CN110353954B - Auxiliary walking aid for rehabilitation of leg patients - Google Patents
Auxiliary walking aid for rehabilitation of leg patients Download PDFInfo
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- CN110353954B CN110353954B CN201910687234.0A CN201910687234A CN110353954B CN 110353954 B CN110353954 B CN 110353954B CN 201910687234 A CN201910687234 A CN 201910687234A CN 110353954 B CN110353954 B CN 110353954B
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- 230000007246 mechanism Effects 0.000 claims abstract description 142
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 210000002414 leg Anatomy 0.000 claims description 24
- 210000001699 lower leg Anatomy 0.000 claims description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 229910001092 metal group alloy Inorganic materials 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 2
- 238000005259 measurement Methods 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 210000002683 foot Anatomy 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 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
-
- 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
- A61H2003/046—Wheeled walking aids for patients or 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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of leg rehabilitation training devices, and a controller can control a front walking wheel braking mechanism to brake a front walking wheel mechanism according to a pressure value detected by a rear detection mechanism and a distance measurement value of a distance measurement mechanism, so that walking can be well performed according to walking pace of a user.
Description
Technical Field
The invention relates to the technical field of leg rehabilitation training instruments, in particular to an auxiliary walking aid device for rehabilitation of a leg patient.
Background
The ankle is injured or the inconvenient problem of walking can appear after the operation, consequently needs an auxiliary device to come the cooperation to use in later stage rehabilitation training, and the convenient recovered condition that improves the patient, another convenience also provides safety protection for patient's training. The walking aid device of present supplementary helps capable device generally adopts the capable frame that has the wheel body to go on, and this kind of structure is generally provided with braking system in order to guarantee safety, but to ankle wounded, if adopt the hand to carry out the brake operation, the user is difficult to hold step pitch and cadence, leads to the foot to land very easily, causes injured part to produce the damage etc. and then leads to recovered delay, influences recovered effect. Moreover, exercise cannot be performed according to pace.
Therefore, the invention provides an auxiliary walking aid device for rehabilitation of a leg patient, which solves the problems in the background technology.
Disclosure of Invention
The invention aims to provide an auxiliary walking aid device for rehabilitation of a leg patient, which solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an auxiliary walking aid device for rehabilitation of patients with legs comprises an auxiliary walking frame body, a binding band mechanism, a front walking wheel mechanism and a rear walking wheel mechanism, wherein the upper part and the lower part of the auxiliary walking frame body are both of annular structures, the binding band mechanism is arranged on the upper part of the auxiliary walking frame body, the auxiliary walking aid device is bound on the crus of a user by utilizing the binding band structure, and the feet and the crus of the user are sleeved in the annular structures; the front side of the auxiliary walking frame body is provided with two front walking wheel mechanisms which are symmetrically arranged, and the central line position of the rear side of the auxiliary walking frame body, which is opposite to the two front walking wheel mechanisms, is provided with the rear walking wheel mechanism; it is characterized in that the preparation method is characterized in that,
the device also comprises a controller, a front travelling wheel braking mechanism, a rear detection mechanism and a distance measuring mechanism, wherein the rear detection mechanism is arranged on the rear travelling wheel mechanism and can detect the pressure applied on the rear travelling wheel mechanism by the auxiliary travelling frame body;
the front road wheel braking mechanism is arranged on the front road wheel mechanism so as to brake the front road wheel mechanism; the distance measuring mechanism is arranged on the front travelling wheel mechanism so as to detect the forward movement distance of the front travelling wheel mechanism;
front running wheel arrestment mechanism, back detection mechanism and range finding mechanism all with controller control connection, just the controller can be according to the pressure value that back detection mechanism detected and the range finding value of range finding mechanism control front running wheel arrestment mechanism is right front running wheel mechanism carries out braking operation.
Further, preferably, the distance measuring mechanism employs an encoder that detects a rotation angle of the front road wheel mechanism, and the controller is configured to: when the pressure value that back detection mechanism detected changes for exceeding the pressure and sets for the threshold value from being less than a certain threshold value, range finding mechanism begins to carry out the range finding operation as the starting point, just when the distance that range finding mechanism surveyed reaches the stride and sets for the walking threshold value, the controller controls promptly front road wheel brake mechanism carries out braking operation.
