CN111317645A - Flexible modular joint rehabilitation mechanism - Google Patents
Flexible modular joint rehabilitation mechanism Download PDFInfo
- Publication number
- CN111317645A CN111317645A CN202010147311.6A CN202010147311A CN111317645A CN 111317645 A CN111317645 A CN 111317645A CN 202010147311 A CN202010147311 A CN 202010147311A CN 111317645 A CN111317645 A CN 111317645A
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- 230000009975 flexible effect Effects 0.000 title claims abstract description 145
- 230000007246 mechanism Effects 0.000 title claims abstract description 22
- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 239000011148 porous material Substances 0.000 claims abstract description 4
- 239000012528 membrane Substances 0.000 claims description 14
- 230000000694 effects Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000001467 acupuncture Methods 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- 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
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
-
- 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
- A61H9/00—Pneumatic or hydraulic massage
- A61H9/005—Pneumatic massage
- A61H9/0078—Pneumatic massage with intermittent or alternately inflated bladders or cuffs
-
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dermatology (AREA)
- Rehabilitation Tools (AREA)
Abstract
A flexible modular joint rehabilitation mechanism comprises a flange, a flexible clamping unit and a flexible driving unit; the flexible clamping units are arranged in pairs and are respectively arranged on one flange, and flexible driving units connected with the two flanges are uniformly distributed between the two flanges; the flexible clamping unit clamps the limb in the positioning channel; each flexible driving unit comprises a ball socket, a hollow joint bolt and a plurality of hollow flexible bodies; the flexible driving body is formed by connecting a plurality of hollow flexible bodies in series, the hollow flexible bodies at two ends of the flexible driving body are placed in ball sockets to form a spherical hinge, the hollow flexible bodies of the spherical hinge are connected with the ball sockets through hollow joint bolts, pore channels of the hollow joint bolts are communicated with the central channel, and each flange is limited and fixed by the ball sockets and the hollow joint bolts penetrating the flanges. The invention provides the active rehabilitation exercise ability and has the ability of passively adapting to the joint motion rule of the personalized body type scheme of the patient.
Description
Technical Field
The invention relates to a joint rehabilitation mechanism, in particular to a flexible modular joint rehabilitation mechanism.
Background
At present, for hemiplegia, soft tissue strain and postoperative joint rehabilitation, later-stage rehabilitation training becomes a main link for promoting overall rehabilitation, at present, medical equipment mainly takes a fixed support and a passive movable joint as main parts and mainly depends on active movement of a patient, and in the early stage of rehabilitation, how to actively assist the joint movement of the patient is the key for joint rehabilitation. In the active rehabilitation structure, the parallel structure becomes the mainstream trend with the advantages of high stability, continuous moment, large working space and the like, the current main product is directly transferred from the parallel rigid structure, the driving and the control are complex, the size is large, the portability is poor, more importantly, no personalized body type scheme aiming at different patients exists, and meanwhile, the rigid structure is easy to cause secondary damage to the rehabilitation patients.
Disclosure of Invention
The invention provides a flexible modular joint rehabilitation mechanism for overcoming the defects of the prior art. The mechanism adopts flexible driving, provides the capability of passively adapting to the joint motion rule of the personalized body type scheme of a patient from materials while providing the active rehabilitation motion capability; simplify current overall structure design complexity, the convenience is good, can wear to recovered limbs, moves along with patient.
The technical scheme of the invention is as follows: a flexible modular joint rehabilitation mechanism comprises a flange, a flexible clamping unit and a flexible driving unit; the flexible clamping units are arranged in pairs and are respectively arranged on one flange, and N flexible driving units connected with the two flanges are uniformly distributed between the two flanges; the flange, the flexible clamping unit and the flexible driving unit are provided with positioning channels for the limbs to pass in and out, and the flexible clamping unit clamps the limbs in the positioning channels; wherein N is more than or equal to 3 and is a positive integer;
each flexible driving unit comprises a ball socket, a hollow joint bolt and a plurality of hollow flexible bodies; the flexible driving body is formed by connecting a plurality of hollow flexible bodies in series, the hollow flexible bodies at two ends of the flexible driving body are placed in ball sockets to form a spherical hinge, the hollow flexible bodies of the spherical hinge are connected with the ball sockets through hollow joint bolts, the hollow flexible bodies are provided with central channels which are mutually communicated, a pore channel of each hollow joint bolt is communicated with the central channels, and each flange is limited and fixed by the ball sockets and the hollow joint bolts penetrating through the flanges.
