CN111904796A - Knee joint training device - Google Patents
Knee joint training device Download PDFInfo
- Publication number
- CN111904796A CN111904796A CN202010901175.5A CN202010901175A CN111904796A CN 111904796 A CN111904796 A CN 111904796A CN 202010901175 A CN202010901175 A CN 202010901175A CN 111904796 A CN111904796 A CN 111904796A
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- fixing plates
- plate
- tibia
- knee joint
- training device
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 43
- 210000002303 tibia Anatomy 0.000 claims abstract description 56
- 210000000689 upper leg Anatomy 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims abstract description 36
- 210000001699 lower leg Anatomy 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 210000003127 knee Anatomy 0.000 claims description 10
- 244000309466 calf Species 0.000 claims description 2
- 210000001694 thigh bone Anatomy 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 5
- 230000008407 joint function Effects 0.000 abstract description 2
- 238000005096 rolling process Methods 0.000 abstract 1
- 230000006870 function Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- 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
- A61H2205/102—Knee
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a knee joint training device which comprises a support frame, a power device, two femoral fixing plates and two tibial fixing plates, wherein the power device is arranged on the support frame; the two tibia fixing plates are positioned between the two femur fixing plates, the tibia fixing plates are connected with the femur fixing plates through connecting rods, and the connecting rods penetrate through the tibia fixing plates and the femur fixing plates; one of the tibia fixing plates is connected with the power device through a transmission rod; arc-shaped grooves are formed in the two femur fixing plates, rolling wheels are installed at two ends of the connecting rod, and the tibia fixing plate makes concentric circle rotary motion relative to the femur fixing plates. The thighbone fixed plate is fixed with the patient thigh, and the shin bone fixed plate is fixed with the patient shank, adjusts the rotation center of device and patient's knee joint rotation center unanimously to form the activity of knee joint, reach the purpose that the knee joint function was taken exercise.
Description
Technical Field
The invention belongs to the technical field of medical rehabilitation instruments, and relates to a knee joint training device.
Background
The previous knee joint exerciser only performs the flexion and extension exercises of the knee joint, and does not consider the abnormal surface speed of the surface of the joint of the knee joint caused by poor matching of a rotation center in the moving process, so that some parts of the joint surface are pressed tightly, and the other parts are separated, so that the friction and the mechanical abrasion on the surface are increased, the pain of a patient is increased, and the recovery of the function of the knee joint is not facilitated.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a knee joint training device, which avoids the problems of surface friction and mechanical abrasion of the knee joint in the moving process caused by poor matching of a rotation center.
The invention is realized by the following technical scheme:
a knee joint training device comprises a support frame, a power device, two femoral fixing plates and two tibial fixing plates, wherein the power device is arranged on the support frame, the two femoral fixing plates are connected through a fixing plate connecting frame, and one femoral fixing plate is fixedly connected with the support frame;
the two tibia fixing plates are positioned between the two femur fixing plates, the tibia fixing plates are connected with the femur fixing plates through connecting rods, and the connecting rods penetrate through the tibia fixing plates and the femur fixing plates; one of the tibia fixing plates is connected with the power device through a transmission rod;
arc-shaped grooves are formed in the two femur fixing plates and serve as guide rails, idler wheels are mounted at two ends of the connecting rod, the idler wheels and the arc-shaped grooves form a guide rail and pulley mechanism, and the tibia fixing plates do concentric circle rotary motion relative to the femur fixing plates.
Furthermore, two thighbone fixing plates are respectively arranged on one side of thighs of a patient, and two shin bone fixing plates are respectively arranged on one side of shanks of the patient.
Further, the power device comprises a motor and a transmission gear set, and the motor is connected with the transmission rod through the transmission gear set.
Furthermore, the femur fixing plate and the tibia fixing plate are both fan-shaped plates.
Furthermore, a round hole is formed in the circle center end of one of the femur fixing plates, and one end of the transmission rod penetrates through the round hole to extend to the tibia fixing plate and is connected with the tibia fixing plate.
Furthermore, the right-angle sides at one side of the two femur fixing plates are provided with fixing connecting holes, and the right-angle sides at the side are contacted with the thighs of the patient;
the right-angle sides at one side of the two tibia fixing plates are provided with fixing connecting holes, and the right-angle sides at the side are contacted with the crus of the patient.
Furthermore, a groove is pre-processed on the inner side of the arc-shaped groove, and the roller is clamped in the groove.
Further, the number of the connecting rods is two.
