CN110478196B - Lower limb rehabilitation training robot - Google Patents
Lower limb rehabilitation training robot Download PDFInfo
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- CN110478196B CN110478196B CN201910886232.4A CN201910886232A CN110478196B CN 110478196 B CN110478196 B CN 110478196B CN 201910886232 A CN201910886232 A CN 201910886232A CN 110478196 B CN110478196 B CN 110478196B
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- 238000012549 training Methods 0.000 title claims abstract description 48
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 230000033001 locomotion Effects 0.000 claims abstract description 57
- 230000005021 gait Effects 0.000 claims description 20
- 210000002683 foot Anatomy 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 210000003414 extremity Anatomy 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 210000003205 muscle Anatomy 0.000 claims description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 125000004122 cyclic group Chemical group 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 3
- 230000000875 corresponding effect Effects 0.000 abstract 1
- 210000003423 ankle Anatomy 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 208000028389 Nerve injury Diseases 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 210000001872 metatarsal bone Anatomy 0.000 description 2
- 230000008764 nerve damage Effects 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 206010023201 Joint contracture Diseases 0.000 description 1
- 208000020339 Spinal injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 208000029028 brain injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000000689 upper leg 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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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 belongs to the field of rehabilitation medical instruments, and particularly designs a lower limb rehabilitation training robot which comprises a supporting mechanism, a rehabilitation movement mechanism, a driving system and the like, wherein the supporting mechanism mainly comprises a base, a tailstock and a guide rail; the rehabilitation motion mechanism consists of a crank rocker mechanism, a cam rocker mechanism and a rocker slider mechanism. The motion principle of the four-bar mechanism and the cam swing-bar mechanism is fully utilized to complete the main training task, and the lower limbs of the patient are driven to generate different training modes and lower limb motion trail paths which are easy to zoom. The training mode includes active training and passive training. The structure has the advantages of flexible movement, stability, reliability, simple appearance and low price. The lower limb movement track path simulates the action posture of a real lower limb, helps a patient to accurately complete corresponding actions in life, and has wide market application prospect.
Description
Technical Field
The invention belongs to the field of rehabilitation medical instruments, and particularly designs a lower limb rehabilitation training robot which can be used for early rehabilitation of patients with central nerve injuries such as cerebrovascular diseases, brain or spinal injuries and the like.
Background
With the continuous development of science and technology, great breakthroughs are made in the above-mentioned subject fields, and the development of the medical apparatus field is also being advanced in a systematic way. The lower limb rehabilitation training robot has been widely paid attention, researched and developed in various countries in the world as a hot research direction in the field of medical instruments in recent years.
In recent years, the rehabilitation training robot has more and more advantages in a way of performing scientific and effective rehabilitation training on patients. The early development of rehabilitation training not only can maintain the range of joint movement and prevent joint contracture, but also can obviously improve the final recovery degree of the motion function of a patient. Wherein the passive training is a basic method in limb movement rehabilitation training therapy.
The existing gait rehabilitation training robot generally realizes the simulation of human gait through the swinging of thighs, shanks and ankles, ignores the different step lengths, has different rehabilitation training effects on the muscle motor function of the legs and different postures of the ankles in different periods, and more importantly ignores the key role played by phalangeal joints in the whole rehabilitation training process. A perfect set of gaits must allow the patient to perform correctly on foot with ease and for a long period of time to achieve the desired result of rehabilitation training.
At present, a few exoskeleton type lower limb rehabilitation robots can approximately reproduce normal walking gait of healthy limbs of a normal human body, however, walking tracks of most of the joint-driven lower limb rehabilitation training robots at metatarsal bones of ankles have certain deviation with the normal walking gait track of the human body. Therefore, the patient does not conform to the normal gait after using the rehabilitation training mechanism for a long time, the movement mode of the muscle is greatly different from the movement mode under the original healthy state, and the rehabilitation training effect is influenced finally.
In order to solve the defects of the prior art, the novel lower limb rehabilitation training robot capable of realizing the normal gait track is provided, the novel lower limb rehabilitation training robot can meet the physical characteristics of a rehabilitation trainer, and aims to solve the problem that the rehabilitation training gait track is not consistent with the natural gait track, so that the novel lower limb rehabilitation training robot can generate the standard gait track matched with the rehabilitation trainer, and the rehabilitation training action of the whole lower limb is completed by driving the foot to move.
