CN202620119U - Robot for balancing rehabilitation training - Google Patents
Robot for balancing rehabilitation training Download PDFInfo
- Publication number
- CN202620119U CN202620119U CN 201220136370 CN201220136370U CN202620119U CN 202620119 U CN202620119 U CN 202620119U CN 201220136370 CN201220136370 CN 201220136370 CN 201220136370 U CN201220136370 U CN 201220136370U CN 202620119 U CN202620119 U CN 202620119U
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- rehabilitation training
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Abstract
The utility model discloses a robot for balancing rehabilitation training. The robot for the balancing rehabilitation training comprises a weight reduction system and a foot position system. The weight reduction system includes a base, a weight reduction support installed on the base and a suspender structure arranged on the weight reduction support. The weight reduction system is used for lifting and suspending the body of a patient in order to reduce pressure from weight of the patient to legs and feet of the patient. The robot is characterized in that the foot position system comprises a swaying structure, a sliding structure and an elevating body. The swaying structure can be installed on the bottom board of the base relative to the base in a swinging mode; the sliding structure is fixedly arranged inside the swaying structure; the elevating body includes a bottom boarder and an overhead cover; the bottom boarder can be installed inside the sliding structure in a sliding-back-and-forth mode; the overhead cover can be matched with the bottom boarder in an elevating mode; a foot sleeve hole is installed on the overhead cover and a pressure sensor is positioned at the bottom of the foot sleeve hole. The robot for the balancing rehabilitation training can test balancing capacity of the patient and provide balancing training, and is suitable for the patient with balance dysfunction.
Description
Technical field
This utility model relates to a kind of restore balance medical rehabilitation equipment of function of equilibrium function impaired patients that helps, and relates in particular to a kind of balance rehabilitation training robot.
Background technology
The equilibrium function impaired patients function that restores balance adopts equilibristat evaluation and test and training usually.Existing equilibristat comprises static equilibrium appearance and dynamic equilibrium appearance.When using the static equilibrium appearance, the patient stands on the static equilibrium appearance, to patient's the equilibrium sense and the sense organ interactive testing of stability limit, weighs patient's balanced capacity through the static equilibrium appearance, and the static equilibrium training is provided.Yet static equilibrium appearance foot erect-position pattern is single, demonstrates limitation aspect the static equilibrium training providing.The dynamic equilibrium appearance has the test patient balanced capacity equally, and can the dynamic equilibrium training be provided to the patient to a certain extent.Yet the dynamic equilibrium appearance requires height to patient's balanced capacity, only is fit to have the patient of strong balanced capacity to use.
The utility model content
In view of the above, but be necessary to provide a kind of test patient balanced capacity, and provide static and the dynamic equilibrium training, and also be fit to the balance rehabilitation training robot that the relatively poor patient of equilibrium function obstacle uses.
A kind of balance rehabilitation training robot; Comprise loss of weight system and foot erect-position system, the loss of weight system comprises base, is arranged on the loss of weight frame on the base and is arranged on the sling structure on the loss of weight frame that the loss of weight system is used for lifting patient's when training body to alleviate the pressure of patient's own wt to lower limb, foot; Said foot erect-position system comprises waves structure, slide construction and lifting body; Wave structure relatively base unsteadily be arranged on the base plate, slide construction is installed in and waves in the structure, lifting body comprises underframe and overhead guard; Underframe can be arranged in the slide construction slidingly back and forth; Overhead guard liftably cooperates with underframe, offers sufficient trepanning on the overhead guard, and sufficient trepanning bottom is provided with pressure transducer.
Further; The said structure of waving comprises framework, rotating disk, connecting axle, connecting rod and first actuator; Said framework is connected on the base plate through connecting axle; Said first actuator, connecting rod, connecting axle and rotating disk connect, and make the actuator of winning drive dial rotation, thereby make the relative base of framework wave.
Further, said base has the base top board and is formed on the box cavity of base top board below, offers mating holes on the base top board, waves structure and is arranged in the box cavity, and framework can unsteadily be arranged in the mating holes.
Further, said slide construction comprises framework, guide rod and second actuator, and framework is arranged in the framework, and guide rod is arranged in the framework, and lifting body is slidably disposed on the guide rod, and said second actuator drives lifting body and slides along guide rod.
