CN112472520A - Upper limb rehabilitation training device - Google Patents
Upper limb rehabilitation training device Download PDFInfo
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- CN112472520A CN112472520A CN202011350739.7A CN202011350739A CN112472520A CN 112472520 A CN112472520 A CN 112472520A CN 202011350739 A CN202011350739 A CN 202011350739A CN 112472520 A CN112472520 A CN 112472520A
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- telescopic rod
- main telescopic
- rod
- rotation
- rehabilitation training
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
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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
- 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
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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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 discloses an upper limb rehabilitation training device, and relates to the field of medical rehabilitation equipment. The upper limb rehabilitation training device comprises a trainer, wherein the trainer comprises a driving motor, a connecting rod, a main telescopic rod, a guide sleeve, an upper telescopic rod, a lower telescopic rod, a rear translation device, a front translation device, a human body connecting device and a small arm pad; the main telescopic rod is arranged in the front-back direction and comprises a main telescopic rod barrel and a main telescopic rod body; the driving motor is arranged on the rear translation device; one end of the connecting rod is connected with the driving motor, and the other end of the connecting rod is hinged with the rear end of the main telescopic rod barrel; the guide sleeve is sleeved on the main telescopic rod barrel and matched with the main telescopic rod barrel; the upper ends of the upper and lower telescopic rods are hinged with the guide sleeve, and the lower ends of the upper and lower telescopic rods are connected with the front translation device; the rear translation device and the front translation device are arranged in the left-right direction; the human body connecting device is arranged at the front end of the main telescopic rod and comprises an arm sleeve, a palm supporting plate and a finger clamp capable of swinging; the forearm pad is arranged at the front lower part of the human body connecting device.
Description
Technical Field
The invention relates to the field of medical rehabilitation equipment, in particular to an upper limb rehabilitation training device.
Background
Neurological disorders may cause loss or partial loss of motor function of the patient's upper limbs, requiring manual or mechanical movements of the patient's arms to assist the patient in restoring upper limb function.
The upper limb rehabilitation training includes shoulder joint movement training, elbow joint movement training, wrist joint movement training and finger movement training. The shoulder joint activity training comprises shoulder joint adduction, abduction, internal rotation and external rotation. The elbow joint movement training comprises elbow joint flexion and extension and elbow joint traction. The wrist joint movement training comprises the wrist stretching. The finger movement training includes finger extension and flexion.
The upper limb rehabilitation training involves a lot of movements, the existing upper limb rehabilitation training device can only realize a small part of movements, and the rehabilitation training effect is limited, for example, the rehabilitation training robot disclosed in ZL 201820196627.2.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provides an upper limb rehabilitation training device which can drive the upper limb of a patient to realize more actions.
The technical scheme adopted for solving the problems is as follows: the upper limb rehabilitation training device comprises a trainer, wherein the trainer comprises a driving motor, a connecting rod, a main telescopic rod, a guide sleeve, an upper telescopic rod, a lower telescopic rod, a rear translation device, a front translation device, a human body connecting device and a small arm pad;
the main telescopic rod is arranged in the front-back direction and comprises a main telescopic rod barrel and a main telescopic rod body; the driving motor is arranged at the rear end of the main telescopic rod and is arranged on the rear translation device; one end of the connecting rod is connected with the driving motor, and the other end of the connecting rod is hinged with the rear end of the main telescopic rod barrel; the guide sleeve is sleeved on the main telescopic rod barrel and matched with the main telescopic rod barrel; the upper ends of the upper and lower telescopic rods are hinged with the guide sleeve, and the lower ends of the upper and lower telescopic rods are connected with the front translation device; the rear translation device and the front translation device are arranged in the left-right direction;
the human body connecting device is arranged at the front end of the main telescopic rod and comprises an arm sleeve, a palm supporting plate and a finger clamp capable of swinging; the forearm pad is arranged at the front lower part of the human body connecting device.
Further, the method comprises the following steps: the upper limb rehabilitation training device comprises an anti-rotation device, the anti-rotation device and the main telescopic rod are arranged in the same direction, the anti-rotation device comprises an anti-rotation rod and an anti-rotation rod sleeve, the anti-rotation rod sleeve is connected with the main telescopic rod barrel, the anti-rotation rod penetrates through the anti-rotation rod sleeve and is matched with the anti-rotation rod sleeve, and the anti-rotation rod is connected with the main telescopic rod body.