Compared with the prior art, the invention has the beneficial effects that:
the hollow flexible body and the ball socket form a spherical hinge, the flexible driving unit can freely rotate relative to the ball socket by virtue of the spherical hinge, the flexible driving unit is made of flexible materials, a central channel is arranged in the flexible driving unit and is communicated with the flexible body, and when the interior of the hollow flexible body is inflated, the flexible driving unit can extend in the extension direction along with the rise of air pressure; the extension of the flexible driving unit is actively controlled, the relative rotation of the ball hinge is passively adapted, and the hollow flexible body can passively adapt to the motion law of personalized joints of different patients. On the premise that the flexible clamping unit provides enough fixing force, safety can be guaranteed, and comfort is improved. The flange and the flexible driving unit can be quickly replaced to realize modular design.
The technical scheme of the invention is further explained by combining the drawings and the embodiment:
drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the flexible drive unit;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is a schematic perspective view of a flexible clamping unit;
FIG. 5 is a front view of the flexible clamping unit;
fig. 6 is a sectional view taken along line B-B in fig. 5.
Detailed Description
Referring to fig. 1-3, a flexible modular joint rehabilitation mechanism comprises a flange 1, a flexible clamping unit 2 and a flexible driving unit 3; the flexible clamping units 2 are arranged in pairs and are respectively arranged on one flange 1, and N flexible driving units 3 connected with the two flanges 1 are uniformly distributed between the two flanges 1; the flange 1, the flexible clamping unit 2 and the flexible driving unit 3 are provided with positioning channels for the limb to enter and exit, and the flexible clamping unit 2 clamps the limb in the channels; wherein N is more than or equal to 3 and is a positive integer;
each of the flexible driving units 3 includes a ball socket 31, a hollow joint bolt 32, and a plurality of hollow flexible bodies 33; the plurality of hollow flexible bodies 33 are connected in series to form a flexible driving body, the hollow flexible bodies 33 at two ends of the flexible driving body are placed in the ball sockets 31 to form a spherical hinge, the hollow flexible bodies 33 of the spherical hinge are connected with the ball sockets 31 through hollow joint bolts 32, the plurality of hollow flexible bodies 33 are provided with central channels 34 which enable the hollow flexible bodies to be mutually communicated, pore passages of the hollow joint bolts 32 are communicated with the central channels, and each flange 1 is limited and fixed by the ball sockets 31 and the hollow joint bolts 32 penetrating the flange 1.
In this embodiment, a through hole is formed in the flange 1 corresponding to the flexible driving unit 3, a threaded section of the hollow joint bolt 32 penetrates through the through hole and then is in threaded fit with a threaded hole 311 at the end of the ball socket 31, the end of the threaded section of the hollow joint bolt 32 pierces through the wall surface of the hollow flexible body 33 and extends into the hollow flexible body 33, so that the fixing of the ball socket 31 and the hollow flexible body 33 and the sealing of the hollow flexible body 5 are completed, and the step end surface (such as the head end surface) of the hollow joint bolt 32 abuts against the outer surface of the flange 1 or the groove surface where the through hole is located, so that the flange 1 is fixed by being pressed or clamped by the hollow joint bolt 32 and the ball socket 31. Typically, the hollow connector bolt 32 is a valve screw. The plurality of hollow flexible bodies 33 can be connected in series and can be integrally formed.
