CN110934723A - Foot sole driving walking training walking aid - Google Patents

Foot sole driving walking training walking aid Download PDF

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Publication number
CN110934723A
CN110934723A CN201911276175.4A CN201911276175A CN110934723A CN 110934723 A CN110934723 A CN 110934723A CN 201911276175 A CN201911276175 A CN 201911276175A CN 110934723 A CN110934723 A CN 110934723A
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CN
China
Prior art keywords
walking
motor
ankle joint
mounting
ankle
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Pending
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CN201911276175.4A
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Chinese (zh)
Inventor
卢旭华
王海滨
杨海松
郭群峰
王亮
孙钰岭
邹任玲
徐秀林
胡秀枋
刘二宁
徐言东
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Shanghai Changzheng Hospital
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Shanghai Changzheng Hospital
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Priority to CN201911276175.4A priority Critical patent/CN110934723A/en
Publication of CN110934723A publication Critical patent/CN110934723A/en
Pending legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H3/04Wheeled walking aids for patients or disabled persons
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266Foot
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06Means for converting reciprocating motion into rotary motion or vice versa
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H3/04Wheeled walking aids for patients or disabled persons
    • A61H2003/043Wheeled walking aids for patients or disabled persons with a drive mechanism

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  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Engineering & Computer Science (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Power Engineering (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to a sole-driven walking training walking aid, which comprises a walking aid frame, a walking track simulation device, an ankle joint angle adjusting device and a pedal device, wherein the walking aid frame is connected with the walking track simulation device through a connecting rod; the walking aid frame is used for providing supporting force for a patient and assisting the patient in training, a mounting bottom plate, an outer wheel set and an inner wheel set are arranged on the walking aid frame, the outer wheel set can change the movement speed and direction of the walking aid frame, and the inner wheel set can contact the ground in the movement process of the walking aid frame to play a role in assisting the movement of the walking aid frame and supporting the frame; the walking track simulation device is installed on the walking aid frame, the ankle joint angle adjusting device is installed on the walking track simulation device, the pedal device is connected with the ankle joint angle adjusting device, and the walking track simulation device is used for driving the pedal device to complete an elliptical track simulating walking of a human; the ankle joint angle adjusting device is used for changing the angle of the ankle joint and is matched with the movement of a patient in the rehabilitation training process.

Description

Foot sole driving walking training walking aid
Technical Field
The invention belongs to the technical field of rehabilitation instruments, and particularly relates to a walking aid for foot sole driven walking training.
Background
Most patients with spinal injuries have healthy upper limbs and fully paralyzed lower limbs, which cause muscular atrophy of limbs due to prolonged lack of training, and usually undergo rehabilitation training during the recovery period in order to prevent further muscular atrophy of the patient during the recovery period. The walking aid is a walking appliance for assisting a patient with spinal injury or a person who is inconvenient to walk to carry out rehabilitation training in a recovery period. The walking aid can ensure the body balance of a user, reduce the bearing of the lower limbs, relieve pain and improve the gait through training.
At present, the walking aids at home and abroad can be divided into three categories according to the structure and the function: a non-powered walking aid, a functional electrical stimulation walking aid and a powered walking aid. The first type is mainly used for assisting a human body to support weight and keep balance, and can not carry out passive rehabilitation lower limb training in the true sense, the second type is mainly used for carrying out rehabilitation training by utilizing electric stimulation to help the walking aid, the third type is a power type exoskeleton lower limb rehabilitation training device, and the exoskeleton walking aid can effectively compensate the lower limb function of a patient to a certain extent and help the patient to stand and walk. However, the existing exoskeleton walking aid is restricted by driving force, and cannot ensure that patients with lower limb complete paralysis stand and walk to aid training when walking.
Disclosure of Invention
The invention aims to solve the technical problems and provide a foot sole driving walking training walking aid.
The invention discloses a sole-driven walking training walking aid, which is a medical instrument used for lower limb rehabilitation training and walking aid, and is particularly suitable for a sole-driven walking training walking aid which is used by a patient with spinal injury during rehabilitation training and adopts linkage of a pedal and wheel speeds.
The device drives the lower limbs of the spine injury patient to carry out rehabilitation training by the pedal plate, provides driving force for the spine injury patient who is difficult to walk independently, standardizes the gait of the patient, ensures that the patient has more sense of reality in the training process, and carries out the training of normal walking gait by the device.
The purpose of the invention can be realized by the following technical scheme:
a sole-driven walking training walking aid comprises a walking aid frame, a walking track simulation device, an ankle joint angle adjusting device and a pedal device;
the walking aid frame is used for providing supporting force for a patient and assisting the patient in training, a mounting bottom plate, an outer wheel set and an inner wheel set are arranged on the walking aid frame, the outer wheel set can change the movement speed and direction of the walking aid frame, and the inner wheel set can contact the ground in the movement process of the walking aid frame to play a role in assisting the movement of the walking aid frame and supporting the frame;
the walking track simulator is arranged on a mounting base plate of the walking aid frame, the ankle joint angle adjusting device is arranged on the walking track simulator, the pedal plate device is connected with the ankle joint angle adjusting device and used for supporting feet of a patient, and the walking track simulator is used for driving the pedal plate device to simulate the movement of stepping and leg lifting of a human through the ankle joint angle adjusting device so that the pedal plate device completes an elliptical track simulating walking of the human; the ankle joint angle adjusting device is used for adjusting the angle of the pedal device, changing the angle of the ankle joint and matching the movement of a patient in the rehabilitation training process.
