CN207341899U - A kind of Multifunctional rehabilitation exercise equipment - Google Patents

A kind of Multifunctional rehabilitation exercise equipment Download PDF

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Publication number
CN207341899U
CN207341899U CN201720259539.8U CN201720259539U CN207341899U CN 207341899 U CN207341899 U CN 207341899U CN 201720259539 U CN201720259539 U CN 201720259539U CN 207341899 U CN207341899 U CN 207341899U
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CN
China
Prior art keywords
support plate
plate
shin
thigh
support panel
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Expired - Fee Related
Application number
CN201720259539.8U
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Chinese (zh)
Inventor
杜腾飞
姜璐
张云芳
刘岗
贾梦楠
徐斌
梁坤峰
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Henan University of Science and Technology
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Henan University of Science and Technology
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Priority to CN201720259539.8U priority Critical patent/CN207341899U/en
Application granted granted Critical
Publication of CN207341899U publication Critical patent/CN207341899U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of Multifunctional rehabilitation exercise equipment-, including exoskeleton device and wheelchair device, exoskeleton device, which can be placed on wheelchair, also departs from wheelchair exclusive use, exoskeleton device includes foot supports plate, shin support panel, thigh support plate and lumbar support plate, the rear portion of foot supports plate is hinged by the lower end of ankle arthrosis and shin support panel, the upper end of shin support panel and the lower end of thigh support plate are hinged, the upper end of thigh support plate is hinged by hip joint and lumbar support plate, the leg fixing piece for leg to be fixed is installed with thigh support plate and shin support panel respectively.The lower limb rehabilitation training system that wheelchair technology and ectoskeleton technology are combined together by this practicality, aids in user's exercise by the detachable wearing ectoskeleton on wheelchair, promotes neurological to recover;Exoskeleton device is equipped with position-limit mechanism, knee and hip can be carried out spacing.

Description

A kind of Multifunctional rehabilitation exercise equipment
Technical field
Exoskeleton mechanism and wheelchair field are the utility model is related to, concretely relates to a kind of Multifunctional rehabilitation exercise device Material.
Background technology
With the development of science and technology, more and more people can survive after a stroke, but it is residual among these patients at the same time Corresponding sequelae is left, and it is human motion dysfunction to have quite a few among these.If it can treat in time Effective rehabilitation is obtained, but due to lacking necessary knowledge of rehabilitation and rehabilitation equipment, patient may permanent loss sensation and movement Function.
Current many research institutions start to study lower limb rehabilitation device.But traditional athletic rehabilitation using therapist as Center, inevitably there are many drawbacks.As the development of modern machines people technology is increasingly mature, robot technology is providing length Phase stable motion inputs, and is had obvious benefits compared to traditional rehabilitation training tool.Robot assisted exercise rehabilitation training is compared It is in the meaning of Traditional Rehabilitation training, treatment personnel can be not only liberated from the one-to-one heavy therapeutic process of doctor patient Out, and by inputting quantitative exercise, more good rehabilitation training plans are provided for patient, improve tool in terms of training effect There are huge potentiality and superiority, and platform can be provided for the research of athletic rehabilitation mechanism.
Domestic and international medical rehabilitation class ectoskeleton technology is not yet realized to be combined with wheelchair, and cannot balance body weight and Center.
Utility model content
The purpose of this utility model is that provide a kind of Multifunctional rehabilitation exercise to solve problems of the prior art Equipment, the rehabilitation training equipment are equipped with position-limit mechanism, can be spacing to knee and hip progress, prevent user from falling down, can User's exercise is aided in, promotes neurological to recover.