Furthermore, the tibia fixing plate comprises a left side plate and a right side plate, the femur fixing plate comprises a first side plate and a second side plate, the left side plate and the right side plate are positioned on one side, and the right side plate and the second side plate are positioned on one side;
the second side plate is connected with the transmission rod, and the length of the transmission rod between the second side plate and the right side plate is the same as that of a section corresponding to the connecting rod.
Further, the electric control device comprises a central controller and a power supply for supplying power to the central controller, the central controller comprises a CPU, an angle sensor and a driving circuit, the angle sensor is installed on the tibia fixing plate and connected with the CPU, and the CPU is connected with the power device through the driving circuit.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention discloses a knee joint training device which comprises a support frame, a power device, two femoral fixing plates and two tibial fixing plates, wherein the two tibial fixing plates are positioned between the two femoral fixing plates; it has an arc wall to open on the thighbone fixed plate, at the terminal installation gyro wheel of connecting rod, the gyro wheel forms guide rail pulley mechanism with the arc wall, make relative concentric circles rotary motion can carry out between shin bone fixed plate and the thighbone fixed plate through the gyro wheel, it is fixed with patient's thigh to make the thighbone fixed plate during the installation, shin bone fixed plate is fixed with patient's shank, the rotation center that will install is unanimous with patient's knee joint rotation center debugging, the shin bone fixed plate rotates and drives the knee joint activity, thereby avoid because the rotation center matches the surperficial friction and the mechanical nature of wearing and tearing problem that the knee joint that leads to appears at the activity in-process badly, alleviate patient's frontal pain.
Furthermore, the right-angle edges at one side of the tibia fixing plate and the femur fixing plate are provided with fixing connecting holes, so that the device can be stably connected with thighs and crus of patients.
Furthermore, the connecting rod design is two, can support the shin bone fixed plate better, and the direction is more stable simultaneously, and the atress distributes more evenly.
Furthermore, the connecting rod and the transmission rod are positioned between the femur fixing plate and the tibia fixing plate and have the same length, so that the relative parallelism between the four plates is ensured.
Further, the electric control device comprises a central controller and a power supply, the central controller comprises a CPU, an angle sensor and a driving circuit, the angle sensor is connected with the CPU, and the CPU is connected with the stepping motor through the driving circuit. The stepping motor is a main executive device and is used for driving the transmission gear and providing rotary power for the knee joint; a user can input a rotation angle and a speed which need to be set through a display screen of the central controller, the CPU outputs a control signal after receiving a command, the stepping motor is controlled to rotate through the driving circuit, and meanwhile, the angle sensor collects the current actual rotation angle and compares the current actual rotation angle with a set value to form a feedback control mechanism.
Drawings
FIG. 1 is a perspective view of a knee training device of the present invention;
FIG. 2 is a side view of the knee training device of the present invention in an assembled configuration with a patient's leg;
FIG. 3 is a schematic structural diagram corresponding to another state of FIG. 2;
FIG. 4 is a simulated view of the knee joint movement process;
fig. 5 is a schematic block diagram of the electric control device.
Wherein: 1 is a motor; 2 is a transmission gear set; 3 is a transmission rod; 4 is a fixed plate connecting frame; 5 is a supporting frame; 6 is a femur fixing plate; 61 is a first side plate; 62 is a second side plate; 7 is a tibia fixed plate; 71 is a left side plate; 72 is a right side plate; 8 is a connecting rod; 9 is a roller; 10 is an arc-shaped groove; and 11 is a fixed connecting hole.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1, the knee joint training device disclosed by the invention comprises a support frame 5, a power device, two femur fixing plates 6 and two tibia fixing plates 7; the power device is arranged on the support frame 5, the two femoral fixing plates 6 are connected through the fixing plate connecting frame 4, and one femoral fixing plate 6 is fixedly connected with the support frame 5; the two tibia fixing plates 7 are positioned between the two femur fixing plates 6, the two tibia fixing plates 7 are connected through a connecting rod 8, and one tibia fixing plate 7 is connected with the power device through the transmission rod 3; arc-shaped grooves 10 are formed in the two femur fixing plates 6, the arc-shaped grooves 10 serve as guide rails, idler wheels 9 are mounted at two ends of the connecting rod 8, the idler wheels 9 and the arc-shaped grooves 10 form a guide rail and pulley mechanism, and the tibia fixing plate 7 rotates concentrically relative to the femur fixing plates 6.
