CN213822367U - Multi-degree-of-freedom ankle joint rehabilitation device - Google Patents

Multi-degree-of-freedom ankle joint rehabilitation device Download PDF

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Publication number
CN213822367U
CN213822367U CN202022749241.XU CN202022749241U CN213822367U CN 213822367 U CN213822367 U CN 213822367U CN 202022749241 U CN202022749241 U CN 202022749241U CN 213822367 U CN213822367 U CN 213822367U
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China
Prior art keywords
abduction
adduction
plate
motor
dorsiflexion
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CN202022749241.XU
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Chinese (zh)
Inventor
张鹏涛
郭利伟
张博
楚向前
徐红亮
侯亚飞
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Sidic health care industry development Co.,Ltd.
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Henan Huibo Shenfang Intelligent Rehabilitation Equipment Co ltd
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Abstract

The utility model relates to the technical field of medical equipment, concretely relates to multi freedom's ankle joint rehabilitation ware, including the adjustable tilt floor of inclination, be provided with abduction adduction mechanism on the tilt floor, be provided with the support frame in the abduction adduction mechanism, the support frame is connected with abduction adduction mechanism transmission, is provided with plantarflexion dorsiflexion mechanism on the support frame, and plantarflexion dorsiflexion mechanism's upper end is connected with the running-board, and the side of support frame is provided with the mechanism that turns up, the mechanism that turns up is connected with plantarflexion dorsiflexion mechanism transmission, is provided with mechanical stop gear and photoelectric detection mechanism in abduction adduction mechanism, the mechanism that turns up and plantarflexion dorsiflexion mechanism. The utility model solves the problems that the ankle joint rehabilitation equipment in the prior art has single motion mode and can not carry out complete rehabilitation training; and the existing rehabilitation equipment is mostly oriented to hospitals and rehabilitation institutions, the patient is required to go to train, the rehabilitation speed of the patient is influenced, and the use is convenient.