Structurally, the rehabilitation training device is simple, can complete rehabilitation training actions by one motor, is low in cost and is suitable for common families. The exercise is more comfortable, and the lower limb swinging of the rehabilitation trainer is more natural due to the design for meeting the human engineering.
On the whole, require the performance more stable, reduce because the friction and the energy that consumes, the part design alone alleviates the weight of single part, and the installation back, the arrangement structure weight of rehabilitation training robot also alleviates, can not be too heavy, can not cause too big impact force to the rehabilitation training person. Can effectively prevent secondary injury.
Disclosure of Invention
Aiming at the defects of products in the current market, the invention provides a lower limb rehabilitation training robot.
The technical scheme adopted by the invention is as follows:
the system consists of three parts, namely a supporting mechanism, a rehabilitation motion mechanism, a driving system and the like:
the supporting mechanism is characterized in that: comprises a base and a tailstock which play a role in fixing; the base and the tailstock are connected together in a welding mode, so that certain stability and movement flexibility of the movement mechanism in the movement process are guaranteed, and the fixing and positioning effects are achieved.
The rehabilitation exercise mechanism comprises: the mechanism mainly comprises a crank rocker mechanism, a cam rocker mechanism, a rocker slider mechanism and the like. The crank rocker mechanism mainly comprises the following components: a rocker, a fixed slide block, a crank and a connecting rod; the rocker sliding block mechanism consists of a long connecting rod, a pedal and the like; the cam swing link mechanism consists of a cam and a guide rail. The crank is connected with the base through the crank shaft, the crank is driven by the crank shaft to realize 360-degree circular motion, one end of the connecting rod is hinged with the crank, the other end of the connecting rod is connected with the rocker, the rocker is connected with the base through the rocker shaft, the rocker and the base are connected together in a revolute pair mode, the connecting rod is driven to move in the process that the crank carries out circular motion, and then the rocker is driven to carry out circular reciprocating swing motion within a certain angle. Two fixed sliding blocks are arranged in two sides of a groove structure of the rocker, the sliding blocks can be adjusted in the groove and fastened and assembled by bolts, one side of each sliding block, which is far away from the center of the mechanism, is hinged with a long connecting rod, the other end of each long connecting rod is hinged with a pedal, the lower part structure of each pedal is connected with the guide rail by a sliding pair, and the reciprocating swing of the rocker drives the long connecting rods to move, so that the pedals are driven to do reciprocating sliding motion back and forth on the guide rail. The rotation center of the guide rail is arranged on the guide rail shaft, the guide rail shaft and the cam are ensured to be arranged on the same axis, the front end of the guide rail is contacted with the cam in a high-pair line contact mode, and the cam drives the guide rail to move up and down around the rotation center of the cam when moving around the rotation center of the cam. The three mechanical structures are mutually matched to move, so that toe bending and dorsiflexion of the ankle joint can be realized;
the driving system is: comprises a stepping motor and V-belt pulleys arranged on a motor shaft, a crank shaft and a cam shaft; step motor control slew velocity, be equipped with the motor cabinet on the base, the motor is installed on the motor cabinet, installs two V band pulleys on the step motor, and one of them is connected with the epaxial band pulley of crank through the V area, mainly drives the motion of crank axle, and then drives the crank and realize circular motion, and another band pulley links to each other with the epaxial band pulley of camshaft, drives the camshaft motion, and then drives the cam and realizes circular motion to realize the luffing motion of guide rail.
Because the installation requirement of running-board and guide rail keep certain depth of parallelism, running-board like this can follow the guide rail and realize the reciprocating swing motion of upper and lower circulation between the certain angle. Because the foot pedal performs two movements simultaneously, a closed curve can be fitted at any point of the foot pedal, and the curve is the movement gait track path of the healthy limb of the human body.
