CN205198399U - Recovered training system - Google Patents
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- CN205198399U CN205198399U CN201520951038.7U CN201520951038U CN205198399U CN 205198399 U CN205198399 U CN 205198399U CN 201520951038 U CN201520951038 U CN 201520951038U CN 205198399 U CN205198399 U CN 205198399U
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Abstract
The utility model relates to a be applicable to apoplexy patient or upper limbs dyskinesia patient's recovered training system, include wearable arm and control driven element system, the wearable arm comprises mechanical upper arm and mechanical underarm, the machinery upper arm is dressed on the postbrachium of suffering from the limb, mainly provides to support and install the fixed function, the machinery underarm is dressed on the forearm of suffering from the limb, the machinery upper arm is through control driven element system control this neotype recovered training system of machinery underarm motion has rehabilitation training good characteristics with low costs, portable, can the greatly reduced rehabilitation therapy cost to the wide application is in places such as family, rehabilitation training center, hospitals, therefore has wide application prospect.
Description
Technical field
Basis is novel relates to a kind of rehabilitation training system, especially relates to a kind of rehabilitation training system being applicable to stroke patient or upper extremity exercise impaired patients.
Background technology
Along with the increase of the aged, the age increases the disease caused and also increases gradually, wherein the most common, and endangering maximum is exactly apoplexy.Can be there is many-sided sings and symptomses such as consciousness and functional activity obstacle in paralytic, occur hemiplegia time serious, aphasia, cognitive disorder is even dead.According to incomplete statistics, current China due in wind-induced hemiplegia, upper extremity exercise impaired patients sum more than 1,000 ten thousand, limb movement disturbance, with the stroke survivor of 75%, has a strong impact on their daily life and work.After how helping apoplexy, patient recovers extremity motor function, regains the ability of living on one's own life, and has very important social meaning and practical study value.
For stroke patient, the rehabilitation training carried out effectively and early its hemiplegia position is very important and crucial medical procedure.In traditional rehabilitation, therapist carries out man-to-man rehabilitation training to patient by doing and illustrating, the training effectiveness of this mode and training strength are difficult to ensure, training effect is subject to the impact of therapist's level, and lack the objective data evaluating training parameter and rehabilitation efficacy relation, be difficult to be optimized to obtain therapeutic regimen to training parameter.In order to alleviate the financial burden of family and society, improve rehabilitation training efficiency, computer intelligence control, pattern recognition, multi-sensor information fusion, robotics are applied to rehabilitation field by researcheres both at home and abroad at present, have carried out the research of rehabilitation medical robot technology.
Rehabilitation training system of the prior art, because device is huger, portability is bad, in addition, current rehabilitation medical system, can not monitor in real time to the training condition of patient, instructs so cannot give real-time professional rehabilitation training, when rehabilitation medical resource relative shortage, rehabilitation training cost is high.
Summary of the invention
This novel technical problem to be solved is to provide a kind of rehabilitation training system being applicable to stroke patient or upper extremity exercise impaired patients, rehabilitation training system Problems existing at least part of solution prior art.
The technical scheme of this novel employing is, a kind of rehabilitation training system, comprise myoelectric sensor, wearable mechanical arm and control driver sub-system, described wearable mechanical arm is made up of mechanical upper arm and mechanical underarm, described mechanical upper arm is worn on the postbrachium of suffering limb, mainly provides support and installs fixed function; Described mechanical underarm is worn on the forearm of suffering limb, the signal that described mechanical upper arm feeds back according to described myoelectric sensor, drive described mechanical underarm motion by controlling described control driver sub-system, described control driver sub-system is arranged on the skeleton of described wearable mechanical arm.
Further, described mechanical upper arm and described mechanical underarm are designed with multiple degree of freedom respectively, with each position of the suffering limb that ensures more to fit; And/or the length of described mechanical upper arm and described mechanical underarm can each self-regulation, with satisfied different patient to the demand of structure.
Further, described wearable mechanical arm adopts aluminium alloy, engineering plastics or carbon materials manufacture.
Further, described myoelectric sensor is arranged on the skeleton of described mechanical upper arm, and described myoelectric sensor is arranged on biceps brachii m. and triceps brachii, detects the muscle signal of telecommunication of arm bending and extension respectively.
