CN110353954A - A kind of leg Rehabilitation auxiliary walking aid device - Google Patents
A kind of leg Rehabilitation auxiliary walking aid device Download PDFInfo
- Publication number
- CN110353954A CN110353954A CN201910687234.0A CN201910687234A CN110353954A CN 110353954 A CN110353954 A CN 110353954A CN 201910687234 A CN201910687234 A CN 201910687234A CN 110353954 A CN110353954 A CN 110353954A
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- Prior art keywords
- walking
- walking wheel
- auxiliary
- aid device
- wheel
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Classifications
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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 disabled persons
-
- 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 disabled persons
- A61H2003/046—Wheeled walking aids for disabled persons with braking means
-
- 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
- A61H2201/5064—Position sensors
-
- 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
- A61H2201/5071—Pressure sensors
Abstract
The present invention relates to training device for leg convalescence tool technical fields, controller of the present invention can carry out brake operating according to the distance measurement value of the pressure value of rear testing agency's detection and ranging mechanism to control the front walking wheel arrestment mechanism to the front walking wheel mechanism, in this way, it can be very good to carry out walk help according to the walking step of user, the present invention controls step pitch using ranging mechanism, when the pressure value of testing agency's detection is from lower than a certain changes of threshold for more than pressure given threshold afterwards, ranging mechanism carries out range operation initially as starting point, and the distance surveyed of the ranging mechanism is when reaching step pitch setting walking threshold value, controller controls front walking wheel arrestment mechanism and carries out brake operating, this structure of the invention can carry out stable control to the walking of user, effectively improve walk help effect, recovering aid.
Description
Technical field
The present invention relates to training device for leg convalescence tool technical field, specifically a kind of leg Rehabilitation auxiliary walk help dress
It sets.
Background technique
The problem of will appear inconvenient walking after ankle injury or operation, therefore an auxiliary is needed in later period rehabilitation training
Device is used cooperatively, and one facilitates the rehabilitation situation for improving patient, and another convenience also provides security protection for patient's training.At present
Auxiliary walking aid device generally carried out using the walking frame with wheel body, this structure is usually provided with to guarantee safety
Brake system, still, for ankle injury person, if carrying out brake operation using hand, user is difficult to get hold of step pitch
And step, it is easy to cause foot to land, cause injury to generate damage etc., and then rehabilitation is caused to postpone, influence rehabilitation
Effect.Moreover, can not be performed physical exercise according to step.
Therefore, the present invention provides a kind of leg Rehabilitation auxiliary walking aid devices, to solve in above-mentioned background technique
The problem of proposition.
Summary of the invention
The purpose of the present invention is to provide a kind of leg Rehabilitation auxiliary walking aid devices, to solve above-mentioned background technique
The problem of middle proposition.
To achieve the above object, the invention provides the following technical scheme: a kind of leg Rehabilitation, which is used, assists walking aid device,
Including auxiliary walking frame body, bandage mechanism, front walking wheel mechanism and rear walking wheel mechanism, wherein the auxiliary walking frame body
Upper and lower part is ring structure, and the top of the auxiliary walking frame body is provided with the bandage mechanism, the auxiliary walk help
Device is tied up on the shank for being located at user using strap configurations, and the foot of user and calf are set in the ring structure
It is interior；The front walking wheel mechanism that there are two the front side settings of the auxiliary walking frame body is arranged symmetrically, the auxiliary walking frame body
The rear side and midline position of face Liang Ge front walking wheel mechanism is provided with the rear walking wheel mechanism；It is characterized in that,
It further includes controller, front walking wheel arrestment mechanism, rear testing agency and ranging mechanism, and the rear testing agency sets
It sets in the rear walking wheel mechanism, and is able to detect the pressure that the auxiliary walking frame body is applied in the rear walking wheel mechanism
Power；
The front walking wheel arrestment mechanism is arranged in the front walking wheel mechanism, so as to the front walking wheel mechanism into
Row braking operation；The ranging mechanism is arranged in the front walking wheel mechanism, so as to the Forward to the front walking wheel mechanism
Distance is detected；
The front walking wheel arrestment mechanism, rear testing agency and ranging mechanism are controlled with the controller and are connected, and institute
The preceding walking can be controlled according to the distance measurement value of the pressure value of rear testing agency's detection and ranging mechanism by stating controller
It takes turns arrestment mechanism and brake operating is carried out to the front walking wheel mechanism.