To achieve the above object, technical solution is used by the utility model:A kind of Multifunctional rehabilitation exercise equipment, bag Exoskeleton device is included, the exoskeleton device includes foot supports plate, shin support panel, thigh support plate and lumbar support plate, The rear portion of the foot supports plate is hinged by the lower end of ankle arthrosis and shin support panel, the upper end of shin support panel and thigh The lower end of support plate is hinged, and the upper end of thigh support plate is hinged by hip joint and lumbar support plate, thigh support plate and shank The leg fixing piece for leg to be fixed is installed with support plate respectively;
A spacing adjustable plate is provided with the outside of the top of the shin support panel and one drives it by driving motor The master bevel gear of rotation, driving motor be fixedly mounted on spacing adjustable plate, be engaged with master bevel gear the first driven gear and Second driven gear, the second driven gear fix the one end for being set in a connecting shaft A;The other end of connecting shaft A passes through shank It is connected after support plate by bearing with the lower part of thigh support plate, connecting shaft A is fixedly connected with shin support panel;First driven tooth Make a turn the one end for being sleeved on a connecting shaft B, spacing adjustable plate empty set connecting shaft B the other end, the top of spacing adjustable plate Both sides are outward extended with first abutting stem respectively, and multiple first limit holes, thigh branch are uniformly provided with the first abutting stem The both sides of fagging lower part are symmetrically extended out second abutting stem, are offered on the second abutting stem and the first limit hole corresponding number The second limit hole, gag lever post is equipped with corresponding first limit hole and the second limit hole, the upper end of spacing adjustable plate is also It is fixedly connected by a fixed link with the lower part of thigh support plate;The both sides on the top of shin support panel are uniformly provided with respectively Multiple limiting grooves, in the state of driving motor drives the second driven gear to rotate, the second driven gear drives leg support Plate rotates backward, so that the movement progress that gag lever post is fastened in the limiting groove to shin support panel is spacing.
Further, a spacing adjustable plate is provided with the outside of the top of the thigh support plate and one electric by driving Machine drive its rotate master bevel gear, driving motor be fixedly mounted on spacing adjustable plate, be engaged with master bevel gear first from Moving gear and the second driven gear, the second driven gear fix the one end for being set in a connecting shaft A;The other end of connecting shaft A Connected after through hip joint by the lower part of bearing and hip joint, connecting shaft A is fixedly connected with hip joint;First driven tooth makes a turn One end of a connecting shaft B is sleeved on, spacing adjustable plate empty set is in the other end of connecting shaft B, the both sides on the top of spacing adjustable plate First abutting stem is outward extended with respectively, and multiple first limit holes, hip joint lower part are uniformly provided with the first abutting stem Both sides be symmetrically extended out second abutting stem, offered on the second abutting stem and the second of the first limit hole corresponding number the limit Position hole, is equipped with gag lever post, the upper end of spacing adjustable plate also passes through one in corresponding first limit hole and the second limit hole Fixed link is fixedly connected with the lower part of hip joint;The both sides on the top of thigh support plate are uniformly provided with multiple spacing recessed respectively Groove, in the state of driving motor drives the second driven gear to rotate, the second driven gear drives thigh support plate to rotate backward, So that the movement progress that gag lever post is fastened in the limiting groove to thigh support plate is spacing.
Further, the exoskeleton device further includes gait detecting system, the gait detecting system include controller, The obliquity sensor at gyro sensor, knee joint, the pressure sensor of foot arranged on waist;Gyro sensor, The movable information of reception is sent to master reference and the state contrasted with normal attitude by obliquity sensor and pressure sensor Under, control driving motor to be adjusted by controller.
Further, the leg fixing piece structure includes being detachably arranged at thigh bandage on thigh support plate and removable Unload the shank bandage being arranged on shin support panel.
Further, detachably it is provided with foot fixed plate on the foot supports plate.
Further, the lumbar support plate includes the first lumbar support plate, the second lumbar support plate and connecting plate, and first Slot hole is offered on lumbar support plate and the second lumbar support plate, circular hole is offered on connecting plate, is adjusting the first waist branch In the state of fagging and the second lumbar support plate to required length, by the way that connecting plate is adjacent to the first lumbar support plate and passes through spiral shell Bolt penetrates the first lumbar support plate and the second waist branch after connecting plate, the first lumbar support plate and the second lumbar support plate successively It is fixed between fagging.