Further, described rehabilitation training system also comprises blood pressure, rhythm of the heart sensor, and described blood pressure, rhythm of the heart sensor are arranged on the skeleton of described wearable mechanical arm, for monitoring blood pressure, the heart rate parameter index of patient.
Further, described control driver sub-system is arranged on the skeleton of described wearable mechanical arm, it comprises control module, electromyographic signal collection processing unit, blood pressure, rhythm signal acquisition process unit, parameter of electric machine collecting unit, motor drive module and high-precision A/D data acquisition module, electromyographic signal and blood pressure, being suspicious and resentful and processing of heart rate parameter adopts described high-precision A/D data acquisition module, by described electromyographic signal collection processing unit and described blood pressure, rhythm signal acquisition process unit carries out signal noise filtering, feature extraction and identification, realize accurate identification and the blood pressure of arm electromyographic signal, the acquisition of the auxiliary parameters such as the rhythm of the heart, according to the electromyographic signal identified, described control module accurately differentiates the motion intention of patient, utilize the feedback control of closed loop, different control instructions is sent to described parameter of electric machine collecting unit according to the type of electromyographic signal, and then make described motor drive module send according to the parameter of electric machine motor control that pwm pulse signal driving reducing motor realizes described mechanical underarm, complete the action that rehabilitation training plans is specified.
Further, described reducing motor is arranged on described wearable mechanical arm, and matching coding device, the motion realizing described mechanical underarm drives, and measures movement angle, times of exercise, movement time parameter in real time simultaneously.
Further, described control module comprises power circuit, core processor, control panel and memory circuit, wherein:
Described power circuit is used for powering to described core processor, ensures that described core processor normally works;
Described core processor is flush bonding processor, be responsible for all controlling functions, to carry out real time data mutual with other circuit or module, combined high precision A/D data acquisition module, realizes the Real-time Collection of upper limb electromyographic signal, blood pressure, heart rate parameter and arm motion status data, process, identification and record;
Described control panel is responsible for selecting corresponding recovery function for user and showing corresponding exercise data;
Described memory circuit is for storing the arm motion status data of user.
Further, described control module by Real-time Collection to data carry out record, be stored in described memory circuit; And/or the data of Real-time Collection are shown on described control panel, realize the real-time display of kinestate, assessment and feedback.
Further, described control module can by Real-time Collection to data be transferred to client-end subsystem by communication module, the data of described Real-time Collection are transferred to server or Medical Technologist by network by described client-end subsystem, so that Medical Technologist monitors in real time rehabilitation training and gives the training guidance of specialty; Or described FTP client FTP downloads from described server the rehabilitation exercise suggestion and dependent instruction that described Medical Technologist gives, and uses rehabilitation training system to carry out rehabilitation training according to described rehabilitation suggestion and instruction.
Owing to have employed technique scheme, this novel a kind of rehabilitation training system, has that rehabilitation training cost is low, the feature of good portability, can greatly reduce rehabilitation medical cost, and be widely used in the places such as family, rehabilitation training center, hospital, thus have broad application prospects.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of rehabilitation training system mechanical arm of this new embodiment.
Fig. 2 is the principle schematic of a kind of rehabilitation training system of this new embodiment.
Fig. 3 is the principle schematic of the control module of a kind of rehabilitation training system control driver sub-system of this new embodiment.
Fig. 4 is the evolution of feedback controlling theory principle schematic of a kind of rehabilitation training system of this new embodiment.
Detailed description of the invention
For the ease of the further understanding novel to this, below in conjunction with accompanying drawing and specific embodiment, explanation is further explained to this novel technical scheme, and each embodiment does not form the restriction to this new embodiment.
Basis is novel is applicable to stroke patient or upper extremity exercise impaired patients, provides a kind of rehabilitation training system based on electromyographic signal.