The mechanism can generate a similar gait track, the foot can be constrained to a normal gait track path by the mechanism, the compensation is between 15.24 cm and 101.6 cm, and a full foot track which is easy to scale can be generated on the premise of ensuring that the track shape is not changed;
the scaling of the gait track path is linear, which is the easiest scaling mode, so that a therapist using the device can easily read or adjust the time proportion, and the pace frequency and the pace speed in the mechanism operation process are more suitable for a user;
the degree of motorization is high, the gait track generated by the mechanism drives the mechanical structure to move through the motor component, the motor component is very important for helping patients with low muscle strength, and the whole system can be controlled through only one motor, so that the motor is convenient to operate and control.
The working principle of the invention is as follows: the patient falls ill the initial stage and can't stand, fixes rehabilitation device and patient's low limbs, realizes the change of patient's foot angle through the motor, can realize the change of patient's gesture, adopts the mode of the direct bearing of guide rail to drive patient's low limbs and carries out the motion.
The invention has the beneficial effects that:
aiming at cardiovascular and cerebrovascular diseases, patients with central nerve injury carry out targeted lower limb rehabilitation training, the tightness degree of connection between the fixed sliding block and the rocker can be adjusted by the fixed sliding block arranged on the rocker, the fixed sliding block can move on the rocker groove by adjusting the tightness degree, the fixed sliding block moves to a fixed position to be tightly connected, and the metatarsal trajectory path copied on the pedal can be linearly zoomed. The device is suitable for wider patient groups, and fully utilizes the principle of a four-bar mechanism to complete different training tasks; the lower limb rehabilitation device can drive the lower limbs of the patient to generate different training modes and similar training tracks; the training mechanism utilizes a crank rocker mechanism, a rocker slider mechanism, a cam rocker mechanism and the like. The far east device is arranged in front, the movement is flexible, the stability and the reliability are realized, the appearance is simple, and the far east device is easy to be accepted by patients.
Drawings
FIG. 1 is a schematic front view of a lower limb rehabilitation training robot mechanism;
FIG. 2 is a schematic view of a single-leg exercise structure of a lower limb rehabilitation training robot mechanism;
FIG. 3 is a schematic view of a cam rocker mechanism;
reference numbers in the figures:
1-a rocker; 2-fixing the slide block; 3-a crank; 4-a connecting rod; 5-a long connecting rod; 6-foot pedal; 7-a guide rail; 8-tailstock;
9-guide rail shaft; 10-a cam; 11-camshaft pulley; 12-crankshaft pulley; 13-motor shaft pulley; 14-a motor; 15-base.
Detailed Description
The invention provides a lower limb rehabilitation training robot, which is further described with reference to the accompanying drawings and specific embodiments.
The structure of the invention is shown in figure 1 and mainly comprises a support mechanism, a rehabilitation exercise mechanism, a driving system and the like.
The supporting mechanism is characterized in that: comprises a base and a tailstock which play a role in fixing; the base and the tailstock are connected together in a welding mode, so that certain stability and movement flexibility of the movement mechanism in the movement process are guaranteed, and the fixing and positioning effects are achieved.
The rehabilitation exercise mechanism comprises: the mechanism mainly comprises a crank rocker mechanism, a cam rocker mechanism, a rocker slider mechanism and the like. The crank rocker mechanism mainly comprises the following components: a rocker, a fixed slide block, a crank and a connecting rod; the rocker sliding block mechanism consists of a long connecting rod, a pedal and the like; the cam swing link mechanism consists of a cam and a guide rail. The crank is connected with the base through the crank shaft, the crank is driven by the crank shaft to realize 360-degree circular motion, one end of the connecting rod is hinged with the crank, the other end of the connecting rod is connected with the rocker, the rocker is connected with the base through the rocker shaft, the rocker and the base are connected together in a revolute pair mode, the connecting rod is driven to move in the process that the crank carries out circular motion, and then the rocker is driven to carry out circular reciprocating swing motion within a certain angle. Two fixed sliding blocks are arranged in two sides of a groove structure of the rocker, the sliding blocks can be adjusted in the groove and fastened and assembled by bolts, one side of each sliding block, which is far away from the center of the mechanism, is hinged with a long connecting rod, the other end of each long connecting rod is hinged with a pedal, the lower part structure of each pedal is connected with the guide rail by a sliding pair, and the reciprocating swing of the rocker drives the long connecting rods to move, so that the pedals are driven to do reciprocating sliding motion back and forth on the guide rail. The rotation center of the guide rail is arranged on the guide rail shaft, the guide rail shaft and the cam are ensured to be arranged on the same axis, the front end of the guide rail is contacted with the cam in a high-pair line contact mode, and the cam drives the guide rail to move up and down around the rotation center of the cam when moving around the rotation center of the cam. The three mechanical structures are mutually matched to move, so that toe bending and dorsiflexion of the ankle joint can be realized;
the driving system is: comprises a stepping motor and V-belt pulleys arranged on a motor shaft, a crank shaft and a cam shaft; step motor control slew velocity, be equipped with the motor cabinet on the base, the motor is installed on the motor cabinet, installs two V band pulleys on the step motor, and one of them is connected with the epaxial band pulley of crank through the V area, mainly drives the motion of crank axle, and then drives the crank and realize circular motion, and another band pulley links to each other with the epaxial band pulley of camshaft, drives the camshaft motion, and then drives the cam and realizes circular motion to realize the luffing motion of guide rail.
