CN208989560U - A kind of human upper limb rehabilitation platform - Google Patents

A kind of human upper limb rehabilitation platform Download PDF

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Publication number
CN208989560U
CN208989560U CN201820416742.6U CN201820416742U CN208989560U CN 208989560 U CN208989560 U CN 208989560U CN 201820416742 U CN201820416742 U CN 201820416742U CN 208989560 U CN208989560 U CN 208989560U
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China
Prior art keywords
inserted link
motor
supporting leg
support
gear
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Expired - Fee Related
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CN201820416742.6U
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Chinese (zh)
Inventor
陶庆
张开拓
仝洁
刘海德
蔡慧
孙文磊
李兆波
王寿栋
任佳泽
刘利利
霍笑
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Xinjiang University
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Xinjiang University
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Priority to CN201820416742.6U priority Critical patent/CN208989560U/en
Application granted granted Critical
Publication of CN208989560U publication Critical patent/CN208989560U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The human upper limb rehabilitation platform of the utility model, including a kind of human upper limb rehabilitation platform, including support base, support frame, platform body, first motor, second motor, first gear is keyed on the output shaft of first motor, the output shaft of second motor is equipped with second gear and the first belt pulley, first gear and second gear engaged transmission, the right end of upper pendulum bar and the right end of draft link are mounted on pulley shaft by bearing, pulley shaft is equipped with the second belt pulley, second belt pulley and pulley shaft are keyed, it is connected between first belt pulley and the second belt pulley by driving belt.Arm is placed in arm support support by patient, and cooperation control first motor and the second motor can realize the training in complicated circular motion, linear motion and various horizontal planes;Can also the movement in the conversion of motion to space in horizontal plane be tempered patient and overcome gravitational ability, restore patient muscle's power by interim angle change.

