CN201861910U - Multi-body position lower limb exercise rehabilitation machine - Google Patents
Multi-body position lower limb exercise rehabilitation machine Download PDFInfo
- Publication number
- CN201861910U CN201861910U CN201020595776XU CN201020595776U CN201861910U CN 201861910 U CN201861910 U CN 201861910U CN 201020595776X U CN201020595776X U CN 201020595776XU CN 201020595776 U CN201020595776 U CN 201020595776U CN 201861910 U CN201861910 U CN 201861910U
- Authority
- CN
- China
- Prior art keywords
- bar
- ectoskeleton
- internal layer
- thigh
- shank
- 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.)
- Expired - Lifetime
Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 43
- 230000033001 locomotion Effects 0.000 claims abstract description 107
- 210000000689 upper leg Anatomy 0.000 claims abstract description 64
- 210000001624 hip Anatomy 0.000 claims abstract description 42
- 210000002683 foot Anatomy 0.000 claims abstract description 23
- 210000004394 hip joint Anatomy 0.000 claims abstract description 22
- 210000000629 knee joint Anatomy 0.000 claims abstract description 22
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 20
- 210000003423 ankle Anatomy 0.000 claims abstract description 12
- 210000003127 knee Anatomy 0.000 claims abstract description 10
- 230000015572 biosynthetic process Effects 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 10
- 230000001105 regulatory effect Effects 0.000 claims description 10
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 13
- 238000012549 training Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 230000005021 gait Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000011514 reflex Effects 0.000 description 2
- 206010003694 Atrophy Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000037444 atrophy Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 210000003710 cerebral cortex Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a multi-body position lower limb exercise rehabilitation machine, wherein the two ends of a hip electric straight push rod (29) are hinged with the tail end of a hip rod (18) and a thigh upper rod (22) respectively, and the hip electric straight push rod (29) drives a hip joint to move; the two ends of a knee electric straight push rod (30) are hinged with a thigh lower rod (24) and a shank upper rod (27) respectively, and the knee electric straight push rod (30) drives a knee joint to move; and the two ends of an ankle electric straight push rod (31) are hinged with a shank lower rod (29) and the front end of a foot rod (21) respectively, and the ankle electric straight push rod (31) drives an ankle joint to move. Compared with the prior art, the outer-layer joint-assisted motion outer skeleton of the multi-body position lower limb exercise rehabilitation machine can simulate the walking motion of the lower limbs of a human being, so as to drive the lower limbs of a patient to walk, as a result, the patient is relieved and gradually restored and can accurately master the walking skill.
Description
Technical field
This utility model relates to the rehabilitation medical instrument field, exactly is meant a kind of many positions lower extremity movement rehabilitation machine.
Background technology
At present, along with the aging of modern society, cardiovascular patient such as apoplexy, hemiplegia and lower limb muscles atrophy, spinal cord injury patient have progressively become a kind of common colony of modern society.The patient often can't recover because leaving over dysfunction in various degree and the accurate walking movement technical ability of grasping.The most basic purpose of rehabilitation is to make the patient to grasp the motor skill of daily life again.Motor skill is a kind of ability of grasping and finish effectively specific actions in the human motion, has comprised the cerebral cortex adjusting harmony between different muscle groups down.According to conditioned reflex theory, it is the compound movement trained reflex that action of muscle connects an action.Its formation will be experienced the process that muscular sensation is not clear, break up, consolidate stable and automatization.The formation and development of patient moving technical ability also will be subjected to many influences as factors such as recovery training method, rehabilitation training intensity, technical movements standard, learning goals and initiatives in this process.Studies have shown that, can make patient's brain motor function plasticity reach optimization, shorten the time of patient moving functional rehabilitation by the training of rehabilitation exercise effectively.
The utility model content
At above-mentioned defective, the technical problem that this utility model solves is to provide a kind of many positions lower extremity movement rehabilitation machine, drive the patient's of lower limb disorder lower extremity movement by machine, thereby the patient is improved or progressively recovery and accurately grasp walking movement technical ability.