Further, described preferably, the ranging mechanism is using the encoder for detecting the front walking wheel rotational angle
Controller structure is set as: the pressure value of testing agency's detection is from being more than pressure given threshold lower than a certain changes of threshold when described after
When, the ranging mechanism carries out range operation initially as starting point, and the distance that the ranging mechanism is surveyed reaches step pitch setting
When threshold value of walking, the controller controls the front walking wheel arrestment mechanism and carries out brake operating.
Further, preferably, the pressure given threshold and step pitch given threshold are adjustable setting.
Further, preferably, testing agency includes pressure sensor, spring and wheel seat after described, wherein row after described
The upper end of the rear walking wheel of Zou Lun mechanism is fixedly mounted on the wheel seat, and the top of the wheel seat is provided with ladder column, described
Be arranged with the spring on ladder column, the bottom rear of the auxiliary walking frame body is provided with installation groove, the wheel seat can on
For the flexible limit of lower fine tuning in the installation groove, the roof of the installation groove is provided with force seat, on the force seat
It is pasted with pressure sensor, the upper end of the spring abuts against the installation groove upper wall, the lower end surface of the force seat and institute
The top end face just opposite laying for stating ladder column, is realized by pressure of the force seat to the ladder column to detection pressure value
Pressure detecting.
Further, preferably, the auxiliary walking frame body includes the first C word ring, the 2nd C word ring, wherein described first
It is provided with the 2nd C word ring below C word ring, and passes through three adjustable telescopic props between the first C word ring and the 2nd C word ring
Support is fixed, and the open at one end of the first C word ring is fixed with fixed column, and the other end of the opening of the first C word ring is corresponding solid
Be provided with limit band at the position of fixed column, the end of the limit band is fixed with lantern ring, the lantern ring and speed search fixed column be can
The engaging of disassembly is arranged.
Further, preferably, the front walking wheel mechanism includes that the orientation shifting of the 2nd C word ring lower end surface is arranged in
Driving wheel, the rear walking wheel mechanism include the rear walking wheel that the 2nd C word ring lower end surface is arranged in, the front walking wheel braking
Mechanism includes brake disc and the brake system that matches with brake disc.
Further, preferably, the brake system uses pneumatic braking system, and the pneumatic braking system is to described
Brake disc applies aerodynamic force, and the brake disc under the action of aerodynamic force brakes the displacement wheel.
Further, preferably, being in the handle of opposition setting there are two the upper surface settings of the first C word ring, and the
The lower surface of one C word ring is fixed with seat band, and one end of the seat band is fixed with safety buckle sub-buckle.
Further, preferably, the side of the lower surface respective seat band of the first C word ring is provided with safety buckle female thread,
Safety buckle female thread is adapted with safety buckle sub-buckle.
Further, preferably, auxiliary walking frame body, the front walking wheel machine of leg Rehabilitation auxiliary walking aid device
Structure and rear walking wheel mechanism are all made of carbon fibre material or light metal alloys material is made.