Further, which further includes the wheelchair device that can be used for installing exoskeleton device, wheelchair dress Put the card slot including taking the shape of the letter U and be installed in criss-cross fixture block, exoskeleton device by card slot and fixture block on wheelchair device.
Further, the shin support panel includes the second shin support panel and internal the first shank branch in hollow structure Fagging, is uniformly provided with multiple slot holes on the first shin support panel, the lower part of the second shin support panel opens up along its length There is circular hole, the lower part of the second shin support panel is set in the first shin support panel, by the way that bolt is penetrated circular hole and different To adjust the length of shin support panel and fix the position between the first shin support panel and the second shin support panel in slot hole, the The lower part of one shin support panel is hinged with ankle arthrosis.
Further, the thigh support plate includes the second thigh support plate and internal the first thigh branch in hollow structure Fagging, offers a slot hole on the first thigh support plate, the lower part of the second thigh support plate is vertically uniformly provided with Multiple circular holes, the lower part of the second thigh support plate is set in the first thigh support plate, by the way that bolt is penetrated slot hole and second To adjust the length of thigh support plate and fix the first thigh support plate and second largest in different circular holes on thigh support plate Position between leg support plate.
Compared with prior art, the beneficial effects of the utility model are:
1st, the utility model is a lower limb rehabilitation training system for being combined together wheelchair technology and ectoskeleton technology, User's exercise is aided in by the detachable wearing ectoskeleton on wheelchair, promotes neurological to recover;Ectoskeleton Device is equipped with position-limit mechanism, knee and hip can be carried out spacing;
2nd, the utility model may be worn on outside operator's body, can provide protection, body-support and synkinesia etc. Function, is the trial of intelligent medical wearable device;
3rd, the utility model is by various kinds of sensors structure gait detecting system, makes the physiology situation information of patient and outer Bone equipment operation condition can be with Real-time Feedback.
Brief description of the drawings
Fig. 1 is the structure diagram of exoskeleton device.
Fig. 2 is the local location enlarged diagram at the A of Fig. 1.
Fig. 3 is the structure diagram of wheelchair device.
Fig. 4 is the structure diagram after exoskeleton device is combined with wheelchair device.
Fig. 5 is the FB(flow block) of gait detecting system.
Marked in figure:1st, foot supports plate, 2, ankle arthrosis, 3, shin support panel, the 301, first shin support panel, 302, Second shin support panel, 302-a, limiting groove, 4, master bevel gear, 5, thigh support plate, the 501, first thigh support plate, 501- A, the second abutting stem, the 502, second thigh support plate, the 6, first driven gear, 7, hip joint, 8, lumbar support plate, 9, thigh ties up Band, 10, gag lever post, 11, driving motor, 12, fixed link, 13, spacing adjustable plate, the 1311, first abutting stem, 1311-a, first Limit hole, the 14, second driven gear, 1501, fixture block, 1502, card slot, 1503, handrail, 1504, backrest, 1505, remote control, 1506th, seat board, 1507, supporting rack.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment the utility model is described in further detail.
A kind of Multifunctional rehabilitation exercise equipment as shown in the figure, including exoskeleton device, exoskeleton device include foot supports Plate 1, shin support panel 3, thigh support plate 5 and lumbar support plate 8, the rear portion of foot supports plate 1 pass through ankle arthrosis 2 and shank The lower end of support plate 3 is hinged, and the upper end and the lower end of thigh support plate 5 of shin support panel 3 are hinged, the upper end of thigh support plate 5 It is hinged by hip joint 7 and lumbar support plate 8, be installed with respectively on thigh support plate 5 and shin support panel 3 for leg into The fixed leg fixing piece of row, leg fixing piece structure include the thigh bandage 9 being detachably arranged on thigh support plate 5 and removable Unload the shank bandage being arranged on shin support panel 3.Foot fixed plate 102 is detachably provided with foot supports plate 1.
