CN114795708B - Auxiliary standing equipment - Google Patents
Auxiliary standing equipment Download PDFInfo
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- CN114795708B CN114795708B CN202210471040.9A CN202210471040A CN114795708B CN 114795708 B CN114795708 B CN 114795708B CN 202210471040 A CN202210471040 A CN 202210471040A CN 114795708 B CN114795708 B CN 114795708B
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- electric push
- leg
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- 238000000034 method Methods 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims abstract description 18
- 230000009471 action Effects 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 13
- 210000002414 leg Anatomy 0.000 abstract description 51
- 238000005452 bending Methods 0.000 abstract description 9
- 210000003127 knee Anatomy 0.000 abstract description 6
- 210000003141 lower extremity Anatomy 0.000 abstract description 3
- 238000011160 research Methods 0.000 abstract description 2
- 238000012549 training Methods 0.000 abstract description 2
- 230000004064 dysfunction Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 230000005484 gravity Effects 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 208000035475 disorder Diseases 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 208000004210 Pressure Ulcer Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/14—Standing-up or sitting-down aids
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Chairs For Special Purposes, Such As Reclining Chairs (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides auxiliary standing equipment, and belongs to the field of rehabilitation training equipment research. The device has a mobility function and can assist a user with lower limb dysfunction to stand. The equipment comprises a lifting base, a leg module, a cushion module and a backrest module, wherein knee bending and standing processes can be realized by means of the electric push rod, and meanwhile, users with different heights can be satisfied. The invention has simple structure, low cost and convenient use.
Description
Technical Field
The invention belongs to the field of rehabilitation training equipment research, and particularly relates to auxiliary equipment for helping a patient with lower limb disorder stand.
Background
With the improvement of the aging degree of society, more and more old people have the situation of difficult standing or even incapacity of standing due to the decrease of body muscle strength; patients with lower limb disorder and dyskinesia caused by traffic accidents and various diseases can hardly stand by themselves; however, since standing is the most important basic action in daily life, which is the basis for completing other living activities, an elderly person or a patient who is difficult to stand can only lie on a bed or perform limited daily activities through a wheelchair, but lying on the bed for a long time may cause pressure on a local body to generate bedsores, and cause complications such as muscular atrophy. At present, a patient needing standing rehabilitation mostly adopts a wheelchair to perform daily activities, but nursing staff or families are required to assist in standing when standing, so that the patient cannot complete the standing process by himself, and thus, the patient cannot independently complete such things as walking, toilet and the like; thus not only consuming manpower, but also being unfavorable for the psychological and physical health of patients.
The standing process of the human body is mainly a gravity center changing process, standing can be divided into a knee bending stage, a bending stage and a standing stage according to the gravity center changing process, the knee bending stage and the bending stage are standing preparation processes, movement of the gravity center of the human body in the horizontal direction is mainly achieved, and movement of the gravity center of the human body in the vertical direction is mainly achieved in the standing stage. In order to solve the above-mentioned problems and to achieve the purpose of assisting the patient in a normal standing process, an apparatus for assisting the standing is provided, which has two degrees of freedom, can assist the user in achieving the knee bending, bending and standing processes, and can reproduce the real standing process of the person to a certain extent.
Disclosure of Invention
The invention solves the technical problems that: the two-degree-of-freedom auxiliary standing device can better realize the human body track in the standing process and help a user to complete the standing process more freely.