In order to solve above technical problem, many positions lower extremity movement rehabilitation machine that this utility model provides comprises sick bed mechanism and outer joint assistant movement exoskeleton, and described outer joint assistant movement exoskeleton is installed in the described sick bed mechanism;
Described outer joint assistant movement exoskeleton comprises ectoskeleton lower limb (16), (17) that the left and right sides is identical, and described ectoskeleton lower limb (16), (17) are followed in series to form by hip bar (18), thigh bar (19), shank bar (20) and foot bar (21);
Described hip bar (18) and the hinged formation hip joint of described thigh bar (19), described thigh bar (19) and the hinged formation knee joint of described shank bar (20), described shank bar (20) and the hinged formation ankle joint of described foot bar (21);
Described thigh bar (19) is composed in series by thigh upper boom (22), the long governor motion of bar (23), thigh lower beam (24), the long governor motion of described bar (23) two ends are fixing with described thigh upper boom (22) and described thigh lower beam (24) respectively, and the long governor motion of described bar (23) comprises telescopic slide guide rail (25) and rail length clamping screw (26);
Described shank bar (19) is composed in series by shank upper boom (27), the long governor motion of bar (23), shank lower beam (29), the long governor motion of bar (23) two ends are fixing with shank upper boom (27) and shank lower beam (28) respectively, and the long governor motion of described bar (23) comprises telescopic slide guide rail (25) and rail length clamping screw (26);
The two ends of hip electric linear push rod (29) are hinged with the end and the described thigh upper boom (22) of described hip bar (18) respectively, the two ends of knee electric linear push rod (30) are hinged with described thigh lower beam (24) and described shank upper boom (27) respectively, and the two ends of ankle electric linear push rod (31) are hinged with the front end of shank lower beam (29) and foot bar (21) respectively.
Preferably, the side of hip joint, knee joint and the ankle joint of described outer joint assistant movement exoskeleton is separately installed with angular transducer (38).
Preferably, described many positions lower extremity movement rehabilitation machine also comprises internal layer joint motions data monitoring ectoskeleton, and described internal layer joint motions data monitoring ectoskeleton is fixed on one's body the patient;
Described internal layer joint motions data monitoring ectoskeleton comprises bar (12) and internal layer ectoskeleton foot bar (13) before bar (11) behind bar (10) before bar (9) behind internal layer ectoskeleton hip bar (8), the internal layer ectoskeleton thigh, the internal layer ectoskeleton thigh, the internal layer ectoskeleton shank, the internal layer ectoskeleton shank;
The hinged formation internal layer of bar (9) ectoskeleton hip joint behind described internal layer ectoskeleton hip bar (8) and the described internal layer ectoskeleton thigh, the hinged formation internal layer of bar (11) ectoskeleton knee joint behind bar (10) and the described internal layer ectoskeleton shank before the described internal layer ectoskeleton thigh, bar (12) and the hinged formation internal layer of described internal layer ectoskeleton foot bar (13) exoskeleton ankle joint before the described internal layer ectoskeleton shank;
Behind described internal layer ectoskeleton hip bar (8), described internal layer ectoskeleton thigh, on bar (11), the preceding bar (12) of described internal layer ectoskeleton shank and the described internal layer ectoskeleton foot bar (13) bundled piece (14) is installed all behind bar (10), the described internal layer ectoskeleton shank before bar (9), the described internal layer ectoskeleton thigh.
Preferably, the side of described internal layer ectoskeleton hip joint, described internal layer ectoskeleton knee joint and described internal layer exoskeleton ankle joint is separately installed with angular transducer (15).
Preferably, described bundled piece (14) is the nylon bandage.
Preferably, described sick bed mechanism comprises base (1), medical treadmill (2), upright push rod (3), upright bedstead (4), described medical treadmill (2) places under the described base (1), the two ends of described upright push rod (3) are hinged with described base (1) and described upright bedstead (4) by hinge (6) and hinge (7) respectively, be used for the upright angular adjustment of upright sick bed, there is back tilting table plate (5) front portion of described upright bedstead (4).
Preferably, described many positions lower extremity movement rehabilitation machine also comprises hip width governor motion (32), described hip width governor motion (32) comprises regulates leading screw (33), regulate the left side of leading screw (33), right adjusting nut (34), (35), regulating handle (36) and support (37), described support (37) is fixing with described upright bedstead (4), the two ends of described adjusting leading screw (33) respectively by bearings on described support (37), the left side of described adjusting leading screw (33), right adjusting nut (34), (35) respectively with described left and right sides ectoskeleton lower limb (16), (17) connect described regulating handle (36) and coaxial the fixedlying connected of described adjusting leading screw (33).