Further; Said two lifting body underframe end walls are provided with fake, and the corresponding pulley that is provided with on the slide construction framework end wall connects two lifting bodies annular through pulley, sliding rope, fake; Said second actuator drives a lifting body and slides along guide rod, and another lifting body is reverse slide then.
Further, said lifting body comprises underframe, the 3rd actuator and overhead guard, offers sheathed hole and projection on the underframe; Make underframe slide before and after the guide rod in the driving lower edge of second actuator; Overhead guard is provided with guide groove and guide pin bushing, and guide groove cooperates with sheathed hole, passes for guide rod; Projection is inserted in slidably in the guide pin bushing and leads with the up-down to overhead guard, makes overhead guard go up and down under the driving of the 3rd actuator and under the guiding of projection, guide pin bushing.
Further, offer sufficient trepanning on the said overhead guard, the bottom of sufficient trepanning is provided with pressure transducer.
Further, said loss of weight frame comprises two support bars and is connected the cross bar between two supporting bar tops, and said sling structure is installed on the said cross bar, and said sling structure is provided with tie, the patient's that is used to tie in body.
Further; Said balance rehabilitation training robot further comprises control device; Said control device electrically connects loss of weight system, foot erect-position system and audiovisual display system; The action of structure, slide construction, lifting body is waved in the control device Detection & Controling, and the content of control audiovisual display system.
Further; Said balance rehabilitation training robot comprises audiovisual display system; Audiovisual display system is by sound, forms as device and control device, and it electrically connects said loss of weight system and foot erect-position system, in order to the parameter information of demonstration loss of weight system, foot erect-position system.
A kind of balance rehabilitation training robot; Comprise loss of weight system, foot erect-position system, audiovisual display system and control device; The loss of weight system comprises base, is arranged on the loss of weight frame on the base and is arranged on the sling structure on the loss of weight frame, and the loss of weight system is used for lifting patient's when training body to alleviate the pressure of patient's own wt to lower limb, foot, and audiovisual display system electrically connects said loss of weight system and foot erect-position system; Be used to appear the relevant parameter information of loss of weight system and foot erect-position system; Said foot erect-position system comprises waves structure, slide construction and lifting body, wave structure relatively base unsteadily be arranged on the base plate, slide construction is installed in and waves in the structure; Lifting body comprises underframe and overhead guard; Underframe can be arranged in the slide construction slidingly back and forth, and overhead guard liftably cooperates with underframe, offers sufficient trepanning on the overhead guard; Foot trepanning bottom is provided with pressure transducer, and said control device is electrically controlled loss of weight system, foot erect-position system, audiovisual display system.
Compared to prior art; This balance rehabilitation training robot is provided with foot erect-position system, and this foot erect-position system comprises waves structure, slide construction and lifting body, makes patient's the relative heel end of toe end swing through waving structure; Training patient's balancing response under the situation that patient's center of gravity moves forward and backward; Make patient's foot one in front and one in back move through slide construction, so impel the patient to walk, impel patient's center of gravity front and back diversionary training; Drive the one high and one low motion of patient's foot through lifting body, impel patient's center of gravity left and right sides diversionary training.But this balance rehabilitation training robot passes through pressure transducer test patient balanced capacity, and balance training can be provided.Because of it has loss of weight system and foot station system, so also be fit to the relatively poor patient of equilibrium function obstacle.
Description of drawings
Fig. 1 is the schematic perspective view of this utility model balance rehabilitation training robot;
Fig. 2 be balance rehabilitation training robot shown in Figure 1 foot erect-position system disassemble sketch map;
Fig. 3 is the decomposing schematic representation of the lifting body of balance rehabilitation training robot shown in Figure 1.
The specific embodiment
By the technology contents, the structural feature that specify this utility model, realized purpose and effect, know clearly below in conjunction with embodiment and conjunction with figs. and give explanation.
See also Fig. 1, this utility model discloses a kind of balance rehabilitation training robot 100, is used to help the equilibrium function impaired patients to carry out the balance rehabilitation training, comprises loss of weight system 10 and foot erect-position system 20.Loss of weight system 10 is used for lifting patient's when training body to alleviate the pressure of patient's own wt to lower limb, foot.Foot erect-position system 20 is used for the erect-position pattern of automatic conversion foot when the erect-position balance training, with the balancing response of training patient under the center of gravity Move Mode.