The positioning channels penetrate through limbs at two ends of the rehabilitation joint, and the flexible clamping unit 2 is started to clamp the internal limbs; meanwhile, due to the flexible effect, the flexible contact and large-area extrusion with limbs can be realized, the comfort is improved, and the safety protection effect is achieved. The ball socket 31 is fixed on the flange 1 through threaded connection, the hollow flexible body 33 and the ball socket 31 form a spherical hinge, and the ball socket 31 can freely rotate by virtue of the spherical hinge; the flexible driving unit 2 is made of flexible materials, a central channel 34 is arranged in the hollow flexible body 33 and is communicated with the flexible bodies, when the hollow joint bolt 32 is used for inflating the central channel 34 and enters the hollow flexible body 33, the flexible driving bodies connected in series with the flexible bodies can extend in the extension direction along with the increase of air pressure; the extension of the flexible driving body is actively controlled, the relative rotation of the spherical hinge is passively adapted, and the motion rule of the personalized joints of different patients can be passively adapted.
Alternatively, as shown in fig. 1 and 4-6, the actuator 21 includes an annular housing 211, a flexible membrane 212, and a rigid pressing head 213; the inner wall surface of the annular housing 211 is provided with a plurality of rigid pressing heads 213 along the circumferential direction, each rigid pressing head 213 is of a hollow structure, the end part of each pressing head 213 is fixedly connected with a flexible film 212, the rigid pressing heads 213 and the annular housing 211 form an air storage chamber 214, an interface 2111 communicated with the air storage chamber 214 is processed on the annular housing 211, and the annular housing 211 is connected with the flange 1. In this embodiment, in order to further achieve a modular arrangement mode and facilitate disassembly and assembly, a plurality of connecting lugs 215 are circumferentially installed at the outer end of the annular housing 211, matching holes are separately formed in the connecting lugs 215 and the inner edge of the flange 1, and the annular housing 211 and the flange 1 are detachably connected by installing bolts in the matching holes.
Optionally, the annular housing 211 is a circular housing. The round shell is more suitable for the arms of the human body, and the position adjustment is convenient.
In the above example, the annular housing 211 is fixedly connected with the flange 1 through the matched bolt in the hole, the rigid annular housing 211 is sleeved on the limb at the two ends of the rehabilitation joint and is inflated through the interface 2111, the air pressure in the air storage chamber 214 is increased, the flexible membranes 212 are expanded towards the inner side of the annular housing 211, and when all the flexible membranes 212 are expanded simultaneously, the inner limb can be clamped; meanwhile, due to the flexibility of the flexible membrane 212, flexible contact and large-area extrusion can be realized with limbs, comfort is improved, and meanwhile, a safety protection effect is achieved. In addition, the gas storage chamber 214 is filled or pumped out, and the control of the gas filling and discharging frequency and the gas quantity can realize the control of the massage frequency and the pressing degree; the fixed position of the actuator relative to the arm is adjusted, so that different parts of the arm can be massaged.
In addition, because the configuration of the flexible driving unit 3 is circularly symmetrical, the whole mechanism can rotate to a proper position around the arm according to the requirement of the flexible clamping unit 2, the two annular shells 211 are configured in a mirror image mode, the joints are bent under the driving of the flexible driving unit 3, and meanwhile, the flexible membrane 212 can massage corresponding acupuncture points. The massage device is in a pressure maintaining and pressurizing state during massage, so that the massage device plays a role in clamping at the same time. When joint rehabilitation is realized, the massage with adjustable pressing parts can be realized by carrying out inflation and deflation control on different rigid pressing heads, and the rigid pressing heads are favorable for ensuring the directionality and the rigidity of the flexible membrane. Such a flexible membrane 212 with a convex point location can adjust the targeted acupuncture point for the point location by adjusting the position and rotation as a whole.