Compared with prior art, many positions lower extremity movement rehabilitation machine that this utility model provides, hip bar (18) and the hinged formation hip joint of thigh bar (19), thigh bar (19) and the hinged formation knee joint of shank bar (20), shank bar (20) and the hinged formation ankle joint of foot bar (21), hip joint, knee joint and ankle joint can be done curvature movement; The long governor motion of bar (23) of thigh bar (19) and the long governor motion of bar (23) of shank bar (19) can be fit to the thigh length and the shank length of different heights so that the length of thigh bar (19) and shank bar (19) can be regulated; The two ends of hip electric linear push rod (29) are hinged with the end and the thigh upper boom (22) of hip bar (18) respectively, and hip electric linear push rod (29) drives the hip joint motion; The two ends of knee electric linear push rod (30) are hinged with thigh lower beam (24) and shank upper boom (27) respectively, and knee electric linear push rod (30) drives motion of knee joint; The two ends of ankle electric linear push rod (31) are hinged with the front end of shank lower beam (29) and foot bar (21) respectively, and ankle electric linear push rod (31) drives ankle motion.Outer joint assistant movement exoskeleton can the anthropomorphic dummy the walking movement of lower limb, thereby the lower limb that drive the patient carry out walking movement, thereby the patient is improved or progressively recover and accurately grasp walking movement technical ability.
Description of drawings
Structural representation when Fig. 1 is the level of many positions lower extremity movement rehabilitation machine in this utility model;
Structural representation when Fig. 2 is many positions lower extremity movement rehabilitation machine in this utility model upright;
Fig. 3 is the principle assumption diagram of sick bed mechanism in this utility model;
Fig. 4 is the principle assumption diagram of this utility model ectomesoderm joint assistant movement exoskeleton;
Fig. 5 is the principle assumption diagram of the long governor motion of this utility model king-rod;
Fig. 6 is the principle assumption diagram of internal layer ectoskeleton hip joint in this utility model;
Fig. 7 is the principle assumption diagram of internal layer ectoskeleton knee joint in this utility model;
Fig. 8 is the principle assumption diagram of internal layer exoskeleton ankle joint in this utility model;
Fig. 9 is the theory structure sketch map of hip width governor motion in this utility model.
The specific embodiment
For those skilled in the art can understand technical scheme provided by the utility model better, set forth below in conjunction with specific embodiment.
See also Fig. 1-Fig. 9, the structural representation when Fig. 1 is the level of many positions lower extremity movement rehabilitation machine in this utility model; Structural representation when Fig. 2 is many positions lower extremity movement rehabilitation machine in this utility model upright; Fig. 3 is the principle assumption diagram of sick bed mechanism in this utility model; Fig. 4 is the principle assumption diagram of this utility model ectomesoderm joint assistant movement exoskeleton; Fig. 5 is the principle assumption diagram of the long governor motion of this utility model king-rod; Fig. 6 is the principle assumption diagram of internal layer ectoskeleton hip joint in this utility model; Fig. 7 is the principle assumption diagram of internal layer ectoskeleton knee joint in this utility model; Fig. 8 is the principle assumption diagram of internal layer exoskeleton ankle joint in this utility model; Fig. 9 is the structural representation of hip width governor motion in this utility model.
Because the structural representation more complicated of many positions lower extremity movement rehabilitation machine, therefore, the accompanying drawing of the sick bed mechanism of this utility model embodiment, outer joint assistant movement exoskeleton, the long governor motion of bar, internal layer ectoskeleton hip joint, internal layer ectoskeleton knee joint and internal layer exoskeleton ankle joint is a principle assumption diagram, more its structure can be represented clear.
