CN1883429A - Rehabilitation wheelchair for active/passive limbs coordinate exercise - Google Patents
Rehabilitation wheelchair for active/passive limbs coordinate exercise Download PDFInfo
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- CN1883429A CN1883429A CNA200610088012XA CN200610088012A CN1883429A CN 1883429 A CN1883429 A CN 1883429A CN A200610088012X A CNA200610088012X A CN A200610088012XA CN 200610088012 A CN200610088012 A CN 200610088012A CN 1883429 A CN1883429 A CN 1883429A
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Abstract
An active-passive limbs coordinate movement rehabilitating wheelchair characterized in that an upper limbs mechanism and a lower limbs mechanism interlocked with each other are arranged on double sides of wheelchair symmetrically, the upper limbs mechanism has a vertical handle on external sides of the armrest, the vertical handle and support plate thereof have freedom degree in both forward-backward and rightward-leftward directions, the lower limbs mechanism has a pair of pedals moving inside their respective vertical planes, output spindles ends disposed in parallel in switch driving mechanism extend to double sides of the wheelchair and interlock with two groups of upper limb mechanisms and two groups of lower limbs mechanisms through a tape drive. The invention is not limited by field, it combines body exercise with rehabilitation, active training with passive training functions integrally.
Description
Technical field:
The present invention relates to recovery training appliance for recovery, more particularly particularly the rehabilitation of hemiplegic patient's limbs coordinate exercise and body-building wheelchair.
Background technology:
Apoplexy is in a kind of being mainly in, old people's acute cerebrovascular disease, is the disease of serious threat human health.Patient after the apoplexy has deformity in various degree mostly, severe patient even forfeiture ability orthobiosis.Hemiplegia is one of main sequela of apoplexy, for the patient, no matter hemiplegia is to its life, still it is all caused great injury in spirit.Patient is the active treatment through one period in hospital, after the stable disease, need damagedly carry out a series of rehabilitation to what lost the back.Facts have proved that rehabilitation recovers normal viability for patient, it is returned society is a very important promoting factor.Demand along with society, many hemiparalysis recovery exercising devices have appearred, wherein, majority is for satisfying the training of fixed-site, also there are some can use wheel chair type rehabilitation appliances under any occasion, enlarged patient's activity and training area to a certain extent, but present rehabilitation wheelchair are in the coordination exercise of upper limb, lower limb and health, function a little less than, the motion mode of upper limb and lower limb is also more single.Can not satisfy the needs of different training way.
Summary of the invention:
The present invention is for avoiding above-mentioned existing in prior technology weak point, a kind of rehabilitation wheelchair for active/passive limbs coordinate exercise is provided, not limit by the place, in conjunction with body-building and rehabilitation, initiatively with multiple function and one such as passive exercise, upper limb, lower limb and coordination of body motion are effectively trained, promoted rehabilitation, strengthen health.
The technical scheme that technical solution problem of the present invention is adopted is:
Construction features of the present invention is that wheelchair is set, and in the both sides of wheelchair, is the upper limb mechanism and the lower limb mechanism that are symmetrical arranged mutual interlock; Described upper limb mechanism has the vertical handle that is positioned at the handrail outside, and vertically handle has degree of freedom on front and back and left and right sides both direction together with its gripper shoe; Described lower limb mechanism has a pair of foot that moves respectively and steps in perpendicular separately; Drive motors and commutation drive mechanism are arranged on the bottom of wheelchair, and the axle head of each output shaft that be arranged in parallel in the commutation drive mechanism stretches out the both sides at wheelchair, and by being with transmission and two groups of upper limb mechanisms and two groups of lower limb mechanisms to link.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention can use in the different occasions of indoor and outdoors, has enlarged rehabilitation of patients training area and time.
2 the present invention can motorized motions, also can be electronic and common driving healthy limb, utilize the passive exercise of the active exercise drive affected limb of strong side limbs, make healthy limb obtain further the exercise, affected limb obtains rehabilitation training simultaneously, reaches body-building and combines with rehabilitation.