Further, the method comprises the following steps: the human body connecting device comprises a connecting disc, the connecting disc is connected with a main telescopic rod body, the connecting disc can rotate to adjust the direction, and the arm sleeve, the finger clamp and the palm supporting plate are arranged outside the connecting disc and connected with the connecting disc at intervals in the circumferential direction of the connecting disc.
Further, the method comprises the following steps: the rear translation device and the front translation device are linear guide rail sliding tables.
Further, the method comprises the following steps: the upper limb rehabilitation training device comprises a base, a trainer support and a seat, wherein the trainer support is connected with the base, the trainer is connected with the trainer support, and the seat is positioned in front of the trainer and connected with the base.
Further, the method comprises the following steps: the trainer support can move left and right to adjust the position.
Further, the method comprises the following steps: the seat can move back and forth to adjust the position.
Further, the method comprises the following steps: the seat is provided with a human body restraint strap.
The invention has the beneficial effects that: the human body connecting device is connected with different parts of the arm, and the driving motor, the main telescopic rod, the upper and lower telescopic rods, the rear translation device or the front translation device can independently act or jointly act to drive different parts of the arm to act, so that the adduction, the abduction, the internal rotation and the external rotation of the shoulder joint, the flexion and the traction of the elbow joint, the extension of the wrist and the extension and the bending of the fingers are realized, and almost all actions of upper limb rehabilitation training are covered. Therefore, the invention can achieve better rehabilitation training effect.
Drawings
FIG. 1 is a block diagram of an upper limb rehabilitation training device;
FIG. 2 is a diagram of a trainer structure;
FIG. 3 is a cross-sectional view A-A of FIG. 2;
FIG. 4 is a view of the structure of the body connecting device;
FIG. 5 is an enlarged view of a portion of FIG. 3;
labeled as: the device comprises a trainer 1, a driving motor 1-1, a connecting rod 1-2, a main telescopic rod 1-3, a main telescopic rod body 1-3-1, a main telescopic rod barrel 1-3-2, a guide sleeve 1-4, an upper telescopic rod 1-5, a lower telescopic rod 1-5, a rear translation device 1-6, a front translation device 1-7, a human body connecting device 1-8, an arm sleeve 1-8-1, an arm sleeve connecting rod 1-8-2, a finger clamp 1-8-3, a palm supporting plate 1-8-4, a connecting disc 1-8-5, a small arm pad 1-9, an anti-rotation device 1-10, an anti-rotation rod 1-10-1, an anti-rotation rod sleeve 1-10-2, a machine shell 1-11, a flexible panel 1-11-1, a sealing plate 1-11-2, a small arm pad 1-10, the training device comprises a training device bracket 2, a base 3, a seat 4 and a restraint strap 4-1.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1 to 4, the upper limb rehabilitation training device comprises a trainer 1, wherein the trainer 1 comprises a driving motor 1-1, a connecting rod 1-2, a main telescopic rod 1-3, a guide sleeve 1-4, an upper telescopic rod 1-5, a lower telescopic rod 1-5, a rear translation device 1-6, a front translation device 1-7, a human body connecting device 1-8 and a small arm pad 1-9; the main telescopic rod 1-3 is arranged in the front-back direction, and the main telescopic rod 1-3 comprises a main telescopic rod barrel 1-3-2 and a main telescopic rod body 1-3-1; the driving motor 1-1 is arranged at the rear end of the main telescopic rod 1-3 and is arranged on the rear translation device 1-6; one end of the connecting rod 1-2 is connected with the driving motor 1-1, and the other end of the connecting rod 1-2 is hinged with the rear end of the main telescopic rod barrel 1-3-2; the guide sleeve 1-4 is sleeved on the main telescopic rod barrel 1-3-2 and matched with the main telescopic rod barrel 1-3-2; the upper ends of the upper and lower telescopic rods 1-5 are hinged with the guide sleeves 1-4, and the lower ends of the upper and lower telescopic rods 1-5 are connected with the front translation devices 1-7; the rear translation device 1-6 and the front translation device 1-7 are arranged in the left and right directions; the human body connecting device 1-8 is arranged at the front end of the main telescopic rod 1-3, and the human body connecting device 1-8 comprises an arm sleeve 1-8-1, a palm supporting plate 1-8-4 and a finger clamp 1-8-3 capable of swinging; the small arm pad 1-9 is arranged at the front lower part of the human body connecting device 1-8.