Many positions lower extremity movement rehabilitation machine that this utility model provides comprises sick bed mechanism and outer joint assistant movement exoskeleton, and outer joint assistant movement exoskeleton is installed in the sick bed mechanism; Outer joint assistant movement exoskeleton comprises the identical ectoskeleton lower limb in the left and right sides 16,17, and ectoskeleton lower limb 16,17 are followed in series to form by hip bar 18, thigh bar 19, shank bar 20 and foot bar 21; Hip bar 18 and thigh bar 19 hinged formation hip joints, thigh bar 19 and shank bar 20 hinged formation knee joints, shank bar 20 and foot bar 21 hinged formation ankle joint; Thigh bar 19 is composed in series by thigh upper boom 22, the long governor motion 23 of bar, thigh lower beam 24, the long governor motion of bar 23 two ends are fixing with thigh upper boom 22 and thigh lower beam 24 respectively, and the long governor motion 23 of bar comprises telescopic slide guide rail 25 and rail length clamping screw 26; Shank bar 19 is composed in series by shank upper boom 27, the long governor motion 23 of bar, shank lower beam 29, the long governor motion of bar 23 two ends are fixing with shank upper boom 27 and shank lower beam 28 respectively, and the long governor motion 23 of bar comprises telescopic slide guide rail 25 and rail length clamping screw 26; The two ends of hip electric linear push rod 29 are hinged with the end and the thigh upper boom 22 of hip bar 18 respectively, the two ends of knee electric linear push rod 30 are hinged with thigh lower beam 24 and shank upper boom 27 respectively, and the two ends of ankle electric linear push rod 31 are hinged with the front end of shank lower beam 29 and foot bar 21 respectively; The side of hip joint, knee joint and the ankle joint of outer joint assistant movement exoskeleton is separately installed with angular transducer 38, by certain control algolithm, can be by control to hip electric linear push rod 29, knee electric linear push rod 30 and ankle electric linear push rod 31, realize corresponding gait, drive the patient and carry out the rehabilitation training of normal gait.
Many positions lower extremity movement rehabilitation machine that this utility model provides, hip bar 18 and thigh bar 19 hinged formation hip joints, thigh bar 19 and shank bar 20 hinged formation knee joints, shank bar 20 and foot bar 21 hinged formation ankle joint, hip joint, knee joint and ankle joint can be done curvature movement; The long governor motion 23 of bar of long governor motion 23 of the bar of thigh bar 19 and shank bar 19 can be fit to the thigh length and the shank length of different heights so that the length of thigh bar 19 and shank bar 19 can be regulated; The two ends of hip electric linear push rod 29 are hinged with the end and the thigh upper boom 22 of hip bar 18 respectively, and hip electric linear push rod 29 drives the hip joint motion; The two ends of knee electric linear push rod 30 are hinged with thigh lower beam 24 and shank upper boom 27 respectively, and knee electric linear push rod 30 drives motion of knee joint; The two ends of ankle electric linear push rod 31 are hinged with the front end of shank lower beam 29 and foot bar 21 respectively, and ankle electric linear push rod 31 drives ankle motion.Outer joint assistant movement exoskeleton can the anthropomorphic dummy the walking movement of lower limb, thereby the lower limb that drive the patient carry out walking movement, thereby the patient is improved or progressively recover and accurately grasp walking movement technical ability.
Many positions lower extremity movement rehabilitation machine also comprises internal layer joint motions data monitoring ectoskeleton, and internal layer joint motions data monitoring ectoskeleton is fixed on one's body the patient; Internal layer joint motions data monitoring ectoskeleton comprises bar 12 and internal layer ectoskeleton foot bar 13 before bar 11 behind bar 10 before bar 9 behind internal layer ectoskeleton hip bar 8, the internal layer ectoskeleton thigh, the internal layer ectoskeleton thigh, the internal layer ectoskeleton shank, the internal layer ectoskeleton shank; Bar 9 hinged formation internal layer ectoskeleton hip joints behind internal layer ectoskeleton hip bar 8 and the internal layer ectoskeleton thigh, bar 11 hinged formation internal layer ectoskeleton knee joints behind bar 10 and the internal layer ectoskeleton shank before the internal layer ectoskeleton thigh, bar 12 and internal layer ectoskeleton foot bar 13 hinged formation internal layer exoskeleton ankle joints before the internal layer ectoskeleton shank; Behind internal layer ectoskeleton hip bar 8, internal layer ectoskeleton thigh, on bar 12 and the internal layer ectoskeleton foot bar 13 nylon bandage 14 is installed all before bar 11, the internal layer ectoskeleton shank behind bar 10, the internal layer ectoskeleton shank before bar 9, the internal layer ectoskeleton thigh.The side of internal layer ectoskeleton hip joint, internal layer ectoskeleton knee joint and internal layer exoskeleton ankle joint is separately installed with angular transducer.When the patient dresses internal layer joint motions data monitoring ectoskeleton when walking, angular transducer 15 can measure in real time the patient when walking the angle in each joint change.