3, the present invention can obtain the coordination exercise between upper limb mechanism, lower limb mechanism and the health.
4, the present invention can make upper extremity exercise not be confined to improve the rehabilitation training of upper limbs effect on the one degree of freedom.
5, the foot-operated movement locus of the present invention is the track of putting on the connecting rod in the linkage, makes shank can obtain better training effect than the circular motion track of routine.
Description of drawings:
Fig. 1 is an overall structure sketch map of the present invention.
Fig. 2 is this utility model side-looking structural representation.
Fig. 3 is the present invention's drive mechanism structural representation that commutates.
Fig. 4 moves driving wheel and reversing shaft fit structure sketch map for the present invention's drive mechanism axis that commutates.
Fig. 5 is a upper limb mechanism structure sketch map of the present invention.
Fig. 6 is " ten " word hinge axis structural representation in the upper limb of the present invention mechanism.
Number in the figure: 1 hand side is moved the both-end axle, 2 foot action both-end axles, the single-ended axle of 3 hands swing, 4 manual control axles, 5 electric drive axles, 6 clutches, 7 drive sprockets, 8 shift forks, 9 clutch power transmission shafts, 10 declutch shift shafts, 11 reversing shafts, 12 transition gears, 13 are moved driving wheel, 14 screw rod covers, 15 casing, 16 thickening gears, 17 support bars, 18 synchronous pulleys, 19 conical gears, 20 wheelchairs, 21 handrails, 22 vertical handles, 23 gripper shoes, 24 is foot-operated, 25 handles, 26 frames, 27 cranks, 28 connecting rods, 29 is "+" word hinge axis, 30 bearings, 31 rotating disks, 32 turn bar, 33 side links, 34 ball pivots, 35 springs.
Below the invention will be further described by the specific embodiment:
Referring to Fig. 1, Fig. 2, wheelchair 20 is set, in the both sides of wheelchair 20, be the upper limb mechanism and the lower limb mechanism that are symmetrical arranged mutual interlock; Upper limb mechanism has the vertical handle 22 that is positioned at handrail 21 outsides, and vertically handle 22 has degree of freedom on front and back and left and right sides both direction together with its gripper shoe 23; Lower limb mechanism have a pair of in perpendicular separately, move respectively foot-operated 24; Drive motors and commutation drive mechanism are arranged on the bottom of wheelchair 20, and the axle head of each output shaft that be arranged in parallel in the commutation drive mechanism stretches out in the both sides of wheelchair 20, and by being with transmission and two groups of upper limb mechanisms and two groups of lower limb mechanisms to link.
Referring to Fig. 3, each output shaft that be arranged in parallel comprises the moving both-end axle of a hand side 1, foot action both-end axle 2 and two single-ended axles 3 of hands swing, and wherein, two single-ended axles 3 of hands swing are on the same axis, and its outfan is positioned at two relative outboard ends; The drive state of each comprises:
Foot action both-end axle 1 rotates synchronously with the moving both-end axle 2 of hand side, and two single-ended axles 3 of hand swing keep static;
Foot action both-end axle 1 rotates synchronously with the single-ended axle 3 of hand swing, two single-ended axles 3 of hand swing mutually in the same way or backward rotation, the moving both-end axle 2 of hand side keeps static.
