CN204192809U - Multi-functional ankle joint orthotic device - Google Patents
Multi-functional ankle joint orthotic device Download PDFInfo
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- CN204192809U CN204192809U CN201420632154.8U CN201420632154U CN204192809U CN 204192809 U CN204192809 U CN 204192809U CN 201420632154 U CN201420632154 U CN 201420632154U CN 204192809 U CN204192809 U CN 204192809U
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- 210000000544 articulatio talocruralis Anatomy 0.000 title abstract description 11
- 244000309466 calf Species 0.000 claims abstract description 38
- 210000003423 ankle Anatomy 0.000 claims abstract description 16
- 206010062575 Muscle contracture Diseases 0.000 abstract description 5
- 208000006111 contracture Diseases 0.000 abstract description 5
- 210000001519 tissue Anatomy 0.000 abstract description 5
- 206010028289 Muscle atrophy Diseases 0.000 abstract description 3
- 230000008602 contraction Effects 0.000 abstract description 3
- 230000006378 damage Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 230000020763 muscle atrophy Effects 0.000 abstract description 3
- 201000000585 muscular atrophy Diseases 0.000 abstract description 3
- 206010023201 Joint contracture Diseases 0.000 abstract description 2
- 208000030886 Traumatic Brain injury Diseases 0.000 abstract description 2
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 238000001356 surgical procedure Methods 0.000 abstract description 2
- 230000009529 traumatic brain injury Effects 0.000 abstract description 2
- 208000025978 Athletic injury Diseases 0.000 abstract 1
- 206010041738 Sports injury Diseases 0.000 abstract 1
- 210000002683 foot Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 208000005392 Spasm Diseases 0.000 description 2
- 230000000750 progressive effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 208000010040 Sprains and Strains Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 206010008129 cerebral palsy Diseases 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
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Abstract
本实用新型公开了一种多功能踝关节矫形器，包括小腿固定架、踝足固定架、盘式铰链、自锁型气弹簧、固定装置和开关，小腿固定架和踝足固定架通过盘式铰链连接；开关控制两个自锁型气弹簧运动。本实用新型可用单开关同时控制双侧自锁型气弹簧的伸缩，实现自由锁定临床所需要任何角度的目的，使踝关节挛缩组织发生塑性形变，改善踝关节关节活动范围，又可以提供支撑、稳定和减轻负荷等作用，可应用于脑卒中、脑外伤后踝关节挛缩、踝关节术后及运动损伤后的康复治疗。本实用新型改善组织挛缩时所需治疗时间短、效果明显，避免了长时间佩戴支具造成肌肉萎缩、主动康复训练不足的问题，患者本人控制牵伸的角度还可降低由于过度牵伸而造成损伤的风险。
The utility model discloses a multifunctional ankle orthosis, which comprises a calf fixing frame, an ankle-foot fixing frame, a disc hinge, a self-locking gas spring, a fixing device and a switch. Hinged connection; the switch controls the movement of two self-locking gas springs. The utility model can simultaneously control the expansion and contraction of the self-locking gas spring on both sides with a single switch, so as to realize the purpose of freely locking any angle required by clinical practice, make the contracture tissue of the ankle joint plastically deform, improve the range of motion of the ankle joint, and provide support, Stabilize and reduce load, etc., and can be applied to rehabilitation after stroke, ankle joint contracture after traumatic brain injury, ankle surgery and sports injury. The utility model improves tissue contracture with short treatment time and obvious effect, and avoids the problems of muscle atrophy and insufficient active rehabilitation training caused by wearing the brace for a long time. risk of injury.
Description
技术领域technical field
本实用新型涉及一种矫形器，尤其涉及一种多功能踝关节矫形器。The utility model relates to an orthosis, in particular to a multifunctional ankle orthosis.
背景技术Background technique
踝关节骨折、严重扭伤后一般都需要固定支撑，传统方法是外固定支架、夹板、捆绑带，上述方法的不足主要有应用不方便，支撑定位不准确，治疗角度不能按照临床要求随时调整等，这些都给患者康复过程带来不便。Ankle joint fractures and severe sprains generally require fixed support. The traditional methods are external fixation brackets, splints, and straps. The shortcomings of the above methods mainly include inconvenient application, inaccurate support positioning, and the treatment angle cannot be adjusted at any time according to clinical requirements. These all bring inconvenience to patient recovery process.
