CN112022617A - Device is tempered to supplementary old person's low limbs - Google Patents

Device is tempered to supplementary old person's low limbs Download PDF

Info

Publication number
CN112022617A
CN112022617A CN202010907976.2A CN202010907976A CN112022617A CN 112022617 A CN112022617 A CN 112022617A CN 202010907976 A CN202010907976 A CN 202010907976A CN 112022617 A CN112022617 A CN 112022617A
Authority
CN
China
Prior art keywords
servo motor
lower limb
joint arm
joint
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010907976.2A
Other languages
Chinese (zh)
Inventor
钱少明
昌斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhijiang College of ZJUT
Original Assignee
Zhijiang College of ZJUT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhijiang College of ZJUT filed Critical Zhijiang College of ZJUT
Priority to CN202010907976.2A priority Critical patent/CN112022617A/en
Publication of CN112022617A publication Critical patent/CN112022617A/en
Pending legal-status Critical Current

Links

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
    • 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
    • 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
    • A61H1/0244—Hip
    • 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
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5038—Interfaces to the user freely programmable by the user
    • 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
    • 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)
  • 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)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a lower limb exercise assisting device for old people, which comprises at least one set of lower limb assisting mechanism, wherein the lower limb assisting mechanism comprises a fixed support, a first joint arm, a second joint arm, a third joint arm, a first servo motor, a second servo motor and a third servo motor; the lower limb exercising device ensures comfort and safety, effectively exercises the lower limbs of the old, and has the advantages of simple structure, high reliability and higher application value.

