CN111568697A - Intelligent ankle joint telecontrol equipment - Google Patents
Intelligent ankle joint telecontrol equipment Download PDFInfo
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- CN111568697A CN111568697A CN202010444163.4A CN202010444163A CN111568697A CN 111568697 A CN111568697 A CN 111568697A CN 202010444163 A CN202010444163 A CN 202010444163A CN 111568697 A CN111568697 A CN 111568697A
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- displacement actuator
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- bottom plate
- foot
- foot bottom
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 210000002683 foot Anatomy 0.000 claims abstract description 53
- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 210000004744 fore-foot Anatomy 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims description 76
- 210000003423 ankle Anatomy 0.000 claims description 8
- 238000013016 damping Methods 0.000 claims description 7
- 210000001503 joint Anatomy 0.000 claims description 4
- 238000005452 bending Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 2
- 239000000758 substrate Substances 0.000 description 5
- 238000011084 recovery Methods 0.000 description 4
- 241001227561 Valgus Species 0.000 description 2
- 241000469816 Varus Species 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010034701 Peroneal nerve palsy Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000036544 posture 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
- A61H1/0266—Foot
-
- 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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0165—Damping, vibration related features
-
- 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
-
- 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
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an intelligent ankle joint movement device, and belongs to the technical field of medical rehabilitation equipment. The method comprises the following steps: the upper end face of the foot bottom plate is also provided with a plurality of foot face fixing belts, the base plate is positioned below the foot bottom plate, a gap is reserved between the base plate and the foot bottom plate, one end of the dorsometatarsal bending mechanism is fixedly connected with the upper end face of the base plate, the other end of the dorsometatarsal bending mechanism is movably connected with the lower end face of the rear part of the foot bottom plate, one ends of the two rotating mechanisms are respectively connected with one side of the front part of the foot bottom plate through a belt, one ends of the two inward and outward turning mechanisms are fixedly connected with the upper end face of the base. The intelligent ankle joint movement device provided by the invention can assist a patient in active or passive ankle joint rehabilitation training, and has multiple functions and a wide application range.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation equipment, in particular to an intelligent ankle joint movement device.
Background
For a patient with cerebral apoplexy, the lower limb strength of the patient is reduced, the ankle joint can generate the problems of dorsiflexion, limited eversion and the like, the problems are mainly represented as foot drop and foot inversion, the control capability of the patient on the ankle joint is poor, and the walking capability of the patient is seriously influenced. The existing ankle joint rehabilitation training device has a single function, generally only provides active or passive single rehabilitation training, and has a small application range.
Disclosure of Invention
Aiming at the problems in the prior art, the intelligent ankle joint movement device is provided, can assist a patient to carry out active or passive ankle joint rehabilitation training, and has multiple functions and wide application range.
The specific technical scheme is as follows:
an intelligent ankle motion device, comprising: a foot bottom plate, a base plate, a dorsolarflexion mechanism, a rotation mechanism and two inward and outward turning mechanisms.
The patient's foot is placed at foot bottom plate up end, and the up end of foot bottom plate still is provided with a plurality of instep fixed bands in addition. The substrate is arranged below the foot bottom plate, and a gap is reserved between the substrate and the foot bottom plate. One end of the dorsomerflexion mechanism is fixedly connected with the upper end face of the base plate, the other end of the dorsomerflexion mechanism is movably connected with the lower end face of the rear part of the foot bottom plate, the dorsomerflexion mechanism comprises a displacement actuator I or a damper I, the length direction of the displacement actuator I or the damper I is perpendicular to the upper end face of the base plate, and the displacement actuator I or the damper I can stretch and retract along the length direction of the displacement actuator I or the damper I. One end of each of the two rotating mechanisms is connected with one side of the front part of the foot bottom plate through a belt, each rotating mechanism comprises a second displacement actuator or a second damper, the length direction of the second displacement actuator or the second damper is parallel to the upper end face of the base plate, and the movable end of the second displacement actuator or the second damper rotates by taking the length direction as an axis. One end of each of the two inward and outward turning mechanisms is fixedly connected with the upper end face of the base plate, the other end of each of the two inward and outward turning mechanisms is movably connected with the edge of the lower end face of the front part of the foot bottom plate, each inward and outward turning mechanism comprises a third displacement actuator or a third damper, the length direction of the third displacement actuator or the third damper is perpendicular to the upper end face of the base plate, and the third displacement actuator or the third damper can stretch and retract along the length direction of the third displacement actuator or the.