In concrete the enforcement:
Each driving shaft that be arranged in parallel comprises the rotatable and manual control axle that can axle moves 4, an electric drive axle 5 that has drive sprocket 7 and have clutch 6 at two ends;
Each power transmission shaft that be arranged in parallel comprises that two branches are in the both end sides of the coaxial position of described electric drive axle 5, and the clutch power transmission shaft 9 of any end clutch transmission of clutch by respectively carrying shift fork 8 and electric drive axle 5; One can drive by the rotation of himself two clutch shifters 8 in the same way 10, one of the declutch shift shafts that move of axle make two single-ended axles 3 of hands swing in the same way or counter-rotational reversing shaft 11 by commutation;
Between electric drive axle 5 and the foot action both-end axle 2 with the belt wheel integral drive, in two clutch power transmission shafts 9 one with moving both-end axle 1 meshed transmission gear of hand side, another root and the single-ended axle of hand swing 3 meshed transmission gear that are in homonymy, one end of single-ended axle 3 of this side hand swing and reversing shaft 11 is with a pair of direct geared engaged transmission, the single-ended axle 3 of the other end of reversing shaft 11 and the swing of opposite side hand has two kinds of drive states, a kind of is reversing shaft 11 with the single-ended axle of hand swing 3 with a pair of direct geared engaged transmission, another kind of transition gear 12 engaged transmission that commutate that between reversing shaft 11 and the single-ended axle 3 of hand swing, are provided with; Manual control axle 4 has two kinds of operation states, and a kind of is and the two-way transmission of declutch shift shaft 10 gears engaged that another kind is to move driving wheel 13 meshed transmission gear with the axle that is arranged on the reversing shaft 11.
In concrete the enforcement, be threaded engagement between shift fork 8 and the declutch shift shaft 10.
Shown in Figure 4, axle moves driving wheel 13 and forms threaded engagement with its female thread and screw rod cover 14, and screw rod cover 14 forms rotary pair with reversing shaft 11.Wherein, axle moves driving wheel 13 and can only rotate, and can not move axially, and screw rod cover 14 can only be axially movable and can not rotate.
The travelling gears that are arranged on the single-ended axle 3 of two hands swing adopt thickening gears 16, and simplified structure so further reduces the quantity of gear.
Shown in Figure 1, movement conversion mechanism integral body is arranged in the casing 15, and each output shaft stretches out on the biside plate of casing 15.
Referring to Fig. 5, Fig. 6, the upper end that upper limb mechanism is included in vertical handle 22 is provided with handle 25, frame 26 is set below gripper shoe 23, between frame 26 and gripper shoe 23, two groups of orthogonal planar linkage mechanisms of plane of movement is set; Crank 27 1 ends and rotating shaft in two groups of planar linkage mechanisms connect firmly, the other end and connecting rod 28 interlocks, and another rod end of connecting rod 28 is hinged on the gripper shoe 23;
Two groups of shared support bars 17 of planar linkage mechanism, support bar 17 1 ends are fixed on the frame 26, and the other end connects with gripper shoe 23 by spherical pair; Between connecting rod 28 and gripper shoe 23, adopt " ten " word hinge-coupled.
In concrete the enforcement, be provided with in upper limb mechanism that two axis are parallel to each other and its axis and the synchronous pulley 18 of one group of connecting rod mechanism movement plane parallel wherein, wherein, crank 27 in plane of movement and the parallel linkage of synchronous pulley axis carries out transmission with the synchronous pulley 18 of corresponding setting by conical gear 19, the crank 27 in another group linkage and synchronous pulley 18 integral drive of corresponding setting.
Shown in Figure 6, " ten " word hinge is that the hinge axis 29 that is " ten " word is set, and " ten " word hinge axis 29 is forming rotary pair with the bearing 30 that is fixed on the gripper shoe 23 on the axis, forms rotary pair with described connecting rod 28 on another axis.
In addition, ball pivot 34 is set and forms spherical pair between connecting rod 28 and crank 27; Between handle 25 and vertical handle 22, form rotary pair; Between the top of support bar 17 and gripper shoe 23, back-moving spring 35 is set.
Shown in Figure 1, lower limb mechanism comprises the rotating disk 31 by the 2 band transmissions of foot action both-end axle, turning bar 32 is hinged on the eccentric position of rotating disk 31 with its flex point, the front end that turns bar 32 connects foot-operated 24 by fulcrum post, the tail end and the side link 33 that turn bar 32 are hinged, side link 33 usefulness rotary pairs are connected with the chair frame, be positioned at both sides to turn bar hinged eccentric position on rotating disk be 180 ° of phase contrasts.So that two foot-operated remaining on the tandem position are consistent with people's the attitude of walking.
