CN113750457A - Lying-down VR rehabilitation system - Google Patents
Lying-down VR rehabilitation system Download PDFInfo
- Publication number
- CN113750457A CN113750457A CN202111131252.4A CN202111131252A CN113750457A CN 113750457 A CN113750457 A CN 113750457A CN 202111131252 A CN202111131252 A CN 202111131252A CN 113750457 A CN113750457 A CN 113750457A
- Authority
- CN
- China
- Prior art keywords
- virtual
- route
- lying
- rehabilitation system
- training
- 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
Links
- 230000003993 interaction Effects 0.000 claims abstract description 15
- 230000003238 somatosensory effect Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 4
- 208000006011 Stroke Diseases 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 239000011521 glass Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 208000020339 Spinal injury Diseases 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000037081 physical activity Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
-
- 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
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Epidemiology (AREA)
- Primary Health Care (AREA)
- Medical Informatics (AREA)
- Engineering & Computer Science (AREA)
- Biophysics (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a lying-type VR rehabilitation system which comprises a main control terminal, a VR vision presenting device, a somatosensory training device and a VR interaction module, wherein the main control terminal is connected with the VR vision presenting device; the somatosensory training device comprises a pedal mechanism detachably connected at the tail end of the sickbed and a handlebar steering mechanism transversely erected between the left and right edges of the sickbed; the main control terminal is used for generating a virtual training route and a virtual bicycle running in the virtual training route. The invention aims to provide a lying-type VR rehabilitation system which can be used for performing rehabilitation training on four limbs directly on a sickbed and is not limited by a field. The invention has the advantages that: the somatosensory training device comprises a pedal mechanism and a handlebar steering mechanism, wherein the pedal mechanism and the handlebar steering mechanism can be directly installed on a sickbed where a patient is located without moving the patient to a special rehabilitation room.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation, in particular to a lying type VR rehabilitation system.
Background
Along with the rapid development of the VR technology, the application range of the VR virtual reality technology is also wider and wider, and particularly along with the development of peripheral hardware technology and kernel development software technology, the VR display technology is more mature and perfect.
In modern society, the nerve of a human body is damaged due to spinal injuries, cerebral apoplexy, accidental injuries and the like, and further, the motor dysfunction of the human body is a common disease. The traditional rehabilitation training process is monotonous and boring, and a patient easily loses interest in training and is easy to be tired, so that the training efficiency is low.
Disclosure of Invention
The invention aims to provide a lying-type VR rehabilitation system which can be used for performing rehabilitation training on four limbs directly on a sickbed and is not limited by a field.
The purpose of the invention is realized by the following technical scheme: a lying-type VR rehabilitation system comprises a main control terminal, a VR vision presenting device, a somatosensory training device and a VR interaction module; the somatosensory training device comprises a pedal mechanism detachably connected at the tail end of the sickbed and a handlebar steering mechanism transversely erected between the left and right edges of the sickbed; the main control terminal is used for generating a virtual training route and a virtual bicycle running in the virtual training route; the VR interaction module is connected with the main control terminal and is used for inputting the advancing distance and the direction of the virtual bicycle in the virtual training route to the main control terminal; the VR interaction module comprises a stroke sensor for measuring the distance corresponding to the pedaling rotation of the pedal mechanism and an angle sensor for measuring the rotation angle of the handlebar steering mechanism; the VR vision presenting device comprises a display screen, a position sensor and a three-axis gyroscope, the VR vision presenting device rotates the posture according to the head of a trainer, and the three-axis gyroscope adjusts the current display image through an image engine in the main control terminal.
Compared with the prior art, the invention has the advantages that:
the somatosensory training device comprises a pedal mechanism and a handlebar steering mechanism, wherein the pedal mechanism and the handlebar steering mechanism can be directly installed on a sickbed where a patient is located without moving the patient to a special rehabilitation room.
Body feeling trainer cooperation VR vision presents the device, and the training person not only can carry out the rehabilitation training of four limbs, can also enjoy the experience that meanders and meanders between mountain and river jungle and move ahead, has improved rehabilitation training's enjoyment and effect greatly.
