WO2018157491A1 - Système d'ajustement de muscle, de tendon et de colonne vertébrale et d'entraînement de rééducation, robot associé et méthode d'utilisation - Google Patents

Système d'ajustement de muscle, de tendon et de colonne vertébrale et d'entraînement de rééducation, robot associé et méthode d'utilisation Download PDF

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Publication number
WO2018157491A1
WO2018157491A1 PCT/CN2017/086734 CN2017086734W WO2018157491A1 WO 2018157491 A1 WO2018157491 A1 WO 2018157491A1 CN 2017086734 W CN2017086734 W CN 2017086734W WO 2018157491 A1 WO2018157491 A1 WO 2018157491A1
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WO
WIPO (PCT)
Prior art keywords
user
robot
holding
backing plate
plate
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PCT/CN2017/086734
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English (en)
Chinese (zh)
Inventor
孙冰
Original Assignee
深圳市得道健康管理有限公司
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Publication of WO2018157491A1 publication Critical patent/WO2018157491A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/37—Restraining devices for the body or for body parts, e.g. slings; Restraining shirts
    • 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 invention relates to the technical field of medical or training equipment for human spine and tendons, in particular to a ridge adjustment and rehabilitation training system, a robot and a using method thereof.
  • the patent number CN105434090A discloses a multi-directional spinal traction rehabilitation bed, the structure of which includes the upper body bed, the left side of the leg, and the right side of the leg.
  • the bed body, the space frame body, the control console, and the front end of the upper body frame body are provided with a fixing frame, and the body body is fixed with the body strap, the bed body of the left side of the leg body and the bed body of the right side of the leg body can be tilted and lowered, and the bed body can be oriented
  • the outer side is bent, and the end of the bed body is provided with a hand-stretching stretching bar.
  • the space frame body is a frame surrounded by the rod body, and a fixed pulley is fixed at the top, and the bed tail pole is fixed with a fixed pulley which can adjust the height up and down, and the console is the tail of the bed.
  • the box body extends the traction rope at the end of the bed, and the traction rope is controlled by the side hand crank.
  • patent number CN104382681A discloses a spinal disease prevention and rehabilitation device, which includes a cervical traction mechanism, a lumbar traction mechanism, and a fixed support frame.
  • the lumbar vertebrae cervical vertebrae is designed to be used to pull the lumbar and cervical vertebrae of the user through the traction mechanism of the user's own control mechanism.
  • Embodiments of the present invention provide a ridge adjustment and rehabilitation training system for a human body, a robot thereof, and a use method thereof, so as to solve the technical problem that the treatment time of the spine rehabilitation treatment device in the prior art is too long and the function is single.
  • an embodiment of the present invention provides a robot for ridge adjustment and rehabilitation training, the robot comprising:
  • a back plate disposed on the base and rotatably connected to the base;
  • a holding device disposed on the back plate for holding the upper half of the user's body when the user is leaning against the back plate;
  • a first transmission mechanism for driving the back plate to rotate relative to the base in a state in which the holding device holds the upper half of the user's body.
  • the backplane in the process of the first transmission mechanism driving the backboard, the backplane generates an acceleration of 1 times the gravity speed and 2 times the gravity acceleration on the upper half of the user's body. between.
  • the angular acceleration of the backing plate is set such that the backing plate rotates 5-25 degrees in one second.
  • the backing plate is arranged such that the upper body of the user is allowed to rest against the backing plate in an upright position before the backing plate is turned over.
  • the backing plate is arranged to drive the lower half of the body of the user to be suspended during the turning of the backing plate.
  • the robot further includes a second transmission mechanism, which is respectively coupled to the backboard and the holding device for adjusting the hug relative to the backboard The position of the device is tightened to adjust the position of the gripping device to the upper half of the body.
  • the base, the backing plate, and the clasping device are configured to allow the user to rest in a standing position against the backing plate and hold by the clasping device The upper half of the body of the user.
  • the robot further includes a seat, the base, the backboard and the clasping device are arranged to allow the user to rest in a sitting position on the backboard and The clasp device holds the upper half of the body of the user.
  • the seat is a folding seat plate rotatably coupled to the base, and the seat is rotatably folded into a retracted state against the base in a non-use state.