State comprises during use:
Manual control axle 4 is axially pushed on position shown in Figure 3, manual control axle 4 and shift fork 10 engaged transmission, when clockwise rotating manual control axle 4, left side shift fork 8 makes electric drive axle 5 by clutch 6 and clutch power transmission shaft 9 engaged transmission that are positioned at its left end, and move both-end axle 1 by these clutch power transmission shaft 9 drive hand sides that are positioned at left end and rotate, meanwhile, electric drive axle 5 drives foot action both-end axle 2 rotation synchronously by belt wheel; Clutch 6 separates with the clutch power transmission shaft 9 that is positioned at its right-hand member.In this state, the vertical handle in both sides swings in the same way, and the foot-operated phase contrast by 180 ° in both sides is rotating in the perpendicular separately simultaneously.
Manual control axle 4 is axially pushed on position shown in Figure 3, manual control axle 4 and shift fork 10 engaged transmission, when rotating counterclockwise manual control axle 4, right side shift fork 8 makes electric drive axle 5 by clutch 6 and clutch power transmission shaft 9 engaged transmission that are positioned at its right-hand member, and swing single-ended axle 3 by the hand that these clutch power transmission shaft 9 drives that are positioned at right-hand member are positioned at right-hand member and rotate, meanwhile, electric drive axle 5 drives foot action both-end axle 2 rotation synchronously by belt wheel equally; Clutch 6 separates with the clutch power transmission shaft 9 that is positioned at its left end; For this state, two single-ended axles 3 of hand swing have following two kinds of manner of execution:
Mode 1, as shown in Figure 3, the single-ended axle 3 of hand swing that is positioned at right-hand member is by reversing shaft 11 and direct geared transmission therebetween, and two single-ended axles 3 of hand swing are realized rotating synchronously in the same way; In this mode, the swing in the same way of the vertical handle in both sides, the foot-operated phase contrast by 180 ° in both sides is rotating in the perpendicular separately simultaneously.
Mode 2, manual control axle 4 is axially pulled to the right side along it, making it move driving wheel 13 with axle is meshed, rotation manual control lever shaft 4, can move driving wheel 13 by axle promotes reversing shaft 11 left, so, reversing shaft 11 and between the single-ended axle 3 of the hand in left side swing, carry out engaged transmission by transition wheel 12, two single-ended axles 3 of hand swing are realized the reverse sync rotation, in this state, the one in front and one in back swing of the vertical handle in both sides, the foot-operated phase contrast by 180 ° in both sides is rotating in the perpendicular separately simultaneously.
In concrete the use, each output shaft also can be used as power intake, makes the power of movement conversion mechanism come from the motion of upper limb or lower limb respectively.Such as, drive movement conversion mechanism with foot motion by foot action both-end axle 2, and then the drive upper limb moves; With handle 25 is actuator, holds handle 25, about carrying out repeatedly or the action of swing.
Claims (6)
1, rehabilitation wheelchair for active/passive limbs coordinate exercise is characterized in that being provided with wheelchair (20), and the both sides in wheelchair (20) are the upper limb mechanism and the lower limb mechanism that are symmetrical arranged mutual interlock; Described upper limb mechanism has the vertical handle (22) that is positioned at handrail (21) outside, and vertically handle (22) has degree of freedom on front and back and left and right sides both direction together with its gripper shoe (23); Described lower limb mechanism has a pair of foot-operated (24) of moving respectively in perpendicular separately; Drive motors and commutation drive mechanism are arranged on the bottom of wheelchair (20), and the axle head of each output shaft that be arranged in parallel in the commutation drive mechanism stretches out in the both sides of wheelchair (20), and by being with transmission and two groups of upper limb mechanisms and two groups of lower limb mechanisms to link.