The virtual training route is designed with a main route, branch routes, an uphill section and a downhill section, and the virtual training route is matched with a VR interaction module to achieve the interactive experience of simulation, such as fork steering, resistance of uphill and power assisting of downhill.
Drawings
Fig. 1 is a schematic structural diagram of a lying-type VR rehabilitation system according to an embodiment of the invention.
Description of reference numerals: the device comprises a fixed seat 1, a crankshaft 2, a flywheel 3, a locking piece A4, an electromagnetic resistor 5, a driving motor 6, a transverse support 7, a handlebar 8, a vertical pipe 9, a locking piece B10, a stroke sensor 11, an angle sensor 12 and a brake handle 13.
Detailed Description
The invention is described in detail below with reference to the drawings and examples of the specification:
fig. 1 is a schematic view of an embodiment of a lying VR rehabilitation system according to the present invention.
A lying-type VR rehabilitation system comprises a main control terminal, a VR vision presenting device, a somatosensory training device and a VR interaction module;
the somatosensory training device comprises a pedal mechanism detachably connected at the tail end of the sickbed and a handlebar steering mechanism transversely erected between the left and right edges of the sickbed;
the main control terminal is used for generating a virtual training route and a virtual bicycle running in the virtual training route; the VR interaction module is connected with the main control terminal and is used for inputting the advancing distance and the direction of the virtual bicycle in the virtual training route to the main control terminal; the VR interaction module comprises a stroke sensor 11 for measuring the distance corresponding to the pedaling of the pedal mechanism and an angle sensor 12 for measuring the rotation angle of the handlebar steering mechanism;
the VR vision presenting device comprises a display screen, a position sensor and a three-axis gyroscope, the VR vision presenting device rotates the posture according to the head of a trainer, and the three-axis gyroscope adjusts the current display image through an image engine in the main control terminal. The VR vision presenting device is VR glasses.
The virtual training route comprises a main route and a branch route;
when the virtual bicycle is ridden to the fork of the main route and the branch route, the rotation direction of the handlebar steering mechanism is measured by the angle sensor 12, and then the traveling route is selected.
When no signal is input into the steering mechanism of the handlebar, the virtual bicycle is driven into the main route by default.
And an uphill section and/or a downhill section are/is arranged on the virtual training route.
The VR interaction module further comprises an electromagnetic resistor 5 for applying a resistance to the pedaling mechanism;
when the virtual bicycle is ridden to the uphill section of the virtual training route, the electromagnetic resistor 5 applies resistance to the pedal mechanism for simulating uphill riding resistance.
And a brake handle 13 for actively controlling the electromagnetic resistance device 5 is arranged on the handlebar steering mechanism.
The VR interaction module further comprises a driving motor 6 used for providing power for the pedal mechanism, and when the virtual bicycle is ridden to a downhill section of the virtual training route, the driving motor 6 provides power for the pedal mechanism and is used for simulating downhill riding assistance.
Virtual scenes are generated on two sides of the virtual training route.
The virtual scenes on the two sides of the virtual training route are forests, mountains, lakes or oceans.
The virtual scene adopts scenic spots, so that the physical and mental activities of the trainers can be pleased, the fatigue can be relieved, the power explored by the trainers can be stimulated, and a better rehabilitation effect can be achieved.
The pedal mechanism comprises a fixed seat 1, a crankshaft 2, a flywheel 3 and a transmission assembly;
the fixing seat 1 is supported on a bed board of a hospital bed, a buckling part connected to a rear baffle of the hospital bed is arranged at the rear side of the fixing seat 1, and a locking piece A4 is arranged on the buckling part; crankshaft 2 and flywheel 3 all rotate to be connected on fixing base 1, and transmission assembly connects between fixing base 1 and flywheel 3, is equipped with the footboard on the crankshaft 2.
The locking piece A4 is a bolt, and the buckling part is provided with a screw hole for the bolt to pass through.