  • the backing plate is curved
  • the holding device is used to hold the upper half of the body to the concave side of the curved backing plate.
  • the robot further includes a neckrest plate coupled to the top side of the backing plate for abutting the back of the user when the user is resting against the backing plate Or the back neck position.
  • the robot further includes a controller electrically connected to the holding device and the first transmission mechanism for controlling the holding device and the first transmission The operating status of the organization.
  • the robot further comprises input means for receiving an operation command input by the user.
  • the input device comprises an operating button, or a touch screen, or a voice recognition module, or a gesture recognition module.
  • the robot further includes a communication module, and the communication module is connected to the controller for a communication connection between the robot and the external device.
  • the present invention further provides a robot system for ridge adjustment and rehabilitation training, the system comprising the robot and the control device according to any of the above embodiments, the control device and the The robot communicates and controls the operation of the robot.
  • another aspect of the present invention provides a method of using the robot according to any one of the above embodiments, the method comprising:
  • the holding device holds the user's upper body half and the back plate in a tight position
  • the first transmission mechanism drives the back plate to rotate, and combines the gravity of the lower half of the user's body to adjust the ridge of the user.
  • the step of holding the upper half of the user's body and the backboard by the holding device comprises: holding the clasping device in the back of the user's hands, holding the back of the neck, hands Cross the upper arm, the outer side of the elbow joint under the shoulder, or hold it under the user's armpit; at this time, the back panel is in close contact with the user's back so that the user's upper body and the back panel are in a tight position.
  • the embodiment of the present invention further provides a system for ridge adjustment and rehabilitation training, the system comprising a cloud computing processing center and the robot according to any one of the above embodiments, the cloud computing processing center and the The robot performs data exchange and sharing to realize remote control and cloud data analysis of the robot.
  • the present invention provides a ridge adjustment and rehabilitation training system for a human body, a robot thereof, and a use method thereof, wherein the holding device holds the upper half of the user's body in an upright state and the back plate. Then, the transmission mechanism is used to drive the back plate to flip toward the back side of the user with respect to the base.
  • the utility model has the advantages of simple structure, can adjust or train the user's tendons and the entire spine at the same time; by controlling the turning speed of the transmission mechanism, the force for adjusting the user's tendons and the rehabilitation training process can be adjusted, and the force application range is large.
  • the process of adjusting the user's tendons and rehabilitation can be completed in a short time, shortening the treatment or training cycle, and reducing the pain caused by the user's long treatment time or uncomfortable treatment posture.
  • FIG. 1 is a side elevational view showing the overall structure of a preferred embodiment of the ridge-adjusting and rehabilitation training robot of the present invention
  • Figure 2 is a side elevational view of the ridge adjustment and rehabilitation training robot of the embodiment of Figure 1;
  • FIG. 3 is a side elevational view showing a state in which the ridge adjustment and rehabilitation training robot holds the user in the embodiment of FIG. 1;
  • Figure 4 is a top plan view of the ridge adjustment and rehabilitation training robot of the embodiment of Figure 1;
  • Figure 5 is a side elevational view of the ridge adjustment and rehabilitation training robot of Figure 3 being flipped under the state of the user;
  • Figure 6 is a side elevational view of the seat with the seat structure robot structure in an open state of use
  • FIG. 7 is a schematic flow chart of a preferred embodiment of a method for using a ridge adjustment and rehabilitation training robot of the present invention.
  • Figure 8 is a block diagram showing the structure of a preferred embodiment of the ridge adjustment and rehabilitation training system of the present invention.
  • FIG. 9 is a schematic diagram showing the structure of an embodiment of a robot control system of the present invention.
  • Fig. 10 is a side elevational view showing the state in which the ridge adjustment and rehabilitation training robot holds the user in another state in the embodiment of Fig. 1.
  • FIG. 1 is a schematic front view of a preferred embodiment of a preferred embodiment of the ridge-adjusting and rehabilitation training robot of the present invention
  • FIG. 2 is a side view of the ridge-adjusting and rehabilitation training robot of the embodiment of FIG.
  • the robot includes, but is not limited to, the following structure: a base 100, a backing plate 200, a clasping device 300, and a first transmission mechanism 400.