脑卒中、脑外伤、小儿脑瘫、踝关节术后等情况下常会引起踝关节痉挛或者挛缩，恢复踝关节活动度可有效改善患者下肢功能。静态进展型矫形器(static progressive splint,SPS)治疗组织挛缩和痉挛具有很好的安全性和依从性，其以应力松弛为原理实现对软组织牵伸，从而达到增加关节活动范围的目的，可避免长时间佩戴支具造成肌肉萎缩、主动康复训练不足的问题，另外患者本人控制牵伸的角度还可以降低由于过度牵伸而造成损伤的风险。但目前问题是静态进展型矫形器仍未解决纵向压力过大时矫形器变形和关节终末角度牵伸力量不足的问题。Stroke, traumatic brain injury, cerebral palsy in children, ankle joint surgery and other conditions often cause ankle joint spasm or contracture. Restoring the range of motion of the ankle joint can effectively improve the function of the lower limbs of the patient. The static progressive splint (SPS) treatment of tissue contracture and spasm has good safety and compliance. It uses the principle of stress relaxation to stretch the soft tissue, so as to achieve the purpose of increasing the range of motion of the joint, which can avoid Wearing the brace for a long time will cause muscle atrophy and insufficient active rehabilitation training. In addition, the patient's own control of the angle of drafting can also reduce the risk of injury due to excessive drafting. However, the current problem is that the static progressive orthosis still has not solved the problems of deformation of the orthosis and insufficient draft strength of the joint terminal angle when the longitudinal pressure is too large.
实用新型内容Utility model content
本实用新型目的提供一种多功能踝关节矫形器，所述多功能踝关节矫形器根据应力松弛原理制备，同时具有经济、组装方便、疗效明显和易于自我操控等优点。The purpose of the utility model is to provide a multifunctional ankle orthosis, which is prepared according to the principle of stress relaxation, and has the advantages of economy, convenient assembly, obvious curative effect and easy self-control.
本实用新型解决技术问题采用如下技术方案：一种多功能膝关节矫形器，包括小腿固定架、踝足固定架、盘式铰链、自锁型气弹簧、固定装置和开关；The utility model adopts the following technical solutions to solve the technical problems: a multifunctional knee orthosis, including a calf fixing frame, an ankle-foot fixing frame, a disc hinge, a self-locking gas spring, a fixing device and a switch;
所述小腿固定架和踝足固定架通过盘式铰链连接；The calf fixing frame and the ankle-foot fixing frame are connected by a disc hinge;
所述自锁型气弹簧的数量为两个，两个所述自锁型气弹簧分别设置于所述小腿固定架和踝足固定架的两侧；且所述自锁型气弹簧可以控制所述小腿固定架和踝足固定架之间产生相对运动；The number of the self-locking gas springs is two, and the two self-locking gas springs are respectively arranged on both sides of the calf fixing frame and the ankle-foot fixing frame; and the self-locking gas springs can control all Relative movement occurs between the lower leg fixing frame and the ankle-foot fixing frame;
所述开关控制两个所述自锁型气弹簧运动；The switch controls the movement of the two self-locking gas springs;
所述小腿固定架和踝足固定架上均设有固定装置。Both the lower leg fixing frame and the ankle-foot fixing frame are provided with fixing devices.
可选的，所述的自锁型气弹簧包括活塞缸、活塞杆和连接杆，所述活塞杆设置于所述活塞缸内，所述连接杆固定于所述活塞杆伸出所述活塞缸的一端；所述小腿固定架两侧的中部分别设置有第一转轴，所述踝足固定架两侧的中部分别设置有第二转轴，所述连接杆可转动地设置于所述第一转轴上，所述活塞缸可转动地设置于所述第二转轴上。Optionally, the self-locking gas spring includes a piston cylinder, a piston rod and a connecting rod, the piston rod is arranged in the piston cylinder, and the connecting rod is fixed on the piston rod extending out of the piston cylinder one end of one end; the middle parts on both sides of the calf fixing frame are respectively provided with a first rotating shaft, and the middle parts on both sides of the ankle-foot fixing frame are respectively provided with a second rotating shaft, and the connecting rod is rotatably arranged on the first rotating shaft Above, the piston cylinder is rotatably arranged on the second rotating shaft.