The technical scheme is as follows: an auxiliary standing device mainly comprises a leg module (1), a leg electric push rod (2), a cushion module (3), a cushion electric push rod (4), a backrest module (5) and a base module (6); one end of the leg module is hinged with the cushion (302), the other end of the leg module is hinged with one end of the leg electric push rod, and the other end of the leg electric push rod is hinged with a lower hinge seat (6031) of the backrest supporting rod (603); the cushion module mainly comprises a cushion and a cushion hanging arm (305), wherein one end of the cushion hanging arm is fixedly connected with the cushion, and the other end of the cushion hanging arm is in sliding connection with a curved chute (605) and can slide along a first track (6051) and a second track (6052) of the curved chute; the backrest module comprises a backrest (501) and a trunk directional arm (502), the cushion of the cushion module is hinged with the backrest of the backrest module, one end of the trunk directional arm of the backrest module is fixedly connected with the backrest of the backrest module, and the other end of the trunk directional arm of the backrest module is hinged with a movable connecting rod (604) of the base module;
the base module comprises a lifting base (601), armrests (602), a backrest support rod, a curved chute, a cushion support rod (606) and a movable connecting rod, wherein the backrest support rod, the curved chute and the armrests are fixedly connected with an upper base (6017), and an upper hinge seat (6032) and a lower hinge seat are arranged on the backrest support rod, wherein the upper hinge seat is hinged with one end of the movable connecting rod; one end of the cushion supporting rod is fixedly connected with the upper base, the other end of the cushion supporting rod is hinged with one end of the cushion electric push rod, and the other end of the cushion electric push rod is hinged with the cushion; the curved sliding groove is provided with a first track and a second track;
exercise process of the auxiliary standing device: the auxiliary standing action process is as follows under the control of the control system (6016): the first stage: the leg electric push rod contracts to drive the leg module to rotate by an angle, and then the leg electric push rod is locked; and a second stage: the cushion electric push rod stretches, the matched end of the cushion vertical arm and the curved chute upwards slides along the first track of the curved chute, the cushion rotates around the hinging shaft of the leg module and the cushion under the combined action of the cushion electric push rod and the cushion vertical arm, the backrest rotates around the hinging shaft of the cushion and the backrest under the restraint of the trunk orientation arm, the movable connecting rod and the backrest supporting rod, and the leg module is kept motionless; and a third stage: the seat cushion is driven to rotate around the hinge shaft of the leg module and the leg electric push rod while the seat cushion continues to rotate under the combined action of the seat cushion electric push rod and the seat cushion vertical arm after the seat cushion vertical arm slides to the second track end point of the curved sliding groove along with the extension of the seat cushion electric push rod, the backrest continues to rotate around the hinge shaft of the seat cushion and the backrest under the restraint of the trunk directional arm, the movable connecting rod and the backrest supporting rod, and the seat cushion electric push rod is locked, and the seat cushion, the leg module and the backrest module are in a vertical state after the seat cushion vertical arm slides to the second track end point of the curved sliding groove.
Preferably, a cushion supporting plate (6021) is fixedly connected to the inner side of the armrest of the base module, and when the cushion of the cushion module is horizontally placed, the cushion supporting plate can support the cushion module.
Preferably, the lifting base comprises a lower base (6013) and an upper base, wherein the lower base comprises a foot pedal (6011), universal wheels (6012), a lifting mechanism (6014), a driving wheel (6015) and a control system, the upper base can move up and down relative to the lower base under the driving of the lifting mechanism, and the lifting base can move under the driving of the driving wheel.
Preferably, the mating end of the cushion drop arm and the curved chute is fitted with a pulley (306).
The beneficial effects are that: through the design scheme, the invention has the following beneficial effects:
1. can realize knee bending action. The angle of the leg module can be controlled by controlling the expansion and contraction of the leg electric push rod, so that knee bending action is completed.
2. Can realize standing action. The motion track of the pulley can be controlled by controlling the expansion and contraction of the cushion electric push rod, so that the static and backward motion of the leg module and the hinge shaft of the cushion are realized, and the standing process is realized.
3. Can be used as a moving tool. The movable function can be realized through the driving wheel of the lifting base in a standing posture state or a sitting posture state.
4. Can be suitable for people with different heights. The distance between the lower base and the upper base can be controlled through the lifting mechanism so as to satisfy the use of people with different heights.
Drawings
Fig. 1 is a schematic diagram showing the whole structure of the auxiliary standing device.
As shown in fig. 2, a schematic view of the cushion module 。
Fig. 3 is a schematic diagram of the upper chassis of the chassis module.
Fig. 4 is a schematic view of the lower base of the base module.
A standing process diagram of the standing assistance device is shown in fig. 5.