Loss of weight system 10 comprises base 11, loss of weight frame 12, motor (figure does not show), sliding rope 14, sling structure 15 and control device 16.Base 11 is body structure, comprises base top board 111, base hang plate 112, base plate (figure does not show) and base side plate (the figure part shows), interconnects the box cavity (figure is mark not) of forming base 11.Offer mating holes 113 and locating hole 114 on the base top board 111.Mating holes 113 is communicated with box cavity, is used to cooperate foot erect-position system 20.Locating hole 114 is opened in the contiguous both sides of base top board 111, is used for fixing the wheelchair of carrying out to the base top board 111.Hang plate 112 connects base plate (figure does not show) and base top board 111, can supply wheelchair to move on the base top board 111 from ground.In the box cavity in order to said foot erect-position system 20 to be set.Loss of weight frame 12 is arranged on the base top board 111, and loss of weight frame 12 comprises two support bars 121 and is connected the cross bar 122 between two support bars, 121 tops.Motor is arranged in the box cavity of base 11, through control device 16 controls.Sliding rope 14 1 ends stretch out downwards from cross bar 122 middle parts and connect said sling structure 15, and the other end is connected to motor along extending in the body of rod of cross bar 122 and support bar 121.Be appreciated that and be provided with the pulley (figure does not show) that supplies sliding rope 14 to slide in the body of rod of loss of weight frame 12.Sling structure 15 comprises suspension rod 151, lifting rope 152 and tie 153.Suspension rod 151 connects said sliding rope 14 external parts from cross bar 122, and parallel with cross bar 122.Lifting rope 152 vertically is connected suspension rod 151 lower ends, and in the present embodiment, lifting rope 152 is two.Tie 153 is connected the lower end of lifting rope 152, the patient's that is used to tie in body.Control device 16 is arranged on wherein on the support bar 121, and control device 16 electrically connects with motor, regulates and control motor through control device 16 and rotates the length that the sliding rope of scalable 14 relative cross bars 122 stretch out.
See also Fig. 2, foot erect-position system 20 comprises waves structure 21, slide construction 22, two lifting bodies 23 and said control device 16.Wave structure 21 and comprise framework 211, rotating disk 212, connecting axle 213, connecting rod 214 and first actuator 215.Framework 211 comprises base plate 2111, two sidewalls 2112 and two end walls 2113, and the accommodation space 2114 that is surrounded by base plate 2111, two sidewalls 2112 and two end walls 2113.Offer a storage tank 2115 on the base plate 2111.One side of storage tank 2115 and sidewall 2112 parallel and contiguous base plates 2111.Offer the first relative connecting hole 2116 on two end walls 2113 respectively.In the present embodiment, offer two first connecting holes 2116 on each end wall 2113.Accommodation space 2114 is used to accommodate slide construction 22.Rotating disk 212 is fixed in the bottom of base plate 2111.Rotating disk 212 can be disk or semi-disc structure, engages with base plate 2111 bottom surfaces through its periphery or circumferential section.Connecting axle 213 is installed on the card of rotating disk 212 and contiguous its periphery.Through connecting axle 213 framework 211 is connected on the base plate of base 11, and connecting axle 213 is fixedly connected an end of connecting rod 214.First actuator 215 comprises main body 2151 and relative main body 2151 telescopic expansion links 2152.The other end of the external part of expansion link 2152 and connecting rod 214 is hinged.First actuator 215, and second actuator 224 of following description and the 3rd actuator 233 can be air pressure, electronic or Hydraulically Operated Equipment.
Please combine to consult Fig. 3, each lifting body 23 comprises underframe 231, projection 232, the 3rd actuator 233, overhead guard 234 and guide pin bushing 235.Underframe 231 comprises sidewall 2311, end wall 2312 and diapire 2313.This sidewall 2311, end wall 2312 and diapire 2313 surround a receiving space 2314.End walls 2312 offers two sheathed holes 2315 and a fake 203 respectively near the bottom, and sheathed hole 2315 is used for cooperating with said guide rod 222, and fake 203 is used to make two lifting bodies, 23 annulars to link to each other.One sliding rope passes the fake 203 of two lifting bodies 23, and four pulleys 201 on framework 221 end walls 2212, thereby links to each other two lifting bodies, 23 annulars.Make when expansion link 2242 stretches out or withdraw, but push-and-pull one lifting body 23 slide along guide rod 222, and through with top sheave 201 with slide the annular of restricting and be connected, drive another lifting body 23 along guide rod 222 reverse slide.