可选的，所述第一转轴与所述小腿固定架固定成一体，所述第二转轴与所述踝足固定架固定成一体。Optionally, the first rotating shaft is fixed integrally with the lower leg fixing frame, and the second rotating shaft is fixed integrally with the ankle-foot fixing frame.
可选的，所述固定装置包括粘扣带和固定扣，粘扣带的一端固定在小腿固定架或踝足固定架的一侧，固定扣固定在小腿固定架或踝足固定架另一侧与粘扣带相应的位置上，所述固定扣可以将所述粘扣带的另一端固定。Optionally, the fixing device includes a Velcro strap and a fixing buckle, one end of the Velcro strap is fixed on one side of the calf fixing frame or the ankle-foot fixing frame, and the fixing buckle is fixed on the other side of the calf fixing frame or the ankle-foot fixing frame At a position corresponding to the Velcro tape, the fixing buckle can fix the other end of the Velcro tape.
可选的，所述小腿固定架的外侧面还开设有用于容置所述开关的卡槽。Optionally, a slot for accommodating the switch is provided on the outer surface of the lower leg fixing frame.
本实用新型具有如下有益效果：本实用新型的多功能踝关节矫形器可用单开关同时控制双侧自锁型气弹簧的伸缩，可实现自由锁定临床所需要任何角度的目的，依据应力松弛原理使踝关节挛缩组织发生塑性形变，改善踝关节关节活动范围，同时又可以提供支撑、稳定和减轻负荷等作用，可应用于脑卒中、脑外伤后踝关节挛缩、踝关节术后及运动损伤后的康复治疗。本实用新型改善组织挛缩时所需治疗时间短、效果明显，避免了长时间佩戴支具造成肌肉萎缩、主动康复训练不足的问题，患者本人控制牵伸的角度还可降低由于过度牵伸而造成损伤的风险，同时其具有构造简单、成本低廉、穿戴方便等优点，便于推广应用。The utility model has the following beneficial effects: the multifunctional ankle orthosis of the utility model can control the expansion and contraction of the double-sided self-locking gas spring at the same time with a single switch, and can realize the purpose of freely locking any angle required by the clinic. The plastic deformation of the ankle joint contracture tissue can improve the range of motion of the ankle joint, and at the same time provide support, stability and reduce load. recovery treatment. The utility model improves tissue contracture with short treatment time and obvious effect, and avoids the problems of muscle atrophy and insufficient active rehabilitation training caused by wearing the brace for a long time. The risk of damage, and at the same time it has the advantages of simple structure, low cost, easy to wear, etc., which is convenient for popularization and application.
附图说明Description of drawings
图1为本实用新型的多功能踝关节矫形器的结构示意图；Fig. 1 is the structural representation of multifunctional ankle joint orthosis of the present utility model;
图2是本实用新型的自锁型气弹簧的结构示意图；Fig. 2 is the structural representation of the self-locking type gas spring of the present utility model;
图中标记示意为：1-小腿固定架；2-踝足固定架；3-盘式铰链；4-自锁型气弹簧；6-固定装置；7-开关；8-连接线；9-活塞缸；10-连接杆；12-活塞杆；13-卡槽；14-固定扣；15-粘扣带；51-第一转轴；52-第二转轴。The marks in the figure are as follows: 1-calf fixing frame; 2-ankle-foot fixing frame; 3-disc hinge; 4-self-locking gas spring; 6-fixing device; 7-switch; 8-connecting line; 9-piston Cylinder; 10-connecting rod; 12-piston rod; 13-drawing slot; 14-fixed buckle;
具体实施方式Detailed ways
下面结合实施例及附图对本实用新型的技术方案作进一步阐述。Below in conjunction with embodiment and accompanying drawing, the technical solution of the utility model is further elaborated.