Description

Multi-degree-of-freedom ankle joint rehabilitation device
Technical Field
The utility model relates to the technical field of medical equipment, concretely relates to recovered ware of multi freedom's ankle joint.
Background
Ankle joint damage is a comparatively common bone joint damage, needs carry out timely treatment and rehabilitation training after ankle joint damage, and ankle joint rehabilitation training's main motion form is passive motion, and the recovered ware drives the foot and carries out corresponding motion promptly. The exercise content includes three exercise modes of inversion and eversion, dorsal extension and plantar flexion and internal rotation and external rotation.
Most equipment in the market can only realize ankle movement with single degree of freedom or two degrees of freedom at present, and can not realize omnibearing movement training of three degrees of freedom of ankles; and the angle between the pedal part of the equipment and the ground can not be adjusted, and the patient can only carry out rehabilitation training in a fixed posture, so that the limitation is great, the complete rehabilitation training of the ankle joint of the patient can not be met, the rehabilitation effect of the patient is not ideal, and the rehabilitation confidence of the patient is influenced.
In addition, medical rehabilitation equipment on the market is basically oriented to hospitals and rehabilitation centers, needs patients to go to perform rehabilitation training, and is not beneficial to the performance of the rehabilitation training of the patients.
Disclosure of Invention
The ankle joint rehabilitation device aims to solve the problems that in the prior art, the ankle joint rehabilitation device is single in motion mode, only a patient can carry out rehabilitation training in a fixed posture, and complete rehabilitation training cannot be carried out; and current recovered equipment mostly needs the patient to go to and train towards hospital and rehabilitation institution, influences the problem of the recovered speed of patient, the utility model provides a multi freedom's recovered ware of ankle joint.
The multi-degree-of-freedom ankle joint rehabilitation device comprises a bottom plate, wherein the bottom plate comprises a horizontal bottom plate and an inclined bottom plate which are movably connected, the inclination angle of the inclined bottom plate can be adjusted, an abduction and adduction mechanism is arranged on the inclined bottom plate, a support frame is arranged on the abduction and adduction mechanism and is in transmission connection with the abduction and adduction mechanism, a plantarflexion and dorsiflexion mechanism is arranged on the support frame, a pedal plate is connected to the upper end of the plantarflexion and dorsiflexion mechanism, an eversion and inversion mechanism is arranged on the side face of the support frame and is in transmission connection with the plantarflexion and dorsiflexion mechanism, and a mechanical limiting mechanism and a photoelectric detection mechanism are arranged on the abduction and adduction mechanism, the eversion and inversion mechanism and plantarflexion mechanism.
Furthermore, the bottom of the horizontal bottom plate is provided with an anti-skidding foot cup, one end of the horizontal bottom plate is rotatably connected with the inclined bottom plate, the other end of the horizontal bottom plate is provided with a plurality of clamping grooves, the middle part of the bottom surface of the inclined bottom plate is rotatably connected with a supporting cross rod, and the lower end of the supporting cross rod is matched with the clamping grooves.
Furthermore, the abduction-adduction mechanism comprises an abduction-adduction motor which is vertically arranged on the inclined bottom plate through a motor fixing seat, the output end of the abduction-adduction motor is downwards arranged and connected to a driven wheel, the abduction-adduction bottom plate is arranged above the driven wheel, and the support frame is arranged above the abduction-adduction bottom plate.
Furthermore, a tensioning mechanism is arranged on the side surface of the abduction-adduction motor.
Furthermore, the support frame comprises a rear side plate and a front side plate, the plantarflexion and dorsiflexion mechanism is arranged between the rear side plate and the front side plate, and the upper end of the plantarflexion and dorsiflexion mechanism is rotatably connected with the pedal plate.
Further, the plantar flexion dorsiflexion mechanism comprises a gear box and a plantar flexion dorsiflexion motor, the gear box is vertically arranged between the rear side plate and the front side plate, two sides of the middle of the gear box are respectively in rotating connection with the rear side plate and the front side plate, a plurality of transmission gears are arranged inside the gear box, the transmission gear at the uppermost end is connected with the pedal, the side face of the gear box is connected with the plantar flexion dorsiflexion motor, and an output shaft of the plantar flexion dorsiflexion motor is connected to the transmission gear inside the gear box.
Furthermore, the outward-turning and inward-turning mechanism comprises an outward-turning and inward-turning motor, the outward-turning and inward-turning motor is attached to the rear side plate through a mounting plate, the output end of the outward-turning and inward-turning motor is arranged upwards and is connected to the side face of the gear box through a bevel gear pair.