This embodiment is only illustrative of the patent and does not limit the scope of protection thereof, and those skilled in the art can make modifications to its part without departing from the spirit of the patent.
Claims (4)
1. The utility model provides a lower limbs rehabilitation training robot, by supporting mechanism, recovered motion and actuating system triplex, its characterized in that, supporting mechanism: comprises a base (15) and a tailstock (8) which play a role in fixing; the base (15) and the tailstock (8) are connected together in a welding mode, so that certain stability and movement flexibility of the movement mechanism in the movement process are guaranteed, and the fixing and positioning effects are achieved;
the rehabilitation exercise mechanism comprises: the crank rocker mechanism consists of a crank rocker mechanism, a cam rocker mechanism and a rocker slider mechanism, and comprises the following components: a rocker (1), a fixed slide block (2), a crank (3) and a connecting rod (4); the rocker sliding block mechanism consists of a long connecting rod (5) and a pedal (6); the cam swing rod mechanism consists of a cam (10) and a guide rail (7), a crank (3) is connected with a base (15) through a crank shaft, the crank shaft drives the crank (3) to realize 360-degree circular motion, one end of a connecting rod (4) is hinged with the crank (3), the other end of the connecting rod is connected with a rocker (1), the rocker and the base are connected through a rocker shaft, the crank (3) and the base are connected together in a rotating pair mode, the connecting rod (4) is driven to move in the process of circular motion of the crank (3) so as to drive the rocker (1) to perform cyclic reciprocating swing motion within a certain angle, two fixed sliding blocks (2) are arranged on two sides of a groove structure of the rocker (1), the sliding blocks (2) can be adjusted in the groove and are fastened and assembled through bolts, and the sliding blocks (2) are hinged with a long connecting rod (5) on one side far away from the center of, the other end of the long connecting rod (5) is hinged with the pedal (6), the lower part structure of the pedal (6) is connected with the guide rail (7) through a sliding pair, the circulating reciprocating swing of the rocker (1) drives the long connecting rod (5) to move so as to drive the pedal (6) to perform front-back circulating reciprocating sliding motion on the guide rail (7), the rotation center of the guide rail (7) is arranged on the guide rail shaft (9), the guide rail and the cam are ensured to be on the same axis, the front end of the guide rail (7) is contacted with the cam (10) in a high side line contact mode, the cam (10) drives the guide rail (7) to perform up-and-down swinging motion around the rotation center when moving around the rotation center, and the toe bending and dorsiflexion of the ankle joint can be realized through the mutual matched motion among the three mechanical structures; the driving system is: comprises a stepping motor (14) and V-belt pulleys arranged on a motor shaft, a crank shaft and a cam shaft; the rotating speed of the pedal type reciprocating mechanism is controlled by a stepping motor (14), a motor base is arranged on a base (15), the stepping motor (14) is installed on the motor base, two V-belt wheels (13) are installed on the stepping motor (14), one of the V-belt wheels is connected with a belt wheel (12) on a crankshaft through a V belt to drive the crankshaft to move and further drive a crank (3) to realize circular motion, the other V-belt wheel is connected with a belt wheel (11) on a cam shaft to drive the cam shaft to move and further drive a cam (10) to realize circular motion so as to realize the up-and-down swinging motion of a guide rail (7), and because the installation requirement of a pedal (6) keeps a certain parallelism with the guide rail (7), the pedal (6) can also follow the guide rail (7) to realize the up-and-down reciprocating swinging motion between certain angles, and because the pedal (6) simultaneously carries out two motions, a closed curve can be, the curve is the motion gait track path of the healthy limbs of the human body.