实施例1Example 1
本实施例提供了一种多功能踝关节矫形器，包括小腿固定架1、踝足固定架2、盘式铰链3、自锁型气弹簧4、固定装置6和开关7；This embodiment provides a multifunctional ankle orthosis, including a calf fixing frame 1, an ankle-foot fixing frame 2, a disc hinge 3, a self-locking gas spring 4, a fixing device 6 and a switch 7;
所述小腿固定架1和踝足固定架2的横截面均为U形，使用者在使用所述多功能踝关节矫形器时，可以将其足部放置于所述踝足固定架2的凹槽内，将其小腿放置于所述小腿固定架1的凹槽内；The cross-sections of the calf fixing frame 1 and the ankle-foot fixing frame 2 are both U-shaped, and when the user uses the multi-functional ankle orthosis, he can place his foot in the concave hole of the ankle-foot fixing frame 2. In the groove, place its shank in the groove of the shank fixing frame 1;
所述小腿固定架1和踝足固定架2通过盘式铰链3连接，且当所述小腿固定架1和踝足固定架2在一条直线上时，所述U形小腿固定架和U形踝足固定架的开口均向上，即，当所述小腿固定架1和所述踝足固定架2呈直角状态时，所述U形小腿固定架和U形踝足固定架的开口相对；The calf fixing frame 1 and the ankle-foot fixing frame 2 are connected by a disc hinge 3, and when the calf fixing frame 1 and the ankle-foot fixing frame 2 are in a straight line, the U-shaped calf fixing frame and the U-shaped ankle The openings of the foot holders are all upwards, that is, when the calf holder 1 and the ankle-foot holder 2 are at right angles, the openings of the U-shaped calf holder and the U-shaped ankle-foot holder are opposite;
所述自锁型气弹簧4的一端连接于所述小腿固定架1，另一端连接于所述踝足固定架2，以当所述自锁型气弹簧4的活塞杆伸出或缩回时，所述小腿固定架1和踝足固定架2可以相对运动，更具体地，所述小腿固定架1和踝足固定架2可以绕所述盘式铰链3转动；更优选地，为提高所述多功能踝关节矫形器的稳定性更强，且不易变形，所述自锁型气弹簧4的数量可以为2个，所述两个自锁型气弹簧4分别设置于所述小腿固定架1和踝足固定架2的两侧，且所述2个自锁型气弹簧4可以通过一个开关7控制其运动，所述开关7可以为常见的自锁型气弹簧的控制开关。One end of the self-locking gas spring 4 is connected to the calf fixing frame 1, and the other end is connected to the ankle-foot fixing frame 2, so that when the piston rod of the self-locking gas spring 4 is stretched out or retracted , the calf fixing frame 1 and the ankle-foot fixing frame 2 can move relatively, more specifically, the calf fixing frame 1 and the ankle-foot fixing frame 2 can rotate around the disc hinge 3; more preferably, in order to improve the The stability of the multifunctional ankle orthosis is stronger, and it is not easily deformed. The number of the self-locking gas springs 4 can be 2, and the two self-locking gas springs 4 are respectively arranged on the calf holder 1 and the two sides of the ankle-foot fixing frame 2, and the movement of the two self-locking gas springs 4 can be controlled by a switch 7, and the switch 7 can be a control switch of a common self-locking gas spring.
所述小腿固定架1和踝足固定架2上均设置有固定装置6，以当使用者将小腿或足部放置入所述小腿固定架1或踝足固定架2时，所述固定装置6可以将所述小腿或足部固定于所述小腿固定架1或踝足固定架2。Both the calf fixing frame 1 and the ankle-foot fixing frame 2 are provided with a fixing device 6, so that when the user puts the calf or the foot into the calf fixing frame 1 or the ankle-foot fixing frame 2, the fixing device 6 The lower leg or foot can be fixed to the lower leg fixing frame 1 or the ankle-foot fixing frame 2 .
