CN206809645U - A kind of healing hemiplegic lower limb instrument for training based on the linkage of strong side - Google Patents

A kind of healing hemiplegic lower limb instrument for training based on the linkage of strong side Download PDF

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Publication number
CN206809645U
CN206809645U CN201720644049.XU CN201720644049U CN206809645U CN 206809645 U CN206809645 U CN 206809645U CN 201720644049 U CN201720644049 U CN 201720644049U CN 206809645 U CN206809645 U CN 206809645U
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China
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pair
lower limb
bars
shank
bar
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CN201720644049.XU
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Chinese (zh)
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储杰
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SHANGHAI PUTUO DISTRICT PEOPLE'S HOSPITAL
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SHANGHAI PUTUO DISTRICT PEOPLE'S HOSPITAL
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Abstract

The utility model discloses it is a kind of based on strong side linkage healing hemiplegic lower limb instrument for training, by setting the bar linkage structure being made up of more bars, to form lower extremity movement exoskeleton device, to simulate the ankle-joint of lower limb, shank, knee joint, thigh, each position such as hip joint, and by cylinder driving simulate the Qu Heshen of lower limb walking, interior receipts and abduction, the rehabilitation training of the actions such as rotation, so as to play a part of driving human body lower limbs rehabilitation exercise, hemiplegic patient is set to realize the function of normal lower limb flexion and extension, and complete to be synchronized with the movement and alternating movement both of which in strong side lower limb drive the motion process of Ipsilateral lower limb, be advantageous to strengthen rehabilitation efficacy, meet the rehabilitation training demand of different patients.

Description

A kind of healing hemiplegic lower limb instrument for training based on the linkage of strong side
Technical field
Lower limb rehabilitation instrument is the utility model is related to, more specifically refers to a kind of healing hemiplegic lower limb based on the linkage of strong side Instrument for training.
Background technology
Cerebral apoplexy be due to cerebral vessels suddenly rupture or caused by angiemphraxis blood circulation disorder and cause brain tissue One group of disease of damage.Though cerebral apoplexy is a kind of high disagreeable illness of disability rate, inclined there are some researches show cerebral apoplexy is given For paralysed patient's Early rehabilitation nursing to promoting limbs of patient to recover, improving its quality of life has important clinical meaning.More grind Study carefully and show, the function of the strong side limb of patients with cerebral apoplexy and its use in ADL are closely related, for hemiplegic patient Strong side limbs carry out rehabilitation training and can also promote the effect of rehabilitation training, enthusiasm and confidence of the patient to rehabilitation can be strengthened, Improve cognition, so as to promote integral rehabilitation effect.This also just illustrates that, for hemiplegic patient, the rehabilitation training of early stage is to patient Prognosis from now on has great help, and strong side limb and Ipsilateral limb all improve significantly effect by rehabilitation training.At present It is physical treatment, Occupational therapy and Traditional Rehabilitation treatment for the main therapeutic modality of hemiplegic patient.Physical treatment includes electronics Biofeedback, exercise for power, gait training etc.;Occupational therapy is mainly the ADL energy of training function obstacle limbs Power;Traditional Rehabilitation treatment has acupuncture, massage etc..But either which class treatment all be unable to do without " rehabilitation " two word, so for inclined For paralysed patient, rehabilitation is effective therapeutic modality.
China Rehabilitation treatment at present mainly completes training rehabilitation by the both hands of rehabilitation teacher, and efficiency is low, in Beijing " 2015 China Rehabilitation forum " as shown by data whole nation physiatrician more than 70% that convalescent home holds be it is multi-disciplinary practise medicine, treat The breach of teacher is about in 500,000 people or so.Although country increases the input of rehabilitation field in recent years, rehabilitation teacher, development are cultivated energetically Rehabilitation medical cause, but this is not a stranghtforward task, it is necessary to undergo the tour of a rapid lapse of time.
When the huge rehabilitation therapist of breach to it is upper it is a large amount of need the crowd of rehabilitation when, we are just needed by outer Power, rehabilitation efficiency is improved by the development of rehabilitation equipment, the problem of making up rehabilitation's teacher deficiency.Rehabilitation equipment is in recovering undertaking In, just play an important role, occupy critical role.Also refer to above, hemiplegic patient in rehabilitation training, The rehabilitation training of Ipsilateral limb and strong side limb, can play positive role, so needing to design a kind of lower limb linkage rehabilitation training instrument Just have clinical meaning, Ipsilateral lower limb passive movement driven by the active movement for being good for side lower limb, it is main passive and deposit, be connected fortune Under dynamic pattern, rehabilitation training is completed in the case where subjectivity controls, during limb rehabilitating, improves the same of limb motion function When, psychologically also improve confidence of the patient to rehabilitation.