Optionally, the number of the flexible driving units 3 is six, each two flexible driving units are arranged in a group, and the two flanges 1 and the three groups of flexible driving units 2 are arranged in a delta mechanism. At this time, the whole rehabilitation mechanism is in a delta parallel structure, but a flexible driving unit 3 is adopted, and a flexible clamping unit 2 for clamping limbs is added. The whole structure has no accumulated error, good dynamic response, compact structure and large bearing capacity; the fully symmetrical parallel mechanism has better isotropy. Optionally, the hollow flexible body 33 is made of rubber. When the active motion rule is different from the individualized skeleton rule of the patient, the passive adjustment can be carried out under the reaction force of the patient, and the safety protection effect is achieved.
Alternatively, a plurality of the rigid pressing heads 213 are uniformly arranged in the circumferential direction.
Optionally, the flexible film 212 is made of rubber. By adopting the design scheme of the rigid pressing head 213 and the flexible film 212, under the supporting action of the rigid pressing head 213, when the flexible film 212 massages acupuncture points, the flexible film 212 can not deviate, and certain centering performance and rigidity are kept. Alternatively, the flexible membrane 212 may initially be an arc surface that is outwardly convex (e.g., hemispherical membrane) or inwardly concave. Initially, there is no air pressure in the air reservoir 214, and naturally due to the area accumulation, the flexible membrane 212 will bulge outward or indent inward.
Principle of operation
Sleeving the whole mechanism into a rehabilitation limb, wherein the annular shell 211 is respectively positioned on limbs at two sides of the rehabilitation joint, firstly, inflating the flexible membrane 212 in the annular shell 211, and the flexible membrane 212 expands under the pressure of gas to clamp the inner limb to play a role in fixing; then, the control flange 1 and the annular shell 211 drive the limbs to move relatively through the extension and the shortening of the flexible driving body of the flexible driving unit 3, the posture and the amplitude of the relative movement of the limbs can be adjusted according to the actual feeling of the patient, and the flexible driving unit 3 is made of flexible materials, so that when the active movement rule is different from the personalized skeleton rule of the patient, the passive adjustment can be carried out under the reaction force of the patient, and the safety protection effect is achieved.
The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.
Claims (7)
1. A flexible modular joint rehabilitation mechanism is characterized in that: the flexible clamping device comprises a flange (1), a flexible clamping unit (2) and a flexible driving unit (3); the flexible clamping units (2) are arranged in pairs and are respectively arranged on one flange (1), and N flexible driving units (3) connected with the two flanges (1) are uniformly distributed between the two flanges; the flange (1), the flexible clamping unit (2) and the flexible driving unit (3) are provided with positioning channels for enabling limbs to pass in and out, and the flexible clamping unit (2) clamps the limbs in the positioning channels; wherein N is more than or equal to 3 and is a positive integer;
each flexible drive unit (3) comprises a ball socket (31), a hollow joint bolt (32) and a plurality of hollow flexible bodies (33); the flexible driving body is formed by connecting a plurality of hollow flexible bodies (33) in series, the hollow flexible bodies (33) at two ends of the flexible driving body are placed in ball sockets (31) to form a ball joint, the hollow flexible bodies (33) of the ball joint are connected with the ball sockets (31) through hollow joint bolts (32), central channels (34) which are communicated with each other are formed in the hollow flexible bodies (33), pore passages of the hollow joint bolts (32) are communicated with the central channels, and each flange (1) is limited and fixed by the ball sockets (31) and the hollow joint bolts (32) penetrating through the flange (1).
2. The flexible modular joint rehabilitation mechanism of claim 1, wherein: the actuator (21) comprises an annular housing (211), a flexible membrane (212) and a rigid pressing head (213); a plurality of rigid pressing heads (213) are arranged on the inner wall surface of the annular shell (211) along the circumferential direction, each rigid pressing head (213) is of a hollow structure, a flexible film (212) is fixedly connected to the end portion of each pressing head (213), the flexible film (212), the rigid pressing heads (213) and the annular shell (211) form an air storage chamber (214), an interface (2111) communicated with the air storage chamber (214) is processed on the annular shell (211), and the annular shell (211) is connected with the flange (1).