  • the pedestal 100 functions to support and fix the entire robot. During the operation of the robot, it does not move or sway, and the purpose is to keep the overall structure of the robot in a stable state.
  • the pedestal 100 is an L-shaped plate-like structure.
  • the structure of the pedestal 100 may also be a triangular or inverted T-shaped fixing frame, or even A weight is arranged on the bottom of the base 100 to pressurize the base 100; or a fixing hole or other fixed mounting structure may be disposed on the base 100 to fix the base 100 to the bottom surface or the worktable, etc., further The stability of the susceptor 100 is enhanced. Regardless of the specific structural features of the susceptor 100, those skilled in the art will not be enumerated here.
  • the backplane 200 is disposed on the base 100 and is rotatably connected to the base 100. Specifically, the backplane 200 is rotatably connected by a pin (not shown) or the like.
  • the first transmission mechanism 400 is disposed on the backboard 200 and the base. The seat 100 cooperates with the rotational connection position.
  • the first transmission mechanism 400 can be a torque motor or a torque device or the like for driving the back plate 200 to rotate relative to the base 100 about the rotational connection position.
  • the back plate 200 and the base 100 are connected by a pin (not shown), the middle of the pin is fixedly connected with the back plate 200, and the two ends are hinged with the base 100, and the first transmission mechanism 400 is a torque motor.
  • the torque motor drives the pin shaft to rotate, thereby achieving the purpose of driving the back plate 200 to rotate relative to the base 100 about the rotational connection position.
  • FIG. 3 is a side view showing a state in which the ridge adjustment and rehabilitation training robot holds the user in the embodiment of FIG. 1.
  • FIG. 10 is a ridge adjustment and rehabilitation training robot in the embodiment of FIG. A side view of the state in which the user is held in another state; the symbol 888 in the figure is the user, and the arrow in the figure indicates the direction in which the first transmission mechanism 400 drives the user to reverse the back side.
  • the back plate 200 can be designed as an arc structure, and the holding device 300 is used to hold the upper half of the body to the concave side of the curved back plate.
  • the back plate 200 of this structure is adapted to the curved structure of the back of the human body. It can increase comfort when the user backs up the board 200.
  • FIG. 4 is a top plan view of the ridge adjustment and rehabilitation training robot in the embodiment of FIG. 1.
  • the robot back plate 200 of the embodiment may further be provided with a neck plate 210.
  • the neck plate 210 is telescopically coupled with the top side of the back plate; The position of the plate 200 in the height is used to protect the user's head and neck when the user leans against the back plate 200 against the back or the back of the user.
  • the ridge adjustment and rehabilitation training robot in this embodiment is suitable for stretching and adjusting the user's ribs in the upright state of the user's upper body.
  • the user can use the robot while standing or sitting.
  • the upper half of the user's body needs to be backed against the backboard 200. Only the situation in which the user is in a standing state is illustrated in FIG.
  • the structure of the holding device 300 may be a structure such as a telescopic arm or a cord. Regarding the specific structure of the holding device 300, detailed description is not given here. In general, the function of the holding device 300 is to be used.
  • the upper half of the body 888 is positioned and fixed (fixed together) with the backboard 200, so that the first transmission mechanism 400 drives the backboard 200 in a state where the holding device 300 holds the upper half of the body of the user 888 ( The first side of the body of the user 888 is turned over with respect to the base 100 to the back side of the user 8000 for the purpose of adjusting or rehabilitating the user's ridges; see FIG. 5, FIG. 5 is Fig. 3 is a side elevational view showing the ridge adjustment and rehabilitation training robot flipping under the state of the user.
  • the user 888 can be driven under the body.
  • the half is suspended, thereby increasing the tensile force on the user's ribs by the gravity of the lower part of the user's 888 body.
  • This situation may have a large tensile force, but may not be suitable for all users.
  • different rollover angles or positions can be used, such as the use of a robot in a sitting position or the use of a lower half of the body.
  • the acceleration generated by the back plate on the upper half of the user's body is between 1 time gravity speed and 2 times gravity acceleration.
  • Such an acceleration range value can ensure that the ridges are not damaged due to excessive acceleration when the user's ribs are effectively adjusted or rehabilitated.
