CN204723352U - A kind of horizontal upper and lower limbs rehabilitation training device - Google Patents

A kind of horizontal upper and lower limbs rehabilitation training device Download PDF

Info

Publication number
CN204723352U
CN204723352U CN201520368980.0U CN201520368980U CN204723352U CN 204723352 U CN204723352 U CN 204723352U CN 201520368980 U CN201520368980 U CN 201520368980U CN 204723352 U CN204723352 U CN 204723352U
Authority
CN
China
Prior art keywords
leg support
rod
handle
rehabilitation
action lever
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.)
Active
Application number
CN201520368980.0U
Other languages
Chinese (zh)
Inventor
张立勋
王勇
裴悦
王鹏飞
卢今伟
李海龙
孙朝阳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Engineering University
Original Assignee
Harbin Engineering University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN201520368980.0U priority Critical patent/CN204723352U/en
Application granted granted Critical
Publication of CN204723352U publication Critical patent/CN204723352U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

This utility model provides a kind of horizontal upper and lower limbs rehabilitation training device, comprise driver element, frame, lower limb rehabilitation unit, upper limb healing unit, driver element comprises drive motors, decelerator, clutch, lower limb rehabilitation unit comprises thigh support frame, little leg support, rehabilitation is taken turns, toggle-action lever, slide block guide rail mechanism, upper limb healing unit comprises hands handle, parallelogram linkage, driven by motor, reducer output shaft drives toggle-action lever reciprocating rotation angle, chute in the toggle-action lever of reciprocating rotation drives the slide block linear reciprocating motion in slide rail in lower limb rehabilitation mechanism, thus the linkage that thigh support frame and little leg support are formed rotate drive both legs carry out alternately bend and stretch rehabilitation training.This utility model structure is simply removable, can put and use on one's sick bed, and alleviate self heavy burden problem that Traditional Rehabilitation mechanism brings, rehabilitation is various informative, both can carry out passive rehabilitation training, also can be initiative rehabilitation training.

