, characterized in that a posture sensor for real-time monitoring of the motion posture of the rollator, a positioning chip for real-time detection of the position information of the patient, and a wireless generator for communication with a terminal device are installed in the multifunctional controller (9).
6. The fall-resistant walking-aid vehicle for lower limb rehabilitation training according to claim 5, characterized in that a music and broadcast playing device is further installed in the multifunctional controller (9).
7. The fall-resistant rollator for lower limb rehabilitation training according to claim 1 further comprising an armrest (7), wherein the armrest (7) is positioned above the tray frame (6) for being held by both hands of the patient.
8. The fall-resistant rollator for lower limb rehabilitation training according to claim 1, characterized in that the height of the frame (1) is adjustable.
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| CN113797066A (en) * | 2020-06-13 | 2021-12-17 | 山东天赐慧邦医养健康产业集团有限公司 | Be applied to anti-ageing rehabilitation training device of old person's leg and foot |
| CN112674995B (en) * | 2020-12-22 | 2022-12-23 | 佛山市科怡康复器材有限公司 | Leg walking emergency side-falling prevention rehabilitation auxiliary training device |
| CN114053106A (en) * | 2021-12-09 | 2022-02-18 | 袁靖 | Limb and arm inflation rehabilitation robot |
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| CN103230335A (en) * | 2013-04-19 | 2013-08-07 | 南京理工大学 | Novel electric walking trainer |
| CN107874985A (en) * | 2017-12-26 | 2018-04-06 | 宫青宝 | A kind of rehabilitation Walking equipment for preventing children's tumble injury |
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