CN110575360A - Limb rehabilitation exoskeleton and limb rehabilitation system - Google Patents
Limb rehabilitation exoskeleton and limb rehabilitation system Download PDFInfo
- Publication number
- CN110575360A CN110575360A CN201910916286.0A CN201910916286A CN110575360A CN 110575360 A CN110575360 A CN 110575360A CN 201910916286 A CN201910916286 A CN 201910916286A CN 110575360 A CN110575360 A CN 110575360A
- Authority
- CN
- China
- Prior art keywords
- guide wheel
- support rod
- limb rehabilitation
- supporting rod
- power device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 82
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 230000033001 locomotion Effects 0.000 abstract description 34
- 230000000694 effects Effects 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 9
- 230000005484 gravity Effects 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 abstract description 3
- 210000003414 extremity Anatomy 0.000 description 62
- 210000000689 upper leg Anatomy 0.000 description 19
- 210000003141 lower extremity Anatomy 0.000 description 8
- 210000002414 leg Anatomy 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 244000309466 calf Species 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 210000004394 hip joint Anatomy 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 210000005013 brain tissue Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 208000037816 tissue injury Diseases 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 206010011985 Decubitus ulcer Diseases 0.000 description 1
- 206010028289 Muscle atrophy Diseases 0.000 description 1
- 208000033952 Paralysis flaccid Diseases 0.000 description 1
- 208000004210 Pressure Ulcer Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 206010008129 cerebral palsy Diseases 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 208000028331 flaccid paralysis Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000004816 latex Substances 0.000 description 1
- 229920000126 latex Polymers 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000020763 muscle atrophy Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a limb rehabilitation exoskeleton and a limb rehabilitation system applying the limb rehabilitation exoskeleton, wherein the limb rehabilitation exoskeleton comprises a first supporting rod and a second supporting rod which are rotatably connected, a first guide wheel assembly is arranged at the end part of the first supporting rod, which is far away from the second supporting rod, a second guide wheel assembly is arranged at the end part of the second supporting rod, which is far away from the first supporting rod, a transmission assembly is connected with the first supporting rod and the second supporting rod, and a power device is arranged at one end of the first supporting rod, which is far away from the second supporting rod, and is connected with the transmission assembly. According to the technical scheme, the exoskeleton-assisted rehabilitation device has a guiding effect when the exoskeleton is adopted to assist the human body to recover, fits the motion trail of limbs, and improves the recovery effect. Meanwhile, the position of the power device is almost unchanged in the using process, so that the power device can be prevented from overcoming the gravity to do work, the energy consumption is reduced, the problems of leg rotation and joint misalignment caused by uneven gravity distribution are also avoided, and the rehabilitation effect is further improved.
Description
Technical Field
The invention relates to the technical field of exoskeletons, in particular to a limb rehabilitation exoskeleton and a limb rehabilitation system.
background
In clinical rehabilitation, in early and acute rehabilitation stages of patients with stroke, cerebral palsy and the like, the cerebral nervous system interrupted and disordered due to brain tissue injury is often required to be awakened and remodeled through joint movement, and meanwhile, the muscle strength can be improved through the joint movement, and other diseases such as muscle atrophy, pressure sores generated on limbs and the like can be avoided.
In the existing clinical rehabilitation departments, a rehabilitation teacher mostly helps a patient to perform corresponding rehabilitation actions artificially. Because the patient can not provide active power for movement in the period of flaccid paralysis, the patient needs to be helped by the power of a rehabilitee at the moment, and the labor and time cost is greatly wasted. Because the daily recovery amount of each rehabilitee is limited, the demand of brain tissue injury patients and orthopedic injury patients for rapid growth cannot be met. Furthermore, the rehabilitation mode cannot be well controlled by artificially performing rehabilitation training in the acute stage, for example, effective switching between passive, active and impedance modes is performed, or the existing rehabilitation training can assist guidance rehabilitation through some machines, but the motion track of the existing auxiliary machines is not smooth enough, and a large error exists between the motion track and the limb, so that the rehabilitation effect is not ideal.
The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.
disclosure of Invention
The invention mainly aims to provide a limb rehabilitation exoskeleton, which aims to assist a patient to realize lower limb rehabilitation and improve the rehabilitation effect.
In order to achieve the above object, the present invention provides a limb rehabilitation exoskeleton, comprising:
a first support bar;
the first support rod is rotatably connected with the second support rod;
The transmission component is arranged on the first supporting rod and is in transmission connection with the second supporting rod;
The first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod, and the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; and
The power device is arranged at the end part of the first supporting rod far away from the second supporting rod and connected with the transmission assembly, and the power device drives the second supporting rod to rotate relative to the first supporting rod through the transmission assembly.
optionally, the power device and the transmission assembly are disposed on the same side of the first support rod.
optionally, the power device is detachably mounted at one end of the first support rod far away from the second support rod through a mounting piece.