Description

A kind of horizontal upper and lower limbs rehabilitation training device
Technical field
This utility model relates to a kind of medical rehabilitation device, particularly relates to a kind of horizontal upper and lower limbs rehabilitation training device.
Background technology
Along with social senilization increasingly sharpens, the extremity dysfunction sufferer that sufferer causes gets more and more.Four limbs rehabilitation trainings of lower extremity paralysis, apoplexy sufferer receive the concern of domestic and international research worker, and traditional extremity rehabilitation institution major part for upper limb or lower limb function single, and most of lower limb rehabilitation mechanism also needs sufferer to bear deadweight to add the burden of training, be inconvenient to use.Therefore design that a kind of simultaneously can to carry out the horizontal convalescence device of rehabilitation training for extremity significant.
For the problems referred to above, domestic and international Patents is a lot, and function is also similar.Multi-functional upper and lower extremities rehabilitation training machine (patent No. 201120219501.0), propose a kind of foot-operated closing waist formula mechanism, comprise the upper limb trainer of support, raker beam, the exerciser for lower limbs of translator, rotating lifting gear, working arm and translator, upper and lower extremities training is reciprocating rotary, can not simulate gait training and sufferer sitting and bear self deadweight.Double-output shaft active passive upper and lower limbs rehabilitation training mechanism (patent No. 200910031938.9) comprises direct current generator and frame, direct current generator is located in frame, the output shaft of direct current generator is provided with force transducer and force transducer one end is connected with the output shaft of described direct current generator, the force transducer other end is connected with the second axle, second axle is provided with rehabilitation training of upper limbs machinery, lower limb are driven to carry out rehabilitation training by gear drive, lower limb mechanism length is unadjustable, sufferer and the complicated mechanism of different height cannot be adapted to, difficulty is installed in multi-gear engagement, people stands to use and bears self strength completely, thus allow rehabilitation training become not light, be inconvenient to use.
For the problems referred to above, the utility model proposes a kind of horizontal upper and lower limbs rehabilitation training device, people can lie in or half seat, alleviates own load when carrying out rehabilitation training.Single power source drives upper and lower extremities to carry out rehabilitation training simultaneously, rehabilitation mode is various, Passive Mode can be selected, driven by motor, reducer output shaft drives toggle-action lever reciprocating rotation angle, chute in the toggle-action lever of reciprocating rotation drives the slide block linear reciprocating motion in slide rail in lower limb rehabilitation mechanism, thus make the linkage reciprocating rotation that is made up of thigh support frame and little leg support drive both legs carry out alternately bend and stretch rehabilitation training, leg support frame adjustable length simultaneously, the patient of different height is facilitated to carry out rehabilitation training, while lower limb rehabilitation training, by toggle-action lever, the parallel-crank mechanism that handle and connecting rod is formed drives human arm to carry out rehabilitation training around fulcrum.Also can select aggressive mode, drive parallel-crank mechanism to rotate by sufferer hand exercise and drive leg rehabilitation exercise.
Summary of the invention
The purpose of this utility model is to make convalescence device by motor-drivenly passively carrying out upper and lower extremities rehabilitation modality, also moving the aggressive mode that lower limb carry out rehabilitation by hand Sports band, and can provide a kind of horizontal upper and lower limbs rehabilitation training device.
The purpose of this utility model is achieved in that and comprises moveable base plate, be arranged on the bottom bracket on moveable base plate, be arranged on two line slide rails at bottom bracket two ends, be arranged on the flange bracket in bottom bracket centre position and be arranged on the driver element of flange bracket upper end, described driver element comprises motor, decelerator and clutch, the driver element output shaft exported through clutch output is fixedly connected with the interlude of inverted T shape toggle-action lever, and inverted T shape toggle-action lever is sleeved on back shaft, back shaft is arranged on the relevant position on bottom bracket, slide block is separately installed with in every root line slide rail, each upper end of slide block is fixed with connecting axle, and described connecting axle is each passed through chute that inverted T shape toggle-action lever two ends arrange and extends the top of inverted T shape toggle-action lever, and the end of each connecting axle is connected to annular slide block, each annular slide block is also hinged with the first little leg support respectively, the end of the first little leg support is connected with one end of the second little leg support by the first detachable screw rod, the other end of the second little leg support is hinged by one end of an axle and first leg support, the other end of first leg support is connected with one end of second largest leg support by the second detachable screw rod, the other end of second largest leg support is hinged with the frame be arranged on base plate by No. two axles, and on the first little leg support, on second little leg support, massage wheels is respectively arranged with on first leg support He on second largest leg support, two ends of described inverted T shape toggle-action lever are hinged with first handle connecting rod and second handle connecting rod respectively, the end of first handle connecting rod and second handle connecting rod is respectively arranged with first handle and second handle, and be also hinged with connecting rod between first handle connecting rod and second handle connecting rod, described connecting rod, first handle connecting rod, second handle connecting rod and inverted T shape toggle-action lever form parallelogram linkage.
This utility model also comprises some architectural features like this:
1. moveable base plate described in is installed in bed or on ground.