The handlebar steering mechanism comprises a transverse bracket 7, a handlebar 8 and a vertical pipe 9;
locking pieces B10 for fixing on the edge of a sickbed are arranged on two sides of the transverse support 7, the vertical pipe 9 is fixed in the middle of the handlebar 8, and the vertical pipe 9 is rotatably connected to the transverse support 7.
The electromagnetic resistor 5 is arranged on the outer side edge of the flywheel 3, and the initial resistance coefficient of the brake can be adjusted, so that the strength of rehabilitation training can be controlled.
The stroke sensor 11 is arranged at the side of the flywheel 3, a plurality of sensing points which are circularly and symmetrically distributed by taking the rotating shaft as the center are arranged on the wheel surface of the flywheel 3, and the stroke sensor 11 calculates the corresponding distance of the rotation of the flywheel by counting the passing sensing points.
The stroke sensor 11 may also adopt an encoder, and the encoder and the flywheel 3 rotate synchronously, so as to automatically measure and calculate the distance corresponding to the rotation of the flywheel.
The working principle of the invention is as follows:
1. the medical staff sets the pedal mechanism at the tail end of the hospital bed and then fixes the pedal mechanism through a locking piece A4; the handlebar steering mechanism is transversely arranged between the edges (or side guardrails) at the two sides of the sickbed, and is fixed through a locking piece B10 after the position is adjusted.
2. The training person dresses VR glasses, places both feet on the footboard of pedal mechanism, and handlebar 8 on the handlebar steering mechanism is held to both hands.
3. The main control terminal loads a virtual training route and a virtual bicycle which are designed in advance, a virtual rider is arranged on the virtual bicycle, a visual angle of a first person name of the virtual rider is displayed on VR glasses, and a current display image is adjusted by the three-axis gyroscope through an image engine in the main control terminal.
4. When a trainer rotates pedals by double pedals, the crankshaft 2 drives the flywheel 3 to rotate, the stroke sensor 11 calculates the distance corresponding to the rotation of the flywheel 3 and inputs data to the main control terminal in real time, and the main control terminal controls the advancing distance of the virtual bicycle on the virtual training route.
5. When the virtual bicycle is ridden to the fork of the main route and the branch route, the rotation direction of the handlebar steering mechanism can be measured through the angle sensor 12, and then a traveling route is selected;
in a simplified embodiment, the virtual bicycle travels along a single track (including a straight line segment and a curve segment) on the main route or the branch route, in the process, the main control terminal does not react on the data of the angle sensor 12, and when the virtual bicycle encounters a fork, the virtual bicycle selects a route according to the data of the angle sensor 12;
furthermore, the virtual training route can be provided with a curve section of the linkage handlebar steering mechanism, when the virtual bicycle passes through the curve section, the virtual bicycle can smoothly pass through the curve section only when the rotation angle of the handlebar 8 is required to reach a certain numerical range, otherwise, the virtual training route prompts that the training fails;
furthermore, the main route or the branch route is provided with a certain road width, the advancing direction of the virtual bicycle is linked with the handlebar steering mechanism in real time, a trainer is required to control the direction of the handlebar 8 at any time in the pedaling process, otherwise, the virtual bicycle rushes out of the road, and the training failure is prompted.
6. When the virtual bicycle is ridden to the uphill section of the virtual training route, the electromagnetic resistor 5 applies resistance to the pedal mechanism and is used for simulating uphill riding resistance;
when the virtual bicycle is ridden to the downhill section of the virtual training route, the driving motor 6 provides power for the pedal mechanism for simulating downhill riding assistance.
7. After the training is finished, the medical staff can dismantle the pedal mechanism and the handlebar steering mechanism.
The invention can also be adjusted according to the rehabilitation grade of the patient. The serious patient can directly bind the feet on the pedal and drive the feet to carry out passive training through the driving motor 6. While the general patient can adjust the brake resistance coefficient of the electromagnetic resistance device 5 in the rehabilitation process, so as to gradually enhance the strength of the rehabilitation training.