Description

A kind of human upper limb rehabilitation platform
Technical field
A kind of human upper limb rehabilitation platform of the utility model belongs to rehabilitation medical instrument field.
Background technique
With the development of China human mortality aging, cardiovascular and cerebrovascular disease, apoplexy, wound etc. lead to human central nervous system Impaired or partial nerve system damage, hemiplegia, the number of disability are continuously increased, and the recovery period of the above disease is longer, expend people Power material resources are very big.Rehabilitation Shi Jinhang rehabilitation exercise training is replaced using mechanical rehabilitation equipment, can not only mitigate the work of doctor Intensity can also optimize rehabilitation therapy method, reach preferably therapeutic effect.Currently, domestic rehabilitation equipment safety, functionality Lower, rehabilitation efficacy is poor, and advanced rehabilitation equipment relies primarily on import, and the patient of financial difficulties is caused to be unable to get in time Rehabilitation.It would therefore be highly desirable to provide a kind of rehabilitation equipment highly-safe, full-featured, rehabilitation efficacy is good, cheap.
Summary of the invention
The purpose of this utility model is that proposing a kind of highly-safe, full-featured, rehabilitation efficacy is good, cheap people Body upper limb healing platform.
Purpose of the utility model is realized as follows: a kind of human upper limb rehabilitation platform, including support base, support frame, Platform body, first motor, the second motor, support frame are mounted on the top of support base, and platform body is mounted on the upper of support frame Portion, first motor are fixedly mounted on the lower part of platform body, and the output shaft of first motor passes through platform body and is located at platform sheet The upper end of body, key connection has first gear on the output shaft of first motor, and the output shaft of the second motor passes through platform body and position In being respectively equipped with second gear and the first belt pulley on the upper end of platform body, the output shaft of the second motor, second gear passes through The output axis connection of bearing and the second motor, first gear and second gear engaged transmission, the first belt pulley and the second motor Output shaft key connection, swing arm includes upper pendulum bar and draft link, and the left end of upper pendulum bar is mounted on the defeated of the second motor by bearing On shaft, the left end of draft link is mounted on the output shaft of the second motor by bearing, and the left end of draft link and second gear are solid Surely it links into an integrated entity, the first belt pulley is located between the left end of upper pendulum bar and the left end of draft link, between upper pendulum bar and draft link It being fixedly connected integrally by limiting screw, the right end of upper pendulum bar and the right end of draft link are mounted on pulley shaft by bearing, Pulley shaft is equipped with the second belt pulley, and the second belt pulley and pulley shaft are keyed, lead between the first belt pulley and the second belt pulley Driving belt connection is crossed, the upper end of pulley shaft is fixedly installed with rotating arm, and the outer end of rotating arm, which is equipped with, is vertically arranged handle and horizontal hand Arm supporting bracket.
Further, tensioning wheel is additionally provided between upper pendulum bar and draft link, tensioning wheel is contacted with driving belt.
Further, height adjustment device is equipped between support frame and support base.
Further, support base includes the first support leg, the second support leg, the first supporting leg and the second supporting leg, support Frame includes the first inserted link, the second inserted link and fixed frame, and the left end of fixed frame is mounted on the upper end of the first inserted link, the right end of fixed frame It is mounted on the upper end of the second inserted link, platform body is fixedly mounted on fixed frame, and the first support frame is fixedly mounted on the first support The lower end of leg, the second support leg are fixedly mounted on the lower end of the second supporting leg, and the first supporting leg, the second supporting leg are hollow rod shape Structure is respectively equipped with multiple height adjusting holes along short transverse on the first supporting leg, the second supporting leg, the first inserted link be equipped with The corresponding fixation hole of height adjusting holes on first supporting leg, the second inserted link are equipped with and the height adjustment on the second supporting leg The inside of the first supporting leg is inserted into the corresponding fixation hole in hole, the lower part of the first inserted link, and the lower part of the second inserted link is inserted into second The inside of support leg is connected to one by passing through the connecting pin of height adjusting holes, fixation hole between the first inserted link and the first supporting leg It rises, is linked together between the second inserted link and the second supporting leg by passing through the connecting pin of height adjusting holes, fixation hole.