Compared with prior art, the beneficial effects of the present invention are:
(1) controller of the present invention can according to the distance measurement value of the pressure value and ranging mechanism of testing agency's detection after described come
It controls the front walking wheel arrestment mechanism and brake operating is carried out to the front walking wheel mechanism, in this way, can be very good according to making
The walking step of user carries out walk help, and the present invention controls step pitch using ranging mechanism, the pressure of rear testing agency's detection
When value is from lower than a certain changes of threshold for more than pressure given threshold, ranging mechanism carries out range operation initially as starting point, and
When the distance that the ranging mechanism is surveyed reaches step pitch setting walking threshold value, controller controls front walking wheel arrestment mechanism and carries out
Brake operating, this structure of the invention can carry out stable control to the walking of user, effectively improve walk help effect, auxiliary
Help rehabilitation；
(2) ingenious in design, easy to use, safety with higher of the invention, can fill walk help by brake system
The speed set is controlled, and security protection is increased, meanwhile, when training has been tired out, safety buckle sub-buckle is inserted into safety buckle
In female thread, seat band can be with stress at this time, and patient's seat can do rest appropriate above, so that patient strikes a proper balance between work and rest, promote health
Multiple effect.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that a kind of leg Rehabilitation assists walking aid device；
Fig. 2 is the structural schematic diagram that a kind of leg Rehabilitation assists brake system in walking aid device；
Fig. 3 is the structural schematic diagram that a kind of leg Rehabilitation assists pneumatic structure in walking aid device；
Fig. 4 is the structural schematic diagram that a kind of leg Rehabilitation assists the first arrestment mechanism in walking aid device；
Fig. 5 is rear testing agency's structural schematic diagram that a kind of leg Rehabilitation assists walking aid device.
Specific embodiment
Please refer to Fig. 1~5, in the embodiment of the present invention, a kind of leg Rehabilitation auxiliary walking aid device, including secondary row
Walk frame body, bandage mechanism, front walking wheel mechanism and rear walking wheel mechanism, wherein the upper and lower part of the auxiliary walking frame body
It is ring structure, and the top of the auxiliary walking frame body is provided with the bandage mechanism, which utilizes and tie up
Band structure, which is tied up, to be located on the shank of user, and the foot of user and calf are set in the ring structure；It is described auxiliary
Helping the front side of walking frame body to be arranged, there are two the front walking wheel mechanism being arranged symmetrically, the rear sides and face of the auxiliary walking frame body
The midline position of Liang Ge front walking wheel mechanism is provided with the rear walking wheel mechanism；It is characterized in that,
It further includes controller, front walking wheel arrestment mechanism, rear testing agency and ranging mechanism, and the rear testing agency sets
It sets in the rear walking wheel mechanism, and is able to detect the pressure that the auxiliary walking frame body is applied in the rear walking wheel mechanism
Power；The front walking wheel arrestment mechanism is arranged in the front walking wheel mechanism, to make to the front walking wheel mechanism
Act industry；The ranging mechanism is arranged in the front walking wheel mechanism, so as to the Forward distance to the front walking wheel mechanism
It is detected；The front walking wheel arrestment mechanism, rear testing agency and ranging mechanism are controlled with the controller and are connected, and institute
The preceding walking can be controlled according to the distance measurement value of the pressure value of rear testing agency's detection and ranging mechanism by stating controller
It takes turns arrestment mechanism and brake operating is carried out to the front walking wheel mechanism.
In the present embodiment, the ranging mechanism is using the encoder for detecting the front walking wheel rotational angle, the control
Device structure processed is set as: the pressure value of testing agency's detection is from being more than pressure given threshold lower than a certain changes of threshold when described after
When, the ranging mechanism carries out range operation initially as starting point, and the distance that the ranging mechanism is surveyed reaches step pitch setting
When threshold value of walking, the controller controls the front walking wheel arrestment mechanism and carries out brake operating.
As preferred embodiment, the pressure given threshold and step pitch given threshold are adjustable setting.
Wherein, the rear testing agency includes pressure sensor 16, spring 15 and wheel seat 14, wherein the rear walking wheel
The upper end of the rear walking wheel 11 of mechanism is fixedly mounted on the wheel seat, and the top of the wheel seat is provided with ladder column, the rank
Be arranged with the spring 15 on cleat stanchion, the bottom rear of the auxiliary walking frame body is provided with installation groove, the wheel seat can on
For the flexible limit of lower fine tuning in the installation groove, the roof of the installation groove is provided with force seat, on the force seat
Be pasted with pressure sensor 16, the upper end of the spring abuts against the installation groove upper wall, the lower end surface of the force seat with
The top end face of the ladder column is just opposite to be laid, and is realized by pressure of the force seat to the ladder column to detection pressure
The pressure detecting of value.
