CN202426824U - Exoskeleton platform-type lower limb healing exercise machine - Google Patents

Exoskeleton platform-type lower limb healing exercise machine Download PDF

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Publication number
CN202426824U
CN202426824U CN2012200243480U CN201220024348U CN202426824U CN 202426824 U CN202426824 U CN 202426824U CN 2012200243480 U CN2012200243480 U CN 2012200243480U CN 201220024348 U CN201220024348 U CN 201220024348U CN 202426824 U CN202426824 U CN 202426824U
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CN
China
Prior art keywords
pedipulator
trainer
column
reducing motor
type
Prior art date
Application number
CN2012200243480U
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Chinese (zh)
Inventor
杨式宁
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杨式宁
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Priority to CN2012200243480U priority Critical patent/CN202426824U/en
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Publication of CN202426824U publication Critical patent/CN202426824U/en

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Abstract

The utility model discloses an exoskeleton platform-type lower limb healing exercise machine. The machine comprises a main frame, a counterweight plate, a burden-alleviating suspension mechanism, a walking platform and mechanical legs. According to the machine with a counterweight structure and a spring-type burden-alleviating suspension mechanism, a motor is directly driven by the conventional gear reducer, the force is applied to a trainer from the rear part of the training equipment, and the trainer does not bear any weight of the mechanical legs. Therefore, the problems that human legs cannot reversely drive the mechanical legs to move, frequent opening and closing operations are needed, the trainer more or less bears the weight of the mechanical legs and the conventional machine is not suitable for the trainers with different body weights and at different recovery levels are solved.

