KR101555850B1 - Auxiliary device with adjustable extension and flexion angle - Google Patents

Auxiliary device with adjustable extension and flexion angle Download PDF

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Publication number
KR101555850B1
KR101555850B1 KR1020150092594A KR20150092594A KR101555850B1 KR 101555850 B1 KR101555850 B1 KR 101555850B1 KR 1020150092594 A KR1020150092594 A KR 1020150092594A KR 20150092594 A KR20150092594 A KR 20150092594A KR 101555850 B1 KR101555850 B1 KR 101555850B1
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KR
South Korea
Prior art keywords
angle
cuff
adjusting
extension
button
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KR1020150092594A
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Korean (ko)
Inventor
최재호
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(주)엔에스시스템
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Priority to KR1020150092594A priority Critical patent/KR101555850B1/en
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Publication of KR101555850B1 publication Critical patent/KR101555850B1/en

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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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an articulation assist device capable of adjusting an extension and a bend angle. More specifically, a user who has undergone surgical operation due to the rupture of the cruciate ligament is used for rehabilitation purposes to fix a lesion site, and an angle control unit is provided to control the extension and bending angle of the knee. The angle adjusting part adjusts the extension and the bending angle of the knee. The angle adjusting part adjusts the angle of the knee when the button is depressed, The angle can be easily changed by using the fixing method, and a portion where the user's lower body and the device are directly in contact with each other is protected by wearing a protective pad to reduce abrasion at a position where the user's body touches, and a Velcro tape So as to be easily removable from the apparatus, The upper and lower cuffs, the upper frame, and the lower frame are hinged to each other at both side ends thereof, and a pivotable member is attached to the pivot member so as to pass through the fastening member to fasten the pivot member. And an auxiliary device.

Description

A joint auxiliary device capable of adjusting the extension and flexion angle.

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an articulation assist device capable of adjusting an extension and a bend angle. More specifically, a user who has undergone surgical operation due to the rupture of the cruciate ligament is used for rehabilitation purposes to fix a lesion site, and an angle control unit is provided to control the extension and bending angle of the knee. The angle adjusting part adjusts the extension and the bending angle of the knee. The angle adjusting part adjusts the angle of the knee when the button is depressed, The angle can be easily changed by using the fixing method and the portion where the user's lower body and the device are directly in contact with each other is mounted on the protection pad portion to reduce the abrasion of the position where the user's body touches and the Velcro tape is attached So that it can be easily interchanged with the device. The upper cuff, the lower cuff, the upper frame, and the lower end of the lower frame are hinged to each other to be rotatable, and the tightening member is fastened to the inner side of the loop member to tighten it. The present invention relates to a joint assist device.

In general, patients who have undergone surgery due to damage to the knee joints should be treated with a casting fixture until the lesion is recovered.

However, as soon as the Gibbs is removed, the joints that have been fixed for a long time are hardened, and it takes a considerable amount of time to perform the rehabilitation treatment, and the patients themselves need a lot of effort to restore their original condition by strengthening their muscles through rehabilitation .

On the other hand, the joint orthosis is a device for supporting or correcting the operated part due to the rupture of the cruciate ligament. It minimizes the movement of the injured ligament and supports the joint.

A variety of techniques related to articulating organs are under research and development, and related prior art documents are disclosed in Korean Patent Laid-Open Publication No. 2010-0018599 (published on Feb. 17, 2010), a rehabilitation exercise machine for ankle aids.

The above prior art document comprises an upper support, a lower support, a joint, and an elastic member, wherein the upper support is detachably attached to the upper part of the knee orthosis, the lower support is detachably attached to the lower part of the knee orthosis, Connect the lower support. The elastic member is connected to the upper support and the lower support to apply a load when the user bends or unfolds the knee. Therefore, it is possible to perform the leg curl and the leg extension exercise by using the articulation assistant without using any other exercise device.