Optionally, the transmission assembly comprises two opposite ends, one end of the transmission assembly is in transmission connection with the power device, and the other end of the transmission assembly is rotatably connected with the second supporting rod.
optionally, the transmission assembly includes a first rotary table, a second rotary table, and a connecting rod, the first rotary table includes a first table body and a first connecting portion, the first table body is in transmission connection with the power device, and the first connecting portion is disposed offset from a rotation center of the first table body;
The second turntable comprises a second turntable body and a second connecting part which are connected, the second turntable body is rotatably connected with the second supporting rod, and the second connecting part is arranged in a way of deviating from the rotating center of the second turntable body;
The connecting rod is rotatably connected to the first connecting portion and the second connecting portion.
optionally, the transmission assembly further comprises a speed reducer, and the speed reducer is connected with the power device and the first rotating disc.
Optionally, when the first support rod and/or the second support rod rotate to form an included angle, the first guide wheel assembly is disposed on one side of the first support rod, and the second guide wheel assembly is disposed on one side of the second support rod facing the first guide wheel assembly, in a rotation direction of the first support rod and/or the second support rod.
Optionally, the first guide wheel assembly includes at least one first guide wheel, the first support rod is provided with a first rotating shaft, and the first guide wheel is rotatably sleeved on the first rotating shaft;
The second guide wheel assembly comprises a second guide wheel, the second support rod is provided with a second rotating shaft, and the second guide wheel is rotatably sleeved on the second rotating shaft.
Optionally, the first guide wheel assembly includes two first guide wheels, and the two first guide wheels are disposed on two opposite sides of the first support rod and are respectively rotatably sleeved on two ends of the first rotating shaft.
The invention further provides a limb rehabilitation system which comprises two limb rehabilitation exoskeletons which are arranged oppositely, wherein the limb rehabilitation exoskeletons are the limb rehabilitation exoskeletons.
According to the technical scheme, the first support rod and the second support rod are connected in a rotating mode, the first guide wheel assembly is arranged at the end portion, away from the second support rod, of the first support rod, the second guide wheel assembly is arranged at the end portion, away from the first support rod, of the second support rod, the transmission assembly is connected with the first support rod and the second support rod, the power device is arranged at one end, away from the second support rod, of the first support rod and is connected with the transmission assembly, when the power device drives the second support rod to rotate relative to the first support rod through the transmission assembly, the first guide wheel assembly can play a role in guiding the movement of the first support rod, away from the end portion of the second support rod, and the second guide wheel assembly also can play a role in guiding the movement of the second support rod, away from the end portion of.
For example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the second support rod is fixed with a shank of the human body, and after the first support rod is fixed with a thigh of the human body, the power device drives the second support rod to rotate relative to the first support rod through the transmission assembly, so as to drive the lower limbs to do flexion and extension movement. When the human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture state, and the second guide wheel assembly is arranged on the second supporting rod, so that the second supporting rod is in contact with the supporting surface and rolls relative to the supporting surface when the second supporting rod moves, the resistance of the second supporting rod in the moving process can be reduced, the movement of the lower leg part is enabled to be more fit with the normal movement track of the limb, and the human body is ensured to move along the set direction. When the first supporting rod moves, the first guide wheel assembly is in contact with the supporting surface, so that the resistance of the first supporting rod in the moving process can be reduced, and the movement of the thigh part is more fit with the normal movement track of the limb. Therefore, the technical scheme of the invention can play a role in guiding when the exoskeleton is adopted to assist the human body to recover, and fit the motion trail of the limbs, thereby improving the recovery effect.
In addition, the power device is arranged at one end of the first support rod, which is far away from the second support rod, so that the power device is prevented from overcoming the gravity of the power device to do work, and the energy consumption is reduced. After the limb rehabilitation exoskeleton is fixed on the legs of the human body, the power device is arranged at one end of the first support rod, which is far away from the second support rod, namely the power device is adjacent to the hip joint of the human body. When the power device drives the second supporting rod to rotate through the transmission assembly, the second supporting rod drives the shank to move, so that the human body finishes actions of bending knees, straightening and the like, and the position of the power device is almost unchanged when the actions are finished, so that the power device can be prevented from overcoming the self gravity to do work. Meanwhile, the problems of leg rotation and joint misalignment caused by uneven gravity distribution of the joint components are avoided, and the rehabilitation effect is further improved.
drawings
in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of a limb rehabilitation exoskeleton of the present invention;
fig. 2 is a schematic structural diagram of a partial structure of the limb rehabilitation exoskeleton shown in fig. 1;
FIG. 3 is a top view of the partial structure of the limb rehabilitation exoskeleton of FIG. 2;
FIG. 4 is an exploded view of the partial structure of the limb rehabilitation exoskeleton of FIG. 2;
fig. 5 is a schematic structural diagram of a limb rehabilitation system according to an embodiment of the present invention.
The reference numbers illustrate:
| Reference numerals | name (R) | Reference numerals | name (R) |
| 1 | Limb rehabilitation system | 133 | connecting rod |
| 10 | exoskeleton for limb rehabilitation | 134 | Speed reducer |
| 110 | First support rod | 140 | First guide wheel assembly |
| 111 | first rotating shaft | 141 | First guide wheel |
| 120 | Second support rod | 150 | Second guide wheel assembly |
| 121 | Second axis of rotation | 151 | second guide wheel |
| 130 | Transmission assembly | 160 | power plant |
| 131 | First rotary table | 161 | Mounting member |
| 132 | Second rotary table |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a limb rehabilitation exoskeleton 10.