Further, angle adjustment device is equipped between platform body and support frame.
Further, the left end rear portion of fixed frame is hinged on the top of the first inserted link, and the right end rear portion of fixed frame is hinged on The top of second inserted link, the top of the first inserted link are hinged with the first oblique pull cylinder bar, and the left end front of fixed frame is hinged with third and inserts Bar, third inserted link are located inside the first oblique pull cylinder bar, and the first oblique pull cylinder bar is equipped with multiple angle adjustment holes, set on third inserted link There is limit hole corresponding with the angle adjustment holes in the first oblique pull cylinder bar, by wearing between third inserted link and the first oblique pull cylinder bar Over-angle adjustment hole, limit hole spacer pin link together;The upper end of second inserted link is hinged with the second oblique pull cylinder bar, fixed frame Right end front be hinged with the 4th inserted link, the 4th inserted link is located inside the second oblique pull cylinder bar, the second oblique pull cylinder bar be equipped with it is multiple Angle adjustment holes, the 4th inserted link are equipped with limit hole corresponding with the angle adjustment holes in the second oblique pull cylinder bar, the 4th inserted link It is linked together between the second oblique pull cylinder bar by passing through the spacer pin of angle adjustment holes, limit hole.
It further, further include the output shaft that first motor is set, first gear, the output shaft of the second motor, second The safety guard plate of gear exterior.
Due to carrying out above-mentioned technical proposal, allows for patient and arm is placed in arm support support, cooperation controls first Motor and the second motor can realize the training in complicated circular motion, linear motion and various horizontal planes;Suffer from After training significant effect in person's horizontal plane, model of the platform body at 0-90 ° may be implemented by angle adjustment device Enclose interior rotation, and then by the movement in the conversion of motion to space in horizontal plane, 90 ° of whens need fully to overcome centrifugal force It can move in a circle, by interim angle change, temper patient and overcome gravitational ability, restore patient muscle's power.
Detailed description of the invention
The specific structure of the utility model is provided by drawings and examples below:
Fig. 1 is a kind of schematic perspective view of human upper limb rehabilitation platform;
Fig. 2 is the structural schematic diagram for removing safety guard plate in Fig. 1;
Fig. 3 is the structural schematic diagram that partial structurtes are in the first working condition in Fig. 1;
Fig. 4 is the structural schematic diagram that partial structurtes are in the second working condition in Fig. 1;
Fig. 5 is the attachment structure schematic diagram of support base in Fig. 1, support frame.
Legend: 1, platform body, 2, first motor, 3, the output shaft of first motor, 4, first gear, the 5, second motor Output shaft, 6, second gear, 7, be vertically arranged handle, 8, horizontal arm support support, the 9, second motor, the 10, first belt pulley, 11, on Swing rod, 12, draft link, 13, limit screw, 14, pulley shaft, the 15, second belt pulley, 16, rotating arm, 17, tensioning wheel, 18, the One support leg, the 19, second support leg, the 20, first supporting leg, the 21, second supporting leg, the 22, first inserted link, the 23, second inserted link, 24, fixed frame, 25, height adjusting holes, 26, fixation hole, 27, connecting pin, the 28, first oblique pull cylinder bar, 29, third inserted link, 30, angle Spend adjustment hole, 31, spacer pin, the 32, second oblique pull cylinder bar, the 33, the 4th inserted link, 34, safety guard plate, 35, driving belt.
Specific embodiment
The utility model is not limited by following embodiments, can technical solution according to the present utility model and actual conditions Determine specific embodiment.
Embodiment: as shown in Fig. 1 to 5, a kind of human upper limb rehabilitation platform, including support base, support frame, platform body 1, First motor 2, the second motor 9, support frame are mounted on the top of support base, and platform body 1 is mounted on the top of support frame, and first Motor 2 is fixedly mounted on the lower part of platform body 1, and the output shaft 3 of first motor passes through platform body 1 and is located at platform body 1 Upper end, key connection has first gear 4 on the output shaft 3 of first motor, and the output shaft 5 of the second motor passes through platform body 1 simultaneously Positioned at the upper end of platform body 1, second gear 6 and the first belt pulley 10, the second tooth are respectively equipped on the output shaft 5 of the second motor Wheel 6 is connect by bearing with the output shaft 5 of the second motor, 6 engaged transmission of first gear 4 and second gear, the first belt pulley 10 It is keyed with the output shaft 5 of the second motor, swing arm includes upper pendulum bar 11 and draft link 12, and the left end of upper pendulum bar 11 passes through bearing It being mounted on the output shaft 5 of the second motor, the left end of draft link 12 is mounted on the output shaft 5 of the second motor