2, healthy wheelchair according to claim 1, it is characterized in that described each output shaft that be arranged in parallel, comprise that a hand side moves both-end axle (1), a foot action both-end axle (2) and two hands single-ended axles of swing (3), described two hands single-ended axles of swing (3) are on the same axis, and its outfan is positioned at two relative outboard ends; The drive state of each comprises:
Foot action both-end axle (1) rotates synchronously with the moving both-end axle (2) of hand side, and it is static that two hand single-ended axles of swing (3) keep;
The single-ended axle of foot action both-end axle (1) and hand swing (3) rotates synchronously, two hand single-ended axles of swing (3) mutually in the same way or backward rotation, the moving both-end axle (2) of hand side keeps static.
3, healthy wheelchair according to claim 2, it is characterized in that the upper end that described upper limb mechanism is included in vertical handle (22) is provided with handle (25), in the below of gripper shoe (23) frame (26) is set, between frame (26) and gripper shoe (23), two groups of orthogonal planar linkage mechanisms of plane of movement are set; Crank (27) one ends and rotating shaft in described two groups of planar linkage mechanisms connect firmly, the other end and connecting rod (28) interlock, and another rod end of connecting rod (28) is hinged on the gripper shoe (23);
The described shared support bars of two groups of planar linkage mechanisms (17), described support bar (17) one ends are fixed on the frame (26), and the other end connects with gripper shoe (23) by spherical pair; Between described connecting rod (28) and gripper shoe (23), adopt " ten " word hinge-coupled.
4, healthy wheelchair according to claim 3, it is characterized in that in described upper limb mechanism, be provided with that two axis are parallel to each other and its axis and the synchronous pulley of one group of connecting rod mechanism movement plane parallel (18) wherein, wherein, crank (27) in plane of movement and the parallel linkage of synchronous pulley axis carries out transmission with the synchronous pulley (18) of corresponding setting by conical gear (19), the crank (27) in another group linkage and synchronous pulley (18) integral drive of corresponding setting.
5, healthy wheelchair according to claim 3, it is characterized in that described " ten " word hinge is that the hinge axis (29) that is " ten " word is set, described " ten " word hinge axis (29), forming rotary pair with the bearing (30) that is fixed on the gripper shoe (23) on the axis, on another axis, form rotary pair with described connecting rod (28).
6, healthy wheelchair according to claim 2, it is characterized in that described lower limb mechanism comprises the rotating disk (31) by the transmission of foot action both-end axle (2) band, turning bar (32) is hinged on the eccentric position of rotating disk (31) with its flex point, the front end that turns bar (32) connects foot-operated (24) by fulcrum post, the tail end and the side link (33) that turn bar (32) are hinged, side link (33) is connected with the chair frame with rotary pair, be positioned at both sides to turn bar hinged eccentric position on rotating disk be 180 ° of phase contrasts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610088012A CN100591313C (en) | 2006-06-16 | 2006-06-16 | Rehabilitation wheelchair for active/passive limbs coordinate exercise |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610088012A CN100591313C (en) | 2006-06-16 | 2006-06-16 | Rehabilitation wheelchair for active/passive limbs coordinate exercise |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1883429A true CN1883429A (en) | 2006-12-27 |