Description

The desk-top lower limb body rehabilitation training of a kind of ectoskeleton type machine
Technical field
This utility model relates to medical instruments field, particularly relates to the desk-top lower limb body rehabilitation training of a kind of ectoskeleton type machine.
Background technology
(partial body weight support training PBWST) is the recovery training method that occurs in the later stage eighties 20th century in the Unweighting walking training.Switzerland HOCOMA medical apparatus corporation, Ltd and Zurich, Switzerland Balgrist medical college rehabilitation center cooperate to succeed in developing in 1999 LOKOMAT Unweighting walking training rehabilitation robot.
Existing Unweighting walking rehabilitation training equipment has following weak point: 1) after cutting off motor power or accident power-off, self-locking can take place, promptly people's lower limb can not oppositely drive the pedipulator motion; 2) trainer is admitted to from the exercise equipment front portion, needs the operation of heavy switch door; 3) the heavy and manufacturing complicacy of existing balance weight mechanism can not be eliminated the weight that the trainer bears pedipulator fully; 4) body weight Reduction of Students' Study Load device can not flexible, can not adapt to different weight and the different trainer of recovery extent fully.In order to address this problem, to the utility model provides and adopt motor directly to drive, send into the trainer, make the trainer not bear the counter weight construction of a bit weight of pedipulator and the desk-top lower limb body rehabilitation training of the ectoskeleton type machine of spring Reduction of Students' Study Load suspension gear from the exercise equipment rear portion via the conventional gears decelerator.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned defective of the prior art, and a kind of have reverse drive property, easy and simple to handle, the desk-top lower limb body rehabilitation training of the ectoskeleton type machine that makes the trainer not bear a bit weight of pedipulator and adapt to different training person are provided.
For achieving the above object, the technical scheme of this utility model provides the desk-top lower limb body rehabilitation training of a kind of ectoskeleton type machine, comprising: main body frame, balancing disk, Reduction of Students' Study Load suspension gear, walking platform and pedipulator; Wherein, main body frame comprise the chassis, be installed in column on the chassis, be installed in coaster in the column, be fixed on the bend pipe on the column end face and be installed in column and bend pipe on leading block; The Reduction of Students' Study Load suspension gear comprises the casing that is installed on the main body frame chassis; Be provided with spring in the casing; One end of spring is connected to casing through pulling force sensor; The other end is connected to suspension rope; Suspension rope through be installed in intravital fairlead of case and the casing, leading block on the column, bend pipe is connected with suspension rod, the suspension rod bottom is equipped with the seat belt and the length of the change in location may command suspension rope through fairlead in the casing and the height of pull strength and then scalable seat belt and is reached the Reduction of Students' Study Load amount to the trainer; Balancing disk comprises hollow axle, the gimbal lever, C type frame and solid shafting; Balancing disk is mounted on the coaster in the column through hollow axle; The gimbal lever is used to install pedipulator and difference can be along the hollow axle move left and right; C type frame and solid shafting are used for the balance of adjustment bar, make the trainer not bear a bit weight of pedipulator; Pedipulator comprises thigh, shank, gaiter assembly, connects knee joint, hip joint reducing motor and the knee joint reducing motor of thigh and shank, and the shank that drives the trainer after said hip joint reducing motor and knee joint reducing motor all slow down via gear reduction unit is swung.
Wherein, Said main body frame further comprises: be installed in parallel bars, trim and walking platform support seat on the chassis; Be installed in the control chamber on the column, be used to seal the back shroud of column, be installed in pulley rail, coaster lock nut, electric pushrod in the column; Electric pushrod can make coaster slide up and down along pulley rail, regulates the height of balancing disk according to trainer's height, and then regulates the height of pedipulator.
Wherein, Said balancing disk also comprises: the damping fin pedestal, damping fin and the copper sheathing that are used for hollow shaft sleeve is connected on C type frame opening; The solid shafting holder is used for solid shafting is fixed on the blind end of C type frame, and an end of ball-screw is equipped with motor, and the other end passes the gimbal lever and is fixed on the C type frame; The gimbal lever is connected on solid shafting and the hollow axle through little linear bearing, little linear axis bearing and big linear bearing, big linear bearing cover for seat respectively, and through wires hole is formed on the hollow axle; Thereby motor can drive ball-screw and drive gimbal lever's move left and right respectively according to trainer's health width.
Wherein, said pedipulator also comprises: be used for hip joint reducing motor and knee joint reducing motor are fixed on the reducing motor fixation kit on the pedipulator, the adjustment hole that is used to regulate pedipulator length, hoodle.
Wherein, the traveling speed of said walking platform is consistent with the traveling speed of pedipulator, all controls through control chamber.
Description of drawings
Fig. 1 is the front view of the desk-top lower limb body rehabilitation training of a kind of ectoskeleton type machine of this utility model embodiment;
Fig. 2 A is the front view of a kind of main body frame of this utility model embodiment;
Fig. 2 B is the top view of a kind of main body frame of this utility model embodiment;
Fig. 3 is the sketch map of a kind of balancing disk of this utility model embodiment;
Fig. 4 is the sketch map of a kind of suspension gear of lightening the burden of this utility model embodiment;
Fig. 5 A, Fig. 5 B are the sketch maps of a kind of walking platform of this utility model embodiment;
Fig. 6 A is the front view of a kind of pedipulator of this utility model embodiment;
Fig. 6 B is the side view of a kind of pedipulator of this utility model embodiment;
Fig. 6 C is the sketch map of gaiter assembly of a kind of pedipulator of this utility model embodiment;
Fig. 6 D is the sketch map of reducing motor fixation kit of a kind of pedipulator of this utility model embodiment;