The above-mentioned intelligent ankle joint movement device further has the characteristic that the device further comprises a controller, and the controller is arranged on the base plate and is in signal connection with the first displacement actuator, the second displacement actuator and the third displacement actuator.
The above-mentioned intelligent ankle joint exercise device further has a feature that the first displacement actuator and the third displacement actuator are one of an air cylinder, an electric cylinder and a hydraulic cylinder, and the second displacement actuator is a rotary motor.
In the above-described intelligent ankle joint movement device, further having a feature that the first damper, the second damper, and the third damper include a plurality of damping values.
The above-mentioned intelligent ankle joint exercise device is further characterized in that the joints of the dorsometatarsal flexion mechanism and the foot bottom plate and the joints of the varus and valgus mechanism and the foot bottom plate are provided with universal joint mechanisms.
The above-mentioned intelligent ankle joint movement device is further characterized in that the lower end surface of the front part of the foot bottom plate is provided with an arc-shaped groove, and the arc-shaped groove takes the joint of the dorsometatarsal flexion mechanism and the foot bottom plate as an arc center.
In the above-mentioned intelligent ankle joint exercising apparatus, it is further characterized in that the other ends of the two inward and outward turning mechanisms are slidable in the arc length direction of the arc-shaped groove.
The intelligent ankle joint movement device is characterized in that the belt is a belt or a rack, the belt or the rack is matched with the movable end of the second displacement actuator, or the belt or the rack is matched with the movable end of the second damper.
In the above-described intelligent ankle joint movement device, there is further provided a feature that a part of the belt or the rack is fixedly connected to the sole plate of the foot.
The positive effects of the technical scheme are as follows:
according to the intelligent ankle joint movement device provided by the invention, dorsiflexion and plantarflexion of the ankle joint of the patient are exercised through the dorsomerflexion mechanism, internal rotation and external rotation of the ankle joint of the patient are exercised through the rotating mechanism, internal inversion and external inversion of the ankle joint of the patient are exercised through the internal and external inversion mechanism, the displacement actuator and the damper can be replaced according to the actual condition of the patient, various rehabilitation training modes such as active or passive can be carried out, the functions are more, and the application range is wider.
Drawings
FIG. 1 is a first schematic structural view of an embodiment of an intelligent ankle apparatus according to the invention;
FIG. 2 is a second schematic structural view of an embodiment of an intelligent ankle apparatus according to the invention;
fig. 3 is a second schematic structural view of an embodiment of an intelligent ankle joint movement device according to the present invention.
In the drawings: 1. a substrate; 2. a foot sole plate; 201. a instep fixing belt; 202. a limiting block; 3. a dorsometatarsal flexion mechanism; 301. a first displacement actuator; 302. a first damper; 4. a rotation mechanism; 401. a second displacement actuator; 402. a second damper; 403. a belt; 5. an inside and outside overturning mechanism; 501. a displacement actuator III; 502. a third damper; 6. and a controller.
Detailed Description
In order to make the technical means, the creation features, the achievement objects and the effects of the present invention easy to understand, the following embodiments will specifically describe an intelligent ankle joint movement device provided by the present invention with reference to fig. 1 to 3.
The intelligent ankle joint movement device can help the recovery of the movement capacity of the ankle joint of a patient, can improve the movement capacities of the ankle joint of the patient in dorsiflexion and plantarflexion directions, in eversion and eversion directions and in inward rotation and outward rotation directions, can actively drive the movement of the ankle joint of the foot of the patient in the above six directions, and can add damping in the above six directions to train the muscle group of the foot of the patient.