2. each annular slide block described in is hinged with the first little leg support respectively and refers to that the inner ring of each annular slide block is provided with bearing, and the first little leg support to be coordinated with the inner ring of described bearing by end axis that to realize with annular slide block hinged.
Compared with prior art, the beneficial effects of the utility model are: the horizontal upper and lower limbs rehabilitation training device of the one that the utility model proposes, drive upper and lower extremities to carry out rehabilitation training by single power source simultaneously, and two kinds of rehabilitation modalities can be realized: 1, Passive Mode: drive toggle-action lever reciprocating rotation angle by reducer output shaft, chute in the toggle-action lever of reciprocating rotation drives the slide block linear reciprocating motion in slide rail in lower limb rehabilitation mechanism, thus drive the linkage reciprocating rotation that is made up of thigh support frame and little leg support drive both legs carry out alternately bend and stretch rehabilitation training, while lower limb rehabilitation training, by toggle-action lever, handle and connecting rod form parallel-crank mechanism around fulcrum and drive handle and connecting rod to carry out reciprocal linear displacement movement thus drive hand carry out rehabilitation training.2, aggressive mode: drive handle and connecting rod to promote parallelogram linkage toggle-action lever by sufferer hand driving handle and rotate, thus drive the reciprocal flexion and extension of linkage of thigh support frame little leg support formation thus realize leg rehabilitation exercise.And thigh shank leg support length is all adjustable, facilitate the patient of different height to carry out rehabilitation training, this utility model drive mechanism is simple, and novelty is high.Also namely feature of the present utility model is to use single driving element to drive upper and lower extremities to carry out rehabilitation training simultaneously, structure is simply removable, can be placed on sufferer sick bed and use, alleviate self heavy burden problem that Traditional Rehabilitation mechanism brings, rehabilitation is various informative, both motor can have been allowed to drive drives upper and lower extremities to carry out passive rehabilitation training simultaneously, also can clutch motor, and patient hand's movement progress parallelogram linkage rotates back and forth and drives lower limb flexion and extension to carry out initiative rehabilitation training.
Accompanying drawing explanation
Fig. 1 is population structure schematic diagram of the present utility model;
Fig. 2 is top view of the present utility model;
Fig. 3 is the schematic diagram laid on one's sick bed of the present utility model;
Fig. 4 is the structure diagram of leg rehabilitation part of the present utility model;
Fig. 5 is the concrete structure schematic diagram of toggle-action lever part of the present utility model;
Fig. 6 is the connected mode schematic diagram of calf support of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, this utility model is described in further detail.
Composition graphs 1 to Fig. 6, this utility model comprises moveable base plate 6, be arranged on the bottom bracket 10 on moveable base plate 6, be arranged on two line slide rails 12 at bottom bracket 10 two ends, be arranged on the flange bracket 9 in bottom bracket 10 centre position and be arranged on the driver element of flange bracket 9 upper end, described driver element comprises motor 7, decelerator 8 and clutch 25, the driver element output shaft 26 exported through clutch 25 outfan is fixedly connected with the interlude of inverted T shape toggle-action lever 5, and inverted T shape toggle-action lever 5 is sleeved on back shaft 28, back shaft 28 is arranged on the relevant position on bottom bracket 10, every root line slide rail 12 li is separately installed with slide block 23, each slide block 23 upper end is fixed with connecting axle 24, and described connecting axle 24 is each passed through chute that inverted T shape toggle-action lever 5 two ends arrange and extends the top of inverted T shape toggle-action lever, and the end of each connecting axle 24 is connected to annular slide block 11, each annular slide block 11 is also hinged with respectively the first little leg support 13, the end of the first little leg support 13 is connected with one end of the second little leg support 15 by the first detachable screw rod 14, the other end of the second little leg support 15 is hinged with one end of first leg support 17 by an axle 19, the other end of first leg support 17 is connected with one end of second largest leg support 18 by the second detachable screw rod 31, the other end of second largest leg support 18 is hinged with the frame 1 be arranged on base plate 6 by No. two axles 20, and on the first little leg support 13, on second little leg support 15, massage wheels 4 is respectively arranged with on first leg support 17 He on second largest leg support 18, two ends of described inverted T shape toggle-action lever 5 are hinged with first handle connecting rod 3-1 and second handle connecting rod 3-2 respectively, inverted T shape toggle-action lever 5 and first handle connecting rod 3-1 and second handle connecting rod 3-2 realize hinged by two bearing pins 27 specifically, the end of first handle connecting rod 3-1 and second handle connecting rod 3-2 is respectively arranged with first handle 2-1 and second handle 2-2, and be also hinged with connecting rod 16 between first handle connecting rod 3-1 and second handle connecting rod 3-2, described connecting rod 16, first handle connecting rod 3-1, second handle connecting rod 3-2 and inverted T shape toggle-action lever 5 form parallelogram linkage.
Described moveable base plate 6 is arranged on bed 30 or on ground.
Described each annular slide block 11 is hinged with the first little leg support 13 respectively and refers to that the inner ring of each annular slide block 11 is provided with bearing 21 and 29, and the first little leg support 13 to be coordinated with the inner ring of described bearing by end axis 22 that to realize with annular slide block 11 hinged.