Further, preferably, the pressure setting threshold and the step setting walking threshold are both adjustable.
Further, as preferred, the rear detection mechanism comprises a pressure sensor, a spring and a wheel seat, wherein the upper end of the rear travelling wheel mechanism is fixedly mounted on the wheel seat, a stepped column is arranged on the upper portion of the wheel seat, the spring is sleeved on the stepped column, a mounting groove is formed in the rear side of the bottom of the auxiliary travelling frame body, the wheel seat can be vertically finely adjusted and stretched and limited in the mounting groove, a force application seat is arranged on the top wall of the mounting groove, the pressure sensor is adhered to the force application seat, the upper end of the spring abuts against the upper wall of the mounting groove, the lower end face of the force application seat and the top end face of the stepped column are just oppositely arranged, and pressure detection for detecting a pressure value is realized through the pressure of the stepped column by the force application seat.
Further, as preferred, supplementary walking support body includes first C word ring, second C word ring, wherein, the below of first C word ring is provided with second C word ring, and supports fixedly between first C word ring and the second C word ring through three adjustable flexible pillars, the opening one end of first C word ring is fixed with the fixed column, and the open-ended other end of first C word ring corresponds the position department of fixed column and is provided with the spacing area, the end fixing of spacing area has the lantern ring, the lantern ring with the fixed column is the setting of detachable block.
Further, as preferred, preceding running wheel mechanism is including setting up the directional removal wheel of terminal surface under the second C style of calligraphy ring, back running wheel mechanism is including setting up the back walking wheel of terminal surface under the second C style of calligraphy ring, preceding running wheel arrestment mechanism include the brake disc and with brake disc matched with braking system.
Further, as preferred, braking system adopts pneumatic braking system, just pneumatic braking system is right the aerodynamic force is applyed to the brake disc, the brake disc is right under the effect of aerodynamic force directional moving wheel carries out the braking.
Further, as preferred, the upper surface of first C word ring is provided with two handles that are opposite setting, and the lower surface of first C word ring is fixed with the seatbelt, the one end of seatbelt is fixed with safety button and detains.
Further, as preferred, the lower surface of first C style of calligraphy ring corresponds one side of seatbelt and is provided with the safety button box, and the safety button box is buckled mutually with the safety button son and is buckled mutually.
Preferably, the auxiliary walking frame body, the front walking wheel mechanism and the rear walking wheel mechanism of the auxiliary walking aid device for leg patient recovery are all made of carbon fiber materials or light metal alloy materials.
Compared with the prior art, the invention has the beneficial effects that:
(1) the controller can control the front walking wheel braking mechanism to brake the front walking wheel mechanism according to the pressure value detected by the rear detection mechanism and the distance measurement value of the distance measurement mechanism, so that walking can be well carried out according to the walking pace of a user;
(2) the walking aid device is ingenious in design, convenient to use and high in safety, the speed of the walking aid device can be controlled through the brake system, safety protection is increased, meanwhile, under the condition that training is tired, the safety buckle is inserted into the safety buckle female buckle, the seat belt can bear force, a patient can sit on the seat belt to have a proper rest, the patient can work and rest, and the recovery effect is promoted.
Drawings
FIG. 1 is a schematic structural view of an auxiliary walking aid device for rehabilitation of a leg patient;
FIG. 2 is a schematic view of a brake system of an auxiliary walker device for rehabilitation of a patient with legs;
FIG. 3 is a schematic view of the pneumatic structure of the auxiliary walking aid device for the rehabilitation of the leg patient;
FIG. 4 is a schematic structural diagram of a first brake mechanism of an auxiliary walking device for rehabilitation of a leg patient;
FIG. 5 is a schematic structural view of a rear detection mechanism of an auxiliary walking aid device for rehabilitation of a leg patient.