In one embodiment of the present invention, the walking trajectory simulation device includes a lead screw motor, a coupling, a lead screw, a gear, a lead screw nut, a rear slider fixing block, a pedal mounting seat, a slider, a linear guide, an ankle motor mounting plate, a link shaft, a rack motor, a link bearing, a link bracket, a link, a reduction motor, a front slider fixing block, and a rack,
the shaft of the screw rod motor is connected with a coupler, the coupler is connected with a screw rod, the screw rod is matched with a screw rod nut, the screw rod nut is fixed on a rear slide block fixing block, two slide blocks are fixedly arranged at the lower end of the rear slide block fixing block, a left slide block and a right slide block are respectively matched with two linear guide rails, the upper end of the rear slide block fixing block is matched with a pedal mounting seat,
the pedal mounting seat is fixed at the rear end of the bottom surface of the ankle motor mounting plate, a connecting rod bracket is fixedly mounted at the front end of the bottom surface of the ankle motor mounting plate, a connecting rod bearing is mounted on the connecting rod bracket, a connecting rod shaft is matched with the connecting rod bearing, the connecting rod shaft is connected with one end of a connecting rod, the other end of the connecting rod is also connected with the connecting rod bearing, the connecting rod bearing is mounted at the upper end of a front slider fixing block, a rack is fixedly mounted on the left side of the lower end of the front slider fixing block, the rack is fixedly connected with a left slider, the right side of the lower end of the front slider fixing block is fixedly connected with a right slider, the rack is meshed with a gear, the gear is mounted;
when the walking track simulation device is started, the screw rod motor drives the screw rod to rotate, the screw rod nut moves on the screw rod, the rear sliding block fixing block connected with the screw nut also moves on the screw, the rear end of the ankle motor mounting plate is connected with the rear sliding block fixing block, the rear end of the ankle motor mounting plate is connected with the gear through a gear motor in the same way as the rear sliding block fixing block, the gear and the rack are meshed, the rack is displaced, the rack is connected with the front sliding block fixing block, the front sliding block fixing block has the same speed and displacement as the rack, the front sliding block fixing block is connected with the front end of the ankle motor mounting plate through a connecting rod, therefore, the front end of the ankle motor mounting plate has the same displacement and speed as the rack, and because the moving speed of the front sliding block fixed block is different, the distance between the two sliding blocks can be changed, and when the two sliding blocks are close to each other, the front sliding block fixing block can lift the front end of the ankle motor mounting plate through the connecting rod; when the two sliding blocks are far away, the front sliding block fixing block can enable the front end of the ankle motor mounting plate to be put down through the connecting rod, so that the whole walking track simulation device can realize the motion of simulating the stepping and leg lifting of a human.
In one embodiment of the invention, a shaft of the screw motor is connected with a screw motor front bearing seat, the screw motor front bearing seat is mounted on a screw motor support, the screw motor support is fixedly mounted on a mounting base plate, the screw is connected with a screw shaft bearing, the screw shaft bearing is mounted on the screw motor front bearing seat, the tail end of the screw is connected with a screw rear bearing seat, the upper end of the rear slide block fixing block is connected with a pedal mounting shaft, two ends of the pedal mounting shaft are matched with the pedal mounting seat, the speed reduction motor is fixedly mounted on a speed reduction motor support, and the speed reduction motor support is mounted on the mounting base plate.
In one embodiment of the present invention, the ankle adjusting means comprises an ankle motor, an ankle motor bracket, a small bevel gear, a large bevel gear, an ankle shaft, an ankle bearing seat,
the ankle joint motor is arranged on the ankle joint motor mounting plate through an ankle joint motor support and is connected with a small bevel gear, the small bevel gear is meshed with a large bevel gear in an angle of 90 degrees, the large bevel gear is arranged on an ankle joint shaft, two ankle joint bearings are assembled on the ankle joint shaft, the ankle joint bearings are arranged on ankle joint bearing seats, the pedal plate device is connected with the ankle joint shaft,
when the ankle joint angle needs to be adjusted, the ankle joint motor is controlled, the ankle joint motor is enabled to rotate by a certain angle, the bevel pinion installed on the ankle joint motor is driven to rotate by a certain angle, the bevel pinion meshed with the bevel pinion also can rotate by a certain angle, the bevel pinion is assembled on the ankle joint shaft, so that the ankle joint shaft can also be driven to rotate by a certain angle, the angle of the pedal plate device is adjusted, the ankle joint angle is changed, and the ankle joint motor is matched with the motion of a patient in the rehabilitation training process.
In one embodiment of the present invention, the pedal device includes an upper pedal having a mounting groove formed on a bottom surface thereof for coupling with a protrusion on an ankle shaft of the ankle angle adjusting device, and a lower pedal for fixedly coupling with a bottom surface of the ankle shaft.
In one embodiment of the present invention, the front and rear portions of the top surface of the lower step plate are provided with sensor mounting areas, respectively, for mounting sensors.
In one embodiment of the invention, the walking aid frame comprises an outer wheel set, a vehicle bottom frame, a mounting bottom plate, a long supporting rod, a grab bar, a short supporting rod, an oxter supporting rod, a hand holding rod, a safety device rod and an inner wheel set,
the outer wheel set is arranged at four corners of the vehicle underframe, the mounting bottom plate is arranged on the vehicle underframe, the inner wheel set is connected below the mounting bottom plate, and the inner wheel set can be folded;
the utility model discloses a car body support, including vehicle bottom frame, support stock, grab bar, safety device pole, support quarter butt, grab bar and armpit support pole, support quarter butt and support quarter butt fixed connection are in the both sides of vehicle bottom frame, the grab bar is all connected with armpit support pole between support stock and the support quarter butt, the grab bar is under, the armpit support pole is last, the safety device pole is connected between two support stock of vehicle bottom frame both sides, be connected through the holding rod between support quarter butt and the armpit support pole.
