CN107280913A - System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training - Google Patents
System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training Download PDFInfo
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- CN107280913A CN107280913A CN201710400349.8A CN201710400349A CN107280913A CN 107280913 A CN107280913 A CN 107280913A CN 201710400349 A CN201710400349 A CN 201710400349A CN 107280913 A CN107280913 A CN 107280913A
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- backboard
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims description 38
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 37
- 230000005540 biological transmission Effects 0.000 claims description 36
- 210000000245 forearm Anatomy 0.000 claims description 20
- 238000011084 recovery Methods 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000005273 aeration Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 5
- 210000001202 rhombencephalon Anatomy 0.000 claims description 4
- 238000007405 data analysis Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 8
- 239000000203 mixture Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000002775 capsule Substances 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 208000034657 Convalescence Diseases 0.000 description 1
- 208000020307 Spinal disease Diseases 0.000 description 1
- 241000276425 Xiphophorus maculatus Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006806 disease prevention Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000010319 rehabilitative therapy Methods 0.000 description 1
- 238000012559 user support system Methods 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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- 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
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
- A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
-
- 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
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
-
- 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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/06—Devices for heating or cooling such points within cell-life limits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- 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
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
- A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
-
- 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
- A61H2201/1623—Back
- A61H2201/1626—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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1628—Pelvis
- A61H2201/1633—Seat
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- 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
- A61H2205/08—Trunk
- A61H2205/081—Back
Landscapes
- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Biomedical Technology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Neurology (AREA)
- Nursing (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a kind of system, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training, wherein, the cohesion device is arranged on robot backboard, the body first half for holding user tightly when user is leaned against on backboard；Cohesion device includes the first holding arm, the second holding arm and holds air bag tightly；First holding arm and the second holding arm are respectively arranged at the both sides of backboard, form the holding region for accommodating user, air bag is held tightly in holding region and is connected respectively with the first holding arm and the second holding arm, hold air bag tightly to be filled in the deflated condition in holding region, and then will be held tightly positioned at the body first half held tightly in region.The body first half of user can be held tightly and positioned by setting arm and airbag structure by the cohesion device with upright state and backboard, simple in construction, it is easy to control.
Description
Technical field
The present invention relates to the medical treatment of human vertebra and grain or the technical field of training device, one kind is specifically related to
System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training.
Background technology
The reasons such as working method, operating pressure or contingency due to people, vertebra and grain often occur
It is ailing, it is therefore desirable to the people for carried out to vertebra and grain recovery training or adjustment, even muscle ridge health, often
Do the exercise or stretching of some this respects, to it is healthy be also the place that is highly profitable.
Have much for equipment such as treatment, the training of muscle ridge in the prior art, for example patent No. CN105434090A is just public
A kind of multi-faceted rehabilitative therapy of spinal traction bed is opened, its structure includes upper body bed body, leg left side bed body, leg right side bed body, sky
Between support body, operation bench, upper body support body front end is provided with fixed mount, coordinates body restraint fixing human upper body, bed body and leg on the left of leg
Its bed board tiltable of bed body lifting on the right side of portion, bed body can be curved laterally, and bed body tail end is provided with hand stretching thick stick, and space support body is
A fixed pulley is fixed at the frame that the body of rod is surrounded, top, and tailstock vertical rod, which fixes one, can adjust the fixed pulley of height, operation bench up and down
It is the casing of tailstock, pull rope is stretched out at tailstock, the folding and unfolding of pull rope is controlled by the hand disk of side.
In addition, applicant has the further insight that patent No. CN104382681A discloses a kind of spinal disease prevention convalescence device,
The device includes cervical traction mechanism, lumbar traction mechanism and fixing support rack.It uses lumbar vertebrae cervical vertebra is sleeping to found dual-purpose design,
The lumbar vertebrae and cervical vertebra of user are drawn by the traction power of user's voluntarily controlling organization.
Above-mentioned patent all has the following disadvantages：1st, due to structure, tractive force, which applies, to be limited in scope, it is therefore desirable to make
User keeps a posture to carry out traction stretching for a long time, and user can not feel like oneself, the time cycle of its rehabilitation and treatment
It is long；2nd, it can only be treated or be trained adjustment to human body parts spinal structure, and can't whole muscle, it is impossible to which satisfaction makes
The requirement that user is adjusted to grain, it is clear that the function of spine recovering therapeutic system is excessively single in the prior art.
The content of the invention
The embodiment of the present invention provides a kind of system, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training,
To solve the technical problem that treatment time is long and function is single that spine recovering therapeutic system is present in the prior art.