When shoulder joint movement training is carried out, the arm sleeve 1-8-1 is sleeved on the upper arm of a patient and is tightly tied, only the motor 1-1 is driven to start forward rotation or reverse rotation to drive the connecting rod 1-2 to rotate, then the main telescopic rod 1-3 is driven, the main telescopic rod 1-3 swings and slides along the guide sleeve 1-4, so that the arm sleeve 1-8-1 makes approximate elliptical motion, and the arm is driven to move to realize internal rotation and external rotation of the shoulder joint. The rear translation device 1-6 and the front translation device 1-7 synchronously move left and right to drive the main telescopic rod 1-3 to move left and right and then drive the arm sleeve 1-8-1 to move left and right, thereby driving the arm to move to realize the adduction and abduction of the shoulder joint.
When the elbow joint exercise is carried out, the arm sleeve 1-8-1 is sleeved on the forearm of a patient and is tightly tied, only the main telescopic rod 1-3 is greatly stretched to drive the arm sleeve 1-8-1 to move back and forth, or the main telescopic rod 1-3 and the upper and lower telescopic rods 1-5 are matched to stretch back and forth to drive the arm sleeve 1-8-1 to move back and forth and up and down, so that the arm can be driven to realize the flexion and extension and traction of the elbow joint. Only the upper and lower telescopic rods 1-5 are telescopic to drive the arm sleeves 1-8-1 to move up and down, so that the arms can be driven to lift up and down.
When wrist joint movement training is carried out, the forearm is placed on the forearm pad 1-9, the palm is erected, the fingers lean against the palm supporting plate 1-8-4, the main telescopic rod 1-3 is slightly telescopic, and the palm supporting plate 1-8-4 can push the fingers to realize wrist back extension.
When the finger movement training is carried out, the finger is clamped by the finger clamps 1-8-3, the main telescopic rod 1-3 is slightly telescopic, and the finger clamps 1-8-3 can drive the finger to move to realize the extension and bending of the finger. Finger grips 1-8-3 are swingable to accommodate finger bending, with the center line of the swing being axis a as shown in fig. 4.
Therefore, the upper limb rehabilitation training device can realize almost all upper limb rehabilitation training actions and can achieve a better rehabilitation training effect.
The driving motor 1-1 should be a servo motor having a braking function, such as an existing one. The function of the brake is to prevent unwanted rotation of the motor shaft of the drive motor 1-1 and the link 1-2. The main telescopic rods 1-3 and the upper and lower telescopic rods 1-5 are preferably existing electric push rods. The rear translatory devices 1-6 and the front translatory devices 1-7 are preferably existing linear guide slides.
The training device 1 may conveniently comprise a housing 1-11, as shown in fig. 1-3, most parts of the training device 1 are located inside the housing 1-11, the main telescopic shaft body 1-3-1 is exposed out of the housing 1-11, and the body attachment means 1-8 and the small arm pads 1-9 are located outside the housing 1-11. The rod body 1-3-1 of the main telescopic rod is in motion, and if a large opening is formed in the machine shell 1-11 and the rod body 1-3-1 of the main telescopic rod passes through the opening, the appearance is inconvenient and attractive. To this end, a flexible panel 1-11-1 and a closing plate 1-11-2 are provided as shown in FIG. 5, the main telescopic rod body 1-3-1 and a rotation preventing rod 1-10-1 described later are passed through the hole of the closing plate 1-11-2, and the flexible panel 1-11-1 is deformed to accommodate the movement of the main telescopic rod body 1-3-1. The flexible panel 1-11-1 may be a rubber sheet with corrugations.
As mentioned above, when the shoulder joint movement training is carried out, the arm sleeve 1-8-1 is sleeved on the upper arm of the patient, so that the arm of the patient extends backwards for a long time. In order to avoid the arm touching the case 1-11 during training, as shown in fig. 3, the arm sleeve 1-8-1 of the present invention should be offset a distance from the center of the main telescopic rod 1-3, so that when the arm sleeve 1-8-1 is sleeved on the upper arm of the patient, the forearm and the palm avoid the case 1-11.