However, the prior art document has a problem that since the support is fixed to fix the joint by minimizing the movement of the ligament, the body shape and the injury severity of the patient can not be considered at all. In addition, even if the injured area is different for each patient, if the patient is kept in a fixed state for a certain period of time, it takes a lot of time to rehabilitate the joint.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to make it possible to adjust the range in which the injured knee joint can move according to the injury severity, .

According to an aspect of the present invention, there is provided a joint and ankle joint capable of adjusting an extension angle and a flexion angle, the joint cuff having an upper cuff protruding from a curved cuff to surround a user's thigh; A lower cuff protruding from a curved cuff to enclose a shank of the user; An upper frame fixedly coupled to both side ends of the upper cuff and extending to the angle adjusting portion; A lower frame extending from the angle adjusting portion to the lower cuff; At least one fastening complementary member formed on a side surface of the circular plate portion to increase frictional force to prevent loosening, The inner peripheral surface of the inner peripheral surface of the frame includes serrations repeatedly formed at regular intervals. The rotation angle of the lower frame is controlled by adjusting the extension angle of the knee joint and the bending angle of bending, An angle adjuster capable of adjusting an extension and a bending angle of the lower frame to limit rotation of the lower frame; A button holder in which a plurality of projections and grooves are repeatedly formed, a button holder in which an insertion space is formed so that the buttons are inserted at a predetermined depth therein, and an elastic member is accommodated in the insertion space, A button portion which is hooked on a groove formed along the circumferential surface of the serration portion and which is provided at one end of the button holder and rotates when the button is pressed to a predetermined depth to change the angle; And an annular member hinged to both ends of the inner side, the upper frame, the lower frame, and the lower cuff of the upper cuff so as to be rotatable, and to support the lower portion through the tightening member.

Further, it may further include a protection pad attached to the inside of the upper cuff, the lower cuff, and the angle adjusting portion to prevent abrasion of a contact portion and to attach and detach a backing tape including a Velcro tape.

In addition, a first fastening member of a predetermined size penetrating in the order of a disk portion, a toothed portion, and a fastening complement member of the angle adjusting portion is fitted, and a thread is formed at one end of the first fastening member, And is capable of adjusting the extension and bending angle.

According to the present invention, since the user who has undergone surgery due to the rupture of the cruciate ligament fixes the lesion site for the purpose of rehabilitation treatment and has an angle adjusting unit to control the extension and bending angle of the knee, Thereby improving the rehabilitation efficiency while assisting the behavior of the user.

According to the present invention, the angle adjusting unit for adjusting the extension and bending angle of the knee is used in a manner that the angle is fixed by moving the button to the desired angle position after pressing the button, releasing the pressed button, It is effective in doing.

According to the present invention, a portion of the user's body directly contacting the device can be protected by wearing a protective pad portion to reduce wear of the user's body, and a Velcro tape is attached to one end surface of the protective pad portion, The present invention has the effect of facilitating the replacement by making it attachable / detachable.

In addition, according to the present invention, it is possible to increase the clamping force by attaching a pivotable ring member hinged to both ends of the upper cuff, the lower cuff, the upper frame, and the lower frame and passing the tightening member through the tightening member. It is effective.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a joint and a joint auxiliary device capable of adjusting the extension and bending angle according to a preferred embodiment of the present invention;
FIG. 2 is a side view of a joint auxiliary device capable of adjusting the extension and bending angle according to a preferred embodiment of the present invention;
FIG. 3 is a view illustrating removal of a protection pad from a joint auxiliary device capable of adjusting the extension and bending angle according to a preferred embodiment of the present invention,
FIG. 4 is a view illustrating a button inserted into a button holder of a joint auxiliary device capable of adjusting an extension and a bend angle according to a preferred embodiment of the present invention, FIG.
FIG. 5 is a perspective view illustrating an angle adjusting portion of a joint auxiliary device according to a preferred embodiment of the present invention,
6 is a view showing a state where an angle is not set in a joint auxiliary device capable of adjusting the extension and bending angle according to a preferred embodiment of the present invention,
FIG. 7 is a view showing a bent shape of a joint and a joint auxiliary device capable of adjusting a flexion angle according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the preferred embodiments of the present invention will be described below, but it is needless to say that the technical idea of the present invention is not limited thereto and can be variously modified by those skilled in the art.