Description

Device is tempered to supplementary old person's low limbs
Technical Field
The invention relates to the technical field of health care instruments, in particular to a lower limb exercise assisting device for the old.
Background
With the development of economy and improvement of medical conditions in China, the exercise health problem of the old people is also valued by people. The progressive deterioration of body function, particularly the deterioration of the muscle groups of the lower limbs, of elderly people with age can lead to their tendency to fall or to injury (e.g. fracture). At present, the problem caused by the inconvenient movement of the lower limbs of the old people seriously influences the life quality of the old people. Research shows that the aged can delay aging, maintain the strength of lower limbs and increase the physical activity by proper lower limb training, and the mobility of the joints of the lower limbs of the aged must be enhanced by strengthening the exercise of the muscles of the lower limbs. At present, the exercise mode of old people is mostly walking, and the lower limbs of the exercise mode need to bear the weight of the upper half part of the body, so that the muscles of the lower limbs are in a pressure state for a long time, and the exercise muscles are single. In consideration of the degree of deterioration of muscles of the lower limbs of the elderly and the comfort during exercise, the exercise device is designed to adjust the movement of the joints in different movement paths, and on the other hand, to prevent the muscles of the lower limbs from bearing the weight of the upper body part during exercise. In view of the above, it is desirable to develop a device for exercising three joints (hip, knee, ankle) of the lower limb and having multiple movement patterns.
Disclosure of Invention
The invention aims to provide a lower limb exercising assisting device for the old, which aims to solve the problem of insufficient muscle exercising of the lower limbs of the old and enable the lower limbs of the old to be healthier.
In order to achieve the purpose, the invention provides the following technical scheme: a lower limb exercise assisting device for the elderly comprises at least one set of lower limb assisting mechanism, wherein the lower limb assisting mechanism comprises a fixed support, a first joint arm, a second joint arm, a third joint arm, a first servo motor, a second servo motor and a third servo motor, the fixed support, the first joint arm, the second joint arm and the third joint arm are sequentially hinged end to form three rotational degrees of freedom, the three rotational degrees of freedom respectively approximately correspond to hip joints, knee joints and ankle joints of a human body, and a pedal is arranged at one end, away from the second joint arm, of the third joint arm;
defining the included angle between the first joint arm and the horizontal plane as theta1The extension line of the first articulated arm and the second articulated arm form an included angle theta2The angle between the extension line of the second joint arm and the third joint arm is theta2And defining the anticlockwise rotation direction as positive;
the first servo motor can drive the first joint arm to theta1The second servo motor can drive the second joint arm to rotate in a reciprocating mode within the maximum angle range of-20-50 degrees2The third servomotor can drive the third joint arm to rotate in a reciprocating mode within the maximum angle range of-80-0 degrees3Maximum angle range of-20 to 50 DEGAnd the inner part rotates back and forth.
The further arrangement is that the first servo motor, the second servo motor and the third servo motor are all servo motors with code discs.
The output shaft of the first servo motor is connected with the end part of the first articulated arm through a first reduction gearbox; an output shaft of the second servo motor is connected with the end part of the second knuckle arm through a second reduction gearbox; and an output shaft of the third servo motor is connected with the end part of the third joint arm through a third reduction gearbox.
It is further provided that the pedal is disposed on a front side of the third joint arm; the first servo motor and the first gearbox are fixedly arranged on the back side of the fixed support; the second servo motor and the second gearbox are fixedly arranged on the back side of the first articulated arm; and the third servo motor and the third gearbox are fixedly arranged on the back side of the second articulated arm.
A further arrangement is that the first and second articulated arms are each bent such that the anterior sides of the first, second and third articulated arms are relatively flush.
The further arrangement is that the number of the motors which work simultaneously in the first servo motor, the second servo motor and the third servo motor is one or more.
The further arrangement is that the number of the lower limb imitating auxiliary mechanisms is two, and the lower limb imitating auxiliary mechanisms are symmetrically arranged and correspond to two lower limbs of a human body.
The seat is further arranged below the corresponding rotational freedom degree of the hip joint.
Compared with the prior art, the invention has the advantages that:
1. the invention performs auxiliary motion on three joints of the lower limb through three rotational degrees of freedom of the lower limb imitating auxiliary mechanism, simultaneously plays a proper muscle stretching effect, can respectively and independently exercise one joint, also can perform combined exercise by two or three simultaneous working, has diversified motion modes, more comprehensive exercise on muscle tissue groups, has moderate strength, and can improve the soft degree of the exercise of the old.
2. The invention provides a scientific joint rotation angle, ensures comfort and safety, effectively exercises the lower limbs of the old, and has the advantages of simple structure, high reliability and higher application value.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic top view of the present invention.
Fig. 3 is a schematic side view of the present invention.
In the figure: 1. a frame; 2. fixing a bracket; 3. a first articulated arm; 4. a second articulated arm; 5. a third joint arm; 6. a first servo motor; 7. a second servo motor; 8. a third servo motor; 9. a first reduction gearbox; 10. a second reduction gearbox; 11. a third reduction gearbox; 12. a pedal; 13. and (4) a flange.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b): an exercise device for assisting the lower limbs of the elderly, as shown in fig. 1-3, comprises a frame 1 fixed on the ground and two sets of lower limb simulating auxiliary mechanisms symmetrically arranged on the frame 1, wherein the two sets of lower limb simulating auxiliary mechanisms are respectively used for assisting the exercise of two legs, and a seat (not shown in the figure) is arranged between the two sets of lower limb simulating auxiliary mechanisms. Since the two sets of the lower limb simulating auxiliary mechanisms have the same structure, one set of the lower limb simulating auxiliary mechanisms is described in detail in the embodiment.
The lower limb imitation auxiliary mechanism comprises a fixed support 2, a first joint arm 3, a second joint arm 4, a third joint arm 5, a first servo motor 6, a second servo motor 7, a third servo motor 8, a first reduction gearbox 9, a second reduction gearbox 10 and a third reduction gearbox 11, wherein the cross section of the fixed support 2 is L-shaped, one surface of the fixed support is fixedly arranged on a rack 1, the other surface of the fixed support is perpendicular to the rack 1 and is perpendicular to the ground, the fixed support 2, the first joint arm 3, the second joint arm 4 and the third joint arm 5 are sequentially hinged end to form three rotational degrees of freedom, and the three rotational degrees of freedom respectively and approximately correspond to a hip joint, a knee joint and an ankle joint of a human body. The seat is located below the rotational degree of freedom of the corresponding hip joint.