Utility model content
The purpose of this utility model is to be directed to drawbacks described above, there is provided a kind of healing hemiplegic lower limb training based on the linkage of strong side Instrument.
To achieve these goals, the utility model uses following technical scheme.
It is a kind of based on strong side linkage healing hemiplegic lower limb instrument for training, including bed body, outside the lower extremity movement in bed body Bone device and pneumatic actuating device, have two parts of upper body and the lower part of the body in bed body, and upper body is divided into bed surface, lower body part tool There are a pair of hollow out slide rails for being divided into the left and right sides;Lower extremity movement exoskeleton device is divided on two hollow out slide rails including a pair Lower limb link gear, each lower limb link gear include a pedal, a pair of shank bars, a pair of thigh bars, one first support Bar, a pair of second support bars, a pair of the 3rd support bars, a pair of fixed mounts and a pair of sliding blocks, the front end of a pair of shank bars are sold respectively The both ends of pedal are connected to, and shank bar can be designed to scalable adjustment length and the form of fixation, to meet different heights Patient use, the front end of a pair of thigh bars is pinned at the rear end of two shank bars respectively, and first support bar is U-shaped, both ends difference Be connected to the bottom of two shank bars, the front end difference pin joints of a pair of second support bars in the lower end of two shank bars, a pair the 3rd The front end of strut respectively with the rear end pin-connects of two second support bars and being pinned at the upper end of two fixed mounts respectively, a pair the 3rd The rear end of the strut rear end pin-connect with two thigh bars respectively, a pair of upper end of slide block respectively with two first support bar pin-connects, under End is respectively arranged in two slide rails;Pneumatic actuating device includes driving a pair of cylinders that two sliding blocks move along slide rail respectively.
Described cylinder uses Rodless cylinder, and the lower end of sliding block is on the piston of Rodless cylinder.
The both ends of described first support bar are connected to the bottom of two shank bars by y shape adapter sleeves respectively.
The angle of described y shape adapter sleeves is 40 degree.
Swivel becket is equipped with described shank bar and the pin joint of pedal, swivel becket is provided with arc-shaped limit groove, rides Plate is provided with corresponding gag lever post, is engaged by gag lever post located at stopper slot, to control the rotational angle of pedal with small On the basis of the vertical position of leg bar backward between 30 ° to 20 ° forward.
Described thigh bar is connected, and each manage with large and small leg bar respectively with being provided with a pair of pipe sleeves at the pin joint of shank bar Put and be equipped with a rotating ring, two rotating rings are engaged composition pin joint, and a rotating ring is provided with one 140 ° of stopper slot, another Rotating ring is provided with gag lever post corresponding to one, is engaged by gag lever post located at stopper slot, is turned with controlling between large and small leg bar Dynamic angle.
The restraining to fixed feet is additionally provided with described pedal, thigh bar also has to fixation respectively with shank bar The restraining of thigh and shank.
In above-mentioned technical proposal of the present utility model, the healing hemiplegic lower limb instruction of the present utility model based on the linkage of strong side Practice instrument, by setting the bar linkage structure being made up of more bars, to form lower extremity movement exoskeleton device, closed to simulate the ankle of lower limb Each position such as section, shank, knee joint, thigh, hip joint, and by cylinder driving simulate the Qu Heshen, interior of lower limb walking The rehabilitation training of the action such as receipts and abduction, rotation, so as to play a part of driving human body lower limbs rehabilitation exercise, enable hemiplegic patient Realize the function of normal lower limb flexion and extension, and in the motion process that strong side lower limb drive Ipsilateral lower limb complete to be synchronized with the movement and Alternating movement both of which, be advantageous to strengthen rehabilitation efficacy, meet the rehabilitation training demand of different patients.
Brief description of the drawings
Fig. 1 is the structural representation of the healing hemiplegic lower limb instrument for training of the present utility model based on the linkage of strong side;
Fig. 2 is the schematic perspective view for being stretched flat state of lower limb link gear of the present utility model;
Fig. 3 is the schematic perspective view of the state of bending back of lower limb link gear of the present utility model;
Fig. 4 is the schematic side view for being stretched flat state of lower limb link gear of the present utility model;
Fig. 5 is the structural representation at the pin joint of shank bar and pedal of the present utility model;
Fig. 6 is the structural representation at the pin joint of large and small leg bar of the present utility model;
Fig. 7 is the structural representation of pneumatic actuating device of the present utility model;
Fig. 8 is the connection diagram of Rodless cylinder and sliding block of the present utility model.