  • the angular acceleration of the backing plate 200 is set such that the backing plate 200 rotates within 5 seconds. Degree, the greater the angle of rotation within 1 second, the greater the acceleration on the upper half of the user's body, and more preferably the angular acceleration of the backing plate 200 is set such that the backing plate 200 rotates within 10 seconds. degree.
  • the value of the specific angular acceleration of the robot during the stretching process using the robot can be specifically set according to the user's situation.
  • the robot further includes a second transmission mechanism 500, which is respectively coupled to the backboard 200 and the clasping device 300 for adjusting the tightness relative to the backboard 200.
  • the position of the device 300 adjusts the position of the gripping device 300 to the upper half of the user's torso.
  • the second transmission mechanism 500 is specifically configured to change the fixed position of the holding device 300 in the vertical height direction of the backboard 200 to meet the user's needs of different heights or the holding device 300 can hold the user's different body. Half position.
  • the second transmission mechanism 500 is specifically configured to provide a plurality of adjustment holes on the side of the back plate 200, and then cooperate with the adjustment holes by the pins to realize the different positions of the holding device 300 and the back plate 200 at different height positions. Cooperate.
  • the second transmission mechanism 500 may also be a structural form or the like that moves the holding device 300 along the back plate 200 in the height direction by using the driving unit, and other structural forms regarding the second transmission mechanism 500. Those skilled in the art can select or design according to the functional requirements of the second transmission mechanism 500, and details are not described herein again.
  • the base 100 of the robot may further include a seat 110.
  • FIG. 6 is a seat with a seat structure robot structure. A side view of the open state of use; the structure provided with the seat 110 allows the base 100, the back panel 200, and the clasping device 300 to be configured to allow the user to rest on the back panel 200 in a sitting position and by the clasping device 300 Hold the top half of the body of the user 888.
  • the arrow in FIG. 6 indicates that the holding device 300 can be moved up and down along the back plate 200 under the adjustment of the second transmission mechanism 500.
  • the seat 110 in this embodiment is a folding seat plate that is rotatably connected with the base 100.
  • the seat 110 In the non-use state, the seat 110 is rotatably folded into a retracted state against the base (as shown in FIG. 1).
  • the foldable opening In the state of use, the foldable opening is at an angle to the base 100 (state in Fig. 6), for example, 90 degrees, and the user can sit on the robot.
  • the structure of the seat is listed.
  • different seat forms may be designed according to the structure of the base 100, and even in the form of using other independent structural benches, the bench may be used. It may not be part of the robot.
  • the robot may further include an electronic structure portion (not shown) such as a controller and a display unit, the controller and the holding device 300, the first transmission mechanism 400 or even the second transmission mechanism 500 (if the second transmission mechanism 500 is designed).
  • an electronic structure portion such as a controller and a display unit, the controller and the holding device 300, the first transmission mechanism 400 or even the second transmission mechanism 500 (if the second transmission mechanism 500 is designed
  • the electrical connection is used to control the operating state of the holding device 300 and the first and second transmission mechanisms, and the display unit is connected to the controller for displaying information such as the operating state parameter of the robot; wherein the display unit may be a liquid crystal display Or other structural forms with display capabilities.
  • the robot may further include an input device for receiving an operation instruction input by the user.
  • the input device may be an operation button, or a touch screen, or a voice recognition module, or a gesture recognition module or the like.
  • a communication module may be disposed inside the robot, and the communication module is connected to the controller for communication connection between the robot and the external device.
  • the communication module may be in the form of wired or wireless, such as wireless Bluetooth, radio frequency, wireless, etc., and the wired form may be an interface for connecting a control device such as a computer or a mobile phone, and connecting with an external device through the interface end. Then, the control device connected thereto controls the operation of the robot.
  • FIG. 9 is a schematic diagram showing the structure of a robot control system according to an embodiment of the present invention.
  • a robot labeled with 1000 is indicated as a control device.
  • the control device 2000 can be a mobile phone or a computer, etc., and can be controlled by an APP on a mobile phone or a computer.
  • the APP can provide various operation modes, including adjusting the flipping amplitude, speed, and holding device of the whole-ridge chiropractic robot. Hold the force and other parameters.