To solve the above problems, on the one hand the embodiment of the present invention provides a kind of machine for the adjustment of muscle ridge and rehabilitation training
Device people, the robot includes：
Pedestal；
Backboard, is arranged on the pedestal and is connected with pedestal rotation；
Cohesion device, is arranged on the backboard, for holding described use tightly when user is leaned against on the backboard
The body first half of person；Wherein, the cohesion device includes the first holding arm, the second holding arm and holds air bag tightly；Described
One holding arm and second holding arm are respectively arranged at the both sides of the backboard, form the holding area for accommodating user
Domain, the holding air bag is in the holding region and is connected respectively with first holding arm and second holding arm,
The holding air bag is filled in the holding region in the deflated condition, and then by the body in the holding region
Half portion is held tightly；
It is driven in the state of first transmission mechanism, the body first half for holding the user tightly in the cohesion device
The backboard rotates relative to the pedestal.
According to one preferred embodiment of the present invention, first holding arm and second holding arm respectively include principal arm and
Forearm, the both sides of one end of the principal arm respectively with the backboard are connected, and the forearm turns with the other end of the principal arm respectively
Dynamic connection, so that the forearm can be opened relative to the holding region, is easy to the body first half to enter the holding region
It is interior.
According to one preferred embodiment of the present invention, set respectively on the inside of the principal arm of first holding arm and second holding arm
There is holding air bag.
According to one preferred embodiment of the present invention, the principal arm and forearm of first holding arm and second holding arm
Inner side is respectively equipped with independent holding air bag.
According to one preferred embodiment of the present invention, the robot further comprises the second transmission mechanism, second transmission
Mechanism is connected with the backboard and the cohesion device respectively, and it is described that second transmission mechanism is used for relatively described backboard regulation
The position of cohesion device, and then adjust holding position of the cohesion device to the body first half.
According to one preferred embodiment of the present invention, the backboard is curved, and the cohesion device is used to embrace the body first half
Tightly in the concave side of arc backboard.
According to one preferred embodiment of the present invention, the wide adjuster of arm is provided between the cohesion device and the backboard, it is described
The wide adjuster of arm is used to adjust holding arm and the link position of the side of backboard two, and then plays transverse width on the inside of regulation holding arm
Purpose.
According to one preferred embodiment of the present invention, the robot also includes controller, and the controller is filled with described hold tightly
Put and first transmission mechanism electrical connection, the operation shape for controlling the cohesion device and first transmission mechanism
State.
According to one preferred embodiment of the present invention, the robot also includes input unit, the behaviour for receiving user's input
Instruct.
According to one preferred embodiment of the present invention, the input unit includes operation button, or touch-screen, or speech recognition mould
Block, or gesture recognition module.
According to one preferred embodiment of the present invention, the robot also includes communication module, the communication module and the control
Device connection processed, for being communicated to connect between robot and external equipment.
The embodiment of the present invention also provides a kind of robot system for the adjustment of muscle ridge and rehabilitation training, including above-mentioned implementation
Robot and control device any one of example, the control device is connected with the robot communication, and controls institute
State the operation of robot.
In order to solve the above technical problems, the embodiment of the present invention also provides a kind of control method of robot, methods described bag
Include：
When the body first half of user is placed in holding region, control holds airbag aeration tightly by the body upper half of user
Hold tightly and position with backboard in portion；
The first transmission mechanism is controlled to drive backboard to be rotated relative to the pedestal to the dorsal part of the user, to combine profit
With the gravity of user's body lower half, the purpose being adjusted to the muscle ridge of user is reached.
According to one preferred embodiment of the present invention, the holding airbag aeration holds the body first half of user and backboard tightly
The step of positioning, specifically includes：Hold tightly air bag hold tightly in user both hands embrace hindbrain, embrace collare, both hands intersect embrace a upper arm, embrace
Elbow lateral under shoulder state, or hold tightly in the oxter of user；Now backboard is adjacent to user back, so as to use
The body first half of person is held tightly with backboard and positioned.
Adjusted in order to solve the above technical problems, the embodiment of the present invention further provides for a kind of muscle ridge for person upright's posture
Whole and rehabilitation training system, the system includes machine any one of high in the clouds calculation process center and above-described embodiment
People, the high in the clouds calculation process center carries out data exchange and shared with the robot, realizes the distal end control of the robot
System and high in the clouds data analysis.