Sick bed mechanism comprises base 1, medical treadmill 2, upright push rod 3, upright bedstead 4, medical treadmill 2 places under the base 1, the two ends of upright push rod 3 are hinged with base 1 and upright bedstead 4 by hinge 6 and hinge 7 respectively, be used for the upright angular adjustment of upright sick bed, there is back tilting table plate 5 front portion of upright bedstead 4.Upright bedstead 4 can be regulated becomes level and vertical state, motion in the time of can allowing the patient lie low, and motion is used in different patients respectively in the time of also can allowing the patient vertical.
Many positions lower extremity movement rehabilitation machine also comprises hip width governor motion 32, hip width governor motion 32 comprises regulates leading screw 33, regulate the left side of leading screw 33, right adjusting nut 34,35, regulating handle 36 and support 37, support 37 is fixed with upright bedstead 4, the two ends of regulating leading screw 33 respectively by bearings on support 37, regulate the left side of leading screw 33, right adjusting nut 34,35 respectively with left and right sides ectoskeleton lower limb 16,17 connect, regulating handle 36 and regulate leading screw 33 coaxial fixedlying connected can adapt to different fat or thin patients' needs by hip width governor motion 32.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use this utility model.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined herein General Principle can realize under the situation that does not break away from spirit or scope of the present utility model in other embodiments.Therefore, this utility model will can not be restricted to these embodiment shown in this article, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (6)
1. the machine of position lower extremity movement rehabilitation more than a kind is characterized in that, comprises sick bed mechanism and outer joint assistant movement exoskeleton, and described outer joint assistant movement exoskeleton is installed in the described sick bed mechanism;
Described outer joint assistant movement exoskeleton comprises ectoskeleton lower limb (16), (17) that the left and right sides is identical, and described ectoskeleton lower limb (16), (17) are followed in series to form by hip bar (18), thigh bar (19), shank bar (20) and foot bar (21);
Described hip bar (18) and the hinged formation hip joint of described thigh bar (19), described thigh bar (19) and the hinged formation knee joint of described shank bar (20), described shank bar (20) and the hinged formation ankle joint of described foot bar (21);
Described thigh bar (19) is composed in series by thigh upper boom (22), the long governor motion of bar (23), thigh lower beam (24), the long governor motion of described bar (23) two ends are fixing with described thigh upper boom (22) and described thigh lower beam (24) respectively, and the long governor motion of described bar (23) comprises telescopic slide guide rail (25) and rail length clamping screw (26);
Described shank bar (19) is composed in series by shank upper boom (27), the long governor motion of bar (23), shank lower beam (29), the long governor motion of bar (23) two ends are fixing with shank upper boom (27) and shank lower beam (28) respectively, and the long governor motion of described bar (23) comprises telescopic slide guide rail (25) and rail length clamping screw (26);
The two ends of hip electric linear push rod (29) are hinged with the end and the described thigh upper boom (22) of described hip bar (18) respectively, the two ends of knee electric linear push rod (30) are hinged with described thigh lower beam (24) and described shank upper boom (27) respectively, and the two ends of ankle electric linear push rod (31) are hinged with the front end of shank lower beam (29) and foot bar (21) respectively.
2. many positions lower extremity movement rehabilitation machine according to claim 1 is characterized in that, the side of hip joint, knee joint and the ankle joint of described outer joint assistant movement exoskeleton is separately installed with angular transducer (38).