Wherein: 101, main body frame; 102, balancing disk; 103, Reduction of Students' Study Load suspension gear; 104, walking platform; 105, pedipulator; 201, leading block one; 202, leading block two; 203, bend pipe; 204, column; 205, leading block three; 206, back shroud; 207, pulley rail; 208, coaster; 209, coaster lock nut; 210, electric pushrod; 211, control chamber; 212, trim; 213, chassis; 214, walking platform support seat; 215, parallel bars; 301, the gimbal lever; 302, hollow axle; 303, damping fin pedestal; 304, damping fin; 305, copper sheathing; 306, C type frame; 307, solid shafting holder; 308, solid shafting; 309, motor one; 310, motor fixing frame; 311, little linear axis bearing; 312, little linear bearing; 313, ball-screw one; 314, motor two; 315, big linear axis bearing; 316, big linear bearing; 317, through wires hole; 318, ball-screw two; 401, casing; 402, electronic pull bar; 403, fairlead; 404, lower railway; 405, spring; 406, pulling force sensor; 407, spring mountings; 408, leading block; 409, suspension rope; 410, get on the right track; 411, casing fixture; 412, electronic pull bar fixture; 413, suspension rod; 414, seat belt; 501, walking band; 502, walking plate; 503, vibration isolation rubber plate; 504, be with the tensile force adjusting rod synchronously; 505, driving shaft; 506, support body; 507, support body fixing hole; 508, motor support bar fixture; 509, motor support bar; 510, be with synchronously; 511, active bearings carriage; 512, position adjustments baffle plate; 513, walking plate support bar; 514, walking plate support bar fixing hole; 515, driven shaft; 516, driven shaft gathering sill; 517, driven shaft is regulated bolt; 601, ankle portion gaiter assembly; 602, shank bottom; 603, calf gaiter assembly; 604, shank top; 605, shank bottom adjustment hole; 606, knee joint reducing motor; 607, knee joint reducing motor fixation kit; 608, lower leg and thigh; 609, huckle gaiter assembly; 610, hip joint reducing motor; 611, hip joint reducing motor fixation kit; 612, lower leg and thigh adjustment hole; 613, huckle damping fin; 614, huckle hoodle; 615, lower leg and thigh latch assembly; 616, calf damping fin; 617, calf hoodle; 618, shank bottom latch assembly; 619, lap.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the specific embodiment of this utility model is described in further detail.Following examples are used to explain this utility model, but are not used for limiting the scope of this utility model.
With reference to shown in Figure 1, the desk-top lower limb body rehabilitation training of the ectoskeleton type machine of this utility model mainly comprises main body frame 101, balancing disk 102, Reduction of Students' Study Load suspension gear 103, walking platform 104 and pedipulator 105.In use, the trainer is pushed into by transfer car(buggy) under the suspension rod of exerciser, extends the length of suspension rope and seat belt is strapped in trainer's upper body, tightens up suspension rope and the trainer is promoted to proper height.Pedipulator 105 is fixed on trainer's the thigh and shank; Driven by motor walking band through walking platform 104 carries out walking rehabilitation training; Perhaps after returning to a certain degree, do not need pedipulator to drive, the reverse pedipulator that directly drives of people's lower limb is trained on the walking band.
Trainer's health supports the position and the balance of adjustment health fully through suspension rope and parallel bars, do not need the support component of back and buttocks.In addition, transfer car(buggy) directly is pushed into the trainer on the exercise equipment, does not need the operation of traditional switch door, so, easy and simple to handle.
Shown in figure 2A-2B, main body frame 101 is used to install other all component of the desk-top lower limb body rehabilitation training of ectoskeleton type machine.Wherein, parallel bars 215 are installed on the chassis 213, are used to support the trainer to keep one's balance.Column 204 adopts hollow tubular product, is installed on the chassis 213, is formed with opening on it, and inside is equipped with electric pushrod 210, coaster 208 and pulley rail 207.Pulley rail 207 is installed on the inwall of column 204, and balancing disk is fixed through lock nut 209 and coaster.Electric pushrod 210 can make coaster 208 slide up and down along pulley rail 207, regulates the height of balancing disk according to trainer's height, and then regulates the height of pedipulator.Also be provided with back shroud 206 on the column 204 and be formed on the opening on the column 204 with sealing.Control chamber 211 is installed on the column, also is provided with trim 212 on the chassis 213.Bend pipe 203 is fixed on column 204 end faces.Leading block 1 is installed on the bend pipe 203 with leading block 2 202, and leading block 3 205 is fixed on column 204 inboards.In addition, also be provided with walking platform support seat 214 on the chassis 213 so that the walking platform to be installed.
With reference to shown in Figure 3; Balancing disk 102 is mounted on the coaster 208 in the column 204 through hollow axle 302 and lock nut 209; The gimbal lever 301 is used to install pedipulator and difference can be along hollow axle 302 move left and right; C type frame 306 and solid shafting 308 are used for the balance of adjustment bar 301, make the trainer not bear a bit weight of pedipulator.In addition; Balancing disk 102 also comprises damping fin pedestal 303, damping fin 304 and the copper sheathing 305 that is used for hollow axle 302 is socketed in C type frame 306 openings; Solid shafting holder 307 is used for solid shafting 308 is fixed on the blind end of C type frame 306; Motor 1 is fixed on the motor fixing frame 310 with motor 2 314; Motor fixing frame 310 is installed on the C type frame 306, and an end of ball-screw 1 and ball-screw 2 318 is connected with motor, and the other end passes the gimbal lever 301 and the nut of ball-screw is fixed in the gimbal lever 301; The gimbal lever 301 is socketed on solid shafting and the hollow axle through little linear bearing 312, little linear axis bearing 311 and big linear bearing 316, big linear axis bearing 315 respectively, and through wires hole 317 is formed on the hollow axle 302; Thereby motor 1 and motor 2 314 can drive ball-screw 1 and ball-screw 2 318 and drive the gimbal lever's 301 move left and right respectively according to trainer's health width.