Detailed Description
Referring to fig. 1 to 5, in an embodiment of the present invention, an auxiliary walking aid device for rehabilitation of a leg patient includes an auxiliary walking frame body, a binding band mechanism, a front walking wheel mechanism and a rear walking wheel mechanism, wherein the upper part and the lower part of the auxiliary walking frame body are both in an annular structure, the binding band mechanism is disposed on the upper part of the auxiliary walking frame body, the auxiliary walking aid device is bound on the lower leg of a user by using the binding band structure, and the foot and the lower leg of the user are sleeved in the annular structure; the front side of the auxiliary walking frame body is provided with two front walking wheel mechanisms which are symmetrically arranged, and the central line position of the rear side of the auxiliary walking frame body, which is opposite to the two front walking wheel mechanisms, is provided with the rear walking wheel mechanism; it is characterized in that the preparation method is characterized in that,
the device also comprises a controller, a front travelling wheel braking mechanism, a rear detection mechanism and a distance measuring mechanism, wherein the rear detection mechanism is arranged on the rear travelling wheel mechanism and can detect the pressure applied on the rear travelling wheel mechanism by the auxiliary travelling frame body; the front road wheel braking mechanism is arranged on the front road wheel mechanism so as to brake the front road wheel mechanism; the distance measuring mechanism is arranged on the front travelling wheel mechanism so as to detect the forward movement distance of the front travelling wheel mechanism; front running wheel arrestment mechanism, back detection mechanism and range finding mechanism all with controller control connection, just the controller can be according to the pressure value that back detection mechanism detected and the range finding value of range finding mechanism control front running wheel arrestment mechanism is right front running wheel mechanism carries out braking operation.
In this embodiment, the distance measuring mechanism employs an encoder that detects the rotation angle of the front road wheel mechanism, and the controller mechanism is set to: when the pressure value that back detection mechanism detected changes for exceeding the pressure and sets for the threshold value from being less than a certain threshold value, range finding mechanism begins to carry out the range finding operation as the starting point, just when the distance that range finding mechanism surveyed reaches the stride and sets for the walking threshold value, the controller controls promptly front road wheel brake mechanism carries out braking operation.
In a preferred embodiment, the pressure setting threshold and the step setting walking threshold are both adjustable settings.
The rear detection mechanism comprises a pressure sensor 16, a spring 15 and a wheel seat 14, wherein the upper end of a rear travelling wheel 11 of the rear travelling wheel mechanism is fixedly mounted on the wheel seat, a stepped column is arranged on the upper portion of the wheel seat, the spring 15 is sleeved on the stepped column, a mounting groove is formed in the rear side of the bottom of the auxiliary travelling frame body, the wheel seat can be limited in the mounting groove in a vertically fine-adjustment telescopic mode, a force application seat is arranged on the top wall of the mounting groove, the pressure sensor 16 is adhered to the force application seat, the upper end of the spring abuts against the upper wall of the mounting groove, the lower end face of the force application seat and the top end face of the stepped column are arranged right oppositely, and pressure detection of pressure values is achieved through the pressure application seat on the stepped column.
In the invention, the auxiliary walking frame body comprises a first C-shaped ring 1 and a second C-shaped ring 10, wherein the second C-shaped ring 10 is arranged below the first C-shaped ring 1, the first C-shaped ring 1 and the second C-shaped ring 10 are supported and fixed through three adjustable telescopic struts 12, a fixed column 4 is fixed at one open end of the first C-shaped ring 1, a limiting belt 6 is arranged at the position, corresponding to the fixed column 4, of the other open end of the first C-shaped ring 1, a lantern ring 5 is fixed at the end part of the limiting belt 6, and the lantern ring 5 and the fixed column 4 are detachably clamped.
Front walking wheel mechanism is including setting up the directional removal wheel 7 of terminal surface under the second C style of calligraphy ring 10, back walking wheel mechanism is including setting up the back walking wheel 11 of terminal surface under the second C style of calligraphy ring 10, front walking wheel arrestment mechanism includes brake disc 8 and with 8 matched with braking system 9 of brake disc.
Specifically, the braking system 9 includes a pneumatic mechanism 91, a first braking mechanism 92 and a second braking mechanism 93, the pneumatic mechanism 91 further includes a first piston cylinder 912, an air outlet end of the first piston cylinder 912 is connected with an air transmission main pipe 915, a first piston 916 is arranged inside the first piston cylinder 912, a first piston rod 911 is fixed above the first piston 916, a button 910 is fixed at the upper end of the first piston rod 911, two air transmission branch pipes 913 connected with the first braking mechanism 92 and the second braking mechanism 93 respectively are arranged below the air transmission main pipe 915, and the air transmission main pipe 915 and the air transmission branch pipes 913 are connected through a tee joint 914
The upper surface of the first C-shaped ring 1 is provided with two handles 2 which are oppositely arranged, the lower surface of the first C-shaped ring 1 is fixed with a seat belt 3, and one end of the seat belt 3 is fixed with a safety buckle 13. One side that the lower surface of first C style of calligraphy ring 1 corresponds seat area 3 is provided with safe knot box, and safe knot box is detained 13 looks adaptations with safe knot. The auxiliary walking frame body, the front walking wheel mechanism and the rear walking wheel mechanism of the auxiliary walking aid device for the rehabilitation of the leg patients are all made of carbon fiber materials or light metal alloy materials.