Detailed Description
In order to make the technical scheme and the structural characteristics of the present invention more clear, the technical scheme in the embodiments of the present invention will be fully and clearly described below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
As shown in fig. 1, an auxiliary standing device according to an embodiment of the present invention mainly comprises six parts, namely a leg module (1), a leg electric push rod (2), a cushion module (3), a cushion electric push rod (4), a backrest module (5) and a base module (6014), wherein the leg module comprises a left part and a right part symmetrically distributed relative to the cushion (302), the backrest module comprises a backrest (501) and a left trunk directional arm and a right trunk directional arm (502) symmetrically distributed relative to the cushion, one ends of the left trunk directional arm and the right trunk directional arm are symmetrically and fixedly connected with the backrest of the backrest module, the other ends of the left trunk directional arm and the right trunk directional arm are hinged with a movable connecting rod (604) of the base module through a hinge shaft, so that the movable connecting rod can rotate relative to the axis of the hinge shaft, the base module comprises a lifting base (601), the lifting base comprises a lower base (6013), an upper base (6017) and a lifting mechanism (6014), one end of the lifting mechanism is fixedly mounted on the lower base, and the other end of the lifting mechanism is connected with the upper base through the lifting shaft under the control of a manual or control system (6016).
As shown in fig. 2, the cushion module includes a leg hinge seat (301), a cushion electric putter hinge seat (303), a backrest hinge seat (304), a cushion drop arm (305) and a pulley (306), wherein the leg hinge seat, the cushion electric putter hinge seat, and the backrest hinge seat are fixedly mounted on the cushion, one end of the cushion hinges the leg hinge seat with the leg module through a hinge shaft, and the other end hinges the backrest hinge seat with the backrest of the backrest module through a hinge shaft, so that the leg module and the backrest module can rotate relative to the hinge shaft of the cushion module, one end of the cushion drop arm is fixedly connected with the cushion, the other end of the cushion drop arm forms a sliding connection with the curved chute, and the pulley mounted on the curved chute slides along a first track (6051) and a second track (6052) of the curved chute.
As shown in fig. 3, the upper base comprises a lifting mechanism, an armrest (602), a backrest supporting rod (603), a movable connecting rod, a curved sliding groove (605) and a cushion supporting rod (606), wherein the armrest, the backrest supporting rod, the movable connecting rod and the curved sliding groove all comprise left and right parts and are symmetrically distributed on the upper base, the armrest, the backrest supporting rod and the curved sliding groove are fixedly connected with the upper base, a first track and a second track are arranged on the curved sliding groove, an upper hinge seat (6032) and a lower hinge seat (6031) are arranged on the backrest supporting rod, the upper hinge seat is hinged with one end of the movable connecting rod, the lower hinge seat is hinged with one end of the leg electric push rod, and the other end of the leg electric push rod is hinged with the leg module; one end of the cushion supporting rod is fixedly connected with the upper base, the other end of the cushion supporting rod is hinged with one end of the cushion electric push rod, and the other end of the cushion electric push rod is hinged with the cushion through the cushion electric push rod hinge seat; the inner side of the armrest is fixedly connected with a cushion supporting plate (6021), and when the cushion of the cushion module is horizontally placed, the cushion supporting plate can support the cushion module.
As shown in fig. 4, the lower base comprises a foot pedal (6011), universal wheels (6012), a lifting mechanism, driving wheels (6015) and a control system, the foot pedal is fixedly arranged at the front end of the lower base, two universal wheels and two driving wheels are symmetrically connected to the left side and the right side, the control system is connected to the rear end of the lower base, and the lifting base can be driven by the driving wheels to move.
As shown in fig. 5, a illustrates an initial state of a user, in which the user sits on the seat cushion and the feet are put on the foot pedals; the diagram b shows a state diagram of the leg electric push rod after contracting to drive the leg module to rotate by one angle, the diagram c shows a state diagram of the cushion hanging arm and the matched pulley of the curved chute being positioned on the first track of the curved chute, the diagram d shows a state diagram of the cushion hanging arm and the matched pulley of the curved chute being positioned on the second track end point of the curved chute, and at the moment, the leg module, the cushion and the backrest are all in a vertical state.