Said control device 16 electrically connects first actuator 215, second actuator 224, the 3rd actuator 233 and pressure transducer, audiovisual display system 40 etc.Thereby can control the action of waving structure 21, slide construction 22, two lifting bodies 23, and detect pressure and other parameters in real time, and show through audiovisual display system 40.
When foot erect-position system 20 assembles; At first guide pin bushing 235 is enclosed within on the projection 232,, overhead guard 234 is enclosed within outside the underframe 231 through this guiding; And guide groove 2345 and sheathed hole 2315, fake 203 are corresponding; With the bottom surface of the external part of expansion link 2332 and overhead guard top board 2343 hinged (figure does not show), again the sidewall in the two side 2342 is connected on the end walls 2341 lifting body 23 assembled.Guide rod 222 passes the relative guide groove 2345 of relative sheathed hole 2315 and overhead guard 234 on lifting body 23 underframes 231, and lifting body 23 is connected in the slide construction 22.Through pulley 201, sliding rope (figure does not show) and fake 203 two lifting bodies, 23 annulars are connected.With the bottom surface of the external part of expansion link 2242 and diapire 2313 hinged (figure does not show).Can framework 221 be fixedly connected in the framework 211 through second connecting hole 2213 on the slide construction 22, first connecting hole 2116 that waves on the structure 21, wave structure 21 thereby slide construction 22 put into.Second actuator 224 is inserted in storage tank 2115.Waving structure 21 is connected on the base plate of base 11 through connecting axle 213; And framework 211 cooperates with mating holes 113; Expansion link 2152 external parts and the connecting rod 214 of first actuator 215 are hinged; And main body 2151 is hinged on the base plate of base 11, and first actuator 215 can promote framework 211 and in mating holes 113, wave.Two lifting bodies 23 are positioned at mating holes 113, but and 113 slips of relative engagement hole or up-down.
This utility model balance rehabilitation training robot 100 can further comprise audiovisual display system 40; Be used for showing the relevant parameter information of loss of weight system 10, foot erect-position system 20 with the acoustic image form, as accept the plantar pressure that pressure transducer measures information, loss of weight system 10 loss of weight what information and accept from the information of the frequency of the driving arrangement of foot erect-position system 20 etc.This audiovisual display system 40 comprises system of sound image 41 and said control device 16.System of sound image 41 is arranged on an end of relative loss of weight frame 12, makes the patient when the balance rehabilitation training, but Real Time Observation is to relevant parameter information, like balance parameters information etc.Said control device 16 can be regulated as required, weight that need alleviate like real-time adjusting etc.
When the patient uses balance rehabilitation training robot 100 training, tie in patient's body of the tie 153 through loss of weight system 10, under the lifting of sliding rope 14 to alleviate the pressure of patient's own wt to lower limb, foot.Patient's foot is inserted in respectively in the two sufficient trepannings 2346.Two the 3rd actuators 233 can drive two overhead guards 234 and do one high and one low motion simultaneously, thereby drive the one high and one low motion of patient's foot, impel patient's center of gravity left and right sides diversionary training.Second actuator 224 connects through the annular of two lifting bodies 23, drives two lifting bodies 23 and does one in front and one in back slip simultaneously, one in front and one in back moves thereby drive patient's foot, so impels the patient to walk, and impels patient's center of gravity front and back diversionary training.First actuator 215 drives framework 211 swings, makes patient's the relative heel end of toe end swing training patient's balancing response under the situation that patient's center of gravity moves forward and backward.Therefore; When this balance rehabilitation training robot 100 is used for rehabilitation training, can select with static erect-position pattern or dynamic erect-position pattern, promptly according to the power of patient's balanced capacity; Static height erect-position pattern and static back and front formation pattern; Or, dynamic height reciprocating motion pattern and dynamic front-rear reciprocation movement pattern, and reciprocally swinging pattern before and after dynamic.Because first actuator 215, second actuator 224, the 3rd actuator 233 flexible length are fixed, so the amplitude that the amplitude of its trunk swing, foot level seesaw, the amplitude of foot height and movement are constant.Through controlling the driving frequency of first actuator 215; Thereby the frequency of decision patient trunk swing; Through controlling the driving frequency of second actuator 224, thus the frequency that decision patient foot level seesaws, through controlling the driving frequency of the 3rd actuator 233; Thereby the frequency of decision patient foot height and movement is so the frequency that patient's foot erect-position pattern is changed automatically can be regulated as required.This shows that this utility model balance rehabilitation training robot 100 makes it not only be fit to the stronger patient of balanced capacity because of having loss of weight system 10 and foot erect-position system 20, also is fit to the relatively poor patient of equilibrium function at initial stage.