The controller can control the front walking wheel braking mechanism to brake the front walking wheel mechanism according to the pressure value detected by the rear detection mechanism and the distance measurement value of the distance measurement mechanism, so that walking can be well carried out according to the walking pace of a user; the walking aid device has the advantages of ingenious design, convenience in use and higher safety, the speed of the walking aid device can be controlled through the brake system, the safety protection is increased, meanwhile, under the condition that the training is tired, the safety buckle button is inserted into the safety buckle female button, the seat belt can be stressed, and a patient can sit on the seat belt to have a proper rest, so that the patient can be combined with work and rest, and the rehabilitation effect is promoted
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (9)
1. An auxiliary walking aid device for rehabilitation of patients with legs comprises an auxiliary walking frame body, a binding band mechanism, a front walking wheel mechanism and a rear walking wheel mechanism, wherein the upper part and the lower part of the auxiliary walking frame body are both of annular structures, the binding band mechanism is arranged on the upper part of the auxiliary walking frame body, the auxiliary walking aid device is bound on the crus of a user by utilizing the binding band structure, and the feet and the crus of the user are sleeved in the annular structures; the front side of the auxiliary walking frame body is provided with two front walking wheel mechanisms which are symmetrically arranged, and the central line position of the rear side of the auxiliary walking frame body, which is opposite to the two front walking wheel mechanisms, is provided with the rear walking wheel mechanism; it is characterized in that the preparation method is characterized in that,
the device also comprises a controller, a front travelling wheel braking mechanism, a rear detection mechanism and a distance measuring mechanism, wherein the rear detection mechanism is arranged on the rear travelling wheel mechanism and can detect the pressure applied on the rear travelling wheel mechanism by the auxiliary travelling frame body;
the front road wheel braking mechanism is arranged on the front road wheel mechanism so as to brake the front road wheel mechanism; the distance measuring mechanism is arranged on the front travelling wheel mechanism so as to detect the forward movement distance of the front travelling wheel mechanism;
the front travelling wheel braking mechanism, the rear detection mechanism and the distance measuring mechanism are in control connection with the controller, and the controller can control the front travelling wheel braking mechanism to brake the front travelling wheel mechanism according to the pressure value detected by the rear detection mechanism and the distance measuring value of the distance measuring mechanism;
the distance measuring mechanism adopts an encoder for detecting the rotation angle of the front road wheel mechanism, and the controller mechanism is set as: when the pressure value that back detection mechanism detected changes for exceeding the pressure and sets for the threshold value from being less than a certain threshold value, range finding mechanism begins to carry out the range finding operation as the starting point, just when the distance that range finding mechanism surveyed reaches the stride and sets for the walking threshold value, the controller controls promptly front road wheel brake mechanism carries out braking operation.
2. The walking aid device for assisting in the rehabilitation of patients with legs of claim 1, wherein the pressure setting threshold and the step setting walking threshold are both adjustable settings.
3. The auxiliary walking aid device for leg patient rehabilitation according to claim 1, the rear detection mechanism comprises a pressure sensor (16), a spring (15) and a wheel seat (14), wherein the upper end of a rear travelling wheel (11) of the rear travelling wheel mechanism is fixedly arranged on the wheel seat, the upper part of the wheel seat is provided with a step column, the step column is sleeved with the spring (15), the rear side of the bottom of the auxiliary walking frame body is provided with an installation groove, the wheel seat can be finely adjusted up and down and is limited in the installation groove in a telescopic way, the top wall of the mounting groove is provided with a force application seat, a pressure sensor (16) is stuck on the force application seat, the upper end of the spring is abutted against the upper wall of the mounting groove, the lower end surface of the force application seat is just opposite to the top end surface of the stair column, and the pressure detection of the detected pressure value is realized through the pressure of the force application seat on the stair column.