When the patient uses this telecontrol equipment, sit on the chair, then place the foot at 2 up end of foot bottom plate, the up end of foot bottom plate 2 still is provided with a plurality of instep fixed bands 201 in addition, with the fixed instep of instep fixed band 201, one side of foot bottom plate 2 is provided with stopper 202, stopper 202 and patient's heel phase-match.
The base plate 1 is positioned below the foot bottom plate 2, and a gap is reserved between the base plate 1 and the foot bottom plate 2 and used for setting various auxiliary motion mechanisms. One end of the dorsomerflexion mechanism 3 is fixedly connected with the upper end face of the base plate, the other end of the dorsomerflexion mechanism 3 is movably connected with the lower end face of the rear portion of the foot bottom plate 2, the dorsomerflexion mechanism 3 comprises a first displacement actuator 301 or a first damper 302, the first displacement actuator 301 and the first damper 302 are detachably arranged and can be replaced according to active and passive rehabilitation requirements, the length direction of the first displacement actuator 301 or the first damper 302 is perpendicular to the upper end face of the base plate 1, the first displacement actuator 301 or the first damper 302 can stretch along the length direction of the first displacement actuator 301 or the first damper 302, when the first displacement actuator 301 or the first damper 302 moves, other mechanisms are kept still, when the first displacement actuator 301 or the first damper 302 contracts, the tiptoe of the patient is lifted, and when the first displacement actuator 301 or the first damper 302 extends, the lower part of the tiptoe of the patient is positioned, and therefore dorsif.
One end of each of the two rotating mechanisms 4 is connected with one side of the front part of the foot bottom plate 2 through a belt 403, each rotating mechanism 4 comprises a second displacement actuator 401 or a second damper 402, the second displacement actuator 401 and the second damper 402 are arranged in a detachable mode and can be replaced according to active and passive rehabilitation requirements, the length direction of the second displacement actuator 401 or the second damper 402 is parallel to the upper end face of the base plate, the movable end of the second displacement actuator 401 or the second damper 402 rotates around the length direction of the movable end, other mechanisms are kept still when the second displacement actuator 401 or the second damper 402 moves, when the movable end of the second displacement actuator 401 or the second damper 402 rotates clockwise when the feet are observed towards the front, the front part of the foot bottom plate 2 slightly rotates towards the right side, and when the movable end of the second displacement actuator 401 or the second damper 402 rotates anticlockwise, the front part of the foot bottom plate 2 slightly rotates towards the left side, when rotating, the rotation center is the length direction 3 of the dorsometatarsis mechanism, thereby exercising the internal rotation and the external rotation of the ankle joint of the patient.
One end of each of the two inward and outward turning mechanisms 5 is fixedly connected with the upper end face of the base plate 1, the other end of each of the two inward and outward turning mechanisms 5 is movably connected with the edge of the lower end face of the front part of the foot bottom plate 2, each of the two inward and outward turning mechanisms 5 comprises a third displacement actuator 501 or a third damper 502, the third displacement actuator 501 and the third damper 502 are detachably arranged, can be replaced according to the requirements of active and passive rehabilitation, the length direction of the displacement actuator III 501 or the damper III 502 is vertical to the upper end surface of the substrate 1, and the displacement actuator III 501 or the damper III 502 can stretch and retract along the length direction, the other mechanisms remain stationary while the displacement actuator three 501 or damper three 502 moves, wherein the displacement actuator III 501 or the damper III 502 on one side is extended, the displacement actuator III 501 or the damper III 502 on the other side is shortened, thereby generating a height difference between the left and right sides of the patient, thereby exercising the inversion and eversion of the ankle joint of the patient.
In a preferred embodiment, as shown in fig. 1 to 3, the apparatus further includes a controller 6, the controller 6 is disposed on the substrate 1 and is in signal connection with the first displacement actuator 301, the second displacement actuator 401 and the third displacement actuator 501, and the controller 6 controls one of the first displacement actuator 301, the second displacement actuator 402 and the third displacement actuator 502 to move, and the general controller 6 is provided with three independent switches to control three different sets of displacement actuators, respectively, and only one set of displacement actuators can be turned on at the same time.