Furthermore, the mechanical limiting mechanism comprises an abduction-adduction limiting sheet and an eversion-introversion limiting screw, the abduction-adduction limiting sheet is fixedly arranged on a main shaft of the driven wheel, a groove is formed in the abduction-adduction bottom plate, the abduction-adduction limiting sheet is arranged in the groove, the eversion-introversion limiting screw is vertically arranged on one side of the upper portion of the front side plate, and the plantarflexion and dorsiflexion mechanism limits the rotation angle of the plantarflexion and dorsiflexion mechanism through the rear side plate and the front side plate.
Further, the photoelectric detection mechanism comprises 3 pairs of induction sheets and detection switches, the induction sheets are respectively arranged on the side surface of the abduction-adduction bottom plate, the bottom of the gear box and the joint of the gear box and the pedal, the detection switches are arranged on the side surface of the induction sheets, and the detection switches are respectively and electrically connected with the abduction-adduction motor, the eversion-inversion motor and the plantarflexion-dorsiflexion motor.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model comprises a horizontal bottom plate and an inclined bottom plate, the inclination angle of the inclined bottom plate can be adjusted, the angle of the rehabilitation robot can be adjusted, and the ankle joint rehabilitation training of patients can be carried out in different postures, thereby ensuring the training effect; the abduction-adduction mechanism is arranged on the inclined bottom plate, the abduction-adduction motor drives the support frame, the plantarflexion-dorsiflexion mechanism is arranged on the support frame, the eversion-inversion mechanism is arranged on the side surface of the support frame, multi-degree-of-freedom movement is realized through transmission connection among the abduction-adduction mechanism, the eversion-inversion mechanism and the plantarflexion-dorsiflexion mechanism are provided with a mechanical limiting mechanism and a photoelectric detection mechanism, the rotation angle is limited, the ankle joint of a patient is protected, secondary injury is avoided, and the safety of the patient during training is improved.
The abduction-adduction mechanism comprises an abduction-adduction motor, and a tensioning mechanism is arranged on the side surface of the abduction-adduction motor, so that a synchronous belt is conveniently tensioned, and the stable transmission is ensured; the mechanical limiting mechanism comprises an abduction-adduction limiting sheet and an eversion-introversion limiting screw, the abduction-adduction limiting sheet is arranged in a groove on the abduction-adduction bottom plate and is fixed with a driven wheel main shaft, and the angle of the abduction-adduction mechanism rotating towards two sides can be limited; the eversion and inversion limiting screw is arranged on the front side plate and used for limiting the rotation angle of the gear box during eversion and inversion; the rotation angle of the pedal plate during plantarflexion and dorsiflexion is limited by the rear side plate and the front side plate, so that the pedal plate can rotate within a safe angle, and a patient is prevented from being injured secondarily.
The photoelectric detection mechanism comprises an induction sheet and a detection switch, so that safety limit is further realized, and meanwhile, the mechanisms are convenient to reset; the detection switch is electrically connected with the abduction-adduction motor, the eversion-inversion motor and the plantarflexion-dorsiflexion motor, so that the abduction-adduction motor can be closed in time, and the safety of a patient is ensured.
Drawings
Fig. 1 is a schematic structural diagram of the multi-degree-of-freedom ankle joint rehabilitation device of the present invention.
Fig. 2 is a schematic structural view of the multi-degree-of-freedom ankle joint rehabilitation device of the present invention.
Fig. 3 is a third structural schematic view of the multi-degree-of-freedom ankle joint rehabilitation device of the present invention.
Fig. 4 is a schematic structural view of the multi-degree of freedom ankle joint rehabilitation device of the present invention in use.
The reference numbers are: the device comprises a base plate 1, an abduction-adduction mechanism 2, an eversion-inversion mechanism 3, a plantarflexion-dorsiflexion mechanism 4, a support frame 5, a pedal 6, a photoelectric detection mechanism 8, a tensioning mechanism 9, a horizontal base plate 101, an inclined base plate 102, a support cross bar 103, an abduction-adduction motor 201, a motor fixing seat 202, a synchronous belt 203, a driven wheel 204, an abduction-adduction base plate 205, an eversion motor 301, an installation plate 302, a bevel gear pair 303, a gear box 401, a plantarflexion-dorsiflexion motor 402, a rear side plate 501, a front side plate 502, an abduction-adduction limit plate 701, an eversion limit screw 702, an induction plate 801 and a detection switch 802.
Detailed Description
The invention will be further explained with reference to the following figures and specific examples:
as shown in fig. 1 to 3, a multi-degree-of-freedom ankle joint rehabilitation device comprises a base plate 1, wherein the base plate 1 comprises a horizontal base plate 101 and an inclined base plate 102 which are movably connected, the horizontal base plate 101 and the inclined base plate 102 are rectangular plates, an anti-skid foot cup is arranged at the bottom of the horizontal base plate 101, one end of the horizontal base plate 101 is rotatably connected with the inclined base plate 102, the other end of the horizontal base plate 101 is provided with a plurality of clamping grooves, the middle part of the bottom surface of the inclined base plate 102 is rotatably connected with a supporting cross rod 103, the lower end of the supporting cross rod 103 is matched with the clamping grooves, specifically, the supporting cross rod 103 in the embodiment is in a shape like a Chinese character 'U', an abduction and adduction mechanism 2 is arranged on the inclined base plate 102, a supporting frame 5 is arranged on the side surface of the abduction and adduction mechanism 2, the supporting frame 5 is in transmission connection with the abduction mechanism 2, a plantarflexion dorsiflexion mechanism 4 is arranged on the supporting frame 5, a foot pedal 6 is connected with the upper end of the plantarflexion dorsiflexion mechanism 4, specifically, the foot board 6 in this embodiment is arranged along the length direction of the inclined bottom board 102, the front portion of the foot board 6 faces the direction of the clamping groove, the side surface of the support frame 5 is provided with an eversion and inversion mechanism 3, the eversion and inversion mechanism 3 is in transmission connection with the plantarflexion and dorsiflexion mechanism 4, and the abduction and adduction mechanism 2, the eversion and inversion mechanism 3 and the plantarflexion and dorsiflexion mechanism 4 are provided with a mechanical limiting mechanism and a photoelectric detection mechanism 8.
The abduction-adduction mechanism 2 includes an abduction-adduction motor 201, the abduction-adduction motor 201 is vertically disposed on the inclined bottom plate 102 through a motor fixing seat 202, an output end of the abduction-adduction motor 201 is disposed downward and reaches a driven wheel 204, specifically, the abduction-adduction motor 201 and the driven wheel 204 in this embodiment are connected through a synchronous belt 203, an abduction-adduction bottom plate 205 is disposed above the driven wheel 204, the support frame 5 is disposed above the abduction-adduction bottom plate 205, a tensioning mechanism 9 is disposed on a side surface of the abduction-adduction motor 201, specifically, the tensioning mechanism 9 in this embodiment is a tensioning top block, and the tensioning top block is connected with the motor fixing seat 202 through a bolt. The support frame comprises a rear side plate 501 and a front side plate 502, the plantarflexion dorsiflexion mechanism 4 is arranged between the rear side plate 501 and the front side plate 502, the upper end of the plantarflexion dorsiflexion mechanism 4 is rotatably connected with the pedal plate 6, specifically, the height of the rear side plate 501 is greater than that of the front side plate 502 in the embodiment, and the front end of the pedal plate 6 is arranged towards the front side plate 502.
The plantarflexion/dorsiflexion mechanism 4 comprises a gear box 401 and a plantarflexion/dorsiflexion motor 402, wherein the gear box 401 is vertically arranged between a rear side plate 501 and a front side plate 502, two sides of the middle part of the gear box 401 are respectively rotatably connected with the rear side plate 501 and the front side plate 502, a plurality of transmission gears are arranged inside the gear box 401, the uppermost transmission gear is connected with the pedal 6, specifically, a hinge block is fixed below the pedal 6 in the embodiment and is connected with the central shaft of the uppermost transmission gear, the side surface of the gear box 401 is connected with the plantarflexion/dorsiflexion motor 402, and the output shaft of the plantarflexion/dorsiflexion motor 402 is connected to the transmission gear inside the gear box 401. The inside-out mechanism 3 includes an inside-out motor 301, the inside-out motor 301 is attached to the rear plate 501 via a mounting plate 302, specifically, the mounting plate 302 in this embodiment is a l-shaped plate, and an output end of the inside-out motor 301 is disposed upward and connected to a side surface of the gear box 401 via a bevel gear pair 303.
As an embodiment, the transmission mechanisms of the abduction-adduction mechanism 2, the eversion-inversion mechanism 3 and the plantarflexion-dorsiflexion mechanism 4 are not limited to a certain mechanism, and a gear and a pulley can achieve the function.