3. The flexible modular joint rehabilitation mechanism of claim 2, wherein: the plurality of rigid pressing heads (213) are arranged uniformly in the circumferential direction.
4. The flexible modular joint rehabilitation mechanism according to claim 2 or 3, characterized in that: the flexible membrane (212) is made of rubber.
5. The flexible modular joint rehabilitation mechanism of claim 4, wherein: the annular housing (211) is a circular housing.
6. The flexible modular joint rehabilitation mechanism of claims 1, 2, 3, or 5, wherein: the hollow flexible body (33) is made of rubber.
7. The flexible modular joint rehabilitation mechanism of claim 6, wherein: the number of the flexible driving units (3) is six, every two flexible driving units are arranged in a group, and the two flanges (1) and the three groups of flexible driving units (2) are arranged into a delta mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010147311.6A CN111317645A (en) | 2020-03-05 | 2020-03-05 | Flexible modular joint rehabilitation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010147311.6A CN111317645A (en) | 2020-03-05 | 2020-03-05 | Flexible modular joint rehabilitation mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN111317645A true CN111317645A (en) | 2020-06-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010147311.6A Pending CN111317645A (en) | 2020-03-05 | 2020-03-05 | Flexible modular joint rehabilitation mechanism |
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| Country | Link |
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| CN (1) | CN111317645A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112137855A (en) * | 2020-09-24 | 2020-12-29 | 昆明理工大学 | Rigidity-variable soft massage robot |
| CN113116679A (en) * | 2021-04-20 | 2021-07-16 | 杨波 | Knee osteoarthritis comprehensive therapeutic instrument |
| CN114148429A (en) * | 2021-12-13 | 2022-03-08 | 哈尔滨工业大学 | Wearable parallel connection structure biped robot capable of assisting in walking |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1799788A (en) * | 2006-01-05 | 2006-07-12 | 江南大学 | Parallel robot with fluid-driven artificial muscle |
| CN102415923A (en) * | 2011-09-20 | 2012-04-18 | 浙江大学 | Thigh self-adaption exoskeleton fixing device based on human body physiological structure |
| CN108785016A (en) * | 2018-06-12 | 2018-11-13 | 燕山大学 | Two translation of one kind, one rotation knee joint recovery robot |
| CN110037841A (en) * | 2019-04-22 | 2019-07-23 | 南通市第一人民医院 | Lower limb abduction neutral fixes device |
-
2020
- 2020-03-05 CN CN202010147311.6A patent/CN111317645A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1799788A (en) * | 2006-01-05 | 2006-07-12 | 江南大学 | Parallel robot with fluid-driven artificial muscle |
| CN102415923A (en) * | 2011-09-20 | 2012-04-18 | 浙江大学 | Thigh self-adaption exoskeleton fixing device based on human body physiological structure |
| CN108785016A (en) * | 2018-06-12 | 2018-11-13 | 燕山大学 | Two translation of one kind, one rotation knee joint recovery robot |
| CN110037841A (en) * | 2019-04-22 | 2019-07-23 | 南通市第一人民医院 | Lower limb abduction neutral fixes device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112137855A (en) * | 2020-09-24 | 2020-12-29 | 昆明理工大学 | Rigidity-variable soft massage robot |
| CN112137855B (en) * | 2020-09-24 | 2022-03-01 | 昆明理工大学 | Rigidity-variable soft massage robot |
| CN113116679A (en) * | 2021-04-20 | 2021-07-16 | 杨波 | Knee osteoarthritis comprehensive therapeutic instrument |
| CN114148429A (en) * | 2021-12-13 | 2022-03-08 | 哈尔滨工业大学 | Wearable parallel connection structure biped robot capable of assisting in walking |
| CN114148429B (en) * | 2021-12-13 | 2022-09-09 | 哈尔滨工业大学 | Wearable parallel connection structure biped robot capable of assisting in walking |
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Application publication date: 20200623 |
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| RJ01 | Rejection of invention patent application after publication |