Specifically, a first reduction gearbox 9 is fixedly arranged on the back side of the fixed support 2, a first servo motor 6 is fixedly arranged on the first reduction gearbox 9, an output shaft of the first servo motor 6 is in key connection with an input end of the first reduction gearbox 9, the output shaft of the first reduction gearbox 9 penetrates through a hole in the fixed support 2 and then is fixedly connected with one end of the first articulated arm 3 through a flange 13, and the first articulated arm 3 can be driven to rotate through the first servo motor 6; the second reduction gearbox 10 is fixedly arranged on the back side of the other end of the first articulated arm 3, similarly, the second servo motor 7 is connected with the second reduction gearbox 10, an output shaft of the second reduction gearbox 10 penetrates through a hole of the first articulated arm 3 and then is fixedly connected with one end of the second articulated arm 4 through a flange, and at the moment, the second articulated arm 4 can be driven to rotate around the end part of the first articulated arm 3 through the second servo motor 7; the third reduction gearbox 11 is fixedly arranged at the back side of the other end of the second articulated arm 4, similarly, the third servo motor 8 is connected with the third reduction gearbox 11, an output shaft of the third reduction gearbox 11 passes through a hole of the second articulated arm 4 and then is fixedly connected with one end of the third articulated arm 5 through a flange, and at the moment, the third articulated arm 5 can be driven to rotate around the end part of the second articulated arm 4 through the third servo motor 8; the free end of the third joint arm 5 is provided at the front side with a pedal 12 for pedaling.
In the above structure, the first joint arm 3 and the second joint arm 4 are both bent, so that the front sides of the first joint arm 3, the second joint arm 4 and the third joint arm 5 are relatively flush, so as to prevent the first joint arm 3, the second joint arm 4 and the third joint arm from interfering with the leg during operation.
In this embodiment, the first servo motor 6, the second servo motor 7, and the third servo motor 8 are all servo motors with code discs (encoders), and the rotation angles of the servo motors can be controlled by the code discs. Specifically, the included angle between the first articulated arm 3 and the horizontal plane is defined as θ1Of 1 atThe extension line of one joint arm 3 and the second joint arm 4 form an included angle theta2The angle between the extension line of the second joint arm 4 and the third joint arm 5 is theta2And the anticlockwise rotation direction is defined to be positive, in order to ensure that the exercise effect of the designed lower limb exercise device for assisting the old people can reach the best, the normal human gait analysis data and the human joint motion range data are comprehensively analyzed, and the rotation angle range of the following rotation freedom degrees is preliminarily set in the embodiment:
the maximum angle range of the first servo motor 6 driving the first joint arm 3 to reciprocate is theta1＝-20°～50°；
The maximum angle range of the second servo motor 7 driving the second joint arm 4 to reciprocate is theta2＝-80°～0°；
The maximum angle range of the third servomotor 8 driving the third joint arm 5 to reciprocate is theta3＝-20°～50°；
In specific implementation, the specific angle range can be adjusted within the above range according to actual conditions, but should not exceed the above angle range so as to avoid muscle injury.
The embodiment can exercise one joint independently by only one of the rotational degrees of freedom, such as a single hip joint movement mode, a single knee joint movement mode and a single ankle joint movement mode; and multiple joints can be simultaneously subjected to compound motion training by two or three rotational degrees of freedom. In the joint muscles, the majority of the multi-joint muscles are present, so the effect of the compound exercise training is optimal, and the exercise coordination ability of the muscles and the control ability of various muscle groups can be exercised through the compound exercise. The compound exercise training is designed into different action groups, the action groups are composed of different single exercise modes (a single hip joint exercise mode, a single knee joint exercise mode and a single ankle joint exercise mode) through different steering, rhythm or frequency, a plurality of different combined exercise modes can be formed, different muscle tissue groups can be exercised through different combined exercise modes, and the exercise effect can be more comprehensive. It is also possible to alternate a combined movement pattern and a single movement pattern, for example, a combined movement pattern formed by combining a single hip joint movement pattern and a single knee joint movement pattern and a single ankle joint movement pattern are alternately exercised.
In this embodiment, the exercise can be performed through the following typical combination exercise modes.
(1) Initial position:
θ1＝40°，
θ2＝-70°，
θ3＝0°，
the first articulated arm 3 is rotated downward to theta1Gradually decreases to 0 deg., and at the same time, the second articulated arm 4 rotates upward to make theta2Gradually increasing to-10 °; then, the first joint arm 3 and the second joint arm 4 both rotate in opposite directions and keep reciprocating swinging within the above-mentioned angle, and in the process, the third joint arm 5 keeps stationary relative to the second joint arm 4, thereby completing the swinging of the thigh and the flexion and extension movement of the knee joint.
(2) Initial position:
θ1＝40°，
θ2＝-70°，
θ3＝0°，
the first articulated arm 3 is rotated downward to theta1Gradually decreases to 0 deg., and at the same time, the second articulated arm 4 rotates upward to make theta2Gradually increases to 0 deg., and when the first and second articulated arms 3 and 4 are relatively horizontal, the third articulated arm 5 rotates upward to make theta3Increasing to 40 deg., applying a torsion force to the ankle joint, and then the third joint arm 5 restores the original position; then, the first articulated arm 3 and the second articulated arm 4 are rotated reversely to the initial positions to complete a training action, and then the next training action is performed according to the above steps, so as to reciprocate.
(3) Initial position:
θ1＝0°，
θ2＝0°，
θ3＝0°，
the first articulated arm 3 rotates upward by θ1Gradually increases to 50 deg., and at the same time, the third joint arm 5 rotates upward to make theta3Increase ofApplying torque to the ankle joint at 30 degrees; then the first articulated arm 3 and the third articulated arm 5 resume the initial positions and oscillate with them; during this process, the second articulated arm 4 remains stationary, completing the training of the hip and ankle joints, while maintaining the extension of the knee joint.
The embodiment also has many other training mode combinations, which are not listed here; in addition, the two sets of lower limb simulating auxiliary mechanisms in the embodiment can move synchronously, reversely and synchronously or alternatively, and even can adopt unrelated movement modes at two sides according to actual conditions.
Finally, it should be noted that the above embodiments are merely representative examples of the present invention. It is obvious that the invention is not limited to the above-described embodiments, but that many variations are possible. Any simple modification and modification of the above embodiments in accordance with the technical spirit of the present invention should be considered as falling within the scope of the present invention.