In the present invention, the auxiliary walking frame body includes the first C word ring 1, the 2nd C word ring 10, wherein the first C
The lower section of word ring 1 is provided with the 2nd C word ring 10, and adjustable is stretched between the first C word ring 1 and the 2nd C word ring 10 by three
The support of contracting pillar 12 is fixed, and the open at one end of the first C word ring 1 is fixed with fixed column 4, and the opening of the first C word ring 1 is another
One end corresponds to and is provided with limit band 6 at the position of fixed column 4, and the end of the limit band 6 is fixed with lantern ring 5, the lantern ring 5 with
It is dismountable engaging setting that speed, which searches fixed column 4,.
The front walking wheel mechanism includes the displacement wheel 7 that 10 lower end surface of the 2nd C word ring is arranged in, the rear row
Zou Lun mechanism includes the rear walking wheel 11 that 10 lower end surface of the 2nd C word ring is arranged in, and the front walking wheel arrestment mechanism includes
Brake disc 8 and the brake system 9 matched with brake disc 8.
The brake system 9 uses pneumatic braking system, and the pneumatic braking system applies pneumatically the brake disc 8
Power, the brake disc 8 under the action of aerodynamic force brake the displacement wheel 7.
Specifically, the brake system 9 includes air pressure mechanism 91, the first arrestment mechanism 92 and the second arrestment mechanism 93, institute
Stating air pressure mechanism 91 further includes first piston cylinder 912, and the outlet side of the first piston cylinder 912 is connected with gas transmission supervisor 915, and
First piston cylinder 912 is internally provided with first piston 916, and the first piston 916 is fixedly arranged above First piston bar
911, the upper end of the First piston bar 911 is fixed with button 910, and the lower section of the gas transmission supervisor 915 is provided with two difference
The gas transmission branch pipe 913 being connected with the first arrestment mechanism 92 and the second arrestment mechanism 93, and gas transmission supervisor 915 and gas transmission branch pipe 913
Between by threeway 914 be connected
First arrestment mechanism 92 is identical as the structure of the second arrestment mechanism 93, and the first arrestment mechanism 92 includes connection
Bar 922, the upper end of the connecting rod 922 are provided with the fixed disk 921 being connected with the 2nd C word ring 10, and the lower section of connecting rod 922
It is fixed with the bracket 923 in " Qian " font, the inside of the bracket 923 is provided with brake block 926, and the inside of bracket 923
It is provided with second piston cylinder 928 at the position of corresponding brake block 926, the bracket 923 is internally provided with and second piston cylinder
928 gas distribution channels 924 being connected, the second piston cylinder 928 are internally provided with second piston 925, the second piston
925 one end is provided with second piston bar 927, and bracket 923 and 926 phase of brake block are run through in one end of the second piston bar 927
Even.In addition, the inside of the fixed disk 921 and connecting rod 922 is provided with through-hole, the upper surface of the bracket 923 is provided with
The connector being connected with gas distribution channel 924, connector pass through through-hole and are connected with one end of gas transmission branch pipe 913.
Wherein, the handle 2 being arranged there are two the upper surface settings of the first C word ring 1 in opposition, and the first C word ring 1
Lower surface is fixed with a band 3, and one end of the seat band 3 is fixed with safety buckle sub-buckle 13.The lower surface pair of the first C word ring 1
The side of a band 3 is answered to be provided with safety buckle female thread, safety buckle female thread is adapted with safety buckle sub-buckle 13.The leg Rehabilitation is used
Auxiliary walking frame body, front walking wheel mechanism and the rear walking wheel mechanism of auxiliary walking aid device are all made of carbon fibre material or lightweight
Metal alloy compositions are made.
