CN112237523A - Lower limb rehabilitation training robot - Google Patents
Lower limb rehabilitation training robot Download PDFInfo
- Publication number
- CN112237523A CN112237523A CN201910639149.7A CN201910639149A CN112237523A CN 112237523 A CN112237523 A CN 112237523A CN 201910639149 A CN201910639149 A CN 201910639149A CN 112237523 A CN112237523 A CN 112237523A
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- rehabilitation training
- robot
- training robot
- lower limb
- limb rehabilitation
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 34
- 230000005021 gait Effects 0.000 claims abstract description 25
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 21
- 239000013585 weight reducing agent Substances 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 22
- 210000002414 leg Anatomy 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 208000004296 neuralgia Diseases 0.000 description 1
- 208000021722 neuropathic pain Diseases 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 230000004580 weight loss Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- 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 relates to a lower limb rehabilitation training robot, which is provided with a weight reduction device, a robot support assembly, a bionic gait robot, a handrail assembly and the like.
Description
Technical Field
The invention relates to a lower limb rehabilitation training robot, in particular to a lower limb rehabilitation training robot with roller skates.
Background
In recent years, with the continuous acceleration of the aging process, the number of patients with cerebrovascular diseases or nervous system diseases in the aged population is increasing, and the aging trend is shown. Meanwhile, the number of people suffering from neuropathic pain or limb injuries caused by traffic accidents, engineering accidents and the like is increasing.
The rehabilitation robot as a higher-end technology in rehabilitation equipment has been generally paid attention by medical institutions and scientific researchers of various countries in the world for a long time, and particularly, the achievement in Europe, America and Japan is remarkable. Although the rehabilitation training robot is still in the starting stage in the rehabilitation medical engineering of China, wearable rehabilitation training robots and upper and lower limb rehabilitation training robots with higher technical content are continuously emerging like bamboo shoots in spring after rain.
At present, a medical running table is required to be equipped in lower limb rehabilitation training robots, which are imported from foreign countries or designed and produced independently in China. The pace of the medical treadmill can be continuously adjusted according to the set gait speed to coordinate the pace of the treadmill and the rehabilitation trainer in the training process; meanwhile, the whole set of equipment is expensive in cost, difficult to popularize in common hospitals and rehabilitation institutions and more difficult to walk into families.
The invention patent application No. Chinese 201610806613.3 discloses a single-drive bionic gait rehabilitation training robot system. The system comprises a medical running platform, a weight losing device, a robot supporting part, a bionic gait robot and a controller system, wherein the bionic gait robot comprises two exoskeleton type walking mechanisms which are symmetrically and identically structured and can be worn by a rehabilitee, has a degree of freedom and is driven by a single power source, the control system controls the two exoskeleton type walking mechanisms according to preset parameters to realize alternate gait motion of a sound person, and the medical running platform is arranged below the exoskeleton type walking mechanisms. The technology has two motion variables, one is the motion variable of the bionic gait robot, and the other is the motion variable of the medical running platform, so the difficulty is the coordination of the medical running platform and the bionic gait robot.
The patent application of utility model No. 201720253642.1 discloses a vertical lower limb rehabilitation training robot. The robot comprises a movable flat plate under a foot, a complete machine support, a lifting center adjusting system, adjustable exoskeleton mechanical legs and a control system, and is provided with a patient double-leg fixing structure and an external weight reducing system. The movable flat plate under the foot drives the movable running belt to move by matching with the mechanical legs through the running platform motor, so as to simulate the real walking state. The robot still has the problem of how to coordinate the speed of the medical treadmill and the bionic gait robot. The speed of a common medical treadmill is changed at a constant speed, the pace of a rehabilitation trainer is changed at a non-constant speed generally, and the pace of the rehabilitation trainer cannot be matched accurately, so that the treadmill speed can only be achieved by the activity speed of the rehabilitation trainer.
