CN105943307B - 一种踝关节并联康复装置 - Google Patents
一种踝关节并联康复装置 Download PDFInfo
- Publication number
- CN105943307B CN105943307B CN201610380066.7A CN201610380066A CN105943307B CN 105943307 B CN105943307 B CN 105943307B CN 201610380066 A CN201610380066 A CN 201610380066A CN 105943307 B CN105943307 B CN 105943307B
- Authority
- CN
- China
- Prior art keywords
- movement branched
- branched chain
- hinged
- joint
- ankle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 38
- 208000034657 Convalescence Diseases 0.000 title claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 74
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 210000003205 muscle Anatomy 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 210000002683 foot Anatomy 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims description 2
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 abstract description 4
- 229960001030 mephenoxalone Drugs 0.000 abstract description 4
- 150000001875 compounds Chemical class 0.000 abstract description 3
- 238000012549 training Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 210000003423 ankle Anatomy 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 241000469816 Varus Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 210000004233 talus Anatomy 0.000 description 1
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
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H1/0266—Foot
-
- 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
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610380066.7A CN105943307B (zh) | 2016-05-31 | 2016-05-31 | 一种踝关节并联康复装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610380066.7A CN105943307B (zh) | 2016-05-31 | 2016-05-31 | 一种踝关节并联康复装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105943307A CN105943307A (zh) | 2016-09-21 |
CN105943307B true CN105943307B (zh) | 2018-01-12 |
Family
ID=56907909
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610380066.7A Expired - Fee Related CN105943307B (zh) | 2016-05-31 | 2016-05-31 | 一种踝关节并联康复装置 |
Country Status (1)
Country | Link |
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CN (1) | CN105943307B (zh) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106974805B (zh) * | 2017-05-10 | 2019-07-19 | 重庆邮电大学 | 一种并联式踝关节康复装置 |
CN107050763B (zh) * | 2017-06-14 | 2022-12-06 | 韶关星火创客科技有限公司 | 一种新型踝关节康复机器人其控制方法 |
CN107260485B (zh) * | 2017-06-26 | 2023-06-09 | 清华大学 | 含球铰支移动副的脚踝康复器 |
CN107363821B (zh) * | 2017-07-07 | 2020-05-12 | 燕山大学 | 一种卸载式串并混联多自由度调姿平台 |
CN108066949B (zh) * | 2018-02-11 | 2024-03-01 | 和域医疗(深圳)有限公司 | 双向摆动装置 |
CN108703865A (zh) * | 2018-05-25 | 2018-10-26 | 哈尔滨工程大学 | 绳索驱动踝关节康复机器人 |
CN117656100B (zh) * | 2024-01-31 | 2024-04-05 | 燕山大学 | 运动轴线自适应踝关节运动机器人及其控制方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004096083A2 (en) * | 2003-04-24 | 2004-11-11 | Arizona Board Of Regents Acting On Behalf Of Arizona State University | Spring-over-muscle actuator |
CN103479502A (zh) * | 2013-09-16 | 2014-01-01 | 北京交通大学 | 一种踝关节康复装置 |
JP2014057626A (ja) * | 2012-09-14 | 2014-04-03 | Advanced Telecommunication Research Institute International | パワーアシストロボット |
CN103816028A (zh) * | 2014-01-28 | 2014-05-28 | 浙江大学 | 一种踝关节主被动复合训练康复*** |
CN103878764A (zh) * | 2014-03-21 | 2014-06-25 | 浙江大学 | 一种三自由度气动混合驱动并联平台 |
CN104175317A (zh) * | 2014-07-24 | 2014-12-03 | 合肥工业大学 | 气动人工肌肉液压混合驱动六自由度并联机器人 |
CN105105970A (zh) * | 2015-08-04 | 2015-12-02 | 张明明 | 一种并联踝关节康复机器人及其控制方法 |
-
2016
- 2016-05-31 CN CN201610380066.7A patent/CN105943307B/zh not_active Expired - Fee Related
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004096083A2 (en) * | 2003-04-24 | 2004-11-11 | Arizona Board Of Regents Acting On Behalf Of Arizona State University | Spring-over-muscle actuator |
JP2014057626A (ja) * | 2012-09-14 | 2014-04-03 | Advanced Telecommunication Research Institute International | パワーアシストロボット |
CN103479502A (zh) * | 2013-09-16 | 2014-01-01 | 北京交通大学 | 一种踝关节康复装置 |
CN103816028A (zh) * | 2014-01-28 | 2014-05-28 | 浙江大学 | 一种踝关节主被动复合训练康复*** |
CN103878764A (zh) * | 2014-03-21 | 2014-06-25 | 浙江大学 | 一种三自由度气动混合驱动并联平台 |
CN104175317A (zh) * | 2014-07-24 | 2014-12-03 | 合肥工业大学 | 气动人工肌肉液压混合驱动六自由度并联机器人 |
CN105105970A (zh) * | 2015-08-04 | 2015-12-02 | 张明明 | 一种并联踝关节康复机器人及其控制方法 |
Also Published As
Publication number | Publication date |
---|---|
CN105943307A (zh) | 2016-09-21 |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Jia Xinyin Inventor after: Liu Haitao Inventor after: Xiong Kun Inventor after: Xie Shenglong Inventor before: Liu Haitao Inventor before: Jia Xinyin Inventor before: Xiong Kun Inventor before: Xie Shenglong |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP02 | Change in the address of a patent holder | ||
CP02 | Change in the address of a patent holder |
Address after: 300350 District, Jinnan District, Tianjin Haihe Education Park, 135 beautiful road, Beiyang campus of Tianjin University Patentee after: Tianjin University Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |
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CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180112 |