by bearing, under The left end of swing rod 12 is fixedly connected integrally with second gear 6, and the first belt pulley 10 is located at left end and the draft link of upper pendulum bar 11 Between 12 left end, it is fixedly connected integrally between upper pendulum bar 11 and draft link 12 by limiting screw 13, the right side of upper pendulum bar 11 The right end of end and draft link 12 is mounted on pulley shaft 14 by bearing, and pulley shaft 14 is equipped with the second belt pulley 15, the second skin Belt wheel 15 and pulley shaft 14 are keyed, and are connected between the first belt pulley 10 and the second belt pulley 15 by driving belt 35, belt wheel The upper end of axis 14 is fixedly installed with rotating arm 16, and the outer end of rotating arm 16, which is equipped with, is vertically arranged handle 7 and horizontal arm support support 8.Make Used time, user is hand steered to be vertically arranged handle 7, and forearm is placed in horizontal arm support support 8, starts first motor 2, first motor Output shaft 3 rotate, the output shaft 3 of first motor, which is connected by key, drives first gear 4 to rotate, first gear 4 and the second tooth 6 engaged transmission of wheel, second gear 6, which drives, swings arm swing, and swing arm drive is vertically arranged handle 7 and horizontal arm support support 8 is swung, To drive the arms swing of user, so that the arc swing for realizing swing arm motion in dummy level face is taken exercise, patient is tempered Muscular force.Start the second motor 9, the output shaft 5 of the second motor rotates, and the output shaft 5 of the second motor drives the first belt pulley 10 Rotation, the first belt pulley 10 drive the rotation of the second belt pulley 15,15 driving pulley axis 14 of the second belt pulley by driving belt 35 Rotation, pulley shaft 14 drive rotating arm 16 to rotate, and rotating arm 16 is connected through a screw thread drive and is vertically arranged handle 7 and horizontal arm support Support 8 rotates, to realize the picture circular motion of patient in the horizontal plane, further tempers the muscular force of patient.First motor 2 drives The upper limb of patient does substantially wobbling action, and the upper limb of the second motor 9 driving patient does the circle movement of picture by a small margin.
As shown in Figure 1,2,3, 4, tensioning wheel 17, tensioning wheel 17 and transmission are additionally provided between upper pendulum bar 11 and draft link 12 Belt 35 contacts.Tensioning wheel 17 can adjust the elasticity of driving belt 35.
As shown in Fig. 1,2,5, height adjustment device is equipped between support frame and support base.In such manner, it is possible to according to patient's Demand neatly adjusts the distance of support frame and support base, and then the height of control platform ontology 1, so as to be suitable for not With the patient of figure.
As shown in figure 5, support base includes the first support leg 18, the second support leg 19, the first supporting leg 20 and the second support Leg 21, support frame include the first inserted link 22, the second inserted link 23 and fixed frame 24, and the left end of fixed frame 24 is mounted on the first inserted link 22 Upper end, the right end of fixed frame 24 is mounted on the upper end of the second inserted link 23, and platform body 1 is fixedly mounted on fixed frame 24, One support frame is fixedly mounted on the lower end of the first supporting leg 20, and the second support leg 19 is fixedly mounted under the second supporting leg 21 End, the first supporting leg 20, the second supporting leg 21 are hollow rod shape structure, edge height on the first supporting leg 20, the second supporting leg 21 Direction is respectively equipped with multiple height adjusting holes 25, and the first inserted link 22 is equipped with and 25 phase of height adjusting holes on the first supporting leg 20 Corresponding fixation hole 26, the second inserted link 23 are equipped with fixation hole corresponding with the height adjusting holes 25 on the second supporting leg 21 26, the inside of the first supporting leg 20 is inserted into the lower part of the first inserted link 22, and the second supporting leg 21 is inserted into the lower part of the second inserted link 23 Inside is connected between the first inserted link 22 and the first supporting leg 20 by passing through the connecting pin 27 of height adjusting holes 25, fixation hole 26 Together, connected between the second inserted link 23 and the second supporting leg 21 by passing through the connecting pin 27 of height adjusting holes 25, fixation hole 26 It is connected together.When adjusting, the first inserted link 22 is inserted into inside the first supporting leg 20, and the second inserted link 23 is inserted into the second supporting leg 21 Portion determines the height of platform body 1, and then first inserted link 22 and the first supporting leg 20 are linked together with connecting pin 27, Second inserted link 23 and the second supporting leg 21 are linked together with connecting pin 27, the height of such platform body 1 is just fixed down Come, use that can be stable.
As shown in Fig. 1,2,5, angle adjustment device is equipped between platform body 1 and support frame.In such manner, it is possible to adjust platform The inclination angle of ontology 1 with respect to the horizontal plane makes patient in space inside-paint circle, overcomes centrifugal force, strengthens exercise effect.