In one embodiment of the present invention, the limb rehabilitation exoskeleton 10 comprises:
A first support bar 110;
A second support bar 120, wherein the first support bar 110 is rotatably connected with the second support bar 120;
A driving assembly 130, wherein the driving assembly 130 connects the first support bar 110 and the second support bar 120;
A first guide wheel assembly 140 and a second guide wheel assembly 150, wherein the first guide wheel assembly 140 is disposed at an end of the first support rod 110 facing away from the second support rod 120, and the second guide wheel assembly 150 is disposed at an end of the second support rod 120 facing away from the first support rod 110; and
The power device 160 is disposed at an end of the first support bar 110 far away from the second support bar 120, and is connected to the transmission assembly 130, and the power device 160 drives the second support bar 120 to rotate relative to the first support bar 110 through the transmission assembly 130.
According to the technical scheme, the first support rod 110 and the second support rod 120 are rotatably connected to form a joint component matched with motion tracks of thighs and calves, the first guide wheel component 140 is arranged at the end part, away from the second support rod 120, of the first support rod 110, the second guide wheel component 150 is arranged at the end part, away from the first support rod 110, of the second support rod 120, the transmission component 130 is arranged at the first support rod 110 and is in transmission connection with the second support rod 120, and meanwhile, the power device 160 is arranged at the end part, away from the second support rod 120, of the first support rod 110 and is connected with the transmission component 130. In the present application, the transmission assembly 130 and the power device 160 are all disposed on the first support rod 110, that is, the installation positions of the transmission assembly 130 and the power device 160 are all disposed on the first support rod 110, so that the situation of position deviation occurring in the assembly process can be avoided, not only can the transmission precision after the transmission assembly 130 and the power device 160 are installed be improved, but also the manufacturing of the first support rod 110 and the assembly operation of the transmission assembly 130 and the power device 160 are simpler, and under the driving of the power device 160, the transmission assembly 130 drives the second support rod 120 to rotate relative to the first support rod 110, the first guide wheel assembly 140 can guide the movement of the first support rod 110 departing from the end of the second support rod 120, and the second guide wheel assembly 150 can also guide the movement of the second support rod 120 departing from the end of the first support rod 110. Meanwhile, the power device 160 is arranged at the end part of the first support rod 110 far away from the second support rod 120, so that the power device 160 is prevented from overcoming the gravity of itself to do work, and the energy consumption is reduced. After the limb rehabilitation exoskeleton 10 is fixed on the legs of the human body, the power device 160 is arranged at the end of the first support rod 110 far away from the second support rod 120, namely, the power device 160 is adjacent to the hip joint of the human body. When the power device 160 drives the second support rod 120 to rotate through the transmission assembly 130, the second support rod 120 drives the shank to move, so that the human body completes the actions of bending knees, straightening and the like, and when the actions are completed, the position of the power device 160 is almost unchanged, so that the power device 160 can be prevented from overcoming the self gravity to do work. Meanwhile, the problems of leg rotation and joint misalignment caused by uneven gravity distribution of the joint components are avoided, and the rehabilitation effect is further improved.
taking the limb rehabilitation exoskeleton 10 as an example for assisting lower limb rehabilitation of a human body, the second support rod 120 is fixed on a lower leg of the human body, the first support rod 110 is fixed on a thigh of the human body, at this time, the power device 160 is just positioned at a hip joint of the human body, the transmission assembly 130 drives the second support rod 120 to rotate relative to the first support rod 110 under the driving of the power device 160, so as to drive the lower limb to make flexion and extension movements, and thus, the driving of the power device 160 can assist and guide the lower limb of the human body to complete flexion and extension movements, thereby assisting the user in rehabilitation. And when the human body does rehabilitation exercise, generally in a state of lying posture or sitting posture, because the second guide wheel assembly 150 is arranged on the second support rod 120, when the second support rod 120 moves, the second guide wheel assembly 150 is in contact with the support surface and rolls relative to the support surface, so that the resistance of the second support rod 120 in the movement process can be reduced, the movement of the lower leg part is more fit with the normal movement track of the limb, and the human body is ensured to move along the set direction. When the first support rod 110 moves, the first guide wheel assembly 140 contacts with the support surface, so that the resistance of the first support rod 110 in the moving process can be reduced, and the movement of the thigh part is more fit with the normal movement track of the limb. Thus, the driving effect of the power device 160 and the guiding effect of the first guide wheel assembly 140 and the second guide wheel assembly are provided, so that the limb rehabilitation exoskeleton 10 is more attached to the motion trail of the limb of the human body, and the rehabilitation effect is further improved.
It will be appreciated that in one use configuration, a user may place a lower limb on the limb rehabilitation exoskeleton 10 such that the second support bar 120 supports the lower leg, the first support bar 110 supports the upper leg, the power device 160 drives the transmission assembly 130, and the transmission assembly 130 drives the first support bar 110 and the second support bar 120 to rotate relatively to perform rehabilitation training on the lower leg and the upper leg. And, in order to fix the position of the limb of the patient relative to the first support bar 110 and the second support bar 120, in the present technical solution, a fixing member is disposed on the first support bar 110 and/or the second support bar 120, in an embodiment of the present application, the fixing member is disposed on the upper side of the first support bar 110 and the second support bar 120, or the fixing member is correspondingly disposed on a plane parallel to the rotation direction of the first support bar 110 and the second support bar 120, so as to fix the leg laterally, and when the limb rehabilitation exoskeleton 10 is connected to the human body, the patient can be in a lying or sitting state. Wherein, the material of mounting can be elastic material such as rubber, latex, also can be made by multilayer cloth and/or cotton yarn to increase its gas permeability, make things convenient for the patient to use.