The inner side of the arc-shaped groove 10 is pre-processed with a groove, and the roller 9 is just clamped in the groove. Connecting rod 8 and gyro wheel 9 adopt interference fit for connecting rod 8's rigidity can play the supporting role simultaneously, supports two shin bone fixed plates 7 between two thighbone fixed plates 6.
The tibial fixation plate 7 comprises a left side plate 71 and a right side plate 72, the femoral fixation plate 6 comprises a first side plate 61 and a second side plate 62, the left side plate 71 and the right side plate 72 are located on one side, and the right side plate 72 and the second side plate 62 are located on one side. The second side plate 62 is connected with the transmission rod 3, and the transmission rod 3 and the connecting rod 8 between the second side plate 62 and the right side plate 72 have the same length, so that a certain gap is reserved between the tibia fixing plate 7 and the femur fixing plate 6, and the gap and the connection are kept relatively parallel.
The centre of rotation of the knee joint is not fixed and varies with flexion and extension movements of the knee joint, but the different centres of rotation are linked together to form a near-circular circle of smaller radius, and we find the centre of this circle, which is the point relatively closest to all the centres of rotation of the knee joint, and can be considered as the centre of rotation of the knee joint. The general flexion and extension activities of the knee joint of a patient needing knee joint exercise are limited, the knee joint of the patient is photographed under 3 different flexion and extension angles through the knee joint on the healthy side, the knee joint is connected into an arc line by measuring the rotation center of the sagittal position, the tangent line of the arc line is made at different positions, the perpendicular line of the tangent line is made again, the intersection point of the perpendicular line is the rotation center of the knee joint, the rotation center of the knee joint training device is confirmed through the mirror image principle, and the rotation center of the knee joint training device is consistent with the knee joint rotation center of the found patient by installing the knee joint training device.
As shown in FIG. 4, the Y-axis is the tibial centerline and the X-axis is the tibial plateau joint line, with the knee flexion angle varying, the normal knee instantaneous center (O)1、O2、O3) Is circular, will O1、O2And O3The tangent line of this pitch arc is done at the different positions of this pitch arc to an pitch arc in company, does the perpendicular line of tangent line again, and the nodical knee joint center of rotation that is promptly of perpendicular line is confirmed through the mirror image principle to this knee joint trainer's center of rotation.
Femur fixed plate 6 is the sector plate with shin bone fixed plate 7, and the sector plate includes arc limit and right angle limit, and the right angle limit contacts with patient's leg.
As shown in fig. 2 and 3, two femur fixing plates 6 are respectively arranged on one side of thigh of patient, two tibia fixing plates 7 are respectively arranged on one side of calf of patient, a fixing connecting hole 11 is arranged on the right-angle side of one side of two femur fixing plates 6, and a fixing connecting hole 11 is arranged on the right-angle side of one side of two tibia fixing plates 7. The leg of patient passes from 4 below on the fixed plate link, and the thigh is placed between two thighbone fixed plates 6, and the shank is placed between two shin bone fixed plates 7, then packs into fixed steel nail in fixed connection hole 11, and the shin bone department of thighbone department and shank of patient's thigh has the steel needle in advance preinstalled, is connected with the steel needle through set screw, makes thighbone fixed plate 6 good with patient's thigh fixed connection like this, and shin bone fixed plate 7 is connected in patient's shank.
The power device comprises a motor 1 and a transmission gear set 2, the motor 1 is connected with a transmission rod 3 through the transmission gear set 2, one end of the transmission rod 3 is connected with a gear, the other end of the transmission rod is connected with a femur fixing plate 6 connected with a tibia fixing plate 7, the transmission rod 3 is in key connection with the transmission gear, the transmission rod 3 is in interference fit with the tibia fixing plate 7, the transmission rod 3 and the tibia fixing plate 7 are guaranteed not to rotate relatively, and the transmission rod 3 can be rotated to move the tibia fixing plate 7 to rotate. The motor 1 is a stepping motor, and the rotation angle of the stepping motor is accurate and controllable.
As shown in fig. 5, the electric control device includes a central controller, a power supply and a power supply circuit, wherein the power supply is connected with the central controller through the power supply circuit to supply power to the central controller. The central controller comprises a CPU, an angle sensor and a driving circuit, the angle sensor is installed on the tibia fixing plate and connected with the CPU, and the CPU is connected with the stepping motor through the driving circuit. The central controller adopts a liquid crystal touch display screen, and is also provided with function keys. The electric control device is opened and closed through the function keys, and the angle sensor is used for detecting the rotating angle of the tibia fixing plate.