The grab rail can be grasped by a patient in the training process, so that the stability is improved; the supporting short rod is connected with a section of holding rod, the shape of the holding rod conforms to the habit of a person in holding, and a patient can hold the holding rod and stand independently through the healthy upper limbs of the patient; the armpit supporting rod supports the armpit part of a patient when the patient stands, so that supporting force is provided for the patient, the patient training is assisted, and the patient standing is assisted by holding the rod, the grab bar and the like; the safety device rod can protect a patient in a training process and avoid the patient from falling forward due to unbalance.
In one embodiment of the invention, the mounting rods at the front and rear corners of the chassis are connected with wheel shafts through outer wheel mounting frames, the wheel shafts are connected with outer wheel sets, and the outer wheel sets can change the movement speed and direction of the walking aid chassis.
In one embodiment of the invention, the front part and the left and right sides of the mounting bottom plate are provided with hanging rod hooks which are fixedly hung on bottom rods at the front side and the left and right sides of the vehicle underframe, so that the mounting bottom plate can be stably mounted on the vehicle underframe;
the middle part of the mounting bottom plate is designed into a cross bar, so that the weight of the mounting bottom plate is reduced, and a patient can see the ground while performing rehabilitation training, so that the walking training of the patient is more realistic; the left and right complete bottom plates of the mounting bottom plate are used for arranging the walking track simulation device and have a supporting function.
In one embodiment of the invention, the bottom surface of the middle part of the mounting base plate is provided with four inner wheel foldable mounting frames, the inner wheel foldable mounting frames are connected with the inner wheel groups, the inner wheel groups can be put down to contact the ground during the movement of the walking aid frame, so that the walking aid frame can be assisted to move and support the frame, when the walking aid frame is not moved, the inner wheel foldable mounting frames can be adjusted to enable the inner wheel groups to be away from the ground, the folding rods of the inner wheel foldable mounting frames are contacted with the ground, so that the walking aid frame can be supported, the base plate of the walking aid frame can bear the weight of the walking track simulation device, and meanwhile, the walking aid frame can stably stay in place.
When the walking track simulator is started, the walking track simulator drives the ankle motor mounting plate to move so as to enable the mounting plate to complete an elliptical track simulating walking of a human, the ankle joint shaft mounted on the motor mounting plate also has the elliptical track simulating walking of the human, the pedal plate device is assembled with the ankle joint shaft and has the elliptical track simulating walking of the human, and a patient is driven to do rehabilitation training movement. Meanwhile, an ankle joint shaft of the ankle joint adjusting device is assembled with the pedal device, and the rotation angle of the ankle joint shaft is changed by changing the rotation angle of the ankle joint motor, so that the pedal device is driven to rotate by a certain angle. Under the combined action of the walking track simulation device and the ankle joint adjusting device, a patient completes an elliptical motion simulating the walking track of a human under the driving device, and simultaneously, the ankle joint motor is controlled according to different positions moved by the pedal device, so that the ankle joint is matched with the rehabilitation motion of the patient.
The sole driving walking training walking aid provided by the invention is used as follows:
when the patient uses the walking aid, the wheelchair in which the patient sits is pushed to the rear part of the walking aid under the assistance of medical personnel, the patient can place feet on the pedal of the walking track simulation device at a proper position independently or under the assistance of the medical personnel, or place hands on the holding rods independently, the patient stands by using upper limb strength, the armpit part is placed on the armpit supporting rod, and the hands can be placed on the armpits to grasp, so that the standing training posture is guaranteed. The outer wheel of the walking aid vehicle can change the movement speed and direction of the walking aid vehicle, the inner wheel can be folded or put down according to the folding rods, when the inner wheel is put down, the movement speed and direction of the walking aid vehicle can be changed together with the outer wheel, when the inner wheel is folded, the inner wheel leaves the ground, the folding rods contact the ground, the walking aid vehicle stops in place, and does not move along with the change of the movement state of the outer wheel. The armpit supporting rod and the armrests can bear most of the body weight of a patient, the walking track simulation device is started, the pedal plate starts to drive the footsteps of the patient to start rehabilitation training movement according to a set walking track, the distance between the front slider fixing block and the rear slider fixing block of the walking track simulation device can be changed due to different moving speeds of the front slider fixing block and the rear slider fixing block, and when the two sliders are close to each other, the front slider fixing block can lift the front end of the ankle motor mounting plate through the connecting rod; when the two sliding blocks are far away, the front sliding block fixing block can enable the front end of the ankle motor mounting plate to be put down through the connecting rod, so that the whole walking track simulation device can realize the motion of simulating the stepping and leg lifting of a human. The ankle joint adjusting device controls a shaft between the upper foot pedal and the lower foot pedal through the motor to change the inclination angle of the foot pedals so as to adapt to the change of the ankle joint angle of a patient in the movement process, and the walking track and the foot joint state of the walking track simulating device are closer to the real state.
Therefore, the invention designs the vola-driven walking training walking aid device, the lower limb adopts the motor-controlled pedal walking driving device, the walking training of patients with lower limb disorder and even patients with full paralysis can be realized, the problems of gait distortion, small training moving range and the like of patients with spinal injury in the processes of standing and gait training are solved, the patients have more sense of reality in the process of exercise training, and the vola-driven walking aid device has great significance for the walking training of the patients with spinal injury.