Further, the embodiment of the present invention also provides a kind of holding for the adjustment of muscle ridge and recovery exercising robot and filled
Put, the cohesion device is arranged on robot backboard, for holding described use tightly when user is leaned against on the backboard
The body first half of person；Wherein, the cohesion device includes the first holding arm, the second holding arm and holds air bag tightly；Described
One holding arm and second holding arm are respectively arranged at the both sides of the backboard, form the holding area for accommodating user
Domain, the holding air bag is in the holding region and is connected respectively with first holding arm and second holding arm,
The holding air bag is filled in the holding region in the deflated condition, and then by the body in the holding region
Half portion is held tightly.
According to one preferred embodiment of the present invention, first holding arm and second holding arm respectively include principal arm and
Forearm, the both sides of one end of the principal arm respectively with the backboard are connected, and the forearm turns with the other end of the principal arm respectively
Dynamic connection, so that the forearm can be opened relative to the holding region, is easy to the body first half to enter the holding region
It is interior.
According to one preferred embodiment of the present invention, set respectively on the inside of the principal arm of first holding arm and second holding arm
There is holding air bag.
According to one preferred embodiment of the present invention, the principal arm and forearm of first holding arm and second holding arm
Inner side is respectively equipped with independent holding air bag.
Relative to prior art, the adjustment of muscle ridge and recovery exercising robot and its holding provided by the present invention for human body
Device, its cohesion device by setting arm and airbag structure, can by the body first half of user with upright state with
Backboard holds positioning tightly, then drives backboard to be overturn relative to pedestal to the dorsal part of user using transmission mechanism.The robot
It is simple in construction, the grain and whole vertebra of user can be adjusted or trained simultaneously, shortened to grain and whole
The cycle time for the treatment of or the training of individual vertebra, user is reduced because treatment time is long or the treatment uncomfortable institute's band of posture
The pain come.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is that the present invention is adjusted for muscle ridge and the overall structure of the preferred embodiment of recovery exercising robot one faces signal
Figure；
Fig. 2 is the schematic side view of the adjustment of muscle ridge and recovery exercising robot in Fig. 1 embodiments；
Fig. 3 is the adjustment of muscle ridge and a kind of side view signal of recovery exercising robot holding state of user in Fig. 1 embodiments
Figure；
Fig. 4 is the overlooking the structure diagram of the adjustment of muscle ridge and the embodiment of recovery exercising robot one in Fig. 1 embodiments；
Fig. 5 is the overlooking the structure diagram of the adjustment of muscle ridge and another embodiment of recovery exercising robot in Fig. 1 embodiments；
Fig. 6 is that the adjustment of muscle ridge and recovery exercising robot hold the side view signal overturn under user's state tightly in Fig. 3
Figure；
Fig. 7 is the schematic side view that the seat with armchair structure robot architecture is in the state that opens and uses；
Fig. 8 is the present invention for the adjustment of muscle ridge and the structure composition block diagram of the preferred embodiment of rehabilitation training system one；
Fig. 9 is the composition structure schematic diagram of robot control system embodiment of the present invention；
Figure 10 is that the adjustment of muscle ridge and recovery exercising robot are held the side view of another state of user tightly and shown in Fig. 1 embodiments
It is intended to.
Embodiment
With reference to the accompanying drawings and examples, the present invention is described in further detail.Refer in particular to
Go out, following examples are merely to illustrate the present invention, but the scope of the present invention are not defined.Likewise,
Following examples are only the section Example of the present invention and not all embodiments, and those of ordinary skill in the art are not making wound
What is obtained under the premise of the property made work is all other
Embodiment, belongs to the scope of protection of the invention.
Also referring to Fig. 1 and Fig. 2, Fig. 1 is that the present invention is used for the adjustment of muscle ridge and recovery exercising robot one is preferable to carry out
The overall structure schematic elevation view of example, Fig. 2 is the schematic side view of the adjustment of muscle ridge and recovery exercising robot in Fig. 1 embodiments,
The robot includes but is not limited to following structure：Pedestal 100, backboard 200, the transmission mechanism 400 of cohesion device 300 and first.
Specifically, the effect for acting as integrally playing robot support and fixing of pedestal 100, makes robot exist
In the course of work, it will not move or wave, it is therefore an objective to keep robot overall structure to be in stable state.
Pedestal 100 is the platy structure of L-type in the diagram of the present embodiment, certainly, in other embodiments, pedestal 100
Structure can also be the structure such as triangle or the font of falling T fixed mount, or even can also pedestal 100 bottom set match somebody with somebody
Weight, to press steady pedestal 100；Again or can also be set on pedestal 100 fixing hole or other be fixedly mounted structures, by base
Seat 100 is fixedly connected with the position such as bottom surface or workbench, further enhances the stability of pedestal 100, specific on pedestal 100
Architectural feature, in the range of the understanding of those skilled in the art, will not enumerate herein.