3. many positions lower extremity movement rehabilitation machine according to claim 1 is characterized in that, also comprises internal layer joint motions data monitoring ectoskeleton, and described internal layer joint motions data monitoring ectoskeleton is fixed on one's body the patient;
Described internal layer joint motions data monitoring ectoskeleton comprises bar (12) and internal layer ectoskeleton foot bar (13) before bar (11) behind bar (10) before bar (9) behind internal layer ectoskeleton hip bar (8), the internal layer ectoskeleton thigh, the internal layer ectoskeleton thigh, the internal layer ectoskeleton shank, the internal layer ectoskeleton shank;
The hinged formation internal layer of bar (9) ectoskeleton hip joint behind described internal layer ectoskeleton hip bar (8) and the described internal layer ectoskeleton thigh, the hinged formation internal layer of bar (11) ectoskeleton knee joint behind bar (10) and the described internal layer ectoskeleton shank before the described internal layer ectoskeleton thigh, bar (12) and the hinged formation internal layer of described internal layer ectoskeleton foot bar (13) exoskeleton ankle joint before the described internal layer ectoskeleton shank;
Behind described internal layer ectoskeleton hip bar (8), described internal layer ectoskeleton thigh, on bar (11), the preceding bar (12) of described internal layer ectoskeleton shank and the described internal layer ectoskeleton foot bar (13) bundled piece (14) is installed all behind bar (10), the described internal layer ectoskeleton shank before bar (9), the described internal layer ectoskeleton thigh.
4. many positions lower extremity movement rehabilitation machine according to claim 3 is characterized in that, the side of described internal layer ectoskeleton hip joint, described internal layer ectoskeleton knee joint and described internal layer exoskeleton ankle joint is separately installed with angular transducer (15).
5. many positions lower extremity movement rehabilitation machine according to claim 3 is characterized in that described bundled piece (14) is the nylon bandage.
6. many positions lower extremity movement rehabilitation machine according to claim 1, it is characterized in that, also comprise hip width governor motion (32), described hip width governor motion (32) comprises regulates leading screw (33), regulate the left side of leading screw (33), right adjusting nut (34), (35), regulating handle (36) and support (37), described support (37) is fixing with described upright bedstead (4), the two ends of described adjusting leading screw (33) respectively by bearings on described support (37), the left side of described adjusting leading screw (33), right adjusting nut (34), (35) respectively with described left and right sides ectoskeleton lower limb (16), (17) connect described regulating handle (36) and coaxial the fixedlying connected of described adjusting leading screw (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020595776XU CN201861910U (en) | 2010-11-05 | 2010-11-05 | Multi-body position lower limb exercise rehabilitation machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020595776XU CN201861910U (en) | 2010-11-05 | 2010-11-05 | Multi-body position lower limb exercise rehabilitation machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201861910U true CN201861910U (en) | 2011-06-15 |
Family
ID=44133077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201020595776XU Expired - Lifetime CN201861910U (en) | 2010-11-05 | 2010-11-05 | Multi-body position lower limb exercise rehabilitation machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201861910U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103263337A (en) * | 2013-05-31 | 2013-08-28 | 四川旭康医疗电器有限公司 | Joint rehabilitation training system based on remote control and implementing method thereof |
| CN103349603A (en) * | 2013-07-02 | 2013-10-16 | 天津科技大学 | Ten-degree-of-freedom lower limb walking aid |
| WO2014101524A1 (en) * | 2012-12-25 | 2014-07-03 | 上海璟和技创机器人有限公司 | Lower limbs rehabilitation training robot |
| CN105748257A (en) * | 2016-01-31 | 2016-07-13 | 张燕 | Lower limb recovery training device for neurology department |
| CN104869970B (en) * | 2012-12-11 | 2017-09-29 | 埃克苏仿生公司 | Reconfigurable ectoskeleton |
| CN107898482A (en) * | 2017-12-21 | 2018-04-13 | 辽宁省肿瘤医院 | A kind of multi-functional retractor of operation on pelvis |