Auxiliary user standing movement process of auxiliary standing device:
the user can adjust the distance between the upper base and the lower base through the lifting mechanism so as to adapt to the height characteristics of the user, the user can sit on the cushion, the foot is placed on the foot pedal, the legs can be connected to the leg modules through elastic belts, and the user can be assisted in realizing the standing process under the control of the control system as shown in fig. 5a as follows: the first stage: the leg electric push rod is contracted to drive the leg module to rotate by an angle, and then the leg electric push rod is locked, as shown in fig. 5 b; and a second stage: the cushion electric push rod stretches, the matched end of the cushion vertical arm and the curved chute upwards slides along the first track of the curved chute, the cushion rotates around the hinging shaft of the leg module and the cushion under the combined action of the cushion electric push rod and the cushion vertical arm, the backrest rotates around the hinging shaft of the cushion and the backrest under the restraint of the trunk orientation arm, the movable connecting rod and the backrest supporting rod, and the leg module is kept still as shown in fig. 5 c; and a third stage: along with the extension of the cushion electric putter, after the cushion pendulous arm slides to the second track of curved spout, the cushion continues to rotate under the combined action of cushion electric putter and cushion pendulous arm and drives the shank module and rotate around shank module and shank electric putter's articulated shaft, the back continues to rotate around cushion and back (articulated shaft) under the restraint of trunk directional arm, movable connecting rod and back bracing piece, after the cushion pendulous arm slides to the second track terminal point of curved spout, cushion electric putter locks, cushion, shank module and back module are in vertical state, as shown in fig. 5 d.
The motion process of the auxiliary user of the auxiliary standing device from standing posture to sitting posture: the first stage: the cushion, the leg module and the backrest module are in a vertical state at first, feet of a user stand on foot pedals, legs are connected with the leg module through elastic belts, the cushion electric push rod is gradually shortened under the control of a control system, the leg electric push rod is kept in a locking state, the cushion hanging arm gradually slides downwards from the end point of the second track of the curved chute, the cushion rotates under the combined action of the cushion electric push rod and the cushion hanging arm, meanwhile, the leg module is driven to rotate around the hinge shaft of the leg module and the leg electric push rod, and the backrest rotates around the hinge shaft of the cushion and the backrest under the restraint of the trunk orientation arm, the movable connecting rod and the backrest supporting rod until the cushion hanging arm moves to the first track of the curved chute as shown in fig. 5 c; and a second stage: the cushion electric push rod continues to shorten, the matched end of the cushion pendulous arm and the curved chute slides downwards along the first track of the curved chute, the cushion rotates around the hinging shaft of the leg module and the cushion under the combined action of the cushion electric push rod and the cushion pendulous arm, the backrest rotates around the hinging shaft of the cushion and the backrest under the restraint of the trunk directional arm, the movable connecting rod and the backrest supporting rod, the leg module is kept motionless, and the cushion electric push rod is locked after moving to the starting point of the first track of the curved chute, as shown in fig. 5 b; and a third stage: the leg electric push rod is gradually stretched under the control of the control system, and drives the leg module to rotate by an angle so that a user keeps a comfortable leg posture and then keeps locked, as shown in fig. 5 a.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (3)
1. The auxiliary standing device is characterized by comprising six parts, namely a leg module, a cushion module, a backrest module, a cushion electric push rod, a leg electric push rod and a base module;
one end of the leg module is hinged with the cushion, the other end of the leg module is hinged with one end of the leg electric push rod, and the other end of the leg electric push rod is hinged with the lower hinge seat of the backrest support rod;
the cushion module mainly comprises a cushion and a cushion hanging arm, one end of the cushion hanging arm is fixedly connected with the cushion, and the other end of the cushion hanging arm is in sliding connection with the curved sliding groove and can slide along a first track and a second track of the curved sliding groove;
the backrest module comprises a backrest and a trunk directional arm, the backrest is hinged with the cushion, one end of the trunk directional arm is fixedly connected with the backrest, and the other end of the trunk directional arm is hinged with the movable connecting rod of the base module;