A spacing adjustable plate 13 is provided with the outside of the top of shin support panel 3 and one drives it by driving motor 11 The master bevel gear 4 of rotation, driving motor 11 are fixedly mounted on spacing adjustable plate 13, and it is driven to be engaged with first on master bevel gear 4 6 and second driven gear 14 of gear, the second driven gear 14 fix the one end for being set in a connecting shaft A;Connecting shaft A's is another It is connected after holding through shin support panel 3 by bearing with the lower part of thigh support plate 5, connecting shaft A is fixed with shin support panel 3 to be connected Connect;First driven gear empty set in one end of a connecting shaft B, spacing 13 empty set of adjustable plate connecting shaft B the other end, it is spacing The both sides on the top of adjustable plate 13 are outward extended with first abutting stem 1311 respectively, are uniformly opened up on the first abutting stem 1311 There are multiple first limit hole 1311-a, the both sides of 5 lower part of thigh support plate are symmetrically extended out a second abutting stem 501-a, the The second limit hole with the first limit hole 1311-a corresponding numbers is offered on two abutting stem 501-a, it is spacing corresponding first Be equipped with gag lever post 10 in hole 1311-a and the second limit hole, the upper end of spacing adjustable plate 13 also by a fixed link 12 with it is big The lower part of leg support plate 5 is fixedly connected;The both sides on the top of shin support panel 3 are uniformly provided with multiple limiting groove 302- respectively A, driving motor 11 drive the second driven gear 14 rotate in the state of, the second driven gear 14 drive shin support panel 3 to After rotate so that the movement that gag lever post 10 is fastened in the limiting groove 302-a to shin support panel 3 carry out it is spacing.
A spacing adjustable plate is provided with the outside of the top of thigh support plate 5 and one drives its rotation by driving motor Master bevel gear, driving motor be fixedly mounted on spacing adjustable plate, the first driven gear and second are engaged with master bevel gear Driven gear, the second driven gear fix the one end for being set in a connecting shaft A;After the other end of connecting shaft A passes through hip joint 7 It is connected by bearing with the lower part of hip joint 7, connecting shaft A is fixedly connected with hip joint 7;First driven gear empty set is in a company One end of spindle B, spacing adjustable plate empty set is in the other end of connecting shaft B, and the both sides on the top of spacing adjustable plate are respectively to extension Stretching has first abutting stem, and multiple first limit holes are uniformly provided with the first abutting stem, and the both sides of 7 lower part of hip joint are symmetrical Extend second abutting stem, the second limit hole with the first limit hole corresponding number is offered on the second abutting stem, right Gag lever post is equipped with the first limit hole and the second limit hole answered, the upper end of spacing adjustable plate also passes through a fixed link and hip The lower part in joint 7 is fixedly connected;The both sides on the top of thigh support plate 5 are uniformly provided with multiple limiting grooves respectively, are driving In the state of motor 11 drives the rotation of the second driven gear, the second driven gear drives thigh support plate 5 to rotate backward, so that The movement that gag lever post is fastened in the limiting groove to thigh support plate 5 carries out spacing.
Exoskeleton device further includes gait detecting system, and the gait detecting system includes controller, the top arranged on waist Obliquity sensor, the pressure sensor of foot at spiral shell instrument sensor, knee joint;Gyro sensor, obliquity sensor and In the state of the movable information of reception is sent to master reference and is contrasted with normal attitude by pressure sensor, pass through controller Control driving motor is adjusted.
The pressure sensor of foot is made of each eight sensors in two groups of left and right, is respectively ossa suffraginis region, other toes Bone region, the first toe plantar joint area, two three-toed plantar joint areas, four or five toe plantar joint areas, sole inside region, outside sole Side region, calcaneus region.
Lumbar support plate 9 includes the first lumbar support plate, the second lumbar support plate and connecting plate, the first lumbar support plate and Slot hole is offered on second lumbar support plate, circular hole is offered on connecting plate, is adjusting the first lumbar support plate and the second waist In the state of portion's support plate to required length, by the way that connecting plate is adjacent to the first lumbar support plate and by the bolt successively company of penetrating Will be solid between the first lumbar support plate and the second lumbar support plate after fishplate bar, the first lumbar support plate and the second lumbar support plate It is fixed.