To sum up, this utility model balance rehabilitation training robot 100 comprises loss of weight system 10, foot erect-position system 20 and audiovisual display system 40.Wherein, loss of weight system 10 weight that can will reduce according to the decision of patient's the state of an illness; Static erect-position pattern and dynamic erect-position pattern can be selected by foot erect-position system 20, but and can record patient's balanced capacity through the foot pressure value of pressure transducer measuring patient; Audiovisual display system 40 with sound, as the parameter information of the relevant training of form performance.Loss of weight system 10, foot erect-position system 20 and audiovisual display system 40 all electrically connect with control device 16 in this utility model balance rehabilitation training robot 100; The patient selects static equilibrium rehabilitation training foot erect-position pattern and dynamic equilibrium rehabilitation training foot erect-position pattern through control device 16; Control the frequency of first actuator 215, second actuator 224, the 3rd actuator 233 according to the height of balanced capacity, thus the control patient foot erect-position pattern speed of conversion automatically.
Be appreciated that 224, two second actuators 224 of two second actuators also can be set through end wall 2212 inboards at framework 221 to move respectively, makes two lifting bodies 23 along guide rod 222 reverse slide.So can omit the fake 203 that passes two lifting bodies 23 through sliding rope, and four pulleys 201 on framework 221 end walls 2212 and the continuous structures of two lifting bodies, 23 annulars.
The above is merely the preferred embodiment of this utility model; Be not thus the restriction this utility model claim; Every equivalent structure transformation that utilizes this utility model description and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of this utility model.
Claims (10)
1. balance rehabilitation training robot; Comprise loss of weight system and foot erect-position system, the loss of weight system comprises base, is arranged on the loss of weight frame on the base and is arranged on the sling structure on the loss of weight frame that the loss of weight system is used for lifting patient's when training body to alleviate the pressure of patient's own wt to lower limb, foot; It is characterized in that: said foot erect-position system comprises waves structure, slide construction and lifting body; Wave structure relatively base unsteadily be arranged on the base plate, slide construction is installed in and waves in the structure, lifting body comprises underframe and overhead guard; Underframe can be arranged in the slide construction slidingly back and forth; Overhead guard liftably cooperates with underframe, offers sufficient trepanning on the overhead guard, and sufficient trepanning bottom is provided with pressure transducer.
2. balance rehabilitation training robot according to claim 1; It is characterized in that: the said structure of waving comprises framework, rotating disk, connecting axle, connecting rod and first actuator; Said framework is connected on the base plate through connecting axle; Said first actuator, connecting rod, connecting axle and rotating disk connect, and make the actuator of winning drive dial rotation, thereby make the relative base of framework wave.
3. balance rehabilitation training robot according to claim 2; It is characterized in that: said base has the base top board and is formed on the box cavity of base top board below; Offer mating holes on the base top board, wave structure and be arranged in the box cavity, framework can unsteadily be arranged in the mating holes.
4. balance rehabilitation training robot according to claim 1; It is characterized in that: said slide construction comprises framework, guide rod and second actuator; Framework is arranged in the framework; Guide rod is arranged in the framework, and lifting body is slidably disposed on the guide rod, and said second actuator drives lifting body and before and after guide rod, slides.
5. balance rehabilitation training robot according to claim 4; It is characterized in that: said two lifting body underframe end walls are provided with fake; The corresponding pulley that is provided with on the framework end wall of slide construction; Through pulley, sliding rope, fake two lifting bodies annular is connected, said second actuator drives a lifting body and slides along guide rod, and another lifting body is reverse slide then.
6. balance rehabilitation training robot according to claim 5; It is characterized in that: said lifting body comprises underframe, the 3rd actuator and overhead guard; Offer sheathed hole and projection on the underframe, make underframe slide before and after the guide rod in the driving lower edge of second actuator, overhead guard is provided with guide groove and guide pin bushing; Guide groove cooperates with sheathed hole; Pass for guide rod, projection is inserted in slidably in the guide pin bushing and leads with the up-down to overhead guard, makes overhead guard go up and down under the driving of the 3rd actuator and under the guiding of projection, guide pin bushing.