本实施例中，所述盘式铰链3为常见的盘式铰链，即所述盘式铰链为两个铰接在一起的转盘，此时，所述小腿固定架1一侧的一端连接所述盘式铰链3的一个转盘，所述踝足固定架2一侧的一端连接所述盘式铰链的另外一个转盘；更优选地，为提高所述小腿固定架1和踝足固定架2的连接强度，所述盘式铰链3的数量为2个，分别设置于踝足的两侧。In this embodiment, the disc hinge 3 is a common disc hinge, that is, the disc hinge is two turntables hinged together. One end of one side of the ankle-foot fixing frame 2 is connected to another rotating disk of the disc hinge; more preferably, in order to improve the connection strength between the calf fixing frame 1 and the ankle-foot fixing frame 2 , the number of the disc hinges 3 is 2, which are respectively arranged on both sides of the ankle and foot.
本实施例中，优选地，所述盘式铰链3的边缘处分别设置有角度标志，以通过所述角度标志准确地指示所述小腿固定架1和踝足固定架2之间所形成的夹角的度数。In this embodiment, preferably, angle marks are respectively provided at the edges of the disc hinge 3, so as to accurately indicate the clamp formed between the calf fixing frame 1 and the ankle-foot fixing frame 2 through the angle marks. The degree of the angle.
为避免自锁型气弹簧4妨碍所述多功能踝关节矫形器的屈伸，本实施例中，所述的自锁型气弹簧4包括活塞缸9、活塞杆12和连接杆10，所述活塞杆12设置于所述活塞缸9内，并能沿所述活塞缸9的内壁滑动，所述连接杆10固定于所述活塞杆12伸出所述活塞缸9的一端，且操作所述自锁型气弹簧4的针阀位于所述连接杆10内，所述开关7可以操作针阀运动，从而实现所述自锁型气弹簧的运动；所述小腿固定架1的中部设置有第一转轴51，所述踝足固定架2的中部设置有第二转轴52，所述活塞缸9可转动地设置于所述第二转轴52上，所述连接杆10可转动地设置于所述第一转轴51上；此时，自锁型气弹簧4与小腿固定架1和踝足固定架2之间有一定距离，避免了自锁型气弹簧4妨碍矫形器的屈伸，同时自锁型气弹簧可以采用螺纹连接方式活动连接到小腿固定架1和踝足固定架2上，可根据需要随时更换和拆卸自锁型气弹簧4，方便了使用和保存。In order to prevent the self-locking gas spring 4 from hindering the flexion and extension of the multifunctional ankle orthosis, in this embodiment, the self-locking gas spring 4 includes a piston cylinder 9, a piston rod 12 and a connecting rod 10, and the piston Rod 12 is arranged in described piston cylinder 9, and can slide along the inner wall of described piston cylinder 9, and described connecting rod 10 is fixed on the end that described piston rod 12 stretches out described piston cylinder 9, and operates described automatic The needle valve of the lock-type gas spring 4 is located in the connecting rod 10, and the switch 7 can operate the needle valve to move, thereby realizing the movement of the self-locking gas spring; the middle part of the calf holder 1 is provided with a first A rotating shaft 51, a second rotating shaft 52 is arranged in the middle of the ankle-foot fixing frame 2, the piston cylinder 9 is rotatably arranged on the second rotating shaft 52, and the connecting rod 10 is rotatably arranged on the second rotating shaft On a rotating shaft 51; at this time, there is a certain distance between the self-locking gas spring 4 and the calf fixing frame 1 and the ankle-foot fixing frame 2, which prevents the self-locking gas spring 4 from hindering the flexion and extension of the orthosis, while the self-locking gas spring 4 The spring can be movably connected to the calf fixing frame 1 and the ankle-foot fixing frame 2 by threaded connection, and the self-locking gas spring 4 can be replaced and disassembled at any time as required, which facilitates use and storage.
本实施例中，可以通过连接线8将连接杆10处的针阀与开关7连接，使开关7同时控制两个自锁型气弹簧4伸缩，从而任意改变小腿固定架1和踝足固定架2之间的夹角。In this embodiment, the needle valve at the connecting rod 10 can be connected to the switch 7 through the connecting wire 8, so that the switch 7 can control the expansion and contraction of the two self-locking gas springs 4 at the same time, thereby changing the calf fixing frame 1 and the ankle-foot fixing frame arbitrarily. The angle between 2.