The rehabilitation training equipment further includes the wheelchair device that can be used for detachable installation exoskeleton device, wheelchair device bag Include the card slot 1502 to take the shape of the letter U and be installed in criss-cross fixture block 1501, exoskeleton device by card slot 1502 and fixture block 1501 On wheelchair device.Wheelchair device further includes backrest 1504, the handrail 1503 of both sides, remote control 1505, seat board 1506 and support Frame 1507, supporting rack 1507 are used for supporting seat board 1506, and the height of seat board 1506 can be adjusted by adjusting supporting rack 1507.
Ectoskeleton body can be placed on the inside of wheel chair handle, can also depart from wheelchair exclusive use.
Shin support panel 3 includes the second shin support panel 302 and internal the first shin support panel 301 in hollow structure, Multiple slot holes are uniformly provided with first shin support panel 301 along its length, the lower part of the second shin support panel 302 opens up Have circular hole, the lower part of the second shin support panel 302 is set in the first shin support panel 301, by by bolt penetrate circular hole and To adjust the length of shin support panel 3 and fix the first shin support panel 301 and the second shin support panel 302 in different slot holes Between position, the lower part of the first shin support panel 301 is hinged with ankle arthrosis 2.
Thigh support plate 5 includes the second thigh support plate 502 and internal the first thigh support plate 501 in hollow structure, A slot hole is offered on first thigh support plate 501, the lower part of the second thigh support plate 502 is vertically uniformly provided with Multiple circular holes, the lower part of the second thigh support plate 502 is set in the first thigh support plate 501, by the way that bolt is penetrated slot hole With in the different circular holes in the second thigh support plate 502 to adjust the length of thigh support plate 5 and fix the first thigh support Position between 501 and second thigh support plate 502 of plate.
The position-limit mechanism adjusting angle of hip is 21 ° to the left, 27 ° to the right on the basis of plumb line, the position restrainer of knee Structure adjusts angle as 71 ° to the left, to the right 71 ° on the basis of plumb line.
Leg size adjusting mechanism adjustable extent is 0~70cm, and waist sizes adjustable mechanism adjustable extent is 0~30cm.
By being equipped with torsional spring respectively in waist both sides in the position-limit mechanism of hip and knee, realize to the interior receipts of hip joint and Arms sideward lift carries out spacing.

Claims (9)

1. a kind of Multifunctional rehabilitation exercise equipment, including exoskeleton device, the exoskeleton device includes foot supports plate(1)、 Shin support panel(3), thigh support plate(5)With lumbar support plate(8), the foot supports plate(1)Rear portion closed by ankle Section(2)With shin support panel(3)Lower end be hinged, shin support panel(3)Upper end and thigh support plate(5)Lower end be hinged, Thigh support plate(5)Upper end pass through hip joint(7)With lumbar support plate(8)It is hinged, thigh support plate(5)And shin support panel (3)The upper leg fixing piece being installed with respectively for leg to be fixed, it is characterised in that:
The shin support panel(3)Top on the outside of be provided with a spacing adjustable plate(13)With one by driving motor(11) The master bevel gear for driving it to rotate(4), drive motor(11)It is fixedly mounted on spacing adjustable plate(13)On, master bevel gear(4)On It is engaged with the first driven gear(6)With the second driven gear(14), the second driven gear(14)Fixation is set in a connecting shaft A One end;The other end of connecting shaft A passes through shin support panel(3)Pass through bearing and thigh support plate afterwards(5)Lower part connection, even Spindle A and shin support panel(3)It is fixedly connected;First driven gear(6)Empty set is in one end of a connecting shaft B, spacing adjusting Plate(13)Empty set is in the other end of connecting shaft B, spacing adjustable plate(13)The both sides on top be outward extended with one first respectively Abutting stem(1311), the first abutting stem(1311)On be uniformly provided with multiple first limit holes(1311-a), thigh support plate(5) The both sides of lower part are symmetrically extended out second abutting stem(501-a), the second abutting stem(501-a)On offer with it is first spacing Hole(1311-a)Second limit hole of corresponding number, in corresponding first limit hole(1311-a)It is equipped with the second limit hole Gag lever post(10), spacing adjustable plate(13)Upper end also pass through a fixed link (12) and thigh support plate(5)Lower part fix Connection;Shin support panel(3)The both sides on top be uniformly provided with multiple limiting grooves respectively(302-a), in driving motor (11)Drive the second driven gear(14)In the state of rotation, the second driven gear(14)Drive shin support panel(3)Turn round It is dynamic, so that gag lever post (10) is fastened on the limiting groove(302-a)It is interior to shin support panel(3)Movement carry out it is spacing.