Embodiment
The technical solution of the utility model is further illustrated below in conjunction with the accompanying drawings.
As shown in figures 1-4, it mainly includes bed to healing hemiplegic lower limb instrument for training of the present utility model based on the linkage of strong side Body 10, the lower extremity movement exoskeleton device in bed body 10 and pneumatic actuating device.
Wherein, bed body 10 is similar to ordinary hospital bed, long 200cm, high 65cm, has two portions of upper body and the lower part of the body in bed body 10 Point, upper body is divided into bed surface 11, can use foam-rubber cushion etc., and lower body part has a pair of hollow out slide rails for being divided into the left and right sides 12, the hollow out space of the slide rail 12 is 9cm, for the movement locus as lower extremity movement exoskeleton device and and pneumatic actuation Effective connection of device.In addition, the foam-rubber cushion of upper body part should be slightly above the slide rail 12 of lower body part, it is easy to outside lower extremity movement After the installation of bone device, human body is set to couch when on instrument for training, whole body is in same level.
Lower extremity movement exoskeleton device includes a pair of lower limb link gears 20 being divided on two hollow out slide rails 12, under each Limb link gear 20 include a pedal 21, a pair of shank bars 22, a pair of thigh bars 23, a first support bar 24, a pair the Two support bars 25, a pair of the 3rd support bars 26, a pair of fixed mounts 27 and a pair of sliding blocks 28, wherein, the front end of a pair of shank bars 22 It is pinned at the both ends of pedal 21 respectively, the front end of a pair of thigh bars 23 is pinned at the rear end of two shank bars 22 respectively, first Strut 24 is U-shaped, and both ends are connected to the bottom of two shank bars 22, shown in Figure 4, is specially the first described support The both ends of bar 24 are connected to the bottom of two shank bars 22, and the folder of described y shapes adapter sleeve 13 by y shapes adapter sleeve 13 respectively Angle a is 40 degree.The front end difference pin joint of a pair of second support bars 25 in the lower end of two shank bars 22, a pair the 3rd support bars 26 Front end respectively with the rear end pin-connects of two second support bars 25 and being pinned at the upper ends of two fixed mounts 27 and (being closed to simulate hip respectively Section b), the rear ends of a pair of the 3rd support bars 26 rear end pin-connect with two thigh bars 23 respectively, a pair of upper ends of sliding block 28 respectively with The bottom centre position pin-connect of two first support bar 24 as driving point, to play so that drive a little at patient's heel center, And according to the motion synchronizing moving of pin, to simulate the process of lower limb motion of knee joint.The lower end of sliding block 28 is respectively arranged on two slide rails In 12;When sliding block 28 is in 12 leading section of slide rail, lower limb link gear 20 is in horizontal position (see Fig. 2,4), when sliding block 28 to After move, lower limb link gear 20 into bending position (see Fig. 3), mainly do bending motion in sagittal plane.
Shown in Figure 5, described shank bar 22 at the pin joint of pedal 21 with being equipped with swivel becket 14, to simulate Ankle-joint c, according to reference data of human engineering, ankle-joint largest motion scope is -20 °~30 °, to ensure the safety of rehabilitation exercise process Property, the anglec of rotation is ensured in safe range in rotary course, therefore arc-shaped limit groove 15 is provided with swivel becket 14, pin Pedal 21 is provided with corresponding gag lever post 16, is engaged by gag lever post 16 located at stopper slot 15, to control turning for pedal 21 Dynamic angle is on the basis of 22 vertical position of shank bar backward between 30 ° to 20 ° forward, so that ankle-joint only can be in safety Range of motion.
It is shown in Figure 6, described thigh bar 23 with being provided with a pair of pipe sleeves 17 at the pin joint of shank bar 22, respectively with Large and small leg bar 22 is connected, and is also equipped with a rotating ring 14 on each pipe sleeve, and two rotating rings 14 are engaged composition pin joint, to Knee joint is simulated, similarly, because kneed largest motion scope is at 0~140 °, within this range in safe range, therefore One 140 ° of stopper slot 15 is provided with a rotating ring, another rotating ring is provided with gag lever post 16 corresponding to one, passes through gag lever post 16 are engaged located at stopper slot 15, to control the rotational angle between large and small leg bar 22 in 0~140 ° of safe range.Separately Outside, similar structures can also be used at above-mentioned hip joint, so that safe range of the rotational angle control at -7 ° -35 ° at this It is interior.Also, sensor can also be set in above three key aspect respectively, exercise data is fed back into control computer, The physical training condition of patient is monitored, evaluate and is guided by effective, improve the initiative of patient.