With reference to shown in Figure 4; Reduction of Students' Study Load suspension gear 103 comprises through casing fixture 411 and is installed in the casing 401 on the main body frame chassis 213 that be provided with spring 405 in the casing 401, an end of spring 405 is installed in an end of casing 401 through pulling force sensor 406 and spring mountings 407; The other end is connected to suspension rope 409; Pulling force sensor 406 can detect the pulling force of spring, is sent to control chamber, thereby can adjust the Reduction of Students' Study Load amount of Reduction of Students' Study Load suspension gear.One end of suspension rope 409 links to each other with spring 405 through the leading block of casing 401 inner fairleads; Its other end through in the column 204 with bend pipe 203 on leading block finally link to each other with suspension rod 413; One end of electronic pull bar 402 is installed in the other end of casing 401 through electronic pull bar fixture 412; The other end is connected to fairlead 403, thus electronic pull bar 402 can spur fairlead 403 along get on the right track 410 with the length and the pull strength of lower railway 404 move left and right adjustment suspension rope 409, suspension rod 413 attachment security bands 414; Seat belt 414 is strapped on one's body the trainer, the time trainer is not born or part is born body wt in training.
Shown in figure 5A-5B, walking platform 104 comprises a rectangle support body 506, is fixed on the walking platform support seat through support body fixing hole 507.Driving shaft 505 is arranged on the active bearings carriage 511; Active bearings carriage 511 and driven shaft gathering sill 516 separated by a distance being fixed on the support body 506; Driven shaft 515 is installed in the driven shaft gathering sill 516; And can regulate bolt 517 adjusting driven shafts 515 through driven shaft and move, thereby can be according to the length adjustment driven shaft 515 of walking band 501 and the distance between the driving shaft 505 along driven shaft gathering sill 516.Motor is installed on the support body 506 through motor support bar 509, motor support bar fixture 508; Motor is through be with 510 to drive driving shaft 505 synchronously; Synchronously band tension link 504 and position adjustments baffle plate 512 can be regulated synchronously the tension force with 510, and driving shaft 505 drives 501 motions of walking bands.A plurality of walking plate support bars 513 are fixed on the support body 506 through walking plate support bar fixing hole 514; Walking plate 502 is installed on the walking plate support bar 513; Vibration isolation rubber plate 503 is installed on the walking plate 502, and walking band 501 is provided with around driving shaft 505 and driven shaft 515.The traveling speed of control chamber control pedipulator and walking band is consistent its traveling speed, avoids the trainer to fall.
Shown in figure 6A-6B; Pedipulator 105 is installed in the gimbal lever of balancing disk 102 through an end of hip joint reducing motor fixation kit 611; Be divided into huckle and calf; Huckle and calf are made up of the lap that connects together each other 619, lower leg and thigh 608, shank top 604 and shank bottom 602 respectively; The upper end on huckle top 619 is connected to the other end of hip joint reducing motor fixation kit 611, and the upper end on the lower end of lower leg and thigh 608 and shank top 604 is connected through knee joint reducing motor fixation kit 607.The lower end on lap 619 and shank top 604 is respectively arranged with huckle gaiter assembly 609 and calf gaiter assembly 603; Be used for pedipulator is fixed to trainer's thigh and shank; The bottom of shank bottom 602 is provided with ankle portion gaiter assembly 601, is used for pedipulator is fixed to trainer's ankle portion.Lap 619 is respectively arranged with lower leg and thigh adjustment hole 612 and shank bottom adjustment hole 605 with shank top 604; When thigh and shank need be regulated length according to trainer's height; Press huckle hoodle 614 or calf hoodle 617, make lower leg and thigh 608 or shank bottom 602 flexible in lap 619 or shank top 604, when being adjusted to suitable length; Huckle hoodle 614 or calf hoodle 617 are upspring; Withstand lower leg and thigh adjustment hole 612 and shank bottom adjustment hole 605, adopt lower leg and thigh latch assembly 615 and 618 lockings of shank bottom latch assembly simultaneously, thigh and shank length are no longer changed.Wherein, huckle damping fin 613 and calf damping fin 616 can be adjusted the lubricity of lower leg and thigh 608 and 602 slips of shank bottom.Hip joint reducing motor fixation kit 611 is respectively installed on the above-mentioned bearing connection with knee joint reducing motor fixation kit 607, and hip joint reducing motor 610 is respectively installed on hip joint reducing motor fixation kit 611 and the knee joint reducing motor fixation kit 607 with knee joint reducing motor 606.In addition, pressing plate and locking that the gaiter assembly comprises L type side rod and is installed in rod both sides, L type side are turned round, and one is used for the gaiter assembly is fixed on pedipulator, and another is used to install gaiter plate and gaiter band.Wherein, also the ankle boundary belt can be installed on the calf gaiter assembly, preserve from the ankle of protecting the trainer.The hip joint reducing motor is fixed on the motor fixing seat; Motor fixing seat links to each other with bearing block connector 1, bearing block connector 2 through the rolling bearing of both sides; The output shaft of motor links to each other with bearing block connector 2 through ring flange; Motor fixing seat links to each other with the gimbal lever of balancing disk, and bearing block connector 1, bearing block connector 2 all are connected to the lap top; The knee joint reducing motor is fixed on the motor fixing seat; Motor fixing seat links to each other with bearing block connector 1, bearing block connector 2 through the rolling bearing of both sides; The output shaft of motor links to each other with bearing block connector 2 through ring flange; The lower ends of motor fixing seat and lower leg and thigh, bearing block connector 1, bearing block connector 2 all are connected to the shank upper end.
The core idea of this utility model is that the trainer sends into from the rear portion of exercise equipment, need not the trainer is turned to, and does not also have loaded down with trivial details switch door operation, and is therefore, easy and simple to handle; Adopt the joint of motor, make it have reverse drive property, protect the trainer to greatest extent via the direct driving device lower limb of conventional gears decelerator; Balancing disk makes the trainer not bear a bit weight of pedipulator; The Reduction of Students' Study Load suspension gear can be realized the step-less adjustment of Reduction of Students' Study Load amount, adapts to different training person's Unweighting walking rehabilitation training.
Although be shown specifically and explained this utility model with reference to exemplary embodiment, it will be understood by those skilled in the art that and under the prerequisite of spirit that does not deviate from this utility model and scope, on form and details, to make various changes to this utility model.