| CN100591313C CN100591313C (en) | 2010-02-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200610088012A Expired - Fee Related CN100591313C (en) | 2006-06-16 | 2006-06-16 | Rehabilitation wheelchair for active/passive limbs coordinate exercise |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100591313C (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101816603A (en) * | 2010-04-21 | 2010-09-01 | 上海交通大学 | Electrically powered wheelchair device with rehabilitation mechanical arm |
| CN102688135A (en) * | 2012-06-08 | 2012-09-26 | 王勇 | Upper and lower limb rehabilitation training device with variable rod length |
| CN103860359A (en) * | 2013-04-03 | 2014-06-18 | 芜湖天人智能机械有限公司 | Limb coordination exercise fitness chair |
| CN104414799A (en) * | 2013-09-06 | 2015-03-18 | 昆山市玉山镇仕龙设计工作室 | Wheelchair conveniently pushed by handle |
| CN104801011A (en) * | 2013-04-03 | 2015-07-29 | 芜湖天人智能机械有限公司 | Upper and lower limb coordinated exercise training mechanism capable of changing rails and folding |
| CN104814856A (en) * | 2015-05-09 | 2015-08-05 | 安阳工学院 | Two-freedom-degree upper limb rehabilitation training device |
| CN104905936A (en) * | 2015-06-02 | 2015-09-16 | 哈尔滨工程大学 | Rehabilitation chair for upper limbs and lower limbs |
| CN105012090A (en) * | 2015-07-23 | 2015-11-04 | 赵百华 | Recovery-type wheelchair |
| CN105167965A (en) * | 2015-10-10 | 2015-12-23 | 合肥工业大学 | Linkage type walking-aiding rehabilitation robot with joint rotation center taken into consideration |
| CN106264909A (en) * | 2016-08-30 | 2017-01-04 | 彭子桂 | A kind of body-building rehabilitation wheel chair |
| CN106264970A (en) * | 2016-08-03 | 2017-01-04 | 山东康泰实业有限公司 | A kind of recovering physiotherapy running machine robot mechanism |
| CN106726374A (en) * | 2017-01-24 | 2017-05-31 | 西南交通大学 | A kind of Multifunction limbs power assisting device |
| CN107041816A (en) * | 2016-11-29 | 2017-08-15 | 洛阳市中心医院 | A kind of rotatable wheelchair device of seat |
| CN109549817A (en) * | 2017-09-24 | 2019-04-02 | 湖北职业技术学院 | A kind of entertainment body-building public bus reserved for the disabled upper limb is passive and initiative rehabilitation training device |
| CN111167085A (en) * | 2020-01-20 | 2020-05-19 | 安阳工学院 | Double-upper-limb strength trainer |
| CN112022528A (en) * | 2020-09-03 | 2020-12-04 | 赵巍然 | Wheelchair for upper and lower limb medical rehabilitation |
| CN112618178A (en) * | 2021-01-28 | 2021-04-09 | 三峡大学 | Wheelchair for assisting hand and foot rehabilitation of hemiplegic patient |
| CN114469657A (en) * | 2022-01-19 | 2022-05-13 | 中南林业科技大学 | Power assisting device for assisting old people in walking |
| CN115414193A (en) * | 2022-09-06 | 2022-12-02 | 江苏医药职业学院 | Upper and lower limb coordination rehabilitation exercise device |
| CN115990095A (en) * | 2023-02-27 | 2023-04-21 | 绿星(福州)居室用品有限公司 | Multifunctional wheelchair |
-
2006
- 2006-06-16 CN CN200610088012A patent/CN100591313C/en not_active Expired - Fee Related
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101816603A (en) * | 2010-04-21 | 2010-09-01 | 上海交通大学 | Electrically powered wheelchair device with rehabilitation mechanical arm |
| CN101816603B (en) * | 2010-04-21 | 2012-10-17 | 上海交通大学 | Electrically powered wheelchair device with rehabilitation mechanical arm |