Compared with the prior art, the invention has the following advantages:
1) the walking aid frame device is adopted, the moving speed and the moving direction are changed through an outer wheel, the moving or stopping state of the walking aid frame is adjusted through an inner wheel, and the walking track simulation device is supported through a mounting base plate.
2) The armpit supporting rod is adopted, the armpit part and the upper limb of the patient are healthy, the armrests and the holding rods are used together to support the patient, so that the patient can train in a standing state, the armpit stress of the upper limb is reduced, and the patient with the spine can be helped to realize standing training.
3) The walking track simulation device is adopted to realize the motion of the simulated walking track, provide driving force for the patient who can not walk independently and assist the patient to walk normally. Adopt unique spring assembly, through the adjustment of angle control boss, the angle has been avoided the patient to receive the injury at ankle joint in the training process of walking along with ankle joint pivoted change.
4) The ankle joint adjusting device is adopted, and the angle of the pedal plate is adjusted according to the positions of the steps when the walking track simulating device moves to different positions through the ankle joint motor, so that the ankle joint angle of a patient is changed, and the walking track of a human is simulated more truly.
Drawings
FIG. 1 is a schematic view of a sole-driven walking training aid according to embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of a rollator frame according to embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a walking trajectory simulation apparatus according to embodiment 1 of the present invention;
FIG. 4 is a schematic configuration view of an ankle joint angle adjusting apparatus according to embodiment 1 of the present invention;
FIG. 5 is a schematic structural view of a pedal device in embodiment 1 of the invention;
fig. 6 is a schematic structural view of an upper step plate of the step plate apparatus according to embodiment 1 of the present invention;
fig. 7 is a schematic view of the structure of the lower pedal of the pedal apparatus according to embodiment 1 of the present invention.
Reference numbers in the figures:
an outer wheel set 1, a wheel axle 2, an outer wheel mounting rack 3, a vehicle chassis 4, a long supporting rod 5, a mounting bottom plate 6, a grab bar 7, a short supporting rod 8, an underarm supporting rod 9, a holding rod 10, a safety device rod 11, an inner wheel foldable mounting rack 12, an inner wheel set 13, a screw motor 14, a screw motor bracket 15, a screw front bearing seat 16, a coupler 17, a screw bearing 18, a screw 19, a gear 20, a screw nut 21, a rear sliding block fixing block 22, a pedal mounting shaft 23, a pedal mounting seat 24, a slider 25, a screw rear bearing seat 26, a linear guide rail 27, an ankle motor mounting plate 28, a connecting rod shaft 29, a rack motor 30, a connecting rod bearing 31, a connecting rod bracket 32, a connecting rod 33, a speed reducing motor 34, a speed reducing motor bracket 35, a front sliding block fixing block 36, a rack 37, an ankle motor 38, an ankle motor bracket 39, a small bevel gear 40, a large bevel gear 41, an, An ankle bearing 43, an ankle bearing seat 44, a boss 45, an upper foot pedal 46, a sensor 47, a lower foot pedal 48, a mounting groove 49, a sensor mounting area 50.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
With reference to fig. 1-7, the present embodiment provides a sole-driven walking training aid, which comprises a aid frame, a walking track simulation device, an ankle joint angle adjustment device and a pedal device; the walking aid frame is used for providing supporting force for a patient and assisting the patient in training, a mounting base plate 6, an outer wheel set 1 and an inner wheel set 13 are arranged on the walking aid frame, the outer wheel set 1 can change the movement speed and direction of the walking aid frame, and the inner wheel set 13 can contact the ground in the movement process of the walking aid frame to play a role in assisting the movement of the walking aid frame and supporting the frame; the walking track simulator is installed on an installation bottom plate 6 of a walking aid frame, the ankle joint angle adjusting device is installed on the walking track simulator, the pedal plate device is connected with the ankle joint angle adjusting device and used for supporting feet of a patient, and the walking track simulator is used for driving the pedal plate device to simulate the movement of stepping and leg lifting of a human through the ankle joint angle adjusting device so that the pedal plate device completes an elliptical track simulating walking of the human; the ankle joint angle adjusting device is used for adjusting the angle of the pedal device, changing the angle of the ankle joint and matching the movement of a patient in the rehabilitation training process.
Referring to fig. 3 in a matching manner, the walking trajectory simulation device includes a lead screw motor 14, a lead screw motor bracket 15, a lead screw front bearing block 16, a coupler 17, a lead screw bearing 18, a lead screw 19, a gear 20, a lead screw nut 21, a rear sliding block fixing block 22, a pedal mounting shaft 23, a pedal mounting block 24, a sliding block 25, a lead screw rear bearing block 26, a linear guide 27, an ankle motor mounting plate 28, a link shaft 29, a rack motor 30, a link bearing 31, a link bracket 32, a link 33, a reduction motor 34, a reduction motor bracket 35, a front sliding block fixing block 36 and a rack 37.