  • the present invention provides a ridge adjustment and rehabilitation training robot for a human body, and the holding device can hold the upper part of the user's body in an upright state and the back plate, and then utilize the transmission mechanism.
  • the driving back plate is turned over to the back side of the user with respect to the base.
  • the utility model has the advantages of simple structure, can adjust or train the user's tendons and the entire spine at the same time; by controlling the turning speed of the transmission mechanism, the force for adjusting the user's tendons and the rehabilitation training process can be adjusted, and the force application range is large.
  • the process of adjusting the user's tendons and rehabilitation can be completed in a short time, shortening the treatment or training cycle, and reducing the pain caused by the user's long treatment time or uncomfortable treatment posture.
  • FIG. 7 is a schematic flowchart of a preferred embodiment of a method for using a ridge adjustment and rehabilitation training robot according to the present invention. The method includes, but is not limited to, the following steps.
  • step S710 the upper part of the user's body is placed in the holding area formed by the holding device and the backboard.
  • the fixing position of the holding device and the back plate may be changed by adjusting the second transmission mechanism, thereby adapting the holding device to different height users and different holding position requirements.
  • the user can use the robot in a standing or sitting position.
  • step S720 the holding device holds the user's upper body half and the back plate in a tight position.
  • the preferred holding form of the clasping device may be as shown in FIG. 3: the clasping device is held tightly on the back of the elbow joint of the user's hands, the back of the head, the back neck, the arms crossed, and the shoulders. Or, it is held under the armpit of the user in FIG. 10; at this time, the backboard is in close contact with the back of the user, so that the upper half of the user's body and the backboard are in a tight position.
  • the holding form of the robot to the user is not limited to the above-mentioned form, and the holding device can also be directly held at any position on the upper half of the user's body, which will not be enumerated here.
  • step S730 the first transmission mechanism drives the back plate to rotate, and combines the gravity of the lower half of the user's body to adjust the ridge of the user.
  • the lower half of the user's body can be suspended and used.
  • the gravity of the lower part of the body increases the tensile force on the ridge of the user.
  • This situation may have a large tensile force, but it may not be suitable for all users.
  • Different roll angles or positions can be used, such as the use of a robot in a sitting position or the use of a lower half of the body.
  • the acceleration generated by the backboard to the upper half of the user's body is between 1 times the gravity speed and 2 times the gravity acceleration.
  • the acceleration range value can ensure that the ridges are not damaged due to excessive acceleration if the user's ribs are effectively adjusted or rehabilitated.
  • the first transmission mechanism drives the backing plate to rotate, and the angular acceleration of the backboard is set such that the backing plate rotates 5-25 degrees in 1 second, 1 second.
  • the greater the angle of internal rotation the greater the acceleration of the upper half of the user's body, and more preferably the angular acceleration of the backing plate is set such that the backing plate is rotated 10-20 degrees in one second.
  • the value of the specific angular acceleration of the robot during use can be specifically set according to the user's situation.
  • FIG. 8 is a structural block diagram of a preferred embodiment of the ridge adjustment and rehabilitation training system of the present invention.
  • the system may include constituent units such as the cloud computing processing center 810 and the robot 820 described in the above embodiments.
  • the cloud computing processing center 810 and the robot 820 are mutually connected and exchange data and share data to realize remote control and cloud data analysis of the robot 820.
  • the specific structural features of the cloud computing processing center 810 are not described herein again within the understanding of those skilled in the art.

Abstract

L'invention concerne un système d'ajustement et d'entraînement de rééducation de muscle, de tendon et de colonne vertébrale, un robot (820, 1000) de celui-ci, et une méthode d'utilisation. Le robot (820, 1000) comprend : une base (100), une plaque arrière (200), un dispositif de maintien (300) et un premier mécanisme d'entraînement (400), la plaque arrière (200) étant disposée sur la base (100) et reliée de manière rotative à la base (100), le dispositif de maintien (300) étant disposé sur la plaque arrière (200) et utilisé pour maintenir la moitié supérieure du corps d'un utilisateur (888) lorsque l'utilisateur (888) s'appuie contre la plaque arrière (200), le premier mécanisme d'entraînement (400) étant utilisé pour entraîner la plaque arrière (200) en rotation par rapport à la base (100) lorsque le dispositif de maintien (300) maintient la moitié supérieure du corps de l'utilisateur (888). Le robot (820, 1000) a une structure simple, et effectue simultanément un ajustement ou un entraînement sur les muscles, les tendons et la colonne vertébrale entière de l'utilisateur (888). La plage d'application de force d'effet est grande, et un processus d'ajustement et d'entraînement de rééducation de muscle, de tendon et de colonne vertébrale peut être réalisé sur l'utilisateur (888) en un court laps de temps, raccourcissant ainsi une période de traitement ou d'entraînement, et réduisant la douleur de l'utilisateur (888) provoquée par des temps de traitement longs et des postures de traitement inconfortables.