Controller of the present invention can be controlled according to the distance measurement value of the pressure value of rear testing agency's detection and ranging mechanism
It makes the front walking wheel arrestment mechanism and brake operating is carried out to the front walking wheel mechanism, in this way, can be very good according to using
The walking step of person carries out walk help, and the present invention controls step pitch using ranging mechanism, the pressure value of rear testing agency's detection
When from lower than a certain changes of threshold for more than pressure given threshold, ranging mechanism carries out range operation, and institute initially as starting point
State the distance that ranging mechanism is surveyed reach step pitch setting walking threshold value when, controller i.e. control front walking wheel arrestment mechanism system
Dynamic operation, this structure of the invention can carry out stable control to the walking of user, effectively improve walk help effect, assist
Rehabilitation；Ingenious in design, easy to use, safety with higher of the invention, can be to the speed of walking aid device by brake system
Degree is controlled, and security protection is increased, meanwhile, when training has been tired out, safety buckle sub-buckle is inserted into safety buckle female thread,
Seat band can be with stress at this time, and patient's seat can do rest appropriate above, so that patient strikes a proper balance between work and rest, promote rehabilitation efficacy
It is above-described, it is merely preferred embodiments of the present invention, but protection scope of the present invention is not limited to
This, anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention
And its inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of leg Rehabilitation auxiliary walking aid device, including auxiliary walking frame body, bandage mechanism, front walking wheel mechanism and
Rear walking wheel mechanism, wherein the upper and lower part of the auxiliary walking frame body is ring structure, and the auxiliary walking frame body
Top be provided with the bandage mechanism, which is tied up on the shank for being located at user using strap configurations, and is made
The foot of user and calf are set in the ring structure；There are two symmetrical cloth for the front side setting of the auxiliary walking frame body
The front walking wheel mechanism set, the rear side of the auxiliary walking frame body and the midline position of face Liang Ge front walking wheel mechanism are provided with
The rear walking wheel mechanism；It is characterized in that,
It further includes controller, front walking wheel arrestment mechanism, rear testing agency and ranging mechanism, and rear testing agency's setting exists
In the rear walking wheel mechanism, and it is able to detect the pressure that the auxiliary walking frame body is applied in the rear walking wheel mechanism；
The front walking wheel arrestment mechanism is arranged in the front walking wheel mechanism, to make to the front walking wheel mechanism
Act industry；The ranging mechanism is arranged in the front walking wheel mechanism, so as to the Forward distance to the front walking wheel mechanism
It is detected；
The front walking wheel arrestment mechanism, rear testing agency and ranging mechanism are controlled with the controller and are connected, and the control
Device processed can control the front walking wheel system according to the distance measurement value of the pressure value of rear testing agency's detection and ranging mechanism
Motivation structure carries out brake operating to the front walking wheel mechanism.
2. a kind of leg Rehabilitation according to claim 1 auxiliary walking aid device, which is characterized in that the range finder
Structure is set as using the encoder for detecting the front walking wheel rotational angle, the controller structure: testing agency's detection after described
Pressure value from lower than a certain changes of threshold be more than pressure given threshold when, the ranging mechanism is surveyed initially as starting point
Away from operation, and when the distance surveyed of the ranging mechanism reaches step pitch setting walking threshold value, the controller control it is described before
Traveling wheel arrestment mechanism carries out brake operating.
3. a kind of leg Rehabilitation according to claim 1 auxiliary walking aid device, which is characterized in that the pressure is set
Determine threshold value and step pitch given threshold is adjustable setting.