Claims (9)
1. The utility model provides a lying type VR rehabilitation system which characterized in that: the system comprises a main control terminal, a VR vision presenting device, a somatosensory training device and a VR interaction module;
the somatosensory training device comprises a pedal mechanism detachably connected at the tail end of the sickbed and a handlebar steering mechanism transversely erected between the left and right edges of the sickbed;
the main control terminal is used for generating a virtual training route and a virtual bicycle running in the virtual training route; the VR interaction module is connected with the main control terminal and is used for inputting the advancing distance and the direction of the virtual bicycle in the virtual training route to the main control terminal; the VR interaction module comprises a stroke sensor (11) for measuring the distance corresponding to the pedaling of the pedal mechanism and an angle sensor (12) for measuring the rotation angle of the handlebar steering mechanism;
the VR vision presenting device comprises a display screen, a position sensor and a three-axis gyroscope, the VR vision presenting device rotates the posture according to the head of a trainer, and the three-axis gyroscope adjusts the current display image through an image engine in the main control terminal.
2. The lying VR rehabilitation system of claim 1, wherein: the virtual training route comprises a main route and a branch route;
when the virtual bicycle is ridden to the fork of the main route and the branch route, the rotation direction of the handlebar steering mechanism is measured through the angle sensor (12), and then the traveling route is selected.
3. The lying VR rehabilitation system of claim 2, wherein: and an uphill section and/or a downhill section are/is arranged on the virtual training route.
4. The lying VR rehabilitation system of claim 3, wherein: the VR interaction module further comprises an electromagnetic resistor (5) for applying a resistance to the pedaling mechanism;
when the virtual bicycle is ridden to the uphill section of the virtual training route, the electromagnetic resistor (5) applies resistance to the pedal mechanism for simulating uphill riding resistance.
5. The lying VR rehabilitation system of claim 3, wherein: and a brake handle (13) for actively controlling the electromagnetic resistance device (5) is arranged on the handlebar steering mechanism.
6. The lying VR rehabilitation system of claim 3, wherein: the VR interaction module further comprises a driving motor (6) used for providing power for the pedal mechanism, and when the virtual bicycle is ridden to a downhill section of the virtual training route, the driving motor (6) provides power for the pedal mechanism and is used for simulating downhill riding assistance.
7. The lying VR rehabilitation system of claim 1, wherein: virtual scenes are generated on two sides of the virtual training route.
8. The recumbent VR rehabilitation system of any of claims 1-7, wherein: the pedal mechanism comprises a fixed seat (1), a crankshaft (2), a flywheel (3) and a transmission assembly;
the fixing seat (1) is supported on a bed plate of a sickbed, a buckling part connected to a rear baffle of the sickbed is arranged at the rear side of the fixing seat (1), and a locking piece A (4) is arranged on the buckling part; crankshaft (2) and flywheel (3) all rotate to be connected on fixing base (1), and transmission assembly connects between fixing base (1) and flywheel (3), is equipped with the footboard on crankshaft (2).