Composition graphs 1, 2, 4, 5, motor 7 and decelerator 8, clutch 25 is arranged on flange bracket 9 together, flange bracket 9 is arranged on bottom bracket 10, motor output shaft 26 is coordinated by key with toggle-action lever 5 center inner ring, coordinated with back shaft 28 by bearing bottom toggle-action lever 5 inner ring, back shaft 28 is fixed on bottom bracket 10, motor 7 rotates and toggle-action lever 5 just can be driven around back shaft 28 axis reciprocating rotation certain angle, annular slide block 11 inner ring is coordinated with the first little leg support 13 terminal shaft 22 by bearing 29 and bearing 21, fixed connection shaft 24 bottom annular slide block 11 simultaneously, connecting axle 24 end has been attacked screw thread and has been connected with slide block 23, slide block 23 can move linearly along chute at slide rail 12.Connecting axle 24 is by the chute of inverted T shape toggle-action lever 5, inverted T shape toggle-action lever 5 rotates to an angle, stirring connecting axle 24 is with movable slider 23 along slide rail 12 straight reciprocating motion, thus pull slide block 11 to drive little leg support 13 to move, second little leg support 15 is hinged by an axle 19 with first leg support 17, it is hinged that second largest leg support 18 and frame 1 pass through No. two axles 20, first little leg support 13 is connected by regulating inverted T shape toggle-action lever 5 with the second little leg support 15, in like manner second largest leg support 18 and first leg support 17 are also connected by corresponding detachable screw rod (the second detachable screw rod 31), and each described leg support frame is all equipped with rotatable massage wheels 4, people's lower limb is put in the massage wheels 4 on leg support frame, because annular slide block 11 is indirectly along slide rail 12 rectilinear motion, thus promote two little leg supports 13, 15 drive two thigh support frames 17, 18 turn an angle around axle 20, due to inverted T shape toggle-action lever 5 reciprocating rotation thus drive two thigh support frames 17, 18 and two little leg supports 13, the 15 reciprocal flexion and extensions of linkage formed, realize lower limb and bend and stretch rehabilitation exercise.
Composition graphs 1,2,5, two handle 2-1 and 2-1 are fixed on the end of two handle and connecting rods, two handle and connecting rod 3-1 with 3-2, inverted T shape toggle-action levers 5 form flat quadrilateral connecting rod mechanism together with connecting rod 16, inverted T shape toggle-action lever 5 is around back shaft 28 reciprocating rotary certain angle, connecting rod 16 is simultaneously around central point synchronous rotary, drive two handle and connecting rod 3-1 and 3-2 linear reciprocal movement, staff is held with a firm grip two handle 2-1 and 2-1 thus realize hand rehabilitation exercise.In the active mode, clutch 25 clutch motor 7 can be used to export, staff pulls two handle 2-1 and 2-1 back and forth thus drives two handle and connecting rod 3-1 and 3-2 to promote inverted T shape toggle-action lever 5 reciprocating rotation certain angle, thus the linkage driving little leg support 13,15 and thigh support frame 17,18 to form turns an angle around axle 20, realize the alternately reciprocal flexion and extension of both legs.
Composition graphs 1,3,4,6, whole mechanism is fixed on base plate 6, can be positioned on sick bed 30 during work, and people carries out extremity rehabilitation exercise with prone position or half sitting posture.Due to thigh support frame of the present utility model and shank stent length all adjustable, the sufferer that therefore can adapt to different lower limb long carries out rehabilitation training.For little leg support, the first detachable screw rod 14 axle two ends have all been attacked screw thread and have been threaded with little leg support 13 and little leg support 15, and therefore can screw the first detachable screw rod 14 to regulate shank stent length, thigh support frame adjustable-length principle in like manner.
Alternatively this utility model comprises driver element, frame, lower limb rehabilitation unit, upper limb healing unit, and driver element is made up of motor 7, decelerator 8, clutch 25 etc.The output shaft 26 of driver element is connected with inverted T shape toggle-action lever 5 inner ring by key, motor 7 rotarily drives toggle-action lever 5 around central pivot point reciprocating rotation certain angle, chute in the inverted T shape toggle-action lever 5 of reciprocating rotation drives the annular slide block 11 indirectly linear reciprocating motion in line slide rail 12 in lower limb rehabilitation mechanism, and annular slide block 11 inner ring and the first shank stent ends axle 22 hinged, first leg support 17 one end is same hinged with the second little leg support 15, second largest leg support 18 other end is hinged with in frame 1, thus the linkage making slide block linear reciprocating motion drive two thigh support frames and two little leg supports to form rotate thus make both legs carry out alternately bend and stretch rehabilitation training, the linkage that also even if thigh support frame and little leg support are formed rotate drive both legs carry out alternately bend and stretch rehabilitation training, leg support frame adjustable length simultaneously, the patient of different height is facilitated to carry out rehabilitation training, while lower limb rehabilitation training, by toggle-action lever, the parallel-crank mechanism that handle and connecting rod is formed drives human arm to carry out rehabilitation training around fulcrum.Clutch 25 clutch in the active mode, now drives lower limb to carry out bending and stretching rehabilitation by hand exercise.Lower limb rehabilitation unit is primarily of formations such as thigh support frame, little leg support, rehabilitation wheel 4, inverted T shape toggle-action lever 5, slide block guide rail mechanisms.The parallelogram linkage that upper limb healing unit forms primarily of inverted T shape toggle-action lever 5, two handle and connecting rod 3-1 and 3-2, connecting rod 16 is formed, drive inverted T shape toggle-action lever 5 around central pivot point reciprocating rotary certain angle by the output shaft 26 of driver element, parallelogram linkage one group of parallel edges is formed by inverted T shape toggle-action lever 5 and connecting rod 16, two handle and connecting rod 3-1 and 3-2 form another to parallel edges, inverted T shape toggle-action lever 5 reciprocating rotation certain angle drives two handle and connecting rods to move back and forth, and staff is held hands handle thus carried out hand rehabilitation training.Thigh support frame in lower limb rehabilitation unit and the equal scalable of shank stent length, support all may be split into two parts, middle connection adjusting screw(rod), two ends are all threaded, the long adjusting screw(rod) of different lower limb can be adapted to thus regulate thigh support frame, shank stent length, the sufferer rehabilitation exercise of different height can be adapted to.Attitude mainly horizontal or half sitting when sufferer carries out rehabilitation training, whole device can be positioned over the place such as sick bed, sofa and use, and can move.