The mechanical limiting mechanism comprises an abduction-adduction limiting plate 701 and an eversion-inversion limiting screw 702, the abduction-adduction limiting plate 701 is fixedly arranged on a main shaft of the driven wheel 204, a groove is formed in the abduction-adduction bottom plate 205, the abduction-adduction limiting plate 701 is arranged in the groove, specifically, the sectional view of the abduction-adduction limiting plate 701 in the embodiment is in a water drop shape, the eversion-inversion limiting screw 702 is vertically arranged on one side of the upper portion of the front side plate 502, and the plantar flexion dorsiflexion mechanism 4 limits the rotation angle thereof through the rear side plate 501 and the front side plate 502. The photoelectric detection mechanism 8 comprises 3 pairs of sensing sheets 801 and a detection switch 802, the sensing sheets 801 are respectively arranged on the side surface of the abduction-adduction base plate 205, the bottom of the gear box 401 and the joint of the gear box 401 and the pedal 6, the detection switch 802 is arranged on the side surface of the sensing sheet 801, the detection switch 802 is respectively electrically connected with the abduction-adduction motor 201, the eversion-inversion motor 301 and the plantarflexion dorsiflexion motor 402, and specifically, the detection switch 802 in the embodiment is an optical coupling switch.
As shown in fig. 4, the utility model discloses when using, the user person can adjust the posture earlier, selects suitable comfortable posture to carry out the rehabilitation training, for example sits on the chair or lies in the bed, then adjusts the angle of hang plate 102, guarantees that the ankle is comfortable, and specifically, the user rotates hang plate 102, will support horizontal pole 103 card to establish in the draw-in groove on horizontal base plate 101, begins to carry out ankle joint rehabilitation training after fixed.
A user places feet on the pedal plate 6 and fixes the feet through a binding band, then turns on corresponding switches as required to perform abduction-adduction movement, eversion-inversion movement or plantarflexion-dorsiflexion movement, specifically, when the user performs abduction-adduction rehabilitation, the abduction-adduction motor 201 works, the output end of the abduction-adduction motor drives the synchronous belt 203 to move, and simultaneously drives the driven wheel 204 and the abduction-adduction bottom plate 205 arranged on the driven wheel 204 to rotate, the abduction-adduction bottom plate 205 drives the support frame 5 to rotate, finally drives the pedal plate 6 to rotate, and the abduction-adduction motor 201 reciprocates to drive the feet of the user to perform abduction-adduction movement of the ankle joint; when a user carries out eversion and inversion exercise, the eversion and inversion motor 301 works, the output end of the eversion and inversion motor drives the bevel gear pair 303 to rotate, one end of the bevel gear pair 303 is connected to the side surface of the gear box 401, so that the electric gear box 401 rotates between the rear side plate 501 and the front side plate 502 to drive the pedal 6 to rotate, the eversion and inversion motor 301 carries out reciprocating motion to drive the foot of the user to carry out eversion and inversion exercise, and eversion and inversion rehabilitation training of ankle joints is carried out; when a user performs plantarflexion and dorsiflexion rehabilitation training, the plantarflexion and dorsiflexion motor 402 works, the output end of the motor drives the gear in the gear box 401 to rotate, finally, the rotation is transmitted to the inner foot pedal 6, the foot pedal 6 is driven to rotate, the plantarflexion and dorsiflexion motor 402 reciprocates, the foot of the user is driven to perform plantarflexion and dorsiflexion movement, and the plantarflexion and dorsiflexion rehabilitation training of the ankle joint is performed.
In the process of rehabilitation training, the mechanical limiting mechanism and the photoelectric detection mechanism 8 limit the rotation angle of each mechanism, double guarantee is achieved, the feet of a user can rotate within a safe angle, secondary injury is avoided, the safety of the patient during training is improved, and specifically, when abduction-adduction rehabilitation is performed, when the abduction-adduction base plate 205 rotates to a certain angle, the edge of a groove on the abduction-adduction base plate 205 touches the abduction-adduction limiting sheet 701 and cannot rotate continuously; when the eversion and inversion rehabilitation is carried out, when the gear box 401 rotates to a certain angle, the side edge of the gear box 401 touches the eversion and inversion limiting screw 702 and cannot rotate continuously; when the foot pedal 6 rotates to a certain angle during the plantarflexion and dorsiflexion rehabilitation, the bottom of the foot pedal 6 is blocked by the upper edge of the rear side plate 501 or the bottom side plate 502, and the foot pedal cannot rotate, so that the mechanical limit is realized, and the safety of a user is ensured.
Meanwhile, when abduction-adduction rehabilitation is carried out, when the abduction-adduction bottom plate 205 rotates to a certain angle, the sensing piece 801 arranged on the abduction-adduction bottom plate 205 reaches the position of the detection switch 802, the detection switch 802 sends a signal to the abduction-adduction motor 201 to control the abduction-adduction motor 201 to rotate reversely or stop rotating, the user injury caused by the overlarge rotation angle is avoided, and the sensing piece 801 and the detection switch 802 at the connection part of the bottom of the gear box 401 and the gear box 401 with the pedal 6 are treated in the same way.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the present invention, so that equivalent changes or modifications made by the structure, features and principles of the present invention should be included in the claims of the present invention.