In the present application, the "end portion" of the end portion of the first support bar 110 away from the second support bar 120 of the power unit 160 is not limited to the end surface of the first support bar 110 in the longitudinal direction, it is understood that the free end of the first support bar 110, that is, the power unit 160 may be installed to be located at the free end of the first support bar 110, which may be located at a distance from or fixed to the end surface of the first support bar 110 in the length direction, the same "first guide wheel assembly 140 and second guide wheel assembly 150, the first guide wheel assembly 140 is disposed at an end of the first support rod 110 facing away from the second support rod 120, the second guide wheel assembly 150 is disposed at an end of the second support rod 120 away from the first support rod 110, which is referred to the above description and not repeated herein.
Referring to fig. 2 to 4, the power device 160 and the transmission assembly 130 are disposed on the same side of the first support rod 110.
The power device 160 is detachably mounted at an end of the first support bar 110 far away from the second support bar 120 through a mounting member 161.
In an embodiment of the present invention, the first support bar 110 and the second support bar 120 are plate-shaped structures, but may also be rod-shaped structures, and the size of the first support bar 110 is larger than that of the second support bar 120, so that the size of the second support bar 120 for supporting the thigh is larger than that of the first support bar 110 for supporting the shank, so that the structure of the limb rehabilitation exoskeleton 10 can be more stable. In order to reduce the weight of the first support bar 110 and the second support bar 120, hollow structures are disposed on the first support bar 110 and the second support bar 120. The first support bar 110 and the second support bar 120 can be made of metal, plastic, other alloy materials, and the like. Or a mixture of metal and plastic may be used as long as the stability of the first support bar 110 and the second support bar 120 is improved. Therefore, the stability of the first support rod 110 and the second support rod 120 is improved, and the practicability, reliability and durability of the first support rod 110 and the second support rod 120 are effectively improved.
In an embodiment of the present invention, the power device 160 is a motor, and preferably a servo motor, and the speed control and the position accuracy of the servo motor are higher, so that it is more convenient to control the relative rotation speed of the second supporting rod 120 and the first supporting rod 110 at different angles, which makes them better conform to the physiological characteristics of human body movement, and further better assists the user in rehabilitation. Of course, the power device 160 may also be a stepping motor, a hydraulic motor, a brushless motor, or a brush motor. In an embodiment of the present invention, a scheme that the power device 160 is detachably connected to the second support bar 120 is adopted, specifically, the limb rehabilitation exoskeleton 10 further includes a mounting member 161, the mounting member 161 is a flange structure, the power device 160 is fixed to the mounting member 161 through a connecting member such as a screw or a pin, the first support bar 110 is provided with a plurality of screw holes, and the mounting member 161 is fixed to one side of the first support bar 110 through a screw; the detachable connection of the power device 160 is realized through the mounting part 161, which not only facilitates the maintenance of the power device 160, but also facilitates the detachment of the power device 160 when the exoskeleton is worn by a patient in a specific use, so as to reduce the weight of the exoskeleton during the wearing process, and after the first support rod 110 and the second support rod 120 are worn, the power device 160 is mounted on the first support rod 110, so that the exoskeleton 10 for limb rehabilitation is easy to wear. In other embodiments of the present invention, the power device 160 may be fixedly connected to the second support bar 120 to reduce the number of steps required to wear the exoskeleton.
It is understood that in one embodiment of the present invention, the power device 160 is detachably mounted on one side of the first supporting rod 110 through the mounting member 161, that is, after the first supporting rod 110 is fixed on the leg, the power device 160 is located on the side of the first supporting rod 110 away from the thigh, so that the thigh of the user can be tightly attached to the surface of the first supporting rod 110, and the stability of the limb rehabilitation exoskeleton 10 fixed on the thigh is improved. Furthermore, in an embodiment of the present invention, the transmission assembly 130 is also located on the same side of the power device 160, i.e. the first supporting rod 110 separates the thigh from the power device 160 and the transmission assembly 130, so that the transmission assembly 130 and the power device 160 can be prevented from contacting with the limbs of the human body during the use process, thereby improving the safety performance. And the transmission assembly 130 and the power unit 160 are located on the outer side of the thigh, which is convenient for the user to maintain.
Alternatively, the transmission assembly 130 includes two opposite ends, one end of the transmission assembly 130 is in transmission connection with the power device 160, and the other end of the transmission assembly 130 is in rotational connection with the second support rod 120. The two ends of the transmission assembly 130 are respectively connected with the second support bar 120 and the first support bar 110, so as to simplify the arrangement structure of the transmission assembly 130 on the first support bar 110 and the second support bar 120, and further facilitate the production and processing of the limb rehabilitation exoskeleton 10.