The restraining (not shown) to fixed feet, thigh bar 23 and shank bar are additionally provided with described pedal 21 22 also have the restraining to fixed thigh and shank respectively, can also use the structure of other similar fixation lower limb certainly Form, by the way that patient's lower limb are placed in lower limb link gear 20, and pass through fixation, you can carry out rehabilitation training.
Incorporated by reference to shown in Fig. 7, Fig. 8, pneumatic actuating device includes drive two sliding blocks 28 to be moved along slide rail 12 respectively a pair Cylinder 30, by controlling cylinder 30 to be moved with band movable slider 28 in slide rail 12, so as to actively drive lower extremity movement dermoskeleton Bone device and patient's lower limb make the rehabilitation training of flexor, naturally it is also possible to by pneumatic control, patient master is controlled to realize Dynamic lower limb and passive lower limb, the amplitude and speed of rehabilitation exercise are controlled, complete synchronous and alternately training mode switching.
Described cylinder 30 preferably uses Rodless cylinder, and the lower end of sliding block 28 is on the piston of Rodless cylinder, due to nothing Bar cylinder small volume, light weight, especially suitable for the occasion of long stroke, and Rodless cylinder can prevent because being moved in groove The issuable twist motion on common cylinder.
In summary, using lower limb rehabilitation training instrument of the present utility model, there is following advantage:
1st, devise lower extremity movement mechanical exoskeleton device, can drive patient's lower limb complete flexion and extension, including hip joint, The motion of knee joint, ankle-joint;
2nd, pneumatic actuation design is devised, replaces electrokinetic technique to provide motion driving force, pneumatics using pneumatics Application patient can be made to reduce mechanical sense during passive movement, make lower extremity movement more submissive.
3rd, ganged movement is devised, the movement locus using patient's displacement as rehabilitation training, one is provided to patient Rehabilitation training under subjective consciousness control.Can emulate the coupled movements of strong side lower limb and Ipsilateral lower limb, emulation alternately and Synchronous two kinds of motor patterns.
4th, by controlling patient's active lower limb and passive lower limb, the amplitude and speed of rehabilitation exercise are controlled, complete it is synchronous and The alternately switching of training mode.
5th, by the simulating sports of rehabilitation training instrument, a brand-new, comfortable rehabilitation experience can be provided to hemiplegic patient Sense.
Those of ordinary skill in the art is it should be appreciated that the embodiment of the above is intended merely to illustrate that this practicality is new Type, and be not used as to restriction of the present utility model, as long as in spirit of the present utility model, to described above Change, the modification of embodiment will all fall in Claims scope of the present utility model.

Claims (7)

  1. A kind of 1. healing hemiplegic lower limb instrument for training based on the linkage of strong side, it is characterised in that:Including bed body, in bed body under Limb moves exoskeleton device and pneumatic actuating device, has two parts of upper body and the lower part of the body in bed body, and upper body is divided into bed surface, under Body part has a pair of hollow out slide rails for being divided into the left and right sides;Lower extremity movement exoskeleton device is divided into two hollow outs including a pair Lower limb link gear on slide rail, each lower limb link gear include a pedal, a pair of shank bars, a pair of thigh bars, one First support bar, a pair of second support bars, a pair of the 3rd support bars, a pair of fixed mounts and a pair of sliding blocks, before a pair of shank bars End is pinned at the both ends of pedal respectively, and the front end of a pair of thigh bars is pinned at the rear end of two shank bars, first support bar respectively For U-shaped, both ends are connected to the bottom of two shank bars, and pin joint is distinguished under two shank bars in the front end of a pair of second support bars End, the front ends of a pair of the 3rd support bars respectively with the rear end pin-connects of two second support bars and being pinned at the upper of two fixed mounts respectively End, the rear ends of a pair of the 3rd support bars rear end pin-connect with two thigh bars respectively, a pair of upper end of slide block respectively with two first Strut pin-connect, lower end are respectively arranged in two slide rails;Pneumatic actuating device includes drive two sliding blocks to be moved along slide rail respectively one To cylinder.