Claims (9)

1. A multi-degree-of-freedom ankle joint rehabilitation device comprises a bottom plate (1) and is characterized in that, the bottom plate (1) comprises a horizontal bottom plate (101) and an inclined bottom plate (102) which are movably connected, the inclination angle of the inclined bottom plate (102) can be adjusted, an abduction and adduction mechanism (2) is arranged on the inclined bottom plate (102), a support frame (5) is arranged on the abduction-adduction mechanism (2), the support frame (5) is in transmission connection with the abduction-adduction mechanism (2), a plantarflexion and dorsiflexion mechanism (4) is arranged on the support frame (5), the upper end of the plantarflexion and dorsiflexion mechanism (4) is connected with a pedal plate (6), an eversion and inversion mechanism (3) is arranged on the side surface of the support frame (5), the eversion and inversion mechanism (3) is in transmission connection with the plantarflex and dorsiflex mechanism (4), and the abduction and adduction mechanism (2), the eversion and inversion mechanism (3) and the plantarflex and dorsiflex mechanism (4) are provided with a mechanical limiting mechanism and a photoelectric detection mechanism (8).
2. The multi-degree-of-freedom ankle joint rehabilitation device as claimed in claim 1, wherein the bottom of the horizontal base plate (101) is provided with an anti-skidding foot cup, one end of the horizontal base plate (101) is rotatably connected with the inclined base plate (102), the other end of the horizontal base plate is provided with a plurality of clamping grooves, the middle part of the bottom surface of the inclined base plate (102) is rotatably connected with a supporting cross rod (103), and the lower end of the supporting cross rod (103) is matched with the clamping grooves.
3. The ankle joint rehabilitation device with multiple degrees of freedom according to claim 1, wherein the abduction-adduction mechanism (2) comprises an abduction-adduction motor (201), the abduction-adduction motor (201) is vertically arranged on the inclined bottom plate (102) through a motor fixing seat (202), the output end of the abduction-adduction motor (201) is downwards arranged and connected to a driven wheel (204), an abduction-adduction bottom plate (205) is arranged above the driven wheel (204), and the support frame (5) is arranged above the abduction-adduction bottom plate (205).
4. The multi-degree-of-freedom ankle rehabilitation device according to claim 3, wherein the abduction-adduction motor (201) is provided with a tensioning mechanism (9) at a side thereof.
5. The multi-degree-of-freedom ankle joint rehabilitation device as claimed in claim 1, wherein the supporting frame comprises a rear side plate (501) and a front side plate (502), the plantarflexion dorsiflexion mechanism (4) is arranged between the rear side plate (501) and the front side plate (502), and the pedal plate (6) is rotatably connected to the upper end of the plantarflexion dorsiflexion mechanism (4).
6. The multi-degree-of-freedom ankle joint rehabilitative apparatus according to claim 5, wherein the plantar flexion dorsiflexion mechanism (4) comprises a gear box (401) and a plantar flexion dorsiflexion motor (402), the gear box (401) is vertically arranged between a rear side plate (501) and a front side plate (502), two sides of the middle of the gear box (401) are respectively rotatably connected with the rear side plate (501) and the front side plate (502), a plurality of transmission gears are arranged inside the gear box (401), the transmission gear at the uppermost end is connected with the pedal (6), the plantar flexion dorsiflexion motor (402) is connected to the side of the gear box (401), and the output shaft of the plantar flexion dorsiflexion motor (402) is connected to the transmission gear inside the gear box (401).