In a preferred embodiment, as shown in fig. 1 to 3, the first displacement actuator 301 and the third displacement actuator 501 are one of an air cylinder, an electric cylinder and a hydraulic cylinder, preferably an electric cylinder, and have a simple structure, and no other additional devices are needed, and the second displacement actuator 401 is a rotating motor, and drives the belt to move by the rotation of the rotating motor, so as to drive the left side or the right side of the sole plate to swing.
In a preferred embodiment, as shown in fig. 1 to 3, the first damper 302, the second damper 402, and the third damper 502 include a plurality of damping values, the first damper 302 and the third damper 502 are selected as damping slide rails, the second damper 402 is selected as a rotary damper, and a plurality of damping values are set, so that the damper can be selected by patients with different recovery degrees, and the applicability is wide.
In a preferred embodiment, as shown in fig. 1 to 3, universal joint mechanisms are respectively arranged at the connection part of the dorsometatarsal bending mechanism 3 and the foot bottom plate 2 and at the connection part of the varus and valgus mechanism 5 and the foot bottom plate 2, so that different use postures of the foot bottom plate can be met.
In a preferred embodiment, as shown in fig. 1 to 3, an arc-shaped groove (not shown) is formed in the lower end surface of the front portion of the foot bottom plate 2, and the arc-shaped groove limits the moving position of the rotation mechanism 4 with the connecting portion of the dorsomersault mechanism 3 and the foot bottom plate 2 as the arc center.
In a preferred embodiment, as shown in fig. 1 to 3, the other ends of the two inward and outward turning mechanisms 5 (i.e. one end of the universal joint mechanism) can slide along the arc length direction of the arc-shaped groove, so that the motions of the rotating mechanism 4 and the inward and outward turning mechanisms 5 can be adapted to each other, and the left and right sides rotation and inward and outward turning of the foot bottom plate 2 can be realized in the same mechanism.
In a preferred embodiment, as shown in fig. 1-3, the belt 403 is a belt or a rack, and the belt or the rack is matched with the movable end of the second displacement actuator 401, or the belt or the rack is matched with the movable end of the second damper 402. The preferable belt is selected as a rack, the second displacement actuator 401 drives the rack to move, and then the rack drives the foot bottom plate 2 to swing left and right.
In a preferred embodiment, as shown in fig. 1 to 3, a part of the belt or the rack is fixedly connected with the foot bottom plate 2, the fixed connection is detachable, and further, the left side and the right side of the foot bottom plate 2 are provided with clamping grooves, and clamping teeth are arranged in the clamping grooves and can be matched with the rack.
In the following description, a specific embodiment is described, and it should be noted that the structures, processes, and materials described in the following embodiment are only used to illustrate the feasibility of the embodiment, and are not intended to limit the scope of the present invention.
One end of the dorsiflexion mechanism is fixedly connected with the upper end face of the base plate, and the other end of the dorsiflexion mechanism is movably connected with the lower end face of the rear part of the foot bottom plate, so that the intelligent ankle joint movement device is responsible for dorsiflexion and plantarflexion movement of ankle joints of patients; one end of each of the two rotating mechanisms is connected with one side of the front part of the foot bottom plate through a belt respectively and is responsible for the internal rotation and the external rotation of the ankle joint of the patient; one end of each of the two inward and outward turning mechanisms is fixedly connected with the upper end face of the base plate, and the other end of each of the two inward and outward turning mechanisms is movably connected with the edge of the lower end face of the front part of the foot bottom plate and is responsible for the inward turning and outward turning of the ankle joint of the patient; wherein displacement executor and attenuator can be changed according to the device initiative and passive recovered demand, and the motion of every displacement executor can be controlled alone to this outer controller to and can change the concrete damping value of attenuator according to the recovery degree of different patients, with the user demand that satisfies the different patients of recovery degree.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. An intelligent ankle motion device comprising:
the foot fixing device comprises a foot bottom plate, a foot fixing plate and a fixing device, wherein the foot bottom plate is used for placing the feet of a patient on the upper end surface of the foot bottom plate, and a plurality of foot surface fixing belts are further arranged on the upper end surface of the foot bottom plate;
a base plate located below the foot sole plate, the base plate and the foot sole plate leaving a gap;
the dorsometatarsal mechanism comprises a displacement actuator I or a damper I, wherein the length direction of the displacement actuator I or the damper I is vertical to the upper end face of the base plate, and the displacement actuator I or the damper I can stretch and retract along the length direction of the displacement actuator I or the damper I;
one end of each of the two rotating mechanisms is connected with one side of the front part of the foot bottom plate through a belt, each rotating mechanism comprises a second displacement actuator or a second damper, the length direction of the second displacement actuator or the second damper is parallel to the upper end face of the base plate, and the movable end of the second displacement actuator or the second damper rotates by taking the length direction as an axis;
the foot base plate comprises a base plate, two inward and outward turning mechanisms, one ends of the two inward and outward turning mechanisms are fixedly connected with the upper end face of the base plate, the other ends of the two inward and outward turning mechanisms are movably connected with the edge of the lower end face of the front portion of the foot base plate respectively, each inward and outward turning mechanism comprises a third displacement actuator or a third damper, the length direction of the third displacement actuator or the third damper is perpendicular to the upper end face of the base plate, and the third displacement actuator or the third damper can stretch and retract along the length direction of the third displacement actuator or the third damper.