The shaft of the screw motor 14 is connected with a screw motor front bearing block 16, the screw motor front bearing block 16 is installed on a screw motor support 15, the screw motor support 15 is fixedly installed on the installation bottom plate 6, the shaft of the screw motor 14 is connected with a coupler 17, the coupler 17 is connected with a screw 19, the screw 19 is connected with a screw bearing 18, the screw bearing 18 is installed on the screw front bearing block 16, the tail end of the screw 19 is connected with a screw rear bearing block 26, the screw 19 is matched with a screw nut 21, the screw nut 21 is fixed on a rear slider fixing block 22, two sliders 25 are fixedly installed at the lower end of the rear slider fixing block 22, respectively a left slider and a right slider are respectively matched with two linear guide rails 27, the upper end of the rear slider fixing block 22 is connected with a pedal installation shaft 23, two ends of the pedal installation shaft 23 are matched with a pedal installation seat 24, the pedal installation seat 24 is fixed at the rear end of the bottom, a connecting rod bracket 32 is fixedly arranged at the front end of the bottom surface of the ankle motor mounting plate 28, a connecting rod bearing 31 is arranged on the connecting rod bracket 32, a connecting rod shaft 29 is matched with the connecting rod bearing 31, the connecting rod shaft 29 is connected with one end of a connecting rod 33, the other end of the connecting rod 33 is also connected with the connecting rod bearing 31, the connecting rod bearing 31 is arranged at the upper end of a front slider fixing block 36, a rack 37 is fixedly arranged at the left side of the lower end of the front slider fixing block 36, the rack 37 is fixedly connected with a left slider 25, the right side of the lower end of the front slider fixing block 36 is fixedly connected with a right slider 25, the rack 37 is meshed with a gear 20, the gear 20 is arranged on the shaft of a speed reducing motor 34, the speed reducing motor 34 is fixedly arranged on a speed reducing motor;
the whole walking track simulation device is arranged on a mounting bottom plate 6 of the walking aid frame, when the walking track simulation device is started, a screw rod motor 14 drives a screw rod 19 to rotate, a screw rod nut 21 moves on the screw rod 19, a rear sliding block fixing block 22 connected with the screw rod nut 21 also moves on the screw rod 19, and the rear end of an ankle motor mounting plate 28 is connected to the rear sliding block fixing block 22, so that the rear end of the ankle motor mounting plate 28 and the rear sliding block fixing block 22 move on the screw rod 19; the rack motor 30 is connected with the gear 20 through the speed reducing motor 34, the gear 20 is meshed with the rack 37, the rack 37 is displaced, the rack 37 is connected with the front slide block fixing block 36, the front slide block fixing block 36 has the same speed and displacement as the rack 37, the front slide block fixing block 36 is connected with the front end of the ankle motor mounting plate 28 through the connecting rod 33, so that the front end of the ankle motor mounting plate 28 has the same displacement and speed as the rack 37, the distance between the front slide block fixing block 36 and the rack 37 can be changed due to different moving speeds of the front slide block fixing block 36, and when the two slides are close to each other, the front slide block fixing block 36 can lift the front end of the ankle motor mounting plate 28 through the connecting; when the two sliders are far away, the front slider fixing block 36 can enable the front end of the ankle motor mounting plate 28 to be put down through the connecting rod 33, so that the whole walking track simulation device can realize the motion of simulating the stepping and leg lifting of a human.
Referring to fig. 4 in combination, the ankle adjusting device includes an ankle motor 38, an ankle motor bracket 39, a small bevel gear 40, a large bevel gear 41, an ankle shaft 42, an ankle bearing 43, and an ankle bearing seat 44, the ankle motor 38 is disposed on the ankle motor mounting plate 28 through the ankle motor bracket 39, is connected to the small bevel gear 40, the small bevel gear 40 is engaged with the large bevel gear 41 at an angle of 90 °, the large bevel gear 41 is mounted on the ankle shaft 42, the ankle shaft 42 is provided with two ankle bearings 43, the ankle bearing 43 is mounted on the ankle bearing seat 44, the foot pedal device is connected to the ankle shaft 42,
when the ankle joint angle needs to be adjusted, the ankle joint motor 38 is controlled, the ankle joint motor 38 is enabled to rotate for a certain angle, the small bevel gear 40 mounted on the ankle joint motor is driven to rotate for a certain angle, the large bevel gear 41 meshed with the small bevel gear 40 also rotates for a certain angle, the large bevel gear 41 is assembled on the ankle joint shaft 42, the ankle joint shaft 42 is also driven to rotate for a certain angle, the angle of the pedal device is adjusted, the ankle joint angle is changed, and the ankle joint motor is matched with the movement of a patient in the rehabilitation training process.
Referring to fig. 4, 5, 6 and 7, the pedal device includes an upper pedal 46, a sensor 47 and a lower pedal 48, the upper pedal 46 has a mounting groove 49 on a bottom surface thereof for coupling with a protrusion 45 of an ankle joint shaft 42 of the ankle joint angle adjusting device, the lower pedal 48 is fixedly coupled with the bottom surface of the ankle joint shaft 42, and sensor mounting regions 50 are respectively provided on front and rear portions of a top surface of the lower pedal 48 for mounting the sensor 47.
Referring to fig. 2 in a matching manner, the walking aid frame comprises an outer wheel set 1, a vehicle chassis 4, an installation bottom plate 6, a long support rod 5, a grab bar 7, a short support rod 8, an underarm support rod 9, a holding rod 10, a safety device rod 11 and an inner wheel set 13, wherein the outer wheel set 1 is installed at the four corners of the vehicle chassis 4, the installation bottom plate 6 is installed on the vehicle chassis 4, the inner wheel set 13 is connected below the installation bottom plate 6, and the inner wheel set 13 is foldable; the supporting long rod 5 and the supporting short rod 8 are fixedly connected with two sides of the vehicle chassis 4, the grab bar 7 and the armpit supporting rods 9 are connected between the supporting long rod 5 and the supporting short rod 8, the grab bar 7 is under the armpit supporting rods 9, the safety device rod 11 is connected between the two supporting long rods 5 on two sides of the vehicle chassis 4, and the supporting short rod 8 and the armpit supporting rods 9 are connected through the holding rod 10. The grab bar 7 can be grasped by a patient in the training process, so that the stability is improved; the supporting short rod 8 is connected with a section of holding rod 10, the shape of the holding rod 10 conforms to the habit of people when holding, and a patient can hold the holding rod and stand independently through the healthy upper limbs of the patient; the armpit supporting rods 9 support armpit parts of a patient when the patient stands, so as to provide supporting force for the patient and assist the patient in training, and the holding rods 10, the grab bars 7 and the like provide assistance for the patient to stand; the safety device lever 11 can protect the patient during the training process and avoid the patient from falling forward due to unbalance.