The patent application of the utility model No. 2018102063014.1 in China discloses a robot for rehabilitation training of lower limbs of human bodies. The robot comprises an exoskeleton power device, a running platform, a waist connecting device, a suspension weight-reducing device and a control system thereof, wherein the exoskeleton power device drives a human body to train according to a gait track of a normal person during walking; the treadmill in cooperation with the exoskeleton provides the same training speed to the patient. The robot still has the problem of how to coordinate the speed of the medical treadmill and the bionic gait robot. Once the rate is not well matched, the rehabilitation trainer is easily injured.
Above patent application 1, 2, 3 all adopt medical running platform and control system combination mode to carry out the recovered training of low limbs to the patient, adjust running platform speed cooperation control system according to patient's sick condition, recovered degree etc. and use. However, the medical running table has the disadvantages of high cost, high adjusting difficulty, secondary injury risk, time and labor waste and the like.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a lower limb rehabilitation training robot with a single rate change.
The invention provides a roller skate type lower limb rehabilitation training robot.
Based on the mechanistic principle, the invention designs a roller skate to replace a lower limb rehabilitation training robot of a medical treadmill on the basis of the prior art, and replaces the medical treadmill of the lower limb rehabilitation training robot of the prior art shown in figures 1, 2 and 3. The sliding speed of the roller skate is passively governed by the leg movement speed of the rehabilitation trainers, and the leg movement speed of the rehabilitation trainers is governed by the exoskeleton type walking mechanism. Thus, what speed the exoskeleton-type walking mechanism adopts does not need to consider the speed of the treadmill, but only considers one factor of physical condition and training requirement of the rehabilitation trainer. Whereby it solves the problem that the two rates may not match. The problem that the two rates are not matched and secondary injury is possibly caused to a rehabilitation trainer is solved.
Compared with the treadmill type lower limb rehabilitation training robot in the prior art, the treadmill type lower limb rehabilitation training robot has the advantages that: the workload caused by repeatedly adjusting the running speed is avoided in the training process, and the working efficiency is improved; the patient is rehabilitated and trained only by the control device of the control system, the secondary injury to the patient caused by the error between the control device and the running table can be avoided, and the bionic simulation motion of the gait of the healthy person can be realized more easily. The invention has the advantages of reasonable structure, low cost, good bionic effect, wide human body application range and the like.
In the gait bionic simulation movement of a healthy person, the movement of the lower leg part is similar to the forward and backward swinging movement with the knee joint as the center. The range of lifting the feet forwards is larger than that of lifting the feet backwards, and the contact between the feet and the ground is point or line contact between the feet and the limit positions of the feet lifting forwards or backwards.
Based on the ergonomic principle, the invention provides the roller skate which is more in line with the ergonomics. The roller skate is different from the prior art, the rollers are arranged on the sole at equal intervals, and single-row three or double-row three-group rollers are arranged on the sole. Wherein the middle pulley is disposed in the middle of the skate, the rear wheel is disposed at the rear end of the skate, and the front wheel is disposed near the front side of the middle pulley.
Drawings
Fig. 1 is a schematic diagram of prior art patent application 1.
Fig. 2 is a schematic diagram of prior art patent application 2.
Fig. 3 is a schematic diagram of prior art patent application 3.
Fig. 4 is an overall schematic view of the lower limb rehabilitation training robot using the roller skates to replace the medical running table according to the patent application.
Fig. 5 is a partial schematic view of the roller skate of the lower limb rehabilitation training robot for replacing the medical running table with the roller skate.
Fig. 6 is a schematic diagram of the motion state of the roller skate of the lower limb rehabilitation training robot for replacing the medical running table with the roller skate in the patent application.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. The drawings in the following description are only some embodiments of the invention, and it is obvious to those skilled in the art that other technical solutions can be obtained according to the drawings without creative efforts.