As shown in figure 5, the left end rear portion of fixed frame 24 is hinged on the top of the first inserted link 22, the right end rear portion of fixed frame 24 It is hinged on the top of the second inserted link 23, the top of the first inserted link 22 is hinged with the first oblique pull cylinder bar 28, before the left end of fixed frame 24 Portion is hinged with third inserted link 29, and third inserted link 29 is located inside the first oblique pull cylinder bar 28, and the first oblique pull cylinder bar 28 is equipped with multiple Angle adjustment holes 30, third inserted link 29 are equipped with limit hole corresponding with the angle adjustment holes 30 in the first oblique pull cylinder bar 28, One is connected to by passing through the spacer pin 31 of angle adjustment holes 30, limit hole between third inserted link 29 and the first oblique pull cylinder bar 28 It rises;The upper end of second inserted link 23 is hinged with the second oblique pull cylinder bar 32, and the right end front of fixed frame 24 is hinged with the 4th inserted link 33, the Four inserted links 33 are located inside the second oblique pull cylinder bar 32, and the second oblique pull cylinder bar 32 is equipped with multiple angle adjustment holes 30, the 4th inserted link 33 are equipped with limit hole corresponding with the angle adjustment holes 30 in the second oblique pull cylinder bar 32, the 4th inserted link 33 and the second oblique pull cylinder It is linked together between bar 32 by passing through the spacer pin 31 of angle adjustment holes 30, limit hole.When adjusting, now spacer pin 31 is taken Out, third inserted link 29 is inserted into 28 inside of the first oblique pull cylinder bar and finds corresponding angle by rotation fixed frame 24 to proper angle Adjustment hole 30 and limit hole, and two spacer pins 31 are inserted into, so that the first oblique pull cylinder bar 28 and third inserted link 29 is connected into one The straight-bar of rigidity;4th inserted link 33 is inserted into 32 inside of the second oblique pull cylinder bar and finds corresponding angle adjustment hole 30 and limit Position hole, and two spacer pins 31 are inserted into, so that the second oblique pull cylinder bar 32 and the 4th inserted link 33 is connected into the straight-bar of a rigidity;This When fixed frame 24 angle be fixed.
As shown in Figure 1, further include the output shaft 3 that first motor is set, first gear 4, the second motor output shaft 5, Safety guard plate outside second gear 6.Safety guard plate 34 can cover transmission parts, make itself and user isolation, Protect the safety of user.
First gear 4 is driven to rotate in use, the output shaft 3 of first motor is connected by key, first gear 4 passes through gear Transmission drives the second gear 6 on right side to rotate, and second gear 6 drives lower swing arm 12 to rotate simultaneously by pin connection, lower swing arm 12 Upper pendulum bar 11 is driven to rotate simultaneously by three restriction screws 13, the output shaft 5 of the second motor, which is connected by key, drives the first skin Belt wheel 10 rotates, and the first belt pulley 10 drives driving belt 35 to rotate by friction, and driving belt 35 drives second by friction Belt pulley 15 rotates, and centre controls the elasticated of driving belt 35 by tensioning wheel 17, and the second belt pulley 15 is connected by key transmission To pulley shaft 14, pulley shaft 14 drives rotating arm 16 to rotate by pin connection, and rotating arm 16 is connected through a screw thread the horizontal hand of drive Arm supporting bracket 8 moves, and arm is placed in arm support support by patient, cooperation control first motor 2 and the second motor 9 Realize the training in complicated circular motion, linear motion and various horizontal planes.
After patient restores certain muscular force, the driving of the second motor 9 is removed, allows patient actively to do picture circular motion, i.e., Actively the horizontal rotation of arm support support 8 drives rotating arm 16 to rotate in tow, is connected by key and pulley shaft 14 is driven to rotate, pulley shaft 14 are connected by key drive the second belt pulley 15 rotation, and the second belt pulley 15 drives the rotation of driving belt 35, transmission by friction Belt 35 drives the rotation of the first belt pulley 10 by friction, and there are certain external force for this process, can detecte patient muscle's power Recovery.
After training significant effect in patient levels face, platform body 1 may be implemented by angle adjustment device It is rotated in the range of 0-90 °, and then by the movement in the conversion of motion to space in horizontal plane, 90 ° of whens need fully gram Taking centrifugal force can just move in a circle, and by interim angle change, temper patient and overcome gravitational ability, restore Patient muscle's power.
Above description is merely examples for clearly illustrating the present invention, and is not to the utility model The restriction of embodiment.All the technical solution of the utility model changes and variations that derived from that belong to still are located In the column of the protection scope of the utility model.