PCT/CN2017/086734 2017-03-01 2017-05-31 Système d'ajustement de muscle, de tendon et de colonne vertébrale et d'entraînement de rééducation, robot associé et méthode d'utilisation WO2018157491A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CNPCT/CN2017/075292 2017-03-01
CN2017075292 2017-03-01

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Publication Number Publication Date
WO2018157491A1 true WO2018157491A1 (fr) 2018-09-07

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Family Applications (7)

Application Number Title Priority Date Filing Date
PCT/CN2017/086729 WO2018157486A1 (fr) 2017-03-01 2017-05-31 Système de réhabilitation et de régulation des tendons de la colonne vertébrale, robot et dispositif d'enveloppement et étirement associés
PCT/CN2017/086731 WO2018157488A1 (fr) 2017-03-01 2017-05-31 Système d'entraînement des muscles, tendons et colonne vertébrale à des fins d'ajustement et de réadaptation ayant une fonction de physiothérapie, et robot associé
PCT/CN2017/086730 WO2018157487A1 (fr) 2017-03-01 2017-05-31 Système de réhabilitation et de régulation des tendons de la colonne vertébrale, robot et dispositif d'enveloppement et étirement associés
PCT/CN2017/086728 WO2018157485A1 (fr) 2017-03-01 2017-05-31 Système de réhabilitation et de régulation des tendons de la colonne vertébrale, robot et dispositif d'enveloppement et étirement associés
PCT/CN2017/086732 WO2018157489A1 (fr) 2017-03-01 2017-05-31 Système de réhabilitation et de régulation des tendons de la colonne vertébrale, robot et dispositif d'enveloppement et étirement associé
PCT/CN2017/086733 WO2018157490A1 (fr) 2017-03-01 2017-05-31 Système de réhabilitation et de régulation des tendons de la colonne vertébrale, robot et procédé de commande associés
PCT/CN2017/086734 WO2018157491A1 (fr) 2017-03-01 2017-05-31 Système d'ajustement de muscle, de tendon et de colonne vertébrale et d'entraînement de rééducation, robot associé et méthode d'utilisation

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PCT/CN2017/086729 WO2018157486A1 (fr) 2017-03-01 2017-05-31 Système de réhabilitation et de régulation des tendons de la colonne vertébrale, robot et dispositif d'enveloppement et étirement associés
PCT/CN2017/086731 WO2018157488A1 (fr) 2017-03-01 2017-05-31 Système d'entraînement des muscles, tendons et colonne vertébrale à des fins d'ajustement et de réadaptation ayant une fonction de physiothérapie, et robot associé
PCT/CN2017/086730 WO2018157487A1 (fr) 2017-03-01 2017-05-31 Système de réhabilitation et de régulation des tendons de la colonne vertébrale, robot et dispositif d'enveloppement et étirement associés
PCT/CN2017/086728 WO2018157485A1 (fr) 2017-03-01 2017-05-31 Système de réhabilitation et de régulation des tendons de la colonne vertébrale, robot et dispositif d'enveloppement et étirement associés
PCT/CN2017/086732 WO2018157489A1 (fr) 2017-03-01 2017-05-31 Système de réhabilitation et de régulation des tendons de la colonne vertébrale, robot et dispositif d'enveloppement et étirement associé
PCT/CN2017/086733 WO2018157490A1 (fr) 2017-03-01 2017-05-31 Système de réhabilitation et de régulation des tendons de la colonne vertébrale, robot et procédé de commande associés

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