Backboard 200 is arranged on pedestal 100, and is connected with the rotation of pedestal 100, is specifically as follows by bearing pin (in figure not
Sign) or other modes be rotatably connected, the first transmission mechanism 400 coordinates rotation to be connected located at backboard 200 and pedestal 100
At position.
Preferably, first transmission mechanism 400 can be torque motor or torquer etc., for driving the phase of backboard 200
Rotated for pedestal 100 at rotation link position.For example, backboard 200 (is not indicated) with pedestal 100 by bearing pin in figure
Connection, middle part and the backboard 200 of bearing pin are to be fixedly connected, and two ends are then hinged with pedestal 100, and the first transmission mechanism 400 is power
Torque motor, torque motor drives bearing pin to rotate, and then realizes drive backboard 200 relative to pedestal 100 at rotation link position
The purpose rotated.
Cohesion device 300 is arranged on backboard 200, for when user is leaned against on backboard 200, holding user's tightly
The body first half.Also referring to Fig. 3 and Figure 10, Fig. 3 is that the adjustment of muscle ridge and recovery exercising robot are held tightly and made in Fig. 1 embodiments
A kind of schematic side view of state of user, Figure 10 is the adjustment of muscle ridge and recovery exercising robot holding user in Fig. 1 embodiments
Another schematic side view of state；Mark 888 in figure is that arrow is expressed as the band of the first transmission mechanism 400 in user, figure
Dynamic user supports or opposes the direction of side to overturn.
Further, please continue to refer to Fig. 1 and Fig. 2, neck can also be set to lean on the robot backboard 200 in the present embodiment
Plate 210, the neck backup plate 210 is connected with the top side telescopic slide of backboard；And then it is adjusted with respect to the setting of backboard 200 in height
Position, for when user is leaned against on backboard 200, against the hindbrain or collare of user, plays protection user's head
Portion and the effect of neck.
Need exist for the muscle ridge adjustment in explanation, the present embodiment and the body of the recovery exercising robot person of being suitable for use with
The body first half is under erectility stretches adjustment to the muscle coning row of user.In other words it is that user may be at standing
Or the robot is used under sitting state, it is required for the body first half of user to lean against in backboard 200 during using robot
On.The situation that user is in standing state is simply illustrated in Fig. 3.
Referring to Fig. 4, Fig. 4 is the plan structure of the adjustment of muscle ridge and the embodiment of recovery exercising robot one in Fig. 1 embodiments
Schematic diagram.Wherein, the cohesion device 300 in the present embodiment includes the first holding arm 310, the second holding arm 320 and holds gas tightly
Capsule 330.
Specifically, the holding arm 320 of the first holding arm 310 and second is respectively arranged at the both sides of backboard 200, is formed and used
In accommodate user holding region 302, hold tightly air bag 330 located at hold tightly region 302 in and respectively with the first holding arm 310 and
Second holding arm 320 is connected, and specific type of attachment can be bonding etc..Holding air bag 330 is filled in the deflated condition to be embraced
In tight region 302, and then it will be held tightly positioned at the body first half for holding user in region 302 tightly.
Preferably, the holding arm 320 of the first holding arm 310 and second includes principal arm (311,321) and forearm respectively
(312,322), wherein, the both sides of one end of principal arm (311,321) respectively with backboard 200 are connected, forearm (312,322) respectively with
The other end of principal arm (311,321) rotates connection, so that forearm (312,322) can be opened relative to region 302 is held tightly, is easy to body
The body first half is entered in holding region 302.
In the present embodiment, it is respectively equipped with the inside of the principal arm (311,321) of the first holding arm 310 and the second holding arm 320
Hold air bag 330 tightly, and both sides are held air bag 330 tightly and controlled by independent inflation/deflation.Inflation/deflation on holding air bag 330 tightly controls list
Member, in the range of the understanding of those skilled in the art, here is omitted.
Further, referring to Fig. 5, Fig. 5 is the adjustment of muscle ridge and another embodiment of recovery exercising robot in Fig. 1 embodiments
Overlooking the structure diagram, and unlike a upper embodiment, the first holding arm 310 and the second holding arm 320 in the present embodiment
Principal arm (311,321) and forearm (312,322) on the inside of be respectively equipped with independent holding air bag 330, so make holding gas
Capsule 330 can preferably fill holding region 302, allow user to have more comfortable holding state.Certainly, in other embodiments
Holding air bag can also be made to be filled in holding region 302, in people in the art to set one or more to hold air bag tightly
Member it will be appreciated that within the scope of, will not enumerate and be described in detail herein.