A kind of rehabilitation training system, comprise wearable mechanical arm 10, wearable mechanical arm 10 is worn on the arm of needs training by patient, by the functional electromyographic signal of the arm of the human biological electricity sensor acquisition patient in mechanical arm 10, realize the motor control to mechanical arm 10 by the analysis of electromyographic signal type, assisting patients carries out rehabilitation training of upper limbs.Concrete:
As shown in Figure 1, wearable mechanical arm 10 is made up of mechanical upper arm 11 and mechanical underarm 12, and mechanical upper arm 11 is worn on the postbrachium of suffering limb, mainly provides support and installs fixed function; Machinery underarm 12 is worn on the forearm of suffering limb, and mechanical upper arm 11 controls mechanical underarm 12 by control driver sub-system 20 and moves.Machinery upper arm 11 and mechanical underarm 12 can be designed with multiple degree of freedom respectively, each position of suffering limb of more fitting with guarantee, meet the training need at each position of suffering limb, environmental stimuli will be strengthened simultaneously, by the assisted movement of machinery, recover the muscles of the arm and function of nervous system, improve patient to the control ability of muscle and the coordination ability.In addition, the length of mechanical upper arm 11 and mechanical underarm 12 can each self-regulation, with satisfied different patient to the demand of structure.
Because mechanical arm 10 is for rehabilitation training, therefore mechanical arm 10 follows simulation of human body principle, can match, and limbs of patient is consistent with human upper limb structure.In addition, because total will all be worn in suffering limb, therefore corresponding requirement is had for material, it must density little, quality is light, avoids causing secondary injury to patient, according to light weight, portable, easy to operate, be convenient to the principle worn, adopt aluminium alloy, engineering plastics or carbon materials manufacture.
Shown in composition graphs 2, reducing motor 13 and myoelectric sensor 14 are arranged on the skeleton of wearable mechanical arm 10, and because mechanical underarm 12 will by actuation movement, therefore reducing motor 13 and myoelectric sensor 14 are arranged on mechanical upper arm 11 more appropriate.What myoelectric sensor 14 gathered is the muscle signal of telecommunication of biceps brachii m. and triceps brachii, therefore be arranged in and aim at the biceps brachii m. of postbrachium and the position of triceps brachii, in order to ensure the accuracy of electromyographic signal collection, each three of myoelectric sensor is arranged respectively on biceps brachii m. and triceps brachii, detect the electromyographic signal of arm bending and extension respectively, and feed back to control driver sub-system 20.
Further, other class sensors 15 (such as blood pressure, rhythm of the heart sensor 15) also can be arranged on the skeleton of wearable mechanical arm 10, other parameter indexs of auxiliary monitoring patient, can select as required to be arranged on mechanical upper arm 11 or mechanical underarm 12, shown in Fig. 1, part is mounted on mechanical underarm 12.
Controlling driver sub-system 20 is arranged on the skeleton of wearable mechanical arm 10, because mechanical underarm 12 by actuation movement, therefore will control driver sub-system and be arranged on mechanical upper arm 11 more appropriate.Control driver sub-system 20 and comprise control module 21, electromyographic signal collection processing unit 22, blood pressure, rhythm signal acquisition process unit 23, parameter of electric machine collecting unit 24, motor drive module 25 and high-precision A/D data acquisition module 26.Electromyographic signal is obtained by myoelectric sensor 14, and blood pressure, heart rate parameter can be obtained by pressure transducer, rhythm of the heart sensor 15, because body surface signal disturbing is many, signal is weak, electromyographic signal and blood pressure, heart rate parameter be suspicious and resentful and process needs to adopt high-precision A/D data acquisition module 26, by electromyographic signal collection processing unit 22 and blood pressure, rhythm signal acquisition process unit 23 carries out signal noise filtering, feature extraction and identification, realize accurate identification and the blood pressure of arm electromyographic signal, the acquisition of the auxiliary parameters such as the rhythm of the heart, according to the electromyographic signal identified, control module 21 accurately differentiates the motion intention of patient, such as differentiate that patient wants the stretching carrying out upper limb, curvature movement, lift or the motion intention such as direction, utilize the feedback control of closed loop, different control instructions is sent to parameter of electric machine collecting unit 24 according to the type of electromyographic signal, and then make motor drive module 25 send pwm pulse signal according to the parameter of electric machine to drive reducing motor 13 to realize the motor controles such as the contraction of mechanical underarm 12 and extension, complete the action that rehabilitation training plans is specified.