But then the main telescopic rod body 1-3-1 can bear larger torque. The rod body 1-3-1 of the main telescopic rod is not suitable for bearing large torque, and the following arrangement can be made for the purpose: the upper limb rehabilitation training device comprises an anti-rotation device 1-10, the anti-rotation device 1-10 is arranged in the same direction as a main telescopic rod 1-3, the anti-rotation device 1-10 comprises an anti-rotation rod 1-10-1 and an anti-rotation rod sleeve 1-10-2, the anti-rotation rod sleeve 1-10-2 is connected with the main telescopic rod barrel 1-3-2, the anti-rotation rod 1-10-1 penetrates through the anti-rotation rod sleeve 1-10-2 and is matched with the anti-rotation rod sleeve 1-10-2, and the anti-rotation rod 1-10-1 is connected with the main telescopic rod body 1-3-1.
The anti-rotation device 1-10 can prevent the main telescopic rod body 1-3-1 from bearing obvious torque. As shown in FIG. 3, two anti-rotation devices 1-10 may be provided.
The specific structure of the body coupling devices 1-8 is preferably as shown in fig. 4: the human body connecting device 1-8 comprises a connecting disc 1-8-5, the connecting disc 1-8-5 is connected with a main telescopic rod body 1-3-1, the connecting disc 1-8-5 can rotate to adjust the direction, a hand arm sleeve 1-8-1, a finger clamp 1-8-3 and a palm supporting plate 1-8-4 are arranged outside the connecting disc 1-8-5 at intervals along the circumferential direction of the connecting disc 1-8-5 and are connected with the connecting disc 1-8-5.
The effect of the arrangement is that the arm sleeves 1-8-1, the finger clamps 1-8-3 and the palm supporting plates 1-8-4 can be positioned at the working positions by rotating the connecting discs 1-8-5, and the training device 1 can be applied to both hands of a patient. Fig. 4 shows a state that the arm sleeve 1-8-1 and the palm support plate 1-8-4 are in the working position. If the finger clamp 1-8-3 is required to be located at the working position, the connecting disc 1-8-5 is rotated by 90 degrees to be installed, and the finger clamp 1-8-3 is downward. The surface of the finger grips 1-8-3 that contacts the finger should be soft to avoid damaging the finger.
As mentioned above, during shoulder joint activity training, the arm sleeve 1-8-1 should be deviated a distance from the center of the main telescopic rod 1-3, preferably the arm sleeve 1-8-1 is connected with the connecting disc 1-8-5 through the arm sleeve connecting rod 1-8-2, and the connecting rod 1-8-2 is telescopic. This allows the arm cuff 1-8-1 to be retracted when not in use.
In order to ensure the coordinated operation of the moving parts and to enable the operation control of the training device 1, it is obvious that the present invention should have a control system as the existing upper limb rehabilitation training device. The control system preferably enables power adjustment of the moving parts to adjust the maximum force applied to the body.
The upper limb rehabilitation training device may comprise only the trainer 1, so that the trainer 1 can be moved to be used close to the patient. In order to further facilitate the use of the trainer 1, the preferable upper limb rehabilitation training device comprises a base 3, a trainer support 2 and a seat 4, wherein the trainer support 2 is connected with the base 3, the trainer 1 is connected with the trainer support 2, and the seat 4 is positioned in front of the trainer 1 and is connected with the base 3. Thus, the patient can sit on the seat 4 to perform upper limb rehabilitation training.
The training aid 1 should be usable with both left and right hands, for which reason it is preferred that the training aid holder 2 is capable of being moved to the left and right to adjust the position. The trainer bracket 2 is moved to enable the trainer 1 to correspond to the left hand or the right hand of the patient, and then the rehabilitation training of the two upper limbs can be realized.
When elbow joint activity training is carried out, the patient is closer to the trainer 1; when elbow, wrist and finger exercises are performed, the patient is far from the exerciser 1. For this reason it is preferred that the seat 4 is capable of moving back and forth to an adjusted position.
Many patients with loss or partial loss of motor function of the upper limbs have difficulty sitting stably in the seat 4, and for this reason it is preferred that the seat 4 has a body restraint strap 4-1. The restraint strap 4-1 can be adopted to restrain the patient and ensure the sitting posture of the patient.