A kind of 2. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that:
The thigh support plate(5)Top on the outside of be provided with a spacing adjustable plate and one drives its turn by driving motor Dynamic master bevel gear, driving motor are fixedly mounted on spacing adjustable plate, and the first driven gear and the are engaged with master bevel gear Two driven gears, the second driven gear fix the one end for being set in a connecting shaft A;The other end of connecting shaft A passes through hip joint (7)Pass through bearing and hip joint afterwards(7)Lower part connection, connecting shaft A and hip joint(7)It is fixedly connected;First driven tooth makes a turn One end of a connecting shaft B is sleeved on, spacing adjustable plate empty set is in the other end of connecting shaft B, the both sides on the top of spacing adjustable plate First abutting stem is outward extended with respectively, and multiple first limit holes, hip joint are uniformly provided with the first abutting stem(7)Under The both sides in portion are symmetrically extended out second abutting stem, and second with the first limit hole corresponding number is offered on the second abutting stem Limit hole, is equipped with gag lever post in corresponding first limit hole and the second limit hole, and the upper end of spacing adjustable plate also passes through one A fixed link and hip joint(7)Lower part be fixedly connected;Thigh support plate(5)Top both sides be uniformly provided with respectively it is multiple Limiting groove, in driving motor(11)In the state of driving the rotation of the second driven gear, the second driven gear drives thigh support Plate(5)Rotate backward, so that gag lever post is fastened in the limiting groove to thigh support plate(5)Movement carry out it is spacing.
A kind of 3. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that:The exoskeleton device is also wrapped Gait detecting system is included, the gait detecting system includes controller, the gyro sensor arranged on waist, inclining at knee joint The pressure sensor of angle transducer, foot;The movement of reception is believed in gyro sensor, obliquity sensor and pressure sensor In the state of breath is sent to master reference and is contrasted with normal attitude, driving motor is controlled to be adjusted by controller.
A kind of 4. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that:The leg fixing piece structure bag Include and be detachably arranged at thigh support plate(5)On thigh bandage(9)Be detachably arranged at shin support panel(3)On shank Bandage.
A kind of 5. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that:The foot supports plate(1) On be detachably provided with foot fixed plate(102).
A kind of 6. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that:The lumbar support plate(8) Including the first lumbar support plate, the second lumbar support plate and connecting plate, on the first lumbar support plate and the second lumbar support plate Slot hole is offered, circular hole is offered on connecting plate, is adjusting the first lumbar support plate and the second lumbar support plate to required length In the state of, by the way that connecting plate is adjacent to the first lumbar support plate and penetrates connecting plate, the first lumbar support successively by bolt Will be fixed between the first lumbar support plate and the second lumbar support plate after plate and the second lumbar support plate.
A kind of 7. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that:The rehabilitation training equipment also wraps The wheelchair device that can be used for installing exoskeleton device is included, wheelchair device includes the card slot to take the shape of the letter U(1502)With in criss-cross Fixture block(1501), exoskeleton device passes through card slot(1502)And fixture block(1501)It is installed on wheelchair device.
A kind of 8. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that:The shin support panel(3) Including the second shin support panel(302)With internal the first shin support panel in hollow structure(301), the first shin support panel (301)On be uniformly provided with multiple slot holes, the second shin support panel along its length(302)Lower part offer circular hole, Two shin support panels(302)Lower part be set in the first shin support panel(301)It is interior, by the way that bolt is penetrated circular hole and different To adjust shin support panel in slot hole(3)Length and fix the first shin support panel(301)With the second shin support panel(302) Between position, the first shin support panel(301)Lower part and ankle arthrosis(2)It is hinged.
