WO2014111066A1 - Suspension device - Google Patents

Suspension device Download PDF

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Publication number
WO2014111066A1
WO2014111066A1 PCT/CZ2014/000006 CZ2014000006W WO2014111066A1 WO 2014111066 A1 WO2014111066 A1 WO 2014111066A1 CZ 2014000006 W CZ2014000006 W CZ 2014000006W WO 2014111066 A1 WO2014111066 A1 WO 2014111066A1
Authority
WO
WIPO (PCT)
Prior art keywords
suspension
servo motor
suspension rope
axis
rope
Prior art date
Application number
PCT/CZ2014/000006
Other languages
French (fr)
Inventor
Michael Nikolaus KRÜSSELIN
Original Assignee
Krüsselin Michael Nikolaus
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
Application filed by Krüsselin Michael Nikolaus filed Critical Krüsselin Michael Nikolaus
Publication of WO2014111066A1 publication Critical patent/WO2014111066A1/en

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Classifications

    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/0064—Attachments on the trainee preventing falling
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/0009—Games or sports accessories not covered in groups A63B1/00 - A63B69/00 for handicapped persons
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5043—Displays
    • A61H2201/5046—Touch screens
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A61H2201/5066—Limit switches
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet

Definitions

  • the invention involves an optimized method of dynamic discharge of load and/or static suspension in vertical position for patients with damage of locomotory system during therapeutic movement on a running or walking treadmill or other rehabilitation equipment, or when transporting patients on that equipment.
  • the invention also involves equipment for performing this method.
  • a suspension device for lifting the patient during therapeutic walking on a moving walkway, and it consists of a suspension frame with " a pulley system and counterweight. This involves stabilization 1 of the amount of the patient's lifted body weight through constant adjustment " of the counterweight.
  • the optimal dynamic relief is not achieved, because this principle " displays delayed movement of the counterweight caused by friction and by gravity itself. The dynamic relief reaction is thus delayed and sometimes even conflicts.
  • the principle of the invention consists in the fact that the patient hangs from at least one suspension rope, whereupon the suspension rope(s) is maintained at a constant, predefined tension either through continuous tensometric measurement of tensile force in the suspension rope and its operative correction to a predefined value, or by action of the servo motor of a coiling mechanism for the suspension rope in torque mode.
  • the principle of the equipment for performing the method according to the invention consists in the fact that this suspension equipment is formed by at least one winding mechanism placed on the frame of the suspension device and contains a winding drum, guide pulleys, a suspension rope and a drive with a synchronous servo motor with permanent magnets on a rotor and coil on a stator.
  • This servo motor is equipped with a control system with switch-over from position mode and torque mode along with an element for automatic reading of the servo motor's axis position connected to a software module for correction of the axis position by return to the original position in tens of milliseconds in the control system.
  • a suspension device formed by only one winding mechanism that is firmly placed on the frame of the suspension device and contains a winding drum, guide pulleys, a suspension rope and a drive with a synchronous servo motor.
  • a winding drum that is firmly placed on the frame of the suspension device and contains a winding drum, guide pulleys, a suspension rope and a drive with a synchronous servo motor.
  • At the end of the suspension rope is fixed to the central part of the transverse beam, on whose ends are attached shoulder straps for suspending the patient.
  • the suspension device according to the invention can also preferentially contain a safety circuit with initialization and a limit switch, or also a touchscreen control system for driving the winding mechanism.
  • the benefit of the optimized method according to the invention and the equipment for its performance is mainly achieving constant, predefined tension at any height of suspension and with a reaction time of the servo motor or winding mechanisms for overload and subsequent correction controlled by a software module in tens of milliseconds.
  • fig. 1 shows a diagram of the equipment for dynamic decompression and/or static suspension in vertical position for patients with musculoskeletal damage in the exemplary embodiment.
  • the optimized method for dynamic decompression and/or static suspension in vertical position for patients with musculoskeletal damage in an exemplary embodiment consisting in the fact that the patient hangs from one suspension rope.
  • This suspension rope is maintained at a constant, predefined tension by the action of the servo motor of the winding mechanism for the suspension rope in torque mode in such a way in the exemplary embodiment that the position of the servo motor's axes is read every millisecond, and if changes in the axis position are detected, in a response of tens of milliseconds that position is then corrected in such a way that during this time the motor achieves maximum torque force and returns to the original position.
  • the equipment for performing the method according to the invention in the exemplary embodiment is formed by one winding mechanismi that is placed on the frame of the suspension device and contains a winding drum, guide pulleys, a suspension rope2 and a drive with a synchronous servo motor3 with permanent magnets on a rotor and coil on a stator.
  • a synchronous servo motor3 with permanent magnets on a rotor and coil on a stator.
  • At the end of the suspension rope2 is fixed to the central part of the transverse beam,4 on whose ends are attached shoulder straps5 for suspending the patient.
  • the servo motor3 of the winding mechanismi is equipped with a control system with switching from position mode to torque mode— position mode serving to raise and lower the patient, while torque mode is for dynamic decompression of the patient.
  • torque mode position mode serving to raise and lower the patient
  • torque mode is for dynamic decompression of the patient.
  • constant force— tension— is maintained on the motor's axis and in this case on the wound suspension rope,2 which achieves decompression of the suspended object, in our case a patient.
  • servo motors! driving the winding mechanismi " are also equipped with elements that automatically read the position of the axis of the servo rnotorS. connected to the software module for correcting the position of the axes in the control system.
  • a software position correction module in the control system evaluates this and sends the servo motorS a command to return the axis to its original position.
  • the suspension device in the exemplary embodiment also contains a safety circuity with initialization and a limit switch, and a touchscreen control system for driving the winding mechanism.l
  • the optimized method for dynamic decompression and/or static suspension in vertical position for patients with musculoskeletal damage in an exemplary embodiment consisting (similarly to that in the previous example) in the fact that the patient hangs from one suspension rope, 2 _ However, in contrast to example 1.
  • this suspension rope is maintained at a constant, predefined tension through continuous tensometric measurement of tensile force in the suspension rope2 and its operative correction to a predefined value. .. ⁇ ⁇ . ; , ⁇ .? .
  • at the end of the suspension rope2 is fixed to the central part of the transverse beam,4 on whose ends are attached shoulder straps5 for suspending the patient.

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Optimized method of dynamic discharge of load and/or static suspension in vertical position for patients with damage of locomotory system, according to the invention, consisting in the fact that the patient hangs from at least one suspension rope, whereupon the suspension rope(s) is maintained at a constant, predefined tension either through continuous tensometric measurement of tensile force in the suspension rope and its operative correction to a predefined value, or by the action of the servo motor of a coiling mechanism for the suspension rope in torque mode. This occurs in such a way that the position of the servo motor's axis is continuously read, and if changes in the axis position are detected, in a response of tens of milliseconds that position is then corrected in such a way that during this time the motor achieves maximum torque force and returns to the original position. The invention also involves equipment for performing this method.

Description

SUSPENSION DEVICE
Technical field
The invention involves an optimized method of dynamic discharge of load and/or static suspension in vertical position for patients with damage of locomotory system during therapeutic movement on a running or walking treadmill or other rehabilitation equipment, or when transporting patients on that equipment. The invention also involves equipment for performing this method.
Background" of the invention
Rehabilitation facilities Currently lift patients using suspension systems that use weights or manual winding systems to balance the patient's weight.
From Japanese patent 10179559, for example, a suspension device is known for lifting the patient during therapeutic walking on a moving walkway, and it consists of a suspension frame with" a pulley system and counterweight. This involves stabilization1 of the amount of the patient's lifted body weight through constant adjustment" of the counterweight. However, here the optimal dynamic relief is not achieved, because this principle " displays delayed movement of the counterweight caused by friction and by gravity itself. The dynamic relief reaction is thus delayed and sometimes even conflicts.
Up to now there have been relief/support systems equipped with one or two slings, used for lifting the patient by a purely mechanical principle. Additionally, many have stationary, firmly fixed frames, or frames that slide in only limited fashion and must be moved manually by the operator. However, this complicates transport of patients with limited movement oh the rehabilitation equipment and rules out more universal, effective use of one suspension device for more than one rehabilitation device— such as for a running or walking treadmill.
Subject matter of the invention
To remove the aforementioned insufficiencies, a significant contribution is made by the optimized method for dynamic decompression and/or static suspension in vertical position for patients with musculoskeletal damage according to the invention. The principle of the invention consists in the fact that the patient hangs from at least one suspension rope, whereupon the suspension rope(s) is maintained at a constant, predefined tension either through continuous tensometric measurement of tensile force in the suspension rope and its operative correction to a predefined value, or by action of the servo motor of a coiling mechanism for the suspension rope in torque mode. This occurs in such a way that the position of the servo motor's axis is continuously read, and if changes in the axis position are detected, in a response of tens of milliseconds that position is then corrected in such a way that during this time the motor achieves maximum torque force and returns to the original position.
The principle of the equipment for performing the method according to the invention consists in the fact that this suspension equipment is formed by at least one winding mechanism placed on the frame of the suspension device and contains a winding drum, guide pulleys, a suspension rope and a drive with a synchronous servo motor with permanent magnets on a rotor and coil on a stator. This servo motor is equipped with a control system with switch-over from position mode and torque mode along with an element for automatic reading of the servo motor's axis position connected to a software module for correction of the axis position by return to the original position in tens of milliseconds in the control system.
In the preferred embodiment there can be a suspension device according to the intention formed by only one winding mechanism that is firmly placed on the frame of the suspension device and contains a winding drum, guide pulleys, a suspension rope and a drive with a synchronous servo motor. At the end of the suspension rope is fixed to the central part of the transverse beam, on whose ends are attached shoulder straps for suspending the patient.
The suspension device according to the invention can also preferentially contain a safety circuit with initialization and a limit switch, or also a touchscreen control system for driving the winding mechanism.
The benefit of the optimized method according to the invention and the equipment for its performance is mainly achieving constant, predefined tension at any height of suspension and with a reaction time of the servo motor or winding mechanisms for overload and subsequent correction controlled by a software module in tens of milliseconds. Brief description of the drawing
Further clarification of the fundamentals of the invention is provided by the attached drawing, in which fig. 1 shows a diagram of the equipment for dynamic decompression and/or static suspension in vertical position for patients with musculoskeletal damage in the exemplary embodiment.
Examples
Example 1
The optimized method for dynamic decompression and/or static suspension in vertical position for patients with musculoskeletal damage in an exemplary embodiment consisting in the fact that the patient hangs from one suspension rope. This suspension rope is maintained at a constant, predefined tension by the action of the servo motor of the winding mechanism for the suspension rope in torque mode in such a way in the exemplary embodiment that the position of the servo motor's axes is read every millisecond, and if changes in the axis position are detected, in a response of tens of milliseconds that position is then corrected in such a way that during this time the motor achieves maximum torque force and returns to the original position.
The equipment for performing the method according to the invention in the exemplary embodiment (see fig. 1) is formed by one winding mechanismi that is placed on the frame of the suspension device and contains a winding drum, guide pulleys, a suspension rope2 and a drive with a synchronous servo motor3 with permanent magnets on a rotor and coil on a stator. At the end of the suspension rope2 is fixed to the central part of the transverse beam,4 on whose ends are attached shoulder straps5 for suspending the patient.
The servo motor3 of the winding mechanismi is equipped with a control system with switching from position mode to torque mode— position mode serving to raise and lower the patient, while torque mode is for dynamic decompression of the patient. In the control's torque mode, constant force— tension— is maintained on the motor's axis and in this case on the wound suspension rope,2 which achieves decompression of the suspended object, in our case a patient. Additionally, servo motors! driving the winding mechanismi "are also equipped with elements that automatically read the position of the axis of the servo rnotorS. connected to the software module for correcting the position of the axes in the control system. If the suspension rope2 and winding mechanismi cause a change ih the position of the axis of the servo motor,3 a software position correction module in the control system evaluates this and sends the servo motorS a command to return the axis to its original position.
The suspension device in the exemplary embodiment also contains a safety circuity with initialization and a limit switch, and a touchscreen control system for driving the winding mechanism.l
Example 2
The optimized method for dynamic decompression and/or static suspension in vertical position for patients with musculoskeletal damage in an exemplary embodiment consisting (similarly to that in the previous example) in the fact that the patient hangs from one suspension rope, 2 _ However, in contrast to example 1. this suspension rope is maintained at a constant, predefined tension through continuous tensometric measurement of tensile force in the suspension rope2 and its operative correction to a predefined value. ..·■■. ; ,· .? . In the equipment for performing this method, similarly to example 1 , at the end of the suspension rope2 is fixed to the central part of the transverse beam,4 on whose ends are attached shoulder straps5 for suspending the patient.

Claims

PATENT CLAIMS
1. Optimized method of dynamic discharge of load and/or static suspension in vertical position for patients with damage of locomotory system, characterized in that the patient is hung on at least one suspension rope, whereupon this suspension rope(s) is maintained at a constant, predefined tension either through continuous tensometric measurement of tensile force in the suspension rope and its operative correction to a predefined value, or by the action of the servo motor of a coiling mechanism for the suspension rope in torque mode in such a way that the position of the servo motor's axis is continuously read, and if changes in the axis position are detected, in a response of tens of milliseconds that position is then corrected in such a way that during this time the motor achieves -maximum torque force and returns to the original position.
2. A . suspension- device for performing the method according to claim 1 characterized in that it is formed by one winding mechanism (1) placed on the frame of the suspension device and contains a winding drum, guide pulleys, a suspension rope (2) and a drive with a synchronous servo motor (3) with permanent magnets on a rotor and coil on a stator, wherein this servo motor is equipped with a control system with switch-over from- osition mode and torque mode along with an element for automatic reading of the servo motor's axis position connected to a software module for correction of the axis positioa by return to the original position in tens of milliseconds in the control system. .
3. A suspension device according to claim 2, characterized in that it is formed by one winding mechanism (1) placed on the frame of the suspension device and contains a winding drum, guide pulleys, a suspension rope (2) and a drive with a synchronous servo motor (3), wherein, at the end of the suspension rope (2) is fixed to the central, part of the transv erse beam (4), on whose ends are attached shoulder straps (5) for suspending the patient.
4. A suspension device according to claim 2, characterized in that it also contains a safety circuit (6) with initialization and a limit switch.
5. A suspension device according to claim 2, characterized in that it also contains a touchscreen, control system for driving the winding mechanism (1).
PCT/CZ2014/000006 2013-01-18 2014-01-15 Suspension device WO2014111066A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CZ20130038A CZ304166B6 (en) 2013-01-18 2013-01-18 Optimized method of dynamic discharge of load and/or static suspension in vertical position for patients with damage of locomotory system and apparatus for making the same
CZPV2013-38 2013-01-18

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Publication Number Publication Date
WO2014111066A1 true WO2014111066A1 (en) 2014-07-24

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WO (1) WO2014111066A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105169627A (en) * 2015-09-30 2015-12-23 河北工业大学 Weight losing system for lower limb patient rehabilitation training
CN111358670A (en) * 2020-03-13 2020-07-03 上海电气集团股份有限公司 Safety rope winding device for rehabilitation robot
CN112891152A (en) * 2020-12-02 2021-06-04 山东科技大学 Double-freedom-degree backrest and active weight reduction rack suitable for rehabilitation exoskeleton
CN113797478A (en) * 2021-10-14 2021-12-17 成都拟合未来科技有限公司 Output force calibration method of strength type intelligent fitness equipment

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10179559A (en) 1996-10-29 1998-07-07 Woodway Ag Tread mill
EP1595522A1 (en) * 2004-05-14 2005-11-16 Alexander Olde Olthof Motion training device
US7883450B2 (en) * 2007-05-14 2011-02-08 Joseph Hidler Body weight support system and method of using the same

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH598832A5 (en) * 1974-10-11 1978-05-12 Schoenenberger Rolf
CN202113293U (en) * 2011-04-15 2012-01-18 浙江理工大学 Dynamic rehabilitation frame

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10179559A (en) 1996-10-29 1998-07-07 Woodway Ag Tread mill
EP1595522A1 (en) * 2004-05-14 2005-11-16 Alexander Olde Olthof Motion training device
US7883450B2 (en) * 2007-05-14 2011-02-08 Joseph Hidler Body weight support system and method of using the same

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105169627A (en) * 2015-09-30 2015-12-23 河北工业大学 Weight losing system for lower limb patient rehabilitation training
CN111358670A (en) * 2020-03-13 2020-07-03 上海电气集团股份有限公司 Safety rope winding device for rehabilitation robot
CN111358670B (en) * 2020-03-13 2022-08-19 上海电气集团股份有限公司 Safety rope winding device for rehabilitation robot
CN112891152A (en) * 2020-12-02 2021-06-04 山东科技大学 Double-freedom-degree backrest and active weight reduction rack suitable for rehabilitation exoskeleton
CN113797478A (en) * 2021-10-14 2021-12-17 成都拟合未来科技有限公司 Output force calibration method of strength type intelligent fitness equipment

Also Published As

Publication number Publication date
CZ201338A3 (en) 2013-11-27
CZ304166B6 (en) 2013-11-27

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