Many parts of the invention are arranged symmetrically left and right, when the parts are called as a whole, the part numbers are not left and right, when the parts are called as left and right, the parts are added with 'a' or 'b', the 'a' indicates the left side, and the 'b' indicates the right side.
Many of the elements of the invention are provided in plural numbers, where the number of elements is singular and plural when referring to the plural in general and "-1", "-2", or "-3" is added after the number of elements when specifically referring to plural.
As shown in fig. 4, the lower limb rehabilitation training robot (10) of the invention comprises a roller skate (15), a weight reduction device (11), a robot support component (12), a bionic gait robot (13) and an armrest component (17), wherein the weight reduction device (11) is provided with a left upright post (111a) and a right upright post (111b) which are arranged at the left side and the right side of a lower limb rehabilitation training robot base (16), a portal-shaped hanger (112) and a hook hanger (113), and the weight reduction device (11) is used for hanging the body of a rehabilitation trainer; the support assembly (12) (comprising a movable portal frame (121) arranged on a left upright post (111a) and a right upright post (111b) of a weight loss device, a pneumatic spring (123) and a fixed support (122) of the waist of a trainee, wherein the fixed support (122) is arranged in a bilateral symmetry way and is divided into a left fixed support (122a) and a right fixed support (122b), the bionic gait robot (13) comprises two exoskeleton walking mechanisms (131) which are wearable by a rehabilitee and have symmetrical structures, the exoskeleton walking mechanisms (131) are divided into a left exoskeleton walking mechanism (131a) and a right exoskeleton walking mechanism (131b), the bionic gait robot (13) is connected to the waist fixed support (122) of the lower limb rehabilitation training robot (10) and is positioned above a base (16) of the lower limb rehabilitation training robot, the bionic gait robot (13) has one degree of freedom and is driven by a single power source, the control system controls the left exoskeleton-type walking mechanism (131a) and the right exoskeleton-type walking mechanism (131b) to realize alternate gait motion of the walking track according to preset parameters, and the roller skates (15) walk or slide on the base ground along with the pace of the exoskeleton-type walking mechanism (131 a).
As shown in fig. 5, the roller skate (15) has a shoe cover (151), a roller (152), a roller rotating shaft (153) and a roller rotating shaft support (154), wherein the roller skate (15) is arranged in bilateral symmetry and is divided into a left leg roller skate (15a) and a right leg roller skate (15 b); the shoe covers (151) are arranged in bilateral symmetry and are divided into a left caster skate shoe cover (151a) and a right caster skate shoe cover (151b), the front ends of the shoe covers (151) are designed to be open, and the shoe covers can adapt to feet/shoes with different sizes; the roller skate (15) is fixed on the exoskeleton type walking mechanism (131) through screws; the pulley rotating shaft (153) passes through the center of the pulley (152) and is connected with the pulley rotating shaft supporting frames (154) at the two sides of the shoe cover (151).
The roller skate (15) has a single row or double rows of at least two or two sets of rollers (152) arranged one behind the other in each row, and in a preferred embodiment of the invention, the roller skate (15) has a single row of three rollers (152).
In another preferred embodiment of the present invention, as shown in FIG. 5, the skate (15) has three sets of two rows of pulleys (152), namely, a front set of pulleys (152-1), a middle set of pulleys (152-2), and a rear set of pulleys (152-3). Each set of pulleys has its axis of rotation (153), a front set of pulley axes of rotation (153-1), a middle set of pulley axes of rotation (153-2), and a rear set of pulley axes of rotation (153-3).
As shown in fig. 6, in the gait simulation exercise of a healthy person, the movement of the lower leg portion is similar to a back-and-forth swing movement with the knee joint as a center. The range of lifting the feet forwards is larger than that of lifting the feet backwards, and the contact between the feet and the ground is point or line contact between the feet and the limit positions of the feet lifting forwards or backwards.