Claims (5)

1. the desk-top lower limb body rehabilitation training of an ectoskeleton type machine comprises: main body frame, balancing disk, Reduction of Students' Study Load suspension gear, walking platform and pedipulator; Wherein, main body frame comprise the chassis, be installed in column on the chassis, be installed in coaster in the column, be fixed on the bend pipe on the column end face and be installed in column and bend pipe on leading block; The Reduction of Students' Study Load suspension gear comprises the casing that is installed on the main body frame chassis; Be provided with spring in the casing; One end of spring is connected to casing through pulling force sensor; The other end is connected to suspension rope; Suspension rope through be installed in intravital fairlead of case and the casing, leading block on the column, bend pipe is connected with suspension rod, the suspension rod bottom is equipped with the seat belt and the length of the change in location may command suspension rope through fairlead in the casing and the height of pull strength and then scalable seat belt and is reached the Reduction of Students' Study Load amount to the trainer; Balancing disk comprises hollow axle, the gimbal lever, C type frame and solid shafting; Balancing disk is mounted on the coaster in the column through hollow axle; The gimbal lever is used to install pedipulator and difference can be along the hollow axle move left and right; C type frame and solid shafting are used for the balance of adjustment bar, make the trainer not bear a bit weight of pedipulator; Pedipulator comprises thigh, shank, gaiter assembly, connects knee joint, hip joint reducing motor and the knee joint reducing motor of thigh and shank, and the shank that drives the trainer after said hip joint reducing motor and knee joint reducing motor all slow down via gear reduction unit is swung.
2. the desk-top lower limb body rehabilitation training of ectoskeleton type according to claim 1 machine; Said main body frame further comprises: be installed in parallel bars, trim and walking platform support seat on the chassis; Be installed in the control chamber on the column; Be used to seal the back shroud of column, be installed in pulley rail, coaster lock nut, electric pushrod in the column; Electric pushrod can make coaster slide up and down along pulley rail, regulates the height of balancing disk according to trainer's height, and then regulates the height of pedipulator.
3. the desk-top lower limb body rehabilitation training of ectoskeleton type according to claim 2 machine; Said balancing disk also comprises: the damping fin pedestal, damping fin and the copper sheathing that are used for hollow shaft sleeve is connected on C type frame opening; The solid shafting holder is used for solid shafting is fixed on the blind end of C type frame; One end of ball-screw is equipped with motor; The other end passes the gimbal lever and is fixed on the C type frame, and the gimbal lever is connected on solid shafting and the hollow axle through little linear bearing, little linear axis bearing and big linear bearing, big linear bearing cover for seat respectively, and through wires hole is formed on the hollow axle; Thereby motor can drive ball-screw and drive gimbal lever's move left and right respectively according to trainer's health width.
4. the desk-top lower limb body rehabilitation training of ectoskeleton type according to claim 3 machine, said pedipulator also comprises: be used for hip joint reducing motor and knee joint reducing motor are fixed on the reducing motor fixation kit on the pedipulator, the adjustment hole that is used to regulate pedipulator length, hoodle.
5. the desk-top lower limb body rehabilitation training of ectoskeleton type according to claim 4 machine, the traveling speed of said walking platform is consistent with the traveling speed of pedipulator, all controls through control chamber.
CN2012200243480U 2012-01-19 2012-01-19 Exoskeleton platform-type lower limb healing exercise machine CN202426824U (en)