The stepping motor is a main executive device and is used for driving the transmission gear and providing rotary power for the knee joint; the touch liquid crystal screen and the function keys are input ends operated by a user, the user can input a rotation angle and speed required to be set and timing operation, and simultaneously, the state of the current system, such as information of an actual rotation angle, current time, electric quantity and the like, can be displayed in real time. The CPU is a main controller of the system and controls each component in the system. A user sets a rotation angle and a speed through a screen and a function key, then a CPU outputs a control signal after receiving a command, a driving circuit controls a stepping motor to rotate, and meanwhile an angle sensor collects the current actual rotation angle and compares the current actual rotation angle with a set value to form a feedback control mechanism. When the mechanical motion amplitude exceeds a set value of a user or when the user operates improperly, an audible and visual alarm is triggered to remind the user.
As shown in fig. 1, a user sets different moving angles according to needs, starts the motor 1, the motor 1 drives the transmission gear set 2, and the transmission gear set 2 drives the transmission rod 3 to rotate, so as to drive the tibia fixing plate 7 to move; be connected through 2 connecting rods 8 between shin bone fixed plate 7 and the thighbone fixed plate 6, it has an arc wall 10 to open on the thighbone fixed plate 6, makes and to carry out relative concentric circles rotary motion between shin bone fixed plate 7 and the thighbone fixed plate 6 through gyro wheel 9 to form the activity of knee joint, reach the purpose that the knee joint function was taken exercise.
Claims (10)
1. A knee joint training device is characterized by comprising a support frame (5), a power device, two femoral fixing plates (6) and two tibial fixing plates (7), wherein the power device is arranged on the support frame (5), the two femoral fixing plates (6) are connected through a fixing plate connecting frame (4), and one femoral fixing plate (6) is fixedly connected with the support frame (5);
the two tibia fixing plates (7) are positioned between the two femur fixing plates (6), the tibia fixing plates (7) are connected with the femur fixing plates (6) through connecting rods (8), and the connecting rods (8) penetrate through the tibia fixing plates (7) and the femur fixing plates (6); one of the tibia fixing plates (7) is connected with a power device through a transmission rod (3);
arc-shaped grooves (10) are formed in the two femur fixing plates (6), the arc-shaped grooves (10) are used as guide rails, idler wheels (9) are installed at two ends of the connecting rod (8), the idler wheels (9) and the arc-shaped grooves (10) form a guide rail and pulley mechanism, and the tibia fixing plate (7) does concentric circle rotary motion relative to the femur fixing plates (6).
2. Knee training device according to claim 1, wherein the two femoral fixation plates (6) are each arranged on the thigh side of the patient and the two tibial fixation plates (7) are each arranged on the calf side of the patient.
3. Knee training device according to claim 1, wherein the power means comprise an electric motor (1) and a transmission gear set (2), the electric motor (1) being connected to the transmission rod (3) via the transmission gear set (2).
4. Knee training device according to claim 1, characterized in that the femoral fixation plate (6) and the tibial fixation plate (7) are both sector-shaped plates.
5. The knee joint training device according to claim 4, wherein a round hole is formed at the circle center end of one of the femur fixing plates (6), and one end of the transmission rod (3) passes through the round hole to extend to the tibia fixing plate (7) and is connected with the tibia fixing plate (7).
6. Knee joint training device according to claim 4, characterized in that the two femoral fixing plates (6) are provided with fixing attachment holes (11) on one side of the right-angled side, which side is in contact with the thigh of the patient;
the right-angle sides at one side of the two tibia fixing plates (7) are provided with fixing connecting holes (11), and the right-angle sides at the side are contacted with the crus of the patient.
7. Knee training device according to claim 1, wherein the inner side of the arc-shaped groove (10) is pre-machined with a recess in which the roller (9) is blocked.
8. Knee training device according to claim 1, wherein there are two connecting rods (8).
9. Knee training device according to claim 1, characterized in that the tibial fixation plate (7) comprises a left side plate (71) and a right side plate (72), the femoral fixation plate (6) comprises a first side plate (61) and a second side plate (62), the left side plate (71) and the right side plate (72) being located on one side, the right side plate (72) and the second side plate (62) being located on one side;
the second side plate (62) is connected with the transmission rod (3), and the transmission rod (3) between the second side plate (62) and the right side plate (72) has the same length as the corresponding section of the connecting rod (8).