A kind of 9. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that:The thigh support plate(5) Including the second thigh support plate(502)With internal the first thigh support plate in hollow structure(501), the first thigh support plate (501)On offer a slot hole, the second thigh support plate(502)Lower part be vertically uniformly provided with multiple circular holes, Second thigh support plate(502)Lower part be set in the first thigh support plate(501)It is interior, by the way that bolt is penetrated slot hole and second Thigh support plate(502)On different circular holes in adjust thigh support plate(5)Length and fix the first thigh support plate (501)With the second thigh support plate(502)Between position.
CN201720259539.8U 2017-03-17 2017-03-17 A kind of Multifunctional rehabilitation exercise equipment Expired - Fee Related CN207341899U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720259539.8U CN207341899U (en) 2017-03-17 2017-03-17 A kind of Multifunctional rehabilitation exercise equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720259539.8U CN207341899U (en) 2017-03-17 2017-03-17 A kind of Multifunctional rehabilitation exercise equipment

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Publication Number Publication Date
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108836655A (en) * 2018-07-06 2018-11-20 杭州光启医疗科技发展有限公司 A kind of orthopaedics patient safe wheelchair with nursing role
CN109793562A (en) * 2019-01-23 2019-05-24 贾韩静 A kind of fracture fixation support frame of convenient disassembly
CN110353943A (en) * 2019-07-30 2019-10-22 烟台科宇机器人科技有限公司 A kind of exoskeleton robot
CN111840009A (en) * 2020-07-22 2020-10-30 陈涛 Leg rehabilitation treatment device with protection function and using method thereof
CN112370305A (en) * 2020-11-11 2021-02-19 深圳市迈步机器人科技有限公司 Exoskeleton robot for lower limb rehabilitation training and control method thereof
CN113413575A (en) * 2021-06-15 2021-09-21 青岛大学附属医院 Spacing rehabilitation training device of hip joint replacement postoperative
CN114344835A (en) * 2022-01-26 2022-04-15 北京大学第三医院(北京大学第三临床医学院) Quadriceps femoris exerciser
CN114344835B (en) * 2022-01-26 2022-10-28 北京大学第三医院(北京大学第三临床医学院) Quadriceps femoris exerciser

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108836655A (en) * 2018-07-06 2018-11-20 杭州光启医疗科技发展有限公司 A kind of orthopaedics patient safe wheelchair with nursing role
CN109793562A (en) * 2019-01-23 2019-05-24 贾韩静 A kind of fracture fixation support frame of convenient disassembly
CN109793562B (en) * 2019-01-23 2020-06-16 胡将碟 Dismantle convenient fracture fixation support frame
CN110353943A (en) * 2019-07-30 2019-10-22 烟台科宇机器人科技有限公司 A kind of exoskeleton robot
CN110353943B (en) * 2019-07-30 2021-11-09 烟台科宇机器人科技有限公司 Exoskeleton robot
CN111840009A (en) * 2020-07-22 2020-10-30 陈涛 Leg rehabilitation treatment device with protection function and using method thereof
CN112370305A (en) * 2020-11-11 2021-02-19 深圳市迈步机器人科技有限公司 Exoskeleton robot for lower limb rehabilitation training and control method thereof
CN113413575A (en) * 2021-06-15 2021-09-21 青岛大学附属医院 Spacing rehabilitation training device of hip joint replacement postoperative
CN113413575B (en) * 2021-06-15 2022-03-01 青岛大学附属医院 Spacing rehabilitation training device of hip joint replacement postoperative
CN114344835A (en) * 2022-01-26 2022-04-15 北京大学第三医院(北京大学第三临床医学院) Quadriceps femoris exerciser
CN114344835B (en) * 2022-01-26 2022-10-28 北京大学第三医院(北京大学第三临床医学院) Quadriceps femoris exerciser

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