9. The lying VR rehabilitation system of claim 8, wherein: the handlebar steering mechanism comprises a transverse bracket (7), a handlebar (8) and a vertical pipe (9);
the locking piece B (10) that is used for fixing at the sick bed edge is equipped with in the both sides of horizontal support (7), riser (9) are fixed in handlebar (8) middle part, and riser (9) rotate to be connected on horizontal support (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111131252.4A CN113750457A (en) | 2021-09-26 | 2021-09-26 | Lying-down VR rehabilitation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111131252.4A CN113750457A (en) | 2021-09-26 | 2021-09-26 | Lying-down VR rehabilitation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113750457A true CN113750457A (en) | 2021-12-07 |
Family
ID=78797572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111131252.4A Pending CN113750457A (en) | 2021-09-26 | 2021-09-26 | Lying-down VR rehabilitation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113750457A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114344831A (en) * | 2022-01-19 | 2022-04-15 | 河南省正骨研究院 | Intelligent multifunctional knee joint rehabilitation equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013213562A1 (en) * | 2013-07-11 | 2015-01-15 | Rosario Schiano | Movement and therapy device and therapy method for the curative treatment and prevention of painful conditions on the musculoskeletal system of a person |
| CN104801020A (en) * | 2015-05-06 | 2015-07-29 | 杭州映墨科技有限公司 | Force feedback bicycle control device for cycling fitness in virtual scene |
| CN108479003A (en) * | 2018-06-07 | 2018-09-04 | 青岛迈金智能科技有限公司 | A method of platform of riding simulates descending car slipping scene |
| CN110152244A (en) * | 2018-04-13 | 2019-08-23 | 北京简爱运动科技有限公司 | A kind of bicycle analogue system that driving in the wrong direction and can provide load and device |
| CN211327958U (en) * | 2019-12-03 | 2020-08-25 | 南京瀚雅健康科技有限公司 | Electromagnetic resistance constant power vehicle used on bed |
-
2021
- 2021-09-26 CN CN202111131252.4A patent/CN113750457A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013213562A1 (en) * | 2013-07-11 | 2015-01-15 | Rosario Schiano | Movement and therapy device and therapy method for the curative treatment and prevention of painful conditions on the musculoskeletal system of a person |
| CN104801020A (en) * | 2015-05-06 | 2015-07-29 | 杭州映墨科技有限公司 | Force feedback bicycle control device for cycling fitness in virtual scene |
| CN110152244A (en) * | 2018-04-13 | 2019-08-23 | 北京简爱运动科技有限公司 | A kind of bicycle analogue system that driving in the wrong direction and can provide load and device |
| CN108479003A (en) * | 2018-06-07 | 2018-09-04 | 青岛迈金智能科技有限公司 | A method of platform of riding simulates descending car slipping scene |
| CN211327958U (en) * | 2019-12-03 | 2020-08-25 | 南京瀚雅健康科技有限公司 | Electromagnetic resistance constant power vehicle used on bed |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114344831A (en) * | 2022-01-19 | 2022-04-15 | 河南省正骨研究院 | Intelligent multifunctional knee joint rehabilitation equipment |
| CN114344831B (en) * | 2022-01-19 | 2022-12-02 | 河南省正骨研究院 | Intelligent multifunctional knee joint rehabilitation equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| ES2318132T3 (en) | PROCEDURE FOR SELECTIVE TRAINING AND TRAINING DEVICE. | |
| CN111407590B (en) | Upper and lower limb training device, system and method | |
| US10004940B2 (en) | Exercising bicycle | |
| US20160023081A1 (en) | Method and accessories to enhance riding experience on vehicles with human propulsion | |
| US6648353B1 (en) | Upright step-cycle with elliptical motion pedalling | |
| CN205434907U (en) | Bicycle training system who combines virtual reality technology | |
| WO1996038205B1 (en) | Interactive exercise apparatus | |
| JPS6338474A (en) | Training bicycle apparatus | |
| JPH10203467A (en) | Running type fitness machine | |
| KR101036096B1 (en) | Exercise bike | |
| CN106823271A (en) | VR Spinnings and its exchange method | |
| CN113750457A (en) | Lying-down VR rehabilitation system | |
| KR200418734Y1 (en) | Apparatus for Walking Exercise | |
| Hettinga et al. | Hand-cycling: an active form of wheeled mobility, recreation, and sports | |
| CN115379984A (en) | Vehicle capable of crawling and riding | |
| CN103431978A (en) | Gait walking-aid robot | |
| CN2824180Y (en) | Wheelchair training platform | |
| CN205903572U (en) | Balanced coordination function obstacle rehabilitation training device of emulation bicycle formula | |
| JP3118971U (en) | Walking assist tricycle | |
| GB2460238A (en) | A Machine that can be used as a Running or Walking Training Aid | |
| CN208660234U (en) | A kind of underwater cycle ergometer | |
| CN206896687U (en) | A kind of foot pedal type bilateral lower limb rehabilitation training instrument | |
| CN102381415A (en) | Appliance driven by body force | |
| CN201665293U (en) | Body-building stepping bicycle | |
| Garman et al. | Motorcycle Rider Kinematics during Low and High Speed Turning Maneuvers |
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 |