EP0473484A1 - Gerät zur Wiederherstellung eines Gelenks, insbesondere eines Kniegelenks - Google Patents

Gerät zur Wiederherstellung eines Gelenks, insbesondere eines Kniegelenks Download PDF

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Publication number
EP0473484A1
EP0473484A1 EP91402194A EP91402194A EP0473484A1 EP 0473484 A1 EP0473484 A1 EP 0473484A1 EP 91402194 A EP91402194 A EP 91402194A EP 91402194 A EP91402194 A EP 91402194A EP 0473484 A1 EP0473484 A1 EP 0473484A1
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EP
European Patent Office
Prior art keywords
machine
rehabilitation
rod
member according
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP91402194A
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English (en)
French (fr)
Inventor
Antoine Forcioli
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from FR9010734A external-priority patent/FR2666223A1/fr
Application filed by Individual filed Critical Individual
Publication of EP0473484A1 publication Critical patent/EP0473484A1/de
Withdrawn legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising

Definitions

  • the present invention relates to a machine intended for the rehabilitation of a joint of a human limb, in particular, but not exclusively, of the knee, for erasing the after-effects of a disease or an accident, having if necessary required surgery.
  • the necessary rehabilitation consists essentially of ensuring controlled movements of the limb around its joint, in the direction of flexion and natural extension, or folding thereof. .
  • the rhythm, duration and different parameters of the exercises are determined according to the particular conditions of each individual and the condition of the member and / or the joint to be rehabilitated.
  • the present invention relates to a machine of this kind which meets better than hitherto the requirements of construction and use of such devices, allowing rapid and safe adjustments, allowing immediate adaptation regardless of the patient's size and / or the treatment conditions to be applied.
  • the machine according to the present invention also makes it possible to respond to applications other than rehabilitation, and can in particular be effectively used for analytical bodybuilding.
  • the machine considered comprising a support frame for a control mechanism according to an alternating oscillation movement of an elongated stirrup against which the patient's leg is immobilized, himself seated on a seat with adjustable positioning, attached to the frame, is characterized in that the stirrup comprises a slide for relative immobilization of the ankle of the patient, mounted movably on the stirrup, the latter being integral, opposite the slide, with a rod-crank assembly driven by the control mechanism to cause the stirrup oscillations, the useful length of the connecting rod being adjustable in order to adjust the amplitude of the stirrup oscillations during its deflections.
  • the stirrup is constituted by a metal U-shaped rod, the ends of which are integral with a crank pin, carrying the crank at the end of which the connecting rod of the connecting rod assembly is articulated. crank.
  • the connecting rod of the connecting rod-crank assembly has its end opposite to that articulated on the crank, housed and immobilized in a determined position in a radial groove of a rotary disc, so varying the useful length of the connecting rod and consequently the amplitude of the stirrup oscillations.
  • the device comprises on the one hand an electric motor for driving the rotary disc by means of a speed variator, and on the other hand a torque limiter acting on the main axis, said torque limiter being able to cause the disengagement of the mechanism when the torque transmitted to the main axis becomes greater than a predetermined threshold.
  • the kinematic chain then successively consists of a variable speed drive motor, an eccentric, a torque limiter, one of the shafts of which corresponds to the main axis, is integral with the caliper.
  • the movable slide on the rod of the stirrup comprises a displaceable transverse bar, the orientation of which relative to the slide is adjustable by means of a locking nut.
  • the slide bar supports at its two opposite ends supports for axes perpendicular to its plane, on which are mounted idle rollers capable of moving on either side of the ankle of the patient, the spacing supports of these axes being adjustable according to the length of the bar.
  • control mechanism comprises a plate carried by the support frame by means of two parallel guides, passing through the plate and on which the latter can move under the effect of an adjustment screw, driven in rotation by a flywheel while being immobilized in translation, the screw cooperating with a threaded part forming a nut, provided on the plate.