Referring to fig. 4 again, the transmission assembly 130 includes a first rotating disc 131, a second rotating disc 132 and a connecting rod 133, the first rotating disc 131 includes a first disc body and a first connecting portion, the first disc body is connected with the power device in a transmission manner, and the first connecting portion is disposed offset from a rotation center of the first disc body; the second turntable 132 comprises a second turntable body and a second connecting part which are connected, the second turntable body is rotatably connected with the second support rod 120, and the second connecting part is arranged by deviating from the rotating center of the second turntable body; the link 133 is rotatably connected to the first connection portion and the second connection portion.
Specifically, in an embodiment of the present invention, the transmission assembly 130 includes a first rotating disc 131, a second rotating disc 132 and a connecting rod 133, the first rotating disc 131 includes a first disc body and a first connecting portion, the first disc body is integrally disc-shaped, and a shaft hole is formed at a center of the first disc body, the first disc body rotates relative to the first supporting rod 110 with the center of the first disc body as a rotation center; it should be noted that, the first disk body rotates relative to the first supporting rod 110, so that the first supporting rod 110 is provided with a rotating shaft matched with the shaft hole, and the first disk body is rotatably sleeved on the rotating shaft through the shaft hole; in the present application, the power device 160 is mounted to the first support rod 110 through a mounting part 161, and the shaft hole of the first disc is sleeved on the output end of the power device 160, so that the first disc is rotated relative to the first support rod 110. The first connecting portion may be fixedly connected to the first disc body or detachably connected to the first disc body, and the first connecting portion is disposed on the surface of the first disc body and deviates from the center of the first disc, so that the first rotary disc 131 is in an eccentric wheel structure. The structure of the second turntable 132 is referred to the first turntable 131, and will not be described in detail herein. Connecting rod 133 is connected in first connecting portion and second connecting portion in this application, so first carousel 131, second carousel 132 and connecting rod 133 form four-bar linkage in the plane promptly, thereby realize through this four-bar linkage that second bracing piece 120 swings for first bracing piece 110, the motion track of first bracing piece 110 and second bracing piece 120 more laminates with the action of stretching to bend of limbs to further improve recovered effect. Meanwhile, the first and second turnplates 131 and 132 are in eccentric wheel structure, and compared with a plane four-bar linkage mechanism formed by all the connecting rods 133 being hinged, the whole structure is more compact, so that the volume of the limb rehabilitation exoskeleton 10 can be reduced. And after the connecting rod 133 is connected to the first rotating disc 131 and the second rotating disc 132, the first disc body and the second disc body can be attached to the side surface of the connecting rod 133 to support the connecting rod 133, so that the transmission assembly 130 is not easy to dislocate and swing when in use, and the transmission performance of the transmission assembly 130 is more stable.
It is understood that the first rotating disc 131, the second rotating disc 132 and the connecting rod 133 are provided for forming a four-bar linkage mechanism in a plane, so the transmission assembly 130 may be in other forms as long as the four-bar linkage mechanism can be realized, and all the four-bar linkage mechanisms in a plane formed by the connecting rod 133 as described above are adopted, or the first rotating disc 131 and the second rotating disc 132 are in a cam structure, or the rotating centers of the first rotating disc 131 and the second rotating disc 132 are at positions deviating from the center of a circle, which are all within the protection scope of the present application.
In an embodiment of the invention, the first connecting portion is specifically a first protrusion formed on the first tray body, and the first protrusion is cylindrical, and may be integrally formed with the first tray body, or may be fixedly connected to the first tray body by a screw or a pin. First mounting hole and second mounting hole have been seted up at the both ends of connecting rod 133, and first arch and second arch are located to first mounting hole and second mounting hole cover respectively, and so first disk body rotates, and drive connecting rod 133 motion, connecting rod 133 redriven second disk body rotates for the second support piece swing of being connected with the second disk body.
in order to improve the transmission performance of the transmission assembly 130, in an embodiment of the invention, bearings are further respectively sleeved in the first mounting hole and the second mounting hole, and the diameters of the first protrusion and the second protrusion are slightly larger than the bearing holes of the bearings, so that the first protrusion and the second protrusion are tightly fitted after being sleeved in the bearing holes, thus both ends of the connecting rod 133 can be respectively fixed to the first protrusion and the second protrusion, the connecting rod 133 is prevented from falling off in the use process, the connecting rod 133 is easier to rotate relative to the first disc body and the second disc body through the bearings, and the transmission efficiency of the transmission assembly 130 is improved. Of course, the bearing may also be sleeved on the first protrusion and the second protrusion, and the effects achieved by the above embodiments may also be achieved, which are not described in detail herein.
it is understood that the transmission assembly 130 is used for transmitting the kinetic energy of the power device 160 to the second support rod 120 to drive the second support rod 120 to rotate relative to the first support rod 110, and therefore the transmission assembly 130 may be in other forms, for example, the transmission assembly 130 may be a plurality of gears engaged with each other, or may be a belt pulley, or a worm transmission, so long as the transmission assembly can drive the second support rod 120 to rotate relative to the first support rod 110 under the driving of the power device 160, and details thereof are not described herein.
optionally, the transmission assembly 130 further comprises a speed reducer 134, and the speed reducer 134 connects the power device 160 and the first rotating disk 131.