Further, reducing motor 13 can matching coding device, and the motion realizing mechanical underarm 12 drives, and measures the parameters such as movement angle, times of exercise, movement time in real time.
While training, control module 21 can by Real-time Collection to data (the patient's physical training condition such as collected and blood pressure, the vital sign parameters such as the rhythm of the heart) carry out record, be stored in memory circuit 214, and by communication module 30 (such as bluetooth, 3G, 4G or wireless signal etc.) be transferred to client-end subsystem 40 (such as hands machine, the mobile terminals such as ipad) check for user, also the data of Real-time Collection can be shown on the control panel 213 of control module 21, realize the real-time display of kinestate, assessment and feedback, easy to use, safe and reliable.
Further, above-mentioned parameter is transferred to server 50 or Medical Technologist by network by client-end subsystem 40, is convenient to Medical Technologist and monitors in real time rehabilitation training and the training guidance giving specialty.
Further, client-end subsystem 40 also can download from server 50 the rehabilitation exercise suggestion and dependent instruction that Medical Technologist gives, and uses rehabilitation training system to carry out rehabilitation training according to rehabilitation suggestion and instruction.The remote rehabilitation medical training system of the present embodiment, has broken the limitation of local rehabilitation medical training machine robot system, to patient and all more economic facility of Medical Technologist.
As shown in Figure 3, control module 21 comprises power circuit 211, core processor 212, control panel 213 and memory circuit 214, and wherein, power circuit 211 is powered for giving core processor 212, ensures that core processor 32 normally works; Core processor 212 is flush bonding processor, be responsible for all controlling functions, to carry out real time data mutual with other circuit or module, combined high precision A/D data acquisition module 26, realizes the Real-time Collection of the parameters such as upper limb electromyographic signal, blood pressure, the rhythm of the heart and arm motion state (comprising movement time, times of exercise, electric machine rotation angle etc.) data, process, identification and record; Control panel 213 is responsible for selecting corresponding recovery function for user and showing corresponding exercise data, the lifting of such as arm forearm, put down, bending etc.; Memory circuit 214 can store the arm motion status data of user, facilitate user transfer before motion recording check rehabilitation progress.
As shown in Figure 4, in sport training process, system adopts classical evolution of feedback controlling theory, realized by electromyographic signal sensor 14 perception human motion, by signal feedback to core processor 212, through signal processing, motion intention identification (bending still extension etc.), pwm pulse signal is finally utilized to drive the motion of reducing motor 13 driving mechanical underarm 12, realize motor control by functional stimulation feedback, complete corresponding training action.
This Novel main will adopt electromyographic signal sensor to realize the collection of paralytic's arm motion signal, comprises the muscle signal of biceps brachii m. and triceps brachii.In rehabilitation exercise training process, this novel rehabilitation training system adopts classical evolution of feedback controlling theory, realized by the human motion of electromyographic signal sensor senses, by signal feedback to core processor, through signal processing, identify sports consciousness: bending or extension, then utilize pwm pulse signal to drive the motion of reducing motor driving mechanical underarm, complete corresponding training action.
This novel rehabilitation training system by driving the motion of reducing motor, can realize the three-dimensional motion in mechanical arm space.Overall system structure is simple, compact, easy to operate, can complete space motion, not interfere each other, can ensure carrying out in order of rehabilitation training.
By above-described embodiment, can find novel to there is following advantage:
This is novel is paralytic's rehabilitation medical training system based on electromyographic signal perception and Intelligent treatment, adopt wearable mechanical arm, the functional electromyographic signal being gathered the arm of patient by myoelectric sensor realizes the motor control of convalescence device, assisting patients carries out rehabilitation training of upper limbs, for patient provides a kind of rehabilitation training means of portable, efficient, low cost.Under the control of patient's sense of independence, by training repeatedly, after helping apoplexy, patient tempers muscle of upper extremity and nerve, recovers upper extremity exercise function, regains the ability of living on one's own life.This system belongs to Novel rehabilitation medical equipment, there is the features such as rehabilitation training cost is low, good portability, can greatly reduce rehabilitation medical cost, and the places such as hospital, family, rehabilitation training center can be widely used in, hospital clinical utilizes this novel rehabilitation medical training system, both effective rehabilitation training can be provided, do not increase again the burden of clinical treatment personnel and the cost of health care, meanwhile, can have by the full and accurate data of system log (SYSLOG) the potentiality improved rehabilitation efficacy and improve rehabilitation efficiency; In family, due to this novel be wearable rehabilitation training system, the patient carrying out rehabilitation medical training is needed for apoplexy and upper limb damage etc., directly can accept rehabilitation training at home, it is more convenient to use, more easily promote, and rehabilitation training cost is low, the financial burden of family and society can be alleviated; In addition, this novel lifting for national rehabilitation medical level, building national intelligent medical development strategy has certain impetus; Thus basis is novel has broad application prospects.