| CN102688135A (en) * | 2012-06-08 | 2012-09-26 | 王勇 | Upper and lower limb rehabilitation training device with variable rod length |
| CN102688135B (en) * | 2012-06-08 | 2014-10-15 | 王勇 | Upper and lower limb rehabilitation training device with variable rod length |
| CN103860359A (en) * | 2013-04-03 | 2014-06-18 | 芜湖天人智能机械有限公司 | Limb coordination exercise fitness chair |
| CN104801011A (en) * | 2013-04-03 | 2015-07-29 | 芜湖天人智能机械有限公司 | Upper and lower limb coordinated exercise training mechanism capable of changing rails and folding |
| CN103860359B (en) * | 2013-04-03 | 2015-07-29 | 芜湖天人智能机械有限公司 | The healthy chair of a kind of limbs coordinate exercise |
| CN104414799A (en) * | 2013-09-06 | 2015-03-18 | 昆山市玉山镇仕龙设计工作室 | Wheelchair conveniently pushed by handle |
| CN104814856A (en) * | 2015-05-09 | 2015-08-05 | 安阳工学院 | Two-freedom-degree upper limb rehabilitation training device |
| CN104814856B (en) * | 2015-05-09 | 2017-04-12 | 安阳工学院 | Two-freedom-degree upper limb rehabilitation training device |
| CN104905936B (en) * | 2015-06-02 | 2017-02-01 | 哈尔滨工程大学 | Rehabilitation chair for upper limbs and lower limbs |
| CN104905936A (en) * | 2015-06-02 | 2015-09-16 | 哈尔滨工程大学 | Rehabilitation chair for upper limbs and lower limbs |
| CN105012090A (en) * | 2015-07-23 | 2015-11-04 | 赵百华 | Recovery-type wheelchair |
| CN105167965B (en) * | 2015-10-10 | 2018-01-16 | 合肥工业大学 | One kind considers joint pivot coordinated type walking aid rehabilitation robot |
| CN105167965A (en) * | 2015-10-10 | 2015-12-23 | 合肥工业大学 | Linkage type walking-aiding rehabilitation robot with joint rotation center taken into consideration |
| CN106264970A (en) * | 2016-08-03 | 2017-01-04 | 山东康泰实业有限公司 | A kind of recovering physiotherapy running machine robot mechanism |
| CN106264909A (en) * | 2016-08-30 | 2017-01-04 | 彭子桂 | A kind of body-building rehabilitation wheel chair |
| CN107041816A (en) * | 2016-11-29 | 2017-08-15 | 洛阳市中心医院 | A kind of rotatable wheelchair device of seat |
| CN106726374B (en) * | 2017-01-24 | 2022-12-06 | 西南交通大学 | Novel multi-functional limbs helping hand device |
| CN106726374A (en) * | 2017-01-24 | 2017-05-31 | 西南交通大学 | A kind of Multifunction limbs power assisting device |
| CN109549817A (en) * | 2017-09-24 | 2019-04-02 | 湖北职业技术学院 | A kind of entertainment body-building public bus reserved for the disabled upper limb is passive and initiative rehabilitation training device |
| CN109549817B (en) * | 2017-09-24 | 2024-04-09 | 湖北职业技术学院 | Upper limb passive and active rehabilitation training device of entertainment body-building rehabilitation vehicle |
| CN111167085B (en) * | 2020-01-20 | 2021-01-05 | 安阳工学院 | Double-upper-limb strength trainer |
| CN111167085A (en) * | 2020-01-20 | 2020-05-19 | 安阳工学院 | Double-upper-limb strength trainer |
| CN112022528A (en) * | 2020-09-03 | 2020-12-04 | 赵巍然 | Wheelchair for upper and lower limb medical rehabilitation |
| CN112618178A (en) * | 2021-01-28 | 2021-04-09 | 三峡大学 | Wheelchair for assisting hand and foot rehabilitation of hemiplegic patient |
| CN114469657A (en) * | 2022-01-19 | 2022-05-13 | 中南林业科技大学 | Power assisting device for assisting old people in walking |
| CN115414193A (en) * | 2022-09-06 | 2022-12-02 | 江苏医药职业学院 | Upper and lower limb coordination rehabilitation exercise device |
| CN115990095A (en) * | 2023-02-27 | 2023-04-21 | 绿星(福州)居室用品有限公司 | Multifunctional wheelchair |
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| Publication number | Publication date |
|---|---|
| CN100591313C (en) | 2010-02-24 |
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