Claims (7)

1. a kind of human upper limb rehabilitation platform, it is characterised in that: including support base, support frame, platform body, first motor, Two motors, support frame are mounted on the top of support base, and platform body is mounted on the top of support frame, and first motor is fixedly mounted on The lower part of platform body, the output shaft of first motor pass through platform body and are located at the upper end of platform body, first motor it is defeated Key connection has first gear on shaft, and the output shaft of the second motor passes through platform body and is located at the upper end of platform body, and second Second gear and the first belt pulley are respectively equipped on the output shaft of motor, second gear passes through the output shaft of bearing and the second motor The output shaft of connection, first gear and second gear engaged transmission, the first belt pulley and the second motor is keyed, and swing arm includes The left end of upper pendulum bar and draft link, upper pendulum bar is mounted on the output shaft of the second motor by bearing, and the left end of draft link passes through Bearing is mounted on the output shaft of the second motor, and the left end of draft link is fixedly connected integrally with second gear, the first belt pulley Between the left end of upper pendulum bar and the left end of draft link, one is fixedly connected by limiting screw between upper pendulum bar and draft link Body, the right end of upper pendulum bar and the right end of draft link are mounted on pulley shaft by bearing, and pulley shaft is equipped with the second belt pulley, the Two belt pulleys and pulley shaft are keyed, by driving belt connection between the first belt pulley and the second belt pulley, pulley shaft it is upper End is fixedly installed with rotating arm, and the outer end of rotating arm, which is equipped with, is vertically arranged handle and horizontal arm support support.
2. a kind of human upper limb rehabilitation platform as described in claim 1, it is characterised in that: also set between upper pendulum bar and draft link It is equipped with tensioning wheel, tensioning wheel is contacted with driving belt.
3. a kind of human upper limb rehabilitation platform as described in claim 1, it is characterised in that: be equipped between support frame and support base Height adjustment device.
4. a kind of human upper limb rehabilitation platform as claimed in claim 3, it is characterised in that: support base include the first support leg, Second support leg, the first supporting leg and the second supporting leg, support frame include the first inserted link, the second inserted link and fixed frame, fixed frame Left end be mounted on the upper end of the first inserted link, the right end of fixed frame is mounted on the upper end of the second inserted link, and platform body is fixedly mounted On fixed frame, the first support frame is fixedly mounted on the lower end of the first supporting leg, and the second support leg is fixedly mounted on the second support The lower end of leg, the first supporting leg, the second supporting leg are hollow rod shape structure, along height side on the first supporting leg, the second supporting leg To multiple height adjusting holes are respectively equipped with, the first inserted link is equipped with fixation corresponding with the height adjusting holes on the first supporting leg Hole, the second inserted link are equipped with fixation hole corresponding with the height adjusting holes on the second supporting leg, and the lower part of the first inserted link is inserted into The inside of first supporting leg, the inside of the second supporting leg is inserted into the lower part of the second inserted link, between the first inserted link and the first supporting leg By pass through height adjusting holes, fixation hole connecting pin link together, between the second inserted link and the second supporting leg by across Height adjusting holes, fixation hole connecting pin link together.
5. a kind of human upper limb rehabilitation platform as claimed in claim 4, it is characterised in that: set between platform body and support frame Angled regulating device.
6. a kind of human upper limb rehabilitation platform as claimed in claim 5, it is characterised in that: the left end rear portion of fixed frame is hinged on The top of first inserted link, the right end rear portion of fixed frame are hinged on the top of the second inserted link, and the top of the first inserted link is hinged with first Oblique pull cylinder bar, the left end front of fixed frame are hinged with third inserted link, and third inserted link is located inside the first oblique pull cylinder bar, the first oblique pull Cylinder bar is equipped with multiple angle adjustment holes, and third inserted link is equipped with limit corresponding with the angle adjustment holes in the first oblique pull cylinder bar Position hole, is linked together between third inserted link and the first oblique pull cylinder bar by passing through the spacer pin of angle adjustment holes, limit hole;The The upper end of two inserted links is hinged with the second oblique pull cylinder bar, and the right end front of fixed frame is hinged with the 4th inserted link, and the 4th inserted link is located at the Inside two oblique pull cylinder bars, the second oblique pull cylinder bar is equipped with multiple angle adjustment holes, and the 4th inserted link is equipped with and the second oblique pull cylinder bar On the corresponding limit hole of angle adjustment holes, between the 4th inserted link and the second oblique pull cylinder bar by pass through angle adjustment holes, limit The spacer pin in position hole links together.
7. a kind of human upper limb rehabilitation platform as described in claim 1, it is characterised in that: further include that first motor is arranged in Output shaft, first gear, the output shaft of the second motor, the safety guard plate outside second gear.
CN201820416742.6U 2018-03-27 2018-03-27 A kind of human upper limb rehabilitation platform Expired - Fee Related CN208989560U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820416742.6U CN208989560U (en) 2018-03-27 2018-03-27 A kind of human upper limb rehabilitation platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820416742.6U CN208989560U (en) 2018-03-27 2018-03-27 A kind of human upper limb rehabilitation platform

Publications (1)

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CN208989560U true CN208989560U (en) 2019-06-18

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Application Number Title Priority Date Filing Date
CN201820416742.6U Expired - Fee Related CN208989560U (en) 2018-03-27 2018-03-27 A kind of human upper limb rehabilitation platform

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110464604A (en) * 2019-09-09 2019-11-19 西南医科大学附属医院 A kind of automatic limb rehabilitating machine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110464604A (en) * 2019-09-09 2019-11-19 西南医科大学附属医院 A kind of automatic limb rehabilitating machine

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