本实施例中，优选地，所述第一转轴51与所述小腿固定架固定成一体，所述第二转轴52与所述踝足固定架固定成一体。In this embodiment, preferably, the first rotating shaft 51 is fixed integrally with the calf fixing frame, and the second rotating shaft 52 is fixed integrally with the ankle-foot fixing frame.
本实施例中，可选的，所述小腿固定架1的外侧面还开设有用于容置所述开关7的卡槽13，当开关7不用时，可放置在小腿固定架1的卡槽13内，此时患者可以自己操控开关，根据临床需要任意锁定小腿固定架1和踝足固定架2之间的夹角。In this embodiment, optionally, the outer surface of the calf fixing frame 1 is also provided with a card slot 13 for accommodating the switch 7. When the switch 7 is not in use, it can be placed in the card slot 13 of the calf fixing frame 1. At this time, the patient can control the switch by himself, and arbitrarily lock the angle between the calf fixing frame 1 and the ankle-foot fixing frame 2 according to clinical needs.
本实施例中，所述固定装置6包括粘扣带15和固定扣14，粘扣带15的一端固定在小腿固定架1和踝足固定架2的一侧，固定扣14固定在小腿固定架1和踝足固定架2另一侧与粘扣带15相应的位置上，所述固定扣14可以将所述粘扣带15的另一端固定。此时，患者(使用者)无需他人帮助可自行拆卸矫形器。In the present embodiment, the fixing device 6 includes a Velcro 15 and a fixing buckle 14, one end of the Velcro 15 is fixed on one side of the calf fixing frame 1 and the ankle-foot fixing frame 2, and the fixing buckle 14 is fixed on the calf fixing frame 1 and the other side of the ankle-foot fixing frame 2 at the position corresponding to the Velcro 15 , the fixing buckle 14 can fix the other end of the Velcro 15 . At this point, the patient (user) can disassemble the orthosis without the help of others.
以上实施例的先后顺序仅为便于描述，不代表实施例的优劣。The sequence of the above embodiments is only for convenience of description, and does not represent the advantages or disadvantages of the embodiments.
最后应说明的是：以上实施例仅用以说明本实用新型的技术方案，而非对其限制；尽管参照前述实施例对本实用新型进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本实用新型各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present utility model, and are not intended to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit of the technical solutions of the various embodiments of the present invention. and range.
Claims (5)
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| CN201420632154.8U CN204192809U (en) | 2014-10-28 | 2014-10-28 | Multi-functional ankle joint orthotic device |
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| CN105012062A (en) * | 2015-08-04 | 2015-11-04 | 江苏农林职业技术学院 | Ankle foot orthosis |
| CN105943319A (en) * | 2016-05-26 | 2016-09-21 | 成都润惠科技有限公司 | An exoskeleton self-adaptive lower limb assisting device |
| CN105943318A (en) * | 2016-05-26 | 2016-09-21 | 成都润惠科技有限公司 | An assisting type ankle exoskeleton device |
| CN106109184A (en) * | 2016-07-28 | 2016-11-16 | 桂林电子科技大学信息科技学院 | Ankle from sprains assists walking device |
| CN106821683A (en) * | 2017-03-23 | 2017-06-13 | 山东省文登整骨医院 | Ankle convalescence device |
| KR101770517B1 (en) | 2016-07-04 | 2017-08-22 | 윤성우 | Calf tendon compensators |
| KR101770401B1 (en) * | 2015-12-22 | 2017-08-24 | 주식회사 제이이랩 | Electrical stretching apparatus |
| KR20170096991A (en) * | 2015-12-22 | 2017-08-25 | 주식회사 제이이랩 | Electrical stretching apparatus |
| CN107307979A (en) * | 2017-08-29 | 2017-11-03 | 张伟 | A kind of ankle pump |
| CN107789103A (en) * | 2017-10-31 | 2018-03-13 | 黑龙江省科学院自动化研究所 | A kind of three-dimensional ankle-foot orthosis |
| CN108175556A (en) * | 2017-12-29 | 2018-06-19 | 山东中医药大学附属医院 | Fracture of ankle joint adjuvant therapy device |