In order to make the motion trail of the limb rehabilitation exoskeleton 10 more fit to the motion trail of the limb, in an embodiment of the present invention, the transmission assembly 130 is further provided with a speed reducer 134, the speed reducer 134 is preferably a harmonic speed reducer, the harmonic speed reducer is fixed to the mounting member 161, the output end of the power device 160 is in transmission connection with a wave generator of the harmonic speed reducer, and the flexspline is connected with the transmission assembly 130. By providing a harmonic reducer, the power plant 160 drives the harmonic reducer, which in turn drives the transmission assembly 130. The harmonic reducer has the characteristics of large transmission speed ratio, high bearing capacity, high transmission precision, high transmission efficiency, stable movement, small size and light weight, so that the movement track of the rehabilitation exoskeleton is more matched with the movement track of limbs of a human body, and the power device 160 outputs larger torque through the harmonic reducer, so that the overall size of the limb rehabilitation exoskeleton 10 is reduced. Therefore, the limb rehabilitation exoskeleton 10 is lighter in overall mass, compact in installation space, capable of achieving reasonable transmission ratio configuration, capable of meeting the output requirements of high rotating speed and large torque and convenient to use.
It should be noted that the reducer 134 mainly functions to reduce the speed of the power device 160 running at a high speed to output a speed suitable for the limb flexion and extension and a larger torque, so the reducer 134 may also be in a form of meshing a plurality of gears, and a smaller output speed and a larger torque are obtained by setting a reasonable transmission ratio.
Referring to fig. 1 again, in an embodiment of the present application, in a rotation direction of the first support rod 110 and/or the second support rod 120, the first support rod 110 and/or the second support rod 120 rotate to form an included angle, the first guide wheel assembly 140 is disposed on one side of the first support rod 110, and the second guide wheel assembly 150 is disposed on one side of the second support rod 120 facing the first guide wheel assembly 140. When the first support rod 110 and the second support rod 120 form an included angle, that is, the user is in a state of leg folding during use, the first guide wheel assembly 140 is disposed on one side of the first support rod 110, the second guide wheel assembly 150 is disposed on one side of the second support rod 120 facing the first guide wheel assembly 140, and may be inner surfaces of the first support rod 110 and the second support rod 120 opposite to each other, that is, the rear side and the thigh rear side similar to the calf, since the muscle tissue of the human body and the thigh and thigh are wrapped on the thigh and calf, the first guide wheel assembly 140 and the second guide wheel assembly 150 are respectively disposed on the calf rear side and the thigh rear side, the rehabilitation exoskeleton 10 can be raised by the limbs of the first guide wheel assembly 140 and the second guide wheel assembly 150, thereby the thigh and calf are placed in a abdicating manner, and the muscle of the user is prevented from contacting the support surface, and the rehabilitation effect is prevented from being influenced by excessive exertion of the, and also facilitates limb rehabilitation exoskeleton 10 support. It will be appreciated that when the first support bar 110 and the second support bar 120 are parallel, the portion of the first wheel assembly 140 that supports is disposed on the same side of the limb rehabilitation exoskeleton 10 as the portion of the second wheel assembly 150 that supports, which allows the limb rehabilitation exoskeleton 10 to support the user on the same side, providing improved support stability.
Optionally, the first guide wheel assembly 140 includes at least one first guide wheel 141, the first support rod 110 is provided with a first rotating shaft 111, and the first guide wheel 141 is rotatably sleeved on the first rotating shaft 111;
The second guide wheel assembly 150 includes a second guide wheel 151, the second support rod 120 is provided with a second rotation shaft 121, and the second guide wheel 151 is rotatably sleeved on the second rotation shaft 121.
the first guide wheel assembly 140 includes two first guide wheels 141, and the two first guide wheels 141 are disposed at opposite sides of the first support rod 110 and rotatably sleeved at two ends of the first rotating shaft 111, respectively.
In an embodiment of the present invention, the first rotating shaft 111 is formed to extend along a radial direction of the first supporting rod 110, so as to facilitate the sleeving of the first guide wheel 141. The end of the first rotating shaft 111 facing away from the first support rod 110 may include a limiting portion, so that when the first guide wheel 141 is rotatably sleeved on the first rotating shaft 111, the first guide wheel 141 may be prevented from flying out during use. And, the first rotating shaft 111 may further include a slit penetrating through the limiting portion, so that when the first guide wheel 141 is installed, the limiting portion may be combined together and then pass through the first guide wheel 141, and after the first rotating shaft passes through the first guide wheel 141, the limiting portion is opened to limit the first guide wheel 141 to the first rotating shaft 111. Similarly, second rotating shaft 121 is formed to extend in a radial direction of second support rod 120, so as to facilitate the sleeve joint of second guide wheel 151. This second axis of rotation 121 deviates from the tip of second bracing piece 120 can include spacing portion to rotatably cup joint second guide pulley 151 when second axis of rotation 121, can prevent that second guide pulley 151 from flying out in the use. And, this second axis of rotation 121 can also include the kerf that runs through spacing portion to when installing second guide pulley 151, can pass through second guide pulley 151 through combining spacing portion, after second axis of rotation passes second guide pulley 151, spacing portion opens and is spacing second guide pulley 151 in second axis of rotation 121.