It is further preferred that the backboard 200 in the present embodiment can be designed to arcuate structure, cohesion device 300 is used for will
The body first half is held tightly in the concave side of arc backboard, and the backboard 200 of this structure, can due to the arcuate structure of adaptation human body back
When user leans against backboard 200, to increase comfort level.
Cohesion device 300 is used to hold the body first half of user 888 and backboard 200 tightly positioning (being fixed together),
So that the first transmission mechanism 400 is in the state of the body first half that cohesion device 300 holds user 888 tightly, backboard 200 is driven
(the body first half of the person of being used in connection with 888 is together) overturns relative to pedestal 100 to the dorsal part of user 888, to reach to making
The muscle ridge of user be adjusted or rehabilitation training purpose；Specifically referring to Fig. 6, Fig. 6 is the adjustment of muscle ridge and rehabilitation instruction in Fig. 3
Practice robot and hold the schematic side view overturn under user's state tightly.
Preferably, backboard 200 (the body first half of the person of being used in connection with 888 is together) phase is driven in the first transmission mechanism 400
During being overturn for pedestal 100 to the dorsal part of user 888, the body lower half of user 888 can be driven hanging, entered
And the Action of Gravity Field of utilization user 888 body lower half increases the tensile force to user's muscle ridge, such case may have
There is larger tensile force, but be not necessarily suitable all users, certainly, can be using difference according to the situation of different users
Turn on one's side angle or position, for example can be using sitting posture using robot or without the service condition such as body lower half is hanging.
In the present embodiment preferably, the first transmission mechanism 400 is during driving backboard 200 to be rotated, backboard pair
The acceleration that the body first half of user is produced is between 1 times of gravity speed and 2 times of acceleration of gravity, such acceleration
Value range can be in the case where meeting muscle coning the row effectively adjustment or rehabilitation training to user, it can also be ensured that unlikely
In because acceleration is excessive and muscle ridge is damaged.
It is further preferred that in order to reach optimal drawing effect, the first transmission mechanism 400 is carried out in drive backboard 200
During rotation, the angular acceleration of backboard 200 is arranged so that backboard 200 rotated 5-25 degree in 1 second, is rotated in 1 second
Angle more big the angular acceleration of bigger acceleration, more preferably backboard 200 can be then produced to the body first half of user
It is arranged so that backboard 200 rotated 10-20 degree in 1 second.Robot is specific during being stretched using robot
The value of angular acceleration can specifically be set according to the situation of user.
Preferably, please continue to refer to Fig. 1 to Fig. 5, the robot further comprises the second transmission mechanism 500, second biography
Motivation structure 500 is connected with backboard 200 and cohesion device 300 respectively, for adjusting cohesion device 300 relative to backboard 200
Position, and then adjust holding position of the cohesion device 300 to user's body first half.Second transmission mechanism 500 specifically for
Change fixed position of the cohesion device 300 on the vertical height direction of backboard 200, to meet user's demand of different heights
Or when cohesion device 300 can hold the different body first half position of user tightly.
In the present embodiment, the specific structure of the second transmission mechanism 500 is to set multiple regulations in the side of backboard 200
Hole, is then coordinated using latch with adjustment hole, realizes the cooperation of cohesion device 300 and backboard 200 in different height position.Separately
Outside, in other embodiments, the second transmission mechanism 500 can also be to drive cohesion device 300 along backboard using driver element
200 structure types moved in the height direction, for example utilize rack-and-pinion, linear electric motors etc..And on the second transmission mechanism
500 other structure types, those skilled in the art voluntarily can choose or set according to the functional requirement of the second transmission mechanism 500
Meter, no longer enumerates and is described in detail herein.
Wherein, when user uses the robot with sitting posture, seat is may further include on the pedestal 100 of the robot
Chair 110, also referring to Fig. 1 and Fig. 7, Fig. 7 be with armchair structure robot architecture seat be in open and use state
Schematic side view；Being provided with the structure of seat 110 can make the pedestal 100, backboard 200 and cohesion device 300 be arranged to permit
Perhaps user leans against the body first half for holding user 888 tightly on backboard 200 and by cohesion device 300 with sitting posture.
Preferably, the seat 110 in the present embodiment is a folding seat board being connected with the rotation of pedestal 100, in non-usage shape
Seat 110 is rotatably folded into the retracted state (state in such as Fig. 1) against pedestal under state；Foldable opening in a state of use
With pedestal 100 at an angle (state in Fig. 7), for example 90 degree, user can be sat on using the robot.Certainly,
A kind of structure of seat simply is enumerated in the present embodiment, can be set in other embodiments according to the structure of pedestal 100
The different seat form of meter, it might even be possible to be the form using other absolute construction stools, the stool can not be robot
A part.