Based on the structure, a single row of front, middle and rear three pulleys (152) are arranged under the bottom surface of the roller skate (15), wherein the mounting position of the middle pulley (152-2) corresponds to the longitudinal vertical position of a lower leg swing rod of the exoskeleton type walking mechanism (131), the rear pulley (152-3) is mounted at the rear end part of the roller skate (15), and the front pulley (152-1) is mounted at the front side close to the middle pulley (152-2).
Another preferred embodiment of the invention is that two rows of front, middle and rear three groups of pulleys (152) are preferably arranged under the bottom surface of the roller skate (15), and the mounting positions of the three groups of pulleys (152) are arranged according to the bionic simulation motion result. Wherein, the mounting position of the middle group of pulleys (152) corresponds to the longitudinal vertical position of a shank swing rod of the exoskeleton type walking mechanism (131); the rear group of pulleys (152-3) are arranged at the rear end part of the roller skate (15); the front set of pulleys (152-1) is mounted near the front side of the middle set of pulleys (152-2).
As shown in fig. 6, the left leg mechanism has three states a, b and c during the movement, wherein the state a is the highest state of lifting the foot backwards, namely the front roller skate (152-1) is in contact with the walking ground, and the other two pairs of roller skates are suspended in the air; the state b is a left leg upright state, the middle group of roller skates (152-2) is contacted with the walking ground, and the other two pairs of roller skates are suspended in the air; the state c is the highest state of lifting feet forward, the rear group of roller skates (152-3) is contacted with the walking ground, the other two pairs of wheels are suspended, wherein, in the states a, b and c, the axes of the front, middle and rear group of roller skates are on the same straight line, in the process from the state a to the state b, the front and middle pulleys are contacted with the ground of the base (16), and vice versa, in the process from the state b to the state c, the middle and rear pulleys are contacted with the ground of the base (16), and vice versa. According to the contact time point rule of the roller skates, the mounting positions of the roller skates are that a group of roller skates (152-2) in the middle are mounted at the positions vertical to the longitudinal direction of a shank swing rod of the exoskeleton type walking mechanism; the rear group of roller skates (152-3) are arranged at the rear end parts of the roller skates (15); the front set of roller skates (152-1) is mounted in front of the middle set of roller skates (152-2) adjacent to the middle set of roller skates (152-2).
The pulley setting can guarantee that the patient is carrying out the contact of rehabilitation training in-process roller skate and ground more natural, and is more steady, ensures training process safe and reliable.
The description of the present invention is intended to be illustrative, but not exhaustive, of all embodiments. The description of the present specification, drawings and claims does not limit the scope of the invention. Many other variations of the same principles and which would be apparent to one of ordinary skill in the art are within the scope of the invention.
Reference numerals
10 bionic gait rehabilitation training robot
11 weight reduction device
111 weight reducing device upright post
Left upright post of 111a weight reducing device
Right upright post of 111b weight reducing device
112-door-shaped hanger
113 hook hanger
12 bionic gait robot supporting parts,
121 is a movable door frame,
122 waist fixing bracket,
123 buffer springs (pneumatic springs);
13 bionic gait robot
131 exoskeleton-style walking mechanism;
15 roller skates
15a left side roller skates
15b right roller skates
151 shoe cover
151a left shoe cover
151b right shoe cover
152 pulley
152-1 front pulley
152-2 middle pulley
152-3 rear pulley
153 Pulley shaft
153-1 front pulley shaft
153-2 middle pulley shaft
153-3 rear pulley shaft
154 pulley shaft support
154-1 front group pulley shaft support frame
154-2 middle set pulley shaft support frame
154-3 rear group pulley shaft support frame
16 bionic gait robot base
17 arm rest assembly
17a left armrest assembly
17b right armrest assembly.
Claims (8)
1. The utility model provides a lower limbs rehabilitation training robot, lower limbs rehabilitation training robot (10) have and subtract heavy device (11), robot supporting component (12), bionical gait robot (13) and handrail component (17), its characterized in that, lower limbs rehabilitation training robot still have skidding shoes (15) and base (16) of lower limbs rehabilitation training robot (10).