Claims (8)
1. Upper limbs rehabilitation training device, its characterized in that: the training device comprises a training device (1), wherein the training device (1) comprises a driving motor (1-1), a connecting rod (1-2), a main telescopic rod (1-3), a guide sleeve (1-4), an upper telescopic rod (1-5), a lower telescopic rod (1-5), a rear translation device (1-6), a front translation device (1-7), a human body connecting device (1-8) and a small arm pad (1-9);
the main telescopic rod (1-3) is arranged in the front-back direction, and the main telescopic rod (1-3) comprises a main telescopic rod barrel (1-3-2) and a main telescopic rod body (1-3-1); the driving motor (1-1) is arranged at the rear end of the main telescopic rod (1-3) and is arranged on the rear translation device (1-6); one end of the connecting rod (1-2) is connected with the driving motor (1-1), and the other end of the connecting rod (1-2) is hinged with the rear end of the main telescopic rod cylinder (1-3-2); the guide sleeve (1-4) is sleeved on the main telescopic rod barrel (1-3-2) and matched with the main telescopic rod barrel (1-3-2); the upper ends of the upper and lower telescopic rods (1-5) are hinged with the guide sleeves (1-4), and the lower ends of the upper and lower telescopic rods (1-5) are connected with the front translation devices (1-7); the rear translation devices (1-6) and the front translation devices (1-7) are arranged in the left-right direction;
the human body connecting device (1-8) is arranged at the front end of the main telescopic rod (1-3), and the human body connecting device (1-8) comprises an arm sleeve (1-8-1), a palm supporting plate (1-8-4) and a finger clamp (1-8-3) capable of swinging; the small arm pad (1-9) is arranged at the front lower part of the human body connecting device (1-8).
2. The upper limb rehabilitation training device of claim 1, wherein: the anti-rotation device comprises an anti-rotation device (1-10), the anti-rotation device (1-10) and a main telescopic rod (1-3) are arranged in the same direction, the anti-rotation device (1-10) comprises an anti-rotation rod (1-10-1) and an anti-rotation rod sleeve (1-10-2), the anti-rotation rod sleeve (1-10-2) is connected with the main telescopic rod barrel (1-3-2), the anti-rotation rod (1-10-1) penetrates through the anti-rotation rod sleeve (1-10-2) and is matched with the anti-rotation rod sleeve (1-10-2), and the anti-rotation rod (1-10-1) is connected with the main telescopic rod body (1-3-1).
3. The upper limb rehabilitation training device of claim 2, wherein: the human body connecting device (1-8) comprises a connecting disc (1-8-5), the connecting disc (1-8-5) is connected with a main telescopic rod body (1-3-1), the connecting disc (1-8-5) can rotate to adjust the direction, arm sleeves (1-8-1), finger clamps (1-8-3) and palm supporting plates (1-8-4) are arranged outside the connecting disc (1-8-5) at intervals along the circumferential direction of the connecting disc (1-8-5) and are connected with the connecting disc (1-8-5).
4. The upper limb rehabilitation training device of claim 3, wherein: the rear translation devices (1-6) and the front translation devices (1-7) are linear guide rail sliding tables.
5. The upper limb rehabilitation training device of any one of claims 1 to 4, wherein: including base (3), training ware support (2) and seat (4), training ware support (2) are connected with base (3), and training ware (1) is connected with training ware support (2), and seat (4) are located training ware (1) the place ahead and are connected with base (3).
6. The upper limb rehabilitation training device of claim 5, wherein: the trainer bracket (2) can move left and right to adjust the position.
7. The upper limb rehabilitation training device of claim 6, wherein: the seat (4) can move back and forth to adjust the position.
8. The upper limb rehabilitation training device of claim 7, wherein: the seat (4) is provided with a human body restraint strap (4-1).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011350739.7A CN112472520B (en) | 2020-11-26 | 2020-11-26 | Upper limb rehabilitation training device |
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|---|---|---|---|
| CN202011350739.7A CN112472520B (en) | 2020-11-26 | 2020-11-26 | Upper limb rehabilitation training device |
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| CN112472520A true CN112472520A (en) | 2021-03-12 |
| CN112472520B CN112472520B (en) | 2022-10-11 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113331826A (en) * | 2021-05-31 | 2021-09-03 | 汤志华 | Limb joint function evaluation rehabilitation training system and using method thereof |
| CN113576830A (en) * | 2021-07-09 | 2021-11-02 | 河南科技大学第一附属医院 | Training device for neurology hemiplegia patient |
| CN114344842A (en) * | 2022-01-14 | 2022-04-15 | 复旦大学 | Sit upright upper limbs rehabilitation training device |
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