The four corners's installation pole is connected the axletree 2 around the vehicle bottom frame 4 through outer wheel mounting bracket 3, and axletree 2 is connected with outer wheelset 1, and outer wheelset 1 can change the velocity of motion and the direction that helps the line frame. The front part and the left and right parts of the mounting bottom plate 6 are provided with hanging rod hooks which are fixedly hung on bottom rods at the front side and the left and right sides of the vehicle underframe 4, so that the mounting bottom plate 6 can be stably mounted on the vehicle underframe 4;
the middle part of the mounting bottom plate 6 is designed into a cross bar, so that the weight of the mounting bottom plate 6 is reduced, and a patient can see the ground while performing rehabilitation training, so that the walking training of the patient is more realistic; the left and right complete bottom plates of the mounting bottom plate 6 are used for arranging a walking track simulation device and have a supporting function.
The bottom surface of the middle part of the mounting bottom plate 6 is provided with four inner wheel foldable mounting frames 12, the inner wheel foldable mounting frames 12 are connected with inner wheel sets 13, the inner wheel sets 13 can be put down to be in contact with the ground in the movement process of the walking aid frame, the effects of assisting the movement of the walking aid frame and supporting the frame are achieved, when the walking aid frame is not moved, the inner wheel foldable mounting frames 12 can be adjusted, the inner wheel sets 13 are enabled to be away from the ground, the folding rods of the inner wheel foldable mounting frames 12 are in contact with the ground, the effect of supporting the walking aid frame is achieved, the bottom plate of the walking aid frame can bear the weight of the walking track simulation device, and meanwhile, the walking aid frame.
When the walking track simulator is started, the walking track simulator drives the ankle motor mounting plate 28 to move, so that the mounting plate completes an elliptical track simulating walking of a human, the ankle joint shaft 42 mounted on the motor mounting plate also has an elliptical track simulating walking of the human, the pedal device is assembled with the ankle joint shaft 42, has the same elliptical track simulating walking of the human as the ankle joint shaft 42, and drives a patient to do rehabilitation training movement. Meanwhile, the ankle joint shaft 42 of the ankle joint adjusting device is assembled with the pedal device, and the rotation angle of the ankle joint shaft 42 is changed by changing the rotation angle of the ankle joint motor 38, so that the pedal device is driven to rotate by a certain angle. Under the combined action of the walking track simulation device and the ankle joint adjusting device, a patient completes an elliptical motion simulating the walking track of a human under the driving device, and simultaneously, the ankle joint motor is controlled according to different positions moved by the pedal device, so that the ankle joint is matched with the rehabilitation motion of the patient.
The sole-driven walking training walking aid is used as follows:
when the patient uses the walking aid, the wheelchair in which the patient sits is pushed to the rear part of the walking aid under the assistance of medical personnel, the patient can place feet on the pedal of the walking track simulation device at a proper position independently or under the assistance of the medical personnel, or place hands on the holding rods independently, the patient stands by using upper limb strength, the armpit part is placed on the armpit supporting rod, and the hands can be placed on the armpits to grasp, so that the standing training posture is guaranteed. The outer wheel of the walking aid vehicle can change the movement speed and direction of the walking aid vehicle, the inner wheel can be folded or put down according to the folding rods, when the inner wheel is put down, the movement speed and direction of the walking aid vehicle can be changed together with the outer wheel, when the inner wheel is folded, the inner wheel leaves the ground, the folding rods contact the ground, the walking aid vehicle stops in place, and does not move along with the change of the movement state of the outer wheel. The armpit supporting rod and the armrests can bear most of the body weight of a patient, the walking track simulation device is started, the pedal plate starts to drive the footsteps of the patient to start rehabilitation training movement according to a set walking track, the distance between the front slider fixing block and the rear slider fixing block of the walking track simulation device can be changed due to different moving speeds of the front slider fixing block and the rear slider fixing block, and when the two sliders are close to each other, the front slider fixing block can lift the front end of the ankle motor mounting plate through the connecting rod; when the two sliding blocks are far away, the front sliding block fixing block can enable the front end of the ankle motor mounting plate to be put down through the connecting rod, so that the whole walking track simulation device can realize the motion of simulating the stepping and leg lifting of a human. The ankle joint adjusting device controls a shaft between the upper foot pedal and the lower foot pedal through the motor to change the inclination angle of the foot pedals so as to adapt to the change of the ankle joint angle of a patient in the movement process, and the walking track and the foot joint state of the walking track simulating device are closer to the real state.