The above; be only this novel preferably detailed description of the invention, but this novel protection domain is not limited thereto, is anyly familiar with those skilled in the art in the technical scope of this novel exposure; the change that can expect easily or replacement, all should be encompassed within this novel protection domain.Therefore, this novel protection domain should be as the criterion with the protection domain of claim.
Claims (10)
1. a rehabilitation training system, comprise myoelectric sensor, wearable mechanical arm and control driver sub-system, it is characterized in that: described wearable mechanical arm is made up of mechanical upper arm and mechanical underarm, described mechanical upper arm is worn on the postbrachium of suffering limb, mainly provides support and installs fixed function; Described mechanical underarm is worn on the forearm of suffering limb, the signal that described mechanical upper arm feeds back according to described myoelectric sensor, drive described mechanical underarm motion by controlling described control driver sub-system, described control driver sub-system is arranged on the skeleton of described wearable mechanical arm.
2. a kind of rehabilitation training system according to claim 1, is characterized in that: described mechanical upper arm and described mechanical underarm are designed with multiple degree of freedom respectively, with each position of the suffering limb that ensures more to fit; And/or the length of described mechanical upper arm and described mechanical underarm can each self-regulation, with satisfied different patient to the demand of structure.
3. a kind of rehabilitation training system according to claim 1, is characterized in that: described wearable mechanical arm adopts aluminium alloy, engineering plastics or carbon materials manufacture.
4. a kind of rehabilitation training system according to claim 1, it is characterized in that: described myoelectric sensor is arranged on the skeleton of described mechanical upper arm, described myoelectric sensor is arranged on biceps brachii m. and triceps brachii, detects the muscle signal of telecommunication of arm bending and extension respectively.
5. a kind of rehabilitation training system according to claim 1, it is characterized in that: described rehabilitation training system also comprises blood pressure, rhythm of the heart sensor, described blood pressure, rhythm of the heart sensor are arranged on the skeleton of described wearable mechanical arm, for monitoring blood pressure, the heart rate parameter index of patient.
6. a kind of rehabilitation training system according to claim 1, it is characterized in that: described control driver sub-system comprises control module, electromyographic signal collection processing unit, blood pressure, rhythm signal acquisition process unit, parameter of electric machine collecting unit, motor drive module and high-precision A/D data acquisition module, electromyographic signal and blood pressure, being suspicious and resentful and processing of heart rate parameter adopts described high-precision A/D data acquisition module, by described electromyographic signal collection processing unit and described blood pressure, rhythm signal acquisition process unit carries out signal noise filtering, feature extraction and identification, realize accurate identification and the blood pressure of arm electromyographic signal, the acquisition of the auxiliary parameters such as the rhythm of the heart, according to the electromyographic signal identified, described control module accurately differentiates the motion intention of patient, utilize the feedback control of closed loop, different control instructions is sent to described parameter of electric machine collecting unit according to the type of electromyographic signal, and then make described motor drive module send according to the parameter of electric machine motor control that pwm pulse signal driving reducing motor realizes described mechanical underarm, complete the action that rehabilitation training plans is specified.
7. a kind of rehabilitation training system according to claim 6, it is characterized in that: described reducing motor is arranged on described wearable mechanical arm, and matching coding device, the motion realizing described mechanical underarm drives, and measures movement angle, times of exercise, movement time parameter in real time simultaneously.