7. balance rehabilitation training robot according to claim 1; It is characterized in that: said loss of weight frame comprises two support bars and is connected the cross bar between two supporting bar tops; Said sling structure is installed on the said cross bar, and said sling structure is provided with tie, the patient's that is used to tie in body.
8. balance rehabilitation training robot according to claim 1; It is characterized in that: said balance rehabilitation training robot further comprises control device; Said control device electrically connects loss of weight system, foot erect-position system and audiovisual display system; The action of structure, slide construction, lifting body is waved in the control device Detection & Controling, and the content of control audiovisual display system.
9. balance rehabilitation training robot according to claim 1; It is characterized in that: said balance rehabilitation training robot further comprises audiovisual display system; Audiovisual display system by sound, as the device and control device form; It electrically connects said loss of weight system and foot erect-position system, in order to show the parameter information of loss of weight system, foot erect-position system.
10. balance rehabilitation training robot; It is characterized in that: comprise loss of weight system, foot erect-position system, audiovisual display system and control device; The loss of weight system comprises base, is arranged on the loss of weight frame on the base and is arranged on the sling structure on the loss of weight frame, and the loss of weight system is used for lifting patient's when training body to alleviate the pressure of patient's own wt to lower limb, foot, and audiovisual display system electrically connects said loss of weight system and foot erect-position system; Be used to appear the relevant parameter information of loss of weight system and foot erect-position system; Said foot erect-position system comprises waves structure, slide construction and lifting body, wave structure relatively base unsteadily be arranged on the base plate, slide construction is installed in and waves in the structure; Lifting body comprises underframe and overhead guard; Underframe can be arranged in the slide construction slidingly back and forth, and overhead guard liftably cooperates with underframe, offers sufficient trepanning on the overhead guard; Foot trepanning bottom is provided with pressure transducer, and said control device is electrically controlled loss of weight system, foot erect-position system and audiovisual display system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220136370 CN202620119U (en) | 2012-03-31 | 2012-03-31 | Robot for balancing rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220136370 CN202620119U (en) | 2012-03-31 | 2012-03-31 | Robot for balancing rehabilitation training |
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| Publication Number | Publication Date |
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| CN202620119U true CN202620119U (en) | 2012-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220136370 Expired - Lifetime CN202620119U (en) | 2012-03-31 | 2012-03-31 | Robot for balancing rehabilitation training |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102579225A (en) * | 2012-03-31 | 2012-07-18 | 王俊华 | Balance rehabilitation training robot |
| CN104083175A (en) * | 2014-06-10 | 2014-10-08 | 宋箭 | Pressure distribution platform based on region force check |
| CN107233075A (en) * | 2017-05-11 | 2017-10-10 | 杭州电子科技大学 | A kind of medical oscillating platform and its control system |
| CN107374586A (en) * | 2017-07-05 | 2017-11-24 | 杭州电子科技大学 | A kind of total balance of the body method for dynamically assessing and its device |
| CN107692970A (en) * | 2017-10-11 | 2018-02-16 | 青岛大学 | A kind of total balance of the body detection and rehabilitation training equipment |
-
2012
- 2012-03-31 CN CN 201220136370 patent/CN202620119U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102579225A (en) * | 2012-03-31 | 2012-07-18 | 王俊华 | Balance rehabilitation training robot |
| CN102579225B (en) * | 2012-03-31 | 2013-11-27 | 王俊华 | Balance rehabilitation training robot |
| CN104083175A (en) * | 2014-06-10 | 2014-10-08 | 宋箭 | Pressure distribution platform based on region force check |
| CN104083175B (en) * | 2014-06-10 | 2016-05-25 | 安徽埃力智能科技有限公司 | Based on the pressure distribution platform of region power effect |
| CN107233075A (en) * | 2017-05-11 | 2017-10-10 | 杭州电子科技大学 | A kind of medical oscillating platform and its control system |
| CN107233075B (en) * | 2017-05-11 | 2020-06-05 | 杭州电子科技大学 | Medical treatment swing platform and control system thereof |
| CN107374586A (en) * | 2017-07-05 | 2017-11-24 | 杭州电子科技大学 | A kind of total balance of the body method for dynamically assessing and its device |
| CN107692970A (en) * | 2017-10-11 | 2018-02-16 | 青岛大学 | A kind of total balance of the body detection and rehabilitation training equipment |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20121226 Effective date of abandoning: 20131127 |
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| RGAV | Abandon patent right to avoid regrant |