2. The intelligent ankle apparatus according to claim 1, further comprising a controller disposed on the base plate and in signal communication with the first displacement actuator, the second displacement actuator, and the third displacement actuator.
3. The intelligent ankle joint apparatus according to claim 1, wherein the first and third displacement actuators are one of a pneumatic cylinder, an electric cylinder, and a hydraulic cylinder, and the second displacement actuator is a rotary electric machine.
4. The intelligent ankle motion device of claim 1 wherein the first, second and third dampers comprise damping values.
5. The intelligent ankle joint movement device according to claim 1, wherein the joints of the dorsometatarsal flexion mechanism and the foot bottom plate and the joints of the eversion mechanism and the foot bottom plate are provided with universal joint mechanisms.
6. The intelligent ankle joint movement device according to claim 1, wherein the lower end surface of the front part of the foot bottom plate is provided with an arc-shaped groove, and the arc-shaped groove takes the joint of the dorsomerflexion mechanism and the foot bottom plate as an arc center.
7. The intelligent ankle apparatus according to claim 6, wherein the other end of the inward and outward turning mechanism is slidable along the arc length direction of the arc-shaped groove.
8. The intelligent ankle joint movement device according to claim 1, wherein the belt is a belt or a rack, the belt or the rack is matched with the movable end of the second displacement actuator, or the belt or the rack is matched with the movable end of the second damper.
9. The intelligent ankle apparatus according to claim 8, wherein a part of the belt or the rack gear is fixedly connected to the sole plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010444163.4A CN111568697A (en) | 2020-05-22 | 2020-05-22 | Intelligent ankle joint telecontrol equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010444163.4A CN111568697A (en) | 2020-05-22 | 2020-05-22 | Intelligent ankle joint telecontrol equipment |
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| CN111568697A true CN111568697A (en) | 2020-08-25 |
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| CN202010444163.4A Pending CN111568697A (en) | 2020-05-22 | 2020-05-22 | Intelligent ankle joint telecontrol equipment |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111973401A (en) * | 2020-09-03 | 2020-11-24 | 温州市中西医结合医院 | Ankle joint wound rehabilitation device |
| CN112473089A (en) * | 2020-11-04 | 2021-03-12 | 杭州苍狼贸易有限公司 | Ankle rehabilitation instrument and rotating lifting mechanism |
| CN112691340A (en) * | 2020-12-23 | 2021-04-23 | 吉林农业科技学院 | Ankle joint rehabilitation robot |
| CN113018792A (en) * | 2021-04-20 | 2021-06-25 | 巢湖学院 | Ligament stretching trainer for physical fitness |
| CN114515416A (en) * | 2022-03-30 | 2022-05-20 | 重庆市中医院 | Ankle rehabilitation training device |
| CN114733145A (en) * | 2022-04-02 | 2022-07-12 | 深圳市人民医院 | Intelligent multifunctional lower limb rehabilitation training integrated machine |
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Application publication date: 20200825 |