4. a kind of leg Rehabilitation according to claim 1 auxiliary walking aid device, which is characterized in that detection after described
Mechanism includes pressure sensor (16), spring (15) and wheel seat (14), wherein the rear walking wheel (11) of the rear walking wheel mechanism
Upper end be fixedly mounted on the wheel seat, the top of the wheel seat is provided with ladder column, is arranged on the ladder column described
The bottom rear of spring (15), the auxiliary walking frame body is provided with installation groove, and the wheel seat can finely tune flexible limit up and down
In the installation groove, the roof of the installation groove is provided with force seat, is pasted with pressure sensing on the force seat for position
Device (16), the upper end of the spring abut against the installation groove upper wall, the lower end surface of the force seat and the ladder column
Top end face is just opposite to be laid, and realizes that the pressure to detection pressure value is examined by pressure of the force seat to the ladder column
It surveys.
5. a kind of leg Rehabilitation according to claim 1 auxiliary walking aid device, which is characterized in that the secondary row
Walking frame body includes the first C word ring (1), the 2nd C word ring (10), wherein is provided with the 2nd C word below the first C word ring (1)
Ring (10), and fixed between the first C word ring (1) and the 2nd C word ring (10) by three adjustable telescopic prop (12) supports,
The open at one end of the first C word ring (1) is fixed with fixed column (4), and the other end of the opening of the first C word ring (1) is corresponding solid
Be provided at the position of fixed column (4) limit band (6), it is described limit band (6) end be fixed with lantern ring (5), the lantern ring (5) with
It is dismountable engaging setting that speed, which searches fixed column (4),.
6. a kind of leg Rehabilitation according to claim 5 auxiliary walking aid device, which is characterized in that walking before described
Taking turns mechanism includes displacement wheel (7) of the setting in the 2nd C word ring (10) lower end surface, and the rear walking wheel mechanism includes setting
Set the rear walking wheel (11) in the 2nd C word ring (10) lower end surface, the front walking wheel arrestment mechanism include brake disc (8) with
And the brake system (9) matched with brake disc (8).
7. a kind of leg Rehabilitation according to claim 6 auxiliary walking aid device, which is characterized in that the brake system
(9) are united using pneumatic braking system, and the pneumatic braking system applies aerodynamic force, the brake disc to the brake disc (8)
(8) the displacement wheel (7) is braked under the action of aerodynamic force.
8. a kind of leg Rehabilitation according to claim 6 auxiliary walking aid device, which is characterized in that the first C
There are two the handles (2) in opposition setting for the upper surface setting of word ring (1), and the lower surface of the first C word ring (1) is fixed with seat band
(3), one end of the seat band (3) is fixed with safety buckle sub-buckle (13).
9. a kind of leg Rehabilitation according to claim 8 auxiliary walking aid device, which is characterized in that the first C
The side of the lower surface respective seat band (3) of word ring (1) is provided with safety buckle female thread, safety buckle female thread and safety buckle sub-buckle (13) phase
Adaptation.
10. a kind of leg Rehabilitation according to claim 8 auxiliary walking aid device, which is characterized in that suffer from the leg
Person's rehabilitation is all made of carbon fibre material with auxiliary walking frame body, front walking wheel mechanism and the rear walking wheel mechanism of auxiliary walking aid device
Or light metal alloys material is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910687234.0A CN110353954B (en) | 2019-07-26 | 2019-07-26 | Auxiliary walking aid for rehabilitation of leg patients |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910687234.0A CN110353954B (en) | 2019-07-26 | 2019-07-26 | Auxiliary walking aid for rehabilitation of leg patients |
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| CN110353954B CN110353954B (en) | 2021-05-28 |
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| CN201910687234.0A Active CN110353954B (en) | 2019-07-26 | 2019-07-26 | Auxiliary walking aid for rehabilitation of leg patients |
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| CN112690795A (en) * | 2020-12-22 | 2021-04-23 | 四川大学华西医院 | Accurate strength sensing device for lower limb load bearing |
| CN112807190A (en) * | 2020-12-28 | 2021-05-18 | 四川大学华西医院 | Recovered intelligent auxiliary system of using of spinal cord injury |
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| CN110353954B (en) | 2021-05-28 |
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