Claims (3)

1. a horizontal upper and lower limbs rehabilitation training device, it is characterized in that: comprise moveable base plate, be arranged on the bottom bracket on moveable base plate, be arranged on two line slide rails at bottom bracket two ends, be arranged on the flange bracket in bottom bracket centre position and be arranged on the driver element of flange bracket upper end, described driver element comprises motor, decelerator and clutch, the driver element output shaft exported through clutch output is fixedly connected with the interlude of inverted T shape toggle-action lever, and inverted T shape toggle-action lever is sleeved on back shaft, back shaft is arranged on the relevant position on bottom bracket, slide block is separately installed with in every root line slide rail, each upper end of slide block is fixed with connecting axle, and described connecting axle is each passed through chute that inverted T shape toggle-action lever two ends arrange and extends the top of inverted T shape toggle-action lever, and the end of each connecting axle is connected to annular slide block, each annular slide block is also hinged with the first little leg support respectively, the end of the first little leg support is connected with one end of the second little leg support by the first detachable screw rod, the other end of the second little leg support is hinged by one end of an axle and first leg support, the other end of first leg support is connected with one end of second largest leg support by the second detachable screw rod, the other end of second largest leg support is hinged with the frame be arranged on base plate by No. two axles, and on the first little leg support, on second little leg support, massage wheels is respectively arranged with on first leg support He on second largest leg support, two ends of described inverted T shape toggle-action lever are hinged with first handle connecting rod and second handle connecting rod respectively, the end of first handle connecting rod and second handle connecting rod is respectively arranged with first handle and second handle, and be also hinged with connecting rod between first handle connecting rod and second handle connecting rod, described connecting rod, first handle connecting rod, second handle connecting rod and inverted T shape toggle-action lever form parallelogram linkage.
2. the horizontal upper and lower limbs rehabilitation training device of one according to claim 1, is characterized in that: described moveable base plate is installed in bed or on ground.
3. the horizontal upper and lower limbs rehabilitation training device of one according to claim 1 and 2, it is characterized in that: described each annular slide block is hinged with the first little leg support respectively and refers to that the inner ring of each annular slide block is provided with bearing, and the first little leg support to be coordinated with the inner ring of described bearing by end axis that to realize with annular slide block hinged.
CN201520368980.0U 2015-06-02 2015-06-02 A kind of horizontal upper and lower limbs rehabilitation training device Active CN204723352U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520368980.0U CN204723352U (en) 2015-06-02 2015-06-02 A kind of horizontal upper and lower limbs rehabilitation training device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520368980.0U CN204723352U (en) 2015-06-02 2015-06-02 A kind of horizontal upper and lower limbs rehabilitation training device

Publications (1)

Publication Number Publication Date
CN204723352U true CN204723352U (en) 2015-10-28

Family

ID=54381742

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520368980.0U Active CN204723352U (en) 2015-06-02 2015-06-02 A kind of horizontal upper and lower limbs rehabilitation training device

Country Status (1)