| CN108030522A (en) * | 2017-12-21 | 2018-05-15 | 辽宁省肿瘤医院 | A kind of multi-functional retractor of operation on pelvis |
-
2010
- 2010-11-05 CN CN201020595776XU patent/CN201861910U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104869970B (en) * | 2012-12-11 | 2017-09-29 | 埃克苏仿生公司 | Reconfigurable ectoskeleton |
| US10327975B2 (en) | 2012-12-11 | 2019-06-25 | Ekso Bionics, Inc. | Reconfigurable exoskeleton |
| WO2014101524A1 (en) * | 2012-12-25 | 2014-07-03 | 上海璟和技创机器人有限公司 | Lower limbs rehabilitation training robot |
| US10010472B2 (en) | 2012-12-25 | 2018-07-03 | Jimho Robot (Shanghai) Co., Ltd. | Lower limbs rehabilitation training robot |
| CN103263337A (en) * | 2013-05-31 | 2013-08-28 | 四川旭康医疗电器有限公司 | Joint rehabilitation training system based on remote control and implementing method thereof |
| CN103349603A (en) * | 2013-07-02 | 2013-10-16 | 天津科技大学 | Ten-degree-of-freedom lower limb walking aid |
| CN105748257A (en) * | 2016-01-31 | 2016-07-13 | 张燕 | Lower limb recovery training device for neurology department |
| CN107898482A (en) * | 2017-12-21 | 2018-04-13 | 辽宁省肿瘤医院 | A kind of multi-functional retractor of operation on pelvis |
| CN108030522A (en) * | 2017-12-21 | 2018-05-15 | 辽宁省肿瘤医院 | A kind of multi-functional retractor of operation on pelvis |
| CN108030522B (en) * | 2017-12-21 | 2020-07-10 | 辽宁省肿瘤医院 | A multifunctional retractor for pelvic surgery |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101972196A (en) | Lower-limb motion recovery machine with multiple body positions | |
| CN102836048B (en) | Rehabilitation training robot for lower limbs | |
| CN201861910U (en) | Multi-body position lower limb exercise rehabilitation machine | |
| EP3643286A1 (en) | Lower limb training rehabilitation apparatus | |
| CN106137681B (en) | Intelligent lower limb recovery training appliance for recovery | |
| CN201500258U (en) | Lower body training institution | |
| KR20170139035A (en) | A device for driving a human underarm in a straight or upper or a partial upright posture with the driving of a walk in a vertical position | |
| CN209203951U (en) | Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot | |
| CN106726358A (en) | A kind of vertical lower limbs rehabilitation training robot | |
| CN106955217B (en) | Rehabilitation training robot | |
| CN101862255A (en) | Rope Traction Lower Limb Gait Rehabilitation Robot | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| CN206950326U (en) | Lower limbs active-passive rehabilitation training aids | |
| CN106344349B (en) | The driving lower limb rehabilitation training device of shank | |
| CN211300956U (en) | A horizontal lower limb rehabilitation robot | |
| CN105796284A (en) | Intelligent knee joint training instrument | |
| CN205007219U (en) | Recovered adjustable mechanical legs of hip joint width for robot | |
| CN212326815U (en) | Orthopedic knee joint auxiliary flexion and extension function exercise device | |
| CN108294913A (en) | Lower limbs active-passive rehabilitation training aids | |
| CN109830158A (en) | A kind of knee joint dynamic analog device | |
| CN109771222A (en) | A finger rehabilitation robot with adduction and abduction function | |
| CN210962908U (en) | Sitting type lower limb rehabilitation robot | |
| CN209843032U (en) | Knee joint dynamic simulation device | |
| CN206434546U (en) | Shank drives training institution | |
| CN208464572U (en) | A kind of portable ancon and hand ectoskeleton supplemental training robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160607 Address after: 510000, No. 15, Daguan Middle Road, Tianhe District, Guangdong, Guangzhou Patentee after: Guangzhou Jumho Electric Co., Ltd. Address before: 510000, No. 15, Daguan Middle Road, Tianhe District, Guangdong, Guangzhou Patentee before: Guangzhou Jumho Electric Co., Ltd. Patentee before: Gu Jie Patentee before: Xu Zhenhua Patentee before: Li Jianhua Patentee before: Zhang Jiafan |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171227 Address after: 201203 Free Trade Zone, Shanghai, Pudong New Area No. 500 blue wave road, Room 102 Patentee after: JINHO ROBOT (SHANGHAI) CO., LTD. Address before: 510000, No. 15, Daguan Middle Road, Tianhe District, Guangdong, Guangzhou Patentee before: Guangzhou Jumho Electric Co., Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20110615 |