The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims (10)

1. A foot-driven walking training walking aid is characterized by comprising a walking aid frame, a walking track simulation device, an ankle joint angle adjusting device and a pedal device;
the walking aid frame is used for providing supporting force for a patient and assisting the patient in training, a mounting base plate (6), an outer wheel set (1) and an inner wheel set (13) are arranged on the walking aid frame, the outer wheel set (1) can change the movement speed and direction of the walking aid frame, and the inner wheel set (13) can contact the ground in the movement process of the walking aid frame to play a role in assisting the movement of the walking aid frame and supporting the frame;
the walking track simulator is mounted on a mounting base plate (6) of a walking aid frame, the ankle joint angle adjusting device is mounted on the walking track simulator, the pedal plate device is connected with the ankle joint angle adjusting device and used for supporting feet of a patient, and the walking track simulator is used for driving the pedal plate device to simulate the movement of stepping and leg lifting of a human through the ankle joint angle adjusting device so that the pedal plate device can complete an elliptical track simulating walking of the human; the ankle joint angle adjusting device is used for adjusting the angle of the pedal device, changing the angle of the ankle joint and matching the movement of a patient in the rehabilitation training process.
2. The foot bottom driving walking training walking aid as claimed in claim 1, wherein the walking track simulation device comprises a lead screw motor (14), a coupling (17), a lead screw (19), a gear (20), a lead screw nut (21), a rear sliding block fixing block (22), a pedal mounting seat (24), a sliding block (25), a linear guide rail (27), an ankle motor mounting plate (28), a connecting rod shaft (29), a rack motor (30), a connecting rod bearing (31), a connecting rod bracket (32), a connecting rod (33), a speed reducing motor (34), a front sliding block fixing block (36) and a rack (37),
the shaft of the screw motor (14) is connected with a coupler (17), the coupler (17) is connected with a screw (19), the screw (19) is matched with a screw nut (21), the screw nut (21) is fixed on a rear slide block fixing block (22), two slide blocks (25) are fixedly arranged at the lower end of the rear slide block fixing block (22), a left slide block and a right slide block are respectively matched with two linear guide rails (27), the upper end of the rear slide block fixing block (22) is matched with a pedal mounting seat (24),
the pedal mounting seat (24) is fixed at the rear end of the bottom surface of the ankle motor mounting plate (28), the front end of the bottom surface of the ankle motor mounting plate (28) is fixedly provided with a connecting rod bracket (32), the connecting rod bracket (32) is provided with a connecting rod bearing (31), a connecting rod shaft (29) is matched with the connecting rod bearing (31), the connecting rod shaft (29) is connected with one end of a connecting rod (33), the other end of the connecting rod (33) is also connected with the connecting rod bearing (31), the connecting rod bearing (31) is arranged at the upper end of a front sliding block fixing block (36), the left side of the lower end of the front sliding block fixing block (36) is fixedly provided with a rack (37), the rack (37) is fixedly connected with a left sliding block (25), the right side of the lower end of the front sliding block fixing block (36) is fixedly connected with a right sliding block (25), the rack (37) is meshed with a gear (20), the gear (20) is arranged, the whole walking track simulation device is arranged on the mounting bottom plate (6);
when the walking track simulation device is started, a screw motor (14) drives a screw rod (19) to rotate, a screw rod nut (21) moves on the screw rod (19), a rear sliding block fixing block (22) connected with the screw rod nut (21) also moves on the screw rod (19), the rear end of an ankle motor mounting plate (28) is connected to the rear sliding block fixing block (22), the rear end of the ankle motor mounting plate (28) and the rear sliding block fixing block (22) move on the screw rod (19) in the same way, a rack motor (30) is connected with a gear (20) through a speed reduction motor (34), the gear (20) and a rack (37) are meshed, the rack (37) displaces, the rack (37) is connected with a front sliding block fixing block (36), the front sliding block fixing block (36) has the same speed and displacement as the rack (37), and the front sliding block fixing block (36) is connected with the front end of the ankle motor mounting plate (28) through a connecting rod (33), the front end of the ankle motor mounting plate (28) has the same displacement and speed as the rack (37), the distance between the front slider fixing block (36) and the rack is changed due to different moving speeds of the front slider fixing block and the front slider fixing block (36) can lift the front end of the ankle motor mounting plate (28) through the connecting rod (33) when the two sliders are close to each other; when the two sliders are far away, the front slider fixing block (36) enables the front end of the ankle motor mounting plate (28) to be put down through the connecting rod (33), so that the whole walking track simulation device can realize the motion of simulating the stepping and leg lifting of a human.
3. The foot sole driven walking training walker as claimed in claim 2, the shaft of the screw rod motor (14) is connected with a screw rod motor front bearing seat (16), the screw rod motor front bearing seat (16) is arranged on a screw rod motor bracket (15), the screw rod motor support (15) is fixedly arranged on the mounting base plate (6), the screw rod (19) is connected with a screw rod bearing (18), the screw rod bearing (18) is arranged on a screw rod front bearing seat (16), the tail end of the screw rod (19) is connected with a screw rod rear bearing seat (26), the upper end of the rear sliding block fixing block (22) is connected with a pedal mounting shaft (23), the two ends of the pedal mounting shaft (23) are matched with a pedal mounting seat (24), the speed reducing motor (34) is fixedly installed on the speed reducing motor support (35), and the speed reducing motor support (35) is installed on the installation bottom plate (6).