| CN109106494A (en) * | 2018-08-10 | 2019-01-01 | 田义军 | A kind of ankle joint fusion device |
| CN109481114A (en) * | 2018-11-27 | 2019-03-19 | 中国科学院合肥物质科学研究院 | A kind of adjustable ankle-foot orthosis of freedom degree for patients with cerebral apoplexy |
| CN109834700A (en) * | 2019-02-28 | 2019-06-04 | 中国科学院深圳先进技术研究院 | Knee joint bearing part and exoskeleton robot |
| CN110039516A (en) * | 2019-02-28 | 2019-07-23 | 中国科学院深圳先进技术研究院 | Ankle-joint bearing part and exoskeleton robot |
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| CN105012062A (en) * | 2015-08-04 | 2015-11-04 | 江苏农林职业技术学院 | Ankle foot orthosis |
| KR102329288B1 (en) * | 2015-12-22 | 2021-11-22 | 주식회사 제이이랩 | Electrical stretching apparatus |
| KR101770401B1 (en) * | 2015-12-22 | 2017-08-24 | 주식회사 제이이랩 | Electrical stretching apparatus |
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| CN105943319A (en) * | 2016-05-26 | 2016-09-21 | 成都润惠科技有限公司 | An exoskeleton self-adaptive lower limb assisting device |
| CN105943318A (en) * | 2016-05-26 | 2016-09-21 | 成都润惠科技有限公司 | An assisting type ankle exoskeleton device |
| KR101770517B1 (en) | 2016-07-04 | 2017-08-22 | 윤성우 | Calf tendon compensators |
| CN106109184A (en) * | 2016-07-28 | 2016-11-16 | 桂林电子科技大学信息科技学院 | Ankle from sprains assists walking device |
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| CN107307979A (en) * | 2017-08-29 | 2017-11-03 | 张伟 | A kind of ankle pump |
| CN107789103A (en) * | 2017-10-31 | 2018-03-13 | 黑龙江省科学院自动化研究所 | A kind of three-dimensional ankle-foot orthosis |
| CN108175556A (en) * | 2017-12-29 | 2018-06-19 | 山东中医药大学附属医院 | Fracture of ankle joint adjuvant therapy device |
| CN108175556B (en) * | 2017-12-29 | 2020-07-07 | 山东中医药大学附属医院 | Ankle fracture adjuvant treatment device |
| CN109106494A (en) * | 2018-08-10 | 2019-01-01 | 田义军 | A kind of ankle joint fusion device |
| CN109481114A (en) * | 2018-11-27 | 2019-03-19 | 中国科学院合肥物质科学研究院 | A kind of adjustable ankle-foot orthosis of freedom degree for patients with cerebral apoplexy |
| CN109481114B (en) * | 2018-11-27 | 2023-09-26 | 中国科学院合肥物质科学研究院 | An ankle-foot orthosis with adjustable degrees of freedom for stroke patients |
| CN109834700A (en) * | 2019-02-28 | 2019-06-04 | 中国科学院深圳先进技术研究院 | Knee joint bearing part and exoskeleton robot |
| CN110039516A (en) * | 2019-02-28 | 2019-07-23 | 中国科学院深圳先进技术研究院 | Ankle-joint bearing part and exoskeleton robot |
| CN110039516B (en) * | 2019-02-28 | 2022-03-25 | 中国科学院深圳先进技术研究院 | Ankle joint support member and exoskeleton robot |
| CN112932924A (en) * | 2021-01-25 | 2021-06-11 | 沈阳市儿童医院 | Portable feedback type ankle joint function rehabilitation device |
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| CN116495074A (en) * | 2022-01-19 | 2023-07-28 | 广东纯米电器科技有限公司 | Robot foot connection structure, control method and device thereof, and storage medium |
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Effective date of registration: 20191022 Address after: 100036 Fuxing Road 28, Beijing, Haidian District Patentee after: CHINESE PLA GENERAL Hospital Address before: 100036 Fuxing Road 28, Beijing, Haidian District Co-patentee before: Jia Zishan Patentee before: Gao Yueming |
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