7. The ankle joint rehabilitative apparatus with multiple degrees of freedom of claim 6, wherein the eversion and inversion mechanism (3) comprises an eversion and inversion motor (301), the eversion and inversion motor (301) is attached to the rear side plate (501) through a mounting plate (302), and the output end of the eversion and inversion motor (301) faces upwards and is connected to the side surface of the gear box (401) through a bevel gear pair (303).
8. The multi-degree-of-freedom ankle joint rehabilitative apparatus according to claim 7, wherein the mechanical limiting mechanism comprises an abduction-adduction limiting plate (701) and an eversion-inversion limiting screw (702), the abduction-adduction limiting plate (701) is fixedly arranged on the main shaft of the driven wheel (204), a groove is arranged on the abduction-adduction bottom plate (205), the abduction-adduction limiting plate (701) is arranged in the groove, the eversion-inversion limiting screw (702) is vertically arranged on one side of the upper part of the front side plate (502), and the plantar flexion mechanism (4) limits the rotation angle of the plantar flexion mechanism through the rear side plate (501) and the front side plate (502).
9. The ankle joint rehabilitative apparatus with multiple degrees of freedom according to claim 8, wherein the photoelectric detection mechanism (8) comprises 3 pairs of sensing strips (801) and detection switches (802), the sensing strips (801) are respectively disposed at the lateral sides of the abduction-adduction base plate (205), the bottom of the gear box (401) and the connection part of the gear box (401) and the pedal (6), the detection switches (802) are disposed at the lateral sides of the sensing strips (801), and the detection switches (802) are respectively electrically connected with the abduction-adduction motor (201), the eversion-inversion motor (301) and the plantar flexion motor (402).
CN202022749241.XU 2020-11-25 2020-11-25 Multi-degree-of-freedom ankle joint rehabilitation device Active CN213822367U (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113662808A (en) * 2021-08-24 2021-11-19 上海大学 Under-actuated three-degree-of-freedom ankle joint rehabilitation device
CN114010458A (en) * 2021-11-04 2022-02-08 中南大学湘雅医院 Leg moving device for severe patients
CN114533491A (en) * 2022-02-24 2022-05-27 常州市肿瘤医院 Passive ankle pump movement device
CN114712162A (en) * 2022-04-06 2022-07-08 苏州嘉科生物医疗科技有限公司 Three-degree-of-freedom ankle and foot rehabilitation instrument

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113662808A (en) * 2021-08-24 2021-11-19 上海大学 Under-actuated three-degree-of-freedom ankle joint rehabilitation device
CN114010458A (en) * 2021-11-04 2022-02-08 中南大学湘雅医院 Leg moving device for severe patients
CN114010458B (en) * 2021-11-04 2024-03-29 中南大学湘雅医院 Leg movement device for severe patients
CN114533491A (en) * 2022-02-24 2022-05-27 常州市肿瘤医院 Passive ankle pump movement device
CN114712162A (en) * 2022-04-06 2022-07-08 苏州嘉科生物医疗科技有限公司 Three-degree-of-freedom ankle and foot rehabilitation instrument

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Address after: 455000 Second Floor of No.6 Building of Torch Pioneer Park, West Section of Yangtze River Avenue, Anyang High-tech Zone, Henan Province

Patentee after: Sidic health care industry development Co.,Ltd.

Address before: 455000 Second Floor of No.6 Building of Torch Pioneer Park, West Section of Yangtze River Avenue, Anyang High-tech Zone, Henan Province

Patentee before: Henan Huibo Shenfang Intelligent Rehabilitation Equipment Co.,Ltd.

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