The efforts process of the robot is as follows：Be first user the body first half be placed in holding region, then
Control holds airbag aeration tightly and holds the body first half of user and backboard tightly positioning, after positioning is held tightly, controls the first driver
Structure drives backboard to be rotated relative to the pedestal to the dorsal part of the user, to be combined with the weight of user's body lower half
Power, reaches the purpose being adjusted to the muscle ridge of user.Wherein, airbag aeration is held tightly by the body first half of user and the back of the body
The specific method that plate holds positioning tightly can be for shown in Fig. 3：Hold tightly air bag hold tightly in user both hands embrace hindbrain, embrace collare,
Both hands intersect the elbow lateral embraced upper arm, embraced under shoulder state；Or be the holding in Figure 10 in the oxter of user；Now
Backboard is adjacent to user back, is positioned so that the body first half of user is held tightly with backboard.
In addition, the robot can also include the electronic structure part (not shown) such as controller and display unit, control
Device processed is with cohesion device 300, the first transmission mechanism 400 or even the second transmission mechanism 500 (if the second transmission mechanism 500 is designed
Need) electrical connection, the running status for controlling the transmission mechanism of cohesion device 300 and first, second, display unit and control
Device is connected, the information such as running state parameter for showing robot；Wherein, display unit can for liquid crystal display or its
He has the structure type of display function.
Further, input unit can also be included in robot, the operational order for receiving user's input.Specifically
Ground, input unit can be to operate button, or touch-screen, or sound identification module, or gesture recognition module etc..In addition, machine
Communication module can be provided with inside people, communication module is connected with the controller, for leading between robot and external equipment
Letter connection.Wherein, such as communication module can be wired or wireless form, wireless bluetooth, radio frequency, wireless etc.,
And wired form can pass through interface end to set an interface end for being used to connect the control devices such as computer or mobile phone
It is connected with external equipment, and then is controlled by the control device being attached thereto the action of robot.
Be not difficult to find out from the above description, the robot in the embodiment of the present invention can for self structure set controller or
Other control systems, can also be by wired or be wirelessly connected with external control devices, and then forms a control
System, by external control devices come the action of control machine people.Referring to Fig. 9, Fig. 9 is robot control system of the present invention
In the composition structure schematic diagram of one embodiment, figure mark 1000 for robot, mark 2000 is expressed as control device.Its
In, control device 2000 can be mobile phone or computer etc., can realize control by the APP on mobile phone or computer, APP can
To provide multiple modes of operation, include the holding of the upset amplitude of tunable integer muscle spine adjusting machine device people, speed and cohesion device
The parameters such as power.
Please continue to refer to Fig. 5, the wide tune of arm is additionally provided with the embodiment between the cohesion device 300 and backboard 200 of robot
Device 600 is saved, the wide adjuster 600 of the arm is used to adjust holding arm (310,320) and the link position of 200 liang of sides of backboard, and then
The purpose of transverse width on the inside of regulation holding arm (310,320) is played, the cohesion device 300 of robot is met different shoulders
Wide user is used.Wherein, the concrete structure of the wide adjuster 600 of arm can for bolt, the pad of different-thickness or
Drive telescopic shaft etc..
Relative to prior art, the adjustment of muscle ridge and recovery exercising robot provided by the present invention for human body, it is held tightly
Device is by setting arm and airbag structure, and it is fixed to hold the body first half of user with upright state and backboard tightly
Position, then drives backboard to be overturn relative to pedestal to the dorsal part of user using transmission mechanism.The robot it is simple in construction, can
The grain and whole vertebra of user are adjusted or trained simultaneously；By the reversal rate for controlling transmission mechanism
The active force to the adjustment of user's muscle ridge and rehabilitation training is adjusted, active force applies scope greatly, can completed in a short time
To the process of the adjustment of user's muscle ridge and rehabilitation training, shorten treatment or cycle of training, reduce user because for the treatment of time mistake
Long or treatment uncomfortable the brought pain of posture.
Further, the embodiment of the present invention also provides a kind of system for the adjustment of muscle ridge and rehabilitation training, refers to figure
8, Fig. 8 be the present invention adjusted for muscle ridge and the preferred embodiment of rehabilitation training system one structure composition block diagram, the system can be with
Including the grade component units of robot 820 described in high in the clouds calculation process center 810 and above-described embodiment.
Specifically, the high in the clouds calculation process center 810 is in communication with each other and is connected and carries out data each other with robot 820
Exchange and shared, remote control and high in the clouds data analysis of the realization to robot 820.And on high in the clouds calculation process center 810
Specific structural features, in the range of the understanding of skilled person, also repeat no more herein.