the base module comprises a lifting base, armrests, a backrest supporting rod, a curved sliding groove, a cushion supporting rod and a movable connecting rod, wherein the backrest supporting rod, the curved sliding groove and the armrests are fixedly connected with an upper base of the lifting base, and an upper hinge seat and a lower hinge seat are arranged on the backrest supporting rod, and the upper hinge seat is hinged with one end of the movable connecting rod; one end of the cushion supporting rod is fixedly connected with the upper base, the other end of the cushion supporting rod is hinged with one end of the cushion electric push rod, and the other end of the cushion electric push rod is hinged with the cushion; the curved sliding groove is provided with a first track and a second track;
the lifting base comprises a lower base, an upper base and a lifting mechanism, one end of the lifting mechanism is fixedly arranged on the lower base, the other end of the lifting mechanism is connected to the upper base through a lifting shaft, and the lower base comprises a foot pedal;
the auxiliary standing device is characterized in that the auxiliary standing action process is as follows under the control of the control system: the user adjusts the distance between the upper base and the lower base through the lifting mechanism to adapt to the height characteristics of the user, so that the user sits on the cushion, the user sits on the foot pedal, and the legs are connected to the leg modules through elastic belts; the first stage: the leg electric push rod contracts to drive the leg module to rotate by an angle, and then the leg electric push rod is locked; and a second stage: the cushion electric push rod stretches, the matched end of the cushion hanging arm and the curved chute slides upwards along the first track of the curved chute, the cushion rotates around the hinging shaft of the leg module and the cushion under the combined action of the cushion electric push rod and the cushion hanging arm, the backrest rotates around the hinging shaft of the cushion and the backrest under the restraint of the trunk orientation arm, the movable connecting rod and the backrest supporting rod, and the leg module is kept motionless; and a third stage: the seat cushion is driven to rotate around the hinge shaft of the leg module and the leg electric push rod while the seat cushion continues to rotate under the combined action of the seat cushion electric push rod and the seat cushion vertical arm after the seat cushion vertical arm slides to the second track end point of the curved sliding groove along with the extension of the seat cushion electric push rod, the backrest continues to rotate around the hinge shaft of the seat cushion and the backrest under the restraint of the trunk directional arm, the movable connecting rod and the backrest supporting rod, and the seat cushion electric push rod is locked, and the seat cushion, the leg module and the backrest module are in a vertical state after the seat cushion vertical arm slides to the second track end point of the curved sliding groove.
2. An auxiliary standing apparatus according to claim 1, wherein: the inner side of the armrest of the base module is fixedly connected with a cushion supporting plate, and when the cushion of the cushion module is horizontally placed, the cushion supporting plate can support the cushion module.
3. An auxiliary standing apparatus according to claim 1, wherein: the pulley is installed at the matching end of the cushion hanging arm and the curved chute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210471040.9A CN114795708B (en) | 2022-04-28 | 2022-04-28 | Auxiliary standing equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210471040.9A CN114795708B (en) | 2022-04-28 | 2022-04-28 | Auxiliary standing equipment |
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| CN114795708A CN114795708A (en) | 2022-07-29 |
| CN114795708B true CN114795708B (en) | 2023-04-28 |
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| CN202210471040.9A Active CN114795708B (en) | 2022-04-28 | 2022-04-28 | Auxiliary standing equipment |
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| CN115737299A (en) * | 2022-11-25 | 2023-03-07 | 北京邮电大学 | Auxiliary standing wheelchair with toilet assisting function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110613561A (en) * | 2019-08-29 | 2019-12-27 | 北京邮电大学 | Multifunctional training wheelchair |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105832474B (en) * | 2016-03-10 | 2018-01-30 | 国家康复辅具研究中心 | Aiding upright device |
| CN107789125B (en) * | 2017-10-12 | 2019-10-08 | 浙江理工大学 | Assist the power assisting device and its boosting method of lower limb inconvenience person standing walking |
| DE112019007196T5 (en) * | 2019-04-12 | 2021-12-23 | Fuji Corporation | Care device |
| CN110013395B (en) * | 2019-04-16 | 2024-04-12 | 江苏福维健康科技有限公司 | Auxiliary standing wheelchair with changeable wheelbase of front and rear wheels |
| CN109966710B (en) * | 2019-04-28 | 2024-01-12 | 河南优德医疗设备股份有限公司 | Linkage type standing frame for standing rehabilitation training |
| CN110934697A (en) * | 2019-07-02 | 2020-03-31 | 赖思润 | Control method and device of multifunctional intelligent wheelchair based on cloud platform |
| CN111096859A (en) * | 2020-01-17 | 2020-05-05 | 赣州英博机器人科技有限公司 | Standing type rehabilitation walking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110613561A (en) * | 2019-08-29 | 2019-12-27 | 北京邮电大学 | Multifunctional training wheelchair |
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