4. The foot sole driven walking training walker as claimed in claim 1 or 2, wherein said ankle joint adjustment means comprises an ankle joint motor (38), an ankle joint motor bracket (39), a small bevel gear (40), a large bevel gear (41), an ankle joint shaft (42), an ankle joint bearing (43), an ankle joint bearing seat (44),
the ankle joint motor (38) is arranged on the ankle joint motor mounting plate (28) through an ankle joint motor support (39) and is connected with a small bevel gear (40), the small bevel gear (40) is meshed with a large bevel gear (41) at an angle of 90 degrees, the large bevel gear (41) is mounted on an ankle joint shaft (42), two ankle joint bearings (43) are assembled on the ankle joint shaft (42), the ankle joint bearings (43) are mounted on the ankle joint bearing seat (44), the pedal device is connected with the ankle joint shaft (42),
when the ankle joint angle needs to be adjusted, the ankle joint motor (38) is controlled, the ankle joint motor (38) is enabled to rotate by a certain angle, the small bevel gear (40) mounted on the ankle joint motor is driven to rotate by a certain angle, the large bevel gear (41) meshed with the small bevel gear (40) can also rotate by a certain angle, and the large bevel gear (41) is assembled on the ankle joint shaft (42), so the ankle joint shaft (42) can also be driven to rotate by a certain angle, the angle of the pedal device is adjusted by the angle, the ankle joint angle is changed, and the ankle joint motor is matched with the motion of a patient in the rehabilitation training process.
5. A foot-driven walking training aid according to claim 4, wherein said foot-pedal means comprises an upper foot-pedal (46) and a lower foot-pedal (48), said upper foot-pedal (46) having a mounting groove (49) on the bottom surface thereof for connection with a protrusion (45) on the ankle-joint-axis (42) of the ankle-joint-angle adjusting means, said lower foot-pedal (48) being adapted to be fixedly connected to the bottom surface of the ankle-joint-axis (42).
6. The walking aid for foot driven walking training of claim 5, wherein the front and rear parts of the top surface of the lower pedal (48) are provided with sensor mounting areas (50) for mounting the sensors (47), respectively.
7. The foot-driven walking training walker as claimed in claim 1, wherein the walker frame comprises outer wheel sets (1), a chassis (4), a mounting bottom plate (6), a long supporting rod (5), a grab bar (7), a short supporting rod (8), an underarm supporting rod (9), a holding rod (10), a safety device rod (11) and an inner wheel set (13),
the outer wheel sets (1) are arranged at four corners of the vehicle underframe (4), the mounting bottom plate (6) is arranged on the vehicle underframe (4), the inner wheel sets (13) are connected below the mounting bottom plate (6), and the inner wheel sets (13) can be folded;
support stock (5) and support quarter butt (8) fixed connection are in the both sides of vehicle bottom frame (4), grab bar (7) all are connected with armpit support pole (9) between support stock (5) and support quarter butt (8), grab bar (7) are under, armpit support pole (9) are last, safety device pole (11) are connected between two support stocks (5) of vehicle bottom frame (4) both sides, be connected through holding rod (10) between support quarter butt (8) and the armpit support pole (9).
8. The foot bottom driving walking training walking aid as claimed in claim 7, wherein the four front and rear mounting rods of the vehicle chassis (4) are connected with the wheel shafts (2) through the outer wheel mounting frames (3), the wheel shafts (2) are connected with the outer wheel set (1), and the outer wheel set (1) can change the movement speed and direction of the walking aid frame.
9. The foot-driven walking training walking aid as claimed in claim 7, wherein the front part and the left and right sides of the mounting base plate (6) are provided with hanging rod hooks which are fixedly hung on the bottom rods at the front side and the left and right sides of the vehicle chassis (4) so that the mounting base plate (6) can be stably mounted on the vehicle chassis (4);
the middle part of the mounting bottom plate (6) is designed into a cross bar, and the left and right complete bottom plates of the mounting bottom plate (6) are used for arranging a walking track simulation device and have a supporting function.
10. The foot bottom driving walking training walker as claimed in claim 7, wherein the bottom surface of the middle part of the mounting base plate (6) is provided with four inner wheel foldable mounting frames (12), the inner wheel foldable mounting frames (12) are connected with the inner wheel sets (13), the inner wheel sets (13) can be put down to contact the ground during the movement of the walker frame, so that the walker frame can move and support the walker frame, when the walker frame is not moved, the inner wheel foldable mounting frames (12) can be adjusted to enable the inner wheel sets (13) to leave the ground, and the folding rods of the inner wheel foldable mounting frames (12) are contacted with the ground to support the walker frame.
CN201911276175.4A 2019-12-12 2019-12-12 Foot sole driving walking training walking aid Pending CN110934723A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911276175.4A CN110934723A (en) 2019-12-12 2019-12-12 Foot sole driving walking training walking aid

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911276175.4A CN110934723A (en) 2019-12-12 2019-12-12 Foot sole driving walking training walking aid

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CN110934723A true CN110934723A (en) 2020-03-31

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Application Number Title Priority Date Filing Date
CN201911276175.4A Pending CN110934723A (en) 2019-12-12 2019-12-12 Foot sole driving walking training walking aid

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CN (1) CN110934723A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111317972A (en) * 2020-03-20 2020-06-23 南京林业大学 Training device for health preserving and rehabilitation and use method thereof
CN111658451A (en) * 2020-07-01 2020-09-15 南通市第二人民医院 Children rehabilitation walking aid with gait correction function
CN111671625A (en) * 2020-07-14 2020-09-18 张强 Hand and foot wound walking robot
CN113559463A (en) * 2021-09-01 2021-10-29 徐洪伟 Intelligent lower limb muscle rehabilitation training device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111317972A (en) * 2020-03-20 2020-06-23 南京林业大学 Training device for health preserving and rehabilitation and use method thereof
CN111658451A (en) * 2020-07-01 2020-09-15 南通市第二人民医院 Children rehabilitation walking aid with gait correction function
CN111671625A (en) * 2020-07-14 2020-09-18 张强 Hand and foot wound walking robot
CN113559463A (en) * 2021-09-01 2021-10-29 徐洪伟 Intelligent lower limb muscle rehabilitation training device

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