2. A lower limb rehabilitation training robot according to claim 1, wherein the weight reduction device (11) has a left upright (111a) and a right upright (111b) provided on both sides of the lower limb rehabilitation training robot (10), a portal-shaped hanger (112) and a hook hanger (113).
3. A lower limb rehabilitation training robot as claimed in claim 1, wherein the robot support assembly (12) comprises a movable gantry (121), the lumbar mount (122) and a pneumatic spring (133) mounted on a weight-reducing device left upright (111a) and a weight-reducing device right upright (111 b).
4. A lower limb rehabilitation training robot as claimed in claim 1, wherein the bionic gait robot (13) comprises two exoskeleton-type walking mechanisms (131a) and (131b) which are symmetrically arranged, and the exoskeleton-type walking mechanisms (131a) and (131b) are respectively connected to the waist fixing bracket (122a) and the waist fixing bracket (122 b).
5. The lower limb rehabilitation training robot according to any of claims 1-4, wherein a single row of pulleys (152) is mounted under the bottom surface of the roller skate (15).
6. The lower limb rehabilitation training robot according to any of claims 1-4, wherein a double row of pulleys (152) is mounted under the bottom surface of the roller skate (15).
7. The lower limb rehabilitation training robot of claim 5, wherein a front pulley (152), a middle pulley (152) and a rear pulley (152) are installed under the bottom surface of the roller skate (15), wherein the middle pulley (152-2) is installed at a position corresponding to the longitudinal vertical position of a lower leg swing rod of the exoskeleton-type walking mechanism (131), the rear pulley (152-3) is installed at the rear end part of the roller skate (15), and the front pulley (152-1) is installed near the front of the middle pulley (152-2).
8. The lower limb rehabilitation training robot as claimed in claim 6, wherein three sets of front, middle and rear pulleys (152) are mounted under the bottom surface of the roller skate (15), wherein the mounting position of the middle set of pulleys (152-2) corresponds to the longitudinal vertical position of the shank swing link of the exoskeleton walking mechanism (131), the rear set of pulleys (152-3) is mounted at the rear end of the roller skate (15), and the front set of pulleys (152-1) is mounted near the front of the middle set of pulleys (152-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910639149.7A CN112237523A (en) | 2019-07-16 | 2019-07-16 | Lower limb rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910639149.7A CN112237523A (en) | 2019-07-16 | 2019-07-16 | Lower limb rehabilitation training robot |
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| Publication Number | Publication Date |
|---|---|
| CN112237523A true CN112237523A (en) | 2021-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910639149.7A Pending CN112237523A (en) | 2019-07-16 | 2019-07-16 | Lower limb rehabilitation training robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110559163A (en) * | 2019-09-06 | 2019-12-13 | 山东中医药大学附属医院 | Gait walking rehabilitation training device |
-
2019
- 2019-07-16 CN CN201910639149.7A patent/CN112237523A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110559163A (en) * | 2019-09-06 | 2019-12-13 | 山东中医药大学附属医院 | Gait walking rehabilitation training device |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Xin Inventor after: Sun Junfeng Inventor after: Liu Chaohua Inventor before: Wang Xin Inventor before: Liu Chaohua |
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 510600 room 703, 7th floor, No.9, 1st Street, 1st lane, siyounan Road, Yuexiu District, Guangzhou City, Guangdong Province Applicant after: Guangzhou Kean Rehabilitation Technology Co.,Ltd. Address before: 510600 room 703, 7th floor, No.9, 1st Street, 1st lane, siyounan Road, Yuexiu District, Guangzhou City, Guangdong Province Applicant before: GUANGZHOU KEAN REHABILITATION SPECIAL EQUIPMENT CO.,LTD. |