  • the seat is secured to the frame by means of a guide means allowing longitudinal displacement on either side of the main axis, along a longitudinal axis perpendicular to the main axis. It can thus be indifferently disposed to the right or to the left of said main axis, the stirrup ensuring, as the case may be, the immobilization of the right ankle or the left ankle.
  • the guide means makes it possible to optimally adjust the position of the knee relative to the main axis with which the axis of rotation must preferably coincide.
  • the rod-crank assembly generating the oscillations transmitted to the joint to be re-educated comprises a sensor detecting the high point of the mechanism.
  • This sensor makes it possible to stop the gear motor in a safe position. In fact, restarting the gear motor after stopping at top dead center necessarily results in a rotation of the main axis from a position corresponding to one of the limit angles, corresponding to one of the top dead center of the assembly connecting rod-crank, towards a middle position. This avoids any risk of exceeding the predefined limit angles.
  • the machine settings corresponding to this preferred variant are made easier.
  • the transformation of the rotary movement into alternating movement is carried out by a device comprising a plate supporting the drive axis of the connecting rod.
  • This plate is capable of rotating around an axis parallel to the main axis and of being locked in a given position.
  • the axis of said plate is offset from the longitudinal axis of the main shaft. Therefore, the radial distance between the axis of the main shaft and the axis of the axis of connection with the connecting rod varies depending on the angular position of the plate relative to the main shaft.
  • the main shaft has a longitudinal bore in which is positioned the rod for controlling the rotation of the plate supporting the drive axis.
  • This control rod has at its end opposite the plate a button for adjusting its position when the plate is unlocked.
  • This embodiment optionally makes it possible to produce a sealed device, in the case where the main shaft passes through the wall of the device by an O-ring, and comprises a second O-ring ensuring the tightness of the control rod.
  • the main shaft has a bore for the passage of a longitudinally movable rod, the end of which is capable of locking in rotation the plate supporting the drive axis.
  • This rod ensures the locking in rotation of the plate supporting the connecting axis with the connecting rod when it is in a rest position.
  • the control rod is pulled back.
  • the plate can be rotated to adjust and modify the amplitude of the reciprocating movement.
  • the main shaft supports a main plate having a bore of shape complementary to the shape of the connecting plate.
  • the plate supporting the connecting pin is embedded in the main plate in normal operation. It thus improves the stability and reliability of the whole.
  • the section of the bore of the main plate and of the connecting plate is of polygonal shape.
  • the drive plate has on its rear face a plurality of bores with a diameter substantially identical to the diameter of the locking rod, said bores being arranged on a circular line, centered on the axis of the control rod.
  • the two bores of the main shaft are arranged symmetrically with respect to the axis of said main shaft.
  • control mechanism is arranged on a movable plate relative to a vertical support column.
  • This plate includes locking means. It is thus possible to adapt the device to the rehabilitation of different joints.
  • the main shaft of the device for transforming the rotary movement into a reciprocating movement includes drive means capable of cooperating with complementary means integral with the column. It is thus possible to use the motorization means to assist the movement of the plate supporting the mechanism relative to the vertical column.
  • the machine considered is designated as a whole under the reference 1. It mainly comprises a support frame (2), against which is attached the base (3) of a seat (4) on which a patient can be suitably seated by presenting his leg (5) whose knee is to be re-educated (schematically represented in broken lines in the figure) against the frame (2).
  • the base (3) of the seat is integral with a longitudinal guide slide (6). The seat can be moved along this slide (6), and can be locked in the chosen position, both to the right and to the left of the main axis (18).
  • the support frame (2) comprises two parallel crosspieces, respectively (7) and (8), arranged at the ends of the frame, perpendicular to the side thereof which the seat (4) is disposed against, these crosspieces being joined by guides (9) and (10) parallel to each other and extending in a direction parallel to this same side.