In an embodiment of the present invention, the first guide wheel assembly 140 includes two first guide wheels 141, and the two first guide wheels 141 are coaxially disposed, so as to further improve the structural stability of the limb rehabilitation exoskeleton 10. Of course, the first guide wheel 141 may be provided in plural, and is not limited in particular. Similarly, the second guide wheel assembly 150 may also include a plurality of second guide wheels 151, and the plurality of second guide wheels 151 are coaxially disposed, so as to further improve the structural stability of the limb rehabilitation exoskeleton 10.
Referring to fig. 5, the present invention further provides a limb rehabilitation system 1, where the limb rehabilitation system 1 includes two limb rehabilitation exoskeletons 10 disposed opposite to each other, and the specific embodiment of the limb rehabilitation exoskeletons 10 refers to the above embodiments, and since the limb rehabilitation system 1 adopts all technical solutions of all the above embodiments, the limb rehabilitation system at least has all the beneficial effects brought by the technical solutions of the above embodiments, and details are not repeated here.
In use, the limb rehabilitation system 1 may include a two-limb rehabilitation exoskeleton 10 and other mechanisms coupled to the limb rehabilitation exoskeleton 10 to facilitate simultaneous rehabilitation of both lower limbs of a patient.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A limb rehabilitation exoskeleton comprising:
A first support bar;
The first support rod is rotatably connected with the second support rod;
The transmission component is arranged on the first supporting rod and is in transmission connection with the second supporting rod;
The first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod, and the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; and
The power device is arranged at the end part of the first supporting rod far away from the second supporting rod and connected with the transmission assembly, and the power device drives the second supporting rod to rotate relative to the first supporting rod through the transmission assembly.
2. the limb rehabilitation exoskeleton of claim 1 wherein said power device and said transmission assembly are disposed on the same side of said first support bar.
3. The limb rehabilitation exoskeleton of claim 1 wherein said powered device is removably mounted to an end of said first support bar remote from said second support bar by a mounting member.
4. The limb rehabilitation exoskeleton of claim 1 wherein said transmission assembly comprises two ends disposed opposite to each other, one end of said transmission assembly is drivingly connected to said power device, and the other end of said transmission assembly is rotatably connected to said second support rod.
5. The limb rehabilitation exoskeleton of claim 4 wherein the transmission assembly comprises a first turntable, a second turntable, and a linkage, the first turntable comprising a first disk and a first coupling portion connected, the first disk being in driving connection with the power device, the first coupling portion being disposed offset from a center of rotation of the first disk;
The second turntable comprises a second turntable body and a second connecting part which are connected, the second turntable body is rotatably connected with the second supporting rod, and the second connecting part is arranged in a way of deviating from the rotating center of the second turntable body;
The connecting rod is rotatably connected to the first connecting portion and the second connecting portion.
6. The limb rehabilitation exoskeleton of claim 5 wherein said transmission assembly further comprises a reducer connecting said power device and said first turntable.
7. The limb rehabilitation exoskeleton of any one of claims 1 to 6 wherein the first guide wheel assembly is disposed on one side of the first support bar and the second guide wheel assembly is disposed on one side of the second support bar facing the first guide wheel assembly in the direction of rotation of the first support bar and/or the second support bar when the first support bar and/or the second support bar are rotated to form an included angle.
8. the limb rehabilitation exoskeleton of claim 7 wherein said first guide wheel assembly comprises at least a first guide wheel, said first support rod is provided with a first rotating shaft, and said first guide wheel is rotatably sleeved on said first rotating shaft;
The second guide wheel assembly comprises a second guide wheel, the second support rod is provided with a second rotating shaft, and the second guide wheel is rotatably sleeved on the second rotating shaft.
9. The limb rehabilitation exoskeleton of claim 8 wherein the first guide wheel assembly comprises two first guide wheels, and the two first guide wheels are disposed on opposite sides of the first support rod and rotatably sleeved on two ends of the first rotating shaft respectively.