FIG. 1 is a perspective view of a joint auxiliary device capable of adjusting an extension and a bending angle according to a preferred embodiment of the present invention, FIG. 2 is a side view of a joint auxiliary device capable of adjusting the extension and bending angle according to a preferred embodiment of the present invention, FIG. 3 is a view of removing a protective pad from a joint auxiliary device capable of adjusting the extension angle and the bend angle according to a preferred embodiment of the present invention, FIG. 4 is a perspective view of a joint and auxiliary joint according to a preferred embodiment of the present invention, FIG. 5 is a sectional view of an angle adjusting portion of a joint auxiliary device capable of adjusting a extension angle and a bending angle according to a preferred embodiment of the present invention, and FIG. 6 is a perspective view of a preferred embodiment of the present invention. Fig. 7 is a view showing a state in which no angle is set in the joint auxiliary device capable of adjusting the extension and bending angle according to the example, Fig. 7 A view extension and flexion angle adjustment according to a preferred embodiment of the invention the joint auxiliary device capable of showing a curved shape.

Referring to FIGS. 1 to 7, a joint and a bend angle adjustable joint assisting apparatus according to a preferred embodiment of the present invention includes an upper cuff 10, an upper frame 12, a lower frame 14, a lower cuff 16 A hook member 18, a hinge member 20, a tightening member 22, protection pads 24a, 24b, 24c and 24d, an angle adjusting member 26 and a length adjusting member 28 .

The upper cuff 10 is formed with a curved cuff so as to surround the back of the thigh of the user. A loop member 18 is formed at both ends of the upper cuff 10 so that the tightening member 22 is inserted between the holes of the loop member 18 and passed through the loop member 18 located on the opposite side to wrap the front of the thigh .

The upper cuff 10 is fixed to the upper frame 12 in a riveting manner and the loop member 18 has a hinge portion 20 formed at a position where the upper cuff 10 and the upper frame 12 are coupled, 18 are fixed and rotatable at a predetermined angle.

A protective pad 24a is attached to the inside of the upper cuff 10 so as to protect the thigh where it is in contact and to protect the inside of the upper cuff 10 where friction is frequently generated.

The upper frame 12 is formed in a straight shape and has one end fixed to the upper cuff 10 and the other end formed with a locking groove to be engaged with one end of the angle adjusting portion 26, And can be fastened by a rivet method using the fastening member (48). At least one fastening groove may be formed, and the number of the fastening grooves is not limited thereto.

The upper surface of the upper frame 12 can be hingedly coupled to the outer surface of the upper frame 12 so as to be rotatable.

The tightening member 22 is formed to be detachable with a backing tape including a Velcro tape. One end of the tightening member 22 can attach the length adjusting member 28. [ After the tightening member 22 is detached from the length adjusting member 28 and the length of the tightening member 28 is adjusted by cutting the tightening member 22 by a predetermined length, 28). At this time, a backing tape including a Velcro tape is attached to the outer circumferential surface of the length adjusting member 28 to facilitate detachment from the tightening member 22.

A protective pad 24c is attached to the inside of the tightening member 22 and a backing tape including a Velcro tape is attached to and detached from the back surface of the protective pad 24c.

The protective pad 24c, which is attached to and detached from the tightening member 22, protects the user's skin due to skin friction of the device and the user while preventing wear of the device and prevents the device from flowing down from the user's body .

The lower cuff 16 is formed in a curved shape so as to surround the shank of the user.

An annular member 18 is formed on the outer circumferential surface of the lower cuff 16, and the annular member 18 is hinged and rotatable around the hinge joint.

And passes the tightening member 22 between the ring members 18 to the ring member 18 located on the opposite side to support the shank.

The angle adjusting portion 26 includes a first angle adjusting portion for adjusting the extension angle so that the knee joint is unfolded, and a second angle adjusting portion for adjusting the bending angle at which the knee joint is bent.

More specifically, the angle adjusting portion 26 includes a disc portion 30, a first cover portion 32, a toothed portion 34, a fastening complement member 36, a button 38, a button holder 40, And includes a pin 42, a first fastening member 44, a rotating bushing 46, a second fastening member 48, and a second cover portion 50.

The disc portion 30 is provided with a first angle adjusting portion for adjusting the extension angle of the knee joint and a second angle adjusting portion for adjusting the bending angle at which the knee joint is bent.

A first fastening member 44 of a predetermined size passing through the center of the disk portion 30 is fitted and fixedly coupled. The first fastening member 44 may be formed by a rivet method to be permanently fixed without being released after fastening. In addition, a thread of a predetermined length may be formed at one end of the first fastening member 44, A fine adjustment screw (not shown) may be applied. When the fine adjustment screw is provided, the first fastening member 44 can be finely adjusted by forming a screw thread so that the first fastening member 44 can be flexibly adjusted according to the knee width of the wearer.

A first cover portion (32) is provided on a side surface of the disk portion (30).

A circular rotary shaft is formed at the center of the serration 34, a groove is formed along a circumferential surface spaced apart from the rotary shaft by a predetermined distance, and a button holder 40 is engaged with the groove so as to be rotatable. The edges of the teeth 34 are formed with teeth, and the engagement protrusions of the button holder 40 are engaged with the teeth so that the lower frame 14 can be rotated by an angle between the teeth.

A rotary bushing 46 is inserted into the outer circumferential surface of the first fastening member 44 inserted through the center of the serration 34 and the rotary bushing 46 provides a rotary shaft to the lower frame 14.

The fastening complementary member 36 is located on the side surface of the toothed portion 34 to prevent loosening of the device and increase the fastening force. At least one of the fastening complementary members 36 may be provided depending on the fastening force of the device, and the number of the fastening complementary members is not limited thereto.

A plurality of protrusions and grooves are repeatedly formed on one side of the button 38, and inserted into the button holder 40. A fixing pin 42 is inserted through the button holder 40 and the button 38 to prevent the button 38 inserted in the button holder 40 from being detached.

Each of the coil-shaped elastic members (not shown) is mounted inside the button holder 40 so that when the button 38 is pressed against the button holder 40, the button 38 is provided with an elastic force in the vertical direction do.

A groove is formed at the center of the button holder 40, and a locking protrusion is formed at the distal end.

A button 38 inserted at a predetermined depth into the button holder 40 is pressed to change the angle direction so that the hooking jaw provided at one end of the button holder 40 moves along the groove formed along the circumferential surface of the toothed portion 34 It turns. That is, when the button 38 is depressed, the button 38 is moved to a desired angle position, and then the button 38 is released.

When the angle of the first angle adjuster and the angle of the second angle adjuster are adjusted to the same angle, the rotation of the lower frame 14 is limited and is kept fixed.

The lower frame 14 is linearly connected to the lower cuff 16 from the angle adjusting portion 26 and the distal end of the lower frame 14 is fixed to the angle adjusting portion 26 so as to be rotatable about the hinge portion And may be formed in a circular shape.

A plurality of loop members 18 are formed on the outer circumferential surface of the lower frame 14, and the loop member 18 is hinged to the lower frame 14 so as to be rotatable.

A backing tape such as a Velcro tape is attached to one end surface of the protection pads 24a, 24b, 24c, 24d to facilitate detachment from the device, and if deterioration is severe, detachment is possible.

The second cover portion 50 is formed in a position symmetrical to the first cover portion 32, although the shape of the second cover portion 50 is slightly different from that of the first cover portion 32.

A method of wearing a joint auxiliary device capable of adjusting an extension and a bend angle according to a preferred embodiment of the present invention will be described.

When the knee is bent at an angle of 45 degrees, the center of the angle adjusting portion 26 is worn so as to be positioned above the center of the knee or the correct position of the knee. The upper cuff 10 supports the back of the thigh, and the lower cuff 16 is positioned to support the shin.

Hereinafter, the degree of rotation of the lower frame 14 according to the angle set by the angle adjusting unit will be described.

1. When the angle of the first angle adjusting portion (angle of extension) and the angle of the second angle adjusting portion (angle of bending the knee are bent) is set to 120 deg., The rotation angle It is easy to bend and stretch your knees.

2. When the angle of the first angle adjusting portion is set to 90 ° and the angle of the second angle adjusting portion is set to 90 °, the rotation angle is small, and the range of rotation in which the knee is bent and spreads out is small.

3. When the angle of the first angle adjusting portion is set to 90 ° and the angle of the second angle adjusting portion is set to 120 °, only the operation of tilting back the knee in a bent state can be performed.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10 - upper cuff 12 - upper frame
14 - Lower frame 16 - Lower cuff
18 - ring member 20 - hinge part
22 - tightening members 24a, 24b, 24c, 24d - protective pads
26 - Angle adjusting part 28 - Length adjusting part
30 - disc portion 32 - first cover portion
34 - serration 36 - fastening complement member
38 - Button 40 - Button Holder
42 - fixing pin 44 - first fastening member
46 - rotating bushing 48 - second fastening member
50 - the second cover portion

Claims (3)

An upper cuff protruding from a curved cuff to surround a user's thigh;
A lower cuff protruding from a curved cuff to enclose a shank of the user;
An upper frame fixedly coupled to both side ends of the upper cuff and extending to the angle adjusting portion;
A lower frame extending from the angle adjusting portion to the lower cuff;
At least one fastening complementary member formed on a side surface of the circular plate portion to increase frictional force to prevent loosening, The inner peripheral surface of the inner peripheral surface of the frame includes serrations repeatedly formed at regular intervals. The rotation angle of the lower frame is controlled by adjusting the extension angle of the knee joint and the bending angle of bending, An angle adjuster capable of adjusting an extension and a bending angle of the lower frame to limit rotation of the lower frame;
A button holder in which a plurality of projections and grooves are repeatedly formed, a button holder in which an insertion space is formed so that the buttons are inserted at a predetermined depth therein, and an elastic member is accommodated in the insertion space, A button portion which is hooked on a groove formed along the circumferential surface of the serration portion and which is provided at one end of the button holder and rotates when the button is pressed by a certain depth to change the angle; And
The upper, lower, and lower cuffs are hinged to the inner side, the upper frame, and the lower end of the lower cuff so as to be rotatable.
And a joint support device. The method according to claim 1,
A protective cuff attached to the inside of the upper cuff, the lower cuff, and the angle adjusting portion to prevent abrasion of a contact portion and to be detachably attached with a backing tape including a Velcro tape
And an auxiliary joint capable of adjusting the bend angle. The method according to claim 1,
A first fastening member of a predetermined size penetrating in the order of a disc portion, a toothed portion, and a fastening complement member of the angle adjusting portion is inserted, and a screw thread is formed at one end of the first fastening member, A joint assist device with adjustable bend angle.





KR1020150092594A 2015-06-30 2015-06-30 Auxiliary device with adjustable extension and flexion angle KR101555850B1 (en)

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101720493B1 (en) * 2015-09-30 2017-03-28 (주)오케이메디텍 Change type rehabilitating instrument for anterior and posterior cruciate ligament
KR101897577B1 (en) * 2017-04-13 2018-09-12 경남정보대학교 산학협력단 Angle control device of supporting instrument for knee joint
KR101947313B1 (en) * 2018-03-20 2019-02-12 박종완 Assistant apparatus for knee working
KR20190026206A (en) * 2017-09-04 2019-03-13 삼성전자주식회사 Motion assist apparatus
WO2019050141A1 (en) * 2017-09-11 2019-03-14 콜럼비아헬스케어 주식회사 Shoulder assistive instrument
KR102026786B1 (en) * 2018-04-09 2019-09-30 주식회사 영화의료기 Foldimg device for walking assistant car
KR102183496B1 (en) 2020-01-14 2020-11-26 (재)예수병원유지재단 Knee supporter using repulsive magnetic force
WO2021096127A1 (en) * 2019-11-15 2021-05-20 에이치로보틱스 주식회사 Rehabilitation exercise device for upper and lower limbs
KR20210108285A (en) * 2020-02-25 2021-09-02 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR20210108849A (en) * 2020-02-25 2021-09-03 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR20210108850A (en) * 2020-02-25 2021-09-03 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR20210108851A (en) * 2020-02-25 2021-09-03 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR20210157247A (en) * 2020-06-19 2021-12-28 고려대학교 산학협력단 Exercise therapy system for lower limb rehabilitation
KR20220057021A (en) * 2020-10-29 2022-05-09 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
CN114917531A (en) * 2022-05-23 2022-08-19 吉林大学第一医院 Heart surgical nursing is with supplementary rehabilitation device

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Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101720493B1 (en) * 2015-09-30 2017-03-28 (주)오케이메디텍 Change type rehabilitating instrument for anterior and posterior cruciate ligament
KR101897577B1 (en) * 2017-04-13 2018-09-12 경남정보대학교 산학협력단 Angle control device of supporting instrument for knee joint
KR20190026206A (en) * 2017-09-04 2019-03-13 삼성전자주식회사 Motion assist apparatus
KR102443794B1 (en) * 2017-09-04 2022-09-16 삼성전자주식회사 Motion assist apparatus
WO2019050141A1 (en) * 2017-09-11 2019-03-14 콜럼비아헬스케어 주식회사 Shoulder assistive instrument
KR101947313B1 (en) * 2018-03-20 2019-02-12 박종완 Assistant apparatus for knee working
KR102026786B1 (en) * 2018-04-09 2019-09-30 주식회사 영화의료기 Foldimg device for walking assistant car
WO2021096127A1 (en) * 2019-11-15 2021-05-20 에이치로보틱스 주식회사 Rehabilitation exercise device for upper and lower limbs
KR102183496B1 (en) 2020-01-14 2020-11-26 (재)예수병원유지재단 Knee supporter using repulsive magnetic force
KR20210108850A (en) * 2020-02-25 2021-09-03 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR102387577B1 (en) * 2020-02-25 2022-04-19 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR20210108851A (en) * 2020-02-25 2021-09-03 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR20210108285A (en) * 2020-02-25 2021-09-02 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR102352602B1 (en) 2020-02-25 2022-01-19 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR102352603B1 (en) 2020-02-25 2022-01-20 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR102352604B1 (en) 2020-02-25 2022-01-20 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR20210108849A (en) * 2020-02-25 2021-09-03 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR102443453B1 (en) * 2020-06-19 2022-09-15 고려대학교 산학협력단 Exercise therapy system for lower limb rehabilitation
KR20210157247A (en) * 2020-06-19 2021-12-28 고려대학교 산학협력단 Exercise therapy system for lower limb rehabilitation
KR20220057021A (en) * 2020-10-29 2022-05-09 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
KR102469723B1 (en) * 2020-10-29 2022-11-22 에이치로보틱스 주식회사 Rehabilitation exercise apparatus for upper limb and lower limb
CN114917531A (en) * 2022-05-23 2022-08-19 吉林大学第一医院 Heart surgical nursing is with supplementary rehabilitation device
CN114917531B (en) * 2022-05-23 2023-12-05 吉林大学第一医院 Auxiliary rehabilitation device for cardiac surgical nursing

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