2. The lower limb rehabilitation training robot of claim 1, which can generate a gait track, can constrain the foot to a normal gait track path, compensate for 15.24-101.6 cm, and can generate an easily-scaled full foot track on the premise of ensuring the track shape to be unchanged.
3. The lower limb rehabilitation training robot of claim 1, wherein the scaling of the gait trajectory path is linear in a manner that ensures that a therapist using the lower limb rehabilitation training robot can read or adjust the time scale so that the pace frequency and pace of the lower limb rehabilitation training robot during operation is suitable for the user.
4. The lower limb rehabilitation training robot of claim 1, wherein the gait track generated by the lower limb rehabilitation training robot is generated by a motor assembly driving a mechanical structure to move, the motor assembly can help patients with low muscle strength to recover, and the whole system can be controlled by only one motor, so that the lower limb rehabilitation training robot is convenient to operate and control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910886232.4A CN110478196B (en) | 2019-09-19 | 2019-09-19 | Lower limb rehabilitation training robot |
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| CN201910886232.4A CN110478196B (en) | 2019-09-19 | 2019-09-19 | Lower limb rehabilitation training robot |
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| CN110478196B true CN110478196B (en) | 2021-07-02 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111111114B (en) * | 2020-01-13 | 2023-10-03 | 合肥工业大学 | Training device and training method |
| CN111068251B (en) * | 2020-01-13 | 2023-10-03 | 合肥工业大学 | Training device and training method |
| CN110974630B (en) * | 2020-01-17 | 2022-04-26 | 浙江福祉科创有限公司 | Rehabilitation training device |
| CN111419637B (en) * | 2020-04-13 | 2022-02-15 | 韩增灿 | Department of neurology clinical treatment rehabilitation device |
| CN113398534A (en) * | 2021-07-09 | 2021-09-17 | 合肥工业大学 | Horizontal rehabilitation training device |
| CN115300326A (en) * | 2022-08-11 | 2022-11-08 | 合肥工业大学 | Six-rod system and method capable of simulating motion tracks of different rod lengths |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1185751A (en) * | 1996-02-08 | 1998-06-24 | 拉里·米勒 | Improved stationary exercise device |
| CN1202836A (en) * | 1995-01-25 | 1998-12-23 | Ccs健康公司 | Stationary exercise apparatus |
| CN103945906A (en) * | 2011-11-28 | 2014-07-23 | 吴升训 | Whole body exercise device |
| CN109125030A (en) * | 2018-07-27 | 2019-01-04 | 安徽赛福贝特信息技术有限公司 | A kind of leg rehabilitation training massage armchair |
| KR20190029003A (en) * | 2017-09-11 | 2019-03-20 | 주경리 | The pelvis and spinal device for calibration of movement |
| CN110025934A (en) * | 2019-05-29 | 2019-07-19 | 温州大学 | A kind of old man is rowed a boat with parent-offspring's body-building |
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2019
- 2019-09-19 CN CN201910886232.4A patent/CN110478196B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1202836A (en) * | 1995-01-25 | 1998-12-23 | Ccs健康公司 | Stationary exercise apparatus |
| CN1185751A (en) * | 1996-02-08 | 1998-06-24 | 拉里·米勒 | Improved stationary exercise device |
| CN103945906A (en) * | 2011-11-28 | 2014-07-23 | 吴升训 | Whole body exercise device |
| KR20190029003A (en) * | 2017-09-11 | 2019-03-20 | 주경리 | The pelvis and spinal device for calibration of movement |
| CN109125030A (en) * | 2018-07-27 | 2019-01-04 | 安徽赛福贝特信息技术有限公司 | A kind of leg rehabilitation training massage armchair |
| CN110025934A (en) * | 2019-05-29 | 2019-07-19 | 温州大学 | A kind of old man is rowed a boat with parent-offspring's body-building |
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| CN110478196A (en) | 2019-11-22 |
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