  • guides can slide a mechanism comprising in particular a lower plate capable of cooperating with the threaded part of a screw (12), driven by means of a flywheel (13) carried by the crosspiece (7), so that the screw rotation causes the translational movement of the control mechanism on the guides (9) and (10), bringing the mechanism (11) closer or further apart on request with respect to the main axis (18).
  • This displacement makes it possible to adjust the limiting angles of the oscillations, as will be explained in the following description.
  • the control mechanism (11) essentially consists of an electric motor (14) joined by a conventional transmission member to a variable speed drive, preferably irreversible, for example a speed reducer comprising a worm screw, mounted in a cover 15.
  • a variable speed drive preferably irreversible, for example a speed reducer comprising a worm screw
  • the various parts of the mechanism are by themselves conventional and do not require a detailed description.
  • the output shaft of the torque limiter drives a rotary disc 16 forming part of a connecting rod-crank assembly (17), the particular embodiment of which will be described in more detail below.
  • the rod-crank assembly (17) is integral with the primary axis of a torque limiter, for example of the electromagnetic type, the secondary axis of which in turn controls a crank pin (18) on which is mounted a stirrup (19 ) preferably in the form of a metal rod (20) folded in a U, and of which FIG. 2 more particularly illustrates the profile, as well as the various accessories of the machine associated with it.
  • the patient's leg (5) is arranged in such a way that it can be trapped substantially at the level of his ankle in an immobilization slide (21) whose adjustment according to the length of the rod (20) of the stirrup (19) can be adjusted according to the size of the patient and in particular the precise position of his leg and more particularly of his ankle once he is seated on the seat ( 4) of the machine.
  • a locking screw (22) allows, when the slide is brought at a suitable height, immobilize it on the stirrup.
  • the slide (21) also supports a claw (23), held against the slide by means of a stop nut (24), this claw allowing the support against the slide of a transverse bar (25), allowing a relative adjustment of the transverse position of this bar on one side or the other of the slide, as well as the limited pivoting of the latter around the axis of the nut (24) during the oscillations of the stirrup (19) as described below.
  • On the bar (25 are mounted on either side of the supports (not shown) for rollers, respectively (26) and (27), mounted idly on parallel axes (28) and (29), extending perpendicularly in the plane determined by the directions of the bar and the U-shaped rod (20) of the stirrup (19).
  • rollers are arranged to be disposed on each side of the patient's ankle while maintaining the latter while allowing movement relative thereof vis-à-vis the caliper (19) during the oscillations of the latter created by the crank-rod mechanism (17), the implementation of which is described below.
  • the mechanism (17) essentially consists of a crank (30) integral with the primary shaft of the torque limiter, the secondary shaft being connected to the crankpin (18) carrying a graduated indicator.
  • This graduated indicator is constituted by a dial carrying angularly spaced marks, and an index, one being fixed and the other secured to the crank pin (18).
  • This indicator controls the amplitude of the oscillations and the limiting angles.
  • the crank (30) is articulated about an axis (31) on a connecting rod (32). This is in turn joined to the rotating disc (16) by means of a lug (33) carried by the connecting rod and engaged in a radial groove (34) of the disc (16) so as to adjust on demand the useful length of the connecting rod (32) and consequently the oscillation movement communicated by the latter to the crankpin (18).
  • a sensor constituted by a permanent magnet (40) cooperating with a switch (41) activatable by a magnetic field, usually designated by "RED switch”, makes it possible to generate an electrical signal corresponding to the passage of one of the two top dead centers, that is to say when the two ends of the connecting rod (32) and the center of the disc (16) are aligned.
  • RED switch a switch
  • This signal is used to obligatorily stop the gear motor in the position corresponding to one of the top dead centers, and therefore to one of the positions of the stirrup corresponding to a limit angle of the oscillations.
  • the operation of the machine is easily deduced from the above description.