4. The auxiliary walking aid device for the rehabilitation of the leg patient according to claim 1, wherein the auxiliary walking frame body comprises a first C-shaped ring (1) and a second C-shaped ring (10), the second C-shaped ring (10) is arranged below the first C-shaped ring (1), the first C-shaped ring (1) and the second C-shaped ring (10) are supported and fixed through three adjustable telescopic pillars (12), a fixing column (4) is fixed at one end of an opening of the first C-shaped ring (1), a limiting belt (6) is arranged at the position, corresponding to the fixing column (4), of the other end of the opening of the first C-shaped ring (1), a lantern ring (5) is fixed at the end of the limiting belt (6), and the lantern ring (5) and the fixing column (4) are detachably clamped.
5. The auxiliary walking aid device for the rehabilitation of the leg patients as claimed in claim 4, wherein the front walking wheel mechanism comprises a directional moving wheel (7) arranged on the lower end face of the second C-shaped ring (10), the rear walking wheel mechanism comprises a rear walking wheel (11) arranged on the lower end face of the second C-shaped ring (10), and the front walking wheel braking mechanism comprises a brake disc (8) and a brake system (9) matched with the brake disc (8).
6. The auxiliary walking aid device for leg patient rehabilitation according to claim 5, characterized in that the brake system (9) is a pneumatic brake system, and the pneumatic brake system applies pneumatic force to the brake disc (8), and the brake disc (8) brakes the directional moving wheel (7) under the action of the pneumatic force.
7. The auxiliary walking aid device for the rehabilitation of the leg patients according to claim 5, wherein the upper surface of the first C-shaped ring (1) is provided with two handles (2) which are oppositely arranged, the lower surface of the first C-shaped ring (1) is fixed with a seat belt (3), and one end of the seat belt (3) is fixed with a safety buckle (13).
8. The auxiliary walking aid device for the rehabilitation of the leg patients according to claim 7, wherein a safety buckle female buckle is arranged on one side of the lower surface of the first C-shaped ring (1) corresponding to the seat belt (3), and the safety buckle female buckle is matched with the safety buckle male buckle (13).
9. The auxiliary walking aid device for the rehabilitation of the leg patients as claimed in claim 7, wherein the auxiliary walking frame body, the front walking wheel mechanism and the rear walking wheel mechanism of the auxiliary walking aid device for the rehabilitation of the leg patients are all made of carbon fiber materials or light metal alloy materials.
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| Application Number | Priority Date | Filing Date | Title |
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| 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 |
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| CN201910687234.0A CN110353954B (en) | 2019-07-26 | 2019-07-26 | Auxiliary walking aid for rehabilitation of leg patients |
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| CN110353954A CN110353954A (en) | 2019-10-22 |
| CN110353954B true CN110353954B (en) | 2021-05-28 |
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| CN112690795B (en) * | 2020-12-22 | 2022-05-20 | 四川大学华西医院 | Accurate force sensing device for lower limb load bearing |
| CN112807190B (en) * | 2020-12-28 | 2022-10-21 | 四川大学华西医院 | Recovered intelligent auxiliary system of using of spinal cord injury |
| CN113712788B (en) | 2021-08-13 | 2022-06-28 | 浙江益恒悦医疗科技有限公司 | Anti-falling control method of intelligent walking aid, intelligent walking aid and controller |
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| CN101332145B (en) * | 2008-07-18 | 2010-08-11 | 西安交通大学 | Friendly walking-aid robot |
| CN101803988B (en) * | 2010-04-14 | 2011-06-29 | 华中科技大学 | Multifunctional intelligent rehabilitation robot for assisting stand and walk |
| DE202012011634U1 (en) * | 2012-12-04 | 2013-02-13 | Stefan Dengler | Motorized rollator with automatic braking function and intuitive control |
| US20150090308A1 (en) * | 2013-09-27 | 2015-04-02 | Remco Bos | Walker assembly and method of use to assist a seated person to rise to a standing position |
| CN207590934U (en) * | 2017-04-27 | 2018-07-10 | 河南中医药大学 | A kind of ambulation training device |
| CN107184376A (en) * | 2017-06-08 | 2017-09-22 | 四川大学华西医院 | Walking aid |
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