8. a kind of rehabilitation training system according to claim 6, is characterized in that: described control module comprises power circuit, core processor, control panel and memory circuit, wherein:
Described power circuit is used for powering to described core processor, ensures that described core processor normally works;
Described core processor is flush bonding processor, be responsible for all controlling functions, to carry out real time data mutual with other circuit or module, combined high precision A/D data acquisition module, realizes the Real-time Collection of upper limb electromyographic signal, blood pressure, heart rate parameter and arm motion status data, process, identification and record;
Described control panel is responsible for selecting corresponding recovery function for user and showing corresponding exercise data;
Described memory circuit is for storing the arm motion status data of user.
9. a kind of rehabilitation training system according to claim 8, is characterized in that: described control module by Real-time Collection to data carry out record, be stored in described memory circuit; And/or the data of Real-time Collection are shown on described control panel, realize the real-time display of kinestate, assessment and feedback.
10. a kind of rehabilitation training system according to claim 6, it is characterized in that: described control module can by Real-time Collection to data be transferred to client-end subsystem by communication module, the data of described Real-time Collection are transferred to server or Medical Technologist by network by described client-end subsystem, so that Medical Technologist monitors in real time rehabilitation training and gives the training guidance of specialty; Or described FTP client FTP downloads from described server the rehabilitation exercise suggestion and dependent instruction that described Medical Technologist gives, and uses rehabilitation training system to carry out rehabilitation training according to described rehabilitation suggestion and instruction.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105962903A (en) * | 2016-07-25 | 2016-09-28 | 四川东鼎里智信息技术有限责任公司 | Wearable rehabilitation state monitor |
| CN105997440A (en) * | 2016-07-26 | 2016-10-12 | 陈勇 | Intelligent mechanical arm for pulling muscle adhesion open |
| CN106109180A (en) * | 2016-09-09 | 2016-11-16 | 航天恒星科技有限公司 | A kind of rehabilitation training apparatus |
| CN106344341A (en) * | 2016-08-29 | 2017-01-25 | 哈尔滨工业大学 | Embedded system of hand rehabilitation robot |
| CN106422062A (en) * | 2016-11-09 | 2017-02-22 | 广东美的安川服务机器人有限公司 | Rehabilitation training apparatus and rehabilitation training device |
| CN106618965A (en) * | 2017-01-22 | 2017-05-10 | 无锡智开医疗机器人有限公司 | Wearable extremity rehabilitation training system and control method |
| CN107121958A (en) * | 2017-07-06 | 2017-09-01 | 哈工大机器人（合肥）国际创新研究院 | A kind of multichannel mixed signal acquisition system for medical rehabilitation apparatus |
| CN107126303A (en) * | 2017-02-15 | 2017-09-05 | 上海术理智能科技有限公司 | A kind of upper and lower extremities exercising support method based on mobile phone A PP |
| CN107307974A (en) * | 2017-07-20 | 2017-11-03 | 上海理工大学 | A kind of Wearable healing and training elbow joint and life assistant apparatus |
| CN107307972A (en) * | 2017-06-22 | 2017-11-03 | 昆明学院 | A kind of New Type of Robot Arm for upper limb rehabilitation robot |
| CN107468405A (en) * | 2017-09-20 | 2017-12-15 | 李永伟 | A kind of orthopaedics adapts to the first aid External distraction appliance of polytype limbs fracture |
| WO2017219226A1 (en) * | 2016-06-21 | 2017-12-28 | 马玉琴 | Rehabilitation training system, computer, smart mechanical arm and virtual reality helmet |
| CN107536696A (en) * | 2017-08-21 | 2018-01-05 | 上海理工大学 | Wearable upper limbs exoskeleton rehabilitation training aids |