The section Example of the present invention is the foregoing is only, is not thereby limited the scope of the invention, it is every to utilize
Equivalent device or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, be included within the scope of the present invention.
Claims (17)
1. a kind of robot for the adjustment of muscle ridge and rehabilitation training, it is characterised in that the robot includes：
Pedestal；
Backboard, is arranged on the pedestal and is connected with pedestal rotation；
Cohesion device, is arranged on the backboard, for holding the user's tightly when user is leaned against on the backboard
The body first half；Wherein, the cohesion device includes the first holding arm, the second holding arm and holds air bag tightly；Described first armful
Tight arm and second holding arm are respectively arranged at the both sides of the backboard, form the holding region for accommodating user, institute
Holding air bag is stated in the holding region and is connected respectively with first holding arm and second holding arm, described armful
Tight air bag is filled in the holding region in the deflated condition, and then by the holding region on the body of user
Half portion is held tightly；
It is driven in the state of first transmission mechanism, the body first half for holding the user tightly in the cohesion device described
Backboard rotates relative to the pedestal.
2. robot according to claim 1, it is characterised in that first holding arm and second holding arm difference
Including principal arm and forearm, the both sides of one end of the principal arm respectively with the backboard are connected, the forearm respectively with the master
The other end of arm rotates connection, so that the forearm can be opened relative to the holding region, is easy to the body first half to enter
In the holding region.
3. robot according to claim 2, it is characterised in that the master of first holding arm and second holding arm
Holding air bag is respectively equipped with the inside of arm.
4. robot according to claim 2, it is characterised in that the master of first holding arm and second holding arm
Independent holding air bag is respectively equipped with the inside of arm and forearm.
5. robot according to claim 1, it is characterised in that the robot further comprises the second transmission mechanism,
Second transmission mechanism is connected with the backboard and the cohesion device respectively, and second transmission mechanism is used for relatively described
Backboard adjusts the position of the cohesion device, and then adjusts holding position of the cohesion device to the body first half.
6. robot according to claim 1, it is characterised in that the robot also includes controller, the controller
Electrically connected with the cohesion device and first transmission mechanism, for controlling the cohesion device and first transmission
The running status of mechanism.
7. robot according to claim 6, it is characterised in that the robot also includes input unit, for receiving
The operational order of user's input.
8. robot according to claim 7, it is characterised in that the input unit includes operation button, or touch-screen,
Or sound identification module, or gesture recognition module.
9. robot according to claim 6, it is characterised in that the robot also includes communication module, the communication
Module is connected with the controller, for being communicated to connect between robot and external equipment.
10. a kind of robot system for the adjustment of muscle ridge and rehabilitation training, it is characterised in that appoint including such as claim 1-9
Robot and control device described in one, the control device are connected with the robot communication, and control the machine
The operation of people.
11. the control method of any one of a kind of claim 1-9 robot, it is characterised in that methods described includes：
The body first half of user be placed in holding region when, control hold tightly airbag aeration by the body first half of user with
Backboard holds positioning tightly；
The first transmission mechanism is controlled to drive backboard to be rotated relative to the pedestal to the dorsal part of the user, to be combined with making
The gravity of user's body lower half, reaches the purpose being adjusted to the muscle ridge of user.
12. control method according to claim 11, it is characterised in that the holding airbag aeration is by the body of user
The first half is held the step of positioning tightly with backboard and specifically included：The both hands that air bag held tightly in user are held tightly to embrace hindbrain, embrace collare, double
Hand intersects the elbow lateral embraced upper arm, embraced under shoulder state, or holds tightly in the oxter of user；Now backboard, which is adjacent to, uses
Person back, is positioned so that the body first half of user is held tightly with backboard.
13. a kind of system for the adjustment of muscle ridge and rehabilitation training, it is characterised in that the system is included in the calculation process of high in the clouds
Any one of the heart and claim the 1-9 robot, the high in the clouds calculation process center carry out data friendship with the robot
Change and share, realize remote control and the high in the clouds data analysis of the robot.
14. a kind of be used for the cohesion device of the adjustment of muscle ridge and recovery exercising robot, it is characterised in that the cohesion device is set
In on robot backboard, the body first half for holding the user tightly when user is leaned against on the backboard；Wherein,
The cohesion device includes the first holding arm, the second holding arm and holds air bag tightly；First holding arm and described second armful
Tight arm is respectively arranged at the both sides of the backboard, forms the holding region for accommodating user, and the holding air bag is located at institute
State in holding region and be connected respectively with first holding arm and second holding arm, the holding air bag is in inflated condition
Under be filled in the holding region, and then by the holding region the body first half hold tightly.