10. The knee joint training device according to any one of claims 1 to 9, wherein the electric control device comprises a central controller and a power supply for supplying power to the central controller, the central controller comprises a CPU, an angle sensor and a driving circuit, the angle sensor is mounted on the tibia fixing plate (7), the angle sensor is connected with the CPU, and the CPU is connected with the power device through the driving circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010901175.5A CN111904796A (en) | 2020-08-31 | 2020-08-31 | Knee joint training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010901175.5A CN111904796A (en) | 2020-08-31 | 2020-08-31 | Knee joint training device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111904796A true CN111904796A (en) | 2020-11-10 |
Family
ID=73266121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010901175.5A Pending CN111904796A (en) | 2020-08-31 | 2020-08-31 | Knee joint training device |
Country Status (1)
| Country | Link |
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| CN (1) | CN111904796A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114869701A (en) * | 2022-05-19 | 2022-08-09 | 东北大学佛山研究生院 | Wearable gentle and agreeable knee joint ectoskeleton device |
| CN117547439A (en) * | 2024-01-12 | 2024-02-13 | 清华大学 | Five-degree-of-freedom center self-adaptive knee joint static progressive drafting trainer |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0173161A1 (en) * | 1984-08-13 | 1986-03-05 | Townsend Industries, Inc. | Multiaxis controlled motion knee orthosis |
| JP2001000580A (en) * | 1999-06-22 | 2001-01-09 | Koobe Rando Kk | Machine for improving health by inversion hanging |
| JP2006000347A (en) * | 2004-06-17 | 2006-01-05 | Japan Science & Technology Agency | Fan shape tube actuator and membrum inferius driving device |
| KR101897577B1 (en) * | 2017-04-13 | 2018-09-12 | 경남정보대학교 산학협력단 | Angle control device of supporting instrument for knee joint |
| WO2019138901A1 (en) * | 2018-01-15 | 2019-07-18 | サンコール株式会社 | Joint assistance unit and walking assistance device |
| CN110393651A (en) * | 2019-07-23 | 2019-11-01 | 公安部第一研究所 | One kind having apery kneed knee joint assistance exoskeleton robot |
| CN211187302U (en) * | 2019-10-28 | 2020-08-07 | 上海交通大学医学院附属第九人民医院 | Gap-adjustable knee joint pressure measuring device for total knee joint replacement |
| CN212261834U (en) * | 2020-08-31 | 2021-01-01 | 中国人民解放军空军军医大学 | Knee joint training device |
-
2020
- 2020-08-31 CN CN202010901175.5A patent/CN111904796A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0173161A1 (en) * | 1984-08-13 | 1986-03-05 | Townsend Industries, Inc. | Multiaxis controlled motion knee orthosis |
| JP2001000580A (en) * | 1999-06-22 | 2001-01-09 | Koobe Rando Kk | Machine for improving health by inversion hanging |
| JP2006000347A (en) * | 2004-06-17 | 2006-01-05 | Japan Science & Technology Agency | Fan shape tube actuator and membrum inferius driving device |
| KR101897577B1 (en) * | 2017-04-13 | 2018-09-12 | 경남정보대학교 산학협력단 | Angle control device of supporting instrument for knee joint |
| WO2019138901A1 (en) * | 2018-01-15 | 2019-07-18 | サンコール株式会社 | Joint assistance unit and walking assistance device |
| CN110393651A (en) * | 2019-07-23 | 2019-11-01 | 公安部第一研究所 | One kind having apery kneed knee joint assistance exoskeleton robot |
| CN211187302U (en) * | 2019-10-28 | 2020-08-07 | 上海交通大学医学院附属第九人民医院 | Gap-adjustable knee joint pressure measuring device for total knee joint replacement |
| CN212261834U (en) * | 2020-08-31 | 2021-01-01 | 中国人民解放军空军军医大学 | Knee joint training device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114869701A (en) * | 2022-05-19 | 2022-08-09 | 东北大学佛山研究生院 | Wearable gentle and agreeable knee joint ectoskeleton device |
| CN117547439A (en) * | 2024-01-12 | 2024-02-13 | 清华大学 | Five-degree-of-freedom center self-adaptive knee joint static progressive drafting trainer |
| CN117547439B (en) * | 2024-01-12 | 2024-03-26 | 清华大学 | Center-adjustable knee joint static progressive drafting trainer with five degrees of freedom |
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Inventor after: Meng Guolin Inventor after: Cheng Jiangang Inventor after: Gao Yang Inventor after: Zhao Zhuo Inventor before: Meng Guolin Inventor before: Zhao Zhuo Inventor before: Cheng Jiangang Inventor before: Gao Yang |