10. A limb rehabilitation system comprising two oppositely disposed limb rehabilitation exoskeletons, the limb rehabilitation exoskeletons being as claimed in any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910916286.0A CN110575360A (en) | 2019-09-25 | 2019-09-25 | Limb rehabilitation exoskeleton and limb rehabilitation system |
| PCT/CN2020/101285 WO2021057191A1 (en) | 2019-09-25 | 2020-07-10 | Limb rehabilitation exoskeleton and limb rehabilitation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910916286.0A CN110575360A (en) | 2019-09-25 | 2019-09-25 | Limb rehabilitation exoskeleton and limb rehabilitation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110575360A true CN110575360A (en) | 2019-12-17 |
Family
ID=68813630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910916286.0A Pending CN110575360A (en) | 2019-09-25 | 2019-09-25 | Limb rehabilitation exoskeleton and limb rehabilitation system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110575360A (en) |
| WO (1) | WO2021057191A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021057191A1 (en) * | 2019-09-25 | 2021-04-01 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114425007A (en) * | 2021-12-21 | 2022-05-03 | 中国人民解放军空军军医大学 | Cerebral infarction patient limb rehabilitation training device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6425844B1 (en) * | 1999-12-22 | 2002-07-30 | Tony Azar | Knee exercising device |
| CN101031275A (en) * | 2004-10-12 | 2007-09-05 | 株式会社日立医药 | Sustaining passive motion device |
| CN202933183U (en) * | 2012-12-10 | 2013-05-15 | 王敏 | Knee joint rehabilitation therapy instrument |
| CN109124988A (en) * | 2018-09-25 | 2019-01-04 | 深圳市丞辉威世智能科技有限公司 | Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot |
| CN109124990A (en) * | 2018-09-25 | 2019-01-04 | 深圳市丞辉威世智能科技有限公司 | Lower limb rehabilitation ectoskeleton and exoskeleton robot |
| CN109512640A (en) * | 2018-11-26 | 2019-03-26 | 深圳市罗伯医疗科技有限公司 | Knee-joint rehabilitation training robot |
| CN208741422U (en) * | 2018-02-13 | 2019-04-16 | 徐州市中心医院 | Knee-joint rehabilitation training device |
| CN209203951U (en) * | 2018-09-25 | 2019-08-06 | 深圳市丞辉威世智能科技有限公司 | Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10182957B2 (en) * | 2014-06-18 | 2019-01-22 | Ossur Hf | Continuous passive motion device |
| CN204744848U (en) * | 2015-06-12 | 2015-11-11 | 崔福秀 | Mobilizable knee joint recovery device |
| CN209286071U (en) * | 2018-09-25 | 2019-08-23 | 深圳市丞辉威世智能科技有限公司 | Transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot |
| CN109124993A (en) * | 2018-09-29 | 2019-01-04 | 南京艾提瑞精密机械有限公司 | A kind of knee joint rehabilitation device and the recovery training method based on the device |
| CN110575351B (en) * | 2019-09-25 | 2022-03-04 | 深圳市丞辉威世智能科技有限公司 | Exoskeleton for limb rehabilitation |
| CN110575360A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
-
2019
- 2019-09-25 CN CN201910916286.0A patent/CN110575360A/en active Pending
-
2020
- 2020-07-10 WO PCT/CN2020/101285 patent/WO2021057191A1/en active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6425844B1 (en) * | 1999-12-22 | 2002-07-30 | Tony Azar | Knee exercising device |
| CN101031275A (en) * | 2004-10-12 | 2007-09-05 | 株式会社日立医药 | Sustaining passive motion device |
| CN202933183U (en) * | 2012-12-10 | 2013-05-15 | 王敏 | Knee joint rehabilitation therapy instrument |
| CN208741422U (en) * | 2018-02-13 | 2019-04-16 | 徐州市中心医院 | Knee-joint rehabilitation training device |
| CN109124988A (en) * | 2018-09-25 | 2019-01-04 | 深圳市丞辉威世智能科技有限公司 | Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot |
| CN109124990A (en) * | 2018-09-25 | 2019-01-04 | 深圳市丞辉威世智能科技有限公司 | Lower limb rehabilitation ectoskeleton and exoskeleton robot |
| CN209203951U (en) * | 2018-09-25 | 2019-08-06 | 深圳市丞辉威世智能科技有限公司 | Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot |
| CN109512640A (en) * | 2018-11-26 | 2019-03-26 | 深圳市罗伯医疗科技有限公司 | Knee-joint rehabilitation training robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021057191A1 (en) * | 2019-09-25 | 2021-04-01 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021057191A1 (en) | 2021-04-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103006416B (en) | Mechanical lower-limb rehabilitation robot walker device | |
| CN102068367B (en) | Lower limb multi-training mode rehabilitation robot | |
| CN101530367B (en) | Unweighting walking rehabilitation training robot | |
| CN105943308A (en) | Hand exoskeleton device for rehabilitation training | |
| CN109124988B (en) | Guiding mechanism, lower limb rehabilitation exoskeleton and exoskeleton robot | |
| CN105456002A (en) | Rehabilitation training robot capable of achieving normal gait pattern | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| CN212940468U (en) | Rigid-flexible coupling wearable walking-aid exoskeleton system | |
| CN112022618B (en) | Rigid-flexible coupling wearable walking assisting exoskeleton system | |
| CN110575360A (en) | Limb rehabilitation exoskeleton and limb rehabilitation system | |
| WO2024022289A1 (en) | Lightweight human body assistance method and device based on single drive actuator | |
| CN108743224A (en) | Leg rehabilitation training and body-building exoskeleton robot | |
| CN112057302B (en) | Leg rehabilitation training system | |
| CN110575357B (en) | Limb rehabilitation exoskeleton and limb rehabilitation system | |
| CN109124989B (en) | Transmission device, lower limb rehabilitation exoskeleton and exoskeleton robot | |
| CN201978114U (en) | Functional training device for joints of lower limbs | |
| CN211214197U (en) | Limb rehabilitation exoskeleton and limb rehabilitation system | |
| CN211356556U (en) | Limb rehabilitation exoskeleton and limb rehabilitation system | |
| CN201108566Y (en) | Elbow joint healing training device | |
| CN213218751U (en) | Recovered ectoskeleton robot | |
| CN211214182U (en) | Limb rehabilitation exoskeleton and limb rehabilitation system | |
| CN211214193U (en) | Limb rehabilitation exoskeleton and limb rehabilitation system | |
| CN208851936U (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| CN211356558U (en) | Limb rehabilitation exoskeleton and limb rehabilitation system | |
| CN2354545Y (en) | Instrument for treating upper limb |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191217 |
|
| RJ01 | Rejection of invention patent application after publication |