  2. 2. the healing hemiplegic lower limb instrument for training as claimed in claim 1 based on the linkage of strong side, it is characterised in that:Described cylinder Using Rodless cylinder, the lower end of sliding block is on the piston of Rodless cylinder.
  3. 3. the healing hemiplegic lower limb instrument for training as claimed in claim 1 based on the linkage of strong side, it is characterised in that:Described first The both ends of support bar are connected to the bottom of two shank bars by y shape adapter sleeves respectively.
  4. 4. the healing hemiplegic lower limb instrument for training as claimed in claim 3 based on the linkage of strong side, it is characterised in that:Described y shapes The angle of adapter sleeve is 40 degree.
  5. 5. the healing hemiplegic lower limb instrument for training as claimed in claim 1 based on the linkage of strong side, it is characterised in that:Described shank Swivel becket is equipped with the pin joint of bar and pedal, swivel becket is provided with arc-shaped limit groove, and pedal is provided with corresponding spacing Bar, it is engaged by gag lever post located at stopper slot, to control the rotational angle of pedal on the basis of the vertical position of shank bar Backward between 30 ° to 20 ° forward.
  6. 6. the healing hemiplegic lower limb instrument for training as claimed in claim 1 based on the linkage of strong side, it is characterised in that:Described thigh Bar is connected, and be equipped with a rotation on each pipe sleeve with large and small leg bar respectively with being provided with a pair of pipe sleeves at the pin joint of shank bar Ring, two rotating rings are engaged composition pin joint, and a rotating ring is provided with one 140 ° of stopper slot, and another rotating ring is provided with a pair The gag lever post answered, it is engaged by gag lever post located at stopper slot, to control the rotational angle between large and small leg bar.
  7. 7. the healing hemiplegic lower limb instrument for training as claimed in claim 1 based on the linkage of strong side, it is characterised in that:Described is foot-operated The restraining to fixed feet is additionally provided with plate, thigh bar also has the constraint to fixed thigh and shank with shank bar respectively Band.
CN201720644049.XU 2017-06-02 2017-06-02 A kind of healing hemiplegic lower limb instrument for training based on the linkage of strong side Expired - Fee Related CN206809645U (en)

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CN108938329A (en) * 2018-07-09 2018-12-07 刘美荣 Surgical nursing leg convalescence device
CN109009878A (en) * 2018-08-27 2018-12-18 江苏理工学院 A kind of active-passive integrated formula telecontrol equipment
CN109009879A (en) * 2018-08-27 2018-12-18 江苏理工学院 A kind of nursing bed telecontrol equipment
CN109172281A (en) * 2018-10-17 2019-01-11 苏州帝维达生物科技有限公司 A kind of lower limb rehabilitation robot of seven freedom
CN109700639A (en) * 2019-03-04 2019-05-03 南京中医药大学 Intelligent lower limb rehabilitation therapeutic equipment and its operating method based on android system
CN109806095A (en) * 2019-03-01 2019-05-28 吉林大学 A kind of both legs buckling gesture drive auxiliary device
CN109875836A (en) * 2019-03-06 2019-06-14 王伟 A kind of Neurology curing hemiparalysis nursing integrated device
CN110236884A (en) * 2019-07-04 2019-09-17 青岛市中心医院 A kind of all-around intelligent hip knee ankle-joint passive rehabilitation training device
CN110279557A (en) * 2019-07-02 2019-09-27 安徽工业大学 A kind of lower limb rehabilitation robot control system and control method
CN110279976A (en) * 2019-07-01 2019-09-27 林爱翠 A kind of multi-functional hip auxiliary trainer in the wrong
CN110575356A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 Limb rehabilitation system
CN110575363A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 exoskeleton for lower limb rehabilitation
CN110613582A (en) * 2019-10-20 2019-12-27 南京可信机器人研究院有限公司 General-promotion type lower limb ankle and knee joint movement function rehabilitation training device and training method
CN111228080A (en) * 2020-01-09 2020-06-05 衡阳师范学院 Knee joint rehabilitation training appearance