Claims (8)

1. The lower limb exercise assisting device for the elderly is characterized by comprising at least one set of lower limb assisting mechanism, wherein the lower limb assisting mechanism comprises a fixed support, a first joint arm, a second joint arm, a third joint arm, a first servo motor, a second servo motor and a third servo motor;
defining the included angle between the first joint arm and the horizontal plane as theta1The extension line of the first articulated arm and the second articulated arm form an included angle theta2The angle between the extension line of the second joint arm and the third joint arm is theta2And defining the anticlockwise rotation direction as positive;
the first servo motor can drive the first joint arm to theta1The second servo motor can drive the second joint arm to rotate in a reciprocating mode within the maximum angle range of-20-50 degrees2＝-80°The maximum angle range of the angle is about 0 degrees, and the third servo motor can drive the third joint arm to rotate in theta3The reciprocating rotation is carried out within the maximum angle range of-20 degrees to 50 degrees.
2. The lower limb exercise assisting device for the elderly as claimed in claim 1, wherein the first servo motor, the second servo motor and the third servo motor are all servo motors with code discs.
3. The lower limb exercise assisting device for the elderly as claimed in claim 2, wherein the output shaft of the first servo motor is connected with the end of the first joint arm through a first reduction gearbox; an output shaft of the second servo motor is connected with the end part of the second knuckle arm through a second reduction gearbox; and an output shaft of the third servo motor is connected with the end part of the third joint arm through a third reduction gearbox.
4. The lower limb exercise assisting device for the elderly as claimed in claim 3, wherein the pedal is provided at a front side of the third joint arm; the first servo motor and the first gearbox are fixedly arranged on the back side of the fixed support; the second servo motor and the second gearbox are fixedly arranged on the back side of the first articulated arm; and the third servo motor and the third gearbox are fixedly arranged on the back side of the second articulated arm.
5. The lower limb exercise aid for elderly people as claimed in claim 4, wherein the first and second joint arms are each bent such that the front sides of the first, second and third joint arms are relatively flush.
6. The lower limb exercise assisting device for the elderly as claimed in claim 1, wherein the number of the motors working simultaneously in the first servo motor, the second servo motor and the third servo motor is one or more.
7. The lower limb exercise assisting device for the elderly as claimed in claim 1, wherein the number of the lower limb assisting mechanisms is two, and the lower limb assisting mechanisms are symmetrically arranged and correspond to two lower limbs of a human body.
8. The lower limb exercise assisting device for the elderly as claimed in claim 1 or 7, wherein a seat is provided below the hip joint corresponding to the rotational degree of freedom.
CN202010907976.2A 2020-09-02 2020-09-02 Device is tempered to supplementary old person's low limbs Pending CN112022617A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010907976.2A CN112022617A (en) 2020-09-02 2020-09-02 Device is tempered to supplementary old person's low limbs