Country Link
CN (1) CN204723352U (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104905938A (en) * 2015-06-02 2015-09-16 哈尔滨工程大学 Horizontal rehabilitation training device for upper and lower limbs
CN106109179A (en) * 2016-08-20 2016-11-16 何玲 Limbs recover assisted care device
CN107569367A (en) * 2017-10-18 2018-01-12 袁方 A kind of lower limb rehabilitation training equipment
CN109730899A (en) * 2019-03-22 2019-05-10 兰州大学 A kind of joint motions recovery device
CN110037879A (en) * 2019-04-03 2019-07-23 郭艳华 A kind of clinical obstetrics midwifery device
CN110584951A (en) * 2019-09-29 2019-12-20 赤峰学院 Rehabilitation physiotherapy training device for acroparalysis
WO2020037710A1 (en) * 2018-08-21 2020-02-27 许旸晖 Post-surgery rehabilitation exercise apparatus for use by patient of stanford type a aortic dissection
CN111514533A (en) * 2020-04-30 2020-08-11 郭萌 Independently adjust tensile knee joint rehabilitation training ware

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104905938A (en) * 2015-06-02 2015-09-16 哈尔滨工程大学 Horizontal rehabilitation training device for upper and lower limbs
CN104905938B (en) * 2015-06-02 2017-01-25 哈尔滨工程大学 Horizontal rehabilitation training device for upper and lower limbs
CN106109179A (en) * 2016-08-20 2016-11-16 何玲 Limbs recover assisted care device
CN107569367A (en) * 2017-10-18 2018-01-12 袁方 A kind of lower limb rehabilitation training equipment
WO2020037710A1 (en) * 2018-08-21 2020-02-27 许旸晖 Post-surgery rehabilitation exercise apparatus for use by patient of stanford type a aortic dissection
CN109730899A (en) * 2019-03-22 2019-05-10 兰州大学 A kind of joint motions recovery device
CN110037879A (en) * 2019-04-03 2019-07-23 郭艳华 A kind of clinical obstetrics midwifery device
CN110584951A (en) * 2019-09-29 2019-12-20 赤峰学院 Rehabilitation physiotherapy training device for acroparalysis
CN111514533A (en) * 2020-04-30 2020-08-11 郭萌 Independently adjust tensile knee joint rehabilitation training ware
CN111514533B (en) * 2020-04-30 2021-04-20 郭萌 Independently adjust tensile knee joint rehabilitation training ware

Similar Documents

Publication Publication Date Title
CN103932870B (en) Bionic Design lower limb rehabilitation training ectoskeleton
CN104873360B (en) A kind of upper limb healing exoskeleton robot driving based on lasso trick
CN204468616U (en) Three-freedom-degree hybrid formula Chinese massage robot
CN102113949B (en) Exoskeleton-wearable rehabilitation robot
CN102327173B (en) Wearable exoskeleton lower limb rehabilitation robot
CN101357097B (en) Five freedom degree ectoskeleton type upper limb rehabilitation robot
CN104840331B (en) A kind of passive and synchronous rehabilitation trainer of upper and lower limbs active
CN205094942U (en) Paralyzed limb joint rehabilitation treatment device for neurology department
CN203060693U (en) Multifunctional splitting tiepiece device
CN104840334B (en) A kind of finger motion function rehabilitation training devicess
CN2815337Y (en) Sitting-posture upper limb rehabilitation training machine
CN101584636B (en) Double-output shaft active passive upper and lower limbs rehabilitation training mechanism
CN203436522U (en) Multifunctional limb rehabilitation device
CN103656975B (en) A kind of flexible rehabilitation trainer
CN105832508B (en) A kind of medical leg massage machine people
CN103919659B (en) The autonomous recovery training appliance for recovery of a kind of shoulder joint
CN104287944B (en) A kind of upper limb rehabilitation robot
CN105943308A (en) Hand exoskeleton device for rehabilitation training
CN202505695U (en) Passive exerciser for limbs
CN102499857A (en) Exoskeleton wearable upper limb rehabilitation robot
CN105997441B (en) Wearable lower limb healing robot based on ectoskeleton
CN103006416B (en) Mechanical lower-limb rehabilitation robot walker device
CN106924013A (en) A kind of dermaskeleton type upper limb rehabilitation image training robot
CN204121372U (en) A kind of wearable lower limb exoskeleton walk help decompression robot device
CN102247258B (en) Robot for rehabilitation training of upper and lower limbs

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant