WO2017204586A1 - Appareil d'entraînement pour rééducation - Google Patents

Appareil d'entraînement pour rééducation Download PDF

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Publication number
WO2017204586A1
WO2017204586A1 PCT/KR2017/005491 KR2017005491W WO2017204586A1 WO 2017204586 A1 WO2017204586 A1 WO 2017204586A1 KR 2017005491 W KR2017005491 W KR 2017005491W WO 2017204586 A1 WO2017204586 A1 WO 2017204586A1
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WO
WIPO (PCT)
Prior art keywords
track
hand
cradle
holder
pair
Prior art date
Application number
PCT/KR2017/005491
Other languages
English (en)
Korean (ko)
Inventor
노성준
김현수
이수빈
송호영
반호영
최용근
장대훈
박병걸
유경환
Original Assignee
주식회사 네오펙트
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 KR1020170062704A external-priority patent/KR101918536B1/ko
Application filed by 주식회사 네오펙트 filed Critical 주식회사 네오펙트
Priority to JP2017563177A priority Critical patent/JP6474498B2/ja
Priority to EP20177091.4A priority patent/EP3733144B1/fr
Priority to CN201780001972.4A priority patent/CN107708815B/zh
Priority to EP17803105.0A priority patent/EP3300775B1/fr
Priority to CN202011071597.0A priority patent/CN112473090B/zh
Priority to US15/827,555 priority patent/US10293199B2/en
Publication of WO2017204586A1 publication Critical patent/WO2017204586A1/fr
Priority to HK18107477.7A priority patent/HK1248163A1/zh
Priority to US16/377,953 priority patent/US10888726B2/en
Priority to US17/116,400 priority patent/US11529538B2/en

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Classifications

    • 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
    • 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
    • A63B22/20—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements using rollers, wheels, castors or the like, e.g. gliding means, to be moved over the floor or other surface, e.g. guide tracks, during exercising
    • 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
    • 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
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances

Definitions

  • the present invention relates to a rehabilitation training apparatus, and more particularly, to a rehabilitation training apparatus capable of rehabilitation training of the wrist and shoulder joint.
  • each joint part of the human body has a structure in which parts adjacent to the joint part are rotatable based on the joint part.
  • the conventional rehabilitation training device was mostly to have a function of restraining the joint angle of the wrist and shoulder joint of the user to avoid excessive exercise.
  • the applicant can not only rehabilitation training of the joints of the wrist and shoulder by moving the hands and arms using the fine muscle power in the user's hands, but also easily set the range of motion according to the user's physical condition and rehabilitation It has led to the development of a rehabilitation training device for training.
  • the present invention is to solve the above problems, it is possible to simply set the range of motion according to the user's physical condition and rehabilitation training, the user moves his hands and arms using his muscle strength, the user's wrist and
  • An object of the present invention is to provide a rehabilitation training device capable of rehabilitation training while varying the joint angle of the shoulder joint region.
  • the present invention is to provide a rehabilitation training device that can be rehabilitation training by changing the joint angle of the wrist and shoulder joint of the user by moving the hand cradle in which the hand is mounted in various patterns according to the characteristics of the user The purpose.
  • An object of the present invention a pair of first tracks arranged side by side at a mutual interval; A second track movably connected to the pair of first tracks; A hand cradle provided to be movable on the second track, on which a user's hand and arm are mounted; And a stopper provided on at least one of the first track and the second track to limit movement of the second track and the hand rest.
  • the track stopper may include a plurality of track detachable grooves formed at intervals on the pair of first tracks along a movement path of the second track; And a track stopper pin selectively attached to and detached from the plurality of track detachable grooves to block and release the movement path of the second track.
  • the track stopper may include, as another embodiment, a plurality of clips attached to and detached from the pair of first tracks to block and unblock the movement path of the second track.
  • It may further include a cradle stopper provided on the second track to limit the movement of the hand cradle.
  • the cradle stopper as an embodiment, the cradle stopper, a plurality of cradle detachable grooves formed at intervals on the second track along the movement path of the hand cradle; And a stopper pin for cradle that is selectively detached to the plurality of cradle detachable grooves to block and release the movement path of the hand cradle.
  • the stopper for the holder may include a plurality of clips detachable from the movement path of the hand holder of the second track to block and release the movement path of the hand holder.
  • It may further include a board having a rectangular plate shape and forming an X-Y axis plane formed by the pair of first tracks and the second tracks.
  • a plurality of light emitting elements emitting light; And a plurality of light receiving elements each receiving light emitted from the plurality of light emitting elements, wherein the plurality of light emitting elements and the paths of the light formed by the plurality of light receiving elements cross each other and have an XY axis coordinate on the board. Can be formed.
  • the apparatus may further include a pointer provided on the hand holder to indicate the position of the hand holder on the X-Y axis coordinates of the board by blocking the path of the light.
  • the pointer may include: a pointer tip moving along a plate surface of the board and blocking a path of the light; A tip holder receivably lifted to bring the pointer tip into close contact with the plate surface of the board; And it may include a mount for supporting the tip holder to the hand holder.
  • the apparatus may further include a communication module configured to transmit the coordinate data of the hand holder to the external device.
  • the hand cradle the cradle body on which the arm of the user is mounted;
  • a handle that is held by a user's hand mounted on the holder main body;
  • a support bracket for supporting the handle and the holder at an interval;
  • coupled to the support bracket may include a guide pin for the guide for reciprocating the support bracket along the second track.
  • a pair of track guide rails disposed on the pair of tracks along the pair of first tracks; And a pair of track guide blocks connected to the second track and reciprocating along the pair of track guide rails.
  • the rehabilitation training can be easily set by setting the range of motion according to the user's physical condition, and the user moves his hands and arms using his or her strength to adjust the joint angles of the wrist and shoulder joints of the user. You can change and rehabilitation training.
  • FIG. 1 is a perspective view of a rehabilitation training apparatus according to an embodiment of the present invention
  • FIG. 1 is an exploded perspective view of FIG. 1;
  • FIG. 3 is an enlarged perspective view of main parts of the second track and the hand holder of FIG. 1;
  • FIG. 4 is an exploded perspective view illustrating main parts of the second track of FIG. 1;
  • FIG. 5 and 6 are views illustrating a process of limiting the movement path of the second track and the hand holder in the rehabilitation training device of FIG. 1 according to one embodiment
  • FIG. 7 is a view illustrating a process of restricting a movement path of a second track and a hand holder in the rehabilitation training device of FIG. 1 according to another embodiment.
  • 1 to 4 show a rehabilitation training device according to an embodiment of the present invention.
  • the rehabilitation training device 10 is a pair of first track (11a, 11b), the second track 21, the hand rest 31 and It includes a stopper.
  • the pair of first tracks 11a and 11b each have a hollow bar shape of a predetermined length, and are arranged side by side at intervals from each other.
  • First track slits 13a and 13b are formed in the upper surface of each of the first tracks 11a and 11b along the longitudinal direction of the first tracks 11a and 11b.
  • Each of the first tracks 11a and 11b is provided with track guide rails 15a and 15b below the first track slits 13a and 13b along the first track slits 13a and 13b.
  • the track guide blocks 17a and 17b connected to the second track 21 are reciprocally coupled to the track guide rails 15a and 15b.
  • the track guide pins 23 to be described later are coupled to the track guide blocks 17a and 17b.
  • the second track 21 has a hollow bar shape of a predetermined length and is disposed at a right angle with the first tracks 11a and 11b.
  • Track guide pins 23 are coupled to both ends of the second track 21 so as to protrude from the second track 21.
  • the track guide pin 23 passes through the first track slits 13a and 13b and is supported by the track guide blocks 17a and 17b.
  • the second track 21 is guided to reciprocate along the track guide rails 15a and 15b by the track guide blocks 17a and 17b connected to the track guide pins 23. That is, the second track 21 is movably connected to the pair of first tracks 11a and 11b.
  • the second track slit 25 penetrates the upper surface of the second track 21 along the longitudinal direction of the second track 21.
  • a guide rail 27 for a holder is provided in the second track 21 below the second track slit 25 along the second track slit 25.
  • the guide rails 27 for the holder are coupled to the holder guide block 29 connected to the hand holder 31 in a reciprocating manner.
  • the guide plate 29 for the holder is coupled to the guide pin 45 for the holder to be described later.
  • the pair of first tracks 11a and 11b and the second tracks 21 are respectively telescopically coupled along the longitudinal direction, for example, by manufacturing each track 11a, 11b and 21 by overlapping them. It may be provided to be adjustable in length and length and length.
  • the hand holder 31 is provided to be movable on the second track 21 and is mounted with the user's hand and arm.
  • the hand holder 31 includes a holder body 33, a handle 35, a support bracket 37, and a guide pin 45 for a holder.
  • the cradle main body 33 has an arcuate cross-sectional shape partially wrapping the user's arm and mounts the user's arm.
  • the handle 35 has a rod shape, and a user's hand mounted on the holder main body 33 is gripped.
  • the support bracket 37 has a plate shape and moves along the upper surface of the second track 21.
  • the support bracket 37 supports the handle 35 and the holder body 33 at intervals.
  • the handle 35 and the holder main body 33 are disposed in the transverse direction with respect to the longitudinal direction of the second track 21, and reciprocate along the longitudinal direction of the second track 21.
  • the guide pin 45 for the mount is coupled to protrude from the bottom of the support bracket 37.
  • the guide pin 45 for the cradle passes through the second track slit 25 and is supported by the cradle guide block 29.
  • the hand holder 31 is guided to reciprocate along the guide rail 27 for the holder by the guide block 29 for the holder connected to the guide pin 45 for the holder. That is, the hand rest 31 is movably connected to the second track 21.
  • the support bracket 37 is formed with a slot 39 having a long hole through the longitudinal direction of the support bracket 37.
  • the cradle main body 33 is movably coupled along the slot 39 by a coupling member 41 provided at the bottom of the cradle main body 33.
  • the holder main body 33 is coupled to the movable member along the slot 39 by the coupling member 41, the holder main body 33 and the handle ( 35) The gap between them can be adjusted freely.
  • the stopper has a first track (11a, 11b) is provided on the second track 21, limiting the movement of the second track 21 and the hand rest (31).
  • stopper 51 for the track and the stopper 61 for the holder are included as stoppers.
  • the track stopper 51 is provided on the first tracks 11a and 11b to limit the movement of the second track 21.
  • the track stopper 51 includes a plurality of track attachment and detachment grooves 53 and a track stopper pin 55.
  • the plurality of track removal grooves 53 are spaced apart from the pair of first tracks 11a and 11b along the first track slits 13a and 13b, for example, along the movement path of the second track 21. Formed.
  • the track stopper pin 55 is selectively attached to and detached from the plurality of track attachment and detachment grooves 53 to block and release the movement path of the second track 21.
  • the track stopper pin 55 is mounted on at least one of the plurality of track attachment and detachment grooves 53 of the first tracks 11a and 11b.
  • the movement path of the second track 21 with respect to the first tracks 11a and 11b may be limited, for example, by simply setting the user's exercise range and rehabilitation training.
  • the clip 57 instead of the track attachment / detachment groove 53 and the track stopper pin 55 as the track stopper 51, the clip 57, for example, has a U-shaped cross-section having elasticity. By attaching and detaching the clip 57 to the upper surfaces of the first tracks 11a and 11b, the movement path of the second track 21 can be blocked and unblocked.
  • the stopper 61 for the cradle is provided on the second track 21 to limit the movement of the hand holder 31.
  • Mounting stopper 61 includes a plurality of mounting and detachable groove 63 for the mount and the stopper pin 65 for the mount.
  • the plurality of mounting detachable grooves 63 are formed at intervals on the second track 21 along, for example, the first track slits 13a and 13b along the movement path of the hand rest 31.
  • Mounting stopper pin (65) is selectively detached to the plurality of mounting detachable grooves (63), to block and release the movement path of the hand holder (31).
  • the mounting stopper pin 65 is mounted on at least one of the plurality of mounting detachable grooves 63 of the second track 21, thereby providing a user's physical condition. Accordingly, the movement path of the hand rest 31 relative to the second track 21 is limited, for example, the user's movement range can be easily set, and rehabilitation training can be performed.
  • the clip 67 instead of the mounting recess 63 for the mounting stand and the stopper pin 65 for the mounting stand, the clip 67, for example, an 'U' cross-sectional shape having elasticity. By attaching and detaching the clip 67 to the upper surface of the second track 21, it is possible to block and unblock the movement path of the hand rest 31.
  • the stopper 51 for the track and the stopper 61 for the holder are shown as being provided together as a stopper, but the present invention is not limited thereto. Only the track stopper 51 or the stopper 61 for the holder as the stopper is provided. It may be arranged.
  • rehabilitation training device 10 may further include a board (71).
  • the board 71 has a rectangular plate shape, forms an XY axis plane formed by the pair of first tracks 11a and 11b and the second track 21, and the pair of first tracks 11a and 11b. Is supported at the bottom of the.
  • a pair of first tracks 11a and 11b are arranged side by side on a pair of opposite edges of the board 71.
  • the second track 21 is disposed across the plate surface of the board 71.
  • the direction in which the second tracks 21 are arranged is referred to as the X-axis direction
  • the direction in which the pair of first tracks 11a and 11b are arranged is referred to as the Y-axis direction.
  • a plurality of light emitting elements 73 for emitting light are provided on a pair of X-axis sides facing each other, for example, on one side of the X-axis, at intervals along the longitudinal direction of one side of the X-axis, and on the other side.
  • a plurality of light-receiving elements 75 for receiving light emitted from the plurality of light-emitting elements 73 are provided at intervals along the longitudinal direction of the other X-axis side.
  • a plurality of linear X-axis light paths are formed by the plurality of light emitting elements 73 provided on one side of the X axis and the plurality of light receiving elements 75 provided on the other side of the X axis.
  • the path forms a plurality of X-axis coordinates on the board 71.
  • a plurality of light emitting elements 73 emitting light are provided on a pair of Y-axis sides facing each other, for example, on one side of the Y-axis, at intervals along the longitudinal direction of one side of the Y-axis, and on the other side.
  • a plurality of light-receiving elements 75 for receiving light emitted from the plurality of light-emitting elements 73 are provided at intervals along the longitudinal direction of the other Y-axis side.
  • a plurality of Y-axis light paths in a straight line are formed by the plurality of light emitting elements 73 provided on one side of the Y axis and the plurality of light receiving elements 75 provided on the other side of the Y axis.
  • the path 71 forms a plurality of Y-axis coordinates on the board 71.
  • the plurality of light emitting elements 73 and the plurality of light receiving elements 75 are arranged along each side of the board 71. Accordingly, by arranging the plurality of light emitting elements 73 and the plurality of light receiving elements 75 along each side of the board 71, the light formed by the plurality of light emitting elements 73 and the plurality of light receiving elements 75 is formed.
  • the paths cross each other and form a plurality of XY axis coordinates on the board 71.
  • each light emitting element 73 to each light receiving element 75 may be an infrared ray or a laser.
  • the rehabilitation training device 10 may further include a pointer 81.
  • the pointer 81 is provided on the hand holder 31 to block the path of light to indicate the position of the hand holder 31 on the X-Y axis coordinates of the board 71.
  • This pointer 81 includes a pointer tip 83, a tip holder 85, and a mount 87.
  • the pointer tip 83 moves along the plate surface of the board 71 and blocks the path of light.
  • the pointer tip 83 may slide along the plate surface of the board 71 or may move away from the plate surface of the board 71 and move along the plate surface of the board 71.
  • the tip holder 85 removably receives the pointer tip 83 so that the pointer tip 83 comes into close contact with the plate surface of the board 71.
  • the mount 87 supports the tip holder 85 to the hand holder 31.
  • the hand rest 31 moves along the XY axis coordinates of the board 71 so that the pointer tip 83 supported by the hand rest 31 blocks any one of the plurality of light paths formed in the board 71.
  • the position of the hand rest 31 is indicated on the XY axis coordinates of the board 71.
  • the pointer tip 83 is fully cushioned in the tip holder 85. It is accommodated, the user can move and move the hand cradle 31 smoothly.
  • the rehabilitation training device 10 may further include a communication module 91 for transmitting the coordinate data of the movement of the hand rest 31 to an external device.
  • the communication module 91 by providing the communication module 91, the movement data generated as the user moves the hand holder 31, for example, the movement path data of the hand holder 31 on the XY axis coordinates of the board 71 in real time.
  • the amount of exercise and exercise status can be easily identified from a remote location.
  • the user can freely move the hand holder 31 on the XY axis coordinates of the board 71 by applying a force, for example, the user uses minute muscle power.
  • a force for example, the user uses minute muscle power.
  • the movement path data of the hand holder 31, for example, the coordinate data of the movement of the pointer 81 is transmitted to the external device in real time through the communication module 91, so that the user's exercise amount and exercise state can be easily checked even from a remote location. It becomes possible.
  • the rehabilitation training device 10 in the state in which the pattern data formed with a predetermined pattern near the rehabilitation training device 10 is displayed on a display, After mounting the arm on the hand holder 31, the user moves the hand holder 31 on the XY axis coordinates of the board 71 according to the pattern data while watching the pattern data displayed on the display.
  • the hand cradle 31 By moving the hand cradle 31 using muscle strength, it is possible to rehabilitation training while changing the joint angle of the wrist and shoulder joint of the user.
  • the movement path data of the hand rest 31 for example, by comparing the coordinate data moved by the pointer 81 and the pattern data displayed on the display, it is possible to determine the rehabilitation training state of the user.
  • the second track is movably disposed on a pair of first tracks arranged side by side at a mutual interval, and the hand rest on which the user's hand is mounted is reciprocated along the second track.
  • the user can easily set the range of motion according to the user's physical condition and perform rehabilitation training.
  • the user moves his / her hand and arm to change the joint angles of the wrist and shoulder joints of the user, thereby enabling rehabilitation training.
  • the board is shown to be mounted horizontally on the floor, but is not limited thereto.
  • the support On one side of the board, the support is hinged to be folded to be perpendicular to the floor or to be in close contact with the bottom of the board.
  • the board may be mounted inclined with respect to the floor. As such, by mounting the board inclined with respect to the floor, it is necessary to move the hand cradle with a relatively strong force than the board is horizontally mounted on the floor, it is possible to increase the amount of exercise of the user.

Abstract

La présente invention concerne un appareil d'entraînement pour rééducation comprenant : une paire de premières pistes qui sont placées en parallèle et espacées d'une certaine distance ; une seconde piste qui est reliée mobile à la paire de premières pistes ; un support pour main qui est placé de manière mobile sur la seconde piste et sur lequel la main et le bras d'un utilisateur sont soutenus ; et des butées qui sont prévues sur les premières pistes et/ou sur la seconde piste et qui servent à limiter le mouvement de la seconde piste et du support pour main.
PCT/KR2017/005491 2016-05-27 2017-05-26 Appareil d'entraînement pour rééducation WO2017204586A1 (fr)

Priority Applications (9)

Application Number Priority Date Filing Date Title
JP2017563177A JP6474498B2 (ja) 2016-05-27 2017-05-26 リハビリトレーニング装置
EP20177091.4A EP3733144B1 (fr) 2016-05-27 2017-05-26 Appareil d'entraînement de réhabilitation
CN201780001972.4A CN107708815B (zh) 2016-05-27 2017-05-26 康复训练装置
EP17803105.0A EP3300775B1 (fr) 2016-05-27 2017-05-26 Appareil d'entraînement pour rééducation
CN202011071597.0A CN112473090B (zh) 2016-05-27 2017-05-26 康复训练装置
US15/827,555 US10293199B2 (en) 2016-05-27 2017-11-30 Rehabilitation training apparatus
HK18107477.7A HK1248163A1 (zh) 2016-05-27 2018-06-08 康復訓練裝置
US16/377,953 US10888726B2 (en) 2016-05-27 2019-04-08 Rehabilitation training apparatus
US17/116,400 US11529538B2 (en) 2016-05-27 2020-12-09 Rehabilitation training apparatus

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20160065439 2016-05-27
KR10-2016-0065439 2016-05-27
KR10-2017-0062704 2017-05-22
KR1020170062704A KR101918536B1 (ko) 2016-05-27 2017-05-22 재활 훈련 장치

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/827,555 Continuation US10293199B2 (en) 2016-05-27 2017-11-30 Rehabilitation training apparatus

Publications (1)

Publication Number Publication Date
WO2017204586A1 true WO2017204586A1 (fr) 2017-11-30

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Application Number Title Priority Date Filing Date
PCT/KR2017/005491 WO2017204586A1 (fr) 2016-05-27 2017-05-26 Appareil d'entraînement pour rééducation

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Country Link
WO (1) WO2017204586A1 (fr)

Cited By (4)

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Publication number Priority date Publication date Assignee Title
CN109045667A (zh) * 2018-09-28 2018-12-21 安阳市翔宇医疗设备有限责任公司 一种康复训练评估系统
CN110201362A (zh) * 2019-07-11 2019-09-06 合肥工业大学 手部多位姿康复训练器
CN112245223A (zh) * 2020-10-19 2021-01-22 深圳睿瀚医疗科技有限公司 一种空间末端牵引式刚性上肢康复机器人
CN115944502A (zh) * 2023-02-16 2023-04-11 吉林大学 一种肘-腕关节康复训练器

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Publication number Priority date Publication date Assignee Title
US20070282228A1 (en) * 2004-02-05 2007-12-06 Omer Einav Methods and Apparatus for Rehabilitation and Training
KR20140044520A (ko) * 2012-10-05 2014-04-15 (주)릴렉스테크 마사지기기
KR20150082711A (ko) * 2014-01-06 2015-07-16 동의대학교 산학협력단 팔 거치대형 상지재활 훈련장치
KR20150083469A (ko) * 2014-01-09 2015-07-20 주식회사 케디엠 상지 근력강화 및 재활운동장치
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109045667A (zh) * 2018-09-28 2018-12-21 安阳市翔宇医疗设备有限责任公司 一种康复训练评估系统
CN110201362A (zh) * 2019-07-11 2019-09-06 合肥工业大学 手部多位姿康复训练器
CN112245223A (zh) * 2020-10-19 2021-01-22 深圳睿瀚医疗科技有限公司 一种空间末端牵引式刚性上肢康复机器人
CN112245223B (zh) * 2020-10-19 2022-08-05 深圳睿瀚医疗科技有限公司 一种空间末端牵引式刚性上肢康复机器人
CN115944502A (zh) * 2023-02-16 2023-04-11 吉林大学 一种肘-腕关节康复训练器
CN115944502B (zh) * 2023-02-16 2024-04-30 吉林大学 一种肘-腕关节康复训练器

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