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010907976.2A CN112022617A (en) 2020-09-02 2020-09-02 Device is tempered to supplementary old person's low limbs

Publications (1)

Publication Number Publication Date
CN112022617A true CN112022617A (en) 2020-12-04

Family

ID=73591117

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010907976.2A Pending CN112022617A (en) 2020-09-02 2020-09-02 Device is tempered to supplementary old person's low limbs

Country Status (1)

Country Link
CN (1) CN112022617A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103054692A (en) * 2013-01-29 2013-04-24 苏州大学 Wearable lower limb exoskeleton walking-assisted robot
CN104490568A (en) * 2014-12-25 2015-04-08 北京航空航天大学 Human lower extremity exoskeleton walking aid rehabilitation robot
CN110074949A (en) * 2019-06-11 2019-08-02 唐山市拓又达科技有限公司 A kind of lower limb exoskeleton robot and application method
CN110179623A (en) * 2019-04-25 2019-08-30 杭州电子科技大学 A kind of novel lower limb rehabilitation robot
CN110465924A (en) * 2019-08-12 2019-11-19 山东省科学院自动化研究所 A kind of lower limb exoskeleton robot of four bar linkage knee joint
CN212699587U (en) * 2020-09-02 2021-03-16 浙江工业大学之江学院 Device is tempered to supplementary old person's low limbs

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103054692A (en) * 2013-01-29 2013-04-24 苏州大学 Wearable lower limb exoskeleton walking-assisted robot
CN104490568A (en) * 2014-12-25 2015-04-08 北京航空航天大学 Human lower extremity exoskeleton walking aid rehabilitation robot
CN110179623A (en) * 2019-04-25 2019-08-30 杭州电子科技大学 A kind of novel lower limb rehabilitation robot
CN110074949A (en) * 2019-06-11 2019-08-02 唐山市拓又达科技有限公司 A kind of lower limb exoskeleton robot and application method
CN110465924A (en) * 2019-08-12 2019-11-19 山东省科学院自动化研究所 A kind of lower limb exoskeleton robot of four bar linkage knee joint
CN212699587U (en) * 2020-09-02 2021-03-16 浙江工业大学之江学院 Device is tempered to supplementary old person's low limbs

Similar Documents

Publication Publication Date Title
CN105456002B (en) A kind of recovery exercising robot that can realize normal gait pattern
CN103006416B (en) Mechanical lower-limb rehabilitation robot walker device
CN100358599C (en) Exercising device
CN110478196B (en) Lower limb rehabilitation training robot
CN101999970A (en) Parallel multi-degree-of-freedom ankle joint rehabilitation trainer
CN105771183B (en) A kind of multifunctional recovery exercising apparatus
CN108553271A (en) A kind of MR damper sitting and lying formula lower limb rehabilitation robot
CN106473897A (en) The four limbs linkage recovery exercising robot of achievable normal gait track
KR20100108410A (en) Standing-position type passive exercise machine
CN106236512B (en) A kind of gait rehabilitation robot for realizing walking foot pose
JP4085422B2 (en) Joint drive device
CN108743224A (en) Leg rehabilitation training and body-building exoskeleton robot
CN105833469A (en) Recovery physiotherapeutic facility
CN212699587U (en) Device is tempered to supplementary old person's low limbs
CN109318208A (en) A kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom
JP2003062020A (en) Body driving device for recovering walking function
CN112618254B (en) Upper limb assisting and rehabilitation training robot
JP2010125299A (en) Lower limb joint bending and stretching exercise device
CN105944318A (en) Sports instrument with hand, foot and back training function
CN110665192B (en) Recovered type ectoskeleton gloves robot
CN112022617A (en) Device is tempered to supplementary old person's low limbs
CN114733145B (en) Intelligent multifunctional lower limb rehabilitation training integrated machine
CN210331072U (en) Foot-operated old person takes exercise training ware
CN215387376U (en) Supplementary upper limbs exercise device
CN111265384B (en) Upper and lower limb multi-joint synchronous coordination training seat and training method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination