CN205126722U - Low limbs function rehabilitation training robot - Google Patents
Low limbs function rehabilitation training robot Download PDFInfo
- Publication number
- CN205126722U CN205126722U CN201520719032.7U CN201520719032U CN205126722U CN 205126722 U CN205126722 U CN 205126722U CN 201520719032 U CN201520719032 U CN 201520719032U CN 205126722 U CN205126722 U CN 205126722U
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- fixed station
- pedipulator
- thigh
- shank
- seat
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Abstract
The utility model provides a low limbs function rehabilitation training robot mainly includes adjustment mechanism about base, seat, mechanical legs, two mechanical legs fixed stations, two mechanical legs and counter weight control box. The utility model discloses because the mechanical legs fixed station body with one side divide into fixed station upper portion and fixed station lower part, fixed station upper portion can outwards be rotated, on patient during the seat, can be with the mechanical legs outward turning, convenient recovered teacher's operation, control adjustment mechanism owing to set up mechanical legs, the width between two mechanical legs is adjusted to the accessible, satisfies the different training person's of hip joint width training requirement, because two mechanical legs's thigh mechanism, shank mechanism and ankle articulated mechanism are equipped with actuating mechanism respectively, can realize the athletic training of simple joint and the exercise of mobility, also can realize single leg and two mechanical legs's harmonious athletic training. Hip joint, knee joint and ankle joint independent control mechanism can realize the regulation of big shank length, realize individualized training.
Description
Technical field
This utility model relates to medical rehabilitation instrument, particularly relates to a kind of lower limb function recovery exercising robot.
Background technology
Clinical proof, carries out the rehabilitation training of science to lower extremity motor function impaired patients, can compensate and recover the function that limbs lose, improve the self care ability of patient, improve its quality of life.Numerous researcher and medical institutions have all carried out the correlational study of lower limb rehabilitation robot, and achieve valuable achievement in research, and realizing business-like lower limb rehabilitation robot is the earliest by the Handy1 of MikeTopping company of Britain development in 1987.Secondly the another kind of healing robot successfully come into the market is the MANUS healing robot of Dutch ExactDynamics company exploitation.The healing robot of early stage research and development is all based on single-degree-of-freedom, representational product has the NUSTEP device for rehabilitation of the U.S., the THERA.Vital intelligent rehabilitation image training robot of Germany, the healing robot most of sitting and lying formula is representational be Switzerland WORTEC company research and development MOTIONMAKER, this robot can realize 3DOF training and joint training, but it is expensive, in China, the exploitation of lower limb robot is also in the development stage.
The current whole nation has all types disability rehabilitation to train nearly 20,000 of service organization, very large to the demand of rehabilitation equipment.But one of recovery exercising robot deficiency is that ESD uses complexity at present, patient is difficult to upper and lower instrument and trains, the assistance of wasting time and energy of rehabilitation teacher must be relied on just to complete, product is difficult to promote and realize commercialization, therefore develop a kind of patient of being easy to up and down, high technology content, intelligentized lower limbs rehabilitation training robot be very necessary and urgent.
Utility model content
The purpose of this utility model, exactly in order to solve the problem, provides a kind of novel lower limb function recovery exercising robot.
In order to achieve the above object, this utility model have employed following technical scheme: a kind of lower limb function recovery exercising robot, and it comprises:
Base;
Seat, is erected on base;
Pedipulator left-right adjusting mechanism, to be erected on base and can left and right adjusting;
Pedipulator fixed station, totally two are connected to the left and right sides of pedipulator left-right adjusting mechanism, and can move left and right along base under the adjustment of pedipulator left-right adjusting mechanism;
Pedipulator, totally two are connected on two pedipulator fixed stations, and can move left and right with pedipulator fixed station;
Counterweight control chamber, is fixed on the rear portion of base, in-built electrical equipment.
Described seat comprises support, seat board, backrest and inclination of the seat backrest governor motion; Support installing is before and after seat on governor motion, seat board is connected on support, is connected under inclination of the seat backrest governor motion is arranged on seat board with backrest transmission, starts the inclination angle that inclination of the seat backrest governor motion realizes regulating backrest.
Described pedipulator left-right adjusting mechanism comprises screw mandrel fixed station, screw mandrel, feed screw nut and motor transmission mechanism; Screw mandrel fixed station is arranged on base, screw mandrel is arranged through screw mandrel fixed station, the two ends, left and right of screw mandrel connect left and right feed screw nut respectively, motor transmission mechanism is arranged on screw mandrel fixed station and is also connected with screw rod transmission, left and right feed screw nut is fixedly linked with two, left and right pedipulator fixed station respectively, starter motor drive mechanism drives screw mandrel to rotate, realize two the pedipulator fixed stations in left and right in opposite directions or opposing motion, thus drive two pedipulators in left and right in opposite directions or opposing movement.
Described pedipulator fixed station comprises fixed station body, and be provided with slide block in the bottom of fixed station body, top is provided with handrail, and base is provided with linear guides, and pedipulator fixed station is moved left and right by the slide block realization that to be connected with the slip of linear guides.
Described pedipulator comprises large leg mechanism, little leg mechanism and ankle joint mechanism, and large leg mechanism is flexibly connected with pedipulator fixed station, and little leg mechanism is flexibly connected with large leg mechanism, and ankle joint mechanism is flexibly connected with little leg mechanism.
Described large leg mechanism comprises thigh and drives electric cylinder, thick link, thigh push rod, thigh sleeve, lower limb holder and thigh length adjustment mechanism; Thigh drives electric cylinder to be flexibly connected with pedipulator fixed station, thick link and thigh drive electric cylinder transmission to be connected, thigh push rod is fixedly linked with thick link and is flexibly connected with pedipulator fixed station, thigh sleeve set is also connected with thigh push rod scalable by thigh length adjustment mechanism on thigh push rod, realize thigh adjustable length, lower limb holder is arranged on the inner side of thigh sleeve; Described little leg mechanism and thigh sleeve are movably connected.
Described little leg mechanism comprises shank and drives electric cylinder, knee joint connector, knee joint rotating shaft, shank push rod, shank sleeve and lower-leg length governor motion; Shank drives electric cylinder to be arranged on large leg mechanism, one end and the shank of knee joint connector drive electric cylinder transmission to be connected, the other end is movably connected in thigh barrel forward end by knee joint rotating shaft, shank push rod is rotatably connected with thigh sleeve by knee joint rotating shaft, shank sleeve set is also connected with shank push rod scalable by lower-leg length governor motion on shank push rod, realize lower-leg length adjustable, described ankle joint mechanism and shank sleeve are movably connected.
Described ankle joint mechanism comprises ankle joint motor, deceleration force amplifier mechanism and pedal, ankle joint motor is arranged on the outside of shank sleeve, deceleration force amplifier organization establishes is in shank sleeve and be connected with the transmission of ankle joint motor, and pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
In described two pedipulator fixed stations, at least one pedipulator fixed station body is divided into fixed station top and fixed station bottom, fixed station lower cage is located on linear guides, fixed station top is connected with fixed station lower rotatable and is provided with locking mechanism and mutually locks, and after unlocking, fixed station top can outwards be rotated; Corresponding pedipulator is connected with fixed station top movable.
Ankle joint angle sensor is provided with in the active connection part of ankle joint mechanism and little leg mechanism, knee joint angle sensor is provided with in the active connection part of little leg mechanism and large leg mechanism, pressure transducer is respectively equipped with in pedal two bottom sides, the base on two pedipulator fixed station sides is respectively equipped with pedipulator and moves spacing photoelectric sensor, before and after seat governor motion side base on be provided with seat and move spacing photoelectric sensor.
Be connected with pedal at the support lower removable of seat, at the frame upper of seat, Magnet be installed, turn over when pedal does not use and inhale with Magnet even upward, turn over when pedal uses downwards for foot-operated.
Described electrical equipment comprises power supply, motor drive train and sensing transducer, realizes controlling the motion of pedipulator and the collection of transducing signal.
Compared with prior art, this utility model has the following advantages:
1) the pedipulator fixed station body of side is divided into fixed station top and fixed station bottom, and fixed station top is connected with fixed station lower rotatable, fixed station top can outwards be rotated; When patient's seat, by pedipulator outward turning, facilitate the operation of rehabilitation teacher, overcome patient upper and lower time pedipulator occupy-place impact.
2) pedipulator left-right adjusting mechanism has the function of the width between adjustment two pedipulators, the training requirement of the different trainer of hip joint width can be met, the too wide or too narrow discomfort caused of distance between avoiding because of two pedipulators, ensure that training strength and the safety of patient regulate, achieve the training of comfortable personalization.
3) the large leg mechanism of two pedipulators, little leg mechanism and ankle joint mechanism are respectively equipped with driving mechanism, the adjustment that hip joint, knee joint and ankle joint are independent can be realized, realize monarthric training, also being synchronized with the movement of joint can be realized, and realize the exercise of mobility in joint, take incremental mode to improve speed gradually during training, strengthen difficulty, realize the requirement of patient's rehabilitation training gradually.
4) advanced locational space sensing technology is adopted at each joint part of lower limb, realize the wireless transmission of joint angles data, assessment data adopts wireless communication mode to operation display, overcomes the shortcoming using complicated frame for movement to carry out constrained motion scope.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model;
Fig. 2 is using state figure of the present utility model;
Fig. 3 is the structural representation of the seat in this utility model;
Fig. 4, Fig. 5 are the structural representation of the pedipulator in this utility model;
Fig. 6 is the structural representation of the base in this utility model;
Fig. 7 is the structural representation of the left side mechanical lower limb fixed station in this utility model;
Fig. 8, Fig. 9 are sensor installment state schematic diagram in this utility model;
Figure 10 is the structural representation of the pedipulator left-right adjusting mechanism in this utility model;
Figure 11 is the pedipulator adjustment state figure in this utility model.
Detailed description of the invention
See Fig. 1, lower limb function recovery exercising robot of the present utility model, comprises base 1, seat 3, pedipulator left-right adjusting mechanism 4, pedipulator fixed station 5, pedipulator 6 and counterweight control chamber 7.
Coordinate see Fig. 6, the base 1 in this utility model comprises base plate 11, is provided with four castors 12 below base plate 11, is provided with linear guides 54 and screw mandrel fixed station 41 on base plate 11.
Coordinate see Fig. 3, Fig. 8, the seat 3 in this utility model sets up on base; It comprises support 31, seat board 32, backrest 33 and inclination of the seat backrest governor motion 34; Support installing is on base, seat board is connected on support, is connected under inclination of the seat backrest governor motion is arranged on seat board with backrest transmission, starts the inclination angle that inclination of the seat backrest governor motion realizes regulating backrest.Be connected with pedal 35 at support 31 lower removable of seat, at the frame upper of seat, Magnet 36 be installed, turn over when pedal does not use and inhale with Magnet even upward, turn over when pedal uses downwards for foot-operated.
Coordinate see Figure 10, the pedipulator left-right adjusting mechanism 4 in this utility model is erected at also can left and right adjusting on base.It comprises screw mandrel fixed station 41, screw mandrel 42, feed screw nut 43 and motor transmission mechanism 44; Screw mandrel fixed station 41 is arranged on base, screw mandrel 42 is arranged through screw mandrel fixed station, the two ends, left and right of screw mandrel connect left and right feed screw nut 43 respectively, motor transmission mechanism 44 is arranged on screw mandrel fixed station 41 and is also connected with screw mandrel 42 transmission, left and right feed screw nut is fixedly linked with two, left and right pedipulator fixed station respectively, starter motor drive mechanism drives screw mandrel to rotate, realize two the pedipulator fixed stations in left and right in opposite directions or opposing motion, thus drive two pedipulators in left and right in opposite directions or opposing movement.Two states after pedipulator left-right adjusting mechanism 4 regulates is as shown in Figure 11 A, B, and wherein A is for be adjusted to the widest state by two pedipulators, and B is for be adjusted to the narrowest state by two pedipulators.
Coordinate see Figure 10, the pedipulator fixed station 5 in this utility model is totally two left and right sides being connected to pedipulator left-right adjusting mechanism, and can move left and right along base under the adjustment of pedipulator left-right adjusting mechanism.It comprises fixed station body 51, is provided with slide block 52 in the bottom of fixed station body, and top is provided with handrail 53, and base is provided with linear guides 54, and pedipulator fixed station is moved left and right by the slide block realization that to be connected with the slip of linear guides.
Coordinate see Fig. 4, Fig. 5, the pedipulator 6 in this utility model totally two be connected on two pedipulator fixed stations 5, and can to move left and right with pedipulator fixed station.It comprises large leg mechanism 61, little leg mechanism 62 and ankle joint mechanism 63, and large leg mechanism 61 is flexibly connected with pedipulator fixed station 5, and little leg mechanism 62 is flexibly connected with large leg mechanism 61, and ankle joint mechanism 63 is flexibly connected with little leg mechanism 62.
Large leg mechanism 61 comprises thigh and drives electric cylinder 611, thick link 612, thigh push rod 613, thigh sleeve 614, lower limb holder 615 and thigh length adjustment mechanism 616; Thigh drives electric cylinder to be flexibly connected with pedipulator fixed station, thick link and thigh drive electric cylinder transmission to be connected, thigh push rod is fixedly linked with thick link and is flexibly connected with pedipulator fixed station, thigh sleeve set is also connected with thigh push rod scalable by thigh length adjustment mechanism on thigh push rod, realize thigh adjustable length, lower limb holder is arranged on the inner side of thigh sleeve; Described little leg mechanism and thigh sleeve are movably connected.
Little leg mechanism 62 comprises shank and drives electric cylinder 621, knee joint connector 622, knee joint rotating shaft 623, shank push rod 624, shank sleeve 625 and lower-leg length governor motion 626.Shank drives electric cylinder to be arranged on the thigh sleeve of large leg mechanism, one end and the shank of knee joint connector drive electric cylinder transmission to be connected, the other end is movably connected in thigh barrel forward end by knee joint rotating shaft, shank push rod is rotatably connected with thigh sleeve by knee joint rotating shaft, shank sleeve set is also connected with shank push rod scalable by lower-leg length governor motion on shank push rod, realize lower-leg length adjustable, described ankle joint mechanism and shank sleeve are movably connected.
Ankle joint mechanism 63 comprises ankle joint motor 631, deceleration force amplifier mechanism 632 and pedal 633, ankle joint motor is arranged on the outside of shank sleeve, deceleration force amplifier organization establishes is in shank sleeve and be connected with the transmission of ankle joint motor, and pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
Counterweight control chamber 7 is fixed on the rear portion of base, in-built electrical equipment, comprises power supply, motor drive train and sensing transducer etc.
Coordinate see Fig. 7, the structure of two the pedipulator fixed stations in left and right can also be made identical or different by this utility model, in the present embodiment, pedipulator fixed station by right side does integrally, and the pedipulator fixed station body 51 in left side is divided into fixed station top 511 and fixed station bottom 512, fixed station lower cage is located on linear guides, and fixed station top is connected with fixed station lower rotatable and is provided with locking mechanism 513 and mutually locks, and after unlocking, fixed station top can outwards be rotated; At this moment, the pedipulator on the left side is connected with fixed station top movable.State after fixed station top driving mechanical lower limb outwards rotates as shown in Figure 2.
Coordinate see Fig. 8, Fig. 9, this utility model is provided with ankle joint angle sensor 91 in the active connection part of ankle joint mechanism and little leg mechanism, knee joint angle sensor 92 is provided with in the active connection part of little leg mechanism and large leg mechanism, pressure transducer 93,94 is respectively equipped with in pedal two bottom sides, the base on two pedipulator fixed station sides is respectively equipped with pedipulator and moves spacing photoelectric sensor 95,96, ankle joint angle sensor 91 and ankle joint rotating shaft concentric fit, be used for measuring the movement angle of ankle portion in rotary course.Knee joint angle sensor 92 and knee joint rotating shaft concentric fit, be used for measurement mechanical lower limb leg portion and lower leg portion angulation in motor process.Pressure transducer 93,94 is used for measuring patient's plantar pressure in training process.Pedipulator moves two extreme position that spacing photoelectric sensor 95,96 is arranged on the movement of base corresponding pedipulator fixed station, on the fixing head of fixed station, rear side installs a small boss, when fixing head move to the widest and the narrowest position time, small boss and photoelectric sensor are just in correspondence, between distance within preset value, sensor sends signal, and fixing head drive motors stops operating, fixing head stop motion, reaches the effect of limit mechanical lower limb fixed station moving range.
Device of the present utility model also comprises display, and display is used for machine set, realizes the functions such as man-machine interaction game training.
Adopt robot of the present utility model, lower extremity movement training function can be realized, lower limb evaluation function, craps game interactive function, wherein passive exercise comprises both legs and replaces walking simulation training, both legs synchronously simulating is squatted down to stand and is bent and stretched training, and monarthric training can be applicable to the needs of different arthritic patients.
Synchronously bend and stretch simulation to squat down the function that stands, realize by the motion regulating left and right pedipulator group of motors, training time length can be selected.Before training, remove pedipulator and to turn up locking, by pedipulator to turning up 90 °, sit on after on seat patient, reset pedipulator also locks, and then fixes shank, thigh, and allows its left and right foot step down on the pedal of left and right respectively; Mix during training and stimulate interesting sound effect and picture background effect, the interest of patient's training can be increased, to reach best training effect.Training can, according to patient features, take incremental mode to improve speed gradually, strengthens difficulty, realizes the requirement of patient's rehabilitation training gradually.
Can also according to patient need realize hip joint, knee joint, the monarthric motion of ankle joint, also can realize the kneed of left and right lower limb and be synchronized with the movement, being synchronized with the movement of ankle joint, realizes the exercise of the mobility in joint.
Claims (12)
1. a lower limb function recovery exercising robot, is characterized in that, comprising:
Base;
Seat, is erected on base;
Pedipulator left-right adjusting mechanism, to be erected on base and can left and right adjusting;
Pedipulator fixed station, totally two are connected to the left and right sides of pedipulator left-right adjusting mechanism, and can move left and right along base under the adjustment of pedipulator left-right adjusting mechanism;
Pedipulator, totally two are connected on two pedipulator fixed stations, and can move left and right with pedipulator fixed station;
Counterweight control chamber, is fixed on the rear portion of base, in-built electrical equipment.
2. lower limb function recovery exercising robot as claimed in claim 1, is characterized in that: described seat comprises support, seat board, backrest and inclination of the seat backrest governor motion; Support installing is before and after seat on governor motion, seat board is connected on support, is connected under inclination of the seat backrest governor motion is arranged on seat board with backrest transmission, starts the inclination angle that inclination of the seat backrest governor motion realizes regulating backrest.
3. lower limb function recovery exercising robot as claimed in claim 1, is characterized in that: described pedipulator left-right adjusting mechanism comprises screw mandrel fixed station, screw mandrel, feed screw nut and motor transmission mechanism; Screw mandrel fixed station is arranged on base, screw mandrel is arranged through screw mandrel fixed station, the two ends, left and right of screw mandrel connect left and right feed screw nut respectively, motor transmission mechanism is arranged on screw mandrel fixed station and is also connected with screw rod transmission, left and right feed screw nut is fixedly linked with two, left and right pedipulator fixed station respectively, starter motor drive mechanism drives screw mandrel to rotate, realize two the pedipulator fixed stations in left and right in opposite directions or opposing motion, thus drive two pedipulators in left and right in opposite directions or opposing movement.
4. lower limb function recovery exercising robot as claimed in claim 1, it is characterized in that: described pedipulator fixed station comprises fixed station body, slide block is provided with in the bottom of fixed station body, top is provided with handrail, base is provided with linear guides, and pedipulator fixed station is moved left and right by the slide block realization that to be connected with the slip of linear guides.
5. lower limb function recovery exercising robot as claimed in claim 1, it is characterized in that: described pedipulator comprises large leg mechanism, little leg mechanism and ankle joint mechanism, large leg mechanism is flexibly connected with pedipulator fixed station, little leg mechanism is flexibly connected with large leg mechanism, and ankle joint mechanism is flexibly connected with little leg mechanism.
6. lower limb function recovery exercising robot as claimed in claim 5, is characterized in that: described large leg mechanism comprises thigh and drives electric cylinder, thick link, thigh push rod, thigh sleeve, lower limb holder and thigh length adjustment mechanism; Thigh drives electric cylinder to be flexibly connected with pedipulator fixed station, thick link and thigh drive electric cylinder transmission to be connected, thigh push rod is fixedly linked with thick link and is flexibly connected with pedipulator fixed station, thigh sleeve set is also connected with thigh push rod scalable by thigh length adjustment mechanism on thigh push rod, realize thigh adjustable length, lower limb holder is arranged on the inner side of thigh sleeve; Described little leg mechanism and thigh sleeve are movably connected.
7. lower limb function recovery exercising robot as claimed in claim 5, is characterized in that: described little leg mechanism comprises shank and drives electric cylinder, knee joint connector, knee joint rotating shaft, shank push rod, shank sleeve and lower-leg length governor motion; Shank drives electric cylinder to be arranged on large leg mechanism, one end and the shank of knee joint connector drive electric cylinder transmission to be connected, the other end is movably connected in thigh barrel forward end by knee joint rotating shaft, shank push rod is rotatably connected with thigh sleeve by knee joint rotating shaft, shank sleeve set is also connected with shank push rod scalable by lower-leg length governor motion on shank push rod, realize lower-leg length adjustable, described ankle joint mechanism and shank sleeve are movably connected.
8. lower limb function recovery exercising robot as claimed in claim 5, it is characterized in that: described ankle joint mechanism comprises ankle joint motor, deceleration force amplifier mechanism and pedal, ankle joint motor is arranged on the outside of shank sleeve, deceleration force amplifier organization establishes is in shank sleeve and be connected with the transmission of ankle joint motor, and pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
9. lower limb function recovery exercising robot as claimed in claim 1, it is characterized in that: in described two pedipulator fixed stations, at least one pedipulator fixed station body is divided into fixed station top and fixed station bottom, fixed station lower cage is located on linear guides, fixed station top is connected with fixed station lower rotatable and is provided with locking mechanism and mutually locks, and after unlocking, fixed station top can outwards be rotated; Corresponding pedipulator is connected with fixed station top movable.
10. lower limb function recovery exercising robot as claimed in claim 1, it is characterized in that: be provided with ankle joint angle sensor in the active connection part of ankle joint mechanism and little leg mechanism, knee joint angle sensor is provided with in the active connection part of little leg mechanism and large leg mechanism, pressure transducer is respectively equipped with in pedal two bottom sides, the base on two pedipulator fixed station sides is respectively equipped with pedipulator and moves spacing photoelectric sensor, before and after seat governor motion side base on be provided with seat and move spacing photoelectric sensor.
11. lower limb function recovery exercising robots as claimed in claim 1, it is characterized in that: be connected with pedal at the support lower removable of seat, at the frame upper of seat, Magnet is installed, turns over when pedal does not use and inhale with Magnet even upward, turn over when pedal uses downwards for foot-operated.
12. lower limb function recovery exercising robots as claimed in claim 1, is characterized in that: described electrical equipment comprises power supply, motor drive train and sensing transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520719032.7U CN205126722U (en) | 2015-09-17 | 2015-09-17 | Low limbs function rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520719032.7U CN205126722U (en) | 2015-09-17 | 2015-09-17 | Low limbs function rehabilitation training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205126722U true CN205126722U (en) | 2016-04-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520719032.7U Expired - Fee Related CN205126722U (en) | 2015-09-17 | 2015-09-17 | Low limbs function rehabilitation training robot |
Country Status (1)
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| CN (1) | CN205126722U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105943312A (en) * | 2016-06-15 | 2016-09-21 | 华中科技大学 | Hip joint recovery assisting device based on sensing and driving integration |
| CN106109175A (en) * | 2016-07-15 | 2016-11-16 | 江苏大学 | A kind of exoskeleton-type knee joint and ankle joint rehabilitation device |
| CN106539662A (en) * | 2015-09-17 | 2017-03-29 | 上海健康医学院 | Lower limb function recovery exercising robot |
| CN107019620A (en) * | 2017-05-15 | 2017-08-08 | 巢湖学院 | A kind of many training mode lower limb rehabilitation exercising apparatus |
| CN107233189A (en) * | 2017-05-15 | 2017-10-10 | 巢湖学院 | A kind of combined type device for healing and training |
| CN107754218A (en) * | 2017-11-23 | 2018-03-06 | 安阳市翔宇医疗设备有限责任公司 | A kind of leg device for healing and training |
| CN109966114A (en) * | 2019-04-07 | 2019-07-05 | 牛书珍 | A kind of upper extremity palsy assistant recovery device |
-
2015
- 2015-09-17 CN CN201520719032.7U patent/CN205126722U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106539662A (en) * | 2015-09-17 | 2017-03-29 | 上海健康医学院 | Lower limb function recovery exercising robot |
| CN106539662B (en) * | 2015-09-17 | 2024-01-23 | 上海健康医学院 | Robot for rehabilitation training of lower limb functions |
| CN105943312A (en) * | 2016-06-15 | 2016-09-21 | 华中科技大学 | Hip joint recovery assisting device based on sensing and driving integration |
| CN106109175A (en) * | 2016-07-15 | 2016-11-16 | 江苏大学 | A kind of exoskeleton-type knee joint and ankle joint rehabilitation device |
| CN107019620A (en) * | 2017-05-15 | 2017-08-08 | 巢湖学院 | A kind of many training mode lower limb rehabilitation exercising apparatus |
| CN107233189A (en) * | 2017-05-15 | 2017-10-10 | 巢湖学院 | A kind of combined type device for healing and training |
| CN107754218A (en) * | 2017-11-23 | 2018-03-06 | 安阳市翔宇医疗设备有限责任公司 | A kind of leg device for healing and training |
| CN107754218B (en) * | 2017-11-23 | 2023-10-10 | 河南翔宇医疗设备股份有限公司 | Leg rehabilitation training device |
| CN109966114A (en) * | 2019-04-07 | 2019-07-05 | 牛书珍 | A kind of upper extremity palsy assistant recovery device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160406 Termination date: 20180917 |
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| CF01 | Termination of patent right due to non-payment of annual fee |