| CN108392794A (en) * | 2018-04-03 | 2018-08-14 | 山东大学 | A kind of upper limb initiative rehabilitation training system based on array-type flexible pressure sensor |
| CN109745671A (en) * | 2019-02-21 | 2019-05-14 | 山东中医药大学 | A kind of device assisting elbow fracture initiative rehabilitation |
| CN110013421A (en) * | 2019-05-22 | 2019-07-16 | 哈尔滨理工大学 | A kind of long-range monitoring auxiliary rehabilitation exercise system |
| CN110368165A (en) * | 2019-08-01 | 2019-10-25 | 安徽一锤通物联科技股份有限公司 | A kind of control system of Kniegelenkorthese tool |
| CN113018100A (en) * | 2021-03-22 | 2021-06-25 | 中国人民解放军空军军医大学 | Intracardiac branch of academic or vocational study guardianship undershirt that possesses recovered function of taking exercise |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017219226A1 (en) * | 2016-06-21 | 2017-12-28 | 马玉琴 | Rehabilitation training system, computer, smart mechanical arm and virtual reality helmet |
| CN105962903A (en) * | 2016-07-25 | 2016-09-28 | 四川东鼎里智信息技术有限责任公司 | Wearable rehabilitation state monitor |
| CN105962903B (en) * | 2016-07-25 | 2019-02-26 | 四川东鼎里智信息技术有限责任公司 | A kind of wearable rehabilitation state monitor |
| CN105997440A (en) * | 2016-07-26 | 2016-10-12 | 陈勇 | Intelligent mechanical arm for pulling muscle adhesion open |
| WO2018019214A1 (en) * | 2016-07-26 | 2018-02-01 | 陈勇 | Device for separating muscle adhesion using intelligent mechanical arm |
| CN106344341A (en) * | 2016-08-29 | 2017-01-25 | 哈尔滨工业大学 | Embedded system of hand rehabilitation robot |
| CN106109180A (en) * | 2016-09-09 | 2016-11-16 | 航天恒星科技有限公司 | A kind of rehabilitation training apparatus |
| CN106422062A (en) * | 2016-11-09 | 2017-02-22 | 广东美的安川服务机器人有限公司 | Rehabilitation training apparatus and rehabilitation training device |
| CN106618965A (en) * | 2017-01-22 | 2017-05-10 | 无锡智开医疗机器人有限公司 | Wearable extremity rehabilitation training system and control method |
| CN107126303A (en) * | 2017-02-15 | 2017-09-05 | 上海术理智能科技有限公司 | A kind of upper and lower extremities exercising support method based on mobile phone A PP |
| CN107307972A (en) * | 2017-06-22 | 2017-11-03 | 昆明学院 | A kind of New Type of Robot Arm for upper limb rehabilitation robot |
| CN107121958A (en) * | 2017-07-06 | 2017-09-01 | 哈工大机器人（合肥）国际创新研究院 | A kind of multichannel mixed signal acquisition system for medical rehabilitation apparatus |
| CN107121958B (en) * | 2017-07-06 | 2023-08-01 | 合肥哈工力训智能科技有限公司 | Multichannel mixed signal acquisition system for medical rehabilitation equipment |
| CN107307974A (en) * | 2017-07-20 | 2017-11-03 | 上海理工大学 | A kind of Wearable healing and training elbow joint and life assistant apparatus |
| CN107536696A (en) * | 2017-08-21 | 2018-01-05 | 上海理工大学 | Wearable upper limbs exoskeleton rehabilitation training aids |
| CN107468405A (en) * | 2017-09-20 | 2017-12-15 | 李永伟 | A kind of orthopaedics adapts to the first aid External distraction appliance of polytype limbs fracture |
| CN108392794A (en) * | 2018-04-03 | 2018-08-14 | 山东大学 | A kind of upper limb initiative rehabilitation training system based on array-type flexible pressure sensor |
| CN109745671A (en) * | 2019-02-21 | 2019-05-14 | 山东中医药大学 | A kind of device assisting elbow fracture initiative rehabilitation |
| CN109745671B (en) * | 2019-02-21 | 2023-12-01 | 山东中医药大学 | Device for assisting active rehabilitation of elbow joint fracture |
| CN110013421A (en) * | 2019-05-22 | 2019-07-16 | 哈尔滨理工大学 | A kind of long-range monitoring auxiliary rehabilitation exercise system |
| CN110368165A (en) * | 2019-08-01 | 2019-10-25 | 安徽一锤通物联科技股份有限公司 | A kind of control system of Kniegelenkorthese tool |
| CN113018100A (en) * | 2021-03-22 | 2021-06-25 | 中国人民解放军空军军医大学 | Intracardiac branch of academic or vocational study guardianship undershirt that possesses recovered function of taking exercise |
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