  • the machine is stopped at its top dead center.
  • the patient for whom a knee rehabilitation should be carried out by determining a succession of movement of his leg in flexion and extension, between two determined limiting angles, by gradually bending the knee joint, is seated on the seat (4) previously positioned against the frame (2).
  • the positioning is done by longitudinal displacement of the seat along its guide groove until the patient presents his left leg or his right leg, as the case may be, at the level of the stirrup (19), by engaging his ankle between the two rollers (26) and (27).
  • the positioning of the seat is optimal when the axis of the knee joint corresponds to the main axis materialized by the axis of the crankpin (18.
  • the patient's leg can thus be maintained while not interfering with its relative movements with respect to the stirrup, the bar (25) which can itself pivot around the axis of the nut (24) while the rollers (26) and (27) roll on the leg without risk of blocking or untimely immobilization of the latter.
  • the torque limiter in the disengaged position, i.e. a torque value temporarily set to zero, the stirrup now linked to the patient's leg is rotated until the joint forces .
  • the torque limiter is then adjusted so that disengagement occurs from a limit torque determined by the physiotherapist.
  • the gear motor can then be started.
  • the stirrup (19) is then controlled in an oscillating movement forward and backward by the rod-crank assembly (17), itself controlled by the motor (14).
  • the drive of the disc (16) causes the rotation of the connecting rod (32) in the direction indicated by the arrow F1 for example.
  • This rotational movement is then transformed, for the crank (30), due to the articulation of the latter at (31 on the connecting rod in a reciprocating movement according to the arrow (22).
  • the crank being linked in the crank pin (18), a corresponding oscillation is transmitted to the leg (5 via the stirrup (19).
  • the patient's leg (5) will therefore undergo, successively forwards then backwards, a series of flexion and extension making the knee work as shown diagrammatically by the arrow F3.
  • the limit angle in flexion and the limit angle in extension is gradually increased by an action on the steering wheel (13).
  • the machine considered allows, on demand, to adjust very precisely the relative positions of all moving parts and also to modify according to the modalities of the rehabilitation treatment, the speed and the angular limits of the movements imposed on the treated knee.
  • the position of the slide and of the bar carrying the rollers between which the ankle is disposed can be adapted and adjusted very simply according to the size of the patient and the length of his leg.
  • the distance between the control mechanism and the main axis (18) can be suitably determined by acting on the screw (12) driven by the flywheel (13), this in order to vary the angular limits of the oscillations of the stirrup and therefore of the leg. It is thus possible to increase the limits of flexion and extension in a controllable and progressive manner.
  • the amplitude of the oscillations imposed on the stirrup can be modified by varying the position of the lug (33) in the radial groove (34), thereby adjusting the relative position of the articulation axis (31 opposite the center of rotation of the drive disc (16).
  • an emergency stop system makes it possible to instantly stop the gear motor, and simultaneously, to put the torque limiter in the disengaged position.
  • a particularly robust and easy-to-use assembly is thus produced, which can be adapted whatever the morphology of the person to be cared for and the operations to be performed on the patient's knee, the treatment being able to be applied indifferently on one or the other of the two legs by a simple translation of the seat to a new position of the seat (4), symmetrically opposite to the previous one with respect to the main axis, without other interventions on the adjustments of the machine itself.
  • the machine considered also allows optimal adjustment of the maximum torque to exercise on the joint, according to the rehabilitation program determined by the physiotherapist. Indeed, when the torque applied to the knee exceeds a predefined value, in particular due to a too large amplitude of the oscillations, the torque limiter disengages the transmission of the movement.
  • the value of the maximum torque from which the torque limiter moves to the declutching position can be determined in the conventional way, for example by a graduated potentiometer if the torque limiter is of the electromagnetic type. The stirrup cannot thus exceed the position corresponding to the maximum authorized torque, as well as the limit angle in bending and / or in extension.
  • the machine considered can advantageously be used for analytical bodybuilding consisting in making a particular muscle work in a privileged manner.
  • the gear motor is blocked.
  • the patient exerts a torque on the main axis (18) via the stirrup (19).
  • the torque limiter creates an adjustable resistance torque, possibly variable depending on the angular position of the caliper. It is thus possible to precisely program the curve representing the opposite torque by the torque limiter as a function of the angular position of the stirrup, and to make one or more particular muscles work optimally.
  • FIG. 3 represents a perspective view of the member for transforming the relative movement into reciprocating movement according to a particular embodiment. It consists of a main shaft (101) capable of being driven by a motor in a known manner. One end of the main shaft (101) supports a coaxial main plate (102). This main plate (102) is constituted by a solid metal piece integral with the main shaft (101). The entire main shaft (101) and the main plate (1102) can also be produced by machining a single part.
  • the main shaft (101) and the main plate (102) have a first longitudinal bore (103), crossed by the control rod (104) of the connection plate (105) supporting the drive axis (106) d 'a connecting rod.
  • connection plate (105) The end of the control rod (104) opposite the connection plate (105) is provided with an operating button (107) making it possible to rotate said rod (104).
  • the rear surface (108) of the connection plate (105) has a series of bores which will be described in more detail with reference to FIG. 4. These bores ensure the locking in rotation of the connection plate (105) by means of a rod.
  • locking device (109) movable longitudinally in a second bore (110) disposed longitudinally in the main shaft (101). The locking is controlled by pulling on the rear end (111) of the locking rod (109).
  • FIG. 4 represents a detailed view of the assembly of the two plates.
  • the center of the main board (102) is symbolized by a cross (112).
  • This main plate (102) has a cylindrical cavity (113) coaxial with the axis of the control rod (114).
  • the rear surface (108) of the connecting plate (105) has a series of cylindrical bores (115 to 120) equidistant from the axis (114) of the control rod. One of these cylindrical orifices (119) cooperates with the locking rod (109).
  • the locking rod (109) and the control rod (104) are arranged symmetrically with respect to the axis of the main shaft (112).
  • FIG. 5 represents a schematic view of a rehabilitation device according to the invention.
  • FIG. 5 represents a machine for rehabilitating different joints constituted by a frame (121) provided with a vertical column (122).
  • the vertical column (122) supports a plate (123) to which the various components of the control and movement mechanism are fixed.
  • These mechanisms include in particular a gear motor and a torque limiter.
  • the mechanism is housed by a cover (124).
  • the output shaft of the torque limiter drives an arm (125) terminated by a stirrup (126) in which the end of a member, in the case shown in FIG. 5 by hand, can be immobilized.
  • the example described and illustrated in Figure 5 is shown in a position for rehabilitation of the elbow.
  • the patient (128) is installed on a chair (129) integral with the frame (121).
  • the height of the chair (129) is fixed or possibly adjustable to adapt to the morphology of the patient (128).
  • the output shaft of the gear motor comprises a toothed wheel (130) movable longitudinally relative to said shaft.
  • the toothed wheel In the rehabilitation position, the toothed wheel is moved away from the complementary rack (131) integral with the column (122).
  • the toothed wheel (130) In the engaged position, the toothed wheel (130) cooperates with the complementary rack (131) and insists the raising or lowering of the plate (123), thereby reducing the effort required to move the whole apparatus.
  • the frame (123) comprises a handle (132) comprising on its internal face a movable part controlling the passage in the clutch phase of the toothed wheel when a pressure is exerted on this handle.
  • a handle is similar to the system usually used on chainsaws.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
EP91402194A 1990-08-28 1991-08-06 Gerät zur Wiederherstellung eines Gelenks, insbesondere eines Kniegelenks Withdrawn EP0473484A1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
FR9010734 1990-08-28
FR9010734A FR2666223A1 (fr) 1990-08-28 1990-08-28 Machine pour la reeducation d'une articulation d'un membre, en particulier du genou.
FR9105878 1991-05-15
FR9105878 1991-05-15

Publications (1)

Publication Number Publication Date
EP0473484A1 true EP0473484A1 (de) 1992-03-04

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP91402194A Withdrawn EP0473484A1 (de) 1990-08-28 1991-08-06 Gerät zur Wiederherstellung eines Gelenks, insbesondere eines Kniegelenks

Country Status (1)

Country Link
EP (1) EP0473484A1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103349602A (zh) * 2012-04-10 2013-10-16 芜湖天人智能机械有限公司 大范围幅度可调的上下肢康健训练装置
CN106420271A (zh) * 2016-09-06 2017-02-22 广州科安康复专用设备有限公司 单驱动仿生步态康复训练机器人系统
CN106691777A (zh) * 2016-12-26 2017-05-24 湖北文理学院 可折叠腿部康复训练机构及装有该机构的轮椅
CN113274255A (zh) * 2021-06-21 2021-08-20 哈尔滨理工大学 一种高精度下肢步态康复机器人

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR460797A (fr) * 1913-07-26 1913-12-11 Paul De Champtassin Perfectionnements apportés aux appareils de mécanothérapie et de gymnastique
DE527256C (de) * 1931-06-15 Adolf Von Liebermann Dr Apparat zur passiven Heilgymnastik
US2777439A (en) * 1954-10-11 1957-01-15 Eugene F Tuttle Manipulator
DE1071600B (de) * 1959-12-17
GB898575A (en) * 1959-02-25 1962-06-14 Turner Brothers Birmingham Ltd Improvements relating to adjustable throw cranks
US3623480A (en) * 1970-07-30 1971-11-30 Robert F Chisolm Body-manipulating apparatus
US4271720A (en) * 1979-10-09 1981-06-09 United States Steel Corporation Adjustable-stroke crank apparatus
US4569518A (en) * 1983-02-16 1986-02-11 Fulks Kent B Programmable exercise system
US4930770A (en) * 1988-12-01 1990-06-05 Baker Norman A Eccentrically loaded computerized positive/negative exercise machine

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE527256C (de) * 1931-06-15 Adolf Von Liebermann Dr Apparat zur passiven Heilgymnastik
DE1071600B (de) * 1959-12-17
FR460797A (fr) * 1913-07-26 1913-12-11 Paul De Champtassin Perfectionnements apportés aux appareils de mécanothérapie et de gymnastique
US2777439A (en) * 1954-10-11 1957-01-15 Eugene F Tuttle Manipulator
GB898575A (en) * 1959-02-25 1962-06-14 Turner Brothers Birmingham Ltd Improvements relating to adjustable throw cranks
US3623480A (en) * 1970-07-30 1971-11-30 Robert F Chisolm Body-manipulating apparatus
US4271720A (en) * 1979-10-09 1981-06-09 United States Steel Corporation Adjustable-stroke crank apparatus
US4569518A (en) * 1983-02-16 1986-02-11 Fulks Kent B Programmable exercise system
US4930770A (en) * 1988-12-01 1990-06-05 Baker Norman A Eccentrically loaded computerized positive/negative exercise machine

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103349602A (zh) * 2012-04-10 2013-10-16 芜湖天人智能机械有限公司 大范围幅度可调的上下肢康健训练装置
CN103349602B (zh) * 2012-04-10 2014-12-03 芜湖天人智能机械有限公司 大范围幅度可调的上下肢康健训练装置
CN106420271A (zh) * 2016-09-06 2017-02-22 广州科安康复专用设备有限公司 单驱动仿生步态康复训练机器人系统
CN106420271B (zh) * 2016-09-06 2018-11-30 广州科安康复专用设备有限公司 单驱动仿生步态康复训练机器人系统
CN106691777A (zh) * 2016-12-26 2017-05-24 湖北文理学院 可折叠腿部康复训练机构及装有该机构的轮椅
CN106691777B (zh) * 2016-12-26 2024-02-13 湖北文理学院 可折叠腿部康复训练机构及装有该机构的轮椅
CN113274255A (zh) * 2021-06-21 2021-08-20 哈尔滨理工大学 一种高精度下肢步态康复机器人

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