15. cohesion device according to claim 14, it is characterised in that first holding arm and second holding arm
Include principal arm and forearm respectively, the both sides of one end of the principal arm respectively with the backboard are connected, the forearm respectively with institute
The other end for stating principal arm rotates connection, so that the forearm can be opened relative to the holding region, is easy to the body first half to enter
Enter into the holding region.
16. cohesion device according to claim 15, it is characterised in that first holding arm and second holding arm
Principal arm on the inside of be respectively equipped with holding air bag.
17. cohesion device according to claim 15, it is characterised in that first holding arm and second holding arm
Principal arm and forearm on the inside of be respectively equipped with independent holding air bag.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710115920 | 2017-03-01 | ||
| CN2017101159201 | 2017-03-01 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107280913A true CN107280913A (en) | 2017-10-24 |
Family
ID=59539104
Family Applications (7)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710401644.5A Withdrawn CN107080670A (en) | 2017-03-01 | 2017-05-31 | System, robot and its control method for the adjustment of muscle ridge and rehabilitation training |
| CN201710400349.8A Withdrawn CN107280913A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
| CN201710401703.9A Withdrawn CN107088138A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
| CN201710401651.5A Withdrawn CN107088137A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
| CN201710400361.9A Withdrawn CN107080669A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
| CN201710400861.2A Withdrawn CN107028753A (en) | 2017-03-01 | 2017-05-31 | The adjustment of muscle ridge and rehabilitation training system and its robot with physical therapy function |
| CN201710400364.2A Withdrawn CN107049709A (en) | 2017-03-01 | 2017-05-31 | System and its robot, application method for the adjustment of muscle ridge and rehabilitation training |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710401644.5A Withdrawn CN107080670A (en) | 2017-03-01 | 2017-05-31 | System, robot and its control method for the adjustment of muscle ridge and rehabilitation training |
Family Applications After (5)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710401703.9A Withdrawn CN107088138A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
| CN201710401651.5A Withdrawn CN107088137A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
| CN201710400361.9A Withdrawn CN107080669A (en) | 2017-03-01 | 2017-05-31 | System, robot and its cohesion device for the adjustment of muscle ridge and rehabilitation training |
| CN201710400861.2A Withdrawn CN107028753A (en) | 2017-03-01 | 2017-05-31 | The adjustment of muscle ridge and rehabilitation training system and its robot with physical therapy function |
| CN201710400364.2A Withdrawn CN107049709A (en) | 2017-03-01 | 2017-05-31 | System and its robot, application method for the adjustment of muscle ridge and rehabilitation training |
Country Status (1)
| Country | Link |
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| CN (7) | CN107080670A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111012561A (en) * | 2017-11-09 | 2020-04-17 | 张铁峰 | Alleviate recovery unit suitable for sub-health crowd |
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| CN107485808B (en) * | 2017-10-17 | 2022-10-11 | 张兴荣 | Intelligent holographic deep well rescue system |
| CN108044638A (en) * | 2018-01-16 | 2018-05-18 | 深圳艾比仿生机器人科技有限公司 | adjustable robot and its shoulder |
| CN108324492A (en) * | 2018-03-26 | 2018-07-27 | 安阳市翔宇医疗设备有限责任公司 | A kind of waist locking device |
| CN108577210B (en) * | 2018-04-10 | 2019-12-31 | 李怡霏 | Posture correcting chair for senior high school students |
| CN110432683A (en) * | 2018-05-03 | 2019-11-12 | 肖野 | A kind of support system mitigating lumbar pressure |
| CN109646167B (en) * | 2019-01-31 | 2021-09-24 | 顾新建 | Back-pull type tractor and traction method |
| CN110507346A (en) * | 2019-08-20 | 2019-11-29 | 东软医疗***股份有限公司 | Scanning bed and medical treatment detection device |
| CN111803326A (en) * | 2020-07-01 | 2020-10-23 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | Adjustable scoliosis traction device |
| CN112034982A (en) * | 2020-08-24 | 2020-12-04 | 四川大学华西医院 | Cervical vertebra rehabilitation equipment based on virtual reality technology |
| US20220370279A1 (en) * | 2021-05-18 | 2022-11-24 | Penny Qualls | Joint Cracking Device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107028753A (en) | 2017-08-11 |
| CN107088138A (en) | 2017-08-25 |
| CN107080670A (en) | 2017-08-22 |
| CN107049709A (en) | 2017-08-18 |
| CN107088137A (en) | 2017-08-25 |
| CN107080669A (en) | 2017-08-22 |
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