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CN2012200243480U CN202426824U (en) 2012-01-19 2012-01-19 Exoskeleton platform-type lower limb healing exercise machine

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102551988A (en) * 2012-01-19 2012-07-11 杨式宁 Exoskeleton-type desktop rehabilitation exercise machine for lower limbs
CN103083159A (en) * 2013-01-31 2013-05-08 昆山市工业技术研究院有限责任公司 Electric gravity reduction training frame
CN104274299A (en) * 2014-06-05 2015-01-14 长春工业大学 Lower limb rehabilitation training device
CN106344349A (en) * 2016-10-13 2017-01-25 上海健康医学院 Crus driving type lower limb rehabilitation training device
CN107789793A (en) * 2017-12-03 2018-03-13 黑龙江聚拢华玺智能科技有限公司 A kind of orthopedic rehabilitation walking trainer

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102551988A (en) * 2012-01-19 2012-07-11 杨式宁 Exoskeleton-type desktop rehabilitation exercise machine for lower limbs
CN102551988B (en) * 2012-01-19 2013-09-18 杨式宁 Exoskeleton-type desktop rehabilitation exercise machine for lower limbs
CN103083159A (en) * 2013-01-31 2013-05-08 昆山市工业技术研究院有限责任公司 Electric gravity reduction training frame
CN103083159B (en) * 2013-01-31 2014-07-16 昆山市工业技术研究院有限责任公司 Electric gravity reduction training frame
CN104274299A (en) * 2014-06-05 2015-01-14 长春工业大学 Lower limb rehabilitation training device
CN106344349A (en) * 2016-10-13 2017-01-25 上海健康医学院 Crus driving type lower limb rehabilitation training device
CN106344349B (en) * 2016-10-13 2018-08-24 上海健康医学院 The driving lower limb rehabilitation training device of shank
CN107789793A (en) * 2017-12-03 2018-03-13 黑龙江聚拢华玺智能科技有限公司 A kind of orthopedic rehabilitation walking trainer

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