CN111904810A (en) * 2020-08-22 2020-11-10 朱君衍 Medical ankle auxiliary rehabilitation device
CN112451924A (en) * 2020-11-25 2021-03-09 葛明巧 Leg exerciser
CN113041564A (en) * 2021-02-08 2021-06-29 北京联合大学 Medical rehabilitation robot for hip joint rehabilitation and motion control method
CN113069322A (en) * 2021-04-02 2021-07-06 宁波大学 Space multi-degree-of-freedom lower limb rehabilitation robot
CN113768743A (en) * 2021-08-20 2021-12-10 北京工业大学 Lower limb household horizontal rehabilitation training device for stroke hemiplegia patient
CN115006804A (en) * 2022-07-14 2022-09-06 江苏医药职业学院 Training device for transferring of center of gravity of hemiplegic patient
CN115569036A (en) * 2022-10-24 2023-01-06 燕山大学 Automatic-adjusting human lower limb rehabilitation device

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108938329A (en) * 2018-07-09 2018-12-07 刘美荣 Surgical nursing leg convalescence device
CN109009878A (en) * 2018-08-27 2018-12-18 江苏理工学院 A kind of active-passive integrated formula telecontrol equipment
CN109009879A (en) * 2018-08-27 2018-12-18 江苏理工学院 A kind of nursing bed telecontrol equipment
CN109172281B (en) * 2018-10-17 2024-03-19 苏州帝维达生物科技有限公司 Seven-degree-of-freedom lower limb rehabilitation robot
CN109172281A (en) * 2018-10-17 2019-01-11 苏州帝维达生物科技有限公司 A kind of lower limb rehabilitation robot of seven freedom
CN109806095A (en) * 2019-03-01 2019-05-28 吉林大学 A kind of both legs buckling gesture drive auxiliary device
CN109700639A (en) * 2019-03-04 2019-05-03 南京中医药大学 Intelligent lower limb rehabilitation therapeutic equipment and its operating method based on android system
CN109875836A (en) * 2019-03-06 2019-06-14 王伟 A kind of Neurology curing hemiparalysis nursing integrated device
CN110279976A (en) * 2019-07-01 2019-09-27 林爱翠 A kind of multi-functional hip auxiliary trainer in the wrong
CN110279976B (en) * 2019-07-01 2021-03-19 南京市第一医院 Multi-functional hip flexion auxiliary training ware
CN110279557A (en) * 2019-07-02 2019-09-27 安徽工业大学 A kind of lower limb rehabilitation robot control system and control method
CN110279557B (en) * 2019-07-02 2021-08-27 安徽工业大学 Control system and control method for lower limb rehabilitation robot
CN110236884B (en) * 2019-07-04 2024-05-03 青岛市中心医院 All-round intelligent hip knee ankle joint passive rehabilitation training device
CN110236884A (en) * 2019-07-04 2019-09-17 青岛市中心医院 A kind of all-around intelligent hip knee ankle-joint passive rehabilitation training device
CN110575363B (en) * 2019-09-25 2021-12-31 深圳市丞辉威世智能科技有限公司 Exoskeleton for lower limb rehabilitation
CN110575356A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 Limb rehabilitation system
CN110575363A (en) * 2019-09-25 2019-12-17 深圳市丞辉威世智能科技有限公司 exoskeleton for lower limb rehabilitation
CN110613582B (en) * 2019-10-20 2024-01-02 南京瑞可赋机器人科技有限公司 Rehabilitation training device and training method for promoting movement function of ankle knee joint of general lower limb
CN110613582A (en) * 2019-10-20 2019-12-27 南京可信机器人研究院有限公司 General-promotion type lower limb ankle and knee joint movement function rehabilitation training device and training method
CN111228080A (en) * 2020-01-09 2020-06-05 衡阳师范学院 Knee joint rehabilitation training appearance
CN111904810A (en) * 2020-08-22 2020-11-10 朱君衍 Medical ankle auxiliary rehabilitation device
CN112451924A (en) * 2020-11-25 2021-03-09 葛明巧 Leg exerciser
CN113041564A (en) * 2021-02-08 2021-06-29 北京联合大学 Medical rehabilitation robot for hip joint rehabilitation and motion control method
CN113069322A (en) * 2021-04-02 2021-07-06 宁波大学 Space multi-degree-of-freedom lower limb rehabilitation robot
CN113069322B (en) * 2021-04-02 2022-12-20 宁波大学 Space multi-degree-of-freedom lower limb rehabilitation robot
CN113768743A (en) * 2021-08-20 2021-12-10 北京工业大学 Lower limb household horizontal rehabilitation training device for stroke hemiplegia patient
CN115006804B (en) * 2022-07-14 2023-04-07 江苏医药职业学院 Training device for transferring of center of gravity of hemiplegic patient
CN115006804A (en) * 2022-07-14 2022-09-06 江苏医药职业学院 Training device for transferring of center of gravity of hemiplegic patient
CN115569036A (en) * 2022-10-24 2023-01-06 燕山大学 Automatic-adjusting human lower limb rehabilitation device

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